using AngleSharp.Dom;
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using AutoMapper;
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using LogLibrary.Log;
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using Newtonsoft.Json;
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using SqlSugar;
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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.Net.NetworkInformation;
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using System.Reflection;
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using System.Reflection.Metadata;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_Common;
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using WIDESEA_Core;
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using WIDESEA_Core.BaseRepository;
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using WIDESEA_Core.Enums;
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using WIDESEA_Core.Helper;
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using WIDESEA_DTO;
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using WIDESEA_DTO.AGV;
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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_IStorageTaskServices;
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using WIDESEA_Model.Models;
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using WIDESEA_Model.Models.AGV;
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using WIDESEA_StorageTaskRepository;
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using WIDESEAWCS_BasicInfoRepository;
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using WIDESEAWCS_Model.Models;
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using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
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namespace WIDESEA_StorageSocketServices
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{
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public class WorkTaskService:IWorkTaskService
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{
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private readonly IDt_TaskRepository _taskRepository;
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private readonly IDt_Task_HtyRepository _task_HtyRepository;
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private readonly IDt_TaskService _taskService;
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private readonly IMapper _mapper;
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private readonly IStockInfoRepository _stockInfoRepository;
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private readonly IUnitOfWorkManage _unitOfWorkManage;
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private readonly ILocationInfoRepository _locationRepository;
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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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string url = AppSettings.Configuration["AGVIP"];
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public WorkTaskService(IDt_TaskRepository dt_TaskRepository, ISocketClientServices socket, IDt_StationManagerRepository stationManagerRepository,IDt_TaskService taskService, IDt_Task_HtyRepository dt_Task_HtyRepository,ILocationInfoRepository locationRepository, IMapper mapper,IUnitOfWorkManage unitOfWorkManage,IStockInfoRepository stockInfoRepository)
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{
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_taskRepository = dt_TaskRepository;
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_socket = socket;
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_stationManagerRepository = stationManagerRepository;
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_taskService = taskService;
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_task_HtyRepository = dt_Task_HtyRepository;
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_locationRepository = locationRepository;
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_mapper = mapper;
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_unitOfWorkManage = unitOfWorkManage;
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_stockInfoRepository = stockInfoRepository;
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}
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#region 常量
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public const byte STX = 2;
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public const byte ETX = 3;
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/// <summary>
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/// 作业任务ID 预留
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/// </summary>
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public const string JobOrderID = "0000000000000000";
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/// <summary>
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/// 优先级 预留
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/// </summary>
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public const string priority = "1";
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/// <summary>
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/// 托盘个数 预留
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/// </summary>
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public const string TrayCnt = "1";
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/// <summary>
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/// 设备编号
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/// </summary>
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public const string DeviceID = "0000000001";
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/// <summary>
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/// 发送不需要回复
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/// </summary>
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public const string SendNotReply = "1" + DeviceID + "0";
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/// <summary>
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/// 发送需要回复
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/// </summary>
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public const string SendandReply = "1" + DeviceID + "1";
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/// <summary>
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/// 出库站台启用已分配任务
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/// </summary>
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public const string OutBoundStationEnableDistribution = "1000";
