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using Jc.SnowId;
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using Khd.Core.Application.Interface;
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using Khd.Core.Domain.Dto.webapi;
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using Khd.Core.Domain.Models;
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using Khd.Core.EntityFramework;
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using Masuit.Tools;
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using Masuit.Tools.Logging;
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using Microsoft.EntityFrameworkCore;
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using Microsoft.Extensions.DependencyInjection;
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using Newtonsoft.Json;
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using System;
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using System.Linq;
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using Z.EntityFramework.Plus;
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namespace Khd.Core.Application
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{
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public class WcsTaskApplication : IWcsTaskApplication
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{
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private readonly DefaultDbContext _dbContext;
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private readonly static JcSnowId _snowId = new JcSnowId();
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public WcsTaskApplication(IServiceProvider serviceProvider)
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{
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_dbContext = serviceProvider.GetService<DefaultDbContext>();
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}
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public WcsTask Get(int id)
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{
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var entity = _dbContext.WcsTask
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.Where(c => 1 == 1)
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.FirstOrDefault();
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return entity;
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}
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public WcsTask Add(WcsTask model)
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{
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var entity = _dbContext.Add(model);
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_dbContext.SaveChanges();
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return entity.Entity;
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}
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public WcsTask Update(WcsTask model)
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{
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var list = _dbContext.WcsTask.Where(t => t.objid == model.objid).Update(a => model);
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return model;
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}
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/// <summary>
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/// 接收agv接收任务通知接口
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/// </summary>
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/// <param name="agvCallbackDto"></param>
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/// <returns></returns>
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public ReponseagvCallbackDto AgvCallback(agvCallbackDto agvCallbackDto)
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{
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ReponseagvCallbackDto reponseagvCallbackDto = new ReponseagvCallbackDto();
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try
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{
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_dbContext.ChangeTracker.Clear();
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WcsTask wcsTask = _dbContext.WcsTask.FirstOrDefault(t => t.taskCode == agvCallbackDto.taskCode);
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if (wcsTask != null)
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{
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//start 开始 end结束 continue继续
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//待取货
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if (agvCallbackDto.method.ToLower() == "start")
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{
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wcsTask.taskStatus = 2;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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if (agvCallbackDto.method.ToLower() == "con")
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{
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wcsTask.taskStatus = 4;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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//已取货待放货
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if (agvCallbackDto.method.ToLower() == "continue")
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{
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wcsTask.taskStatus = 3;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 3 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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//放货完成
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if (agvCallbackDto.method.ToLower() == "end")
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{
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if (wcsTask.nextPointId != 10)
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{
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wcsTask.taskStatus = 5;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 5 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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else
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{
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wcsTask.taskStatus = 6;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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}
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}
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else
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{
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reponseagvCallbackDto.code = "1";
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reponseagvCallbackDto.message = "未找到当前任务";
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}
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}
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catch (Exception ex)
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{
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LogManager.Error(ex);
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reponseagvCallbackDto.code = "1";
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reponseagvCallbackDto.message = ex.Message;
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}
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//返回请求
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reponseagvCallbackDto.reqCode = reponseagvCallbackDto.reqCode;
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return reponseagvCallbackDto;
