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;
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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_IStorageTaskServices;
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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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using static WIDESEAWCS_BasicInfoService.Dt_StationManagerService;
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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 IDt_TaskService _taskService;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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private readonly LogFactory LogFactory = new LogFactory();
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public SocketClientService _Socket { get; set; }
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private readonly IMapper _mapper;
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private readonly IDt_DeviceInfoRepository _deviceInfoRepository;
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private readonly IDt_HandAutomaticRepository _handAutomaticRepository;
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private readonly IDt_ErrorDescriptionRepository _descriptionRepository;
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public AGVService(ILocationInfoRepository locationRepository, IDt_TaskRepository taskRepository, IDt_StationManagerRepository stationManagerRepository, IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, SocketClientService socketClientService, IDt_TaskService taskService, IDt_HandAutomaticRepository handAutomaticRepository, IDt_ErrorDescriptionRepository descriptionRepository)
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{
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_locationRepository = locationRepository;
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BaseDal = taskRepository;
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_stationManagerRepository = stationManagerRepository;
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_deviceInfoRepository = deviceInfoRepository;
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_mapper = mapper;
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_Socket = socketClientService;
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_taskService = taskService;
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_handAutomaticRepository = handAutomaticRepository;
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_descriptionRepository = descriptionRepository;
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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(AGVDTO aGVDTO)
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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 location = _locationRepository.QueryData(x => x.LocationStatus == (int)LocationEnum.Free).ToList();
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if (location.Count == 0)
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{
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return content.Error("库内无可用库位");
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}
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Dt_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.stationName == aGVDTO.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 == aGVDTO.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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//StationStatus stationOut = _Socket.GetStationStatus("B001");
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List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
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//List<OutStationStatus> outStationStatus = _Socket.GetOutStationStatus(stationOut);
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#region
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var taskOutStationO = BaseDal.QueryFirst(x => x.SourceAddress == "B001::1" || x.TargetAddress == "B001::1");
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var taskOutStationT = BaseDal.QueryFirst(x => x.SourceAddress == "B001::2" || x.TargetAddress == "B001::2");
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outStationStatus.Add(new OutStationStatus()
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{
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StationName = "04",
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StationEnable = aGVDTO.WorkstationO == "1" ? "0" : "1",
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IsDistributionTask = taskOutStationO == null ? "0" : "1",
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Spare1 = "00"
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});
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outStationStatus.Add(new OutStationStatus()
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{
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StationName = "03",
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StationEnable = aGVDTO.WorkstationT == "1" ? "0" : "1",
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IsDistributionTask = taskOutStationT == null ? "0" : "1",
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Spare1 = "00",
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});
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#endregion
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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.HostName,
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StationEnable = "0",
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IsDistributionTask = "0",
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PallteCode = aGVDTO.PalletCode,
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};
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_Socket.DeviceRequestInbound(AgvStatus, outStationStatus, inStationStatus);
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LogFactory.GetLog("入库请求").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(aGVDTO)}", "");
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return content.OK("已下发入库任务");
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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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//var HandAutomatic = _handAutomaticRepository.QueryFirst(x => true && x.HandAutomatic == "Automatic");
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//if (HandAutomatic == null)
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//{
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// _Socket.DeviceAutoStatusReport("1");
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// return content.OK();
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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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if (device.RuntimeStatus != Status.RuntimeStatus)
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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(1000);
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_Socket.JobReady("0");
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break;
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case "Idle":
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//空闲
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_Socket.DeviceStateReport("I");
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_Socket.JobReady("1");
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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(1000);
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_Socket.JobReady("0");
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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(1000);
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_Socket.JobReady("0");
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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(1000);
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_Socket.JobReady("0");
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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(1000);
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_Socket.JobReady("0");
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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(1000);
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_Socket.JobReady("0");
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break;
