using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Linq.Expressions;
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using System.Reflection.Metadata;
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using System.Security.Cryptography;
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using System.Text;
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using System.Threading.Tasks;
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using Newtonsoft.Json;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
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using SqlSugar;
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using WIDESEA_Common;
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using WIDESEA_Common.AGVEunm;
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using WIDESEA_Core;
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using WIDESEA_Core.Enums;
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using WIDESEA_Core.Helper;
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using WIDESEA_Core.Log;
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using WIDESEA_ITaskInfoService;
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using WIDESEA_Model.Models;
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using static WIDESEA_Common.AGVEunm.AGVTaskrevoke;
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namespace WIDESEA_TaskInfoService
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{
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public partial class TaskService
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{
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public string url1 = AppSettings.Configuration["AGVTaskrevokes"];
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/// <summary>
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/// 立库出库AGV搬运
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/// </summary>
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/// <param name="outTask"></param>
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/// <returns></returns>
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public WebResponseContent ShelfOutboundCarry(Dt_Task outTask)
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{
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Dt_CachePoint cachePoint = GetCachePointByStartPoint(outTask.TargetAddress);
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Dt_Task task = new()
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{
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CurrentAddress = outTask.TargetAddress,
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Grade = 0,
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NextAddress = cachePoint.PointCode,
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OrderNo = outTask.OrderNo,
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PalletCode = outTask.PalletCode + "-AGV",
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Roadway = "",
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SourceAddress = outTask.TargetAddress,
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TargetAddress = cachePoint.PointCode,
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SourceKey = outTask.TaskId,
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TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
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TaskStatus = AGVTaskStatusEnum.AGV_New.ObjToInt(),
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TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
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CreateDate = DateTime.Now,
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Creater = App.User.UserId > 0 ? App.User.UserName : "System",
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};
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cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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Repository.AddData(task);
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return WebResponseContent.Instance.OK();
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}
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/// <summary>
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/// 叫料
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/// </summary>
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/// <param name="endPoint"></param>
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/// <returns></returns>
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public WebResponseContent CallMateriel(string endPoint)
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{
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try
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{
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Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint);
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Dt_Task task = new Dt_Task()
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{
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CurrentAddress = cachePoint.PointCode,
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Grade = 0,
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NextAddress = endPoint,
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OrderNo = "",
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PalletCode = cachePoint.Remark,
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Roadway = "",
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SourceAddress = cachePoint.PointCode,
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TargetAddress = endPoint,
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SourceKey = 0,
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TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
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TaskStatus = AGVTaskStatusEnum.AGV_New.ObjToInt(),
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TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
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};
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cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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Repository.AddData(task);
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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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/// <summary>
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/// 物料搬运
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/// </summary>
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/// <param name="startPoint"></param>
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/// <returns></returns>
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public WebResponseContent MaterielCarry(string startPoint)
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{
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try
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{
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Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint);
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Dt_Task task = new()
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{
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CurrentAddress = startPoint,
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Grade = 0,
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NextAddress = cachePoint.PointCode,
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OrderNo = "",
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PalletCode = startPoint + "-AGV",
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Roadway = "",
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SourceAddress = startPoint,
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TargetAddress = cachePoint.PointCode,
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SourceKey = 0,
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TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
