using Newtonsoft.Json;
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using WIDESEAWCS_Common.AGVEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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namespace WIDESEAWCS_Tasks
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{
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public class UpdateTaskAGV
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{
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private static int _readUpdateAGVTaskSignalso = 0;
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public void UpdateTask2(AGV plcClient, ITaskRepository _taskRepository)
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{
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//TODO: Update the task status and result in the database
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if (Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 1) == 0)
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{
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try
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{
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if (plcClient == null)
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{
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return;
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}
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//读取任务状态
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var taskFbInteractiveR = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveR.ToString()).FirstOrDefault().DeviceProAddress;
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var taskFbInteractive2 = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveW.ToString()).FirstOrDefault().DeviceProAddress;
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var resetTaskFbInteractiveR = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.resetTaskFbInteractiveR.ToString()).FirstOrDefault().DeviceProAddress;
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var taskIDFb = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskIDFb.ToString()).FirstOrDefault().DeviceProAddress;
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var taskStatusFb = plcClient.DeviceProDTOs.Where(r => r.DeviceProParamName == TaskDBName.taskStatusFb.ToString()).FirstOrDefault().DeviceProAddress;
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int taskFbInteractive = plcClient.Communicator.Read<int>(taskFbInteractiveR);
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int taskFbInteractiveW = plcClient.Communicator.Read<int>(taskFbInteractive2);
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int resetTaskFbInteractiver = plcClient.Communicator.Read<int>(resetTaskFbInteractiveR);
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//0初始状态 1 RCS更新了一条任务状态
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if (resetTaskFbInteractiver == 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 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 = plcClient.Communicator.Read<int>(taskFbInteractive2);
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if (agvnumber != 0)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 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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if (1 == taskFbInteractive && taskFbInteractiveW == 0)
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{
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string taskId = plcClient.Communicator.Read<int>(taskIDFb).ToString();//任务ID
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if (taskId.Contains("\b")) { taskId = taskId.Remove(0, 1); }
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int taskState = plcClient.Communicator.Read<int>(taskStatusFb);//1起点执行中,2起点已完成,3终点执行中,4终点已完成
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if (0 == taskState)//无含义
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return;
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//WriteLog.Info("AGV更新任务状态").Write("任务号" + taskId + "任务状态" + taskState, "AGV更新任务状态");
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Dt_Task agvTask = _taskRepository.QueryFirst(r => r.TaskNum.ToString() == taskId);
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if (1 == taskState)//任务起点执行中
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{
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if (null == agvTask)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务起点执行中状态确认1", "AGV更新任务状态");
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}
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if (agvTask.TaskState == (int)TaskInStatusEnum.Line_InExecuting)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务起点执行中状态确认1", "AGV更新任务状态");
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}
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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agvTask.TaskState = nextStatus;
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_taskRepository.UpdateData(agvTask);
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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 = plcClient.Communicator.Read<int>(taskFbInteractive2);
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if (agvnumber != 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + "任务起点执行中状态确认1", "AGV更新任务状态");
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}
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else if (2 == taskState)//任务起点已完成
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{
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if (null == agvTask)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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return;
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}
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if (agvTask.TaskState == (int)TaskInStatusEnum.Line_InFinish)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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}
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else if (agvTask.TaskState == (int)TaskInStatusEnum.Line_InExecuting)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号的任务状态不是起点执行中，" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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}
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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agvTask.TaskState = nextStatus;
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_taskRepository.UpdateData(agvTask);
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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 = plcClient.Communicator.Read<int>(taskFbInteractive2);
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if (agvnumber != 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务起点完成状态确认1", "AGV更新任务状态");
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}
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else if (3 == taskState)//任务终点执行中
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{
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if (null == agvTask)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
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}
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if (agvTask.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS再次写入AGV任务号" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
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}
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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agvTask.TaskState = nextStatus;
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_taskRepository.UpdateData(agvTask);
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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 = plcClient.Communicator.Read<int>(taskFbInteractive2);
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if (agvnumber != 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务终点执行中状态确认1", "AGV更新任务状态");
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}
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else if (4 == taskState)//任务终点完成
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{
