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using Rs.AutoDischarge.V3.Flow;
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using Rs.Framework;
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using Rs.MotionPlat.Commom;
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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;
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using System.Threading.Tasks;
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namespace Rs.MotionPlat.Flow
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{
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enum EStockCheckStep
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{
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空闲,
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Input料仓是否就绪,
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Ok料仓是否就绪,
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Ng料仓是否就绪,
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Multi料仓是否就绪,
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等待搬运料盘就绪,
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等待所有料仓就绪
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}
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public class WorkEnvironment
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{
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string logInfo = string.Empty;
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EStockCheckStep step= EStockCheckStep.Input料仓是否就绪;
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EStockCheckStep restoreStep;
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public bool EnvironmentOk { get; set; } = false;
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public ManualResetEvent EnvReadyOkEvent = new ManualResetEvent(false);
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private static WorkEnvironment instance;
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private bool isRunning = false;
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public static WorkEnvironment Instance
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{
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get
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{
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if (instance == null)
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instance = new WorkEnvironment();
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return instance;
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}
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}
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public void Ready()
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{
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if (!isRunning)
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{
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isRunning = true;
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}
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else
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return;
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step = EStockCheckStep.Input料仓是否就绪;
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EnvReadyOkEvent.Reset();
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Task.Run(() =>
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{
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EnvironmentOk = false;
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while(isRunning)
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{
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Thread.Sleep(5);
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switch (step)
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{
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case EStockCheckStep.Input料仓是否就绪:
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if ((!StockManager.Instance.GetStock(ETrayType.Input).HasTray() && StockManager.Instance.GetStock(ETrayType.Input).Status!= EStockTrayStatus.Backed)
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|| GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"{ETrayType.Input}料仓无料盘，开始给{ETrayType.Input}料仓上料";
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MessageQueue.Instance.Insert(logInfo);
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Task.Run(() => {
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StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.Whole, null);//.Load(EStockType.Input, EStockTrayLoadMode.Whole);
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});
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}
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else
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{
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logInfo = GetClassName() + $"{ETrayType.Input}料仓有料盘";
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MessageQueue.Instance.Insert(logInfo);
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}
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if (!StockManager.Instance.GetStock(ETrayType.Empty2).HasTray() || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"{ETrayType.Empty2}料仓无料盘，开始给{ETrayType.Empty2}料仓上料";
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MessageQueue.Instance.Insert(logInfo);
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Task.Run(() => {
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StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);//.Load(EStockType.Empty2, EStockTrayLoadMode.Whole);
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});
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}
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else
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{
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logInfo = GetClassName() + $"{ETrayType.Empty2}料仓有料盘";
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MessageQueue.Instance.Insert(logInfo);
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}
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step = EStockCheckStep.Ok料仓是否就绪;
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break;
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case EStockCheckStep.Ok料仓是否就绪:
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if (!StockManager.Instance.GetStock(ETrayType.Ok).HasTray() || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"{ETrayType.Ok}料仓无料盘，开始给{ETrayType.Ok}料仓上料";
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MessageQueue.Instance.Insert(logInfo);
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//if (StockManager.Instance.HasTray(EStockType.Empty2))
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{
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//LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ok");
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//if(
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TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ok,
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() =>
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{
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GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
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Task.Run(() =>
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{
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StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
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});
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}, null,
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() =>
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{
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Task.Run(() =>
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{
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StockManager.Instance.GetStock(ETrayType.Ok).Load(EStockTrayLoadMode.AfterTakeTray, null);
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});
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});
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//)
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//{
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step = EStockCheckStep.Ng料仓是否就绪;
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//}
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//restoreStep = EStockCheckStep.Ng料仓是否就绪;
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}
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}
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else
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{
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logInfo = GetClassName() + $"{ETrayType.Ok}料仓有料盘";
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MessageQueue.Instance.Insert(logInfo);
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step = EStockCheckStep.Ng料仓是否就绪;
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}
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break;
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case EStockCheckStep.Ng料仓是否就绪:
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if (!StockManager.Instance.GetStock(ETrayType.Ng).HasTray() || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"{ETrayType.Ng}料仓无料，开始给{ETrayType.Ng}料仓上料";
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MessageQueue .Instance.Insert(logInfo);
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//if (StockManager.Instance.HasTray(EStockType.Empty2))
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{
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//LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ng");
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//if (
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TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ng,
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() =>
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{
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GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
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Task.Run(() =>
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{
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StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
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});
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}, null,
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() =>
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{
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Task.Run(() =>
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{
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StockManager.Instance.GetStock(ETrayType.Ng).Load(EStockTrayLoadMode.AfterTakeTray, null);
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});
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});
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//)
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//{
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step = EStockCheckStep.Multi料仓是否就绪;
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//}
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//restoreStep = EStockCheckStep.Multi料仓是否就绪;
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}
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}
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else
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{
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logInfo = GetClassName() + $"{ETrayType.Ng}料仓有料盘";
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MessageQueue.Instance.Insert(logInfo);
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step = EStockCheckStep.Multi料仓是否就绪;
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}
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break;
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case EStockCheckStep.Multi料仓是否就绪:
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if (!StockManager.Instance.GetStock(ETrayType.Multi).HasTray() || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"{ETrayType.Multi}料仓无料，开始给{ETrayType.Multi}料仓上料";
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MessageQueue.Instance.Insert(logInfo);
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//if (StockManager.Instance.HasTray(EStockType.Empty2))
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{
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//LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Multi");
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//if (
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TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Multi,
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() =>
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{
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GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
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Task.Run(() =>
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{
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StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
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});
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}, null,
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() =>
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{
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Task.Run(() =>
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{
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StockManager.Instance.GetStock(ETrayType.Multi).Load(EStockTrayLoadMode.AfterTakeTray, null);
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});
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});
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//)
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//{
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step = EStockCheckStep.等待所有料仓就绪;
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//}
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//restoreStep = EStockCheckStep.等待所有料仓就绪;
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}
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}
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else
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{
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logInfo = GetClassName() + $"{ETrayType.Multi}料仓有料盘";
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MessageQueue.Instance.Insert(logInfo);
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step = EStockCheckStep.等待所有料仓就绪;
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}
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break;
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//case EStockCheckStep.等待搬运料盘就绪:
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// if(TakeTrayFlow.Instance.TakeStatus == ETakeStatus.TakeOK)
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// {
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// MessageQueue.Instance.Insert("搬运OK");
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// step = restoreStep;
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// restoreStep = EStockCheckStep.空闲;
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// }
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// break;
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case EStockCheckStep.等待所有料仓就绪:
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if(StockManager.Instance.IsReady())
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{
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MessageQueue.Instance.Insert("所有料仓准备就绪");
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EnvironmentOk = true;
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isRunning = false;
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EnvReadyOkEvent.Set();
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}
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break;
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}
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}
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});
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}
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private string GetClassName()
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{
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return this.GetType().Name + "-";
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}
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public bool IsRunning()
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{
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return isRunning;
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}
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}
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}
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