using AutoMapper;
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using LogLibrary.Log;
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using Newtonsoft.Json;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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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_Tasks.ConveyorLineJob;
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using WIDESEAWCS_Tasks.ElevatorJob;
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namespace WIDESEAWCS_Tasks.AGV
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{
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public class AGVSignal:IAGVSignal
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{
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private readonly ITaskRepository _taskRepository;
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private readonly ITask_HtyRepository _taskhtyRepository;
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private readonly ITaskService _taskService;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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private readonly IMapper _mapper;
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public AGVSignal(ITaskRepository taskRepository, ITaskService taskService,IDt_StationManagerRepository stationManagerRepository,ITask_HtyRepository taskhtyRepository, IMapper mapper)
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{
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_taskRepository = taskRepository;
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_taskService = taskService;
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_stationManagerRepository = stationManagerRepository;
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_taskhtyRepository = taskhtyRepository;
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_mapper = mapper;
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}
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#region AGV与设备信号交互
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/// <summary>
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/// AGV--设备交互
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/// </summary>
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/// <returns></returns>
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public WebResponseContent SignalInteraction(AGVReceiveDTO receiveDTO)
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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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LogFactory.WriteInfo($"AGV状态上报", $"参数【{JsonConvert.SerializeObject(receiveDTO)}】{Environment.NewLine}{Environment.NewLine}");
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var task = _taskRepository.QueryFirst(t => t.AGVTaskNum == receiveDTO.orderId);
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if (task == null)
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{
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return content.Error("未找到任务");
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}
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CommonConveyorLine? commonConveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001") as CommonConveyorLine;
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CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
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switch (receiveDTO.status)
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{
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case 20:
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content = RequestPickUp(task, commonConveyorLine, elevator);
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break;
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case 21:
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content = PickUpFinish(task, commonConveyorLine, elevator);
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break;
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case 22:
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content = RequestPut(task, commonConveyorLine, elevator);
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break;
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case 8:
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content = PutFinish(task, commonConveyorLine, elevator);
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break;
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default:
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content.Error("未知状态");
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break;
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}
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LogFactory.WriteInfo($"AGV状态上报", $"返回参数【{JsonConvert.SerializeObject(content)}】{Environment.NewLine}{Environment.NewLine}");
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return content;
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}
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catch (Exception ex)
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{
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return content.Error(ex.Message);
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}
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}
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/// <summary>
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/// 放货完成
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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public WebResponseContent PutFinish(Dt_Task task, CommonConveyorLine commonConveyorLine, CommonElevator elevator)
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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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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.AcrossFloorGroup)
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{
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if (task.TaskState == (int)TaskAcrossFloorStatusEnum.FirstCarry)
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{
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Dt_StationManager stationManager = new Dt_StationManager();
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string TaskTemplate = string.Empty;
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if (task.Floor == "1F")
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{
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stationManager = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == "2F");
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elevator.SetValue(ElevatorDBName.OneLayerPutFinish, 1);
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TaskTemplate = "BBB";
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//请求WMS跨楼层2任务
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}
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else
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{
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stationManager = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == "1F");
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elevator.SetValue(ElevatorDBName.TwoLayerPutFinish, 1);
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//请求WMS跨楼层2任务
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TaskTemplate = "CCC";
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}
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task.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarryFinish;
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task.ModifyDate = DateTime.Now;
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task.Modifier = "System";
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Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
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task_Hty.TaskId = 0;
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_taskRepository.DeleteData(task);
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_taskhtyRepository.AddData(task_Hty);
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Random random = new Random();
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int randomNumber = random.Next(1000, 10000);
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WMSTaskDTO taskDTO = new WMSTaskDTO()
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{
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Id = 1,
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TaskNum = randomNumber,
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RoadWay = "AGV",
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TaskType = (int)TaskAcrossFloorTypeEnum.AcrossFloorCarry,
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TaskState = (int)TaskAcrossFloorStatusEnum.SecondCarry,
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PalletCode = task.PalletCode,
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SourceAddress = stationManager.stationChildCode,
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TargetAddress = task.TargetAddress,
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Grade = 1,
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AGVTaskNum = GenerateUniqueId()
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};
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Dt_Task SecondCarry = _mapper.Map<Dt_Task>(taskDTO);
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task.Creater = "WMS";
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SecondCarry.CurrentAddress = stationManager.stationChildCode;
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SecondCarry.NextAddress = task.TargetAddress;
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SecondCarry.Floor = stationManager.stationFloor;
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SecondCarry.AGVSign = "";
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_taskRepository.AddData(SecondCarry);
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_taskService.SendAgvTask(TaskTemplate, SecondCarry.TaskNum);
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content.OK();
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}
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else if (task.TaskState == (int)TaskAcrossFloorStatusEnum.SecondCarry)
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{
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task.TaskState = (int)TaskAcrossFloorStatusEnum.SecondCarryFinish;
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task.ModifyDate = DateTime.Now;
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task.Modifier = "System";
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Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
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task_Hty.TaskId = 0;
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_taskRepository.DeleteData(task);
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_taskhtyRepository.AddData(task_Hty);
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}
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}
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.CarryGroup)
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{
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_taskService.UpdateTaskStatusToNext(task.TaskNum);
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}
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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if (task.TaskState == (int)TaskOutStatusEnum.AGV_OutExecuting)
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{
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_taskService.UpdateTaskStatusToNext(task.TaskNum);
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}
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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commonConveyorLine.SetValue(ConveyorLineDBName.PutFinish, 1, "LK001");
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commonConveyorLine.Communicator.WriteNoRead("DB100.0", 9990);
