using System;
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using System.Linq;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Threading;
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using VirtualSrm.Cache.Entity;
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using VirtualSrm.Common.Entity;
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using VirtualSrm.Properties;
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using VirtualSrm.Srm.EnumType;
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using VirtualSrm.Utils;
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using VirtualSrm.Srm.Strategy;
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namespace VirtualSrm.Srm.Entity
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{
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public class StackerEntity:BindableBase
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{
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/// <summary>
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/// 1Srm编号
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/// </summary>
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private int wSrmNo = -1;
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public int WSrmNo
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{
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get { return wSrmNo; }
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set { SetProperty(ref wSrmNo, value); }
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}
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/// <summary>
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/// 2运行模式
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/// </summary>
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private int wMode = -1;
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public int WMode
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{
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get { return wMode; }
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set { SetProperty(ref wMode, value); }
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}
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/// <summary>
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/// 3告警信号
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/// </summary>
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private int wAlarm = -1;
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public int WAlarm
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{
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get { return wAlarm; }
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set { SetProperty(ref wAlarm, value); }
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}
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/// <summary>
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/// 4载货工位是否有货
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/// </summary>
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private int wLiftFull = -1;
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public int WLiftFull
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{
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get { return wLiftFull; }
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set { SetProperty(ref wLiftFull, value); }
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}
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/// <summary>
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/// 5当前列
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/// </summary>
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private int wPosX = -1;
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public int WPosX
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{
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get { return wPosX; }
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set { SetProperty(ref wPosX, value); }
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}
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/// <summary>
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/// 6当前层
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/// </summary>
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private int wPosY = -1;
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public int WPosY
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{
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get { return wPosY; }
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set { SetProperty(ref wPosY, value); }
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}
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/// <summary>
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/// 7货叉位置
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/// </summary>
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private int wPosZ = -1;
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public int WPosZ
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{
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get { return wPosZ; }
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set { SetProperty(ref wPosZ, value); }
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}
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/// <summary>
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/// 8当前列坐标
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/// </summary>
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private int wPosXmm = -1;
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public int WPosXmm
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{
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get { return wPosXmm; }
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set { SetProperty(ref wPosXmm, value); }
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}
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/// <summary>
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/// 9当前层坐标
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/// </summary>
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private int wPosYmm = -1;
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public int WPosYmm
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{
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get { return wPosYmm; }
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set { SetProperty(ref wPosYmm, value); }
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}
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/// <summary>
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/// 10当前货叉坐标
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/// </summary>
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private int wPosZmm = -1;
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public int WPosZmm
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{
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get { return wPosZmm; }
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set { SetProperty(ref wPosZmm, value); }
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}
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/// <summary>
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/// 11完成取货信号
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/// </summary>
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private int wPickFinish = -1;
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public int WPickFinish
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{
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get { return wPickFinish; }
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set { SetProperty(ref wPickFinish, value); }
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}
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/// <summary>
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/// 12完成放货信号
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/// </summary>
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private int wDeliveryFinish = -1;
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public int WDeliveryFinish
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{
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get { return wDeliveryFinish; }
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set { SetProperty(ref wDeliveryFinish, value); }
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}
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/// <summary>
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/// 13任务完成
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/// </summary>
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private int wTaskFinish = -1;
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public int WTaskFinish
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{
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get { return wTaskFinish; }
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set { SetProperty(ref wTaskFinish, value); }
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}
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/// <summary>
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/// 14任务号
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/// </summary>
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private int wTaskNo = -1;
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public int WTaskNo
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{
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get { return wTaskNo; }
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set { SetProperty(ref wTaskNo, value); }
