using Autofac.Core;
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using HslCommunication;
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using HslCommunication.Core;
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using HslCommunication.Enthernet;
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using HslCommunication.WebSocket;
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using Microsoft.Extensions.Hosting;
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using Microsoft.VisualBasic.FileIO;
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using Newtonsoft.Json;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
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using Quartz;
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using SixLabors.ImageSharp.PixelFormats;
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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.Diagnostics.CodeAnalysis;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.BaseRepository;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_ISystemServices;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DeviceBase;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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using WIDESEAWCS_TaskInfoService;
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using WIDESEAWCS_Tasks.OHT;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class OHTJob : JobBase, IJob
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{
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public static string InorOut = "In";
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public static OHTReadData oHTReadData = new OHTReadData();
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private readonly ITaskService _taskService;
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private readonly Idt_ErrormsginfoService _ErrormsginfoService;
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private readonly IRepository<Dt_Task_hty> _taskhtyRepository;
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WebSocketServer _webSocketServer;
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OtherDevice devicese;
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OtherDevice deviceses;
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public OHTJob(ITaskService taskService, WebSocketServer webSocketServer, Idt_ErrormsginfoService errormsginfoService, IRepository<Dt_Task_hty> taskhtyRepository)
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{
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_taskService = taskService;//注入
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_webSocketServer = webSocketServer;
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_ErrormsginfoService = errormsginfoService;
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_taskhtyRepository = taskhtyRepository;
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}
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public Task Execute(IJobExecutionContext context)
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{
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//return Task.CompletedTask;
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bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
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if (flag && value != null)
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{
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//天车PLC对象
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OtherDevice device = (OtherDevice)value;
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OtherDevice zxj = (OtherDevice)Storage.Devices.Find(v => v.DeviceName == "阳极整形机");
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OtherDevice gzj = (OtherDevice)Storage.Devices.Find(v => v.DeviceName == "阳极规整机");
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devicese = zxj;
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deviceses = gzj;
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//整形机PLC对象
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var ZXJdevice = Storage.Devices.Find(v => v.DeviceName == "阳极整形机");
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//规整机PLC对象
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var GZJevice = Storage.Devices.Find(v => v.DeviceName == "阳极规整机");
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//if (!device.Communicator.IsConnected || !ZXJdevice.Communicator.IsConnected || !GZJevice.Communicator.IsConnected)
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//{
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// return Task.CompletedTask;
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//}
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try
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{
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#region 天车完成任务逻辑
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//因为天的任务需要分段发送，所以取货完成与放货完成需要单独做逻辑控制
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//判断天车当前有没有取货完成任务信号
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if (oHTReadData.R_RunState == (int)RunStateEnum.PickUpCompleted && oHTReadData.R_TaskState == (int)TaskStateEnum.TaskComplete)
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{
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//天车取货完成逻辑
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var nawtask = _taskService.QueryTakNnmTask(oHTReadData.R_TaskNumber);
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if (nawtask == null)
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{
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throw new Exception(string.Format("天车取货完成任务未查询到任务号{0}", oHTReadData.R_TaskNumber));
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}
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//入库
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if (nawtask.TaskType == (int)TaskInboundTypeEnum.Inbound)
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{
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//如果任务的状态是否是天车入库取货执行中
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if (nawtask.TaskState == (int)TaskInStatusEnum.Line_InGrabExecuting)
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{
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//修改状态
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WebResponseContent result = _taskService.UpdateTaskStatusToLine_Ingrab(nawtask);
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if (result.Status)
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{
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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}
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}
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//出库
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else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.Outbound)
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{
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//如果任务状态是否是天车出库取货执行中
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if (nawtask.TaskState == (int)TaskOutStatusEnum.Line_OutGrabExecuting)
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{
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//修改状态
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WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
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if (result.Status)
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{
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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}
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}
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//直接出库
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else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.OutInventory)
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{
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//修改状态
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WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
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if (result.Status)
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{
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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}
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//剔除出库
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else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuChuKu)
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{
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//修改状态
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WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
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if (result.Status)
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{
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//gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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}
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//剔除入库
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else if (nawtask.TaskType == (int)TaskInboundTypeEnum.TiChuRuKu)
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{
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//修改状态
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WebResponseContent result = _taskService.UpdateTaskStatusToLine_Ingrab(nawtask);
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if (result.Status)
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{
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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}
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//剔除直接出库
