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