using Newtonsoft.Json;
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using SqlSugar;
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using WIDESEAWCS_Core.DB.Models;
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namespace WIDESEAWCS_Model.Models
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{
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/// <summary>
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/// 机械手状态数据库实体
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/// </summary>
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/// <remarks>
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/// 对应数据库表 Dt_RobotState，使用 RowVersion 实现乐观并发控制。
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/// 复杂对象（RobotCrane、CurrentTask、数组等）以 JSON 字符串存储。
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/// </remarks>
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[SugarTable(nameof(Dt_RobotState), "机械手状态表")]
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public class Dt_RobotState : BaseEntity
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{
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/// <summary>
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/// 主键 ID
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/// </summary>
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[SugarColumn(IsPrimaryKey = true, IsIdentity = true, ColumnDescription = "主键ID")]
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public int Id { get; set; }
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/// <summary>
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/// 机械手 IP 地址，唯一索引
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/// </summary>
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[SugarColumn(Length = 50, ColumnDescription = "机械手IP地址", IsJsonKey = true)]
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public string IPAddress { get; set; } = string.Empty;
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/// <summary>
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/// 行版本，用于乐观并发控制
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/// </summary>
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/// <remarks>
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/// SqlSugar 会自动管理此字段，每次更新时数据库自动递增。
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/// 更新时 WHERE RowVersion = @expectedRowVersion，检查影响行数判断是否冲突。
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/// </remarks>
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[SugarColumn(ColumnDescription = "行版本（乐观锁）", IsJsonKey = true)]
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public byte[] RowVersion { get; set; } = Array.Empty<byte>();
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/// <summary>
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/// 是否已订阅消息事件
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/// </summary>
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[SugarColumn(ColumnDescription = "是否已订阅消息事件", IsJsonKey = true)]
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public bool IsEventSubscribed { get; set; }
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/// <summary>
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/// 机械手运行模式
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/// </summary>
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/// <remarks>1: 手动模式, 2: 自动模式</remarks>
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[SugarColumn(ColumnDescription = "运行模式", IsNullable = true, IsJsonKey = true)]
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public int? RobotRunMode { get; set; }
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/// <summary>
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/// 机械手控制模式
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/// </summary>
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/// <remarks>1: 客户端控制, 2: 其他</remarks>
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[SugarColumn(ColumnDescription = "控制模式", IsNullable = true, IsJsonKey = true)]
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public int? RobotControlMode { get; set; }
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/// <summary>
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/// 机械手手臂抓取对象状态
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/// </summary>
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/// <remarks>0: 无物料（手臂空闲）, 1: 有物料（已抓取货物）</remarks>
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[SugarColumn(ColumnDescription = "手臂抓取状态", IsNullable = true, IsJsonKey = true)]
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public int? RobotArmObject { get; set; }
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/// <summary>
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/// 机械手设备基础信息（JSON 序列化）
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/// </summary>
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[SugarColumn(Length = 2000, ColumnDescription = "设备信息JSON", IsJsonKey = true)]
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public string RobotCraneJson { get; set; } = string.Empty;
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/// <summary>
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/// 机械手初始化完成回到待机位状态
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/// </summary>
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/// <remarks>Possible values: "Homed", "Homing"</remarks>
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[SugarColumn(Length = 50, ColumnDescription = "回零状态", IsNullable = true, IsJsonKey = true)]
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public string? Homed { get; set; }
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/// <summary>
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/// 机械手当前正在执行的动作
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/// </summary>
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[SugarColumn(Length = 50, ColumnDescription = "当前动作", IsNullable = true, IsJsonKey = true)]
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public string? CurrentAction { get; set; }
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/// <summary>
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/// 机械手当前运行状态
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/// </summary>
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[SugarColumn(Length = 50, ColumnDescription = "运行状态", IsNullable = true, IsJsonKey = true)]
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public string? OperStatus { get; set; }
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/// <summary>
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/// 最近一次取货完成的位置数组（JSON）
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/// </summary>
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[SugarColumn(Length = 500, ColumnDescription = "取货位置数组JSON", IsNullable = true, IsJsonKey = true)]
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public string? LastPickPositionsJson { get; set; }
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/// <summary>
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/// 最近一次放货完成的位置数组（JSON）
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/// </summary>
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[SugarColumn(Length = 500, ColumnDescription = "放货位置数组JSON", IsNullable = true, IsJsonKey = true)]
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public string? LastPutPositionsJson { get; set; }
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/// <summary>
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/// 电池/货位条码列表（JSON）
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/// </summary>
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[SugarColumn(Length = 2000, ColumnDescription = "电芯条码列表JSON", IsNullable = true, IsJsonKey = true)]
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public string? CellBarcodeJson { get; set; }
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/// <summary>
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/// 机械手当前正在执行的任务（JSON 序列化）
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/// </summary>
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[SugarColumn(Length = 2000, ColumnDescription = "当前任务JSON", IsNullable = true, IsJsonKey = true)]
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public string? CurrentTaskJson { get; set; }
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/// <summary>
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/// 是否需要执行拆盘任务
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/// </summary>
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[SugarColumn(ColumnDescription = "是否拆盘任务", IsJsonKey = true)]
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public bool IsSplitPallet { get; set; }
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/// <summary>
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/// 是否需要执行组盘任务
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/// </summary>
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[SugarColumn(ColumnDescription = "是否组盘任务", IsJsonKey = true)]
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public bool IsGroupPallet { get; set; }
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/// <summary>
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/// 机器人已处理的任务总数
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/// </summary>
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[SugarColumn(ColumnDescription = "已处理任务总数", IsJsonKey = true)]
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public int RobotTaskTotalNum { get; set; }
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/// <summary>
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/// 是否处于假电芯补充模式
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/// </summary>
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[SugarColumn(ColumnDescription = "是否假电芯模式", IsJsonKey = true)]
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public bool IsInFakeBatteryMode { get; set; }
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/// <summary>
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/// 当前批次起始编号
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/// </summary>
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[SugarColumn(ColumnDescription = "当前批次编号", IsJsonKey = true)]
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public int CurrentBatchIndex { get; set; } = 1;
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/// <summary>
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/// 换盘任务当前阶段
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/// </summary>
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[SugarColumn(ColumnDescription = "换盘阶段", IsJsonKey = true)]
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public int ChangePalletPhase { get; set; }
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/// <summary>
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/// 是否扫码NG
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/// </summary>
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[SugarColumn(ColumnDescription = "是否扫码NG", IsJsonKey = true)]
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public bool IsScanNG { get; set; }
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/// <summary>
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/// 是否电芯到位
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/// </summary>
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[SugarColumn(ColumnDescription = "电芯是否到位", IsJsonKey = true)]
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public bool BatteryArrived { get; set; }
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}
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}
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