MingHeZhiNeng/JiaXingRGV.git

			@@ -1,4 +1,4 @@
			ï»¿#region << ç æ¬ æ³¨ é >>
			#region << ç æ¬ æ³¨ é >>
			/*----------------------------------------------------------------
			* å½åç©ºé´ï¼WIDESEAWCS_TaskInfoService
			* åå»ºèï¼è¡ç«¥åº
			@@ -41,6 +41,7 @@
			using System.Threading.Tasks;
			using WIDESEA_Comm.Http;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.BaseRepository;
			using WIDESEAWCS_Core.BaseServices;
			using WIDESEAWCS_Core.Enums;
			using WIDESEAWCS_DTO.Enum;
			@@ -53,6 +54,7 @@
			using WIDESEAWCS_QuartzJob.DTO;
			using WIDESEAWCS_QuartzJob.Models;
			using WIDESEAWCS_QuartzJob.Service;
			using WIDESEA_Common.Log;

			namespace WIDESEAWCS_TaskInfoService
			{
			@@ -61,40 +63,42 @@
			private readonly IAgvStationService _gvStationService;
			private readonly IServiceProvider _serviceProvider;
			private static bool _isMonitoring = false;
			private readonly IRepository<DeviceAlarmLog> _deviceAlarmLog;
			//private static CancellationTokenSource _cancellationTokenSource;


			// å¨ç±»çº§å«æ·»å ç¬ç«ççæ§ç¶æ
			private bool _isOutboundMonitoring = false;
			private bool _isInboundMonitoring = false;
			private bool _isSafetyDoorMonitoring = false;
			private bool _isPlatformMonitoring = false;

			// å¨ç±»çåæ®µåº
			private CancellationTokenSource? _platformCancellationTokenSource;
			private CancellationTokenSource _outboundCancellationTokenSource;
			private CancellationTokenSource _inboundCancellationTokenSource;
			private CancellationTokenSource _safetyDoorCancellationTokenSource;
			public RgvoperainformService(ITask_HtyRepository BaseDal, IAgvStationService agvStationService, IServiceProvider serviceProvider) : base(BaseDal)
			public RgvoperainformService(ITask_HtyRepository BaseDal, IAgvStationService agvStationService, IServiceProvider serviceProvider, IRepository<DeviceAlarmLog> deviceAlarmLog) : base(BaseDal)
			{
			_gvStationService = agvStationService;
			_serviceProvider = serviceProvider;
			_deviceAlarmLog = deviceAlarmLog;
			}


			//=================================================è¯»åè®¾å¤ä¿¡æ¯==========================================================





			/// <summary>
			/// è·åè®¾å¤ç¶æï¼æ¯æåºåºãå¥åºåå®å¨é¨ç¬ç«çæ§ï¼
			/// è·åè®¾å¤ç¶æï¼æ¯æåºåºãå¥åºãå®å¨é¨åç«å°ç¬ç«çæ§ï¼
			/// </summary>
			/// <param name="off">0:åæ¢ 1:å¯å¨ 2:ä»æ¥è¯¢</param>
			/// <param name="monitorType">çæ§ç±»åï¼outbound-åºåº inbound-å¥åº safetydoor-å®å¨é¨ all-å¨é¨</param>
			/// <param name="monitorType">çæ§ç±»åï¼outbound-åºåº inbound-å¥åº safetydoor-å®å¨é¨ platform-ç«å° all-å¨é¨</param>
			/// <returns></returns>
			public WebResponseContent GetDeviceStatusDto(int off, string monitorType = "outbound")
			{
			bool isOutbound = monitorType == "outbound" \|\| monitorType == "all";//åºåº
			bool isInbound = monitorType == "inbound" \|\| monitorType == "all";//å¥åº
			bool isSafetyDoor = monitorType == "safetydoor" \|\| monitorType == "all";//å®å¨é¨
			bool isPlatform = monitorType == "platform" \|\| monitorType == "all";//ç«å°

			if (off == 1)
			{
			@@ -120,6 +124,13 @@
			_ = Task.Run(async () => await StartDeviceMonitoring(_safetyDoorCancellationTokenSource.Token, "safetydoor"));
			}

			if (isPlatform && !_isPlatformMonitoring)
			{
			_isPlatformMonitoring = true;
			_platformCancellationTokenSource = new CancellationTokenSource();
			_ = Task.Run(async () => await StartDeviceMonitoring(_platformCancellationTokenSource.Token, "platform"));
			}

