From a89f1faab22c204627d49d6731be9c94d8160184 Mon Sep 17 00:00:00 2001
From: duyongjia <adu_555@163.com>
Date: 星期五, 22 十一月 2024 11:23:47 +0800
Subject: [PATCH] 优化修改提交
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs | 355 +++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 224 insertions(+), 131 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
index 1f79946..2d2c8a0 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
@@ -1,4 +1,6 @@
-锘縰sing Microsoft.AspNetCore.Components.Routing;
+锘縰sing HslCommunication;
+using Microsoft.AspNetCore.Components.Routing;
+using Newtonsoft.Json;
using Quartz;
using System;
using System.Collections.Generic;
@@ -6,41 +8,53 @@
using System.Linq;
using System.Text;
using System.Threading.Tasks;
+using WIDESEAWCS_Common.ServiceLog;
using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Enums;
+using WIDESEAWCS_DTO.TaskInfo;
+using WIDESEAWCS_IBasicRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
+using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
+using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
+using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.StackerCraneJob;
namespace WIDESEAWCS_Tasks
{
[DisallowConcurrentExecution]
- public class CommonStackerCraneJob : IJob
+ public class CommonStackerCraneJob : JobBase, IJob
{
private readonly ITaskService _taskService;
private readonly ITaskExecuteDetailService _taskExecuteDetailService;
private readonly ITaskRepository _taskRepository;
private readonly IRouterService _routerService;
+ private readonly ILocationInfoRepository _locationInfoRepository;
- public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
+ public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, ILocationInfoRepository locationInfoRepository)
{
_taskService = taskService;
_taskExecuteDetailService = taskExecuteDetailService;
_taskRepository = taskRepository;
_routerService = routerService;
+ _locationInfoRepository = locationInfoRepository;
}
public Task Execute(IJobExecutionContext context)
{
+ WriteDebug("澶у爢鍨涙満杩愯鏃ュ織", "寮�濮嬫椂闂�" + DateTime.Now);
+ WriteDebug("澶у爢鍨涙満杩愯鏃ュ織", $"澶у爢鍨涙満浠诲姟鎵ц涓�...");
+ //CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
+ CommonStackerCrane commonStackerCrane = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC01") as CommonStackerCrane;
try
- {
- CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
+ {
if (commonStackerCrane != null)
{
if (!commonStackerCrane.IsEventSubscribed)
@@ -51,20 +65,35 @@
if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
{
commonStackerCrane.CheckStackerCraneTaskCompleted();//闃叉浠诲姟瀹屾垚浜嬩欢鐩戞祴瓒呮椂锛屽啀鎵嬪姩瑙﹀彂涓�娆�
-
+
if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
{
Dt_Task? task = GetTask(commonStackerCrane);
if (task != null)
{
+ WriteDebug("澶у爢鍨涙満杩愯鏃ュ織", $"澶у爢鍨涙満浠诲姟鍙穥task.TaskNum}");
StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
if (stackerCraneTaskCommand != null)
{
bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
if (sendFlag)
{
- commonStackerCrane.LastTaskType = task.TaskType;
- _taskService.UpdateTaskStatusToNext(task.TaskNum);
+
+ if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
+ {
+ _taskService.UpdateTaskStatus(task.TaskId, (int)TaskInStatusEnum.SC_InExecuting);
+ _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍫嗗灈鏈哄叆搴撴墽琛屼腑");
+ }