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/// <summary>
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/// 出库站台启用未分配任务
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/// </summary>
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public const string OutBoundStationEnableUndistributed = "1100";
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/// <summary>
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/// 出库站台禁用
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/// </summary>
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public const string OutBoundStationDisabled = "0000";
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/// <summary>
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/// 入库站台个数
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/// </summary>
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public const string InBoundStationCount = "1";
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/// <summary>
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/// 入库站台状态
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/// </summary>
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public const string InBoundStationStatus = "1010001";
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/// <summary>
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/// 预留
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/// </summary>
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public const string Spare1 = "0000000000000000000000000000000000000000000000000000000000000000000000";
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/// <summary>
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/// 出库站台预留
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/// </summary>
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public const string OutStationSpare2 = "000000000000";
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/// <summary>
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/// 预留
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/// </summary>
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public const string Spare3 = "000";
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/// <summary>
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/// 托盘号
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/// </summary>
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public const string Spare4 = "0000000000";
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#endregion
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#region WMS下发HOST方法
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/// <summary>
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/// 设备请求入库 工序101
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/// </summary>
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/// <param name="PallteCode">托盘号</param>
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/// <param name="InStation">入库站台</param>
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public void DeviceRequestInbound(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, InStationStatus inStation)
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{
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try
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{
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string str = SendandReply + "101" + _taskRepository.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) +"1" + GetFieldsAsString(inStation);
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 请求通讯 工序925
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/// </summary>
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/// <param name="PallteCode">托盘号</param>
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/// <param name="InStation">入库站台</param>
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public void RequestCommunication()
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{
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try
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{
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string str = SendandReply + "925" + _taskRepository.GetSeqNo().Result.ToString();
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 不允许下发任务 工序915
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/// </summary>
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/// <param name="Command">命令</param>
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/// <returns></returns>
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public void JobReady(string Command)
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{
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try
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{
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string str = SendNotReply + "915" + _taskRepository.GetSeqNo().Result.ToString() + Command;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 设备状态上报 工序913
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/// </summary>
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/// <param name="state">状态\、R运行</param>
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/// <returns></returns>
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public void DeviceStateReport(string Status)
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{
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try
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{
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string str = SendNotReply + "913" + _taskRepository.GetSeqNo().Result.ToString() + Status;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 设备状态上报 工序917
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/// </summary>
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/// <param name="state">状态\、R运行</param>
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/// <returns></returns>
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public void DeviceAutoStatusReport(string Status)
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{
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try
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{
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string str = SendNotReply + "917" + _taskRepository.GetSeqNo().Result.ToString() + Status;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// /// <summary>
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/// 作业开始或结束 工序905
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/// </summary>
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/// <param name="Status">状态 L指AGV将托盘叉到货叉上、U指AGV将托盘放到库位上</param>
