using Castle.Core.Internal;
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using Newtonsoft.Json;
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using System;
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using System.Diagnostics;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using WIDESEA_Common;
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using WIDESEA_Common.Tools;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Services.IRepositories;
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using WIDESEA_Services.Repositories;
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using WIDESEA_WCS.EquipBaseInfo;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS.SchedulerExecute.AGV
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{
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public partial class AGVSchedulerExecute
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{
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private static int _readSendAGVTaskSignalso = 0;
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private static bool isTrue1 = false;
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private static string name1 = "";
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public static void SendAGVTask1(PLCClient plcClient)
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{
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if (Interlocked.Exchange(ref _readSendAGVTaskSignalso, 1) == 0)
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{
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try
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{
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VOLContext context = new VOLContext();
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Idt_agvtaskRepository agvtaskRepository = new dt_agvtaskRepository(context);
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dt_agvtask agvTask = agvtaskRepository.Find(r => r.agv_taskstate == AGVTaskStateEnum.Create.ToString() && r.agv_code == plcClient.PLCName).OrderBy(r => r.agv_createtime).FirstOrDefault();
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if (agvTask!=null)
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{
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int TaskInteractive = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));//1收到//DB1000.114.0
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int TaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString()));//0初始/1下发/2取消/3更改//DB1000.112.0
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int resetTaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveW.ToString()));//DB1000.118.0
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int resetTaskInteractiver = Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveR.ToString()));//DB1000.120.0
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WriteLog.Info("agvplc总").Write("连接成功：" + plcClient.PLCName + "TaskInteractive：" + TaskInteractive + ",TaskInteractiveW" + TaskInteractiveW + ",resetTaskInteractiveW" + resetTaskInteractiveW + "，resetTaskInteractiver：" + resetTaskInteractiver + "--" + DateTime.Now, "agvplc总");
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#region
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//if (isTrue1 && name1 == plcClient.PLCName)
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//{
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// if (TaskInteractiveW != 0 || resetTaskInteractiveW != 0 || TaskInteractive != 0)
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// {
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// plcClient.WriteValue(TaskDBName.resetTaskInteractiveW.ToString(), 1);
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// Task.Delay(2000).Wait();
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// resetTaskInteractiveW = Convert.ToInt32(plcClient.ReadValue(TaskDBName.resetTaskInteractiveW.ToString()));
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// dt_agvtask a1 = agvtaskRepository.Find(r => r.agv_taskstate == AGVTaskStateEnum.Create.ToString() && r.agv_code == plcClient.PLCName && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).FirstOrDefault();
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// dt_agvtask a2 = agvtaskRepository.Find(r => r.agv_taskstate != AGVTaskStateEnum.Create.ToString() && r.agv_code == plcClient.PLCName && r.agv_tasktype.Contains(AGVTaskTypeEnum.TaskType_Outbound.ToString())).FirstOrDefault();
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// bool a3 = false;
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// if (a1 != null && a2 == null)
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// {
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// a3 = true;
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// }
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// bool s1 = (a1 == null ? true : false);
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// bool s2 = (a2 == null ? true : false);
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// DateTime swewa = DateTime.Now;
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// TimeSpan ts = a1.agv_createtime.Subtract(swewa).Duration();
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// string diff = ts.TotalSeconds.ToString();
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// double sumdiff = Double.Parse(diff);
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// int sum = (int)sumdiff;
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// bool s3 = sum > 180;
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// WriteLog.Info("agv测试").Write("创建未执行任务是否存在:" + s1 + "存在下发任务:" + s2 + "===a3:" + a3 +
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// "--时间差为：" + sum + "==s3" + s3 +
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// DateTime.Now, "agv测试");
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// if (resetTaskInteractiveW == 1 || (a3 && s3))
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// {
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// plcClient.WriteValue(TaskDBName.resetTaskInteractiveW.ToString(), 0);
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// plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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// Task.Delay(2000).Wait();
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// a3 = false;
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// }
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// return;
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// }
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// else
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// {
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// isTrue1 = false;
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// name1 = "";
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// }
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//}
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//if (resetTaskInteractiver == 1)
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//{
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// plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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// for (int i = 0; i < 5; i++)
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// {
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// Thread.Sleep(300);
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// var agvnumber = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveW.ToString()));
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// if (agvnumber != 0)
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// {
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// plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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// }
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// else
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// {
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// break;
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// }
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// }
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//}
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#endregion
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if (0 == TaskInteractive && TaskInteractiveW == 0)
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{
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//写入任务信息
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string rel = AGVBaseInfo.TaskWrite(plcClient, agvTask, AGVJobEnum.newTaskEnum);
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/*2023.8.2新增 给驰众写入卷绕长度*/
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if (agvTask?.agv_toaddress.Contains("JR") ?? false)
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{
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plcClient.SiemensPLCClient.SiemensS7NetClient.Write("DB1000.122", agvTask.size);
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if (!string.IsNullOrEmpty(agvTask.JRunm))
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{
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plcClient.SiemensPLCClient.SiemensS7NetClient.Write("DB1000.78.0", agvTask.JRunm);
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WriteLog.Info("SendAGVTask").Write("给AGV写入任务卷绕信息," + agvTask.size + agvTask.JRunm + DateTime.Now, "SendAGVTask");
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}
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else
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{
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WriteLog.Info("SendAGVTask").Write("给AGV写入任务卷绕信息,值为空" + DateTime.Now, "SendAGVTask");
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}
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}
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#region
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//if (agvTask.agv_fromaddress.Contains("JJK") && agvTask.agv_toaddress.Contains("TBHCJ"))
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//{
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// string barcode = "TB-" + agvTask.agv_materbarcode.Split('*')[0].Substring(agvTask.agv_materbarcode.Split('*')[0].Length - 1, 1);