+ else if(task.TaskType == (int)TaskOutboundTypeEnum.OutInventory|| task.TaskType == (int)TaskOutboundTypeEnum.OutPick|| task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
+ {
+ _taskService.UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutExecuting);
+ _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍫嗗灈鏈哄嚭搴撴墽琛屼腑");
+ }
+ }
+ else
+ {
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, "鍫嗗灈鏈烘墽琛屼换鍔″懡浠ゅけ璐ワ紒");
+ WriteDebug(nameof(CommonStackerCraneJob), "鍫嗗灈鏈烘墽琛屼换鍔″懡浠ゅけ璐ワ紒");
}
}
}
@@ -74,8 +103,171 @@
}
catch (Exception ex)
{
- Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
+ WriteError(nameof(CommonStackerCraneJob), "澶у爢鍨涙満鎵ц浠诲姟寮傚父锛�",ex);
}
+
+
+ //鏌ヨ鎻愬崌鏈�/缁勭珛鏈轰俊鍙�
+ //Task.Run(delegate
+ //{
+ try
+ {
+ if (commonStackerCrane != null)
+ {
+
+ Dt_Task? task1001 = _taskService.QueryStackerCraneTaskByAGVRequest("SC01");
+ if (task1001 != null)
+ {
+ //璇诲彇鎻愬崌鏈轰俊鍙凤紝纭畾鏄惁鍙互杩涘叆
+ int IsAllow = 0;
+ if (task1001.SourceAddress == "SC01-002-000-001")//WMS 1001绔欑偣
+ {
+ IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.0.0");
+ }
+ else if (task1001.SourceAddress == "SC01-002-000-002")//WMS 1002绔欑偣
+ {
+ IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.8.0");
+ }
+ if (IsAllow == 1)//濡傛灉涓�1锛屽垯鍏佽AGV杩涘叆锛屽洖浼燱MS
+ {
+ MESSendCMD sendcmd = new MESSendCMD { cmd = 2001, task_id = task1001.TaskNum, status = 6 };
+ MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
+ if (res != null && res.code != 0)
+ {
+ WriteDebug(nameof(CommonStackerCraneJob), $"鎻愬崌鏈烘彁鍗囧畬鎴愶紝鍥炰紶WMS澶辫触锛佷换鍔″彿{task1001.TaskNum}");
+ }
+ }
+ }
+ Dt_Task? task3001 = _taskService.QueryStackerCraneTaskByAGVPutFinish("SC01");
+ if (task3001 != null)
+ {
+ int IsFinish = 0;
+ int IsWriteOne = 0;
+ int IsWriteTwo = 0;
+ if (task3001.SourceAddress == "SC01-002-000-001")//WMS 1001绔欑偣
+ {
+ //鎻愬崌鏈烘槸鍚﹀浜庡氨缁姸鎬�
+ int IsReady= commonStackerCrane.Communicator.Read<short>("DB2.0.0");
+ //鍐欏叆鎻愬崌淇℃伅
+ IsWriteOne = commonStackerCrane.Communicator.Read<short>("DB1.0.0");
+ if(IsWriteOne == 0&& IsReady == 1)
+ {
+ commonStackerCrane.Communicator.Write<short>("DB1.0.0", 1);
+ }
+ //璇诲彇鎻愬崌鏈轰俊鍙凤紝纭畾鏄惁鎻愬崌瀹屾垚
+
+ IsFinish= commonStackerCrane.Communicator.Read<short>("DB2.2.0");
+ }
+ else if (task3001.SourceAddress == "SC01-002-000-002")//WMS 1002绔欑偣
+ {
+ //鎻愬崌鏈烘槸鍚﹀浜庡氨缁姸鎬�
+ int IsReady = commonStackerCrane.Communicator.Read<short>("DB2.0.0");
+ //鍐欏叆鎻愬崌淇℃伅
+ IsWriteTwo = commonStackerCrane.Communicator.Read<short>("DB1.6.0");
+ if (IsWriteTwo == 0 && IsReady == 1)
+ {
+ commonStackerCrane.Communicator.Write<short>("DB1.6.0", 1);
+ }
+ //璇诲彇鎻愬崌鏈轰俊鍙凤紝纭畾鏄惁鎻愬崌瀹屾垚
+ IsFinish = commonStackerCrane.Communicator.Read<short>("DB2.10.0");
+ }
+ if (IsFinish == 1)//濡傛灉涓�1锛屽垯琛ㄧず鎻愬崌瀹屾垚锛屽洖浼燱MS
+ {
+ MESSendCMD sendcmd = new MESSendCMD { cmd = 2002, task_id = task3001.TaskNum, status = 6 };
+ MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
+ string inparam = JsonConvert.SerializeObject(sendcmd);
+ WriteDebug(nameof(CommonStackerCraneJob), $"鎻愬崌鏈烘彁鍗囧畬鎴愶紝鍥炰紶WMS,鍏ュ弬锛歿inparam}");
+
+ if (res != null && res.code != 0)
+ {
+ WriteDebug(nameof(CommonStackerCraneJob), $"鎻愬崌鏈烘彁鍗囧畬鎴愶紝鍥炰紶WMS澶辫触锛佷换鍔″彿{task3001.TaskNum}");
+ }
+ }
+ }
+
+ //灏忓爢鍨涙満鍑哄簱瀹屾垚浠诲姟
+ Dt_Task? taskSmall = _taskService.QueryStackerCraneFinishTask();
+ if(taskSmall != null)
+ {
+ //鏍规嵁浠诲姟婧愬湴鍧�纭畾鍐欏叆PLC浣嶇疆 Depth
+ Dt_LocationInfo location = _locationInfoRepository.QueryFirst(x=>x.LocationCode==taskSmall.SourceAddress);
