1

huangxiaoqiang

2025-05-26 41702c7ce4c88ad70f52d83d153dd4c596ff69d5

 ÏîÄ¿´úÂë/WMS/WIDESEA_WMSServer/WIDESEA_StoragIntegrationServices/AGV/AGVService.cs

@@ -1,6 +1,7 @@
using LogLibrary.Log;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@@ -10,12 +11,14 @@
using WIDESEA_IStorageBasicRepository;
using WIDESEA_IStorageSocketServices;
using WIDESEA_IStorageTaskRepository;
using WIDESEA_IStorageTaskServices;
using WIDESEA_IStoragIntegrationServices;
using WIDESEA_Model.Models.AGV;
using WIDESEA_Repository;
using WIDESEA_StorageSocketServices;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_Model.Models;
using static WIDESEAWCS_BasicInfoService.Dt_StationManagerService;

namespace WIDESEA_StoragIntegrationServices
{
@@ -23,6 +26,7 @@
    {
        private readonly ILocationInfoRepository _locationRepository;
        private readonly IDt_TaskRepository BaseDal;
        private readonly IDt_TaskService _taskService;
        private readonly IStockInfoRepository _stockInfoRepository;
        private readonly ISys_ConfigService _configService;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
@@ -30,8 +34,9 @@
        public SocketClientService _Socket { get; set; }
        private readonly IMapper _mapper;
        private readonly IDt_DeviceInfoRepository _deviceInfoRepository;
        private readonly IDt_HandAutomaticRepository _handAutomaticRepository;

        public AGVService(ILocationInfoRepository locationRepository, IDt_TaskRepository taskRepository, IStockInfoRepository stockInfoRepository, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository, IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, SocketClientService socketClientService)
        public AGVService(ILocationInfoRepository locationRepository, IDt_TaskRepository taskRepository, IStockInfoRepository stockInfoRepository, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository, IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, SocketClientService socketClientService, IDt_TaskService taskService, IDt_HandAutomaticRepository handAutomaticRepository)
        {
            _locationRepository = locationRepository;
            BaseDal = taskRepository;
@@ -41,6 +46,8 @@
            _deviceInfoRepository = deviceInfoRepository;
            _mapper = mapper;
            _Socket = socketClientService;
            _taskService = taskService;
            _handAutomaticRepository = handAutomaticRepository;
        }
        #region å¤–部接口方法

@@ -50,40 +57,49 @@
        /// <param name="PallteCode"></param>
        /// <param name="SourceAddress"></param>
        /// <returns></returns>
        public WebResponseContent RequestInTask(string PalletCode, string SourceAddress)
        public WebResponseContent RequestInTask(AGVDTO aGVDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.stationName == SourceAddress && x.stationType == 1);
                var HandAutomatic = _handAutomaticRepository.QueryFirst(x => true && x.HandAutomatic == "Automatic");
                if (HandAutomatic == null)
                {
                    return content.Error("当前不是自动模式不可下发任务");
                }
                Dt_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.stationName == aGVDTO.SourceAddress && x.stationType == 1);
                List<Dt_StationManager> Outstation = _stationManagerRepository.QueryData(x => x.stationType == 2).ToList();
                if (Instation == null)
                {
                    return content.Error("未找到入库站台信息");
                }
                Dt_Task task = BaseDal.QueryFirst(x => x.PalletCode == PalletCode);
                Dt_Task task = BaseDal.QueryFirst(x => x.PalletCode == aGVDTO.PalletCode);
                if (task != null)
                {
                    return content.Error("该托盘已存在任务");
                }
                //StationStatus stationOut = _Socket.GetStationStatus("B001");
                List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
                StationStatus stationOut = _Socket.GetStationStatus("B001");
                //List<OutStationStatus> outStationStatus = _Socket.GetOutStationStatus(stationOut);
                #region
                var taskOutStationO = BaseDal.QueryFirst(x => x.SourceAddress == "B001::1" || x.TargetAddress == "B001::1");
                var taskOutStationT = BaseDal.QueryFirst(x => x.SourceAddress == "B001::2" || x.TargetAddress == "B001::2");
                outStationStatus.Add(new OutStationStatus()
                {
                    StationName = "04",
                    StationEnable = stationOut.WorkstationO == "1" ? "0" : "1",
                    StationEnable = aGVDTO.WorkstationO == "1" ? "0" : "1",
                    IsDistributionTask = taskOutStationO == null ? "0" : "1",
                    Spare1 = "00"
                });
                outStationStatus.Add(new OutStationStatus()
                {
                    StationName = "03",
                    StationEnable = stationOut.WorkstationT == "1" ? "0" : "1",
                    StationEnable = aGVDTO.WorkstationT == "1" ? "0" : "1",
                    IsDistributionTask = taskOutStationT == null ? "0" : "1",
                    Spare1 = "00"
                    Spare1 = "00",