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}
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/// <summary>
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/// 入库完成
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/// </summary>
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/// <returns></returns>
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public string InWare(long taskId)
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{
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return "";
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}
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/// <summary>
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/// 出库完成
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/// </summary>
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/// <returns></returns>
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public string OutWare(long taskId)
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{
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return "";
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}
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/// <summary>
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/// 背负式Agv通知完成
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/// </summary>
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/// <param name="agvCompeletedRequest"></param>
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/// <returns></returns>
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public AgvCompeletedResponse MesToAgvComplete(AgvCompeleted agvCompeletedRequest)
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{
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AgvCompeletedResponse agvCompeletedResponse = new AgvCompeletedResponse();
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try
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{
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_dbContext.ChangeTracker.Clear();
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BaseEquip baseEquip = _dbContext.BaseEquip.FirstOrDefault(t => t.equipNo == agvCompeletedRequest.endStationCode);
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if (baseEquip != null)
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{
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var wcsTask = _dbContext.WcsTask
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.Where(t => (t.taskType == 32 || t.taskType == 48) && (t.endPointId == baseEquip.objid || t.currPointId == baseEquip.objid))
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.OrderBy(t => t.createTime)
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.FirstOrDefault();
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if (wcsTask != null)
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{
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LogManager.Info($"agvComplete接口找到任务：{wcsTask.ToJsonString()}");
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if (wcsTask.taskType != 48 && wcsTask.taskStatus != 0)
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{
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wcsTask.taskStatus = 7;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 7 });
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_dbContext.SaveChanges();
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agvCompeletedResponse.code = "0";
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agvCompeletedResponse.message = "成功";
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LogManager.Info($"agvComplete更新任务状态7{wcsTask.ToJsonString()}");
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}
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else if (wcsTask.taskStatus != 0)
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{
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wcsTask.taskStatus = 4;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 7 });
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_dbContext.SaveChanges();
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agvCompeletedResponse.code = "0";
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agvCompeletedResponse.message = "成功";
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}
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else
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{
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agvCompeletedResponse.code = "1";
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agvCompeletedResponse.message = "未找到当前任务";
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}
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}
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else
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{
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agvCompeletedResponse.code = "1";
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agvCompeletedResponse.message = "未找到当前任务";
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}
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}
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else
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{
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agvCompeletedResponse.code = "1";
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agvCompeletedResponse.message = "未找到当前工位";
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}
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}
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catch (Exception ex)
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{
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LogManager.Error(ex);
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agvCompeletedResponse.code = "1";
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agvCompeletedResponse.message = ex.Message;
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}
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return agvCompeletedResponse;
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}
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/// <summary>
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/// 4楼到5楼原材料入口继续
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/// </summary>
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/// <param name="taskContinue"></param>
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/// <returns></returns>
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public AgvCompeletedResponse TaskContinue(TaskContinue taskContinue)
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{
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AgvCompeletedResponse compeletedResponse = new AgvCompeletedResponse();
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try
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{
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_dbContext.ChangeTracker.Clear();
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var wcsTask = _dbContext.WcsTask
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.Where(t => t.taskType == 47)
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.Where(t => t.containerNo == taskContinue.palletInfoCode)
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.FirstOrDefault();
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if (wcsTask != null)
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{
