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.Text;
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using WIDESEA_DTO.Agv;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Core.LogHelper;
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using WIDESEAWCS_DTO.Agv;
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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_QuartzJob.DTO;
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using WIDESEAWCS_Tasks;
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using WIDESEAWCS_Tasks.ConveyorLineJob;
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using WIDESEAWCS_Tasks.DBNames;
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namespace WIDESEAWCS_Server.Controllers
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{
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[Route("api/[controller]")]
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[ApiController]
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public class AGVController : ControllerBase
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{
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private readonly IStationMangerRepository _stationMangerRepository;
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private readonly ITaskService _taskService;
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private readonly ITaskRepository _taskRepository;
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public AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
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{
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_stationMangerRepository = stationMangerRepository;
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_taskService = taskService;
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_taskRepository = taskRepository;
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}
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/// <summary>
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/// 安全信号申请 AGV-WCS
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/// </summary>
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/// <param name="secureApplyModel"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("AgvSecureApply"), AllowAnonymous]
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public AgvResponse AgvSecureApply([FromBody] AgvSecureApplyDTO secureApplyModel)
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{
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AgvResponse agvResponse = new AgvResponse();
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try
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{
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var task = _taskRepository.QueryFirst(x => secureApplyModel.ReceiveTaskID.ObjToInt() == x.TaskNum);
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if (task == null) throw new Exception("未找到任务");
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if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
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{
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var content = TakeRequest(task.CurrentAddress);
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if (!content.Status)
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{
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throw new Exception(content.Message);
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}
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}
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else
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{
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var content = PutRequest(task.NextAddress, task.PalletType);
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if (!content.Status)
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{
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throw new Exception(content.Message);
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}
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}
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task.TaskState = TaskStatusEnum.AGV_Puting.ObjToInt();
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var up = _taskRepository.UpdateData(task);
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agvResponse.OK("成功","0");
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}
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catch (Exception ex)
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{
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agvResponse.Error(ex.Message);
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}
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return agvResponse;
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}
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/// <summary>
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/// 提升机申请 AGV-WCS
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/// </summary>
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/// <param name="secureApplyModel"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("AgvHoisterApply"), AllowAnonymous]
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public AgvResponse AgvHoisterApply([FromBody] AgvHoisterApplyDTO agvHoisterApplyDTO)
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{
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AgvResponse agvResponse = new AgvResponse();
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try
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{
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == agvHoisterApplyDTO.HoisterCode);
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if (device == null)
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{
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return agvResponse.Error($"未找到对应设备{agvHoisterApplyDTO.HoisterCode}");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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//获取设备协议
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DeviceProDTO? deviceProRead = otherDevice.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(R_HoisterDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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DeviceProDTO? deviceProWrite = otherDevice.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(W_HoisterDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (deviceProRead == null || deviceProWrite == null)
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{
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return agvResponse.Error($"未找到设备{device.DeviceCode}协议");
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}
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//获取读取和写入
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R_HoisterInfo r_HoisterInfo = otherDevice.Communicator.ReadCustomer<R_HoisterInfo>(deviceProRead.DeviceProAddress);
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W_HoisterInfo w_HoisterInfo = otherDevice.Communicator.ReadCustomer<W_HoisterInfo>(deviceProWrite.DeviceProAddress);
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if (r_HoisterInfo == null || w_HoisterInfo == null)
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{
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return agvResponse.Error($"未读取到设备{device.DeviceCode}信号");
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}
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if (r_HoisterInfo.R_HoisterSysStatus!=3)
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{
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return agvResponse.Error($"设备状态不为自动");
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}
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QuartzLogger.WriteLogToFile("Info_" + device.DeviceCode, $"r_HoisterInfo:{r_HoisterInfo.Serialize()}{Environment.NewLine}w_HoisterInfo:{w_HoisterInfo.Serialize()}{Environment.NewLine}");
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bool IsSuccess = false;
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switch (agvHoisterApplyDTO.Request)
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{
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case "1":
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//判断提升机是否在当前层 如果当前层，关门状态，无货待命直接写入开门信号
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if (r_HoisterInfo.R_HoisterCurrent == agvHoisterApplyDTO.CurrentLayer && r_HoisterInfo.R_HoisterLoadStatus == 2 && r_HoisterInfo.R_HoisterDoorStatus == 2)
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{
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otherDevice.SetValue(W_HoisterDB.W_HoisterDoorStatus, 1);
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IsSuccess = true;
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}
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else if (r_HoisterInfo.R_HoisterCurrent == agvHoisterApplyDTO.CurrentLayer && r_HoisterInfo.R_HoisterLoadStatus == 2 && r_HoisterInfo.R_HoisterDoorStatus == 1)
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{
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IsSuccess = true;