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/// <param name="FormLocation">起点</param>
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/// <param name="ToLocation">终点</param>
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/// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
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/// <param name="PallteCode">托盘号</param>
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public void JobStartOrEnd(string Status, string FormLocation, string ToLocation, string TaskType, string PallteCode)
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{
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try
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{
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string str = SendandReply + "905" + _taskRepository.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 托盘动作上报 工序907
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/// </summary>
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/// <param name="Status">状态 L指AGV将托盘叉到货叉上、U指AGV将托盘放到库位上</param>
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/// <param name="FormLocation">起点</param>
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/// <param name="ToLocation">终点</param>
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/// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
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/// <param name="PallteCode">托盘号</param>
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/// <returns></returns>
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public void PalletActionReport(string Status, string FormLocation, string ToLocation, string TaskType, string PallteCode)
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{
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try
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{
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string str = SendNotReply + "907" + _taskRepository.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 作业完成上报 工序901
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/// </summary>
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/// <param name="FormLocation">起点</param>
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/// <param name="ToLocation">终点</param>
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/// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
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/// <param name="PallteCode">托盘号</param>
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/// <returns></returns>
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public void PalletActionReport(string FormLocation, string ToLocation, string TaskType, string PallteCode)
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{
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try
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{
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string str = SendandReply + "901" + _taskRepository.GetSeqNo().Result.ToString() + "0" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 设备站台状态上报 工序936
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/// </summary>
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/// <param name="FormLocation">起点</param>
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/// <param name="ToLocation">终点</param>
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/// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
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/// <param name="PallteCode">托盘号</param>
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/// <returns></returns>
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public void DeviceStationStatusReport(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, List<InStationStatus> inStation)
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{
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try
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{
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string str = SendNotReply + "936" + _taskRepository.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + GetListStringInStation(inStation);
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// /// <summary>
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/// 重新获取货位信息 工序105
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/// </summary>
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/// <param name="FormLocation">起点</param>
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/// <param name="ToLocation">终点</param>
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/// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
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/// <param name="PallteCode">托盘号</param>
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public void RecreateGetLocation(string FormLocation, string ToLocation, string TaskType, string PallteCode)
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{
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try
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{
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string str = SendandReply + "105" + _taskRepository.GetSeqNo().Result.ToString() + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// /// <summary>
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/// 异常上报 工序985
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/// </summary>
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/// <param name="FormLocation">起点</param>
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/// <param name="ToLocation">终点</param>
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/// <param name="Location">00表示AGV错误、01-08表示站台错误、99表示作业接收前数据错误</param>
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public void ErrorReport(string Trouble, string Level, string Location)
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{
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try
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{
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string str = SendNotReply + "985" + _taskRepository.GetSeqNo().Result.ToString() + Trouble + Level + Location;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 接收HOST工序103回馈响应 工序104
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/// </summary>
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/// <param name="Statues">0表示OK接收作业、1表示拒绝、9表示作业任务验证有误</param>
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/// <returns></returns>
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public void DeviceReceiveJobResponse(string Statues)
