1

huangxiaoqiang

2025-06-26 f4c8d54b4313132863df8fb9f2c5087ea6ba44a6

 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
{
@@ -23,24 +26,26 @@
    {
        private readonly ILocationInfoRepository _locationRepository;
        private readonly IDt_TaskRepository BaseDal;
        private readonly IStockInfoRepository _stockInfoRepository;
        private readonly ISys_ConfigService _configService;
        private readonly IDt_TaskService _taskService;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        private readonly LogFactory LogFactory = new LogFactory();
        private readonly ISocketClientServices _Socket;
        public SocketClientService _Socket { get; set; }
        private readonly IMapper _mapper;
        private readonly IDt_DeviceInfoRepository _deviceInfoRepository;
        private readonly IDt_HandAutomaticRepository _handAutomaticRepository;
        private readonly IDt_ErrorDescriptionRepository _descriptionRepository;

        public AGVService(ILocationInfoRepository locationRepository,IDt_TaskRepository taskRepository,IStockInfoRepository stockInfoRepository, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository,IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, ISocketClientServices socketClientServices)
        public AGVService(ILocationInfoRepository locationRepository, IDt_TaskRepository taskRepository, IDt_StationManagerRepository stationManagerRepository, IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, SocketClientService socketClientService, IDt_TaskService taskService, IDt_HandAutomaticRepository handAutomaticRepository, IDt_ErrorDescriptionRepository descriptionRepository)
        {
            _locationRepository = locationRepository;
            BaseDal = taskRepository;
            _stockInfoRepository = stockInfoRepository;
            _configService = configService;
            _stationManagerRepository = stationManagerRepository;
            _deviceInfoRepository = deviceInfoRepository;
            _mapper = mapper;
            _Socket= socketClientServices;
            _Socket = socketClientService;
            _taskService = taskService;
            _handAutomaticRepository = handAutomaticRepository;
            _descriptionRepository = descriptionRepository;
        }
        #region å¤–部接口方法

@@ -50,55 +55,67 @@
        /// <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 location = _locationRepository.QueryData(x => x.LocationStatus==(int)LocationEnum.Free).ToList();
                if (location.Count == 0)
                {
                    return content.Error("库内无可用库位");
                }
                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>();
                foreach (var item in Outstation)
                //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()
                {
                    StationStatus station = _Socket.GetStationStatus(item.stationName);
                    var taskStation = BaseDal.QueryFirst(x => x.SourceAddress == item.stationName || x.TargetAddress == item.stationName);
                    outStationStatus.Add(new OutStationStatus()
                    {
                        StationName = item.stationName,
                        StationEnable = station.StationEnable == "1" ? "0" : "1",
                        IsDistributionTask = taskStation == null ? "0" : "1",
                        Spare1 = "00"
                    });
                }
                    StationName = "04",
                    StationEnable = aGVDTO.WorkstationO == "1" ? "0" : "1",
                    IsDistributionTask = taskOutStationO == null ? "0" : "1",
                    Spare1 = "00"
                });
                outStationStatus.Add(new OutStationStatus()
                {
                    StationName = "03",
                    StationEnable = aGVDTO.WorkstationT == "1" ? "0" : "1",
                    IsDistributionTask = taskOutStationT == null ? "0" : "1",
                    Spare1 = "00",

                });
                #endregion
                AGVStatusRespone status = _Socket.GetAGVStatus();
                HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
                {
                    RuntimeStatus = _Socket.CapitalizeFirstLetter(status.RuntimeStatus),
                    AutoStatus = status.AutoStatus== "MaintenanceMode"?"1":"0",
                    AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
                    Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
                };
                InStationStatus inStationStatus = new InStationStatus()
                {
                    StationName = Instation.stationName,
                    StationName = Instation.HostName,
                    StationEnable = "0",
                    IsDistributionTask = "0",
                    PallteCode = task.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 (Autofac.Core.DependencyResolutionException ex)
            {
                return content.Error(ex.Message);
            }
            catch (Exception ex)
            {
@@ -113,64 +130,85 @@
            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
@@ -183,6 +221,8 @@
                    };
                    _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)
@@ -191,94 +231,250 @@
            }
        }

       
        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 == Convert.ToInt32(aGVDTO.TaskNum));
                if (task != null)
                {
                    switch (task.TaskType)
                    {
                        case (int)TaskInboundTypeEnum.Inbound:
                            //入库
                            if (Status == "Start")
                            var station = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
                            if (aGVDTO.Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
                                task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskStatus(task);
                                    return content.OK();
                                }
                                else
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
                                    task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
                                }

                            }
                            else if (Status == "Loadel")
                            else if (aGVDTO.Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "I", task.PalletCode);
                                _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, 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);
                                if (task.Roadway == "PDA")
                                {
                                    _Socket.PalletActionReportPDA("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
                            if (Status == "Start")
                            var stationOut = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
                            if (aGVDTO.Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                                task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskStatus(task);
                                    return content.OK();
                                }
                                else
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                                }
                            }
                            else if (Status == "Loadel")
                            else if (aGVDTO.Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                                _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "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);
                                if (task.Roadway == "PDA")
                                {
                                    _Socket.PalletActionReportPDA(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 (Status == "Start")
                            if (aGVDTO.Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationExecuting;
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskStatus(task);
                                    return content.OK();
                                }
                                else
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                    task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationExecuting;
                                }
                            }
                            else if (Status == "Loadel")
                            else if (aGVDTO.Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
                                _Socket.PalletActionReport(aGVDTO.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);
                                if (task.Roadway == "PDA")
                                {
                                    _Socket.PalletActionReportPDA(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:
                            if (Status == "Start")
                            var stationIn = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
                            var stationout = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
                            if (aGVDTO.Status == "Start")
                            {
                                _Socket.JobStartOrEnd(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
                                task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskStatus(task);
                                    return content.OK();
                                }
                                else
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                                }
                            }
                            else if (Status == "Loadel")
                            else if (aGVDTO.Status == "Loadel")
                            {
                                _Socket.PalletActionReport(Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "S", task.PalletCode);
                                _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "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);
                                if (task.Roadway == "PDA")
                                {
                                    _Socket.PalletActionReportPDA("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;
                        case (int)TaskFireAlarmTypeEnum.FireAlarmOut:
                            if (aGVDTO.Status == "Start")
                            {
                                _taskService.AddStcokHty(task.PalletCode, task.SourceAddress);
                                task.TaskState = (int)TaskFireAlarmStatusEnum.AGV_FireAlarmExecuting;
                                BaseDal.Update(task);
                            }
                            else if (aGVDTO.Status == "Loadel")
                            {