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}
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else if (r_HoisterInfo.R_HoisterCurrent != agvHoisterApplyDTO.CurrentLayer && r_HoisterInfo.R_HoisterLoadStatus == 2 && r_HoisterInfo.R_HoisterDoorStatus == 1)
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{
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otherDevice.SetValue(W_HoisterDB.W_HoisterDoorStatus, 2);
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}
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//判断提升机不在当前层 如果不在当前层，关门状态，无货待命直接写入移动开门信号(当前)
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else if (r_HoisterInfo.R_HoisterCurrent != agvHoisterApplyDTO.CurrentLayer && r_HoisterInfo.R_HoisterLoadStatus == 2 && r_HoisterInfo.R_HoisterDoorStatus == 2)
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{
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otherDevice.SetValue(W_HoisterDB.W_HoisterTarget, agvHoisterApplyDTO.CurrentLayer);
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otherDevice.SetValue(W_HoisterDB.W_HoisterTask, 99);
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}
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return IsSuccess ? agvResponse.OK($"请求{agvHoisterApplyDTO.Request}成功,任务{agvHoisterApplyDTO.ReceiveTaskID}","1"): agvResponse.Error($"请求{agvHoisterApplyDTO.Request}失败,任务{agvHoisterApplyDTO.ReceiveTaskID}");
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case "2":
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//判断提升机是否在当前层 如果当前层，开门状态，无货待命 放行
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if (r_HoisterInfo.R_HoisterCurrent == agvHoisterApplyDTO.CurrentLayer && r_HoisterInfo.R_HoisterLoadStatus == 2 && r_HoisterInfo.R_HoisterDoorStatus == 1)
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{
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IsSuccess = true;
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}
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return IsSuccess ? agvResponse.OK($"请求{agvHoisterApplyDTO.Request}成功,任务{agvHoisterApplyDTO.ReceiveTaskID}", "2") : agvResponse.Error($"请求{agvHoisterApplyDTO.Request}失败,任务{agvHoisterApplyDTO.ReceiveTaskID}");
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case "3":
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//判断提升机是否在当前层 如果当前层，开门状态，有货待命写入关门信号
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if (r_HoisterInfo.R_HoisterCurrent == agvHoisterApplyDTO.CurrentLayer && r_HoisterInfo.R_HoisterLoadStatus == 1 && r_HoisterInfo.R_HoisterDoorStatus == 1 && w_HoisterInfo.W_HoisterDoorStatus!=2)
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{
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otherDevice.SetValue(W_HoisterDB.W_HoisterDoorStatus, 2);
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}
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//判断提升机是否在当前层 如果当前层，关门状态，有货待命写入移动开门信号(目的)
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if (r_HoisterInfo.R_HoisterCurrent == agvHoisterApplyDTO.CurrentLayer && r_HoisterInfo.R_HoisterLoadStatus == 1 && r_HoisterInfo.R_HoisterDoorStatus == 2)
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{
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otherDevice.SetValue(W_HoisterDB.W_HoisterTarget, agvHoisterApplyDTO.TargetLayer);
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otherDevice.SetValue(W_HoisterDB.W_HoisterDoorStatus, 1);
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otherDevice.SetValue(W_HoisterDB.W_HoisterTask, 99);
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IsSuccess = true;
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}
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return IsSuccess ? agvResponse.OK($"请求{agvHoisterApplyDTO.Request}成功,任务{agvHoisterApplyDTO.ReceiveTaskID}", "3") : agvResponse.Error($"请求{agvHoisterApplyDTO.Request}失败,任务{agvHoisterApplyDTO.ReceiveTaskID}");
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case "4":
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//判断提升机是否在目的层 如果目的层，开门状态，有货待命 放行
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if (r_HoisterInfo.R_HoisterCurrent == agvHoisterApplyDTO.TargetLayer && r_HoisterInfo.R_HoisterLoadStatus == 1 && r_HoisterInfo.R_HoisterDoorStatus == 1)
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{
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IsSuccess = true;
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}
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return IsSuccess ? agvResponse.OK($"请求{agvHoisterApplyDTO.Request}成功,任务{agvHoisterApplyDTO.ReceiveTaskID}", "4") : agvResponse.Error($"请求{agvHoisterApplyDTO.Request}失败,任务{agvHoisterApplyDTO.ReceiveTaskID}");
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case "5":
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//判断提升机是否在目的层 如果目的层，开门状态，无货待命写入关门信号
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if (r_HoisterInfo.R_HoisterCurrent == agvHoisterApplyDTO.TargetLayer && r_HoisterInfo.R_HoisterLoadStatus == 2 && r_HoisterInfo.R_HoisterDoorStatus == 1)
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{
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otherDevice.SetValue(W_HoisterDB.W_HoisterDoorStatus, 2);
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IsSuccess = true;
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}
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return IsSuccess ? agvResponse.OK($"请求{agvHoisterApplyDTO.Request}成功,任务{agvHoisterApplyDTO.ReceiveTaskID}", "5") : agvResponse.Error($"请求{agvHoisterApplyDTO.Request}失败,任务{agvHoisterApplyDTO.ReceiveTaskID}");
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default:
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return agvResponse.Error($"未找到对应请求,Request:{agvHoisterApplyDTO.Request}");
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}
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}
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catch (Exception ex)
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{
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agvResponse.Error($"请求{agvHoisterApplyDTO.Request}失败,错误{ex.Message},任务{agvHoisterApplyDTO.ReceiveTaskID}");
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}
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return agvResponse;
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}
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/// <summary>
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/// AGV任务更新/完成
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/// </summary>
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/// <param name="agvUpdateModel"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("AgvCallback"), AllowAnonymous]
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public AgvResponse AgvCallback([FromBody] AgvUpdateDTO agvUpdateModel)
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{
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AgvResponse agvResponse = new AgvResponse();
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try
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{
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var task = _taskRepository.QueryFirst(x => agvUpdateModel.ReceiveTaskID == x.TaskNum.ToString());
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if (task == null) throw new Exception($"未找到任务,任务号【{agvUpdateModel.ReceiveTaskID}】");
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switch (agvUpdateModel.GoodsState)
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{
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//case 1://出库根据这个信号判断取货完成
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// if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
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// {
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// var content = TakeFinish(task.CurrentAddress);
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// if (!content.Status) throw new Exception(content.Message);
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// task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
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// var up = _taskRepository.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
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// _taskService.TaskCompleted(task.TaskNum);
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// }
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// break;
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case 2://入库根据这个信号判断放货完成
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if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
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{
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Dt_StationManger dt_Station = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
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if (dt_Station == null)
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{
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throw new Exception($"{task.NextAddress}AGV站台未定义");
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}
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task.CurrentAddress = dt_Station.StationCode;
