using LogLibrary.Log;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_DTO.AGV;
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using WIDESEA_IServices;
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using WIDESEA_IStorageBasicRepository;
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using WIDESEA_IStorageSocketServices;
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using WIDESEA_IStorageTaskRepository;
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using WIDESEA_IStoragIntegrationServices;
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using WIDESEA_Model.Models.AGV;
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using WIDESEA_Repository;
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using WIDESEA_StorageSocketServices;
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using WIDESEAWCS_BasicInfoRepository;
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using WIDESEAWCS_Model.Models;
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namespace WIDESEA_StoragIntegrationServices
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{
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public partial class AGVService : IAGVService
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{
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private readonly ILocationInfoRepository _locationRepository;
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private readonly IDt_TaskRepository BaseDal;
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private readonly IStockInfoRepository _stockInfoRepository;
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private readonly ISys_ConfigService _configService;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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private readonly LogFactory LogFactory = new LogFactory();
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private readonly ISocketClientServices _Socket;
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private readonly IMapper _mapper;
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private readonly IDt_DeviceInfoRepository _deviceInfoRepository;
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public AGVService(ILocationInfoRepository locationRepository,IDt_TaskRepository taskRepository,IStockInfoRepository stockInfoRepository, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository,IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, ISocketClientServices socketClientServices)
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{
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_locationRepository = locationRepository;
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BaseDal = taskRepository;
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_stockInfoRepository = stockInfoRepository;
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_configService = configService;
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_stationManagerRepository = stationManagerRepository;
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_deviceInfoRepository = deviceInfoRepository;
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_mapper = mapper;
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_Socket= socketClientServices;
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}
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#region 外部接口方法
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/// <summary>
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/// 请求入库任务
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/// </summary>
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/// <param name="PallteCode"></param>
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/// <param name="SourceAddress"></param>
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/// <returns></returns>
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public WebResponseContent RequestInTask(string PalletCode, string SourceAddress)
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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_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.stationName == SourceAddress && x.stationType == 1);
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List<Dt_StationManager> Outstation = _stationManagerRepository.QueryData(x => x.stationType == 2).ToList();
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if (Instation == null)
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{
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return content.Error("未找到入库站台信息");
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}
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Dt_Task task = BaseDal.QueryFirst(x => x.PalletCode == PalletCode);
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if (task != null)
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{
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return content.Error("该托盘已存在任务");
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}
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List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
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foreach (var item in Outstation)
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{
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StationStatus station = _Socket.GetStationStatus(item.stationName);
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var taskStation = BaseDal.QueryFirst(x => x.SourceAddress == item.stationName || x.TargetAddress == item.stationName);
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outStationStatus.Add(new OutStationStatus()
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{
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StationName = item.HostName,
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StationEnable = station.StationEnable == "1" ? "0" : "1",
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IsDistributionTask = taskStation == null ? "0" : "1",
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Spare1 = "00"
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});
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}
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AGVStatusRespone status = _Socket.GetAGVStatus();
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HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
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{
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RuntimeStatus = _Socket.CapitalizeFirstLetter(status.RuntimeStatus),
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AutoStatus = status.AutoStatus== "MaintenanceMode"?"1":"0",
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Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
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};
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InStationStatus inStationStatus = new InStationStatus()
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{
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StationName = Instation.stationName,
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StationEnable = "0",
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IsDistributionTask = "0",
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PallteCode = task.PalletCode,
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};
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_Socket.DeviceRequestInbound(AgvStatus, outStationStatus, inStationStatus);
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return content.OK("已下发入库任务");
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}
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catch (Autofac.Core.DependencyResolutionException ex)
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{
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return content.Error(ex.Message);
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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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public WebResponseContent ReceiveAGVRuntimeStatus(AGVStatus Status)
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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_DeviceInfo device = _deviceInfoRepository.QueryFirst(x => x.DeviceName == Status.AGVName);
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if (device != null)
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{
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device.RuntimeStatus = Status.RuntimeStatus;
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device.AutoStatus = Status.AutoStatus;
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_deviceInfoRepository.UpdateData(device);
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switch (Status.RuntimeStatus)
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{
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case "Run":
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//运行
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_Socket.DeviceStateReport("R");
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Thread.Sleep(500);
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break;
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case "Idle":
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//关机
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_Socket.DeviceStateReport("I");
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Thread.Sleep(500);
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break;
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case "Trouble":
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//故障
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_Socket.DeviceStateReport("T");
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Thread.Sleep(500);
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break;
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case "Pause":
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//暂停
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_Socket.DeviceStateReport("S");
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Thread.Sleep(500);
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break;
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case "Charge":
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//充电
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_Socket.DeviceStateReport("C");
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Thread.Sleep(500);
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break;
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case "PowerOn":
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//开机
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_Socket.DeviceStateReport("P");
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Thread.Sleep(500);
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break;
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case "PowerOFF":
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//关机
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_Socket.DeviceStateReport("O");
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Thread.Sleep(500);
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break;
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default: break;
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}
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switch (Status.AutoStatus)
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{
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case "MaintenanceMode":
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//手动
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_Socket.DeviceAutoStatusReport("1");
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Thread.Sleep(500);
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break;
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case "ControlMode":
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//自动
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_Socket.DeviceAutoStatusReport("0");
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Thread.Sleep(500);
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break;
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default: break;
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}
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}
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else
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{
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Dt_DeviceInfo deviceInfo = new Dt_DeviceInfo()
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{
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DeviceName = Status.AGVName,
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RuntimeStatus = Status.RuntimeStatus,
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AutoStatus = Status.AutoStatus,
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};
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_deviceInfoRepository.AddData(deviceInfo);
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}
