From 8ae6fce575bd8b29e858724df186535abe5b6e52 Mon Sep 17 00:00:00 2001
From: hwh <332078369@qq.com>
Date: 星期四, 19 九月 2024 16:45:42 +0800
Subject: [PATCH] 堆垛机不空跑
---
Admin.NET/WCS.Application/PLC/PLCService.cs | 673 ++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 650 insertions(+), 23 deletions(-)
diff --git a/Admin.NET/WCS.Application/PLC/PLCService.cs b/Admin.NET/WCS.Application/PLC/PLCService.cs
index 6eaf743..da065a4 100644
--- a/Admin.NET/WCS.Application/PLC/PLCService.cs
+++ b/Admin.NET/WCS.Application/PLC/PLCService.cs
@@ -4,8 +4,10 @@
using Furion.Logging;
using IoTClient;
using Microsoft.AspNetCore.SignalR;
+using Qiniu.Storage;
using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
+using System;
using System.Data;
using System.Reflection.Emit;
@@ -13,12 +15,6 @@
public static class PLCService
{
private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
- private static readonly IHubContext<TaskLogHub, ITaskLogHub> _taskLogHubContext;
-
- static PLCService()
- {
- _taskLogHubContext = App.GetService<IHubContext<TaskLogHub, ITaskLogHub>>();
- }
public static void OnChangeEvent(object sender, EventArgs e)
{
@@ -146,7 +142,7 @@
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
-
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
WcsTaskMonitor modInsertTaskMonitor;
if (string.IsNullOrEmpty(taskInfo.EndStation))
{
@@ -182,7 +178,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
//淇敼led灞忎俊鎭�
//LedDisplay(modDevice.LedIP, "宸ヤ綅:" + modTask.EndLocate, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿modTask.StartLocate}", "鎵樼洏鍙�:" + modTask.PalletNo);
}
@@ -249,7 +245,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
@@ -257,7 +253,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
// 鍐欏叆娴佺▼鎺у埗瀛�
@@ -272,7 +268,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
else if (modTask.TaskType == TaskTypeEnum.Out)
@@ -304,7 +300,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
//淇敼led灞忎俊鎭�
//LedDisplay(modDevice.LedIP, "宸ヤ綅:" + modTask.EndLocate, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿modTask.StartLocate}", "鎵樼洏鍙�:" + modTask.PalletNo);
}
@@ -341,8 +337,8 @@
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
_db.Updateable(modTask).ExecuteCommand();
-
- var modcTaskMonitor = new WcsTaskMonitor()
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
@@ -367,13 +363,13 @@
var modResponseTask = httpService.RequestTask(requestMode).Result;
if (modResponseTask.StatusCode == "0")
{
- modcTaskMonitor.InteractiveMsg = "浠诲姟瀹屾垚锛岃繑鍥炵粰WMS浠诲姟瀹屾垚";
+ modTaskMonitor.InteractiveMsg = "浠诲姟瀹屾垚锛岃繑鍥炵粰WMS浠诲姟瀹屾垚";
}
}
// 鎻掑叆浜や簰鏃ュ織
- _db.Insertable(modcTaskMonitor).ExecuteCommand();
+ _db.Insertable(modTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// 姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
}
@@ -438,7 +434,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
}
@@ -467,8 +463,7 @@
modTask.FinishDate = DateTime.Now;
_db.Updateable(modTask).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
-
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
var modcTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
@@ -502,7 +497,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// 姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
}
@@ -519,12 +514,128 @@
break;
case "843":
{
-
+ //绌哄彇璐у紓甯�
+ var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ if (!result.IsSucceed)
+ break;
+ string taskNo = Convert.ToString(TaskNo);
+ var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
+ if (modTask == null)
+ {
+ Log.Error($"銆愬爢鍨涙満銆戝綋鍓嶄换鍔″彿涓嶅瓨鍦ㄥ搴旂殑浠诲姟锛屼换鍔″彿锛歿modTask.TaskNo}");
+ break;
+ }
+ var res = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "844");
+ if (!res.IsSucceed)
+ break;
+ modTask.Status = TaskStatusEnum.Exception;
+ _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ Log.Information($"銆愬爢鍨涙満銆憌cs浠诲姟鍙樻洿绌哄彇寮傚父锛屼换鍔″彿锛歿modTask.TaskNo}");
+ var modTaskRequest = modTask.Adapt<TaskRequest>();
+ HttpService httpService = new HttpService();
+ var modResponseTask = httpService.RequestEmptyException(modTaskRequest).Result;
+ if (modResponseTask.StatusCode == "0")
+ {
+ //璇锋眰鎴愬姛
+ modTask.IsSuccess = TaskSuccessEnum.Success;
+ _db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ }
+ else
+ {
+ //璇锋眰澶辫触
+ modTask.IsSuccess = TaskSuccessEnum.Fail;
+ modTask.Information = modResponseTask.Message;
+ _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ }
}
break;
case "861":
{
+ //婊℃斁璐у紓甯�
+ var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "鎵樼洏鍙�");
+ var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ if (!result.IsSucceed)
+ break;
+ string taskNo = Convert.ToString(TaskNo);
+ var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
+ if (modTask == null)
+ {
+ Log.Error($"銆愬爢鍨涙満銆戝綋鍓嶄换鍔″彿涓嶅瓨鍦ㄥ搴旂殑浠诲姟锛屼换鍔″彿锛歿modTask.TaskNo}");
+ break;
+ }
+ modTask.Status = TaskStatusEnum.Exception;
+ _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ Log.Information($"銆愬爢鍨涙満銆憌cs浠诲姟鍙樻洿婊″彇寮傚父锛屼换鍔″彿锛歿modTask.TaskNo}");
+ var modTaskRequest = modTask.Adapt<TaskRequest>();
+ HttpService httpService = new HttpService();
+ var modResponseTask = httpService.RequestFullException(modTaskRequest).Result;
+ if (modResponseTask.StatusCode == "0")
+ {
+ //淇敼浠诲姟涓烘鍦ㄦ墽琛�
+ modTask.Status = TaskStatusEnum.Doing;
+ _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
+ // 璧峰鎺掑垪灞�
+ var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣鎺�");
+ var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣鍒�");
+ var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣灞�");
+ // 鐩爣鏀捐揣宸ヤ綅
+ var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣鎺�");
+ var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣鍒�");
+ var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣灞�");
+ string endLocat = modResponseTask.TaskList.EndLocate;
+ string row = int.Parse(endLocat.Substring(0, 2)).ToString();
+ string column = int.Parse(endLocat.Substring(2, 2)).ToString();
+ string storey = int.Parse(endLocat.Substring(4, 2)).ToString();
+ // 缁橮LC鍐欏叆浠诲姟鏁版嵁
+ var listResult = new List<Result>();
+ // 浠诲姟鍙锋墭鐩樺彿
+ listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
+ listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+ // 璧峰鎺掑垪灞�
+ listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
+ listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
+ listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));
+ // 鏄惁鍐欏叆鎴愬姛
+ if (listResult.All(s => s.IsSucceed))
+ {
+ // 鍚戣泛鏈哄啓鍏ユ帶鍒舵祦绋嬪瓧
+ var res = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.WcsPos, "862");
+ var modcTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = endLocat,
+ InteractiveMsg = $"鍐欏叆鎸囦护锛歿modDevice.StationNum}宸ヤ綅====銆�" + endLocat + "鍌ㄤ綅鍦板潃!"