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TaskStatus = AGVTaskStatusEnum.AGV_New.ObjToInt(),
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TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
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};
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cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(cachePoint);
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Repository.AddData(task);
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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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private Dt_CachePoint GetCachePointByStartPoint(string startPoint)
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{
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Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == startPoint);
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if (areaRouter == null)
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{
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throw new Exception("未找到路由信息!");
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}
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Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.NextArea);
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if (areaInfo == null)
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{
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throw new Exception("未找到下一区域信息!");
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}
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Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaInfo.Id);
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if (cachePoint == null)
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{
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throw new Exception("未找到空闲缓存点!");
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}
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return cachePoint;
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}
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private Dt_CachePoint GetCachePointByEndPoint(string endPoint)
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{
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Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == endPoint);
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if (areaRouter == null)
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{
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throw new Exception("未找到路由信息!");
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}
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Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.StartArea);
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if (areaInfo == null)
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{
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throw new Exception("未找到起点缓存区域信息!");
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}
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Dt_CachePoint? cachePoint = _basicService.CachePointService.GetIbStockCachePoint(areaInfo.Id);
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if (cachePoint == null)
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{
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throw new Exception("未找到有货缓存点!");
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}
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return cachePoint;
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}
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public object AGVTaskFeedBack(AGVTaskFeedBackModel model)
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{
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Dt_Task task = BaseDal.QueryFirst(x => x.TaskId == Convert.ToInt32(model.Task_id));
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if (task == null)
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{
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return new { code = 404, message = "未找到该任务!" };
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}
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Dt_CachePoint startCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.SourceAddress);
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if (startCachePoint != null)
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{
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startCachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(startCachePoint);
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}
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Dt_CachePoint endCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.TargetAddress);
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if (endCachePoint != null)
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{
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endCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
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_basicService.CachePointService.Repository.UpdateData(endCachePoint);
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}
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BaseDal.DeleteAndMoveIntoHty(task, App.User.UserId == 0 ? OperateType.自动完成 : OperateType.人工完成);
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return new { code = 200, message = "成功" };
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}
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/// <summary>
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/// 查询AGV新建任务
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/// </summary>
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/// <returns></returns>
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public List<Dt_Task> GetTasks()
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{
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WebResponseContent content = new WebResponseContent();
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//Expression<Func<Dt_Task, bool>> expressionOrder = x => true;
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return BaseDal.QueryData(x => x.TaskStatus == AGVTaskStatusEnum.AGV_New.ObjToInt() || x.TaskStatus == AGVTaskStatusEnum.AGV_Wait.ObjToInt()).ToList();
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}
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/// <summary>
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/// 查询原材料出库任务
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/// </summary>
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/// <returns></returns>
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public Dt_Task GetTasksout()
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{
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WebResponseContent content = new WebResponseContent();
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//Expression<Func<Dt_Task, bool>> expressionOrder = x => true;
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return BaseDal.QueryFirst(x => x.TaskType == TaskTypeEnum.Outbound.ObjToInt() && x.SourceAddress.Contains("原材料") && x.TaskStatus == AGVTaskStatusEnum.AGV_Query.ObjToInt());
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}
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/// <summary>
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/// 查询成品有货货位
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/// </summary>
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/// <returns></returns>
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public Dt_CachePoint GetTasksoin()
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{
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WebResponseContent content = new WebResponseContent();
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Expression<Func<Dt_CachePoint, bool>> expressionOrder = x => true;
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return _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode.Contains("成品库") && x.PointStatus == LocationStatusEnum.InStock.ObjToInt());
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}