			var immediateData = GetImmediateDeviceData(monitorType);
			string message = GetMonitorStatusMessage(monitorType);
			return WebResponseContent.Instance.OK($"è®¾å¤ç¶æçæ§å·²å¯å¨ - {message}", immediateData);
			@@ -143,6 +154,12 @@
			{
			_isSafetyDoorMonitoring = false;
			_safetyDoorCancellationTokenSource?.Cancel();
			}

			if (isPlatform && _isPlatformMonitoring)
			{
			_isPlatformMonitoring = false;
			_platformCancellationTokenSource?.Cancel();
			}

			var finalData = GetImmediateDeviceData(monitorType);
			@@ -212,6 +229,9 @@
			case "safetydoor":
			_isSafetyDoorMonitoring = false;
			break;
			case "platform":
			_isPlatformMonitoring = false;
			break;
			}
			}

			@@ -236,7 +256,14 @@
			["MaterialIn"] = new List<string> { "RGV101" },

			// å®å¨é¨è®¾å¤
			["SafetyDoor"] = new List<string> { "HCJ2000" }, // å®å¨é¨
			["SafetyDoor"] = new List<string> { "HCJ2000" },

			// ç«å°è®¾å¤ - æ ¹æ®æ¨æä¾çåè®®æ·»å ææç«å°
			// ["Platform"] = new List<string> {
			// "1001", "1002", "2016", "2017", "2018", "2019", "1021", "1061", "1131", "1171"
			//}
			["Platform"] = new List<string> { "HCJ2000" },

			};

			// è®¾å¤ç±»åå¯¹åºçåæ°éç½®
			@@ -339,6 +366,13 @@
			("ResetStatus", "ReadDeviceCommand", "å®å¨é¨å¤ä½ç¶æ"),
			("AlarmSummary", "DeviceCommand", "æ¥è¦ä¿¡æ¯"),
			("OpenDoor", "DeviceCommand", "å¼é¨ä¿¡æ¯")
			},

			// ç«å°è®¾å¤åæ°éç½® - æ ¹æ®æ¨æä¾çåè®®æ·»å
			["Platform"] = new List<(string, string, string)>
			{
			("HCJ_GoodsStatus", "ReadDeviceCommand", "åçµä¿¡å·"),
			("DoorRequest", "DeviceCommand", "ä»»å¡id")
			}
			};

			@@ -352,13 +386,13 @@
			{
			"outbound" => group.Key == "MotherCar" \|\| group.Key == "TransferCar" \|\| group.Key == "MaterialOut",
			"inbound" => group.Key == "MaterialIn" \|\| group.Key == "InboundMotherCar" \|\| group.Key == "InboundTransferCar",
			"safetydoor" => group.Key == "SafetyDoor", // å®å¨é¨çæ§ç±»å
			"safetydoor" => group.Key == "SafetyDoor",
			"platform" => group.Key == "Platform", // ç«å°çæ§ç±»å
			"all" => true,
			_ => group.Key == "MotherCar" \|\| group.Key == "TransferCar" \|\| group.Key == "MaterialOut"
			};
			}).ToDictionary(x => x.Key, x => x.Value);

			int i = 0;
			// éåçéåçè®¾å¤ç»
			foreach (var deviceGroup in filteredDeviceGroups)
			{
			@@ -413,57 +447,83 @@
			}
			else if (device is CommonConveyorLine conveyorLine)
			{
			// å¤çå®å¨é¨è®¾å¤ï¼CommonConveyorLine ç±»åï¼
			// åå»ºä¸ä¸ªå®å¨é¨è®¾å¤çæ°æ®
			List<string> safetyDoorList = new List<string> { "AQM001", "AQM002", "AQM003" };

			// ä¸ºæ¯ä¸ªå®å¨é¨åå»ºæ°æ®
			foreach (string safetyDoorCode in safetyDoorList)
			// å¤çå®å¨é¨è®¾å¤åç«å°è®¾å¤ï¼CommonConveyorLine ç±»åï¼
			if (deviceType == "SafetyDoor")
			{
			var deviceData = new Dictionary<string, int>();
			// å®å¨é¨è®¾å¤å¤çé»è¾ï¼ä¿æä¸åï¼
			List<string> safetyDoorList = new List<string> { "AQM001", "AQM002", "AQM003" };