+ };
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modcTaskMonitor).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ }
+
+ }
+ //else
+ //{
+ // //璇锋眰澶辫触
+ // modTask.IsSuccess = TaskSuccessEnum.Fail;
+ // modTask.Information = modResponseTask.Message;
+ // _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
+ //}
}
break;
default:
@@ -532,11 +643,527 @@
}
}
/// <summary>
+ /// 鍫嗗灈鏈轰笉绌鸿窇
+ /// </summary>
+ /// <param name="modTask">鎿嶄綔瀹屾垚鐨勪换鍔�</param>
+ /// <param name="plcConn">plc杩炴帴</param>
+ private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn)
+ {
+ //鍒� todo:涓婇潰浠ｇ爜鎷挎潵鐨勶紝杩欓噷涓嶇悊瑙ｄ负鍟ユ槸1,2 涓嶆槸2,2锛�
+ int col = modTask.EndLocate.Substring(1, 2).ToInt();
+ int row = modTask.EndLocate.Substring(0, 2).ToInt();
+ int storey = modTask.EndLocate.Substring(4, 2).ToInt();
+ int deep = modTask.EndLocate.Substring(6, 2).ToInt();
+ // 鏌ヨ鎵�鏈夊緟鎵ц鐨勪换鍔�
+ var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
+ switch (modTask.TaskType)
+ {
+ case TaskTypeEnum.In:
+ {
+ // 鍏堟壘鍑哄搴旀帓鍒楀眰鐨勫叆搴撲换鍔�
+ var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
+ .Select(s => s.EndLocate.Substring(0, 6))
+ .ToHashSet();
+
+ // 鎵惧嚭搴撲换鍔★紝瀵瑰簲宸烽亾鐨勪换鍔�
+ var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modTask.EndRoadway).ToList();
+
+ foreach (var modNext in listNextTask)
+ {
+ // 濡傛灉鏈夊搴旀帓鍒楀眰鐨勫叆搴撲换鍔★紝閭ｅ氨涓嶈兘浼樺厛鎵ц
+ if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
+ {
+ continue;
+ }
+
+ // todo: 鍐欏叆modNext浠诲姟淇℃伅缁檖lc
+ Console.WriteLine($"鍏ュ簱浠诲姟{modTask.TaskNo}鎵ц瀹屾垚鍚庯紝涓嶇┖璺戦�昏緫妫�娴嬩笅涓�浠诲姟涓簕modNext.TaskNo}");
+ break;
+ }
+ }
+ break;
+ case TaskTypeEnum.Out:
+ {
+ // 鍏堟壘鍑哄搴旀帓鍒楀眰鐨勫嚭搴撲换鍔�
+ var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out)
+ .Select(s => s.EndLocate.Substring(0, 6))
+ .ToHashSet();
+
+ // 鎵惧叆搴撲换鍔★紝瀵瑰簲宸烽亾鐨勪换鍔�
+ var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In && s.StartRoadway == modTask.EndRoadway).ToList();
+
+ foreach (var modNext in listNextTask)
+ {
+ // 濡傛灉鏈夊搴旀帓鍒楀眰鐨勫嚭搴撲换鍔★紝閭ｅ氨涓嶈兘浼樺厛鎵ц
+ if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
+ {
+ continue;
+ }
+
+ // todo: 鍐欏叆modNext浠诲姟淇℃伅缁檖lc
+ Console.WriteLine($"鍑哄簱浠诲姟{modTask.TaskNo}鎵ц瀹屾垚鍚庯紝涓嶇┖璺戦�昏緫妫�娴嬩笅涓�浠诲姟涓簕modNext.TaskNo}");
+ break;
+ }
+ }
+ break;
+ case TaskTypeEnum.Move:
+ {
+ var modDevice = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
+ var (result, value) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
+ //褰撳墠鍫嗗灈鏈烘墍鍦ㄤ綅缃�
+ var height = Math.Round(value / 790000d * 200).ToInt();
+ //todo:杩欓噷鐪嬭兘涓嶈兘鎵惧埌鍫嗗灈鏈烘墍鍦ㄤ綅缃湪鍝釜鎺掑垪灞傦紝浼樺厛瀵绘壘闄勮繎鐨勪换鍔★紵
+ }
+ break;
+ }
+ }
+
+ /// <summary>
/// 杈撻�佺嚎涓氬姟澶勭悊
/// </summary>
/// <param name="modDevice"></param>
private static void ConveyorLine(WcsDeviceDto modDevice)
{
+ var plcConn = modDevice.PLCUtil;
+ // 鑾峰彇妤煎眰鏁癱eshi
+ var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
+ switch (modDevice.Value.ToString())
+ {
+ case "320":
+ {
+ // 鐢宠宸烽亾
+ string strMsg = "";
+ string taskModel = "";
+ // 鍒ゆ柇鏄惁婕旂ず妯″紡
+ if (PLCTaskAction.boDemo)
+ {
+ taskModel = "1";// 婕旂ず妯″紡
+ }
+ // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (!res.IsSucceed)
+ {
+ break;
+ }
+ var http = new HttpService();
+ string TaskNo = "", EndLocate = "";
+ strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);