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/// <summary>
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/// AGV告警反馈
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public WCSback EquipmentTask(AGVTaskEquipment saveModel)
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{
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WCSback content = new WCSback();
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try
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{
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var broad = saveModel.data.detail.FirstOrDefault();
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Dt_Equipment equipment = new Dt_Equipment
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{
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deviceId = broad.deviceId.ToString(),
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deviceName = broad.deviceName.ToString(),
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taskNo = broad.taskNo.ToString(),
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eventId = broad.eventId.ToString(),
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title = broad.title.ToString(),
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message = broad.message.ToString(),
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status = broad.status.ToString(),
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Creater = App.User.UserId > 0 ? App.User.UserName : "System",
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};
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_basicService.EquipmentService.AddData(equipment);
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content = WCSback.Instance.OK();
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}
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catch (Exception ex)
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{
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content = WCSback.Instance.Error($"异常,错误信息:{ex.Message}");
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throw;
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}
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return content;
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}
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public WebResponseContent PrintStatusUp(int tasknum, string palletCode)
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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_Task task = BaseDal.QueryFirst(x => x.TaskNum == tasknum && x.PalletCode == palletCode);
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if (task == null)
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{
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return content.Error("打印信息不存在");
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}
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task.Status = PrintEnum.Printed.ObjToInt();
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BaseDal.UpdateData(task);
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return content.OK();
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}
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catch (Exception ex)
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{
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content.Error("错误:" + 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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/// 叉车报警
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/// </summary>
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/// <returns></returns>
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public WebResponseContent GetConfig()
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{
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WebResponseContent content = new WebResponseContent();
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DateTime currentTime = DateTime.Now; // 获取当前时间
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DateTime twoSecondsBefore = currentTime.AddSeconds(-1000);
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Dt_Equipment equipment = _basicService.EquipmentService.Repository.QueryFirst(x => x.CreateDate > twoSecondsBefore);
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if (equipment != null)
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{
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content = WebResponseContent.Instance.OK(data: "设备id" + equipment.deviceId.ToString() + " " + "设备名称" + equipment.deviceName.ToString() + " " + "任务号" + equipment.taskNo.ToString()
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+ " " + equipment.eventId.ToString() + " " + "告警标题" + equipment.title.ToString() + " " + "告警内容" + equipment.message.ToString() + " " + "告警状态" + equipment.status.ToString());
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}
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return content;
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}
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/// <summary>
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/// 任务完成
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/// </summary>
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/// <param name="feedback"></param>
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/// <returns></returns>
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public WCSback UpdateAgvTask(AGVTaskFeedback feedback)
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{
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try
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{
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WCSback content = new WCSback();
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var bored = feedback.data.detail.FirstOrDefault();
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//接受任务号对应wcs任务号，任务状态判断.......需修改
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int tasknum = bored.taskNo.ObjToInt();//任务号
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int taskState = bored.taskState.ObjToInt();//任务状态
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var task = BaseDal.QueryData(x => x.TaskNum == tasknum).First();
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if (task != null)
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{
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Update(task, taskState);
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content.code = 200;
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content.message = "处理成功";
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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 WCSback.Instance.Error(ex.Message);
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}
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}
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private void Update(Dt_Task task, int taskState)
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{
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Thread.Sleep(1000);
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if (taskState == 99)
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{
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int TaskStatus = AGVTaskStatusEnum.AGV_Finish.ObjToInt();
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_taskHtyService.AddTaskHty(task, TaskStatus);
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HCJFree(task, TaskStatus);
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BaseDal.DeleteData(task);
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WriteLog.GetLog("无人叉车任务完成").Write("任务号：" + task.TaskNum, "无人叉车任务完成");
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}
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else if (taskState == 90)
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{
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int TaskStatus = AGVTaskStatusEnum.AGV_Cancel.ObjToInt();
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_taskHtyService.AddTaskHty(task, TaskStatus);