			// éåè¯¥è®¾å¤çææåæ°
			foreach (var param in deviceParams)
			foreach (string safetyDoorCode in safetyDoorList)
			{
			try
			{
			// ä½¿ç¨å®å¨é¨åç§°æ¥è¯¢å¯¹åºçåæ°
			DeviceProDTO? devicePro = GetSafetyDoorDeviceProDTO(
			conveyorLine, safetyDoorCode, param.DeviceProParamName, param.DeviceProParamType);
			var deviceData = new Dictionary<string, int>();

			if (devicePro != null)
			{
			// å¯¹äº CommonConveyorLine ç±»åï¼ä½¿ç¨éç¨çæ°æ®è¯»åæ¹æ³
			int res = ReadCommonConveyorLineData(conveyorLine, devicePro.DeviceProAddress);
			deviceData[param.DeviceProRemark] = res;
			}
			else
			{
			deviceData[param.DeviceProRemark] = -1; // ä½¿ç¨ -1 è¡¨ç¤ºæ¥è¯¢å¤±è´¥
			}
			}
			catch (Exception)
			foreach (var param in deviceParams)
			{
			deviceData[param.DeviceProRemark] = -1; // ä½¿ç¨ -1 è¡¨ç¤ºæ¥è¯¢å¼å¸¸
			try
			{
			DeviceProDTO? devicePro = GetSafetyDoorDeviceProDTO(
			conveyorLine, safetyDoorCode, param.DeviceProParamName, param.DeviceProParamType);

			if (devicePro != null)
			{
			int res = ReadCommonConveyorLineData(conveyorLine, devicePro.DeviceProAddress);
			deviceData[param.DeviceProRemark] = res;
			}
			else
			{
			deviceData[param.DeviceProRemark] = -1;
			}
			}
			catch (Exception)
			{
			deviceData[param.DeviceProRemark] = -1;
			}
			}

			finalResult[safetyDoorCode] = deviceData;
			}
			}

			// å°å½åå®å¨é¨è®¾å¤çæ°æ®æ·»å å°æç»ç»æä¸ï¼ä½¿ç¨å®å¨é¨åç§°ä½ä¸ºkey
			finalResult[safetyDoorCode] = deviceData;
			if (deviceType == "Platform")
			{
			// å®å¨é¨è®¾å¤å¤çé»è¾ï¼ä¿æä¸åï¼
			List<string> PlatformList = new List<string> { "1001", "1002", "2016", "2017", "2018", "2019", "1021", "1061", "1131", "1171" };

			foreach (string Platform in PlatformList)
			{
			var deviceData = new Dictionary<string, int>();

			foreach (var param in deviceParams)
			{
			try
			{
			DeviceProDTO? devicePro = GetSafetyDoorDeviceProDTO(
			conveyorLine, Platform, param.DeviceProParamName, param.DeviceProParamType);

			if (devicePro != null)
			{
			int res = ReadCommonConveyorLineData(conveyorLine, devicePro.DeviceProAddress);
			deviceData[param.DeviceProRemark] = res;
			}
			else
			{
			deviceData[param.DeviceProRemark] = -1;
			}
			}
			catch (Exception)
			{
			deviceData[param.DeviceProRemark] = -1;
			}
			}

			finalResult[Platform] = deviceData;
			}
			}
			}
			else
			{
			// å³ä½¿è®¾å¤ä¸åå¨æä¸æ¯æ¯æçç±»åï¼ä¹åå»ºä¸ä¸ªç©ºåå¸
			finalResult[deviceChildCode] = new Dictionary<string, int>();
			if (device != null)
			{
			Console.WriteLine($"è¦åï¼è®¾å¤ {deviceChildCode} ç±»å {device.GetType().Name} ä¸æ¯æï¼æ æ³è¯»åæ°æ®");
			}
			else
			{
			Console.WriteLine($"è¦åï¼è®¾å¤ {deviceChildCode} ä¸åå¨");
			}
			}
			}
			}
			@@ -483,7 +543,8 @@
			"outbound" => $"åºåºçæ§: {(_isOutboundMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}",
			"inbound" => $"å¥åºçæ§: {(_isInboundMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}",
			"safetydoor" => $"å®å¨é¨çæ§: {(_isSafetyDoorMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}",
			"all" => $"åºåºçæ§: {(_isOutboundMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}, å¥åºçæ§: {(_isInboundMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}, å®å¨é¨çæ§: {(_isSafetyDoorMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}",
			"platform" => $"ç«å°çæ§: {(_isPlatformMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}", // ç«å°çæ§ç¶æ
			"all" => $"åºåºçæ§: {(_isOutboundMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}, å¥åºçæ§: {(_isInboundMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}, å®å¨é¨çæ§: {(_isSafetyDoorMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}, ç«å°çæ§: {(_isPlatformMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}",
			_ => $"åºåºçæ§: {(_isOutboundMonitoring ? "è¿è¡ä¸" : "å·²åæ¢")}"
			};
			}
			@@ -500,11 +561,11 @@
			"outbound" => "åºåº",
			"inbound" => "å¥åº",
			"safetydoor" => "å®å¨é¨",
			"platform" => "ç«å°", // ç«å°æ¾ç¤ºåç§°
			"all" => "å¨é¨",
			_ => "åºåº"
			};
			}