+
+ if (!strMsg.Contains("-1"))
+ {
+ // 鍐欏叆330
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");
+
+ if (ret.IsSucceed)
+ {
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护330锛歿modDevice.StationNum}宸ヤ綅鐢宠宸烽亾",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = EndLocate,
+ };
+
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ // led鏇存柊鍐呭
+ //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
+ //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
+ }
+
+ }
+ else
+ {
+ // 鐢宠宸烽亾澶辫触锛丩ED鏄剧ず
+ Log.Error(string.Format($"鐢宠宸烽亾澶辫触:{strMsg},璇诲啓plc閿欒"));
+ }
+ }
+ break;
+ case "330":
+ {
+ // 鍐欏叆浠诲姟 鎵樼洏绉诲姩 340
+
+ // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (!res.IsSucceed)
+ {
+ break;
+ }
+ string pallet = palletVal.ToString();
+ // 鑾峰彇浠诲姟淇℃伅
+ var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.TaskType == TaskTypeEnum.In);
+ if (modTask == null)
+ {
+ // 姝ゆ墭鐩樻病鏈夊搴旂殑杞Щ浠诲姟 led鏄剧ず
+ break;
+ }
+
+ // 鑾峰彇宸烽亾鍙ｅ叆搴撳伐浣�
+ string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
+ // 缁橮LC鍐欏叆浠诲姟鏁版嵁
+ var listResult = new List<Result>();
+ // 浠诲姟鍙枫�佷换鍔＄被鍨嬨�佹墭鐩樺彿
+ var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
+ var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟绫诲瀷");
+ var taskTypeStr = (int)modTask.TaskType;
+ listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
+ var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "鎵樼洏鐮�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+ // 璧峰宸ヤ綅銆佺洰鐨勫伐浣�
+ var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "璧峰宸ヤ綅");
+ listResult.Add(plcConn.SetPlcDBValue(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
+ var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "鐩殑宸ヤ綅");
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
+
+
+ if (listResult.All(s => s.IsSucceed))
+ {
+ // 灏嗕换鍔＄姸鎬佸彉鏇翠负姝ｅ湪鎵ц
+ _db.Updateable<WcsTask>()
+ .SetColumns(s => s.Status == TaskStatusEnum.Doing)
+ .Where(s => s.Id == modTask.Id)
+ .ExecuteCommand();
+ // 鍐欏叆娴佺▼瀛� 330 340
+
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");
+
+
+ if (ret.IsSucceed)
+ {
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护340锛歿modDevice.StationNum}鍌ㄤ綅====銆媨endLocatVlue}宸ヤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = endLocatVlue,
+ };
+
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
+ // led鏇存柊鍐呭
+ //LedDisplay(modDevice.LedIP, "宸ヤ綅:" + modTask.EndLocate, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿modTask.StartLocate}", "鎵樼洏鍙�:" + modTask.PalletNo);
+ }
+ }
+
+ }
+ break;
+ case "620":
+ {
+ // 鐢宠鍌ㄤ綅 鏇存柊鍏ュ簱浠诲姟(鍌ㄤ綅鍦板潃) 630
+
+ var strMsg = "";
+ var taskModel = "";
+ // 鍒ゆ柇鏄惁婕旂ず妯″紡
+ if (PLCTaskAction.boDemo)
+ {
+ // 婕旂ず妯″紡
+ taskModel = "1";
+ }
+ // 鏍规嵁宸ヤ綅鍙疯幏鍙栧贩閬撳彿
+ var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
+ if (roadway == "")
+ {
+ break;
+ }
+ // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (!res.IsSucceed)
+ {
+ break;
+ }
+ var http = new HttpService();
+ string TaskNo = "";
+ // 鍚慦MS鐢宠鍌ㄤ綅淇℃伅
+ strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);
+ if (!strMsg.Contains("-1"))
+ {
+ // 鍐欏叆娴佺▼瀛� 630
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");
+
+ if (ret.IsSucceed)