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}
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/// <summary>
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/// 15运行状态
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/// </summary>
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private int wState = -1;
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public int WState
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{
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get { return wState; }
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set { SetProperty(ref wState, value); }
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}
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/// <summary>
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/// 16当前巷道号
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/// </summary>
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private int wActualLane = -1;
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public int WActualLane
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{
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get { return wActualLane; }
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set { SetProperty(ref wActualLane, value); }
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}
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/// <summary>
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/// 17告警代码
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/// </summary>
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private int wAlarmNumber = -1;
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public int WAlarmNumber
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{
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get { return wAlarmNumber; }
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set { SetProperty(ref wAlarmNumber, value); }
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}
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/// <summary>
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/// 18心跳
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/// </summary>
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private int wHandShake = -1;
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public int WHandShake
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{
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get { return wHandShake; }
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set { SetProperty(ref wHandShake, value); }
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}
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/// <summary>
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/// 1Srm编号
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/// </summary>
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private int srmNo;
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public int SrmNo
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{
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get { return srmNo; }
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set { SetProperty(ref srmNo, value); }
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}
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/// <summary>
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/// 2任务号
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/// </summary>
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private int taskNo;
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public int TaskNo
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{
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get { return taskNo; }
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set { SetProperty(ref taskNo, value); }
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}
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/// <summary>
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/// 3源列
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/// </summary>
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private int sourcePosX;
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public int SourcePosX
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{
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get { return sourcePosX; }
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set { SetProperty(ref sourcePosX, value); }
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}
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/// <summary>
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/// 4源层
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/// </summary>
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private int sourcePosY;
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public int SourcePosY
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{
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get { return sourcePosY; }
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set { SetProperty(ref sourcePosY, value); }
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}
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/// <summary>
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/// /5源排
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/// </summary>
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private int sourcePosZ;
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public int SourcePosZ
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{
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get { return sourcePosZ; }
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set { SetProperty(ref sourcePosZ, value); }
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}
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/// <summary>
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/// 6宿列
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/// </summary>
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private int destinationPosX;
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public int DestinationPosX
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{
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get { return destinationPosX; }
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set { SetProperty(ref destinationPosX, value); }
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}
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/// <summary>
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/// 7宿层
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/// </summary>
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private int destinationPosY;
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public int DestinationPosY
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{
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get { return destinationPosY; }
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set { SetProperty(ref destinationPosY, value); }
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}
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/// <summary>
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/// 8宿排
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/// </summary>
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private int destinationPosZ;
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public int DestinationPosZ
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{
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get { return destinationPosZ; }
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set { SetProperty(ref destinationPosZ, value); }
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}
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/// <summary>
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/// 9发送命令
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/// </summary>
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private int command;
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public int Command
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{
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get { return command; }
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set { SetProperty(ref command, value); }
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}
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/// <summary>
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/// 10紧急停止
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/// </summary>
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private int emergencyStop;
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public int EmergencyStop
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{
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get { return emergencyStop; }
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set { SetProperty(ref emergencyStop, value); }
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}
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/// <summary>
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/// 11解除告警
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/// </summary>
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private int alarmAck;
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public int AlarmAck
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{
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get { return alarmAck; }
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set { SetProperty(ref alarmAck, value); }
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}
