更新优化

helongyang

2025-07-11 291025fa4ada785892cb5b50921132573174e074

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using HslCommunication.WebSocket;
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
using SqlSugar.Extensions;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseController;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_TaskInfoRepository;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks;
 
namespace WIDESEAWCS_WCSServer.Controllers.Task
{
    [Route("api/Task")]
    [ApiController]
    public class TaskController : ApiBaseController<ITaskService, Dt_Task>
    {
        private readonly IHttpContextAccessor _httpContextAccessor;
        private readonly IRouterExtension _routerExtension;
        //private readonly WebSocketServer _webSocketServer;
        private readonly ITaskService _taskService;
        private readonly ITaskRepository _taskRepository;
        public TaskController(ITaskService service, IHttpContextAccessor httpContextAccessor, IRouterExtension routerExtension ,ITaskService taskService,ITaskRepository taskRepository /*, WebSocketServer webSocketServer*/) : base(service)
        {
            _httpContextAccessor = httpContextAccessor;
            _routerExtension = routerExtension;
            _taskService = taskService;
            _taskRepository = taskRepository;
            //_webSocketServer = webSocketServer;
        }
 
        [HttpPost, Route("ReceiveTask"), AllowAnonymous]
        public WebResponseContent ReceiveWMSTask([FromBody] List<WMSTaskDTO> taskDTOs)
        {
            return Service.ReceiveWMSTask(taskDTOs);
        }
 
        [HttpPost, HttpGet, Route("RequestAssignLocation"), AllowAnonymous]
        public string? RequestAssignLocation(int taskNum, string roadwayNo)
        {
            return Service.RequestAssignLocation(taskNum, roadwayNo);
        }
 
        [HttpPost, HttpGet, Route("UpdateTaskExceptionMessage")]
        public WebResponseContent UpdateTaskExceptionMessage(int taskNum, string message)
        {
            return Service.UpdateTaskExceptionMessage(taskNum, message);
        }
 
        //[HttpPost, HttpGet, Route("UpdateTaskStatusToNext")]
        //public WebResponseContent UpdateTaskStatusToNext(int taskNum)
        //{
        //    return Service.UpdateTaskStatusToNext(taskNum);
        //}
 
        [HttpPost, HttpGet, Route("TaskStatusRecovery")]
        public WebResponseContent TaskStatusRecovery(int taskNum)
        {
            return Service.TaskStatusRecovery(taskNum);
        }
 
        [HttpPost, HttpGet, Route("RollbackTaskStatusToLast")]
        public WebResponseContent RollbackTaskStatusToLast(int taskNum)
        {
            return Service.RollbackTaskStatusToLast(taskNum);
        }
 
        /// <summary>
        /// 回复AGV安全信号
        /// </summary>
        /// <param name="taskNum"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("SendSecureReplyToAgv")]
        public WebResponseContent SendSecureReplyToAgv(int taskNum)
        {
            return Service.SendSecureReplyToAgv(taskNum);
        }
 
        [HttpPost, HttpGet, Route("GetRouteEndPoint"), AllowAnonymous]
        public WebResponseContent GetRouteEndPoint(string startPoint, int routeType)
        {
            return WebResponseContent.Instance.OK(data: _routerExtension.GetEndPoint(startPoint, routeType));
        }
        [HttpPost, HttpGet, Route("AgvCarrying"), AllowAnonymous]
        public WebResponseContent AgvCarrying(int row, int startColumn, int endColumn, int layer, int targetLayer)
        {
            return Service.AgvCarrying(row, startColumn, endColumn, layer, targetLayer);
        }
        //[HttpPost, HttpGet, Route("WebSocketPushMessage"), AllowAnonymous]
        //public WebResponseContent WebSocketPushMessage(string message)
        //{
        //    try
        //    {
        //         _webSocketServer.PublishAllClientPayload(message);
        //        return WebResponseContent.Instance.OK();
        //    }
        //    catch(Exception ex)
        //    {
        //        return WebResponseContent.Instance.Error(ex.Message);
        //    }
        //}
        [HttpPost, HttpGet, Route("RecWMSTaskCompleted"), AllowAnonymous]
        public WebResponseContent RecWMSTaskCompleted(int taskNum)
        {
            return Service.RecWMSTaskCompleted(taskNum);
        }
 
        //堆垛机任务重发
        [HttpPost, HttpGet, Route("StackerCraneTaskResending"), AllowAnonymous]
        public WebResponseContent StackerCraneTaskResending(int taskNum)
        {
            try
            {
                Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null)
                {
                    return WebResponseContent.Instance.Error("未找到该任务信息");
                }
                if(task.TaskState == TaskStatusEnum.SC_Executing.ObjToInt())
                {
                    _taskService.UpdateTask(task, TaskStatusEnum.SC_Execute);
                }
                else
                {
                    return WebResponseContent.Instance.Error("非堆垛机执行中状态");
                }
                return WebResponseContent.Instance.OK();
            }
            catch(Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
 
        //堆垛机任务优先执行
        [HttpPost, HttpGet, Route("StackerCraneTaskPriority"), AllowAnonymous]
        public WebResponseContent StackerCraneTaskPriority(int taskNum)
        {
            try
            {
                Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null)
                {
                    return WebResponseContent.Instance.Error("未找到该任务信息");
                }
                if (task.TaskState == TaskStatusEnum.SC_Execute.ObjToInt())
                {
                    task.Grade = 98;
                }
                else
                {
                    return WebResponseContent.Instance.Error("非堆垛机待执行状态");
                }
                _taskRepository.UpdateData(task);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
    }
}