+ if(location != null)
+ {
+ string[] Levels = taskSmall.Remark.Split("-");
+ if (Levels.Length == 2)
+ {
+ if (!string.IsNullOrEmpty(Levels[0]) && !string.IsNullOrEmpty(Levels[1]))
+ {
+ int level = Convert.ToInt16(Levels[0]) - Convert.ToInt16(Levels[1]);
+
+ //鍓╀綑灞傛暟鍐欏叆
+ bool issuccess = commonStackerCrane.Communicator.Write<short>("DB28." + location.Depth + ".0", Convert.ToInt16(level));
+ WriteDebug(nameof(CommonStackerCraneJob), $"鍓╀綑灞傛暟淇″彿鍐欏叆{level}-浠诲姟鍙穥taskSmall.TaskNum}");
+
+
+ //濡傛灉褰撳墠鎻愬彇灞傛暟绛変簬鎬诲眰鏁帮紝鍒欒〃绀烘枡杞︽墍鏈夌殑灞傛暟鍙栧畬
+ if (level == 0)
+ {
+ //婧愬湴鍧�锛堟殏瀛樹綅锛夊搴旂殑鐩爣鍦板潃锛堢粍绔嬫満锛塴ocation.Remark
+ if (!string.IsNullOrEmpty(location.Remark))
+ {
+ //鏍规嵁鐩爣鍦板潃鏌ヨ缁勭珛鏈虹珯鐐逛俊鎭紝鑾峰彇鍐欏叆鏁磋溅瀹屾垚鐨凞B鍧� Depth
+ Dt_LocationInfo location2 = _locationInfoRepository.QueryFirst(x => x.LocationCode == location.Remark);
+ //鏁磋溅瀹屾垚鍐欏叆灞傛暟
+ int sn = 0;
+ if(taskSmall.SourceAddress== "SC01-001-006-001"|| taskSmall.SourceAddress == "SC01-001-012-001"|| taskSmall.SourceAddress == "SC01-001-018-001" || taskSmall.SourceAddress == "SC01-001-022-001"|| taskSmall.SourceAddress == "SC01-001-026-001")
+ {
+ sn = 1;
+ }
+ else if(taskSmall.SourceAddress == "SC01-001-007-001" || taskSmall.SourceAddress == "SC01-001-013-001" || taskSmall.SourceAddress == "SC01-001-019-001" || taskSmall.SourceAddress == "SC01-001-023-001" || taskSmall.SourceAddress == "SC01-001-027-001")
+ {
+ sn = 2;
+ }
+ else
+ {
+ sn = 3;
+ }
+ bool issuccess2 = commonStackerCrane.Communicator.Write<short>("DB28." + location2.Depth+".0", Convert.ToInt16(sn));
+ if (issuccess2&&issuccess)
+ {
+ _taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
+ _taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"鍑哄簱浠诲姟瀹屾垚");
+ }
+ else
+ {
+ WriteDebug(nameof(CommonStackerCraneJob), $"鏁磋溅瀹屾垚淇″彿鍐欏叆澶辫触锛佷换鍔″彿{taskSmall.TaskNum}");
+ }
+ }
+
+ }
+ else
+ {
+
+ if (issuccess)
+ {
+ _taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
+ _taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"鍑哄簱浠诲姟瀹屾垚");
+ }
+ else
+ {
+ WriteDebug(nameof(CommonStackerCraneJob), $"鍓╀綑灞傛暟淇″彿鍐欏叆澶辫触锛佷换鍔″彿{taskSmall.TaskNum}");
+ }
+ }
+
+ }
+ }
+ }
+
+ }
+
+ }
+ }
+ catch (Exception ex)
+ {
+ WriteError(nameof(CommonStackerCraneJob), "鏌ヨ鎴栧啓鍏LC鐘舵�佸け璐ワ紒", ex);
+ }
+ WriteDebug("澶у爢鍨涙満杩愯鏃ュ織", "缁撴潫鏃堕棿" + DateTime.Now);
+ //});
return Task.CompletedTask;
}
@@ -106,47 +298,7 @@
private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
{
Dt_Task task;
- if (commonStackerCrane.LastTaskType == null)
- {
- task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
- }
- else
- {
- if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
- {
- task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
- if (task == null)
- {
- task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
- }
- }
- else
- {
- task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
- }
- }
-
- if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
- {
- if (OutTaskStationIsOccupied(task) != null)
- {
- return task;
- }
- else
- {
- List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
- List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
- foreach (var item in tasks)
- {
- if (OutTaskStationIsOccupied(task) != null)
- {
- return task;
- }
- }
- task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
- }
- }
-
+ task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