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/// <summary>
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/// 12WCS通讯位
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/// </summary>
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private int stb;
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public int Stb
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{
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get { return stb; }
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set { SetProperty(ref stb, value); }
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}
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///<summary>
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///13SRM 应答位
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///</summary>
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private int ack = -1;
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public int Ack
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{
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get { return ack; }
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set { SetProperty(ref ack, value); }
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}
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/// <summary>
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/// 14心跳
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/// </summary>
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private int handShake;
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public int HandShake
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{
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get { return handShake; }
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set { SetProperty(ref handShake, value); }
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}
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/// <summary>
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/// 设备实体
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/// </summary>
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public string Name { get; private set;}
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/// <summary>
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/// WCS需要写入的OPC地址
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/// </summary>
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public OpcWriteItem OpcWriteItems { get; set; }
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/// <summary>
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/// WCS需要读取的OPC地址
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/// </summary>
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public OpcReadItem OpcReadItems { get; set; }
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/// <summary>
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/// 变换心跳的线程
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/// </summary>
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private Thread WriteHandShakeThread;
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public List<TaskEntity> Tasks { get; private set; }
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/// <summary>
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/// 构造函数
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/// </summary>
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/// <param name="equipment">设备实体</param>
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public StackerEntity(string name)
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{
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this.Name = name;
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Tasks = new List<TaskEntity>();
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OpcReadItems = new OpcReadItem
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{
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SrmNo = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W0" : "S7:[@LOCALSERVER]DB1,W70",// 1Srm编号
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TaskNo = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,DINT6422" : "S7:[@LOCALSERVER]DB1,DINT6430",// 2任务号
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SourcePosX = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W4" : "S7:[@LOCALSERVER]DB1,W74",// 3源列
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SourcePosY = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W6" : "S7:[@LOCALSERVER]DB1,W76",// 4源层
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SourcePosZ = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W8" : "S7:[@LOCALSERVER]DB1,W78",//5源排
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DestinationPosX = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W10" : "S7:[@LOCALSERVER]DB1,W80",// 6宿列
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DestinationPosY = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W12" : "S7:[@LOCALSERVER]DB1,W82",// 7宿层
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DestinationPosZ = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W14" : "S7:[@LOCALSERVER]DB1,W84",// 8宿排
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Command = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W16" : "S7:[@LOCALSERVER]DB1,W86",// 9发送命令
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EmergencyStop = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W18" : "S7:[@LOCALSERVER]DB1,W88",// 10紧急停止
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AlarmAck = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W20" : "S7:[@LOCALSERVER]DB1,W90",// 11解除告警
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Stb = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W22" : "S7:[@LOCALSERVER]DB1,W92",// 12WCS通讯位
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Ack = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W24" : "S7:[@LOCALSERVER]DB1,W94",// 13SRM 应答位
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HandShake = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W26" : "S7:[@LOCALSERVER]DB1,W96"// 14心跳
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};
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OpcWriteItems = new OpcWriteItem
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{
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SrmNo = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W28" : "S7:[@LOCALSERVER]DB1,W98",// 1Srm编号
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Mode = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W30" : "S7:[@LOCALSERVER]DB1,W100",// 2模式
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Alarm = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W32" : "S7:[@LOCALSERVER]DB1,W102",// 3告警
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LiftFull = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W34" : "S7:[@LOCALSERVER]DB1,W104",// 4载货工位是否有货
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PosX = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W36" : "S7:[@LOCALSERVER]DB1,W106",// 5当前列
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PosY = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W38" : "S7:[@LOCALSERVER]DB1,W108",// 6当前层
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PosZ = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W40" : "S7:[@LOCALSERVER]DB1,W110", // 7货叉位置
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PosXmm = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,DINT42" : "S7:[@LOCALSERVER]DB1,DINT112",// 8当前列坐标
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PosYmm = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,DINT46" : "S7:[@LOCALSERVER]DB1,DINT116",// 9当前层坐标
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PosZmm = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,DINT50" : "S7:[@LOCALSERVER]DB1,DINT120",// 10当前货叉坐标
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PickFinish = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W54" : "S7:[@LOCALSERVER]DB1,W124",// 11完成取货信号
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DeliveryFinish = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W56" : "S7:[@LOCALSERVER]DB1,W126",// 12完成放货信号
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TaskFinish = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W58" : "S7:[@LOCALSERVER]DB1,W128",// 13任务完成
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TaskNo = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,DINT6426" : "S7:[@LOCALSERVER]DB1,DINT6434",// 14当前任务号
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State = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W62" : "S7:[@LOCALSERVER]DB1,W132",// 15当前任务执行状态
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ActualLane = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W64" : "S7:[@LOCALSERVER]DB1,W134",// 16当前巷道号
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AlarmNumber = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W66" : "S7:[@LOCALSERVER]DB1,W136",// 17告警代码
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HandShake = name == "stacker1" ? "S7:[@LOCALSERVER]DB1,W68" : "S7:[@LOCALSERVER]DB1,W138"// 18心跳
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};
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this.PropertyChanged += new PropertyChangedEventHandler(OnPropertyChanged);
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WriteHandShakeThread = new Thread(new ThreadStart(WriteHandShake));
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ThreadHelper.StartThread(WriteHandShakeThread);
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}
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/// <summary>