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HCJFree(task, TaskStatus);
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BaseDal.DeleteData(task);
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WriteLog.GetLog("无人叉车任务取消").Write("任务号：" + task.TaskNum, "无人叉车任务取消");
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}
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else if (taskState == 91)
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{
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int TaskStatus = AGVTaskStatusEnum.AGV_Fail.ObjToInt();
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_taskHtyService.AddTaskHty(task, TaskStatus);
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HCJFree(task, TaskStatus);
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BaseDal.DeleteData(task);
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}
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else if (taskState == 93)
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{
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int TaskStatus = AGVTaskStatusEnum.AGV_Complete.ObjToInt();
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if (task.SourceAddress.Contains("原材料库"))
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{
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HCJCope(task, TaskStatus);
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}
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BaseDal.UpdateData(task);
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}
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else if (taskState == 60)
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{
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task.TaskStatus = AGVTaskStatusEnum.AGV_Executing.ObjToInt();
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BaseDal.UpdateData(task);
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}
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}
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/// <summary>
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/// 撤销已下发任务
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/// </summary>
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/// <param name="taskNum">任务号</param>
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/// <returns>返回处理结果</returns>
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public WebResponseContent AGVTaskrevokes(int tasknum)
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{
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try
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{
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WebResponseContent content = new WebResponseContent();
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Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == tasknum);
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AGVTaskrevoke taskrevoke = new AGVTaskrevoke();
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revoke data = new revoke();
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Taskrevoke taskrevoke1 = new Taskrevoke();
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{
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taskrevoke1.taskNo = task.TaskNum.ToString();
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DateTime date = DateTime.Now;
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taskrevoke1.stateTime = date.ToString("yyyy-MM-dd HH:mm:ss");
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taskrevoke1.taskState = "90";
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taskrevoke1.toLoc = task.TargetAddress.ToString();
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DateTime date1 = task.CreateDate;
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taskrevoke1.taskDate = date1.ToString("yyyy-MM-dd HH:mm:ss");
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}
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data.detail.Add(taskrevoke1);
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taskrevoke.data = data;
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var time = new DateTimeOffset(DateTime.Now);
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long timestampStr = time.ToUnixTimeMilliseconds();//时间戳
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string appkeystr = "appsalt=" + AGVopenApi.appsalt + "&appkey=" + AGVopenApi.appkey;
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string appkeyEcrypt = GetMD5Hex(appkeystr);
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string origin = appkeyEcrypt + "&appsecret=" + AGVopenApi.appsecret + "×tamp=" + timestampStr + "&uniquestr=" + timestampStr;
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string signstr = GetMD5Hex(origin);
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Dictionary<string, string> headers = new Dictionary<string, string>()
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{
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{"appkey",AGVopenApi.appkey },
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{"timestamp",timestampStr.ToString() },
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{"sign",signstr }
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};
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string posy = JsonConvert.SerializeObject(taskrevoke);
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var respone = HttpHelper.Post(url1, posy, headers: headers);
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var res = JsonConvert.DeserializeObject<WebResponseContent>(respone);
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if (res.success)
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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(res.msg);
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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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/// <summary>
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/// 继续任务
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/// </summary>
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/// <param name="tasknum"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public WebResponseContent AGVTaskConts(int tasknum)
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{
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try
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{
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WebResponseContent content = new WebResponseContent();
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Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == tasknum);
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AGVTaskCont taskCont = new AGVTaskCont();
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Cont data = new Cont();
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TaskCont taskconts = new TaskCont();
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{
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taskconts.taskNo = task.TaskNum.ToString();
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}
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data.detail.Add(taskconts);
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taskCont.data = data;
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var time = new DateTimeOffset(DateTime.Now);
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long timestampStr = time.ToUnixTimeMilliseconds();//时间戳
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string appkeystr = "appsalt=" + AGVopenApi.appsalt + "&appkey=" + AGVopenApi.appkey;
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string appkeyEcrypt = GetMD5Hex(appkeystr);
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string origin = appkeyEcrypt + "&appsecret=" + AGVopenApi.appsecret + "×tamp=" + timestampStr + "&uniquestr=" + timestampStr;
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string signstr = GetMD5Hex(origin);
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Dictionary<string, string> headers = new Dictionary<string, string>()