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task.NextAddress = "";
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task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
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task.DeviceCode = dt_Station.StationDeviceCode;
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var up = _taskRepository.UpdateData(task);
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return agvResponse.OK("成功","0");
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}
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break;
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default:
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throw new Exception($"未定义方法名【{agvUpdateModel.TaskState}】");
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}
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}
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catch (Exception ex)
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{
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agvResponse.Error(ex.Message);
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}
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return agvResponse;
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//return _taskService.AgvUpdateTask(agvUpdateModel);
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}
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/// <summary>
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/// 放货请求
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/// </summary>
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/// <param name="code"></param>
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/// <param name="palletType"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
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public WebResponseContent PutRequest(string code, int palletType)
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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.StationCode == code);
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if (stationManger == null)
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{
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return content.Error($"未找到站台配置");
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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return content.Error($"未找到对应设备");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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short Command = otherDevice.GetValue<R_ConveyorLineCPDB, short>(R_ConveyorLineCPDB.Command, stationManger.StationCode);
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if (Command == 3)
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{
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content.OK("允许放料");
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}
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else
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{
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return content.Error("禁止放料");
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}
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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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//[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
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/// <summary>
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/// 放货完成
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/// </summary>
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/// <param name="code"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
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public WebResponseContent PutFinish(string code)
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{
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try
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
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if (stationManger == null)
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{
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return WebResponseContent.Instance.Error($"未找到站台配置");
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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return WebResponseContent.Instance.Error($"未找到对应设备");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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otherDevice.SetValue(GroundStationDBName.W_PutFinish, true, stationManger.StationCode);
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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("TakeRequest"), AllowAnonymous]
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/// <summary>
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/// 取货请求
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/// </summary>
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/// <param name="code"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
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public WebResponseContent TakeRequest(string code)
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{
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try
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
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if (stationManger == null)
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{
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return WebResponseContent.Instance.Error($"未找到站台配置");
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}
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
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if (device == null)
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{
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return WebResponseContent.Instance.Error($"未找到对应设备");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canPut)
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{
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otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
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return WebResponseContent.Instance.OK();
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}
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else
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{
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otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
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Thread.Sleep(1000);
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canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
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if (canPut)
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{
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return WebResponseContent.Instance.OK();
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}
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else
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{
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return WebResponseContent.Instance.Error($"取货申请中");
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}
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}
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error(ex.Message);
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}
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}
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//[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
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/// <summary>
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/// 取货完成
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/// </summary>
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/// <param name="code"></param>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
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public WebResponseContent TakeFinish(string code)
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{
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try
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{
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Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
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if (stationManger == null)
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{
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return WebResponseContent.Instance.Error($"未找到站台配置");
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}
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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");
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}
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OtherDevice otherDevice = (OtherDevice)device;
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otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
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Thread.Sleep(1000);
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otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
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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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