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/// 析构函数
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/// </summary>
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~StackerEntity()
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{
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LogTextHelper.WriteLine(Resources.LogDir, "{0}的析构函数别调用", this.Name);
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ThreadHelper.CloseThread(WriteHandShakeThread);
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}
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public void CloseWriteHandShakeThread() { ThreadHelper.CloseThread(WriteHandShakeThread); }
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/// <summary>
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/// ForkEntity实体属性变化时触发的事件
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void OnPropertyChanged(object sender, PropertyChangedEventArgs e)
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{
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switch (e.PropertyName)
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{
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case "WSrmNo":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.SrmNo,WSrmNo);
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break;
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case "WMode":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.Mode, WMode);
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break;
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case "WAlarm":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.Alarm, WAlarm);
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break;
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case "WLiftFull":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.LiftFull, WLiftFull);
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break;
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case "WPosX":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.PosX, WPosX);
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break;
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case "WPosY":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.PosY, WPosY);
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break;
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case "WPosZ":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.PosZ, WPosZ);
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break;
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case "WPosXmm":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.PosXmm, WPosXmm);
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break;
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case "WPosYmm":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.PosYmm, WPosYmm);
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break;
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case "WPosZmm":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.PosZmm, WPosZmm);
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break;
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case "WPickFinish":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.PickFinish, WPickFinish);
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break;
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case "WDeliveryFinish":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.DeliveryFinish, WDeliveryFinish);
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break;
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case "WTaskFinish":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.TaskFinish, WTaskFinish);
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break;
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case "WTaskNo":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.TaskNo, WTaskNo);
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break;
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case "WState":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.State, WState);
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break;
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case "WActualLane":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.ActualLane, WActualLane);
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break;
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case "WAlarmNumber":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.AlarmNumber, WAlarmNumber);
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break;
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case "WHandShake":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcWriteItems.HandShake, WHandShake);
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break;
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case "Ack":
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CacheEntity.OpcWcfServiceClient.WriteValue(this.OpcReadItems.Ack, Ack);
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break;
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}
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}
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/// <summary>
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/// 写入心跳
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/// </summary>
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private void WriteHandShake()
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{
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while(true)
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{
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WHandShake = WHandShake > 999 ? 0 : WHandShake + 1;
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Thread.Sleep(1000);
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}
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}
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|
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/// <summary>
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/// 接收任务
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/// </summary>
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/// <returns></returns>
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public bool ReceiveTask(out string msg)
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{
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msg = "";
|
|
if(Stb != 1)
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{
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msg = string.Format("堆垛机{0}没有接收到任务",Name);
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return false;
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}
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var task = new TaskEntity
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{
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SrmNo = this.SrmNo,
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TaskNo = this.TaskNo,
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SourcePosX = this.SourcePosX,
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SourcePosY = this.SourcePosY,
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SourcePosZ = this.SourcePosZ,
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DestinationPosX = this.DestinationPosX,
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DestinationPosY = this.DestinationPosY,
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DestinationPosZ = this.DestinationPosZ,
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Command = this.Command,
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Status = (int)ETaskStatus.未开始
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};
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this.Ack = 1;
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while(Stb != 0)
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{
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Thread.Sleep(1000);
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}
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this.Ack = 0;
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Tasks.Add(task);
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return true;
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}
|
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/// <summary>
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/// 执行任务
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/// </summary>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool DoTask(out string msg)
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{
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msg = "";
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var task = Tasks.FirstOrDefault(x => x.Status == (int)ETaskStatus.未开始);
|
|
if(task == null)
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{
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msg = string.Format("堆垛机{0}没有待执行的任务", this.Name);
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return false;
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}
|
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this.WSrmNo = task.SrmNo;
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this.WTaskNo = task.TaskNo;
|
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switch(task.Command)
|
{
|
case (int)ESrmCommand.搬运:
|
new Context(new 执行搬运命令(this, task)).Invoke();
|
break;
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}
|
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return true;
|
|
}
|
|
}
|
}
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