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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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return content.Error(ex.Message);
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}
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}
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public WebResponseContent AGVStartOrEndJob(string Status, int TaskNum)
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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);
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if (task != null)
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{
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switch (task.TaskType)
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{
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case (int)TaskInboundTypeEnum.Inbound:
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//入库
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if (Status == "Start")
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{
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_Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
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task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
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}
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else if (Status == "Loadel")
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{
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_Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
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task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
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}
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break;
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case (int)TaskOutboundTypeEnum.Outbound:
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//出库
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if (Status == "Start")
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{
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_Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
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}
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else if (Status == "Loadel")
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{
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_Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(Status, task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
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}
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break;
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case (int)TaskRelocationTypeEnum.Relocation:
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if (Status == "Start")
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{
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_Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
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task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationExecuting;
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}
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else if (Status == "Loadel")
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{
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_Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(Status, task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
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task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
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}
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break;
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case (int)TaskStationTypeEnum.StationToStation:
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if (Status == "Start")
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{
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_Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
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}
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else if (Status == "Loadel")
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{
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_Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(Status, task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
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}
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break;
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default: break;
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}
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BaseDal.Update(task);
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return content.OK();
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}
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else
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{
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return content.Error("未找到任务!");
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}
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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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public WebResponseContent DeviceErrorResponse(string Message,int TaskNum)
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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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var task = BaseDal.QueryFirst(x => x.TaskNum == TaskNum);
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if (task != null)
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{
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switch(Message)
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{
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case "RepeatInbound":
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break;
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case "EmptyOutbound":
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break;
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default:break;
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}
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}
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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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return content.Error(ex.Message);
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}
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}
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public WebResponseContent RequestOutTask(string PalletCode, string SourceAddress, string TargetAddress)
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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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//var tasks = BaseDal.QueryFirst(x => x.PalletCode == PalletCode);
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//if (tasks != null)
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//{
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// return content.Error("该托盘已存在任务");
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//}
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Dt_Task newTask = new Dt_Task()
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{
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TaskNum = BaseDal.GetTaskNo().Result,
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SourceAddress = SourceAddress,
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CurrentAddress = SourceAddress,
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TargetAddress = TargetAddress,
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NextAddress = TargetAddress,
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Grade = 1,
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PalletCode = PalletCode,
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TaskType = (int)TaskOutboundTypeEnum.Outbound,
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TaskState = (int)TaskOutStatusEnum.OutNew,
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Dispatchertime = DateTime.Now,
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SeqNo = Convert.ToInt32(1),
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CommandID = Convert.ToInt32(101)
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};
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task_call task_Call = new task_call()
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{
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d_task_type = newTask.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
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d_floor = 1,
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d_involed1 = newTask.SourceAddress,
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d_involed2 = newTask.TargetAddress,
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d_involed5 = newTask.TaskNum,
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};
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SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
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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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return content.Error(ex.Message);
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}
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}
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public WebResponseContent InTask(string PalletCode, string SourceAddress, string TargetAddress)
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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 newTask = new Dt_Task()
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{
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TaskNum = BaseDal.GetTaskNo().Result,
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SourceAddress = SourceAddress,
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TargetAddress = TargetAddress,
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PalletCode = PalletCode,
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TaskType = (int)TaskInboundTypeEnum.Inbound,
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TaskState = (int)TaskInStatusEnum.InNew,
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Dispatchertime = DateTime.Now,
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SeqNo = Convert.ToInt32(1),
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CommandID = Convert.ToInt32(101)
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};
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task_call task_Call = new task_call()
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{
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d_task_type = newTask.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
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d_floor = 1,
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d_involed1 = newTask.SourceAddress,
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d_involed2 = newTask.TargetAddress,
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d_involed5 = newTask.TaskNum,
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};
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SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
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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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return content.Error(ex.Message);
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}
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}
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public WebResponseContent GetAGVStatus()
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{
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try
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{
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var x = _Socket.GetAGVStatus();
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return WebResponseContent.Instance.OK(data: x);
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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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public WebResponseContent GetStationStatus(string StationName)
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{
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try
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{
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var x = _Socket.GetStationStatus(StationName);
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return WebResponseContent.Instance.OK(data: x);
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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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#endregion 外部接口方法
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}
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}
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