			/// <summary>
			/// è¯»åè®¾å¤ä¿¡æ¯
			@@ -517,7 +578,6 @@
			return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
			}


			/// <summary>
			/// æ¥è¯¢å®å¨é¨è®¾å¤
			/// </summary>
			@@ -528,6 +588,19 @@
			public static DeviceProDTO? GetSafetyDoorDeviceProDTO(CommonConveyorLine Commonstacker, string SCAddress, string DeviceProParamName, string DeviceProParamType)
			{
			return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == DeviceProParamName && x.DeviceProParamType == DeviceProParamType);
			}

			/// <summary>
			/// æ¥è¯¢ç«å°è®¾å¤
			/// </summary>
			/// <param name="Commonstacker"></param>
			/// <param name="PlatformCode">ç«å°ç¼å·</param>
			/// <param name="DeviceProParamName">åæ°åç§°</param>
			/// <param name="DeviceProParamType">åæ°ç±»å</param>
			/// <returns></returns>
			public static DeviceProDTO? GetPlatformDeviceProDTO(CommonConveyorLine Commonstacker, string PlatformCode, string DeviceProParamName, string DeviceProParamType)
			{
			return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == PlatformCode && x.DeviceProParamName == DeviceProParamName && x.DeviceProParamType == DeviceProParamType);
			}

			//=================================================è¯»åè®¾å¤ä¿¡æ¯==========================================================
			@@ -624,12 +697,35 @@
			DeviceProParamName = "RGV_Risingsignalplace";
			DeviceProParamType = "DeviceCommand";
			zhi = parameter;
			break;
			case "xj": //ä¸é
			DeviceProDTO? RGV_Resetoperationss1 = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, deviceName, DeviceProParamName, DeviceProParamType); //ä¸å
			RgvOperationService.RgvSetLine(Commonstacker, RGV_Resetoperationss1.DeviceProAddress, (short)zhi);
			//DeviceProDTO? RGV_Resetoperationss2 = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, deviceName, "RGV_Risingsignalplace", "ReadDeviceCommand"); //ä¸åå°ä½ä¿¡å·
			// int resss = 0;
			// while (resss == 0)
			// {
			// Thread.Sleep(2000);
			// resss = RgvOperationService.GetLine(Commonstacker, RGV_Resetoperationss2.DeviceProAddress);
			// }
			// DeviceProDTO? RGV_Resetoperationss3 = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, deviceName, DeviceProParamName, DeviceProParamType); //ä¸å
			// RgvOperationService.RgvSetLine(Commonstacker, RGV_Resetoperationss3.DeviceProAddress, 0);
			return webResponse.OK();

			case "xj": //ä¸é
			DeviceProParamName = "RGV_Descentsignal";
			DeviceProParamType = "DeviceCommand";
			zhi = parameter;
			break;
			DeviceProDTO? RGV_Resetoperationxj1 = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, deviceName, DeviceProParamName, DeviceProParamType); //ä¸é
			RgvOperationService.RgvSetLine(Commonstacker, RGV_Resetoperationxj1.DeviceProAddress, (short)zhi);
			//DeviceProDTO? RGV_Resetoperationxj2 = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, deviceName, "RGV_Descentsignal", "ReadDeviceCommand"); //ä¸éå°ä½ä¿¡å·
			//int resxj = 0;
			//while (resxj == 0)
			//{
			// Thread.Sleep(2000);
			// resxj = RgvOperationService.GetLine(Commonstacker, RGV_Resetoperationxj2.DeviceProAddress);
			//}
			//DeviceProDTO? RGV_Resetoperationxj3 = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, deviceName, DeviceProParamName, DeviceProParamType); //ä¸å
			//RgvOperationService.RgvSetLine(Commonstacker, RGV_Resetoperationxj3.DeviceProAddress, 0);
			return webResponse.OK();
			case "dz": //å°å
			DeviceProParamName = "RGV_RGVTasklocationt";
			DeviceProParamType = "DeviceCommand";
			@@ -769,6 +865,162 @@
			return webResponse.Error("è®¾å¤æä½å¤±è´¥");
			}
			}

