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 WIDESEA_DTO.Agv;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.BaseRepository;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.Agv;
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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_Tasks;
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using WIDESEAWCS_Tasks.ConveyorLineJob;
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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 CTU_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 IUnitOfWorkManage _unitOfWorkManage;
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public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository,IUnitOfWorkManage unitOfWorkManage)
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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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_unitOfWorkManage = unitOfWorkManage;
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}
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[HttpPost, HttpGet, Route("AGVFinish"), AllowAnonymous]
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public WebResponseContent AGVFinish(string barcode)
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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 => x.PalletCode == barcode);
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if (task == null) throw new Exception($"未找到任务,托盘号【{barcode}】");
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AgvUpdateDTO updateDTO = new AgvUpdateDTO()
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{
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TaskCode = task.AgvTaskNum,
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Method = "end"
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};
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var agvResponseContent = CtuCallback(updateDTO);
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if (agvResponseContent.Code == "1") throw new Exception(agvResponseContent.Message);
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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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#region 安全信号申请
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/// <summary>
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/// 安全信号申请 AGV-WCS
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/// </summary>
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/// <param name="secureApplyModel"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("AgvSecureApply"), AllowAnonymous]
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public AgvResponseContent AgvSecureApply([FromBody] AgvSecureApplyDTO secureApplyModel)
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{
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AgvResponseContent agvResponseContent = new AgvResponseContent();
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agvResponseContent.ReqCode = secureApplyModel.ReqCode;
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try
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{
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var task = _taskRepository.QueryFirst(x => secureApplyModel.TaskCode == x.AgvTaskNum);
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if (task == null) throw new Exception("未找到任务");
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if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
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{
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var content = PutRequest(task.NextAddress, task.PalletType);
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}
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else
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{
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var content = TakeRequest(task.CurrentAddress);
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}
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task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
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var up = _taskRepository.UpdateData(task);
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agvResponseContent.Code = up ? "0" : "1";
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agvResponseContent.Message = up ? "成功" : "失败";
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}
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catch (Exception ex)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = ex.Message;
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}
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return agvResponseContent;
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//return _taskService.AgvSecureApply(secureApplyModel);
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}
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#endregion
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/// <summary>
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/// 料箱判断
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("AgvCallbackBoxNo"), AllowAnonymous]
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public AgvResponseContent AgvCallbackBoxNo([FromBody] AgvCallbackBoxNoDTO agvCallbackBox)
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{
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AgvResponseContent agvResponseContent = new AgvResponseContent();
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try
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{
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var task = _taskRepository.QueryFirst(x => agvCallbackBox.TaskNo == x.AgvTaskNum);
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if (task==null)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = $"未找到任务{agvCallbackBox.TaskNo}";
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return agvResponseContent;
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}
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if (task.PalletCode!= agvCallbackBox.ContainerCode)
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{
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string Address = task.CurrentAddress switch
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{
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"5206" => "5105",
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"5212" => "5111",
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"5218" => "5117",
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"8005" => "8001",
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"5135" => "5236",
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};
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AgvCTUCancelDTO agvCTUCancel=new AgvCTUCancelDTO()
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{
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ForceCancel="1",
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MatterArea= task.CurrentAddress,
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TaskCode=task.AgvTaskNum,
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ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
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ReqTime= DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
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};
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WebResponseContent content = _taskService.AgvBoxApplyPass(agvCTUCancel);
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//取消任务
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if (content.Status)
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{
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agvResponseContent.Code = "0";
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agvResponseContent.Message = $"取消{task.AgvTaskNum}成功";
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task.ExceptionMessage = $"实际箱号{task.PalletCode}扫描箱{agvCallbackBox.ContainerCode}";
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_taskService.UpdateTask(task, TaskStatusEnum.Cancel);
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}
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else
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = content.Message;
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}
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}
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else
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{
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agvResponseContent.Code = "0";
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agvResponseContent.Message = "成功";
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}
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}
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catch (Exception ex)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = ex.Message;
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}
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return agvResponseContent;
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}
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/// <summary>
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/// CtuAGV任务更新/完成
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/// </summary>
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/// <param name="agvUpdateModel"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("CtuCallback"), AllowAnonymous]
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public AgvResponseContent CtuCallback([FromBody] AgvUpdateDTO agvUpdateModel)
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{
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AgvResponseContent agvResponseContent = new AgvResponseContent();
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try
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{
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if (agvUpdateModel == null) throw new Exception("未获取到请求参数");
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agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
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var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
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//是否存在输送线体待AGV搬运任务
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var taskExecutes = _taskRepository.QueryData(x => x.NextAddress == task.CurrentAddress && x.TaskState == TaskStatusEnum.Line_Executing.ObjToInt() && x.TaskType == TaskTypeEnum.InProduct.ObjToInt());
