MeiRuiAn/HuaiAn.git

			@@ -4,6 +4,7 @@
			using WIDESEA_DTO.Agv;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.BaseRepository;
			using WIDESEAWCS_Core.Enums;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_DTO.Agv;
			@@ -13,6 +14,7 @@
			using WIDESEAWCS_Model.Models;
			using WIDESEAWCS_QuartzJob;
			using WIDESEAWCS_Tasks;
			using static Dm.net.buffer.ByteArrayBuffer;

			namespace WIDESEAWCS_Server.Controllers
			{
			@@ -23,12 +25,14 @@
			private readonly IStationMangerRepository _stationMangerRepository;
			private readonly ITaskService _taskService;
			private readonly ITaskRepository _taskRepository;
			private readonly IUnitOfWorkManage _unitOfWorkManage;

			public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
			public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository,IUnitOfWorkManage unitOfWorkManage)
			{
			_stationMangerRepository = stationMangerRepository;
			_taskService = taskService;
			_taskRepository = taskRepository;
			_unitOfWorkManage = unitOfWorkManage;
			}
			[HttpPost, HttpGet, Route("AGVFinish"), AllowAnonymous]
			public WebResponseContent AGVFinish(string barcode)
			@@ -168,35 +172,130 @@
			if (agvUpdateModel == null) throw new Exception("æªè·åå°è¯·æ±åæ°");
			agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
			var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
			//æ¯å¦åå¨è¾éçº¿ä½å¾AGVæ¬è¿ä»»å¡
			var taskExecutes = _taskRepository.QueryData(x => x.NextAddress == task.CurrentAddress && x.TaskState == TaskStatusEnum.Line_Executing.ObjToInt() && x.TaskType == TaskTypeEnum.InProduct.ObjToInt());
			if (task == null) throw new Exception($"æªæ¾å°ä»»å¡,ä»»å¡å·ã{agvUpdateModel.TaskCode}ã");

			switch (agvUpdateModel.Method)

			switch (agvUpdateModel.Method.ToUpper())
			{
			case "end":
			case "END":
			if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() \|\| task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt()
			\|\| task.TaskType == TaskTypeEnum.OutAllocate.ObjToInt() \|\| task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
			PutFinish(task.NextAddress);
			_taskService.TaskCompleted(task.TaskNum);
			break;
			case "applyToAgv":
			case "APPLYTOAGV":
			//æ´æ¹æåå¥åºAGVåè´§ä»»å¡ç¶æ
			if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() \|\| task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
			{
			_taskService.UpdateTask(task,TaskStatusEnum.AGV_WaitToExecute);
			//for (int i = 0; i < 100; i++)
			//{
			// task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
			// task.Remark = task.TaskState.ToString();
			// _taskRepository.UpdateData(task);
			// var taskOk = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
			// if (taskOk.TaskState==TaskStatusEnum.AGV_WaitToExecute.ObjToInt() \|\| taskOk.Remark.Contains("320"))
			// {
			// agvResponseContent.Code = "0";
			// agvResponseContent.Message = ""+i;
			// break;
			// }
			//}
			//æ¯å¦åå¨è¾éçº¿ä½å¾AGVæ¬è¿ä»»å¡
			if (taskExecutes.Count > 0)
			{
			string address = task.CurrentAddress switch
			{
			"5206" => "5105",
			"5212" => "5111",
			"5218" => "5117",
			};
			//è°ç¨AGVé¢è°åº¦æ¥å£
			AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
			{
			PositionCode = address,
			NextTask = "90",
			UseableLayers = "1",
			CacheCount = "1",
			Update = "0",
			AgvTyp = "11",
			PreTaskQty = "1",
			ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
			ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
			};
			WebResponseContent content = _taskService.AgvPreScheduleTask(agvScheduleTask);
			if (!content.Status)
			{
			agvResponseContent.Code = "1";
			agvResponseContent.Message = content.Message;
			return agvResponseContent;
			}
			}
			Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
			if (stationManger==null)
			{
			agvResponseContent.Code = "1";
			agvResponseContent.Message = "æªæ¾å°ç«å°";
			return agvResponseContent;
			}
			IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
			if (device == null)
			{
			agvResponseContent.Code = "1";
			agvResponseContent.Message = $"æªæ¾è®¾å¤{stationManger.StationDeviceCode}";
			return agvResponseContent;
			}
			OtherDevice otherDevice = (OtherDevice)device;
			short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
			if (canTake == 1)
			{
			//è·åè°å¥åæ°
			AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
			{
			ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
			ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
			TaskCode = task.AgvTaskNum
			};
			if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
			{
			boxApplyPassDTO.Type = "1";
			}
			else
			{
			boxApplyPassDTO.Type = "2";
			}
			//è¯·æ±æç®±åè°æ¥å£
			WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
			if (content.Status && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
			{
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
			}
			else
			{
			task.ExceptionMessage = content.Message;
			_taskService.UpdateTask(task, TaskStatusEnum.Exception);
			}
			}
			else
			{
			task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
			task.Remark = task.TaskState.ToString();
			_taskRepository.UpdateData(task);
			}
			}
			break;
			case "applyFromAgv":
			case "APPLYFROMAGV":
			//æ´æ¹æååºAGVæ¾è´§ä»»å¡ç¶æ
			if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
			{
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_WaitToExecute);
			}
			break;
			case "outbin":
			case "OUTBIN":
			if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() \|\| task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
			{
			TakeFinish(task.CurrentAddress);
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
			//_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
			}
			else if(task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
			{
			@@ -204,7 +303,7 @@
			}
			break;
			default:
			break;
			throw new Exception($"æ¹æ³{agvUpdateModel.Method}åæ°ä¸åå¨");
			}
			agvResponseContent.Code = "0";
			agvResponseContent.Message = "æå";