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{
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try
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{
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string str = SendNotReply + "104" + _taskRepository.GetSeqNo().Result.ToString() + Statues;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// /// <summary>
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/// 空出库 工序107
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/// </summary>
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/// <param name="FormLocation">起点</param>
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/// <param name="ToLocation">终点</param>
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/// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
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/// <param name="PallteCode">托盘号</param>
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public void EmptyOutBound( string FormLocation, string ToLocation, string PallteCode)
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{
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try
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{
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string str = SendandReply + "107" + _taskRepository.GetSeqNo().Result.ToString() + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
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_socket.clientSend(MakeStringToByteMsg(str));
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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/// <summary>
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/// 回复HOST909工序 工序910
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/// </summary>
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/// <param name="AgvStatus"></param>
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public void DeviceStatusReportResponse(HOSTAGVStatus AgvStatus,string X,string Y)
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{
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string str = SendNotReply + "910" + _taskRepository.GetSeqNo().Result.ToString() + "1" + GetFieldsAsString(AgvStatus)+X+Y;
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}
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#endregion
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#region WMS接收HOST回传方法
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/// <summary>
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/// 接收HOST 响应请求 工序102 回复工序101
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/// </summary>
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/// <param name="message"></param>
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public void ReceiveCommandResponse(string message)
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{
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var parseMessage = GetParse(message);
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switch (parseMessage.body.ret)
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{
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//OK
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case "0":
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//UpdateTaskLocation(parseMessage);
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InsertWMSTask(parseMessage);
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Thread.Sleep(500);
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//915
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JobReady("0");
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break;
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//NG
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case "1":
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break;
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//无库位分配
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case "2":
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break;
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//站台到站台，出库站台未准备好
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case "3":
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break;
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//非常温工程
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case "4":
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break;
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case "9":
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break;
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default:
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break;
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}
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}
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/// <summary>
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/// 接收HOST响应AGV作业开始或启动 工序906 回复工序905
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/// </summary>
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public void AGVJobStartOrEndResponse(string status, string message)
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{
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switch (message)
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{
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//OK
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case "0":
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if (status == "E")
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{
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DeviceStateReport("I");
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Thread.Sleep(3000);
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JobReady("1");
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}
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break;
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//NG
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case "1":
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//调用AGV暂停接口
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break;
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case "9":
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break;
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default:
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break;
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}
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}
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/// <summary>
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/// 数据报告响应 工序902 回复工序901
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/// </summary>
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public void DataReportResponse(string message)
