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.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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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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public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
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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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}
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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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if (task == null) throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");
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switch (agvUpdateModel.Method)
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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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_taskService.UpdateTask(task,TaskStatusEnum.AGV_WaitToExecute);
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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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break;
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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($"放货申请中");
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}
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}
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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//[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
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/// <summary>
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/// 放货完成
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/// </summary>
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/// <param name="code"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
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public WebResponseContent PutFinish(string code)
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{
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try
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
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if (stationManger == null)
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{
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return WebResponseContent.Instance.Error($"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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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($"未找到对应设备");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canPut)
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{
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otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
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return WebResponseContent.Instance.OK();
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}
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else
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{
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otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
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Thread.Sleep(1000);
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canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canPut)
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{
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return WebResponseContent.Instance.OK();
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}
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else
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{
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return WebResponseContent.Instance.Error($"取货申请中");
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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("TakeFinish"), AllowAnonymous]
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/// <summary>
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/// 取货完成
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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("TakeFinish"), AllowAnonymous]
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public WebResponseContent TakeFinish(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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}
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OtherDevice otherDevice = (OtherDevice)device;
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otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
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Thread.Sleep(1000);
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otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, 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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}
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}
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