			/// <summary>
			/// æ¥çæ¥è¦
			/// </summary>
			public WebResponseContent LogAlarmToDatabase(string JobDeviceName)
			{
			// è®¾å¤åç±» - åå¹¶çæ¬
			var deviceCategories = new Dictionary<string, List<string>>
			{
			["MotherCar"] = new List<string> { "RGV112", "RGV110", "RGV114", "RGV115", "RGV103", "RGV105", "RGV108", "RGV109" },
			["TransferCar"] = new List<string> { "RGV116", "RGV111", "RGV104", "RGV107" },
			["ExternalRGV"] = new List<string> { "RGV118", "RGV101" }
			};

			WebResponseContent webResponse = new WebResponseContent();
			string DeviceName = JobDeviceName; //è®¾å¤åç§°
			IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
			if (device == null) return webResponse.Error();
			SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
			DeviceProDTO? RGV_Resetoperation = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Faultcode", "ReadDeviceCommand");
			DeviceProDTO? RGVCurrentlocation = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGVCurrentlocation", "RGVCurrentlocation");
			DeviceProDTO? RGV_Rgvtaskid = RgvOperationService.GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Rgvtaskid", "ReadDeviceCommand");


			int baoj = RgvOperationService.GetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress);

			if (baoj<=0)
			{
			return null;
			}
			int Currentlocation = RgvOperationService.GetLine(Commonstacker, RGVCurrentlocation.DeviceProAddress);
			int Rgvtaskid = RgvOperationService.GetLine(Commonstacker, RGV_Rgvtaskid.DeviceProAddress);

			string alarmMessage = "";
			if (deviceCategories["MotherCar"].Contains(DeviceName))
			{
			// æ¯è½¦ä¸ç¨æ¥è¦å¤çé»è¾
			alarmMessage = HandleMotherCarAlarm(baoj);
			}
			else if (deviceCategories["TransferCar"].Contains(DeviceName))
			{
			// åè½¦ä¸ç¨æ¥è¦å¤çé»è¾
			alarmMessage = HandleTransferCarAlarm(baoj);
			}
			else if (deviceCategories["ExternalRGV"].Contains(DeviceName))
			{
			// å¤å£RGVä¸ç¨æ¥è¦å¤çé»è¾
			alarmMessage = HandleExternalRGVAlarm(baoj);
			}

			// åå¥ææ¬æ¥å¿ï¼æè®¾å¤åç»/ææ¥ååï¼
			var logContent = $"è®¾å¤:{DeviceName} \| æ¥è¦ç :{baoj} \| æ¥è¦æè¿°:{alarmMessage} \| å½åä½ç½®:{Currentlocation} \| ä»»å¡å·:{Rgvtaskid}";
			// groupName: Alarmï¼logName: è®¾å¤å
			WriteLog.Write_Log("Alarm", DeviceName, logContent, new
			{
			DeviceCode = DeviceName,
			AlarmCode = baoj,
			AlarmContent = alarmMessage,
			DeviceLocation = Currentlocation,
			TaskNum = Rgvtaskid,
			Time = DateTime.Now
			});
			return webResponse.OK();
			}