                });
                #endregion
                AGVStatusRespone status = _Socket.GetAGVStatus();
                HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
                {
@@ -96,9 +112,11 @@
                    StationName = Instation.HostName,
                    StationEnable = "0",
                    IsDistributionTask = "0",
                    PallteCode = PalletCode,
                    PallteCode = aGVDTO.PalletCode,
                };
                _Socket.DeviceRequestInbound(AgvStatus, outStationStatus, inStationStatus);

                LogFactory.GetLog("入库请求").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(aGVDTO)}", "");
                return content.OK("已下发入库任务");
            }
            catch (Exception ex)
@@ -114,64 +132,85 @@
            WebResponseContent content = new WebResponseContent();
            try
            {
                var HandAutomatic = _handAutomaticRepository.QueryFirst(x => true && x.HandAutomatic == "Automatic");
                if (HandAutomatic == null)
                {
                    _Socket.DeviceAutoStatusReport("1");
                    return content.OK();
                }
                Dt_DeviceInfo device = _deviceInfoRepository.QueryFirst(x => x.DeviceName == Status.AGVName);
                if (device != null)
                {
                    device.RuntimeStatus = Status.RuntimeStatus;
                    device.AutoStatus = Status.AutoStatus;
                    _deviceInfoRepository.UpdateData(device);
                    switch (Status.RuntimeStatus)
                    if (device.RuntimeStatus != Status.RuntimeStatus)
                    {
                        case "Run":
                            //运行
                            _Socket.DeviceStateReport("R");
                            Thread.Sleep(500);
                            break;
                        case "Idle":
                            //关机
                            _Socket.DeviceStateReport("I");
                            Thread.Sleep(500);
                            break;
                        case "Trouble":
                            //故障
                            _Socket.DeviceStateReport("T");
                            Thread.Sleep(500);
                            break;
                        case "Pause":
                            //暂停
                            _Socket.DeviceStateReport("S");
                            Thread.Sleep(500);
                            break;
                        case "Charge":
                            //充电
                            _Socket.DeviceStateReport("C");
                            Thread.Sleep(500);
                            break;
                        case "PowerOn":
                            //开机
                            _Socket.DeviceStateReport("P");
                            Thread.Sleep(500);
                            break;
                        case "PowerOFF":
                            //关机
                            _Socket.DeviceStateReport("O");
                            Thread.Sleep(500);
                            break;
                        default: break;
                        device.RuntimeStatus = Status.RuntimeStatus;
                        device.AutoStatus = Status.AutoStatus;
                        _deviceInfoRepository.UpdateData(device);
                        switch (Status.RuntimeStatus)
                        {
                            case "Run":
                                //运行
                                _Socket.DeviceStateReport("R");
                                Thread.Sleep(1000);
                                _Socket.JobReady("0");
                                break;
                            case "Idle":
                                //空闲
                                _Socket.DeviceStateReport("I");
                                _Socket.JobReady("1");
                                break;
                            case "Trouble":
                                //故障
                                _Socket.DeviceStateReport("T");
                                Thread.Sleep(1000);
                                _Socket.JobReady("0");
                                break;
                            case "Pause":
                                //暂停
                                _Socket.DeviceStateReport("S");
                                Thread.Sleep(1000);
                                _Socket.JobReady("0");
                                break;
                            case "Charge":
                                //充电
                                _Socket.DeviceStateReport("C");
                                Thread.Sleep(1000);
                                _Socket.JobReady("0");
                                break;
                            case "PowerOn":
                                //开机
                                _Socket.DeviceStateReport("P");
                                Thread.Sleep(1000);
                                _Socket.JobReady("0");
                                break;
                            case "PowerOFF":
                                //关机
                                _Socket.DeviceStateReport("O");
                                Thread.Sleep(1000);
                                _Socket.JobReady("0");
                                break;
                            default: break;
                        }
                    }
                    switch (Status.AutoStatus)
                    if (device.AutoStatus != Status.AutoStatus)
                    {
                        case "MaintenanceMode":
                            //运行
                            _Socket.DeviceAutoStatusReport("1");
                            Thread.Sleep(500);
                            break;
                        case "ControlMode":
                            //关机
                            _Socket.DeviceAutoStatusReport("0");
                            Thread.Sleep(500);
                            break;
                        default: break;
                        device.RuntimeStatus = Status.RuntimeStatus;
                        device.AutoStatus = Status.AutoStatus;
                        _deviceInfoRepository.UpdateData(device);
                        switch (Status.AutoStatus)
                        {
                            case "MaintenanceMode":
                                //手动
                                _Socket.DeviceAutoStatusReport("1");
                                Thread.Sleep(500);
                                break;
                            case "ControlMode":
                                //自动
                                _Socket.DeviceAutoStatusReport("0");
                                Thread.Sleep(500);
                                break;
                            default: break;
                        }
                    }
                }
                else
@@ -184,6 +223,8 @@
                    };
                    _deviceInfoRepository.AddData(deviceInfo);
                }

