using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Reflection.Metadata;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_Common;
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using WIDESEA_Core;
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using WIDESEA_Core.Enums;
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using WIDESEA_Core.Helper;
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using WIDESEA_Model.Models;
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namespace WIDESEA_TaskInfoService
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{
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public partial class TaskService
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{
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/// <summary>
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/// 立库出库AGV搬运
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/// </summary>
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/// <param name="outTask"></param>
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/// <returns></returns>
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public WebResponseContent ShelfOutboundCarry(Dt_Task outTask)
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{
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//判断是否为电芯库，辅料库人工处理(立库目标地址转换成AGV站点地址)
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Dt_CachePoint cachePoint = GetCachePointByStartPoint(outTask.TargetAddress);
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Dt_Task task = new()
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{
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CurrentAddress = outTask.TargetAddress,
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Grade = 0,
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NextAddress = cachePoint.PointCode,
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OrderNo = outTask.OrderNo,
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PalletCode = outTask.PalletCode + "-AGV",
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Roadway = "",
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SourceAddress = outTask.TargetAddress,
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TargetAddress = cachePoint.PointCode,
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SourceKey = outTask.TaskId,
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TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
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TaskStatus = AGVTaskStatusEnum.Create.ObjToInt(),
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TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
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CreateDate = DateTime.Now,
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Creater = App.User.UserId > 0 ? App.User.UserName : "System",
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};
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cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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Repository.AddData(task);
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return WebResponseContent.Instance.OK();
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}
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/// <summary>
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/// 货位绑定
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/// </summary>
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/// <param name="qty"></param>
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/// <param name="Point"></param>
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/// <returns></returns>
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public WebResponseContent Bind(string qty, string point)
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{
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try
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{
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if (Repository.QueryFirst(x => x.SourceAddress == point &&
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x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
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x.TargetAddress == point) != null)
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throw new Exception($"站点【{point}】存在任务！");
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Dt_CachePoint? cachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == point);
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if (cachePoint == null) throw new Exception("未找到缓存点!");
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if (cachePoint.AreaId != 4) throw new Exception("当前缓存点区域无绑定权限!");
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cachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
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cachePoint.Remark = qty;
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cachePoint.Modifier = App.User.UserName;
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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/// <summary>
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/// 释放缓存点
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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public WebResponseContent AcrossFloorCallMat(string point)
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{
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try
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{
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if (Repository.QueryFirst(x => x.SourceAddress == point &&
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x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
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x.TargetAddress == point) != null)
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throw new Exception($"站点【{point}】存在任务！");
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Dt_CachePoint? cachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == point);
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if (cachePoint == null) throw new Exception("未找到缓存点!");
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if (cachePoint.AreaId != 2 && cachePoint.AreaId != 5 && cachePoint.AreaId != 8)
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throw new Exception("当前缓存点区域无释放权限!");
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cachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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/// <summary>
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/// 叫料
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/// </summary>
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/// <param name="endPoint"></param>
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/// <returns></returns>
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public WebResponseContent CallMateriel(string endPoint)
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{
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try
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{
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if (Repository.QueryFirst(x => x.SourceAddress == endPoint &&
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x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
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x.TargetAddress == endPoint) != null)
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throw new Exception($"站点【{endPoint}】存在任务！");
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Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint);
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Dt_Task task = new Dt_Task()
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{
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CurrentAddress = cachePoint.PointCode,
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Grade = 0,
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NextAddress = endPoint,
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OrderNo = "",
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PalletCode = cachePoint.Remark,
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Roadway = "",
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SourceAddress = cachePoint.PointCode,
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TargetAddress = endPoint,
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SourceKey = 0,
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TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
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TaskStatus = AGVTaskStatusEnum.Create.ObjToInt(),
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TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
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};
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cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
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Db.Ado.BeginTran();
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var response = SendAGVTask(task, cachePoint);
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if (!response.Status)
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{
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_unitOfWorkManage.RollbackTran();
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return WebResponseContent.Instance.Error($"{response.Message}");
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}
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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Repository.AddData(task);
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Db.Ado.CommitTran();
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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Db.Ado.RollbackTran();
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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/// <summary>
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/// 物料搬运
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/// </summary>
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/// <param name="startPoint"></param>
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/// <returns></returns>
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public WebResponseContent MaterielCarry(string startPoint)
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{
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try
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{
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if (Repository.QueryFirst(x => x.SourceAddress == startPoint &&
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x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
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x.TargetAddress == startPoint) != null)
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throw new Exception($"站点【{startPoint}】存在任务！");
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Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint);
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Dt_Task task = new()
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{
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CurrentAddress = startPoint,
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Grade = 0,
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NextAddress = cachePoint.PointCode,
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OrderNo = "",
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PalletCode = startPoint + "-AGV",
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Roadway = "",
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SourceAddress = startPoint,
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TargetAddress = cachePoint.PointCode,
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SourceKey = 0,
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TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
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TaskStatus = AGVTaskStatusEnum.Create.ObjToInt(),
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TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
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};
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cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
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Db.Ado.BeginTran();
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var response = SendAGVTask(task, cachePoint);
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if (!response.Status)
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{
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_unitOfWorkManage.RollbackTran();