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default: break;
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}
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}
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if (device.AutoStatus != Status.AutoStatus)
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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.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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}
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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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LogFactory.GetLog("AGV状态变更").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(Status)}", "");
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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(AGVDTO aGVDTO)
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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 == Convert.ToInt32(aGVDTO.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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var station = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
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if (aGVDTO.Status == "Start")
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{
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if (task.Roadway == "PDA")
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{
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_taskService.TaskStatus(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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_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
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task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
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}
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}
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else if (aGVDTO.Status == "Loadel")
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{
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
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}
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else
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{
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if (task.Roadway == "PDA")
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{
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_Socket.PalletActionReportPDA("0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport("0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
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}
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task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
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_taskService.CompleteInboundTask(task);
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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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var stationOut = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
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if (aGVDTO.Status == "Start")
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{
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if (task.Roadway == "PDA")
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{
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_taskService.TaskStatus(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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_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
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}
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}
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else if (aGVDTO.Status == "Loadel")
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{
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
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}
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else
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{
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if (task.Roadway == "PDA")
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{
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_Socket.PalletActionReportPDA(task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport(task.SourceAddress, "0000" + stationOut.HostName, "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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}
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break;
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case (int)TaskRelocationTypeEnum.Relocation:
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if (aGVDTO.Status == "Start")
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{
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if (task.Roadway == "PDA")
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{
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_taskService.TaskStatus(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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_Socket.JobStartOrEnd(aGVDTO.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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}
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else if (aGVDTO.Status == "Loadel")
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{
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_Socket.PalletActionReport(aGVDTO.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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if (task.Roadway == "PDA")
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{
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_Socket.PalletActionReportPDA(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(aGVDTO.Status.Substring(0, 1), 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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}
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task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
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_taskService.CompleteRelocationboundTask(task);
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}
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break;
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case (int)TaskStationTypeEnum.StationToStation:
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var stationIn = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
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var stationout = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
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if (aGVDTO.Status == "Start")
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{
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if (task.Roadway == "PDA")
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{
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_taskService.TaskStatus(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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_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
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}
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}
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else if (aGVDTO.Status == "Loadel")
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{
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
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}
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else
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{
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if (task.Roadway == "PDA")
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{
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_Socket.PalletActionReportPDA("0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport("0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
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}
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
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_taskService.TaskMoveHty(task);
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}
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break;
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case (int)TaskFireAlarmTypeEnum.FireAlarmOut:
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if (aGVDTO.Status == "Start")
