using System.Diagnostics;
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using System.Text;
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using Microsoft.Data.SqlClient;
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using Newtonsoft.Json;
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using WIDESEA_Core.Enums;
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using WIDESEAWCS_Common.AGVEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Core.Tool;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_ISystemRepository;
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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 SendTaskAGV
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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 string url = AppSettings.Configuration["AGVTaskGeneration"];
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public static void SendAGVTask1(ITaskRepository _taskRepository, IDt_StationinfoRepository _stationinfoRepository)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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Dt_Task task = _taskRepository.QueryData(x => x.TaskState == (int)TaskInStatusEnum.InNew).OrderBy(r => r.CreateDate).FirstOrDefault(); //.ThenByDescending(r => r.Grade)
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if (task != null)
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{
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TaskGenerationDto taskGenerationDto = new TaskGenerationDto();
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{
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taskGenerationDto.taskid = task.TaskNum.ToString();
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taskGenerationDto.taskType = task.TaskType.ToString();
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taskGenerationDto.floor = task.Floor.ToString();
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taskGenerationDto.param1 = task.SourceAddress.ToString();
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taskGenerationDto.param2 = task.TargetAddress.ToString();
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taskGenerationDto.param3 = "";
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taskGenerationDto.param4 = "";
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taskGenerationDto.param5 = "";
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taskGenerationDto.param6 = "";
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taskGenerationDto.param7 = "";
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taskGenerationDto.param8 = "";
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taskGenerationDto.param9 = "";
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}
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var ResultData = HttpHelper.Post(url, taskGenerationDto.ToJson(), headers: new Dictionary<string, string>());
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var res = JsonConvert.DeserializeObject<WebResponseContent>(ResultData);
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if (res.code == 200)
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{
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WriteLog.Info("任务下发成功").Write($"任务号{task.TaskNum}", "任务下发成功");
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int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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task.TaskState = nextStatus;
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task.Dispatchertime = DateTime.Now;
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_taskRepository.UpdateData(task);
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}
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else
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{
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WriteLog.Info("任务下发失败").Write($"任务号{task.TaskNum}，信息{res.Message}", "任务下发失败");
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//_unitOfWorkManage.RollbackTran();
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content = WebResponseContent.Instance.Error($"{res.Message}");
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}
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}
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Thread.Sleep(100);
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Dt_Task dt_Task = _taskRepository.QueryData(x => x.TaskState == (int)TaskInStatusEnum.AGV_Queue).OrderBy(r => r.CreateDate).FirstOrDefault();
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if (dt_Task != null)
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{
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var station = _stationinfoRepository.QueryFirst(x => x.StationCode == dt_Task.SourceAddress);
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// 查找两个可用的空缓存架
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var freeStations = _stationinfoRepository
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.QueryData(x => x.Location_state == LocationStatusEnum.Free.ObjToInt() && x.Enable && x.Remark == station.Remark && x.Area == station.Area)// && x.Stationtype == station.Stationtype
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.Take(2) // 只取前两个
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.ToList();
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int floor = 0;
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if (station.Area.Contains("A区"))
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{
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floor = 32;
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}
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else
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{
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floor = 128;
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}
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if (freeStations.Count < 2)
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{
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throw new Exception("未找到两个可用的空缓存架");
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}
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// 检查这两个缓存架是否被任务占用
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var stationCodes = freeStations.Select(s => s.StationCode).ToList();
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freeStations[0].Location_state = LocationStatusEnum.Lock.ObjToInt();
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_stationinfoRepository.UpdateData(freeStations[0]);
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freeStations[1].Location_state = LocationStatusEnum.Lock.ObjToInt();
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_stationinfoRepository.UpdateData(freeStations[1]);
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//stationCodes.
