using Microsoft.AspNetCore.Authorization;
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using Microsoft.AspNetCore.Mvc;
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using Microsoft.Extensions.Caching.Memory;
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using Newtonsoft.Json;
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using System.DirectoryServices.Protocols;
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using System.Threading.Tasks;
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using WIDESEA_Common.StockEnum;
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using WIDESEA_Common.WareHouseEnum;
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using WIDESEA_Core;
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using WIDESEA_Core.BaseRepository;
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using WIDESEA_Core.Filter;
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using WIDESEA_Core.LogHelper;
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using WIDESEA_DTO.Basic;
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using WIDESEA_ITaskInfoService;
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using WIDESEA_Model.Models;
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namespace WIDESEA_WMSServer.Controllers
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{
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[Route("api/ESS")]
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[ApiController]
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[AllowAnonymous]
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public class ESSController : Controller
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{
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public readonly ITaskService _taskService;
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private readonly ILogger<ESSController> _logger;
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private readonly IMemoryCache _memoryCache;
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private static readonly SemaphoreSlim _semaphore = new SemaphoreSlim(1, 1);
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public ESSController(ITaskService taskService, ILogger<ESSController> logger, IMemoryCache memoryCache)
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{
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_taskService = taskService;
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_logger = logger;
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_memoryCache = memoryCache;
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}
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/// <summary>
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/// 容器到达上报
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/// </summary>
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/// <param name="request"></param>
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/// <returns></returns>
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[HttpPost("ContainerArrivalReport"), AllowAnonymous]
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public async Task<IActionResult> ContainerArrivalReport([FromBody] ContainerArrivalRequest request)
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{
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//这里要判断出库的时候，料箱会到扫码处。也会请求这个接口。
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_logger.LogInformation(" ESSController ContainerArrivalReport : CallId={CallId},ContainerCode={ContainerCode},SlotCode={SlotCode}", request.CallId, request.ContainerCode, request.SlotCode);
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var response = new ApiResponse<ContainerArrivalResponseData>
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{
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Code = 1
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};
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// 生成请求的唯一标识（基于callId + 时间戳）
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var requestKey = $"callback_{request.CallId}-{request.ContainerCode}_{DateTime.UtcNow:yyyyMMddHH}";
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// 检查是否已经处理过相同的请求
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if (_memoryCache.TryGetValue(requestKey, out bool _))
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{
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_logger.LogWarning("检测到重复请求，已忽略: CallId={CallId}", request.CallId);
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response.Code = 1;
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response.Msg = null;
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response.Data = null;
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return Ok(response);
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}
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await _semaphore.WaitAsync();
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try
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{
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if (_memoryCache.TryGetValue(requestKey, out bool _))
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{
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_logger.LogWarning("双重检查检测到重复请求，已忽略: CallId={CallId}", request.CallId);
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response.Code = 1;
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response.Msg = null;
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response.Data = null;
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return Ok(response);
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}
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WebResponseContent result = await _taskService.RequestInboundTask(request.ContainerCode, request.SlotCode);
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var cacheOptions = new MemoryCacheEntryOptions
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{
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AbsoluteExpirationRelativeToNow = TimeSpan.FromSeconds(20)
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};
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_memoryCache.Set(requestKey, true, cacheOptions);
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response = new ApiResponse<ContainerArrivalResponseData>
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{
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Code = 0,
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Msg = "",
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Data = new ContainerArrivalResponseData
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{
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direction = "100"
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}
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};
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if (result != null && !string.IsNullOrEmpty( result.Message ) && result.Message.Contains("该托盘已生成任务"))
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{
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return Ok(response);
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}
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if (result != null && result.Status)
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{
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return Ok(response);
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}
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else
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{
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response.Code = 1;
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response.Msg = null;
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response.Data = null;
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_logger.LogError(" ESSController ContainerArrivalReport Error: Message={Message}", result.Message);
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return Ok(response);
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}
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}
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catch (Exception ex)
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{
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_logger.LogError(ex, "处理任务状态回调时发生异常: CallId={CallId}", request.CallId);