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else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
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{
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//修改状态
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WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
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if (result.Status)
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{
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//gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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}
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return Task.CompletedTask;
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}
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else if (oHTReadData.R_RunState == (int)RunStateEnum.PutCompleted && oHTReadData.R_TaskState == (int)TaskStateEnum.TaskComplete)
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{
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//天车放货完成逻辑
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WebResponseContent result = _taskService.StackCraneTaskCompleted(oHTReadData.R_TaskNumber, oHTReadData.weight);
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if (result.Status)
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{
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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var nawtask = _taskService.QueryTakNnmTask(oHTReadData.R_TaskNumber);
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if (nawtask == null)
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{
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throw new Exception(string.Format("天车取货完成任务未查询到任务号{0}", oHTReadData.R_TaskNumber));
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}
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//剔除出库与剔除直接出库
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//if (nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuChuKu || nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
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//{
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// gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, false);
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//}
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return Task.CompletedTask;
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}
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else if (oHTReadData.R_RunState == (int)RunStateEnum.MoveCompleted && oHTReadData.R_TaskState == (int)TaskStateEnum.TaskComplete)
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{
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//天车移动完成
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WebResponseContent result = _taskService.StackCraneTaskCompleted(oHTReadData.R_TaskNumber, oHTReadData.weight);
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if (result.Status)
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{
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//剔除出库、直接出库给完成信号
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//List<Dt_Task_hty> Task_hty = _taskhtyRepository.QueryData();
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//int shu = Task_hty.Count - 1;
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//int zhi = Task_hty[shu].TaskId;
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//Dt_Task_hty lishi = _taskhtyRepository.QueryFirst(x => x.TaskId == zhi);
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//if (lishi.TargetAddress == "40-2-1")
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//{
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// gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, false);
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//}
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device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
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}
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return Task.CompletedTask;
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}
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#endregion
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#region 天车发送任务逻辑
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if (oHTReadData.R_RunMode == (int)RunModeEnum.Automatic)
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{
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if (oHTReadData.R_RunState == (int)RunStateEnum.Standby)
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{
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//查看任务池中是否存在执行中的任务
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var tasking = _taskService.QueryTasking();
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if (tasking==null)
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{
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Dt_Task? task = GetTask(InorOut);
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if (task != null)
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{
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OHTTaskCommand? oHTTaskCommand = ConvertToOHTTaskCommand(task);
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if (oHTTaskCommand != null)
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{
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//给天车下发任务之前将此值写0
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device.SetValue(DeviceDBName.W_ConfirmSignal, 0);
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//todo：写入任务命令
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device.SetValue(DeviceDBName.W_Task_Type, oHTTaskCommand.W_Task_Type);
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device.SetValue(DeviceDBName.W_Pick_Line, oHTTaskCommand.W_Pick_Line);
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device.SetValue(DeviceDBName.W_Pick_Column, oHTTaskCommand.W_Pick_Column);
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device.SetValue(DeviceDBName.W_Put_Line, oHTTaskCommand.W_Put_Line);
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device.SetValue(DeviceDBName.W_Put_Column, oHTTaskCommand.W_Put_Column);
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device.SetValue(DeviceDBName.W_Catch_1, oHTTaskCommand.W_Catch_1);
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device.SetValue(DeviceDBName.W_Catch_2, oHTTaskCommand.W_Catch_2);
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device.SetValue(DeviceDBName.W_TaskNumber, oHTTaskCommand.W_TaskNumber);
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device.SetValue(DeviceDBName.W_CheckValue, oHTTaskCommand.W_CheckValue);
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//确认信号写入1，任务下达完成
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device.SetValue(DeviceDBName.W_ConfirmSignal, 1);
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Thread.Sleep(500);
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//WCS检测到天车的R_TaskState=1，通过W_ConfirmSignal置2表示让天车开始执行任务
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int R_TaskState = device.GetValue<DeviceDBName, short>(DeviceDBName.R_TaskState);
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if (R_TaskState == 1)
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{
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device.SetValue(DeviceDBName.W_ConfirmSignal, 2);
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}
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//下发成功，修改任务状态
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_taskService.UpdateTaskStatus(task.TaskId, oHTTaskCommand.W_Task_Type);
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}
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}
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}
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}
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}
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#endregion
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}
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catch (Exception ex)
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{
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_ErrormsginfoService.UpdateErrorMsg(ex.Message, 1);
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}
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}
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return Task.CompletedTask;
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}
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/// <summary>
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/// 任务实体转换成命令Model
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/// </summary>
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/// <param name="task">任务实体</param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public OHTTaskCommand? ConvertToOHTTaskCommand([NotNull] Dt_Task task)
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{
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OHTTaskCommand oHtTaskCommand = new OHTTaskCommand();
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if (task.TaskState == (int)TaskInStatusEnum.InNew || task.TaskState == (int)TaskOutStatusEnum.OutNew)
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{
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oHtTaskCommand.W_Task_Type = 2;
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string[] SourceCodes = task.SourceAddress.Split("-");
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if (SourceCodes.Length == 3)
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{
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oHtTaskCommand.W_Pick_Line = Convert.ToInt16(SourceCodes[0]);