			// æ¥è¦ä»£ç æ å°æ¹æ³
			private string HandleExternalRGVAlarm(int alarmCode)
			{
			var alarmMessages = new Dictionary<int, string>
			{
			{0, "æ æ¥è¦"},
			{1, "RGVå°è½¦æ¥åè¢«æä¸"},
			{2, "æ£è½¬é·è¾¾æ¥è¦"},
			{3, "åè½¬é·è¾¾æ¥è¦"},
			{4, "åè¿éä½æ¥è¦"},
			{5, "åééä½æ¥è¦"},
			{6, ""},
			{7, "PLCæ¸åæé"},
			{8, "PLCæ©å±æ¨¡åæé"},
			{9, "ç§°éæ¨¡åæé"},
			{10, "æ«ç å®ä½æé"},
			{11, "RGVé¿æ¶é´ç©ºè½¬æé"},
			{12, "ç®çå°ä¸çäºå®éä½ç½®æé"},
			{13, "ä¸æ»æ§éè®¯æé"},
			{14, "åé·è¾¾å±è½è¦å"},
			{15, "åé·è¾¾å±è½è¦å"},
			{16, "è¡èµ°åé¢å¨æé"},
			{17, "ä¼¸ç¼©ååé¢å¨æé"},
			{18, "æ¶²åååè¿è½½ä¿æ¤æé"},
			{19, "æ¶²åä¸åè¶æ¶æ¥è¦"},
			{20, "æ¶²åä¸éè¶æ¶æ¥è¦"},
			{21, "ä¼¸ç¼©åä¼¸åºè¶æ¶æ¥è¦"},
			{22, "ä¼¸ç¼©åç¼©åè¶æ¶æ¥è¦"},
			{23, "å¤å½¢æ£æµæ¥è¦"},
			{24, "ç§°éè¶éæ¥è¦"},
			{25, "è´§åä¼¸åºæééä½æ¥è¦"},
			{26, "è´§åç¼©åæééä½æ¥è¦"},
			{27, "åè´§æ¶èªèº«æè´§ç©æ¥è¦"},
			{28, "æ¾è´§æ¶èªèº«æ è´§ç©æ¥è¦"},
			{29, "è´§åæªåå°åå§ä½æ¥è¦"},
			{30, "è§¦åä»ç§»å¨å½ä»¤æ¶è´§åä¸å¨åå§ä½æ¥è¦"},
			{31, "è´§åå°è¾¾åå§ä½ä½ä¸ä½ä¼ æå¨æªæ£æµå°æ¥è¦"}
			};

			return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "æªç¥æ¥è¦ä»£ç ";
			}


			private string HandleTransferCarAlarm(int alarmCode)
			{
			var alarmMessages = new Dictionary<int, string>
			{
			{0, "æ æ¥è¦"},
			{1, "RGVå°è½¦æ¥åè¢«æä¸"},
			{2, "åè¿éä½æ¥è¦"},
			{3, "åééä½æ¥è¦"},
			{4, "PLCæ¸åæé"},
			{5, "PLCæ©å±æ¨¡åæé"},
			{6, "æ«ç å®ä½æé"},
			{7, "RGVé¿æ¶é´ç©ºè½¬æé"},
			{8, "ç®çå°ä¸çäºå®éä½ç½®æé"},
			{9, "ä¸æ»æ§éè®¯æé"},
			{10, "è¡èµ°åé¢å¨æé"},
			{11, "æ¶²åååè¿è½½ä¿æ¤æé"},
			{12, "æ¶²åä¸åè¶æ¶æ¥è¦"},
			{13, "æ¶²åä¸éè¶æ¶æ¥è¦"},
			{14, "åè´§æ¶èªèº«æè´§ç©æ¥è¦"},
			{15, "æ¾è´§æ¶èªèº«æ è´§ç©æ¥è¦"},
			{16, "åè´§æ£æµä¸å°è´§ç©æ¥è¦"}
			};

			return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "æªç¥æ¥è¦ä»£ç ";
			}

			private string HandleMotherCarAlarm(int alarmCode)
			{
			var alarmMessages = new Dictionary<int, string>
			{
			{0, "æ æ¥è¦"},
			{1, "RGVå°è½¦æ¥åè¢«æä¸"},
			{2, "åè¿éä½æ¥è¦"},
			{3, "åééä½æ¥è¦"},
			{4, "PLCæ¸åæé"},
			{5, "PLCæ©å±æ¨¡åæé"},
			{6, "RGVé¿æ¶é´ç©ºè½¬æé"},
			{7, "ç®çå°ä¸çäºå®éä½ç½®æé"},
			{8, "ä¸æ»æ§éè®¯æé"},
			{9, "è¡èµ°åé¢å¨æé"},
			{10, "åè´§æ¶èªèº«æè´§ç©æ¥è¦"},
			{11, "æ¾è´§æ¶èªèº«æ è´§ç©æ¥è¦"},
			{12, "åæ¢æ¶ä½ç½®è¿å²æ¥è¦"}
			};

			return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "æªç¥æ¥è¦ä»£ç ";
			}
			}
			}