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var tasks = _taskRepository.QueryData(x => stationCodes.Contains(x.SourceAddress) || stationCodes.Contains(x.TargetAddress)).ToList();
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if (tasks.Any())
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{
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throw new Exception("缓存架已有任务");
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}
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dt_Task.TargetAddress = string.Join("||", freeStations.Select(s => s.StationCode));
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dt_Task.NextAddress = string.Join("||", freeStations.Select(s => s.StationCode));
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dt_Task.TaskState = (int)TaskInStatusEnum.InNew;
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dt_Task.TaskType = floor;
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_taskRepository.UpdateData(dt_Task);
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}
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}
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catch (Exception ex)
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{
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}
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}
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public static void SendAGVTask(AGV agv, ITaskRepository _taskRepository)
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{
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// 连接字符串 - 根据你的服务器信息修改
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string connectionString = "Data Source=.;Initial Catalog=WIDESEAWCS_GanFengLiYeNew;User ID=sa;Password=sa123456;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False";
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List<Dt_Task> dt_Tasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskInStatusEnum.InNew);
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foreach (Dt_Task task in dt_Tasks)
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{
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// 要插入的SQL语句
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string insertSql = "INSERT INTO Dt_Stationinfo (StationCode, Location_state,Area,Enable,LastUpdateTime,Remark) VALUES (@StationCode, @Location_state,@Area,@Enable,@LastUpdateTime,@Remark)";
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try
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{
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using (SqlConnection connection = new SqlConnection(connectionString))
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{
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connection.Open();
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using (SqlCommand command = new SqlCommand(insertSql, connection))
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{
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// 添加参数防止SQL注入
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command.Parameters.AddWithValue("StationCode", task.TaskNum);
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command.Parameters.AddWithValue("Location_state", task.TaskNum);
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command.Parameters.AddWithValue("Area", task.Roadway);
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command.Parameters.AddWithValue("Enable", task.TaskNum);
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command.Parameters.AddWithValue("LastUpdateTime", DateTime.Now);
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command.Parameters.AddWithValue("Remark", task.Roadway);
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command.Parameters.AddWithValue("Creater", "WCS");
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command.Parameters.AddWithValue("CreateDate", DateTime.Now);
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int rowsAffected = command.ExecuteNonQuery();
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Console.WriteLine($"成功插入 {rowsAffected} 行数据");
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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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Console.WriteLine($"发生错误: {ex.Message}");
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}
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}
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// 检查AGV是否为空
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if (agv == null)
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{
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return;
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}
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// 获取任务交互和重置交互的设备地址
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var taskInteractiveR = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskInteractiveR.ToString())?.DeviceProAddress;
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var taskInteractiveW1 = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskInteractiveW.ToString())?.DeviceProAddress;
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var resetTaskW = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.resetTaskInteractiveW.ToString())?.DeviceProAddress;
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var resetTaskInteractiveR = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.resetTaskInteractiveR.ToString())?.DeviceProAddress;
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var taskID = agv.DeviceProDTOs.FirstOrDefault(r => r.DeviceProParamName == TaskDBName.taskID.ToString())?.DeviceProAddress;
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// 如果地址未找到，直接返回
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if (taskInteractiveR is null || taskInteractiveW1 is null || resetTaskW is null || resetTaskInteractiveR is null || taskID is null)
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{
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return;
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}
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try
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{
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// 读取任务交互和重置交互的状态
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int taskInteractive = agv.Communicator.Read<Int16>(taskInteractiveR); // 1表示收到
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int taskInteractiveW = agv.Communicator.Read<Int16>(taskInteractiveW1); // 0初始/1下发/2取消/3更改
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int resetTaskInteractiveW = agv.Communicator.Read<Int16>(resetTaskW);
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int resetTaskInteractiver = agv.Communicator.Read<Int16>(resetTaskInteractiveR);
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// 处理任务交互W和重置交互W不为0的情况
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if (isTrue1 && name1 == agv.DeviceName)
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{
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if (taskInteractiveW != 0 || resetTaskInteractiveW != 0 || taskInteractive != 0)
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{
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agv.Communicator.Write<UInt16>(resetTaskW, 1);
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Task.Delay(2000).Wait();
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resetTaskInteractiveW = agv.Communicator.Read<Int16>(resetTaskW);
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if (resetTaskInteractiveW == 1)
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{
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agv.Communicator.Write<UInt16>(resetTaskW, 0);
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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Task.Delay(2000).Wait();
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}
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return;
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}
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isTrue1 = false;
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name1 = "";
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}
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// 如果重置交互R为1，则重置任务交互W
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if (resetTaskInteractiver == 1)
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{
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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for (int i = 0; i < 5; i++)
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{
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Task.Delay(300).Wait(); // 用Task.Delay代替Thread.Sleep，以避免线程阻塞
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int agvNumber = agv.Communicator.Read<Int16>(taskInteractiveW1);
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if (agvNumber != 0)
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{
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 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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// 如果AGV没有任务且任务交互W为0