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oHtTaskCommand.W_Pick_Column = Convert.ToInt16(SourceCodes[1]);
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oHtTaskCommand.W_Put_Line = 0;
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oHtTaskCommand.W_Put_Column = 0;
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//剔除出库(不需要发送信号)
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//剔除入库
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if (task.TaskType == (int)TaskInboundTypeEnum.TiChuRuKu)
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{
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devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, true);
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}
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//剔除直接出库
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else if (task.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
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{
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devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, true);
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}
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
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return null;
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}
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oHtTaskCommand.W_CheckValue = 2 + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
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}
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else if (task.TaskState == (int)TaskInStatusEnum.Line_Ingrab || task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
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{
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oHtTaskCommand.W_Task_Type = 3;
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string[] SourceCodes = task.TargetAddress.Split("-");
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if (SourceCodes.Length == 3)
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{
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oHtTaskCommand.W_Pick_Line = 0;
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oHtTaskCommand.W_Pick_Column =0;
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oHtTaskCommand.W_Put_Line = Convert.ToInt16(SourceCodes[0]);
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oHtTaskCommand.W_Put_Column = Convert.ToInt16(SourceCodes[1]);
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//剔除出库
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//if (task.TaskType == (int)TaskOutboundTypeEnum.TiChuChuKu)
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//{
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// deviceses.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
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//}
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//剔除入库
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if (task.TaskType == (int)TaskInboundTypeEnum.TiChuRuKu)
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{
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devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, false);
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}
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//剔除直接出库
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else if (task.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
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{
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//deviceses.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
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devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, false);
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}
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
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return null;
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}
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oHtTaskCommand.W_CheckValue = 3 + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
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}
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else if(task.TaskState == (int)TaskMoveStatusEnum.OutNewMove )
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{
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oHtTaskCommand.W_Task_Type = 4;
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string[] SourceCodes = task.TargetAddress.Split("-");
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if (SourceCodes.Length == 3)
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{
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oHtTaskCommand.W_Pick_Line = 0;
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oHtTaskCommand.W_Pick_Column = 0;
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oHtTaskCommand.W_Put_Line = Convert.ToInt16(SourceCodes[0]);
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oHtTaskCommand.W_Put_Column = Convert.ToInt16(SourceCodes[1]);
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}
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else
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{
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//数据配置错误
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_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
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return null;
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}
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oHtTaskCommand.W_CheckValue = 4 + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
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}
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if (task.WMSId==1)
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{
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oHtTaskCommand.W_Catch_1 = 1;
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oHtTaskCommand.W_Catch_2 = 0;
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oHtTaskCommand.W_CheckValue += 1;
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}
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else if (task.WMSId == 2)
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{
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oHtTaskCommand.W_Catch_1 = 0;
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oHtTaskCommand.W_Catch_2 = 1;
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oHtTaskCommand.W_CheckValue += 1;
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}
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else if (task.WMSId == 3)
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{
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oHtTaskCommand.W_Catch_1 = 1;
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oHtTaskCommand.W_Catch_2 = 1;
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oHtTaskCommand.W_CheckValue += 2;
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}
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oHtTaskCommand.W_TaskNumber = task.TaskId;
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oHtTaskCommand.W_CheckValue += task.TaskId;
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return oHtTaskCommand;
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}
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/// <summary>
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/// 获取任务
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/// </summary>
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/// <returns></returns>
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private Dt_Task? GetTask(string workType)
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{
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Dt_Task task;
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task = _taskService.QueryStackerCraneTask(workType);
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if (task!=null && (task.TaskState==(int)TaskInStatusEnum.InNew|| task.TaskState == (int)TaskOutStatusEnum.OutNew))
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{
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if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
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{
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InorOut = "Out";
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}
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else
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{
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InorOut = "In";
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}
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}
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else
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{
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if (workType.Equals("In"))
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{
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InorOut = "Out";
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}
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else
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{
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InorOut = "In";
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}
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}
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return task;
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}
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}
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}
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