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wcsTask.useFlag = 1;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(a => new WcsTaskLog { useFlag = 1 });
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_dbContext.SaveChanges();
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compeletedResponse.code = "0";
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compeletedResponse.message = "成功";
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}
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else
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{
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compeletedResponse.code = "1";
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compeletedResponse.message = "未找到当前任务";
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}
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}
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catch (Exception ex)
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{
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LogManager.Error(ex);
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compeletedResponse.code = "1";
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compeletedResponse.message = ex.Message;
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}
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return compeletedResponse;
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}
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/// <summary>
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/// 柜体拆分区通知返库
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/// </summary>
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/// <param name="taskReturn"></param>
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/// <returns></returns>
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public AgvCompeletedResponse TaskReturn(TaskReturn taskReturn)
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{
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AgvCompeletedResponse compeletedResponse = new AgvCompeletedResponse();
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try
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{
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_dbContext.ChangeTracker.Clear();
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WcsTask wcsTask = _dbContext.WcsTask
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.Where(t => t.taskType == 28)
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.Where(t => t.endPointNo == taskReturn.endStationCode)
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.FirstOrDefault();
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if (wcsTask != null)
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{
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wcsTask.useFlag = 1;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTask.Where(t => t.objid == wcsTask.objid).Update(a => new WcsTask { useFlag = 1 });
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_dbContext.SaveChanges();
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compeletedResponse.code = "0";
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compeletedResponse.message = "成功";
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}
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else
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{
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compeletedResponse.code = "1";
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compeletedResponse.message = "未找到当前任务";
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}
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}
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catch (Exception ex)
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{
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LogManager.Error(ex);
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compeletedResponse.code = "1";
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compeletedResponse.message = ex.Message;
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}
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return compeletedResponse;
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}
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public ReponseagvCallbackDto AgvCallback2(agvCallbackDto agvCallbackDto)
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{
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ReponseagvCallbackDto reponseagvCallbackDto = new ReponseagvCallbackDto();
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try
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{
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_dbContext.ChangeTracker.Clear();
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WcsTask wcsTask = _dbContext.WcsTask.FirstOrDefault(t => t.taskCode == agvCallbackDto.taskCode);
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if (wcsTask != null)
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{
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//start 开始 end结束 continue继续
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//待取货
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if (agvCallbackDto.method.ToLower() == "start")
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{
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wcsTask.taskStatus = 2;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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if (agvCallbackDto.method.ToLower() == "con")
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{
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wcsTask.taskStatus = 4;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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//已取货待放货
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if (agvCallbackDto.method.ToLower() == "continue")
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{
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if (wcsTask.taskStatus > 3)
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{
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wcsTask.taskStatus = 5;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 5 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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else
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{
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wcsTask.taskStatus = 3;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 3 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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}
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//放货完成
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if (agvCallbackDto.method.ToLower() == "end")
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{
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wcsTask.taskStatus = 7;
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_dbContext.Update(wcsTask);
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_dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 7 });
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_dbContext.SaveChanges();
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reponseagvCallbackDto.code = "0";
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reponseagvCallbackDto.message = "成功";
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}
