using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.IO;
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using System.Drawing;
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using Newtonsoft.Json;
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using System.Threading;
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using yunneiWCS.EnumDefine;
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using yunneiWCS.ORM;
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using yunneiWCS.ExtendFunction;
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namespace yunneiWCS.data
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{
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public static class baseData
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{
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public static Mutex single = new Mutex();
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//static HTTPService api = new HTTPService("http://192.168.0.2:6546/api/v2/");//AGVapi基地址
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static HTTPService api = new HTTPService("http://192.168.0.3:6546/api/v2/");//AGVapi基地址
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/// <summary>发送堆垛机任务
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///
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/// </summary>
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/// <param name="taskId">任务ID</param>
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/// <param name="sourcePlace">起始地址</param>
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/// <param name="toPlace">目标地址</param>
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/// <param name="isref">1=不是重发,2=重发</param>
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public static void sendSrmTask(task _task, long taskId, string SourcePlace, string ToPlace, int isref)
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{
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if (single.WaitOne())//增加线程锁防止并发
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{
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try
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{
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//休眠800毫秒 【Editby shaocx,2024-10-09】
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//再次校验
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if (!MyExtendHelper.IsAllowSendNewTaskToSrm(800))
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{
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//必须抛异常
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throw new Exception("当前堆垛机不满足下发任务的条件,任务号:" + taskId + ",起点:" + SourcePlace + ",终点:" + ToPlace);
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}
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string[] sourcePlace = SourcePlace.Split('-');
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string[] toPlace = ToPlace.Split('-');
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_toPosX, Convert.ToInt16(toPlace[0]));//目标地址排
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_toPosY, Convert.ToInt16(toPlace[1]));//目标地址列
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_toPosZ, Convert.ToInt16(toPlace[2]));//目标地址层
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_command, Convert.ToInt16(1));//执行方式 搬运
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if (_task == null)
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{
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_TaskNo, Convert.ToInt32(taskId));//任务id
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}
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else
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{
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_TaskNo, Convert.ToInt32(_task.PlcTaskNo));//此处任务号更改 【EditBy shaocx,2022-03-28】
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}
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_sourcePosX, Convert.ToInt16(sourcePlace[0]));//起始地址排
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_sourcePosY, Convert.ToInt16(sourcePlace[1]));//起始地址排
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_sourcePosZ, Convert.ToInt16(sourcePlace[2]));//起始地址排
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//记录任务记录
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using (dbmodel mod = new dbmodel())
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{
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if (isref == 1)
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{
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taskRecord record = new taskRecord();
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record.taskId = taskId;
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record.sourcePlace = SourcePlace;
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record.toPlace = ToPlace;
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record.taskInfo = "堆垛机任务";
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record.createTime = Convert.ToDateTime(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"));
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if (_task != null)
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{//增加 【EditBy shaocx,2022-03-28】
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record.AgvTaskNo = _task.AgvTaskNo;
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record.PlcTaskNo = _task.PlcTaskNo;
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}
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mod.taskRecord.Add(record);
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mod.SaveChanges();
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}
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}
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int a = 0;
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while (a < 5)//握手确认
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{
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if (Form1.srm.stb == "是")
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{
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_ack, Convert.ToInt16(1));//ack确认
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break;
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}
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a++;
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Thread.Sleep(1000);
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}
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}
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catch (Exception ex)
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{
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WZ.Useful.Commons.LogTextHelper.WriteLine("baseData", "sendSrmTask", ex.ToString());
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throw ex;//必须抛出异常 【Editby shaocx,2024-10-09】
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}
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finally
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{
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single.ReleaseMutex();
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}//一轮结束
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}
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}
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/// <summary>发送AGV任务
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///
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/// </summary>
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/// <param name="_task">任务对象</param>
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/// <param name="taskId">任务ID</param>
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/// <param name="sourcePlace">起始地址</param>
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/// <param name="toPlace">目标地址</param>
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/// <param name="isref">1=不是重发,2=重发</param>
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public static string sendAgvTask(task _task, long taskId, string sourcePlace, string toPlace, int isref)
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{
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//注意：_task肯定不为NULL
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string result = "失败";
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if (single.WaitOne())//增加线程锁防止并发
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{
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try