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// plcClient.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), barcode);
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// WriteLog.Info("materBarcode1").Write(agvTask.agv_tasknum+barcode + DateTime.Now, "materBarcode1");
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// for (int i = 0; i < 10; i++)
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// {
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// Thread.Sleep(1000);
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// string newbarcode = plcClient.ReadBarcodeValue(TaskDBName.materBarcode.ToString()).ToString();
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// if (newbarcode != barcode)
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// {
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// plcClient.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), barcode);
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// WriteLog.Info("materBarcode2").Write(agvTask.agv_tasknum + barcode +newbarcode+ DateTime.Now, "materBarcode2");
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// }
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// else
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// {
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// break;
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// }
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// }
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//}
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//else
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//{
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// plcClient.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), "0");
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// for (int i = 0; i < 10; i++)
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// {
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// Thread.Sleep(1000);
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// string newbarcode = plcClient.ReadBarcodeValue(TaskDBName.materBarcode.ToString()).ToString();
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// WriteLog.Info("materBarcode3").Write(agvTask.agv_tasknum + newbarcode + DateTime.Now, "materBarcode3");
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// if (newbarcode!="0")
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// {
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// string barcode3= plcClient.WriteBarcodeValue(TaskDBName.materBarcode.ToString(), "0").ToString();
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// WriteLog.Info("materBarcode4").Write(agvTask.agv_tasknum + barcode3 + DateTime.Now, "materBarcode4");
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// }
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// else
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// {
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// break;
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// }
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// }
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//}
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#endregion
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Thread.Sleep(1000);
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string taskId = plcClient.ReadValue(TaskDBName.taskID.ToString()).ToString();
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if (taskId != agvTask.agv_tasknum)
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{
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//isTrue1 = true;
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//name1 = plcClient.PLCName;
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agvTask.ErrMsg = "AGV读取任务号不匹配";
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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}else if (string.IsNullOrEmpty(rel))
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{
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//写入任务确认1
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 1);
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Thread.Sleep(1000);
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//读取AGV信号
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int ReadTask_1_OK = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));
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if (ReadTask_1_OK == 1)
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{
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//写入WCS确认信号0
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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Thread.Sleep(2000);
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//读取AGV信号是否为0
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int ReadTask_0_OK = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));
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if (ReadTask_0_OK == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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// 上传AGV运行数据 by xiaoyang
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SendMESTask.SendMesTask(agvTask, 0);
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}
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else
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{
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agvTask.ErrMsg = "给AGV写入任务确认0失败";
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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}
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}
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else if (ReadTask_1_OK == 11)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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Thread.Sleep(2000);
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int ReadTask_0_Error = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));
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if (ReadTask_0_Error == 0)
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{
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agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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}
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else
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{
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agvTask.ErrMsg = "给AGV写入任务异常确认0失败";
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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}
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}
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else
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{
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agvTask.ErrMsg = "给AGV写入任务确认1失败";
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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}
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}
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else
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{
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agvTask.ErrMsg = "给AGV写入任务失败";
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agvTask.agv_realesstime = DateTime.Now;
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agvtaskRepository.Update(agvTask, true);
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}
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}
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else if (TaskInteractive == 11 && TaskInteractiveW == 1)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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//Thread.Sleep(2000);
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//int ReadTask_0_Error = Convert.ToInt32(plcClient.ReadValue(TaskDBName.taskInteractiveR.ToString()));
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//if (ReadTask_0_Error == 0)
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//{
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// agvTask.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
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// agvTask.agv_realesstime = DateTime.Now;
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// agvtaskRepository.Update(agvTask, true);
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//}
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//else
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//{
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// isTrue1 = true;
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// name1 = plcClient.PLCName;
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// throw new Exception(string.Format("给AGV写入任务重复确认0失败11,任务号{0}", agvTask.agv_tasknum));
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//}
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}
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else if (0 == TaskInteractive && TaskInteractiveW == 1)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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}
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else if (1 == TaskInteractive && TaskInteractiveW == 1)
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{
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plcClient.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
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}
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}
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}
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catch (Exception ex)
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{
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WriteLog.Info("SendAGVTask").Write(plcClient.PLCName+ ex.Message.ToString()+ DateTime.Now, "SendAGVTask");
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}
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finally
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{
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Interlocked.Exchange(ref _readSendAGVTaskSignalso, 0);
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}
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}
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}
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}
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}
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