                LogFactory.GetLog("AGV状态变更").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(Status)}", "");
                return content.OK();
            }
            catch (Exception ex)
@@ -193,94 +234,123 @@
        }


        public WebResponseContent AGVStartOrEndJob(string Status, int TaskNum)
        public WebResponseContent AGVStartOrEndJob(AGVDTO aGVDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == TaskNum);
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == aGVDTO.TaskNum);
                if (task != null)
                {
                    switch (task.TaskType)
                    if (task.Roadway == "PDA")
                    {
                        case (int)TaskInboundTypeEnum.Inbound:
                            //入库
                            if (Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
                                task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
                            }
                            else if (Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
                            }
                            else
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
                                Thread.Sleep(2000);
                                _Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
                                task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
                            }
                            break;
                        case (int)TaskOutboundTypeEnum.Outbound:
                            //出库
                            if (Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                                task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                            }
                            else if (Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                            }
                            else
                            {
                                _Socket.PalletActionReport(Status, task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                                Thread.Sleep(2000);
                                _Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                                task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
                            }
                            break;
                        case (int)TaskRelocationTypeEnum.Relocation:
                            if (Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationExecuting;
                            }
                            else if (Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                            }
                            else
                            {
                                _Socket.PalletActionReport(Status, task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                Thread.Sleep(2000);
                                _Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
                            }
                            break;
                        case (int)TaskStationTypeEnum.StationToStation:
                            if (Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
                                task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                            }
                            else if (Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
                            }
                            else
                            {
                                _Socket.PalletActionReport(Status, task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
                                Thread.Sleep(2000);
                                _Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
                                task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
                            }
                            break;
                        default: break;
                        LogFactory.GetLog("AGV动作状态变更PDA任务").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(aGVDTO)}", "");
                        if (aGVDTO.Status == "Start")
                        {
                            _taskService.TaskStatus(task);
                            return content.OK();
                        }
                        else if (aGVDTO.Status == "Unload")
                        {
                            return _taskService.TaskComplete(task.TaskNum);
                        }
                        else
                        {
                            return content.OK();
                        }
                    }
                    BaseDal.Update(task);
                    return content.OK();
                    else
                    {
                        switch (task.TaskType)
                        {
                            case (int)TaskInboundTypeEnum.Inbound:
                                //入库
                                var station = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
                                if (aGVDTO.Status == "Start")
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
                                    task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
                                }
                                else if (aGVDTO.Status == "Loadel")
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
                                }
                                else
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
                                    Thread.Sleep(2000);
                                    _Socket.PalletActionReport("0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
                                    task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
                                    _taskService.CompleteInboundTask(task);
                                }
                                break;
                            case (int)TaskOutboundTypeEnum.Outbound:
                                //出库
                                var stationOut = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
                                if (aGVDTO.Status == "Start")
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                                }
                                else if (aGVDTO.Status == "Loadel")
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
                                }
                                else
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
                                    Thread.Sleep(2000);
                                    _Socket.PalletActionReport(task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
                                    _taskService.CompleteOutboundTask(task);
                                }
                                break;
                            case (int)TaskRelocationTypeEnum.Relocation:
                                if (aGVDTO.Status == "Start")
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                    task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationExecuting;
                                }
                                else if (aGVDTO.Status == "Loadel")
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                }
                                else
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                    Thread.Sleep(2000);
                                    _Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                    task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
                                    _taskService.CompleteRelocationboundTask(task);
                                }
                                break;
                            case (int)TaskStationTypeEnum.StationToStation:
                                var stationIn = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
                                var stationout = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
                                if (aGVDTO.Status == "Start")
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                                }
                                else if (aGVDTO.Status == "Loadel")
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
                                }
                                else
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
                                    Thread.Sleep(2000);
                                    _Socket.PalletActionReport("0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
                                    _taskService.TaskMoveHty(task);
                                }
                                break;
                            default: break;
                        }
                        BaseDal.Update(task);
                        LogFactory.GetLog("AGV动作状态变更").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(aGVDTO)}", "");
                        return content.OK();
                    }     
                }
                else
                {
@@ -294,15 +364,15 @@
        }