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if (taskInteractive == 0 && taskInteractiveW == 0)
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{
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// 查询新任务
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Dt_Task agvTask = _taskRepository.QueryData(r => r.TaskState == (int)TaskInStatusEnum.InNew && r.Roadway == agv.DeviceName && r.TaskType == (int)TaskOutboundTypeEnum.Outbound)
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.OrderBy(r => r.CreateDate).ThenByDescending(r => r.Grade).FirstOrDefault();
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if (agvTask != null)
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{
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// 写入任务信息
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string rel = TaskWrite(agv, agvTask, AGVJobEnum.newTaskEnum);
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Task.Delay(1000).Wait();
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// 检查任务ID是否写入正确
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string taskId = agv.Communicator.Read<string>(taskID);
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string numberPart = taskId.Split('-')[1];
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if (numberPart != agvTask.TaskNum.ToString())
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{
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throw new Exception($"给AGV写入任务失败,任务号{agvTask.TaskNum}");
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}
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// 如果任务信息写入成功
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if (string.IsNullOrEmpty(rel))
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{
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// 写入任务确认信号1
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 1);
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Task.Delay(1000).Wait();
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// 读取AGV的确认信号
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int readTask1Ok = agv.Communicator.Read<Int16>(taskInteractiveR);
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if (readTask1Ok == 1)
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{
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// 写入WCS的确认信号0
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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Task.Delay(2000).Wait();
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// 再次读取AGV的确认信号
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int readTask0Ok = agv.Communicator.Read<Int16>(taskInteractiveR);
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if (readTask0Ok == 0)
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{
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// 更新任务状态并保存
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
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agvTask.TaskState = nextStatus;
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agvTask.Dispatchertime = DateTime.Now;
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_taskRepository.UpdateData(agvTask);
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// 上传AGV运行数据（注释掉的代码）
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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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throw new Exception($"给AGV写入任务确认0失败,任务号{agvTask.TaskNum}");
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}
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}
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else if (readTask1Ok == 11)
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{
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// 处理任务异常情况
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agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
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Task.Delay(2000).Wait();
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int readTask0Error = agv.Communicator.Read<int>(taskInteractiveR);
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if (readTask0Error == 0)
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{
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// 更新任务状态为异常并保存
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int nextStatus = agvTask.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
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agvTask.TaskState = nextStatus;
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agvTask.Dispatchertime = DateTime.Now;
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_taskRepository.UpdateData(agvTask);
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}
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else
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{
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throw new Exception($"给AGV写入任务异常确认0失败,任务号{agvTask.TaskNum}");
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}
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}
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else
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{
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throw new Exception($"给AGV写入任务确认1失败,任务号{agvTask.TaskNum}");
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}
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}
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else
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{
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throw new Exception($"给AGV写入任务失败,任务号{agvTask.TaskNum} {rel}");
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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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// 记录异常信息（注释掉的代码）
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// StackTrace sta = new StackTrace(ex, true);
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// StackFrame sf = sta.GetFrame(0);
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// WriteLog.Info("SendAGVTask").Write(ex.Message + " 行号 " + sf.GetFileLineNumber(), "SendAGVTask");
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}
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finally
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{
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// 记录日志（注释掉的代码）
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// WriteLog.Info("SendAGVTask").Write(agv.PLCName + "\t" + DateTime.Now, "SendAGVTask");
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// 重置信号量
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Interlocked.Exchange(ref _readSendAGVTaskSignalso, 0);
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}
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}
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public static string TaskWrite(AGV client, Dt_Task agvTask, AGVJobEnum jobEnum)
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{
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List<byte> sendData = new List<byte>();
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string tmp = "KH-" + agvTask.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.SourceAddress).ToList();
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taskStart.Insert(0, 20);
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taskStart.Insert(1, Convert.ToByte(agvTask.SourceAddress.Length));
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for (int i = 0; i < 20 - agvTask.SourceAddress.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.TargetAddress).ToList();
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taskEnd.Insert(0, 20);
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taskEnd.Insert(1, Convert.ToByte(agvTask.TargetAddress.Length));
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for (int i = 0; i < 20 - agvTask.TargetAddress.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)1).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.Barcode).ToList();
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containerType.Insert(0, 30);
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containerType.Insert(1, Convert.ToByte(agvTask.Barcode.Length));
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for (int i = 0; i < 30 - agvTask.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)1).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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var operateResult = client.Communicator.Write("DB1000.0", sendData.ToArray());
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if (!operateResult)
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return "AGV发送任务失败";
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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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return "";
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}
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}
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}
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