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 System.IO;
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using System.Text;
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using WIDESEA_External.Model;
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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_Core.Helper;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_IBasicInfoRepository;
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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_TaskInfoService;
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using WIDESEAWCS_Tasks;
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using WIDESEAWCS_Tasks.DBNames;
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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 IStationMangerRepository _stationMangerRepository;
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public TaskController(ITaskService service, IHttpContextAccessor httpContextAccessor, IRouterExtension routerExtension, IStationMangerRepository stationMangerRepository) : base(service)
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{
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_httpContextAccessor = httpContextAccessor;
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_routerExtension = routerExtension;
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_stationMangerRepository=stationMangerRepository;
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}
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[HttpPost, Route("ReceiveTask"), AllowAnonymous]
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public WMSReceiveTaskContent ReceiveWMSTask([FromBody] WMSTaskDTO taskDTO)
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{
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return Service.ReceiveWMSTask(taskDTO);
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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("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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private static object lock_containerFlow = new object();
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/// <summary>
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/// 容器流动接口
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("ContainerFlow"), AllowAnonymous]
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public WebResponseContent ContainerFlow([FromBody] ContainerFlowDTO containerFlowDTO)
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{
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lock (lock_containerFlow)
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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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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.PickStationCode == containerFlowDTO.SlotCode) ?? throw new Exception($"{containerFlowDTO.SlotCode}拣选位置不存在");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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return WebResponseContent.Instance.Error($"未找到对应设备{stationManger.StationDeviceCode}");
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}
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if (stationManger.StationDeviceCode == "CL1" || stationManger.StationDeviceCode == "CL2")
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{
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OtherDevice commonConveyorLine = (OtherDevice)device;
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byte[] bytesPick = commonConveyorLine.Communicator.Read("2", 5);
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string PickBarCode = Encoding.UTF8.GetString(bytesPick).Replace("\0", "").Replace("\\0", "");
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if (containerFlowDTO.ContainerCode != PickBarCode) throw new Exception($"传入料箱码{containerFlowDTO.ContainerCode}，输送料箱码{PickBarCode}数据错误");
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//if (containerFlowDTO.Direction == "100")
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//{
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// WebResponseContent responseContent = Service.ContainerFlow(containerFlowDTO, stationManger.StationDeviceCode, stationManger.PickStationCode);
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// if (!responseContent.Status) throw new Exception(responseContent.Message);
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//}
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WriteLog.Write_Log("一期容器流动入库接口", "任务信息", $"返回输送线{stationManger.PickStationCode}", $"返回给输送线的任务信息：{containerFlowDTO.ToJson()}");
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commonConveyorLine.Communicator.Write("22", (containerFlowDTO.Direction == "100" ? new byte[] { 1, 0 } : new byte[] { 2, 0 }));
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}
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else
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{
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CommonConveyorLine commonConveyorLine = (CommonConveyorLine)device;
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string PickBarCode = commonConveyorLine.GetValue<ConveyorLineDBName, string>(ConveyorLineDBName.R_PickBarCode, stationManger.StationCode).Trim();
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if (containerFlowDTO.ContainerCode != PickBarCode) throw new Exception($"传入料箱码{containerFlowDTO.ContainerCode}，输送料箱码{PickBarCode}数据错误");
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if (containerFlowDTO.Direction == "100")
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{
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short W_PickToHode = commonConveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.W_PickToHode, stationManger.StationCode);
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if (W_PickToHode == 300)
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{
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WebResponseContent responseContent = Service.ContainerFlow(containerFlowDTO, stationManger.StationDeviceCode, stationManger.PickStationCode);
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if (!responseContent.Status) throw new Exception(responseContent.Message);
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}
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else
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{
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throw new Exception($"传入料箱码{containerFlowDTO.ContainerCode}，输送料状态：{W_PickToHode}，不满足入库条件");
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}
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}
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WriteLog.Write_Log("二期容器流动入库接口", "任务信息", $"返回输送线{stationManger.PickStationCode}", $"返回给输送线的任务信息：{containerFlowDTO.ToJson()}");
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commonConveyorLine.SetValue(ConveyorLineDBName.W_PickToHode, (short)containerFlowDTO.Direction.ObjToInt(), stationManger.StationCode);
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}
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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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}
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/// <summary>
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/// 播种墙初始化
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("InitLight"), AllowAnonymous]
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public WebResponseContent InitLight()
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{
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return Service.InitLight();
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}
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/// <summary>
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/// 播种墙结束作业
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("EndLight"), AllowAnonymous]
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public WebResponseContent EndLight()
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{
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return Service.EndLight();
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}
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/// <summary>
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/// 播种墙亮灯
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("SendLight"), AllowAnonymous]
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public WebResponseContent SendLight([FromBody] TaskSendLight taskSendLight)
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{
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return Service.SendLight(taskSendLight);
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}
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/// <summary>
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/// 申请入库
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("RequestInTask"), AllowAnonymous]
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public WebResponseContent RequestInTask(string stationCode, string barCode)
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{
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return Service.RequestInTask(stationCode, barCode);
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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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/// <summary>
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/// WMS任务完成同步
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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("RecTaskCompleted"), AllowAnonymous]
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public WebResponseContent RecTaskCompleted(int taskNum)
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{
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return Service.TaskCompleted(taskNum);
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}
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/// <summary>
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/// 人工手动取消指定任务
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/// </summary>
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/// <param name="taskNum">任务编号</param>
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/// <returns>操作结果</returns>
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[HttpPost, HttpGet, Route("ManualTaskCancellation"), AllowAnonymous]
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public WebResponseContent ManualTaskCancellation(int taskNum)
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{
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return Service.ManualTaskCancellation(taskNum);
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}
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/// WMS任务取消同步
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/// </summary>
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/// <param name="taskCancels"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("CancelTask"), AllowAnonymous]
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public WebResponseContent CancelTask([FromBody] List<TaskCancel> taskCancels)
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{
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return Service.TaskCancel(taskCancels); ;
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}
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/// <summary>
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/// 把任务异常900修改为AGV执行中300
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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("ResetAllExceptionTask"), AllowAnonymous]
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public WebResponseContent ResetAllExceptionTask(int taskNum)
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{
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return Service.ResetAllExceptionTask(taskNum);
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}
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/// <summary>
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/// WMS异常恢复
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("WmsRecovery"), AllowAnonymous]
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public WebResponseContent WmsRecovery()
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{
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return Service.WmsRecovery();
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}
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}
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}
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