        public WebResponseContent DeviceErrorResponse(string Message, int TaskNum)
        public WebResponseContent DeviceErrorResponse(AGVDTO aGVDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var task = BaseDal.QueryFirst(x => x.TaskNum == TaskNum);
                var task = BaseDal.QueryFirst(x => x.TaskNum == aGVDTO.TaskNum);
                if (task != null)
                {
                    switch (Message)
                    switch (aGVDTO.Message)
                    {
                        case "RepeatInbound":

@@ -320,133 +390,6 @@
                return content.Error(ex.Message);
            }
        }

        public WebResponseContent add()
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                task_call task_Call = new task_call()
                {
                    d_task_type = 2,
                    d_floor = 1,
                    d_involed1 = "000004",
                    d_involed2 = "450101",
                    d_involed5 = 11,
                };

                var x = SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
                return content.OK(data: x);
            }
            catch (Exception ex)
            {
                return content.Error(ex.Message);
            }
        }

        public WebResponseContent RequestOutTask(string PalletCode, string SourceAddress, string TargetAddress)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                //var tasks = BaseDal.QueryFirst(x => x.PalletCode == PalletCode);
                //if (tasks != null)
                //{
                //    return content.Error("该托盘已存在任务");
                //}
                Dt_Task newTask = new Dt_Task()
                {
                    TaskNum = BaseDal.GetTaskNo().Result,
                    SourceAddress = SourceAddress,
                    CurrentAddress = SourceAddress,
                    TargetAddress = TargetAddress,
                    NextAddress = TargetAddress,
                    Grade = 1,
                    PalletCode = PalletCode,
                    TaskType = (int)TaskOutboundTypeEnum.Outbound,
                    TaskState = (int)TaskOutStatusEnum.OutNew,
                    Dispatchertime = DateTime.Now,
                    SeqNo = Convert.ToInt32(1),
                    CommandID = Convert.ToInt32(101)
                };
                task_call task_Call = new task_call()
                {
                    d_task_type = newTask.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
                    d_floor = 1,
                    d_involed1 = newTask.SourceAddress,
                    d_involed2 = newTask.TargetAddress,
                    d_involed5 = newTask.TaskNum,
                };
                SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
                return content.OK();

            }
            catch (Exception ex)
            {
                return content.Error(ex.Message);
            }
        }

        public WebResponseContent InTask(string PalletCode, string SourceAddress, string TargetAddress)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task newTask = new Dt_Task()
                {
                    TaskNum = BaseDal.GetTaskNo().Result,
                    SourceAddress = SourceAddress,
                    TargetAddress = TargetAddress,
                    PalletCode = PalletCode,
                    TaskType = (int)TaskInboundTypeEnum.Inbound,
                    TaskState = (int)TaskInStatusEnum.InNew,
                    Dispatchertime = DateTime.Now,
                    SeqNo = Convert.ToInt32(1),
                    CommandID = Convert.ToInt32(101)
                };
                task_call task_Call = new task_call()
                {
                    d_task_type = newTask.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
                    d_floor = 1,
                    d_involed1 = newTask.SourceAddress,
                    d_involed2 = newTask.TargetAddress,
                    d_involed5 = newTask.TaskNum,
                };
                SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
                return content.OK();
            }
            catch (Exception ex)
            {
                return content.Error(ex.Message);
            }
        }

        public WebResponseContent GetAGVStatus()
        {
            try
            {
                var x = _Socket.GetAGVStatus();
                return WebResponseContent.Instance.OK(data: x);
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
        public WebResponseContent GetStationStatus(string StationName)
        {
            try
            {
                var x = _Socket.GetStationStatus(StationName);
                return WebResponseContent.Instance.OK(data: x);
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
        #endregion å¤–部接口方法


    }
}