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return WebResponseContent.Instance.Error($"{response.Message}");
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}
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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Repository.AddData(task);
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Db.Ado.CommitTran();
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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Db.Ado.RollbackTran();
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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/// <summary>
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/// 搬运
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/// </summary>
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/// <param name="startPoint"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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private Dt_CachePoint GetCachePointByStartPoint(string startPoint)
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{
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#region MyRegion
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Dt_CachePoint? StartcachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == startPoint);
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if (StartcachePoint == null) throw new Exception("未找到缓存点!");
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Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == StartcachePoint.AreaId.ToString());
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if (areaRouter == null) throw new Exception("未找到路由信息!");
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Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaRouter.NextArea.ObjToInt());
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if (cachePoint == null)
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{
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throw new Exception("未找到空闲缓存点!");
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}
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#endregion
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return cachePoint;
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}
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/// <summary>
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/// 叫料
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/// </summary>
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/// <param name="endPoint"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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private Dt_CachePoint GetCachePointByEndPoint(string endPoint)
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{
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#region MyRegion
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Dt_CachePoint? StartcachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == endPoint);
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if (StartcachePoint == null) throw new Exception("未找到缓存点!");
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Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == StartcachePoint.AreaId.ToString());
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if (areaRouter == null) throw new Exception("未找到路由信息!");
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Dt_CachePoint? cachePoint = _basicService.CachePointService.GetIbStockCachePoint(areaRouter.StartArea.ObjToInt());
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if (cachePoint == null)
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{
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throw new Exception("未找到有货缓存点!");
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}
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#endregion
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return cachePoint;
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}
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/// <summary>
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/// 下发AGV任务
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/// </summary>
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/// <param name="task"></param>
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public WebResponseContent SendAGVTask(Dt_Task task, Dt_CachePoint? cachePoint = null)
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{
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try
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{
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AGVSendTaskModel aGVSendTask = new AGVSendTaskModel
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{
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task_id = task.TaskNum.ToString(),
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src_pos = task.CurrentAddress,
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site_value_type = 1,
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dst_pos = task.NextAddress
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};
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if (cachePoint != null && cachePoint.AreaId == 4) aGVSendTask.src_level = cachePoint.Remark.ObjToInt() - 1;
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var response = HttpHelper.Post<WebResponseContent>(AGVurl + "sendTask/", aGVSendTask, "叫料任务下发");
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if (response.Code != 200) throw new Exception(response.Message);
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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/// <summary>
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/// 任务状态上报
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/// </summary>
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/// <param name="model"></param>
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/// <returns></returns>
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public object AGVTaskFeedBack(AGVTaskFeedBackModel model)
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{
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Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == Convert.ToInt32(model.Task_id));
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if (task == null)
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{
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return new { code = 404, message = "未找到该任务!" };
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}
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if (task.TaskStatus == ((AGVTaskStatusEnum)Enum.Parse(typeof(AGVTaskStatusEnum), model.Task_status)).ObjToInt())
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return new { code = 200, message = "成功" };
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switch ((AGVTaskStatusEnum)Enum.Parse(typeof(AGVTaskStatusEnum), model.Task_status))
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{
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case AGVTaskStatusEnum.Create:
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break;
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case AGVTaskStatusEnum.Queuing:
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task.TaskStatus = AGVTaskStatusEnum.Queuing.ObjToInt();
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break;
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case AGVTaskStatusEnum.Running:
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task.TaskStatus = AGVTaskStatusEnum.Running.ObjToInt();
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break;
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case AGVTaskStatusEnum.DoneFetch:
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{
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task.TaskStatus = AGVTaskStatusEnum.DoneFetch.ObjToInt();
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Dt_CachePoint startCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.SourceAddress);
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if (startCachePoint != null)
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{
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startCachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
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if (startCachePoint.AreaId == 4)//判断是否为模组空栈板区域
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{
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var qty = (startCachePoint.Remark.ObjToInt() - 1);
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if (qty > 0) startCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
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startCachePoint.Remark = qty.ToString();
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}
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_basicService.CachePointService.Repository.UpdateData(startCachePoint);
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}
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}
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break;
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case AGVTaskStatusEnum.DonePut:
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{
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task.TaskStatus = AGVTaskStatusEnum.DonePut.ObjToInt();
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Dt_CachePoint endCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.TargetAddress);
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if (endCachePoint != null)
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{
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endCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(endCachePoint);
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}
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}
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break;
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case AGVTaskStatusEnum.Finish:
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{
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task.TaskStatus = AGVTaskStatusEnum.Finish.ObjToInt();
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BaseDal.DeleteAndMoveIntoHty(task, /*App.User.UserId == 0 ?*/ OperateType.自动完成 /*: OperateType.人工完成*/);
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return new { code = 200, message = "成功" };
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}
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case AGVTaskStatusEnum.Cancel:
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case AGVTaskStatusEnum.Terminate:
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case AGVTaskStatusEnum.Error:
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{
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if (task.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt())
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{
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Dt_CachePoint startCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.SourceAddress);
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startCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(startCachePoint);
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}
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task.TaskStatus = AGVTaskStatusEnum.Cancel.ObjToInt();
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BaseDal.DeleteAndMoveIntoHty(task, OperateType.自动删除);
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return new { code = 200, message = "成功" };
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}
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//case AGVTaskStatusEnum.Terminate:
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// task.TaskStatus = AGVTaskStatusEnum.Terminate.ObjToInt();
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// break;
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//case AGVTaskStatusEnum.Error:
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// task.TaskStatus = AGVTaskStatusEnum.Error.ObjToInt();
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// break;
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default:
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return new { code = 404, message = "未定义任务类型!" };
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}
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BaseDal.UpdateData(task);
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return new { code = 200, message = "成功" };
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}
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}
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}
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