return task;
}
@@ -195,94 +347,35 @@
stackerCraneTaskCommand.TaskNum = task.TaskNum;
stackerCraneTaskCommand.WorkType = 1;
stackerCraneTaskCommand.TrayType = 0;
- if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//鍒ゆ柇鏄惁鏄叆搴撲换鍔�
+ string[] SourceCodes = task.SourceAddress.Split("-");
+ if (SourceCodes.Length == 4)
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
- if (routers.Count > 0)
- {
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
- stackerCraneTaskCommand.StartColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
- stackerCraneTaskCommand.StartLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
-
- string[] targetCodes = task.NextAddress.Split("-");
- if (targetCodes.Length == 3)
- {
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
- }
- else
- {
- //鏁版嵁閰嶇疆閿欒
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍏ュ簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.NextAddress}銆�");
- return null;
- }
- }
- else
- {
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鏈壘鍒扮珯鍙般�恵task.NextAddress}銆戜俊鎭紝鏃犳硶鑾峰彇瀵瑰簲鐨勫爢鍨涙満鍙栬揣绔欏彴淇℃伅");
- return null;
- }
+ stackerCraneTaskCommand.StartRow = Convert.ToInt16(SourceCodes[1]);
+ stackerCraneTaskCommand.StartColumn = Convert.ToInt16(SourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = Convert.ToInt16(SourceCodes[3]);
}
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ else
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
- if (routers.Count > 0)
- {
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
- stackerCraneTaskCommand.EndColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
- stackerCraneTaskCommand.EndLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
-
- string[] sourceCodes = task.CurrentAddress.Split("-");
- if (sourceCodes.Length == 3)
- {
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
- }
- else
- {
- //鏁版嵁閰嶇疆閿欒
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍑哄簱浠诲姟璧风偣閿欒锛岃捣鐐癸細銆恵task.CurrentAddress}銆�");
- return null;
- }
- }
- else
- {
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鏈壘鍒扮珯鍙般�恵task.NextAddress}銆戜俊鎭紝鏃犳硶鑾峰彇瀵瑰簲鐨勫爢鍨涙満鏀捐揣绔欏彴淇℃伅");
- return null;
- }
+ //鏁版嵁閰嶇疆閿欒
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"浠诲姟婧愬湴鍧�閰嶇疆閿欒锛�");
+ return null;
}
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
+ string[] targetCodes = task.TargetAddress.Split("-");
+ if (targetCodes.Length == 4)
{
- string[] targetCodes = task.NextAddress.Split("-");
- if (targetCodes.Length == 3)
- {
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
- }
- else
- {
- //鏁版嵁閰嶇疆閿欒
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"绉诲簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.NextAddress}銆�");
- return null;
- }
- string[] sourceCodes = task.CurrentAddress.Split("-");
- if (sourceCodes.Length == 3)
- {
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
- }
- else
- {
- //鏁版嵁閰嶇疆閿欒
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"绉诲簱浠诲姟璧风偣閿欒锛岃捣鐐癸細銆恵task.CurrentAddress}銆�");
- return null;
- }
+ stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
+ stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
+ }
+ else
+ {
+ //鏁版嵁閰嶇疆閿欒
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"浠诲姟鐩爣鍦板潃閰嶇疆閿欒");
+ return null;
}
return stackerCraneTaskCommand;
}
+
+
}
}
--
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