using HslCommunication;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_QuartzJob.DeviceBase;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.StackerCrane;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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namespace WIDESEAWCS_QuartzJob
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{
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/// <summary>
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/// 自定义堆垛机
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/// </summary>
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[Description("堆垛机2")]
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public class SpeStackerCrane : IStackerCrane
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{
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#region Private Member
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/// <summary>
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/// 堆垛机通讯对象
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/// </summary>
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private BaseCommunicator _communicator;
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/// <summary>
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/// 堆垛机协议信息
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/// </summary>
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private readonly List<DeviceProDTO> _deviceProDTOs;
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/// <summary>
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/// 堆垛机协议明细信息
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/// </summary>
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private readonly List<DeviceProtocolDetailDTO> _deviceProtocolDetailDTOs;
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/// <summary>
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/// 设备编号
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/// </summary>
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public readonly string _deviceCode;
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/// <summary>
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/// 设备名称
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/// </summary>
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public readonly string _deviceName;
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/// <summary>
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/// 上一次任务号
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/// </summary>
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private int _lastTaskNum;
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private bool _isChecked = false;
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private bool _heartStatr = true;
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private bool _isConnected = true;
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#endregion Private Member
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#region Public Member
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/// <summary>
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/// 通讯对象
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/// </summary>
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public BaseCommunicator Communicator => _communicator;
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/// <summary>
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/// 通讯协议信息
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/// </summary>
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public List<DeviceProDTO> DeviceProDTOs => _deviceProDTOs;
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/// <summary>
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/// 通讯协议明细信息
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/// </summary>
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public List<DeviceProtocolDetailDTO> DeviceProtocolDetailDTOs => _deviceProtocolDetailDTOs;
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/// <summary>
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/// 上一次执行的任务号
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/// </summary>
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public int LastTaskNum => _lastTaskNum;
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/// <summary>
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/// 当前正在执行的任务号
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/// </summary>
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public int CurrentTaskNum => GetCurrentTaskNum();
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/// <summary>
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/// 上一次执行的任务类型
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/// </summary>
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public int? LastTaskType { get; set; } = null;
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/// <summary>
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/// 设备编号
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/// </summary>
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public string DeviceCode => _deviceCode;
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/// <summary>
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/// 设备名称
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/// </summary>
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public string DeviceName => _deviceName;
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/// <summary>
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/// 设备是否已连接
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/// </summary>
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public bool IsConnected => Communicator.IsConnected && _isConnected;
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/// <summary>
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/// 堆垛机任务命令
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/// </summary>
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public object StackerCraneTaskCommand { get; set; }
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#endregion
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#region Constructor Function
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/// <summary>
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/// 构造函数
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/// </summary>
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/// <param name="communicator">堆垛机通讯对象</param>
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/// <param name="deviceProDTOs">堆垛机协议信息</param>
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/// <param name="deviceProtocolDetailDTOs">堆垛机协议明细信息</param>
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/// <param name="deviceCode">设备编号</param>
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/// <param name="deviceName">设备名称</param>
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public SpeStackerCrane(BaseCommunicator communicator, List<DeviceProDTO> deviceProDTOs, List<DeviceProtocolDetailDTO> deviceProtocolDetailDTOs, string deviceCode, string deviceName)
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{
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_communicator = communicator;
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_deviceProDTOs = deviceProDTOs;
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_deviceProtocolDetailDTOs = deviceProtocolDetailDTOs;
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_deviceCode = deviceCode;
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_deviceName = deviceName;
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CheckConnect();
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}
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#endregion
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#region Private Method
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private object GetStatus(string protocolParamType)
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{
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if (Communicator.IsConnected)
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{
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List<DeviceProDTO> devicePros = _deviceProDTOs.Where(x => x.DeviceProParamType == protocolParamType).ToList();
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if (devicePros.Count == 0)
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{
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throw new Exception("未获取到协议信息");
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}
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for (int i = 0; i < devicePros.Count; i++)
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{
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object readStatus = Communicator.ReadAsObj(devicePros[i].DeviceProAddress, devicePros[i].DeviceDataType);
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//todo 协议明细信息未获取到时抛出异常
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DeviceProtocolDetailDTO? deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamName) ?? throw new Exception();