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commonConveyorLine.Communicator.WriteNoRead("DB100.4", Convert.ToInt16(task.TaskNum));
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task.TaskState = (int)TaskInStatusEnum.Line_InExecuting;
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_taskRepository.UpdateData(task);
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content.OK();
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}
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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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/// 取货完成
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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public WebResponseContent PickUpFinish(Dt_Task task, CommonConveyorLine commonConveyorLine, CommonElevator elevator)
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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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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.AcrossFloorGroup)
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{
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if (task.TaskState == (int)TaskAcrossFloorStatusEnum.SecondCarry)
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{
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if (task.Floor == "1F")
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{
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elevator.SetValue(ElevatorDBName.OneLayerPickUpFinish, 1);
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}
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else
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{
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elevator.SetValue(ElevatorDBName.TwoLayerPickUpFinish, 1);
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}
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}
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}
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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commonConveyorLine.SetValue(ConveyorLineDBName.PickUpFinish, 1, "LK001");
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
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_taskRepository.UpdateData(task);
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content.OK();
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}
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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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/// 请求取货
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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public WebResponseContent RequestPickUp(Dt_Task task, CommonConveyorLine commonConveyorLine, CommonElevator elevator)
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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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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.AcrossFloorGroup)
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{
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if (task.TaskState == (int)TaskAcrossFloorStatusEnum.SecondCarry)
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{
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if (task.Floor == "1F")
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{
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if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.OneLayerAllowPickUp) == 1)
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{
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_taskService.ContinueAgvTask(task.AGVTaskNum);
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content.OK();
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}
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else
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{
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task.AGVSign = "RequestPickUp";
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_taskRepository.UpdateData(task);
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content.Error("设备不允许取货");
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}
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}
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else
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{
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if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.TwoLayerAllowPickUp) == 1)
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{
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_taskService.ContinueAgvTask(task.AGVTaskNum);
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content.OK();
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}
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else
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{
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task.AGVSign = "RequestPickUp";
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_taskRepository.UpdateData(task);
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content.Error("设备不允许取货");
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}
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}
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}
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}
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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{
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if (commonConveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.AllowPickUp, "LK001") == 1)
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{
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_taskService.ContinueAgvTask(task.AGVTaskNum);
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task.TaskState = (int)TaskOutStatusEnum.Line_OutFinish;
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_taskRepository.UpdateData(task);
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content.OK();
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}
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else
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{
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task.AGVSign = "RequestPickUp";
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_taskRepository.UpdateData(task);
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content.Error("设备不允许取货");
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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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task.AGVSign = "RequestPickUp";
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_taskRepository.UpdateData(task);
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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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/// 请求放货
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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public WebResponseContent RequestPut(Dt_Task task, CommonConveyorLine commonConveyorLine, CommonElevator elevator)
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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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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.AcrossFloorGroup)
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{
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if (task.TaskState == (int)TaskAcrossFloorStatusEnum.FirstCarry)
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{
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if (task.Floor == "1F")
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{
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if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.OneLayerAllowPut) == 1)
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{
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_taskService.ContinueAgvTask(task.AGVTaskNum);
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content.OK();
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}
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else
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{
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task.AGVSign = "RequestPut";
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_taskRepository.UpdateData(task);
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content.Error("设备不允许放货");
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}
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}
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else
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{
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if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.TwoLayerAllowPut) == 1)
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{
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_taskService.ContinueAgvTask(task.AGVTaskNum);
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content.OK();
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}
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else
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{
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task.AGVSign = "RequestPut";
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_taskRepository.UpdateData(task);
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content.Error("设备不允许放货");
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}
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}
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}
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}
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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if (commonConveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.AllowPut, "LK001") == 1)
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{
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_taskService.ContinueAgvTask(task.AGVTaskNum);
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content.OK();
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}
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else
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{
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task.AGVSign = "RequestPut";
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_taskRepository.UpdateData(task);
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content.Error("设备不允许取货");
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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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task.AGVSign = "RequestPut";
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_taskRepository.UpdateData(task);
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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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#endregion
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#region 获取AGV任务号
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private static readonly Random _random = new Random();
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public static string GenerateUniqueId()
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{
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// 获取当前毫秒级时间戳
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long timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds();
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// 生成4位随机数（0000-9999）
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int randomNumber = _random.Next(0, 10000);
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string randomPart = randomNumber.ToString("D4"); // 补零到4位
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return $"{timestamp}{randomPart}";
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}
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#endregion
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}
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}
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