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if (null == agvTask)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号,当前任务号不存在任务列表里，" + taskId + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
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return;
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}
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else if (agvTask.TaskState != (int)TaskInStatusEnum.SC_InExecuting)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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//throw new Exception("任务状态更改为4终点已完成失败,任务ID:" + agvTask.agv_tasknum + DateTime.Now + ",任务状态不是终点执行中!");
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}
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if (agvTask.TargetAddress.Contains("HXWLX"))
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{
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if (agvTask.SourceAddress.Contains("KPHLX"))
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{
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// 空盘线进烘箱
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// TODO: 调用创智接口获取完整条码
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var materials = new List<BakingClass>
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{
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new BakingClass { BarCode = "1", MaterialType = "1" },
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};
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MESback WMSbackresult = MESAPIInvoke.BakingFeedingBinding(agvTask.TargetAddress, materials);
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if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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}
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else
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{
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// 提升机进烘箱
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// TODO: 调用创智接口获取完整条码
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var materials = new List<BakingClass>
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{
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new BakingClass { BarCode = "1", MaterialType = "1" },
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};
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MESback WMSbackresult = MESAPIInvoke.BakingFeedingBinding(agvTask.TargetAddress, materials);
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if (WMSbackresult.Code > 0) { new Exception(WMSbackresult.Message); return; }
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}
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}
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//agvtask_HtyRepository.AddTaskHistory(agvTask, OperateType.Finished.ToString());
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_taskRepository.DeleteData(agvTask);
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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 = plcClient.Communicator.Read<int>(taskFbInteractive2);
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if (agvnumber != 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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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//WriteLog.Info("AGV更新任务状态").Write("WCS写入AGV任务号" + taskId + DateTime.Now + "任务终点完成状态确认1", "AGV更新任务状态");
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}
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else if (5 == taskState)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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}
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}
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//if (taskFbInteractive == 1 && taskFbInteractiveW == 1)//反馈没收到重新反馈
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// plcClient.Communicator.Write(taskFbInteractive2, 0);
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if (taskFbInteractive == 0 && taskFbInteractiveW == 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 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.Communicator.Read<int>(taskFbInteractive2));
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if (agvnumber != 0)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 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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}
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catch (Exception ex)
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{
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//WriteLog.Info("AGV更新任务状态").Write("WCS接收AGV任务反馈异常" + ex.Message.ToString() + DateTime.Now, "AGV更新任务状态");
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}
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finally
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{
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Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 0);
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}
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}
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}
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public static void UpdateTask(AGV plcClient, ITaskRepository taskRepository)
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{
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// 使用Interlocked.Exchange保证同一时间只有一个线程可以执行任务更新
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if (Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 1) == 0)
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{
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try
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{
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if (plcClient == null)
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{
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return;
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}
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// 从AGV设备中获取各个任务状态的地址
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var taskFbInteractiveR = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveR.ToString())?.DeviceProAddress;
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var taskFbInteractive2 = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskFbInteractiveW.ToString())?.DeviceProAddress;
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var resetTaskFbInteractiveR = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.resetTaskFbInteractiveR.ToString())?.DeviceProAddress;
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var taskIDFb = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskIDFb.ToString())?.DeviceProAddress;
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var taskStatusFb = plcClient.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskStatusFb.ToString())?.DeviceProAddress;
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// 检查是否找到有效的地址，如果没有找到则直接返回
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if (taskFbInteractiveR == null || taskFbInteractive2 == null || resetTaskFbInteractiveR == null || taskIDFb == null || taskStatusFb == null)
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{
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return;
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}
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// 读取任务状态
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int taskFbInteractive = plcClient.Communicator.Read<int>(taskFbInteractiveR);
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int taskFbInteractiveW = plcClient.Communicator.Read<int>(taskFbInteractive2);
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int resetTaskFbInteractiveRValue = plcClient.Communicator.Read<int>(resetTaskFbInteractiveR);
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// 如果resetTaskFbInteractiveR为1，则重置taskFbInteractiveW为0，并等待其变为0
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if (resetTaskFbInteractiveRValue == 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 0);
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// 避免使用Thread.Sleep来等待状态变化，使用更高效的等待机制
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for (int i = 0; i < 5; i++)
