using Autofac.Core;
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using HslCommunication;
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using HslCommunication.Core;
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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 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.Helper;
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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_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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private readonly ITaskService _taskService;
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WebSocketServer _webSocketServer;
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public OHTJob(ITaskService taskService, WebSocketServer webSocketServer)
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{
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_taskService = taskService;//注入
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_webSocketServer = webSocketServer;
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}
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public Task Execute(IJobExecutionContext context)
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{
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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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OtherDevice device = (OtherDevice)value;
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try
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{
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//Example
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//device.GetValue 读取
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//device.SetValue 写入
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//_taskService.Repository; //仓储层，进行数据库访问
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OHTReadData oHTReadData = new OHTReadData();
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#region 读取天车设备数据
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oHTReadData.R_HeartBeat = device.GetValue<DeviceDBName, bool>(DeviceDBName.R_HeartBeat);
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oHTReadData.R_RunMode = device.GetValue<DeviceDBName, short>(DeviceDBName.R_RunMode);
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oHTReadData.R_RunState = device.GetValue<DeviceDBName, short>(DeviceDBName.R_RunState);
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oHTReadData.R_AlarmCode = device.GetValue<DeviceDBName, short>(DeviceDBName.R_AlarmCode);
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oHTReadData.R_TaskState = device.GetValue<DeviceDBName, short>(DeviceDBName.R_TaskState);
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oHTReadData.R_CurrentLine = device.GetValue<DeviceDBName, int>(DeviceDBName.R_CurrentLine);
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oHTReadData.R_CurrentColumn = device.GetValue<DeviceDBName, int>(DeviceDBName.R_CurrentColumn);
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oHTReadData.R_RiseUp_Position = device.GetValue<DeviceDBName, int>(DeviceDBName.R_RiseUp_Position);
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oHTReadData.R_TaskNumber = device.GetValue<DeviceDBName, int>(DeviceDBName.R_TaskNumber);
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oHTReadData.R_Loaded_1 = device.GetValue<DeviceDBName, short>(DeviceDBName.R_Loaded_1);
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oHTReadData.R_Loaded_2 = device.GetValue<DeviceDBName, short>(DeviceDBName.R_Loaded_2);
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oHTReadData.weight = device.GetValue<DeviceDBName, float>(DeviceDBName.weight);
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#region 测试用
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//oHTReadData.R_HeartBeat = 1;
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//oHTReadData.R_RunMode = 2;
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//oHTReadData.R_RunState = 3;
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//oHTReadData.R_AlarmCode = 4;
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//oHTReadData.R_TaskState = 5;
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//oHTReadData.R_CurrentLine = 6;
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//oHTReadData.R_CurrentColumn = 7;
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//oHTReadData.R_RiseUp_Position = 8;
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//oHTReadData.R_TaskNumber = 9;
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//oHTReadData.R_Loaded_1 =10;
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//oHTReadData.R_Loaded_2 = 11;
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//oHTReadData.R_Code_1 = "12";
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//oHTReadData.R_Code_2 = "13";
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//oHTReadData.R_Load_Requst_1 =true;
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//oHTReadData.R_Load_Requst_2 = false;
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#endregion
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#endregion
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//状态数据发送给前端
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string ohtData = JsonConvert.SerializeObject(oHTReadData);
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_webSocketServer.PublishAllClientPayload(ohtData);
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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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if (nawtask.TaskType== (int)TaskInboundTypeEnum.Inbound)
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{
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//如果任务的状态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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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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else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.Outbound)
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{
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//如果任务状态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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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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}
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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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_taskService.StackCraneTaskCompleted(oHTReadData.R_TaskNumber);
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}
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if (oHTReadData.R_RunMode == (int)RunModeEnum.Automatic && oHTReadData.R_AlarmCode == (int)AlarmCodeEnum.Normal)
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{
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if (oHTReadData.R_RunState == (int)RunStateEnum.Standby)
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{
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Dt_Task? task = GetTask();
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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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//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_Pick_Layer, oHTTaskCommand.W_Pick_Layer);
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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_Put_Layer, oHTTaskCommand.W_Put_Layer);
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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_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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//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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}
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}
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}
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}
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WriteInfo(device.DeviceName, "infoLog");
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WriteDebug(device.DeviceName, "debugLog");
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}
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catch (Exception ex)
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{
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WriteError(device.DeviceName, "错误", ex);
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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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oHtTaskCommand.W_Task_Type = 1;
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oHtTaskCommand.W_Load_Layer = 0;
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oHtTaskCommand.W_Pick_Line = 1;
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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[1]);
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oHtTaskCommand.W_Put_Column = Convert.ToInt16(SourceCodes[2]);
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oHtTaskCommand.W_Put_Layer = Convert.ToInt16(SourceCodes[3]);
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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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string[] targetCodes = task.TargetAddress.Split("-");
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if (targetCodes.Length == 3)
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{
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oHtTaskCommand.W_Put_Line = Convert.ToInt16(targetCodes[1]);
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oHtTaskCommand.W_Put_Column = Convert.ToInt16(targetCodes[2]);
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oHtTaskCommand.W_Put_Layer = Convert.ToInt16(targetCodes[3]);
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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, $"任务目标地址配置错误");
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return null;
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}
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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()
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{
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Dt_Task task;
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task = _taskService.QueryStackerCraneTask("R01");
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return task;
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}
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}
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}
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