KuKa/HaErBingCTU.git

			@@ -2,6 +2,8 @@
			using Microsoft.AspNetCore.Authorization;
			using Microsoft.AspNetCore.Http;
			using Microsoft.AspNetCore.Mvc;
			using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
			using Org.BouncyCastle.Asn1.Ocsp;
			using System.Text;
			using System.Text.RegularExpressions;
			using WIDESEA_DTO.Agv;
			@@ -24,6 +26,7 @@
			using WIDESEAWCS_QuartzJob.DTO;
			using WIDESEAWCS_QuartzJob.Models;
			using WIDESEAWCS_QuartzJob.Repository;
			using WIDESEAWCS_TaskInfoService;
			using WIDESEAWCS_Tasks;
			using WIDESEAWCS_Tasks.DBNames;
			using static Dm.net.buffer.ByteArrayBuffer;
			@@ -56,29 +59,85 @@
			WebResponseContent content = new WebResponseContent();
			try
			{
			var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "")==x.PalletCode);
			WriteLog.Write_Log("AGVä»»å¡æ´æ°æ¥å£", "AGVä»»å¡æ´æ°æ¥å£", "æ´æ°ä»»å¡", $"ä»»å¡ï¼{agvUpdateDTO.ToJson()}");
			if (agvUpdateDTO.Message != null && agvUpdateDTO.Message == "ROBOT_ERROR-haiUnknownError")
			{
			var task1 = _taskRepository.QueryFirst(x => (agvUpdateDTO.MissionCode ?? "") == x.GroupId);
			if (task1 != null)
			{
			Dt_ErrorInfo errorInfo = new Dt_ErrorInfo()
			{
			RobotCode = agvUpdateDTO.RobotId,
			Message = agvUpdateDTO.Message,
			ErrorType = 2
			};
			if (task1.TaskType == 500)
			{
			errorInfo.Message = "å¥åºå¼å¸¸";
			errorInfo.StationCode = task1.CurrentAddress;
			}
			else
			{
			errorInfo.Message = "åºåºå¼å¸¸";
			errorInfo.StationCode = task1.NextAddress;
			}
			_taskService.AgvSearchStatus1(errorInfo);
			}
			}
			var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "") == x.PalletCode);
			switch (agvUpdateDTO.MissionStatus)
			{
			case nameof(AGVStatusEnum.PICKER_RECEIVE):
			if (task == null) throw new Exception($"æªæ¾å°æç®±ã{agvUpdateDTO.ContainerCode}ãä»»å¡");
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_TakeFinish);
			Dt_ErrorInfo e1 = new Dt_ErrorInfo()
			{
			RobotCode = agvUpdateDTO.RobotId,
			Message = agvUpdateDTO.Message,
			ErrorType = 0
			};
			_taskService.AgvSearchStatus1(e1);

			break;
			case nameof(AGVStatusEnum.PICKER_SEND):
			if (task == null) throw new Exception($"æªæ¾å°æç®±ã{agvUpdateDTO.ContainerCode}ãä»»å¡");
			_taskService.TaskCompleted(task.TaskNum);
			Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
			if (task.IsCancel > 0 && stationManger != null && stationManger.StationCode != agvUpdateDTO.CurrentPosition)
			{
			_taskService.TaskCancelCompleted(task.TaskNum);
			}
			else
			{
			_taskService.TaskCompleted(task.TaskNum);
			}
			Dt_ErrorInfo e2 = new Dt_ErrorInfo()
			{
			RobotCode = agvUpdateDTO.RobotId,
			Message = agvUpdateDTO.Message,
			ErrorType = 0
			};
			_taskService.AgvSearchStatus1(e2);
			break;
			case nameof(AGVStatusEnum.WAITFEEDBACK):
			//AGVæ¾è¡
			List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x=>x.StationType==StationTypeEnum.StationType_OnlyInbound.ObjToInt());
			if (!stationMangers.Select(x=>x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
			List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StationType == StationTypeEnum.StationType_OnlyInbound.ObjToInt());
			if (!stationMangers.Select(x => x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
			{
			WebResponseContent responseContent = _taskService.AgvTaskFlow(agvUpdateDTO.MissionCode);
			if (!responseContent.Status) throw new Exception($"{responseContent.Message}");
			}
			Dt_ErrorInfo e3 = new Dt_ErrorInfo()
			{
			RobotCode = agvUpdateDTO.RobotId,
			Message = agvUpdateDTO.Message,
			ErrorType = 0
			};
			_taskService.AgvSearchStatus1(e3);
			break;
			default:
			break;
			}

			content.OK();
			}
			catch (Exception ex)
			@@ -97,6 +156,7 @@
			AgvTaskReqContent content = new AgvTaskReqContent();
			try
			{
			WriteLog.Write_Log("AGVä»»å¡è¯·æ±", "AGVä»»å¡è¯·æ±æ¥å£", "ä»»å¡", $"ä»»å¡ï¼{agvTaskRequestDTO.ToJson()}");
			//è·åä»»å¡
			Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"æªæ¾å°æç®±{agvTaskRequestDTO.ContainerCode}ä»»å¡");
			//è·åç«å°
			@@ -133,6 +193,7 @@
			AgvTaskReqContent content = new AgvTaskReqContent();
			try
			{
			WriteLog.Write_Log("AGVä½ä¸å®æ", "AGVä½ä¸å®ææ¥å£", "ä»»å¡", $"ä»»å¡ï¼{agvTaskRequestDTO.ToJson()}");
			//è·åç«å°
			Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"æªæ¾å°{agvTaskRequestDTO.PositionId}ç«å°ä½ç½®");
			IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"æªæ¾å°å¯¹åºè®¾å¤{stationManger.StationDeviceCode}");
			@@ -141,26 +202,28 @@

			if (stationManger.StationType == StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
			{
			commonConveyorLine.Communicator.Write("21", (short)256);
			commonConveyorLine.Communicator.Write("21", new byte[] { 1, 0 });
			}
			else
			{
			commonConveyorLine.Communicator.Write("23", (short)256);
			commonConveyorLine.Communicator.Write("23", new byte[] { 1, 0 });
			}
			content.OK();
			}
			catch (Exception ex)
			{
			if (ex.Message.Contains("æ°æ®åå¥ï¼å°åï¼ã23ãï¼åå¥çæ°æ®ï¼ã256ã") \|\| ex.Message.Contains("æ°æ®åå¥ï¼å°åï¼ã21ãï¼åå¥çæ°æ®ï¼ã256ã"))
			{
			content.OK();
			}
			else
			{
			content.Error(ex.Message);
			}
			content.Error(ex.Message);
			}
			return content;
			}
			/// <summary>
			/// AGVä½ä¸å®æ
			/// </summary>
			/// <returns></returns>
			[HttpPost, HttpGet, Route("AgvSearchStatus"), AllowAnonymous]
			public void AgvSearchStatus()
			{
			_taskService.AgvSearchStatus();
			}
			}
			}