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}
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}
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catch (Exception ex)
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{
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LogManager.Error(ex);
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reponseagvCallbackDto.code = "1";
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reponseagvCallbackDto.message = ex.Message;
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}
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//返回请求
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reponseagvCallbackDto.reqCode = reponseagvCallbackDto.reqCode;
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return reponseagvCallbackDto;
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}
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public ReponseMessage CallMaterial(CallMaterial callMaterial)
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{
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ReponseMessage reponseMessage = new ReponseMessage();
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try
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{
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_dbContext.ChangeTracker.Clear();
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WmsRawOutstock wmsRawOutstock = _dbContext.WmsRawOutstock.FirstOrDefault(t => t.rawOutstockId == Convert.ToInt64(callMaterial.rawOutstockId));
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if (wmsRawOutstock != null)
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{
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bool hasTask = _dbContext.WcsTask.Where(t => t.currPointId == 31 || t.endPointId == 31).Any();
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var taskManual = _dbContext.WcsTaskManual.Where(t => t.taskType == 999).FirstOrDefault();
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if (hasTask)
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{
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reponseMessage.code = "1";
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reponseMessage.message = "当前有任务，请等待任务完成后再申请";
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}
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else
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{
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if(taskManual == null)
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{
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BaseEquip endEquip = _dbContext.BaseEquip.First(t => t.objid == 31);
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BaseEquip baseEquip = _dbContext.BaseEquip.First(t => t.objid == 9);
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WcsTaskManual wcsTaskManual = new WcsTaskManual();
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wcsTaskManual.taskType = 999;
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wcsTaskManual.objid = _snowId.NextId();
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wcsTaskManual.startPointNo = callMaterial.locationCode;
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wcsTaskManual.orderId = Convert.ToInt64(callMaterial.rawOutstockId);
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_dbContext.Add(wcsTaskManual);
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_dbContext.SaveChanges();
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reponseMessage.code = "0";
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reponseMessage.message = "成功";
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}
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else
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{
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taskManual.startPointNo = callMaterial.locationCode;
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taskManual.updateTime = DateTime.Now;
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|
|
_dbContext.WcsTaskManual.Update(taskManual);
|
|
|
_dbContext.SaveChanges();
|
|
|
reponseMessage.code = "0";
|
|
|
reponseMessage.message = "修改成功";
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
reponseMessage.code = "1";
|
|
|
reponseMessage.message = "未找到当前申请单的任务";
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
reponseMessage.code = "1";
|
|
|
reponseMessage.message = ex.Message;
|
|
|
LogManager.Error(ex);
|
|
|
}
|
|
|
return reponseMessage;
|
|
|
}
|
|
|
|
|
|
public ReponseMessage AGVTaskComplete()
|
|
|
{
|
|
|
ReponseMessage reponseMessage = new ReponseMessage();
|
|
|
try
|
|
|
{
|
|
|
_dbContext.ChangeTracker.Clear();
|
|
|
bool hasTask = _dbContext.WcsTask.Where(t => t.taskType == 41).Any();
|
|
|
if (!hasTask)
|
|
|
{
|
|
|
reponseMessage.code = "0";
|
|
|
reponseMessage.message = "成功";
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
reponseMessage.code = "1";
|
|
|
reponseMessage.message = "当前不可翻转";
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
reponseMessage.code = "1";
|
|
|
reponseMessage.message = ex.Message;
|
|
|
LogManager.Error(ex);
|
|
|
}
|
|
|
return reponseMessage;
|
|
|
}
|
|
|
|
|
|
public ReponseMessage CallAgvStopOrStart(CallAgvStopOrStart agvStopOrStart)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
string Ip = "172.16.12.24";
|
|
|
int Port = 8182;
|
|
|
if (agvStopOrStart.Meth.ToLower() == "stop")
|
|
|
{
|
|
|
var AgvMessage = new
|
|
|
{
|
|
|
reqCode = _snowId.NextId().ToString(),
|
|
|
robots = new string[] { agvStopOrStart.AgvCode }
|
|
|
};
|
|
|
string result = HttpHelper.SendPostMessage(Ip, Port, "rcms/services/rest/hikRpcService/stopRobot", AgvMessage.ToJsonString());
|
|
|
ReponseMessage reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
return reponseMessage;
|
|
|
}
|
|
|
else if (agvStopOrStart.Meth.ToLower() == "start")
|
|
|
{
|
|
|
var AgvMessage = new
|
|
|
{
|
|
|
reqCode = _snowId.NextId().ToString(),
|
|
|
robots = new string[] { agvStopOrStart.AgvCode }
|
|
|
};
|
|
|
string result = HttpHelper.SendPostMessage(Ip, Port, "rcms/services/rest/hikRpcService/resumeRobot", AgvMessage.ToJsonString());
|
|
|
ReponseMessage reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
return reponseMessage;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
return new ReponseMessage() { code = "1", message = "传入Meth不正确" };
|
|
|
}
|
|
|
}
|
|
|
catch
|
|
|
{
|
|
|
return new ReponseMessage() { code = "1", message = "调用失败" };
|
|
|
}
|
|
|
}
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
/// 取消预调度
|
|
|
/// </summary>
|
|
|
/// <returns></returns>
|
|
|
public ReponseMessage CancelPreScheduling()
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
_dbContext.ChangeTracker.Clear();
|
|
|
var baseEquip = _dbContext.BaseEquip.FirstOrDefault(x => x.objid == 11);
|
|
|
var executeTask = new
|
|
|
{
|
|
|
reqCode = new JcSnowId().NextId().ToString(),
|
|
|
positionCode = "CTU_IN",
|
|
|
nextTask = -1
|
|
|
};
|
|
|
string executeMessage = JsonConvert.SerializeObject(executeTask);
|
|
|
string executeResult = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genPreScheduleTask", executeMessage);
|
|
|
ReponseMessage reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(executeResult);
|
|
|
return reponseMessage;
|
|
|
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new ReponseMessage() { code = "1", message = "调用失败" };
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
} |