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return Ok($"处理回调时发生异常: {ex.Message}");
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}
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finally
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{
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_semaphore.Release();
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}
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}
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/// <summary>
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/// 异常上报
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/// </summary>
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/// <param name="request"></param>
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/// <returns></returns>
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[HttpPost("ExceptionReporting"), AllowAnonymous]
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public async Task<ActionResult<StatusCallbackResponse>> ExceptionReporting(
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[FromBody] RobotAbnormalEventRequest request)
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{
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_logger.LogInformation("异常上报接口request: " + JsonConvert.SerializeObject(request));
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return StatusCallbackResponse.Success();
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}
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//任务状态上报接口
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[HttpPost("TaskStatusCcallback"), AllowAnonymous]
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public async Task<ActionResult<StatusCallbackResponse>> TaskStatusCallback(
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[FromBody] StatusCallbackRequest request)
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{
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_logger.LogInformation("任务状态上报接口request: " + JsonConvert.SerializeObject(request));
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try
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{
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_logger.LogInformation("收到任务状态回调: CallId={CallId}, EventType={EventType}, Status={Status}",
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request.CallId, request.EventType, request.Status);
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// 根据事件类型和状态进行不同的业务处理
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switch (request.EventType)
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{
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case EventType.tote_load:
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await HandleToteLoad(request);
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break;
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case EventType.tote_unload:
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await HandleToteUnload(request);
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break;
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case EventType.robot_reach:
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await HandleRobotReach(request);
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break;
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case EventType.task:
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await HandleTaskStatusChange(request);
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break;
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case EventType.task_allocated:
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await HandleTaskAllocated(request);
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break;
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default:
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_logger.LogWarning("未知的事件类型: {EventType}", request.EventType);
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break;
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}
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_logger.LogInformation("任务状态回调处理完成: CallId={CallId}", request.CallId);
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return StatusCallbackResponse.Success();
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}
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catch (Exception ex)
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{
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_logger.LogError(ex, "处理任务状态回调时发生异常: CallId={CallId}", request?.CallId);
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return StatusCallbackResponse.Error($"处理回调时发生异常: {ex.Message}");
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}
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}
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/// <summary>
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/// 处理任务状态变化
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/// </summary>
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private async Task HandleTaskStatusChange(StatusCallbackRequest request)
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{
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// 根据任务状态进行不同的处理
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switch (request.Status)
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{
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case WIDESEA_DTO.Basic.TaskStatus.success:
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await HandleTaskCompleted(request);
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break;
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case WIDESEA_DTO.Basic.TaskStatus.fail:
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await HandleTaskFailed(request);
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break;
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case WIDESEA_DTO.Basic.TaskStatus.cancel:
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await HandleTaskCancelled(request);
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break;
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case WIDESEA_DTO.Basic.TaskStatus.suspend:
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await HandleTaskSuspended(request);
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break;
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}
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}
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/// <summary>
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/// 处理任务完成
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/// </summary>
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private async Task HandleTaskCompleted(StatusCallbackRequest request)
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{
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_logger.LogInformation("任务完成: TaskCode={TaskCode}, Container={Container}, Robot={Robot}",
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request.TaskCode, request.ContainerCode, request.RobotCode);
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_taskService.TaskCompleted(request.TaskCode);
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// 根据不同的任务类型进行特殊处理
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if (request.Weight.HasValue)
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{
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// 称重任务完成
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_logger.LogInformation("称重任务完成: 重量={Weight}g, 托盘层={TrayLevel}",
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request.Weight, request.TrayLevel);
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}
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else if (request.Rfids != null && request.Rfids.Count > 0)
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{
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// RFID任务完成
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_logger.LogInformation("RFID任务完成: RFID数量={RfidCount}, 托盘层={TrayLevel}",
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request.Rfids.Count, request.TrayLevel);
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}
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else if (request.IsLocationHasContainer.HasValue)
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{
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// 扫描任务完成
