using Microsoft.AspNetCore.Authorization;
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using Microsoft.AspNetCore.Mvc;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
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using System.Reflection;
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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_ITaskInfoRepository;
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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 WIDESEAWCS_Tasks.ElevatorJob;
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namespace WIDESEAWCS_Server.Controllers.AGV
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{
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[Route("api/AGV")]
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[ApiController]
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public class AGVController : ControllerBase
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{
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private readonly ITaskRepository _taskRepository;
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public AGVController(ITaskRepository taskRepository)
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{
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_taskRepository = taskRepository;
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}
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/// <summary>
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/// AGV状态上报
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/// </summary>
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/// <param name="receiveDTO"></param>
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/// <returns></returns>
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[HttpPost, Route("AGVStatusReport"), AllowAnonymous]
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public WebResponseContent AGVStatusReport(AGVReceiveDTO receiveDTO) => SignalInteraction(receiveDTO);
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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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var task = _taskRepository.QueryFirst(t => t.TaskNum == receiveDTO.TaskNum);
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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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MethodInfo? method = GetType().GetMethod(receiveDTO.Status);
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if (method != null)
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{
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CommonConveyorLine? commonConveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.DeviceCode) as CommonConveyorLine;
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CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.DeviceCode) as CommonElevator;
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if (elevator == null && commonConveyorLine == null)
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return content.Error("未找到设备");
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else
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return content = (WebResponseContent)method.Invoke(this, new object[] { task, commonConveyorLine, elevator });
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}
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else
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{
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throw new Exception($"未找到该状态{receiveDTO.Status}定义");
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}
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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.OutbondGroup)
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{
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elevator.SetValue(ElevatorDBName.OneLayerPutFinish, 1);
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elevator.SetValue(ElevatorDBName.StartCommand, 1);
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content.OK();
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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if (task.DeviceCode.Contains("TSJ"))
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{
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elevator.SetValue(ElevatorDBName.TwoLayerPutFinish, 1);
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elevator.SetValue(ElevatorDBName.StartCommand, 1);
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content.OK();
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}
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else
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{
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commonConveyorLine.SetValue(ConveyorLineDBName.PutFinish, 1, "101");
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commonConveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, 9990, "101");
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}
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}
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else
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{
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throw new Exception("任务状态异常");
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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.OutbondGroup)
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{
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if (task.DeviceCode.Contains("TSJ"))
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{
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elevator.SetValue(ElevatorDBName.TwoLayerPutFinish, 1);
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elevator.SetValue(ElevatorDBName.StartCommand, 1);
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content.OK();
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}
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else
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{
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commonConveyorLine.SetValue(ConveyorLineDBName.PutFinish, 1, "101");
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content.OK();
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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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if (task.DeviceCode.Contains("TSJ"))
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{
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elevator.SetValue(ElevatorDBName.OneLayerPutFinish, 1);
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elevator.SetValue(ElevatorDBName.StartCommand, 1);
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content.OK();
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}
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}
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else
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{
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throw new Exception("任务状态异常");
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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.OutbondGroup)
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{
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int AllowPickUp = 0;
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if (task.DeviceCode.Contains("TSJ"))
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AllowPickUp = elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.TwoLayerAllowPickUp);
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else
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AllowPickUp = commonConveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.AllowPickUp, "101");
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content = AllowPickUp == 1 ? content.OK() : content.Error("设备不允许取货");
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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int AllowPickUp = 0;
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if (task.DeviceCode.Contains("TSJ"))
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AllowPickUp = elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.OneLayerAllowPickUp);
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content = AllowPickUp == 1 ? content.OK() : content.Error("设备不允许取货");
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}
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else
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{
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throw new Exception("任务状态异常");
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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.OutbondGroup)
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{
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int AllowPickUp = 0;
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if (task.DeviceCode.Contains("TSJ"))
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AllowPickUp = elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.OneLayerAllowPut);
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content = AllowPickUp == 1 ? content.OK() : content.Error("设备不允许放货");
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}
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else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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int AllowPickUp = 0;
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if (task.DeviceCode.Contains("TSJ"))
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AllowPickUp = elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.TwoLayerAllowPut);
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else
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AllowPickUp = commonConveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.AllowPut, "101");
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content = AllowPickUp == 1 ? content.OK() : content.Error("设备不允许放货");
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}
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else
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{
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throw new Exception("任务状态异常");
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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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#endregion
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}
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}
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