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{
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Dt_Task task = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskOutStatusEnum.AGV_OutFinish || x.TaskState == (int)TaskRelocationStatusEnum.AGV_RelocationFinish || x.TaskState == (int)TaskInStatusEnum.AGV_InFinish);
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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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task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
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if (message == "0")
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{
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JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
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}
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_taskService.CompleteInboundTask(task);
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break;
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case (int)TaskOutboundTypeEnum.Outbound:
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//出库
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if (message == "0")
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{
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JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
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}
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
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_taskService.CompleteOutboundTask(task);
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break;
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case (int)TaskRelocationTypeEnum.Relocation:
|
if (message == "0")
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{
|
JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
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}
|
task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
|
_taskService.CompleteRelocationboundTask(task);
|
break;
|
case (int)TaskStationTypeEnum.StationToStation:
|
if (message == "0")
|
{
|
JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
|
}
|
task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
|
_taskService.TaskMoveHty(task);
|
break;
|
default:
|
break;
|
}
|
|
}
|
}
|
/// <summary>
|
/// HOST下发出库任务 工序103
|
/// </summary>
|
/// <param name="message"></param>
|
public void HOSTOutBoundTask(string message)
|
{
|
try
|
{
|
var parseMessage = GetParse(message);
|
switch (parseMessage.body.ret)
|
{
|
//OK
|
case "0":
|
var task=InsertWMSTask(parseMessage);
|
_taskRepository.AddData(task);
|
InsertAGVTask(task);
|
Thread.Sleep(500);
|
//915
|
JobReady("0");
|
Thread.Sleep(500);
|
//104
|
DeviceReceiveJobResponse("0");
|
break;
|
default:
|
break;
|
}
|
}
|
catch (Exception)
|
{
|
DeviceReceiveJobResponse("1");
|
}
|
|
}
|
|
/// <summary>
|
/// HOST设备状态获取 工序935
|
/// </summary>
|
/// <param name="message"></param>
|
public void DeviceStationStatusInvite()
|
{
|
try
|
{
|
//回复936
|
List<Dt_StationManager> Instation = _stationManagerRepository.QueryData(x => x.stationType == 1).ToList();
|
List<Dt_StationManager> Outstation = _stationManagerRepository.QueryData(x => x.stationType == 2).ToList();
|
List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
|
List<InStationStatus> inStationStatus = new List<InStationStatus>();
|
foreach (var item in Instation)
|
{
|
inStationStatus.Add(new InStationStatus()
|
{
|
StationName = item.stationName,
|
StationEnable = item.stationStatus,
|
IsDistributionTask = item.stationHasTask,
|
PallteCode = "0000000000",
|
});
|
}
|
foreach (var item in Outstation)
|
{
|
StationStatus station = GetStationStatus(item.stationName);
|
var taskStation = _taskRepository.QueryFirst(x => x.SourceAddress == item.stationName || x.TargetAddress == item.stationName);
|
outStationStatus.Add(new OutStationStatus()
|
{
|
StationName = item.stationName,
|
StationEnable = station.StationEnable == "1" ? "0" : "1",
|
IsDistributionTask = taskStation == null ? "0" : "1",
|
Spare1 = "00"
|
});
|
//outStationStatus.Add(new OutStationStatus()
|
//{
|
// StationName = item.stationName,
|
// StationEnable = item.stationStatus,
|
// IsDistributionTask = item.stationHasTask,
|
// Spare1 = "00"
|
//});
|
}
|
AGVStatusRespone status = GetAGVStatus();
|
HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
|
{
|
RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
|
AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
|
Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
|
};
|
DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus);
|
}
|
catch (Exception)
|
{
|
DeviceReceiveJobResponse("1");
|
}
|
|
}
|
|
/// <summary>
|
/// 接收HOST重新分配货位 工序106
|
/// </summary>
|
/// <param name="message"></param>
|
public void RecreateGetLocation(string message)
|
{
|
try
|
{
|
var parseMessage = GetParse(message);
|
switch (parseMessage.body.ret)
|
{
|
//OK
|
case "0":
|
UpdateTaskLocation(parseMessage);
|
break;
|
//NG
|
case "1":
|
break;
|
//无库位分配
|
case "2":
|
break;
|
case "9":
|
break;
|
default:
|
break;
|
}
|
}
|
catch (Exception)
|
{
|
DeviceReceiveJobResponse("1");
|
}
|
|
}
|
|
/// <summary>
|
/// HOST空出库响应 工序108
|
/// </summary>
|
/// <param name="message"></param>
|
public void EmptyOutBoundResponse(string message)
|
{
|
if (message != null && message == "0")
|
{
|
DeviceStateReport("I");
|
Thread.Sleep(500);
|
JobReady("1");
|
|
}
|
}
|
|
/// <summary>
|
/// HOST获取设备状态 工序909
|
/// </summary>
|
public void DeviceStatusReportRequest()
|
{
|
HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
|
{
|
RuntimeStatus = "R",
|
AutoStatus = "1",
|
Ready="1"
|
};
|
string axis = "000000";
|
DeviceStatusReportResponse(AgvStatus,axis,axis);
|
}
|
#endregion
|
|
#region 全局方法
|
/// <summary>
|
/// 拼接报文
|
/// </summary>
|
/// <param name="Message"></param>
|
/// <returns></returns>
|
/// <exception cref="Exception"></exception>
|
public byte[] MakeStringToByteMsg(string Message)
|
{
|
try
|
{
|
byte[] byt = Encoding.UTF8.GetBytes(Message); // 使用 UTF-8 避免编码问题
|
|
LogFactory.GetLog("请求托盘任务").Error(true, BitConverter.ToString(byt));
|
string checksum = GetCheckSum(byt);
|
|
string str = Message + checksum;
|
|
byte[] buffer = Encoding.UTF8.GetBytes(str);
|
|
byte newFirstByte = 2; // 新的第一位数据
|
byte newLastByte = 3; // 新的最后一位数据
|
|
// 创建一个新数组，长度比原始数组多2
|
byte[] newArray = new byte[buffer.Length + 2];
|
|
// 将新的数据插入到新数组的第一位
|
newArray[0] = newFirstByte;
|
|
// 将新的数据插入到新数组的最后一位
|
newArray[newArray.Length - 1] = newLastByte;
|
|
// 复制原始数组的所有数据到新数组的中间部分
|
Array.Copy(buffer, 0, newArray, 1, buffer.Length);
|
|
return newArray;
|
}
|
catch (Exception ex)
|
{
|