                            }
                            else
                            {

                                var stationFireAlarm = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
                                if (task.Roadway == "PDA")
                                {
                                    _Socket.PalletActionReportFrie(task.SourceAddress, "0000" + stationFireAlarm.HostName, "F", task.PalletCode); ;
                                }
                                task.TaskState = (int)TaskFireAlarmStatusEnum.AGV_FireAlarmFinish;
                                _taskService.TaskMoveHty(task);
                            }
                            break;
                        case (int)TaskOutboundTypeEnum.OutQuality:
                            //抽检
                            var stationC = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
                            if (aGVDTO.Status == "Start")
                            {
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskStatus(task);
                                    return content.OK();
                                }
                                else
                                {
                                    _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
                                }
                            }
                            else if (aGVDTO.Status == "Loadel")
                            {
                                if (task.Roadway == "PDA")
                                {
                                    return content.OK();
                                }
                                _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
                            }
                            else
                            {
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskComplete(task.TaskNum);
                                    _Socket.PalletActionReportPDA(task.SourceAddress, "0000" + stationC.HostName, "O", task.PalletCode);
                                }
                                else
                                {
                                    _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
                                    Thread.Sleep(2000);
                                    _Socket.PalletActionReport(task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
                                    task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
                                    _taskService.CompleteOutboundTask(task);
                                }
                            }
                            break;
                        case (int)TaskInboundTypeEnum.InQuality:
                            //抽检
                            if (aGVDTO.Status == "Start")
                            {
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskStatus(task);
                                    return content.OK();
                                }
                            }
                            else if (aGVDTO.Status == "Loadel")
                            {
                                return content.OK();
                            }
                            else
                            {
                                if (task.Roadway == "PDA")
                                {
                                    _taskService.TaskComplete(task.TaskNum);
                                }
                            }
                            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
@@ -293,34 +489,108 @@
        }


        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);
                LogFactory.GetLog("AGV异常信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(aGVDTO)}", "");
                var task = BaseDal.QueryFirst(x => x.TaskNum ==Convert.ToInt32( aGVDTO.TaskNum));
                if (task != null)
                {
                    switch(Message)

                    string HostType = string.Empty;
                    if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                    {
                        case "RepeatInbound":

                        HostType = "I";
                    }
                    else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                    {
                        HostType = "O";
                    }
                    else if (task.TaskType == (int)TaskOutboundTypeEnum.OutQuality)
                    {
                        HostType = "C";
                    }
                    else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
                    {
                        HostType = "R";
                    }
                    else if (task.TaskType == (int)TaskStationTypeEnum.StationToStation)
                    {
                        HostType = "S";
                    }
                    switch (aGVDTO.Message)
                    {
                        //空出库
                        case "0000400":
                            _Socket.EmptyOutBound(task.SourceAddress, "0000" + StationParse(task.TargetAddress), task.PalletCode);
                            _taskService.AddStcokHty(task.PalletCode, task.SourceAddress);
                            _taskService.TaskMoveHty(task);
                            _Socket.AddErrorMessage("2101", "AGV", "");
                            break;
                        case "EmptyOutbound":

                        //重入库
                        case "0000200":
                            _Socket.RecreateGetLocation("0000" + StationParse(task.SourceAddress), task.TargetAddress, HostType, task.PalletCode);
                            _Socket.AddErrorMessage("2100", "AGV", "");
                            break;
                        default:break;
                        default: break;
                    }
                }
                return content.OK();
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("AGV异常信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}", "");
                return content.Error(ex.Message);
            }
        }
        #endregion å¤–部接口方法

        
        public string StationParse(string station)
        {
            var Station = SqlSugarHelper.DbWMS.Queryable<Dt_StationManager>().Where(x => x.stationName == station).First();
            if (Station != null)
            {
                return Station.HostName;
            }
            else
            {
                return "";
            }
        }

        public WebResponseContent DeviceWarning(AGVDTO DTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                LogFactory.GetLog("AG上传报警信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(DTO)}", "");
                if (DTO.Message!= null)
                {
                    Dt_ErrorDescription description=_descriptionRepository.QueryFirst(x => x.Type == DTO.Message);
                    if(description != null)
                    {
                        _Socket.ErrorReport(description.ErrorCode, "A", "00");
                        _Socket.AddErrorMessage(description.ErrorCode, "AGV", "");
                        return content.OK();
                    }
                    else
                    {
                        return content.Error("未识别报警源");
                    }   
                }
                else
                {
                    return content.Error("未接收到异常信息");
                }  
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("AG上传报警信息").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}", "");
                return content.Error(ex.Message);
            }
            
        }
        #endregion å¤–部接口方法
    }
}