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var taskExecutesFL = _taskRepository.QueryData(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && x.DeviceCode=="AGV_FL" && !string.IsNullOrEmpty(x.DeviceCode));
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if (task == null) throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");
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switch (agvUpdateModel.Method.ToUpper())
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{
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case "END":
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if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt()
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|| task.TaskType == TaskTypeEnum.OutAllocate.ObjToInt() || task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
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PutFinish(task.NextAddress);
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_taskService.TaskCompleted(task.TaskNum);
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break;
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case "APPLYTOAGV":
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//更改成品入库AGV取货任务状态
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if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() || task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
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{
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//for (int i = 0; i < 100; i++)
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//{
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// task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
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// task.Remark = task.TaskState.ToString();
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// _taskRepository.UpdateData(task);
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// var taskOk = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
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// if (taskOk.TaskState==TaskStatusEnum.AGV_WaitToExecute.ObjToInt() || taskOk.Remark.Contains("320"))
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// {
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// agvResponseContent.Code = "0";
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// agvResponseContent.Message = ""+i;
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// break;
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// }
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//}
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//是否存在输送线体待AGV搬运任务
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if (taskExecutes.Count > 0)
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{
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string address = task.CurrentAddress switch
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{
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"5206" => "5105",
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"5212" => "5111",
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"5218" => "5117",
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};
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//调用AGV预调度接口
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AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
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{
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PositionCode = address,
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NextTask = "90",
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UseableLayers = "1",
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CacheCount = "1",
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Update = "0",
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AgvTyp = "11",
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PreTaskQty = "1",
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
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ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
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};
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WebResponseContent content = _taskService.AgvPreScheduleTask(agvScheduleTask);
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if (!content.Status)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = content.Message;
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return agvResponseContent;
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}
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}
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
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if (stationManger==null)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = "未找到站台";
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return agvResponseContent;
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = $"未找设备{stationManger.StationDeviceCode}";
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return agvResponseContent;
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}
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OtherDevice otherDevice = (OtherDevice)device;
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short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canTake == 1)
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{
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//获取调入参数
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AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
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{
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
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ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
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TaskCode = task.AgvTaskNum
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};
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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boxApplyPassDTO.Type = "1";
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}
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else
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{
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boxApplyPassDTO.Type = "2";
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}
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//请求料箱回调接口
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WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
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if (content.Status && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
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}
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else
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{
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task.ExceptionMessage = content.Message;
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_taskService.UpdateTask(task, TaskStatusEnum.Exception);
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}
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}
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else
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{
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task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
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task.Remark = task.TaskState.ToString();
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_taskRepository.UpdateData(task);
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}
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}
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else //更改辅料取货
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{
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//是否存在输送线体待AGV搬运任务
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if (taskExecutesFL.Count > 0)
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{
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//调用AGV预调度接口
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AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
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{
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PositionCode = "8001",
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NextTask = "90",
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UseableLayers = "1",
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CacheCount = "1",
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Update = "0",
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AgvTyp = "10",
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PreTaskQty = "1",
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
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ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
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};
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WebResponseContent contentFL = _taskService.AgvPreScheduleTask(agvScheduleTask);
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if (!contentFL.Status)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = contentFL.Message;
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return agvResponseContent;
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}
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}
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//获取调入参数
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AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
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{
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ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
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ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
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TaskCode = task.AgvTaskNum
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};
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boxApplyPassDTO.Type = "1";
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//请求料箱回调接口
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WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
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if (content.Status && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
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}
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else
