using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using WIDESEA_Common;
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using WIDESEA_Common.Tools;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS.EquipBaseInfo
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{
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public class AGVBaseInfo
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{
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/// <summary>
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/// 写入任务
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/// </summary>
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/// <param name="client"></param>
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/// <returns></returns>
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public static string TaskWrite(PLCClient client, dt_agvtask agvTask, AGVJobEnum jobEnum)//, Dt_agvtaskRepository agvTask
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{
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//bool operateResults = client.WriteValue(TaskDBName.taskInteractiveR.ToString(), 9);
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#region 测试
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List<byte> sendData = new List<byte>();
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string tmp = agvTask.agv_tasknum.ToString();
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List<byte> taskID = Encoding.Default.GetBytes(tmp).ToList();//任务ID
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taskID.Insert(0, 30);
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taskID.Insert(1, Convert.ToByte(tmp.Length));
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for (int i = 0; i < 30 - tmp.Length; i++)
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{
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taskID.Add(0);
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}
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sendData.AddRange(taskID);
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List<byte> taskStart = Encoding.Default.GetBytes(agvTask.agv_fromaddress).ToList();
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taskStart.Insert(0, 20);
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taskStart.Insert(1, Convert.ToByte(agvTask.agv_fromaddress.Length));
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for (int i = 0; i < 20 - agvTask.agv_fromaddress.Length; i++)
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{
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taskStart.Add(0);
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}
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sendData.AddRange(taskStart);
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List<byte> taskEnd = Encoding.Default.GetBytes(agvTask.agv_toaddress).ToList();
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taskEnd.Insert(0, 20);
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taskEnd.Insert(1, Convert.ToByte(agvTask.agv_toaddress.Length));
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for (int i = 0; i < 20 - agvTask.agv_toaddress.Length; i++)
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{
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taskEnd.Add(0);
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}
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sendData.AddRange(taskEnd);
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byte[] taskType = BitConverter.GetBytes((ushort)agvTask.agv_worktype.GetValueOrDefault()).ToArray();
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Array.Reverse(taskType);
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sendData.AddRange(taskType);
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List<byte> containerType = Encoding.Default.GetBytes(agvTask.agv_barcode).ToList();
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containerType.Insert(0, 30);
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containerType.Insert(1, Convert.ToByte(agvTask.agv_barcode.Length));
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for (int i = 0; i < 30 - agvTask.agv_barcode.Length; i++)
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{
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containerType.Add(0);
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}
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sendData.AddRange(containerType);
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byte[] taskPriority = BitConverter.GetBytes((ushort)agvTask.agv_grade.GetValueOrDefault()).ToArray();
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Array.Reverse(taskPriority);
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sendData.AddRange(taskPriority);
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byte[] taskFlag = BitConverter.GetBytes((ushort)jobEnum).ToArray();
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Array.Reverse(taskFlag);
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sendData.AddRange(taskFlag);
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HslCommunication.OperateResult operateResult = client.SiemensPLCClient.SiemensS7NetClient.Write("DB1000.0", sendData.ToArray());
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if (!operateResult.IsSuccess)
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return operateResult.Message;
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WriteLog.Info("AGV发送任务").Write("任务号" + agvTask.agv_tasknum + "AGV编号" + client.PLCName+DateTime.Now, "AGV发送任务");
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#endregion
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//bool flag = client.WriteValue(TaskDBName.taskID.ToString(), agvTask.agv_barcode);
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//if (!flag)
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// return "AGV任务ID写入失败";
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//if (!string.IsNullOrEmpty(agvTask.agv_fromaddress))
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//{
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// flag = client.WriteValue(TaskDBName.taskStart.ToString(), agvTask.agv_fromaddress);
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// if (!flag)
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// return "AGV任务起点写入失败";
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//}
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//if (!string.IsNullOrEmpty(agvTask.agv_toaddress))
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//{
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// flag = client.WriteValue(TaskDBName.taskEnd.ToString(), agvTask.agv_toaddress);
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// if (!flag)
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// return "AGV任务终点写入失败";
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//}
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//if (!string.IsNullOrEmpty(agvTask.agv_tasktype))
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//{
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// flag = client.WriteValue(TaskDBName.taskType.ToString(), agvTask.agv_worktype);
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// if (!flag)
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// return "AGV任务类型写入失败";
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//}
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////if (!string.IsNullOrEmpty(agvTask.containerType))
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////{
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//// flag = client.WriteValue(TaskDBName.containerType.ToString(), agvTask.containerType);
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//// if (!flag)
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//// return "AGV任务容器类型写入失败";
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////}
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//flag = client.WriteValue(TaskDBName.taskPriority.ToString(), agvTask.agv_grade);
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//if (!flag)
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// return "AGV任务优先级写入失败";
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////if (!string.IsNullOrEmpty(agvTask.excuteAgvCode))
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////{
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//// flag = client.WriteValue(TaskDBName.excuteAgvCode.ToString(), agvTask.excuteAgvCode);
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//// if (!flag)
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//// return "AGV编号写入失败";
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////}
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//flag = client.WriteValue(TaskDBName.taskInteractiveW.ToString(), ((int)jobEnum));
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//if (!flag)
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// return "AGV任务启动命令写入失败。" + ((int)jobEnum);
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return "";
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}
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}
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}
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