+ {
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护340锛歿modDevice.StationNum}宸ヤ綅鐢宠鍌ㄤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = strMsg,
+ };
+
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ // led鏇存柊鍐呭
+ //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
+ //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
+ }
+ }
+ else
+ {
+ // 鐢宠鍌ㄤ綅澶辫触锛丩ED鏄剧ず
+ Log.Error(string.Format($"鐢宠鍌ㄤ綅澶辫触:{strMsg},璇诲啓plc閿欒"));
+ }
+
+ }
+ break;
+ case "630":
+ {
+ #region 鍐欏叆璺烘満鍙栬揣浠诲姟 640
+
+ // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ // 鑾峰彇宸ヤ綅浠诲姟鍙蜂俊鎭�
+ var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
+ if (!res.IsSucceed || !taskRes.IsSucceed)
+ {
+ break;
+ }
+ string pallet = palletVal.ToString();
+ string taskNo = taskNoVal.ToString();
+ // 鑾峰彇浠诲姟淇℃伅
+ var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
+ if (modTask == null)
+ {
+ // 姝ゆ墭鐩樻病鏈夊搴旂殑杞Щ浠诲姟 led鏄剧ず
+ break;
+ }
+
+ var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
+ if (string.IsNullOrWhiteSpace(sInfo.Ip))
+ {
+ //闇�鍔犱笂LED鏄剧ず
+ Log.Error(string.Format($"鏍规嵁宸烽亾鑾峰彇璺烘満IP澶辫触锛岃鑱旂郴绠＄悊鍛�"));
+ break;
+ }
+ // 璺烘満杩炴帴
+ var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
+ if (plcStackeConn.Connected)
+ {
+ // 鐩爣鎺掑垪灞�
+ var endLocate = modTask.EndLocate;
+ if (string.IsNullOrWhiteSpace(modTask.EndLocate))
+ {
+ Log.Error(string.Format($"鐩爣浣嶇疆涓虹┖锛岃浜哄伐澶勭悊,璇诲啓plc閿欒"));
+ break;
+ }
+
+ var paiVal = PLCCommon.GetDjAdress(modTask.EndRoadway.Substring(1, 2), endLocate.Substring(0, 2), endLocate.Substring(6, 2));
+ string pai = paiVal.ToString();
+ string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
+ string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();
+
+ var djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
+ && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
+ var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
+ var djInfo = djInfos.First(m => m.Text == "PLC娴佺▼瀛�");
+
+ // 鑾峰彇璺烘満褰撳墠鐘舵��
+ var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
+
+ if (!djRes.IsSucceed || djVal != "820")
+ {
+ // 璺烘満闈炵┖闂茬瓑寰�
+ break;
+ }
+ // 缁橮LC鍐欏叆浠诲姟鏁版嵁
+ var listResult = new List<Result>();
+
+ // 浠诲姟鍙枫�佷换鍔＄被鍨嬨�佹墭鐩樺彿
+ var modPosTask = djInfos.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
+ var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "浠诲姟绫诲瀷");
+ var taskTypeStr = (int)modTask.TaskType;
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
+ var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "鎵樼洏鍙�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+
+ //璧峰宸ヤ綅
+ var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "璧峰宸ヤ綅");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));
+
+ //鍙栬揣鎺掋�佸垪銆佸眰
+ var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "鍙栬揣鎺�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
+ var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "鍙栬揣鍒�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
+ var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "鍙栬揣灞�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
+ //鏀捐揣鎺掋�佸垪銆佸眰
+ var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "鏀捐揣鎺�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