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{
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task.ExceptionMessage = content.Message;
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_taskService.UpdateTask(task, TaskStatusEnum.Exception);
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}
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}
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break;
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case "APPLYFROMAGV":
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//更改成品出AGV放货任务状态
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//if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
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//{
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_WaitToExecute);
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//}
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break;
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case "OUTBIN":
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if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() || task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
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{
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TakeFinish(task.CurrentAddress);
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//_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
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}
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else if(task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
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{
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
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}
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break;
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default:
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throw new Exception($"方法{agvUpdateModel.Method}参数不存在");
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}
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agvResponseContent.Code = "0";
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agvResponseContent.Message = "成功";
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}
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catch (Exception ex)
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{
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agvResponseContent.Code = "1";
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agvResponseContent.Message = ex.Message;
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}
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return agvResponseContent;
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}
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/// <summary>
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/// 放货请求
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/// </summary>
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/// <param name="code"></param>
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/// <param name="palletType"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
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public WebResponseContent PutRequest(string code, int palletType)
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{
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try
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
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if (stationManger == null)
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{
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return WebResponseContent.Instance.Error($"未找到站台配置");
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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return WebResponseContent.Instance.Error($"未找到对应设备");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
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if (canPut)
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{
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otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
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return WebResponseContent.Instance.OK();
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}
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else
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{
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otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
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Thread.Sleep(1000);
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canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
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if (canPut)
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{
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return WebResponseContent.Instance.OK();
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}
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else
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{
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return WebResponseContent.Instance.Error($"放货申请中");
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}
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}
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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//[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
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/// <summary>
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/// 放货完成
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/// </summary>
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/// <param name="code"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
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public WebResponseContent PutFinish(string code,string barCode="",string taskNum="")
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{
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try
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
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if (stationManger == null)
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{
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return WebResponseContent.Instance.Error($"未找到站台配置");
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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return WebResponseContent.Instance.Error($"未找到对应设备");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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if (!barCode.IsNullOrEmpty() && !taskNum.IsNullOrEmpty())
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{
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otherDevice.SetValue(W_ConveyorLineFLDB.Barcode, barCode, stationManger.StationCode);
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Thread.Sleep(500);
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otherDevice.SetValue(W_ConveyorLineFLDB.TaskNum, taskNum, stationManger.StationCode);
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Thread.Sleep(500);
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}
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otherDevice.SetValue(GroundStationDBName.W_PutFinish, true, stationManger.StationCode);
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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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//[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
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/// <summary>
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/// 取货请求
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/// </summary>
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/// <param name="code"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
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public WebResponseContent TakeRequest(string code)
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{
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try
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
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if (stationManger == null)
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{
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return WebResponseContent.Instance.Error($"未找到站台配置");
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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return WebResponseContent.Instance.Error($"未找到对应设备");
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}
|
|
OtherDevice otherDevice = (OtherDevice)device;
|
|
bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canPut)
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{
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otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
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return WebResponseContent.Instance.OK();
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}
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else
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{
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otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
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Thread.Sleep(1000);
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canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canPut)
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{
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return WebResponseContent.Instance.OK();
|
}
|
else
|
{
|
return WebResponseContent.Instance.Error($"取货申请中");
|
}
|
}
|
}
|
catch (Exception ex)
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{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
|
//[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
|
/// <summary>
|
/// 取货完成
|
/// </summary>
|
/// <param name="code"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
|
public WebResponseContent TakeFinish(string code)
|
{
|
try
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
|
if (stationManger == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到站台配置");
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到对应设备");
|
}
|
|
OtherDevice otherDevice = (OtherDevice)device;
|
otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
|
Thread.Sleep(1000);
|
otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
|
return WebResponseContent.Instance.OK();
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
}
|
}
|