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{
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_taskService.AddStcokHty(task.PalletCode, task.SourceAddress);
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task.TaskState = (int)TaskFireAlarmStatusEnum.AGV_FireAlarmExecuting;
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BaseDal.Update(task);
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}
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else if (aGVDTO.Status == "Loadel")
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{
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}
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else
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{
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var stationFireAlarm = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
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if (task.Roadway == "PDA")
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{
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_Socket.PalletActionReportFrie(task.SourceAddress, "0000" + stationFireAlarm.HostName, "F", task.PalletCode); ;
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}
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task.TaskState = (int)TaskFireAlarmStatusEnum.AGV_FireAlarmFinish;
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_taskService.TaskMoveHty(task);
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}
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break;
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case (int)TaskOutboundTypeEnum.OutQuality:
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//抽检
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var stationC = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
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if (aGVDTO.Status == "Start")
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{
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if (task.Roadway == "PDA")
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{
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_taskService.TaskStatus(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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_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
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}
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}
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else if (aGVDTO.Status == "Loadel")
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{
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if (task.Roadway == "PDA")
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{
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return content.OK();
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}
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
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}
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else
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{
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if (task.Roadway == "PDA")
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{
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_taskService.TaskComplete(task.TaskNum);
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_Socket.PalletActionReportPDA(task.SourceAddress, "0000" + stationC.HostName, "O", task.PalletCode);
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}
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else
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{
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_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
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Thread.Sleep(2000);
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_Socket.PalletActionReport(task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
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task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
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_taskService.CompleteOutboundTask(task);
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}
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}
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break;
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case (int)TaskInboundTypeEnum.InQuality:
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//抽检
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if (aGVDTO.Status == "Start")
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{
|
if (task.Roadway == "PDA")
|
{
|
_taskService.TaskStatus(task);
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return content.OK();
|
}
|
}
|
else if (aGVDTO.Status == "Loadel")
|
{
|
return content.OK();
|
}
|
else
|
{
|
if (task.Roadway == "PDA")
|
{
|
_taskService.TaskComplete(task.TaskNum);
|
}
|
}
|
break;
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default: break;
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}
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BaseDal.Update(task);
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LogFactory.GetLog("AGV动作状态变更").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(aGVDTO)}", "");
|
return content.OK();
|
}
|
else
|
{
|
return content.Error("未找到任务!");
|
}
|
}
|
catch (Exception ex)
|
{
|
return content.Error(ex.Message);
|
}
|
}
|
|
|
public WebResponseContent DeviceErrorResponse(AGVDTO aGVDTO)
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{
|
WebResponseContent content = new WebResponseContent();
|
try
|
{
|
LogFactory.GetLog("AGV异常信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(aGVDTO)}", "");
|
var task = BaseDal.QueryFirst(x => x.TaskNum == Convert.ToInt32(aGVDTO.TaskNum));
|
if (task != null)
|
{
|
|
string HostType = string.Empty;
|
if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
|
{
|
HostType = "I";
|
}
|
else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
|
{
|
HostType = "O";
|
}
|
else if (task.TaskType == (int)TaskOutboundTypeEnum.OutQuality)
|
{
|
HostType = "C";
|
}
|
else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
|
{
|
HostType = "R";
|
}
|
else if (task.TaskType == (int)TaskStationTypeEnum.StationToStation)
|
{
|
HostType = "S";
|
}
|
switch (aGVDTO.Message)
|
{
|
//空出库
|
case "0000400":
|
_Socket.EmptyOutBound(task.SourceAddress, "0000" + StationParse(task.TargetAddress), task.PalletCode);
|
_taskService.AddStcokHty(task.PalletCode, task.SourceAddress);
|
_taskService.TaskMoveHty(task);
|
_Socket.AddErrorMessage("2101", "AGV", "");
|
break;
|
//重入库
|
case "0000200":
|
_Socket.RecreateGetLocation("0000" + StationParse(task.SourceAddress), task.TargetAddress, HostType, task.PalletCode);
|
_Socket.AddErrorMessage("2100", "AGV", "");
|
break;
|
default: break;
|
}
|
}
|
return content.OK();
|
}
|
catch (Exception ex)
|
{
|
LogFactory.GetLog("AGV异常信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}", "");
|
return content.Error(ex.Message);
|
}
|
}
|
|
public string StationParse(string station)
|
{
|
var Station = SqlSugarHelper.DbWMS.Queryable<Dt_StationManager>().Where(x => x.stationName == station).First();
|
if (Station != null)
|
{
|
return Station.HostName;
|
}
|
else
|
{
|
return "";
|
}
|
}
|
private static readonly SemaphoreSlim _semaphoreUpdate = new SemaphoreSlim(1, 1);
|
public async Task<WebResponseContent> DeviceWarning(AGVDTO DTO)
|
{
|
await _semaphoreUpdate.WaitAsync();
|
WebResponseContent content = new WebResponseContent();
|
try
|
{
|
LogFactory.GetLog("AG上传报警信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(DTO)}", "");
|
if (DTO.Message != null)
|
{
|
Dt_ErrorDescription description = _descriptionRepository.QueryFirst(x => x.Type == DTO.Message);
|
if (description != null)
|
{
|
_Socket.ErrorReport(description.ErrorCode, "A", "00");
|
_Socket.AddErrorMessage(description.ErrorCode, "AGV", "");
|
return content.OK();
|
}
|
else
|
{
|
return content.Error("未识别报警源");
|
}
|
}
|
else
|
{
|
return content.Error("未接收到异常信息");
|
}
|
}
|
catch (Exception ex)
|
{
|
LogFactory.GetLog("AG上传报警信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}", "");
|
return content.Error(ex.Message);
|
}
|
finally
|
{
|
_semaphoreUpdate.Release();
|
}
|
|
}
|
#endregion 外部接口方法
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}
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}
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