RuiShengZhiNeng/GaoPuLiTiKu.git

			@@ -78,14 +78,35 @@
			switch (hIKROBOT.extra.values.method)
			{
			case "start":
			task.TaskState = (int)TaskStatusEnum.Takeing;
			TaskFeedback(task, 1);
			if (task.TaskState==(int)TaskStatusEnum.CallingHKtransportation&& task.TaskType == (int)TaskTypeEnum.Move)
			{
			task.TaskState = (int)TaskStatusEnum.HktransportIng;
			}
			else if (task.TaskType == (int)TaskTypeEnum.Q3RK\|\| task.TaskType == (int)TaskTypeEnum.Q3CK)
			{
			UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Lock);
			task.TaskState = (int)TaskStatusEnum.Takeing;
			TaskFeedback(task, 1);
			}
			else
			{
			task.TaskState = (int)TaskStatusEnum.Takeing;
			TaskFeedback(task, 1);
			}
			break;
			case "outbin"://ç¦»å¼èµ·ç¹
			{

			if (task.TaskType == (int)TaskTypeEnum.Q3RK\|\| task.TaskType == (int)TaskTypeEnum.Q3CK)
			{
			UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Free);
			task.TaskState = TaskStatusEnum.TakeFinish.ObjToInt();
			TaskFeedback(task, 1);
			}
			else
			{
			TaskFromCompleted(task, deviceTypeEnum); //ä»»å¡ç¶ä½æ¹ä¸º3åè´§å®æï¼æ´æ°èµ·ç¹è´§ä½ç¶æï¼å¹¶åé¦WMSèµ·ç¹å®æ
			}
			///å¤æä»»å¡æ¯å¦è·è®¾å¤æå³
			TaskFromCompleted(task, deviceTypeEnum);
			}
			break;
			case "finish"://ç¦»å¼æåæº
			@@ -98,16 +119,16 @@
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());
			DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());//æ¾å°ä½äº
			if (device.IsConnected)
			device.SetValue(HoistEnum.Inboundboxon, 1);//å¥åºå®æ
			device.SetValue(HoistEnum.Inboundboxon, 1);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}

			//åºæåæº
			if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			@@ -119,8 +140,8 @@
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}
			//åæ¥¼ å¥åº
			if (task.TaskType == TaskTypeEnum.CHUKU1.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			//åæ¥¼ åºåº
			else if ((task.TaskType == TaskTypeEnum.CHUKU1.ObjToInt() \|\| task.TaskType == TaskTypeEnum.F04.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			@@ -130,10 +151,10 @@
			device.SetValue(HoistEnum.Emptyboxplacedinposition, 1);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}
			}
			//åæ¥¼ åºåº
			if (task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			//åæ¥¼ å¥åº
			else if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() \|\| task.TaskType == TaskTypeEnum.F03.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			@@ -141,10 +162,29 @@
			{
			if (device.IsConnected)
			//åä»¥ä¸ä¸ªåºåºå®æä¿¡å·
			device.SetValue(HoistEnum.Outboundboxretrievalcompleted, "1");
			device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}
			}
			else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() \|\| task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt()\|\| task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°è´¨æ£é¨ä¿¡æ¯";

			else
			{
			if (device.IsConnected)
			//åä»¥ä¸ä¸ªåºåºå®æä¿¡å·
			device.SetValue(QualityInspectionCommandEnum.RequestToEnter, false, task.TargetAddress);
			else
			task.ExceptionMessage = "è´¨æ£é¨ä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}

			}

			}
			}
			break;
			@@ -156,15 +196,57 @@
			break;
			case "wait"://æ«ç çå¾
			{
			//è¦åå¼å¯æ«ç ä¿¡å·
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			if (device.IsConnected)
			//åä»¥ä¸ä¸ªåºåºå®æä¿¡å·
			device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			task.TaskState = (int)TaskStatusEnum.CheckPalletCodeing;
			BaseDal.UpdateData(task);
			}
			break;
			case "end"://ä»»å¡å®æéç¥
			{
			///å¤æä»»å¡æ¯å¦è·è®¾å¤æå³

			TaskCompleted(task, deviceTypeEnum);
			if (task.TaskType==(int)TaskTypeEnum.Move &&task.TaskState==(int)TaskStatusEnum.HKleavelift)
			{
			task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			TaskFeedback(task, 2);
			BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.èªå¨å®æ);
			}
			else if (task.TaskType == (int)TaskTypeEnum.Q3RK \|\| task.TaskType == (int)TaskTypeEnum.Q3CK)
			{
			task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			TaskFeedback(task, 2);
			BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.èªå¨å®æ);
			}
			else
			{
			///å¤æä»»å¡æ¯å¦è·è®¾å¤æå³
			TaskCompleted(task, deviceTypeEnum);
			}
			}
			break;
			case "intolift": //è¿å¥çµæ¢¯
			{
			//åæ¥¼å°ä¸æ¥¼çå¥åºä»»å¡
			if (task.TaskType==(int)TaskTypeEnum.Q3RK)
			{
			task.TaskState = TaskStatusEnum.Hkintolift.ObjToInt();
			}
			}
			break;
			case "leavelift": //ç¦»å¼çµæ¢¯
			{
			if (task.TaskType == (int)TaskTypeEnum.Q3RK)
			{
			task.TaskState = TaskStatusEnum.HKleavelift.ObjToInt();
			}
			}
			break;
			default:
			@@ -464,6 +546,34 @@
			}
			#endregion

			#region æ´æ°ä¸æ¥¼ç«å°ç¶æ
			public WebResponseContent UpdateStandStatus(Dt_Task task,string stationCode,LocationStatusEnum locationStatusEnum)
			{
			try
			{
			Dt_StationManger? stationManger = _stationMangerService.Repository.QueryFirst(x => x.StationCode == task.TargetAddress);
			//stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
			if (stationManger != null)
			{
			if (locationStatusEnum == LocationStatusEnum.Free) //å¦æèµ·ç¹å®æå°±ç»è´§ä½èµå¼æçå·
			{
			stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
			}
			else
			{
			stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
			}
			_stationMangerService.UpdateData(stationManger);
			}
			return WebResponseContent.Instance.OK();
			}
			catch (Exception ex)
			{
			throw new Exception(ex.Message);
			}
			}
			#endregion

			#region ä¸æ¥WMS
			public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status)
			{
			@@ -482,7 +592,7 @@
			boundCompleteFeedback.toLocationCode = dt_Task.TargetAddress;
			boundCompleteFeedback.status = Status;
			boundCompleteFeedback.custStatus = "";
			string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
			string response = HttpHelper.Post(apiInfo.ApiAddress,boundCompleteFeedback.Serialize());
			agvContent = response.DeserializeObject<WMSReturn>();
			content.OK(data: agvContent);
			if (agvContent.code != 200)