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_logger.LogInformation("扫描任务完成: 库位有容器={HasContainer}",
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request.IsLocationHasContainer);
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}
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else
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{
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// 普通任务完成
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_logger.LogInformation("普通任务完成");
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}
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// 这里添加您的业务逻辑
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await Task.CompletedTask;
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}
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/// <summary>
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/// 处理任务失败
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/// </summary>
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private async Task HandleTaskFailed(StatusCallbackRequest request)
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{
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_logger.LogWarning("任务失败: TaskCode={TaskCode}, 原因={Message}",
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request.TaskCode, request.Message);
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// 这里添加您的失败处理逻辑
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await Task.CompletedTask;
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}
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/// <summary>
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/// 处理任务取消
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/// </summary>
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private async Task HandleTaskCancelled(StatusCallbackRequest request)
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{
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_logger.LogInformation("任务取消: TaskCode={TaskCode}", request.TaskCode);
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// 这里添加您的取消处理逻辑
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await Task.CompletedTask;
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}
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/// <summary>
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/// 处理任务挂起
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/// </summary>
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private async Task HandleTaskSuspended(StatusCallbackRequest request)
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{
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_logger.LogWarning("任务挂起: TaskCode={TaskCode}, 系统任务码={SysTaskCode}, 原因={Message}",
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request.TaskCode, request.SysTaskCode, request.Message);
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// 这里添加您的挂起处理逻辑
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await Task.CompletedTask;
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}
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/// <summary>
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/// 处理任务分配
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/// </summary>
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private async Task HandleTaskAllocated(StatusCallbackRequest request)
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{
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_logger.LogInformation("任务分配: TaskCode={TaskCode}, Robot={Robot}",
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request.TaskCode, request.RobotCode);
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// 这里添加您的任务分配处理逻辑
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await Task.CompletedTask;
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}
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/// <summary>
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/// 处理取箱操作
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/// </summary>
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private async Task HandleToteLoad(StatusCallbackRequest request)
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{
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if (request.Status == WIDESEA_DTO.Basic.TaskStatus.success)
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{
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_logger.LogInformation("取箱完成: Container={Container}, Location={Location}",
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request.ContainerCode, request.LocationCode);
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}
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else
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{
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_logger.LogWarning("取箱失败: Container={Container}, Location={Location}",
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request.ContainerCode, request.LocationCode);
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}
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// 这里添加您的取箱处理逻辑
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await Task.CompletedTask;
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}
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/// <summary>
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/// 处理放箱操作
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/// </summary>
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private async Task HandleToteUnload(StatusCallbackRequest request)
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{
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if (request.Status == WIDESEA_DTO.Basic.TaskStatus.success)
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{
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_logger.LogInformation("放箱完成: Container={Container}, Location={Location}",
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request.ContainerCode, request.LocationCode);
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}
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else
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{
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_logger.LogWarning("放箱失败: Container={Container}, Location={Location}",
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request.ContainerCode, request.LocationCode);
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}
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// 这里添加您的放箱处理逻辑
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await Task.CompletedTask;
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}
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/// <summary>
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/// 处理机器人到达工作站
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/// </summary>
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private async Task HandleRobotReach(StatusCallbackRequest request)
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{
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_logger.LogInformation("机器人到达工作站: Robot={Robot}, Station={Station}, Location={Location}",
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request.RobotCode, request.StationCode, request.LocationCode);
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if (request.Trays != null && request.Trays.Count > 0)
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{
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_logger.LogInformation("机器人携带托盘信息: 托盘数量={TrayCount}", request.Trays.Count);
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foreach (var tray in request.Trays)
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{
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_logger.LogInformation("托盘: Container={Container}, Level={Level}, Position={Position}, Face={Face}",
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tray.ContainerCode, tray.TrayLevel, tray.PositionCode, tray.ContainerFace);
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}
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}
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// 这里添加您的机器人到达处理逻辑
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await Task.CompletedTask;
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}
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}
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}
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