+ var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "鏀捐揣鍒�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
+ var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "鏀捐揣灞�");
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, ceng));
+
+ if (listResult.All(s => s.IsSucceed))
+ {
+ // 鍐欏叆璺烘満 830
+ var retc2 = plcStackeConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");
+
+ // 鎻掑叆浠诲姟鏄庣粏 浠诲姟鏄庣粏瀹炰綋绫�
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = modTask.EndLocate // 鐩爣鍌ㄤ綅鍦板潃
+ };
+ if (!retc2.IsSucceed)
+ {
+ modInsertTaskMonitor.InteractiveMsg = $"杈撻�佺嚎鍙栬揣宸ヤ綅锛歿modDevice.StationNum},鍐欏叆鍨涙満鍙栬揣浠诲姟830澶辫触绛夊緟鍐嶆鍐欏叆";
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ break;
+
+ }
+ modInsertTaskMonitor.InteractiveMsg = $"璺烘満鍐欏叆鎸囦护830锛歿modDevice.StationNum}宸ヤ綅====銆�" + modTask.EndLocate + "鍌ㄤ綅鍦板潃!";
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+ if (PLCTaskAction.boRefresh)
+ {
+ //涓嬪彂浠诲姟鏃ュ織
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ }
+
+ }
+
+
+
+
+ }
+
+ #endregion
+ }
+ break;
+ #region 鍑哄簱浜や簰
+
+ case "420":
+ {
+ #region 鎵樼洏鍒拌揪鎷ｉ�夊伐浣�/鍑哄簱鍙�
+ // 鍑哄簱鍙�
+ // led鏄剧ず鎵樼洏淇℃伅
+ // 鍐欏叆430
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "430");
+
+ if (ret.IsSucceed)
+ {
+ var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
+ var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "璧峰宸ヤ綅");
+ var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = taskVal,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护430锛氭墭鐩樺埌杈緖modDevice.StationNum}宸ヤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = starVal,
+ EndLocat = modDevice.StationNum,
+ };
+
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
+ // led鏇存柊鍐呭
+ //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
+ //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
+ }
+ // 鍙嶉WMS鍑哄簱瀹屾垚
+ //TaskReques taskReques = new TaskReques();
+ //taskReques.taskNo = TaskNo;
+ //taskReques.TaskType = "1";
+ //taskReques.TaskStatus = "2";
+ //bool bl = wcsMySql.RequestTasks(taskReques);
+ #endregion
+ }
+ break;
+ case "440":
+ {
+ #region 鎷ｉ�夊畬鎴�,鎵樼洏绂诲紑宸ヤ綅
+ // 鍐欏叆450
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
+ if (ret.IsSucceed)
+ {
+ var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
+ var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "璧峰宸ヤ綅");
+ var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = taskVal,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护450锛歿modDevice.StationNum}鎷ｉ�夊畬鎴�,鎵樼洏绂诲紑宸ヤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = starVal,
+ EndLocat = modDevice.StationNum,
+ };
+
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ // led鏇存柊鍐呭
+ //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
+ //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
+ }
+ #endregion
+ }
+ break;
+
+ #endregion
+
+ default: break;
+ }
}
/// <summary>
@@ -560,7 +1187,7 @@
/// 鎷嗗灈鏈哄櫒浜轰笟鍔″鐞�
/// </summary>
/// <param name="modDevice"></param>
- private static void StackingRobot(WcsDeviceDto modDevice)
+ private static void StackingRobot(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
switch (modDevice.Value.ToString())
--
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