throw new Exception(ex.Message);
|
}
|
}
|
//public bool IsOnline()
|
//{
|
|
//}
|
public string GetListStringOutStation(List<OutStationStatus> outStationStatus)
|
{
|
return string.Join("", outStationStatus.Select(status =>$"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
|
}
|
public string GetListStringInStation(List<InStationStatus> inStationStatus)
|
{
|
return string.Join("", inStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
|
}
|
/// <summary>
|
/// 将对象值凭拼接
|
/// </summary>
|
/// <param name="obj"></param>
|
/// <returns></returns>
|
public static string GetFieldsAsString(object obj)
|
{
|
if (obj == null)
|
{
|
return "Object is null";
|
}
|
|
StringBuilder builder = new StringBuilder();
|
Type type = obj.GetType();
|
|
foreach (PropertyInfo property in type.GetProperties())
|
{
|
if (property.CanRead)
|
{
|
object value = property.GetValue(obj);
|
if (value != null)
|
{
|
builder.Append(value);
|
}
|
}
|
}
|
return builder.ToString();
|
}
|
/// <summary>
|
/// 获取CheckSum值
|
/// </summary>
|
/// <param name="data"></param>
|
/// <returns></returns>
|
/// <exception cref="Exception"></exception>
|
public string GetCheckSum(byte[] data)
|
{
|
int sum = 0;
|
try
|
{
|
for (int i = 0; i < data.Length; i++)
|
{
|
sum += data[i];
|
}
|
string str = sum.ToString();
|
return str.Substring(str.Length - 2);
|
}
|
catch (Exception ex)
|
{
|
throw new Exception(ex.Message);
|
}
|
}
|
|
public ParseMessage SubString(string Y)
|
{
|
|
const string STX = "0x02";
|
const string ETX = "0x03";
|
|
// 检查是否以 STX 开头、ETX 结尾
|
if (Y.Substring(0, 4) == STX && Y.Substring(Y.Length - 4) == ETX)
|
{
|
string str = Y.Substring(4, Y.Length - 8);
|
byte[] message = Encoding.UTF8.GetBytes(str);
|
int newLength = message.Length - 2;
|
|
if (newLength < 0)
|
{
|
throw new ArgumentException("数组长度不足，无法去掉最后两位。");
|
}
|
|
byte[] newArray = new byte[newLength];
|
Array.Copy(message, 0, newArray, 0, newLength);
|
string calculatedChecksum = GetCheckSum(newArray);
|
|
string receivedChecksum = str.Substring(str.Length - 2);
|
|
if (calculatedChecksum == receivedChecksum)
|
{
|
var x = Encoding.UTF8.GetString(newArray);
|
ParseMessage parseMessage = new ParseMessage()
|
{
|
bDir = x.Substring(0, 1),
|
bObjID = x.Substring(2, 10),
|
bReply = x.Substring(11, 1),
|
bCmdID = x.Substring(12, 3),
|
nSeqNo = x.Substring(15, 5),
|
//Body = x.Substring(21),
|
};
|
return parseMessage;
|
}
|
else
|
{
|
Console.WriteLine("校验失败！");
|
return null;
|
}
|
}
|
else
|
{
|
Console.WriteLine("无效报文格式！");
|
return null;
|
}
|
}
|
#endregion
|
|
#region 定义对象
|
|
|
#endregion
|
|
#region 私有方法
|
private void UpdateTaskLocation(ParseMessage parseMessage)
|
{
|
var task = _taskRepository.QueryFirst(x => x.SeqNo == Convert.ToInt32(parseMessage.nSeqNo) && x.PalletCode.Contains(parseMessage.body.TrayIdList));
|
if (task != null)
|
{
|
task.TargetAddress = parseMessage.body.ToLocation;
|
task_call agvtask = SqlSugarHelper.DbAGV.Queryable<task_call>().Where(it => it.d_involed5 == task.TaskNum).First();
|
_taskRepository.Update(task);
|
SqlSugarHelper.DbAGV.Updateable(agvtask).ExecuteCommand();
|
}
|
|
}
|
|
private Dt_Task InsertWMSTask(ParseMessage parseMessage)
|
{
|
//var task = _taskRepository.QueryFirst(x => x.PalletCode.Contains(parseMessage.body.TrayIdList));
|
int taskType = 0;
|
int taskState = 0;
|
if (parseMessage.body.JobType == "I")
|
{
|
taskType = (int)TaskInboundTypeEnum.Inbound;
|
taskState = (int)TaskInStatusEnum.InNew;
|
}
|
else if (parseMessage.body.JobType == "O")
|
{
|
taskType = (int)TaskOutboundTypeEnum.Outbound;
|
taskState = (int)TaskOutStatusEnum.OutNew;
|
}
|
else if (parseMessage.body.JobType == "S")
|
{
|
taskType = (int)TaskStationTypeEnum.StationToStation;
|
taskState = (int)TaskOutStatusEnum.OutNew;
|
}
|
else if (parseMessage.body.JobType == "R")
|
{
|
taskType = (int)TaskRelocationTypeEnum.Relocation;
|
taskState = (int)TaskRelocationStatusEnum.RelocationNew;
|
}
|
else
|
{
|
throw new Exception("未知库位");
|
}
|
return new Dt_Task()
|
{
|
TaskNum = _taskRepository.GetTaskNo().Result,
|
SourceAddress = parseMessage.body.FromLocation,
|
TargetAddress = parseMessage.body.ToLocation,
|
PalletCode = parseMessage.body.TrayIdList.Substring(0, 10),
|
TaskType = taskType,
|
TaskState = taskState,
|
Dispatchertime = DateTime.Now,
|
SeqNo = Convert.ToInt32(parseMessage.nSeqNo),
|
CommandID = Convert.ToInt32(parseMessage.bCmdID)
|
};
|
|
}
|
/// <summary>
|
/// 添加AGV任务
|
/// </summary>
|
/// <param name="task">任务对象</param>
|
/// <returns></returns>
|
private int InsertAGVTask(Dt_Task task)
|
{
|
task_call task_Call = new task_call()
|
{
|
d_task_type = task.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
|
d_floor = 1,
|
d_involed1 = task.SourceAddress,
|
d_involed2 = task.TargetAddress,
|
d_involed5 = task.TaskNum,
|
};
|
|
return SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
|
}
|
public ParseMessage GetParse(string x)
|
{
|
return new ParseMessage()
|
{
|
bDir = x.Substring(0, 1),
|
bObjID = x.Substring(2, 10),
|
bReply = x.Substring(11, 1),
|
bCmdID = x.Substring(12, 3),
|
nSeqNo = x.Substring(15, 5),
|
body = new ReceiveBody
|
{
|
ret = x.Substring(21, 1),
|
JobOrderID = x.Substring(22, 16),
|
priority = x.Substring(39, 1),
|
FromLocation = x.Substring(40, 6),
|
ToLocation = x.Substring(47, 6),
|
JobType = x.Substring(54, 1),
|
TrayCnt = x.Substring(55, 1),
|
TrayIdList = x.Substring(56)
|
},
|
};
|
}
|
public AGVStatusRespone GetAGVStatus()
|
{
|
string urlnew = url + "/ilns/AGV/getAgvState";
|
var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { getStatus = "1" }.ToJson())).Result;
|
|
return JsonConvert.DeserializeObject<AGVStatusRespone>(result.ToString());
|
}
|
|
public StationStatus GetStationStatus(string stationName)
|
{
|
string urlnew = url + "/ilns/strl/getStat";
|
var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { strlName = stationName }.ToJson())).Result;
|
return JsonConvert.DeserializeObject<StationStatus>(result.ToString());
|
}
|
|
|
//public string GetFirstUpper(string Status)
|
//{
|
// switch (Status)
|
// {
|
// case "Run":
|
// //运行
|
// return "R";
|
// case "Idle":
|
// //关机
|
// return "I";
|
// case "Trouble":
|
// //故障
|
// return "T";
|
// case "Pause":
|
// //暂停
|
// return "S";
|
// case "Charge":
|
// //充电
|
// return "C";
|
// case "PowerOn":
|
// //开机
|
// return "P";
|
// case "PowerOFF":
|
// //关机
|
// return "O";
|
// case "MaintenanceMode":
|
// //关机
|
// return "1";
|
// case "ControlMode":
|
// //关机
|
// return "0";
|
// default: break;
|
// }
|
//}
|
public string CapitalizeFirstLetter(string s)
|
{
|
if (string.IsNullOrEmpty(s))
|
{
|
return "";
|
}
|
|
char firstChar = s[0];
|
return char.ToUpper(firstChar).ToString();
|
}
|
#endregion
|
}
|
}
|
