using Autofac.Core;
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using Microsoft.AspNetCore.Authorization;
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using Microsoft.AspNetCore.Http;
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using Microsoft.AspNetCore.Mvc;
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using System.Text;
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using System.Text.RegularExpressions;
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using WIDESEA_DTO.Agv;
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using WIDESEA_External.Model;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.APIEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Core.LogHelper;
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using WIDESEAWCS_DTO;
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using WIDESEAWCS_DTO.Agv;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.Models;
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using WIDESEAWCS_QuartzJob.Repository;
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using WIDESEAWCS_Tasks;
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using WIDESEAWCS_Tasks.DBNames;
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using static Dm.net.buffer.ByteArrayBuffer;
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namespace WIDESEAWCS_Server.Controllers
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{
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[Route("api/[controller]")]
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[ApiController]
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public class AGVController : ControllerBase
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{
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private readonly IStationMangerRepository _stationMangerRepository;
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private readonly ITaskService _taskService;
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private readonly ITaskRepository _taskRepository;
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private readonly IRouterRepository _routerRepository;
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public AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository,IRouterRepository routerRepository)
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{
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_stationMangerRepository = stationMangerRepository;
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_taskService = taskService;
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_taskRepository = taskRepository;
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_routerRepository = routerRepository;
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}
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/// <summary>
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/// AGV任务更新
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("Callback"), AllowAnonymous]
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public WebResponseContent? Callback([FromBody]AgvUpdateDTO agvUpdateDTO)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "")==x.PalletCode);
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switch (agvUpdateDTO.MissionStatus)
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{
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case nameof(AGVStatusEnum.PICKER_RECEIVE):
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if (task == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_TakeFinish);
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break;
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case nameof(AGVStatusEnum.PICKER_SEND):
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if (task == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");
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_taskService.TaskCompleted(task.TaskNum);
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break;
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case nameof(AGVStatusEnum.WAITFEEDBACK):
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//AGV放行
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List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x=>x.StationType==StationTypeEnum.StationType_OnlyInbound.ObjToInt());
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if (!stationMangers.Select(x=>x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
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{
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WebResponseContent responseContent = _taskService.AgvTaskFlow(agvUpdateDTO.MissionCode);
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if (!responseContent.Status) throw new Exception($"{responseContent.Message}");
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}
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break;
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default:
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break;
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}
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content.OK();
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// AGV任务请求
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("WorkRequest"), AllowAnonymous]
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public AgvTaskReqContent WorkRequest([FromBody] AgvTaskRequestDTO agvTaskRequestDTO)
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{
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AgvTaskReqContent content = new AgvTaskReqContent();
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try
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{
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//获取任务
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Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"未找到料箱{agvTaskRequestDTO.ContainerCode}任务");
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//获取站台
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Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"未找到{agvTaskRequestDTO.PositionId}站台位置");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"未找到对应设备{stationManger.StationDeviceCode}");
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OtherDevice commonConveyorLine = (OtherDevice)device;
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if (stationManger.StationType==StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
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{
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short IsPut = commonConveyorLine.Communicator.Read<short>("0");
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if (IsPut != 256) throw new Exception($"{agvTaskRequestDTO.PositionId}禁止放箱");
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}
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else
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{
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short IsTake = commonConveyorLine.Communicator.Read<short>("11");
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if (IsTake != 256) throw new Exception($"{agvTaskRequestDTO.PositionId}禁止取箱");
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}
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content.OK();
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// AGV作业完成
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("WorkFinish"), AllowAnonymous]
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public AgvTaskReqContent WorkFinish([FromBody] AgvTaskRequestDTO agvTaskRequestDTO)
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{
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AgvTaskReqContent content = new AgvTaskReqContent();
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try
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{
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//获取站台
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Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"未找到{agvTaskRequestDTO.PositionId}站台位置");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"未找到对应设备{stationManger.StationDeviceCode}");
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OtherDevice commonConveyorLine = (OtherDevice)device;
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if (stationManger.StationType == StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
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{
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commonConveyorLine.Communicator.Write("21", (short)256);
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}
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else
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{
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commonConveyorLine.Communicator.Write("23", (short)256);
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}
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content.OK();
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}
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catch (Exception ex)
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{
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if (ex.Message.Contains("数据写入，地址：【23】，写入的数据：【256】") || ex.Message.Contains("数据写入，地址：【21】，写入的数据：【256】"))
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{
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content.OK();
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}
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else
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{
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content.Error(ex.Message);
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}
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}
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return content;
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}
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}
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}
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