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{
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Task.Delay(300).Wait(); // 使用Task.Delay替代Thread.Sleep，避免阻塞线程池中的线程
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int agvNumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
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if (agvNumber != 0)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 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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// 只有当taskFbInteractive为1且taskFbInteractiveW为0时才处理任务状态
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if (taskFbInteractive == 1 && taskFbInteractiveW == 0)
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{
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string taskId = plcClient.Communicator.Read<int>(taskIDFb).ToString(); // 任务ID
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int taskState = plcClient.Communicator.Read<int>(taskStatusFb); // 任务状态
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// 如果任务状态无效，则直接返回
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if (taskState == 0)
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{
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return;
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}
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// 根据任务ID查询数据库中的任务
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var agvTask = taskRepository.QueryFirst(r => r.TaskNum.ToString() == taskId);
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if (agvTask == null)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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return; // 如果任务不存在，直接返回，不需要再次写入
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}
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// 根据任务状态更新任务状态
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if (taskState == 1) // 任务起点执行中
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{
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UpdateTaskStatus(plcClient, agvTask, TaskInStatusEnum.Line_InExecuting, taskRepository, taskFbInteractive2);
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}
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else if (taskState == 2) // 任务起点已完成
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{
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UpdateTaskStatus(plcClient, agvTask, TaskInStatusEnum.Line_InFinish, taskRepository, taskFbInteractive2);
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}
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else if (taskState == 3) // 任务终点执行中
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{
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UpdateTaskStatus(plcClient, agvTask, TaskInStatusEnum.SC_InExecuting, taskRepository, taskFbInteractive2);
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}
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else if (taskState == 4) // 任务终点完成
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{
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if (agvTask.TaskState != (int)TaskInStatusEnum.SC_InExecuting)
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{
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// 如果任务状态不是终点执行中，抛出异常
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throw new Exception($"任务状态更改为4终点已完成失败,任务ID:{taskId},当前状态:{agvTask.TaskState}");
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}
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// 删除已完成的任务
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taskRepository.DeleteData(agvTask);
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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EnsureTaskFeedback(taskFbInteractive2, plcClient);
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}
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else if (taskState == 5)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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}
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}
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// 如果taskFbInteractive为0且taskFbInteractiveW为1，则重置taskFbInteractiveW为0
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if (taskFbInteractive == 0 && taskFbInteractiveW == 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 0);
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EnsureTaskFeedback(taskFbInteractive2, plcClient);
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}
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}
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catch (Exception ex)
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{
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// 记录异常信息
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Console.WriteLine($"WCS接收AGV任务反馈异常 {ex.Message}");
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}
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finally
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{
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Interlocked.Exchange(ref _readUpdateAGVTaskSignalso, 0);
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}
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}
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}
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// 更新任务状态并写入AGV反馈地址
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private static void UpdateTaskStatus(AGV plcClient, Dt_Task agvTask, TaskInStatusEnum targetStatus, ITaskRepository taskRepository, string taskFbInteractive2)
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{
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if (agvTask.TaskState != (int)targetStatus)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1); // 状态不匹配，写入反馈
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}
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// 更新任务状态为下一个未完成状态
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agvTask.TaskState = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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taskRepository.UpdateData(agvTask);
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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EnsureTaskFeedback(taskFbInteractive2, plcClient);
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}
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// 确保任务反馈地址的状态为1
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private static void EnsureTaskFeedback(string taskFbInteractive2, AGV plcClient)
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{
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for (int i = 0; i < 5; i++)
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{
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Task.Delay(300).Wait();
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int agvNumber = plcClient.Communicator.Read<int>(taskFbInteractive2);
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if (agvNumber != 1)
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{
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plcClient.Communicator.Write(taskFbInteractive2, 1);
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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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}
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public class BakingFeedingClass
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{
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public string Devid { get; set; }
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public List<BakingClass> Materials { get; set; }
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}
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public class BakingClass
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{
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public string MaterialType { get; set; }
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public string BarCode { get; set; }
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}
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}
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