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{
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var _agvTaskNo = _task.AgvTaskNo;
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var _old_agvTaskNo = _task.AgvTaskNo;
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if (isref == 2)
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{
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_agvTaskNo = TaskNoHelper.CreateTaskIdForAgvTask(_task.PlcTaskNo);//重发的时候，要重新生成任务号【Editby shaocx,2024-10-09】
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}
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var data = new
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{
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//id = taskId,
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//id = _task.AgvTaskNo,//此处任务号更改 【EditBy shaocx,2022-03-28】
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id = _agvTaskNo,//此处任务号更改 【EditBy shaocx,2022-03-28】
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systemId = "WMS",
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type = "LoadingAndUnloading",
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source = sourcePlace,
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destination = toPlace
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};
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string paprm = JsonConvert.SerializeObject(data);
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Guid guid = System.Guid.NewGuid();
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result = api.postContentForStringForAgv("orders", paprm, guid);
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//记录AGV发送任务
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if (result == "")
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{
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if (isref == 1)
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{
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using (dbmodel mod = new dbmodel())
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{
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taskRecord record = new taskRecord();
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record.taskId = taskId;
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record.sourcePlace = sourcePlace;
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record.toPlace = toPlace;
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record.taskInfo = "AGV任务";
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record.createTime = DateTime.Now;
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if (_task != null)
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{//增加 【EditBy shaocx,2022-03-28】
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record.AgvTaskNo = _task.AgvTaskNo;
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record.PlcTaskNo = _task.PlcTaskNo;
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}
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mod.taskRecord.Add(record);
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mod.SaveChanges();
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}
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}
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else
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{
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//重发，需要更新AGV任务号 【Editby shaocx,2024-10-09】
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using (dbmodel mod = new dbmodel())
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{
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var taskDb = mod.task.Where(t => t.taskId == _task.taskId).FirstOrDefault();
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taskDb.AgvTaskNo = _agvTaskNo;
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//子任务的agv任务号
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var taskRecord = mod.taskRecord.Where(t => t.AgvTaskNo == _old_agvTaskNo).FirstOrDefault();
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if (taskRecord == null)
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{
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result = "根据agv任务号" + _old_agvTaskNo + "没有找到agv任务";
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return result;
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}
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taskRecord.AgvTaskNo = _agvTaskNo;
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mod.SaveChanges();
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}
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}
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}
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else
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{
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AgvRetModel agvRet = JsonConvert.DeserializeObject<AgvRetModel>(result);
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if (agvRet != null)
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{
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result = agvRet.message;
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}
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else
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{
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result = "AGV返回失败状态码";
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}
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WZ.Useful.Commons.LogTextHelper.WriteLine("baseData", "sendAgvTask", "发送AGV任务失败Taskid：" + taskId + " 发送结果： " + result + " 是否重发：" + (isref == 1 ? "不是" : "是"));
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}
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}
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catch (Exception ex)
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{
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result = "AGV发送异常:" + ex.Message;
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WZ.Useful.Commons.LogTextHelper.WriteLine("baseData", "sendAgvTask" + "发送AGV任务异常Taskid：" + taskId, ex.ToString());
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}
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finally { single.ReleaseMutex(); }//一轮结束
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}
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return result;
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}
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/// <summary>堆垛机ACK确认
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///
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/// </summary>
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public static void sendSrmACK()
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{
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_ack, Convert.ToInt16(1));//ack确认
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}
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/// <summary>堆垛机任务确认
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///
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/// </summary>
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public static void srmConfirm()
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{
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_Task_Finish_ACK, Convert.ToInt16(1));//确认任务
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}
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public static void srmAlarmReset()
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{
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Form1.siemensTcpNet_srm.Write(Form1.srmdb.W_alarmAck, Convert.ToInt16(1));//确认任务
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}
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public static List<AgvStatus> readAgvs()
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{
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Guid guid = System.Guid.NewGuid();
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string res = api.getContentForString("agvStatus", guid);
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List<AgvStatus> result = JsonConvert.DeserializeObject<List<AgvStatus>>(res);
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return result;
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}
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}
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}
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