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{
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{"appkey",AGVopenApi.appkey },
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{"timestamp",timestampStr.ToString() },
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{"sign",signstr }
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};
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string posy = JsonConvert.SerializeObject(taskCont);
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var respone = HttpHelper.Post(url1, posy, headers: headers);
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var res = JsonConvert.DeserializeObject<WebResponseContent>(respone);
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if (res.success)
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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(res.msg);
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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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/// <summary>
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/// 完成任务
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/// </summary>
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/// <param name="tasknum"></param>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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public WebResponseContent AGVTaskEnds(int tasknum)
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{
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try
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{
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WebResponseContent content = new WebResponseContent();
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Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == tasknum);
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AGVTaskEnd taskEnd = new AGVTaskEnd();
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End data = new End();
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TaskEnd taskEnds = new TaskEnd();
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{
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taskEnds.taskNo = task.TaskNum.ToString();
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taskEnds.goBack = "1";
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}
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data.detail.Add(taskEnds);
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taskEnd.data = data;
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var time = new DateTimeOffset(DateTime.Now);
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long timestampStr = time.ToUnixTimeMilliseconds();//时间戳
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string appkeystr = "appsalt=" + AGVopenApi.appsalt + "&appkey=" + AGVopenApi.appkey;
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string appkeyEcrypt = GetMD5Hex(appkeystr);
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string origin = appkeyEcrypt + "&appsecret=" + AGVopenApi.appsecret + "×tamp=" + timestampStr + "&uniquestr=" + timestampStr;
|
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string signstr = GetMD5Hex(origin);
|
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Dictionary<string, string> headers = new Dictionary<string, string>()
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{
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{"appkey",AGVopenApi.appkey },
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{"timestamp",timestampStr.ToString() },
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{"sign",signstr }
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};
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string posy = JsonConvert.SerializeObject(taskEnd);
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var respone = HttpHelper.Post(url1, posy, headers: headers);
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var res = JsonConvert.DeserializeObject<WebResponseContent>(respone);
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if (res.success)
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{
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int TaskStatus = AGVTaskStatusEnum.AGV_Finish.ObjToInt();
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//_taskHtyService.AddTaskHty(task, TaskStatus);
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BaseDal.DeleteData(task);
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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(res.msg);
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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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/// <summary>
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/// 暂停任务
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/// </summary>
|
/// <param name="tasknum"></param>
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/// <returns></returns>
|
/// <exception cref="Exception"></exception>
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public WebResponseContent AGVTaskSuspends(int tasknum)
|
{
|
try
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{
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WebResponseContent content = new WebResponseContent();
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Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == tasknum);
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AGVTaskSuspend suspend = new AGVTaskSuspend();
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spend data = new spend();
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TaskSuspend suspends = new TaskSuspend();
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{
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suspends.taskNo = task.TaskNum.ToString();
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}
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data.detail.Add(suspends);
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suspend.data = data;
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var respone = HttpHelper.Post<WebResponseContent>(url + "AGVTaskSuspend/" + suspend, "暂停任务");
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int TaskStatus = AGVTaskStatusEnum.AGV_Finish.ObjToInt();
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_taskHtyService.AddTaskHty(task, TaskStatus);
|
BaseDal.DeleteData(task);
|
if (respone.success)
|
{
|
return WebResponseContent.Instance.OK();
|
}
|
else
|
{
|
return WebResponseContent.Instance.Error(respone.msg);
|
}
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
/// <summary>
|
/// 恢复任务
|
/// </summary>
|
/// <param name="tasknum"></param>
|
/// <returns></returns>
|
/// <exception cref="Exception"></exception>
|
public WebResponseContent AGVTaskRecoverys(int tasknum)
|
{
|
try
|
{
|
WebResponseContent content = new WebResponseContent();
|
Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == tasknum);
|
AGVTaskRecovery recovery = new AGVTaskRecovery();
|
Recovery data = new Recovery();
|
TaskRecovery recoverys = new TaskRecovery();
|
{
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recoverys.taskNo = task.TaskNum.ToString();
|
}
|
data.detail.Add(recoverys);
|
recovery.data = data;
|
var respone = HttpHelper.Post<WebResponseContent>(url + "AGVTaskRecovery/" + recovery, "恢复任务");
|
if (respone.success)
|
{
|
return WebResponseContent.Instance.OK();
|
}
|
else
|
{
|
return WebResponseContent.Instance.Error(respone.msg);
|
}
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
|
}
|
|
public string GetMD5Hex(string appkeystr)
|
{
|
using MD5 md5Hash = MD5.Create();
|
|
// 将输入字符串转换为字节数组并计算其MD5哈希。
|
byte[] dataBytes = Encoding.UTF8.GetBytes(appkeystr);
|
byte[] hashBytes = md5Hash.ComputeHash(dataBytes);
|
|
// 创建一个新的Stringbuilder来收集字节并创建一个字符串。
|
StringBuilder builder = new StringBuilder();
|
|
// 循环通过每个字节的哈希，并格式化为十六进制字符串。
|
for (int i = 0; i < hashBytes.Length; i++)
|
{
|
builder.Append(hashBytes[i].ToString("x2"));
|
}
|
|
string appkeyEcrypt = builder.ToString();
|
|
return appkeyEcrypt;
|
}
|
}
|
}
|