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deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamType && x.ProtocalDetailValue.Equals(readStatus.ToString()));
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if (deviceProtocolDetail != null)
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{
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return Convert.ToInt32(readStatus);
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}
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return -1;
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}
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}
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//todo 通讯未连接时抛出异常
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return -1;
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}
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private int GetCurrentTaskNum()
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{
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(CurrentTaskNum));
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return devicePro == null ? throw new Exception($"读取当前任务号错误,未获取到协议信息,请检查配置参数名称是否配置,且配置为{nameof(CurrentTaskNum)}") : (int)Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
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}
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private void CheckConnect()
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{
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Task.Run(() =>
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{
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while (_heartStatr)
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{
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try
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{
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault();
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if (devicePro == null)
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_isConnected = false;
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else
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Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
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_isConnected = true;
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}
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catch (Exception ex)
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{
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_isConnected = false;
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}
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Thread.Sleep(500);
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}
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});
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}
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#endregion
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#region Public Method
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/// <summary>
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/// 获取堆垛机状态
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/// </summary>
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public T GetStackerCraneStatus<T>() where T : notnull, Enum
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{
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return (T)GetStatus(typeof(T).Name);
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}
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/// <summary>
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/// 释放对象
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/// </summary>
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public void Dispose()
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{
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_heartStatr = false;
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_communicator.Dispose();
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GC.SuppressFinalize(this);
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}
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/// <summary>
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/// 根据参数名称读取堆垛机对应的数据。
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/// </summary>
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/// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
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/// <typeparam name="TResult">读取结果的返回值类型。</typeparam>
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/// <param name="value">参数名称。</param>
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/// <returns>返回读取到的数据。</returns>
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/// <exception cref="Exception"></exception>
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public TResult GetValue<TEnum, TResult>(TEnum value) where TEnum : Enum
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == value.ToString());
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return devicePro == null ? throw new Exception($"读取数据错误,未在协议信息里面找到参数{value.ToString()}") : (TResult)Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
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}
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/// <summary>
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/// 心跳
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/// </summary>
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public void Heartbeat()
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{
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}
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/// <summary>
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/// 发送任务命令
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/// </summary>
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/// <param name="command">任务命令</param>
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/// <returns></returns>
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public bool SendCommand<T>(T command) where T : IDataTransfer, new()
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{
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if (Communicator is SiemensS7)
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.Where(x => x.DeviceProParamType == nameof(DeviceCommand)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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return false;
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}
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if (Communicator.WriteCustomer(devicePro.DeviceProAddress, command))
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{
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StackerCraneTaskCommand = command;
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//CheckStackerCraneTaskCompleted();
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return true;
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}
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return false;
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}
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else
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{
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throw new Exception("暂不支持除西门子之外的PLC");
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}
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}
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/// <summary>
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/// 根据参数名称写入堆垛机对应的数据。
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/// </summary>
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/// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
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/// <typeparam name="TValue">要写入的数据类型。</typeparam>
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/// <param name="enum">参数名称。</param>
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/// <param name="value">要写入的数据。</param>
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/// <returns>返回写入成功或失败</returns>
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/// <exception cref="Exception"></exception>
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public bool SetValue<TEnum, TValue>(TEnum @enum, TValue value)
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where TEnum : Enum
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where TValue : notnull
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{
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if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
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DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == @enum.ToString());
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return devicePro == null ? throw new Exception($"写入数据错误,未在协议信息里面找到参数{value.ToString()}") : Communicator.WriteObj(devicePro.DeviceProAddress, devicePro.DeviceDataType, value);
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}
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#endregion
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}
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}
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