469 lines
22 KiB
C#
469 lines
22 KiB
C#
using JNPF;
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using JNPF.Common.Core.Manager;
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using JNPF.Common.Enums;
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using JNPF.Common.Extension;
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using JNPF.Common.Manager;
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using JNPF.Common.Net;
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using JNPF.Common.Security;
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using JNPF.EventBus;
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using JNPF.EventHandler;
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using JNPF.Logging;
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using JNPF.Systems.Entitys.System;
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using Microsoft.AspNetCore.Authorization;
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using Microsoft.AspNetCore.Mvc;
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using Microsoft.Extensions.Logging;
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using Newtonsoft.Json;
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using Senparc.CO2NET.Cache;
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using SqlSugar;
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using Tnb.Common.Extension;
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using Tnb.EquipMgr.Entities;
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using Tnb.WarehouseMgr.Entities;
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using Tnb.WarehouseMgr.Entities.Configs;
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using Tnb.WarehouseMgr.Entities.Consts;
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using Tnb.WarehouseMgr.Entities.Dto;
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using Tnb.WarehouseMgr.Entities.Dto.Inputs;
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using Tnb.WarehouseMgr.Entities.Dto.Outputs;
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using Tnb.WarehouseMgr.Entities.Dto.Queries;
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using Tnb.WarehouseMgr.Entities.Entity;
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using Tnb.WarehouseMgr.Entities.Enums;
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using Tnb.WarehouseMgr.Interfaces;
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namespace Tnb.WarehouseMgr
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{
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/// <summary>
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/// Wms设备接口提供程序服务类
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/// </summary>
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public class DeviceProviderService : ServiceLoggerBase<DeviceProviderService>
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{
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private readonly ISqlSugarClient _db;
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private readonly IWareHouseService _wareHouseService;
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private readonly ICacheManager _cacheManager;
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private readonly IEventPublisher _eventPublisher;
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private readonly IUserManager _userManager;
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private readonly IElevatorControlService _elevatorControlService;
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private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
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private readonly ILoggerFactory _loggerFactory;
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public DeviceProviderService(ISqlSugarRepository<WmsInstockH> repository, IWareHouseService wareHouseService,
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ICacheManager cacheManager,
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IEventPublisher eventPublisher,
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IUserManager userManger,
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IElevatorControlService elevatorControlService
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) //: base(repository.AsSugarClient())
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{
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_db = repository.AsSugarClient();
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_wareHouseService = wareHouseService;
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_cacheManager = cacheManager;
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_eventPublisher = eventPublisher;
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_userManager = userManger;
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_elevatorControlService = elevatorControlService;
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_ = InitializationTask;
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}
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/// <summary>
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/// 创建任务链
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/// </summary>
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/// <returns></returns>
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[HttpPost, NonUnify]
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public async Task<Result> CreateTaskChain()
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{
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Logger.LogInformation("fasdfadsfadsfasdfasdfadsfasdfadsfadsfasdfasdfasdfasdfas");
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return await Task.FromResult<Result>(null);
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}
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/// <summary>
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/// 取货确认/申请取货
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/// </summary>
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/// <param name="input"></param>
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/// <returns></returns>
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[HttpPost, NonUnify, AllowAnonymous]
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public async Task<Result> LoadConfirm(ConfirmInput input)
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{
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Logger.Information("--------------------------------------------------------");
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Logger.Information("取货确认..................");
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var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
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.And((a, b, c) => c.bill_code == input.taskCode)
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.AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
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.AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
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.ToExpression();
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WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().InnerJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
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.InnerJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
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.Where(whereExp)
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.Select((a, b, c) => new WmsElevatorH
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{
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distask_id = c.id,
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device_id = a.elevator_id,
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}, true)
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.FirstAsync();
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if (elevator.IsNull())
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{
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Logger.Error("未找到匹配的电梯任务", new Exception($"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务"));
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return await ToApiResult(HttpStatusCode.InternalServerError, $"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
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}
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try
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{
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Logger.Information($"当前任务Id:{elevator.distask_id}");
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Logger.Information($"elevator.device_id={elevator.device_id}");
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if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
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{
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string devName = elevatorCode?.ToString() ?? _eleCtlCfg.DevName3;
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var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
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Logger.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus.ToEnum<EnumRunStatus>()},Agv状态:{agvStatus.ToEnum<EnumAgvStatus>()},当前楼层：{floorNo}");
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{
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if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.开门到位保持)
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{
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_ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
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}
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if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯)
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{
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//elevator.current_floor = floor;
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//await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
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}
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}
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}
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catch (Exception)
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{
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return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
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throw;
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}
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return await ToApiResult(HttpStatusCode.OK, "未启用");
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Logger.Information("--------------------------------------------------------");
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}
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/// <summary>
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/// 放货确认/申请放货
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/// </summary>
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/// <param name="input"></param>
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/// <returns></returns>
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[HttpPost, NonUnify, AllowAnonymous]
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public async Task<Result> UnloadConfirm(ConfirmInput input)//
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{
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Logger.Information("--------------------------------------------------------");
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Logger.Information("放货确认..................");
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Logger.Information($"输入参数:{JsonConvert.SerializeObject(input)}");
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try
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{
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var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
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.And((a, b, c) => c.bill_code == input.taskCode)
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.AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
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.AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
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.ToExpression();
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//根据Agv传递的参数获取，对应的电梯
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WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
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.LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.endlocation_id)
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.Where(whereExp)
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.Select((a, b, c) => new WmsElevatorH
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{
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end_floor = SqlFunc.ToInt32(c.end_floor),
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device_id = a.elevator_id,
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}, true)
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.FirstAsync();
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if (elevator.IsNull())
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{
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throw new Exception($"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
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}
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if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
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{
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string devName = elevatorCode?.ToString() ?? _eleCtlCfg.DevName3;
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var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);//elevator.elevator_code
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Logger.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus},门状态:{doorStatus},Agv状态:{agvStatus},当前楼层：{floorNo}");
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//判断Agv电梯是否进入状态
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if (agvStatus != (int)EnumAgvStatus.AGV运行状态)
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{
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await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
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}
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Logger.Information("目前正常");
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//电梯到达目标楼层后，判断当前电梯门状态是否为开门到位保持状态
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if (doorStatus != (int)EnumDoorStatus.开门到位保持)
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{
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_ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
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}
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if (sysStatus == (int)EnumSysStatus.正常状态 && runStatus == (int)EnumRunStatus.停梯
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&& doorStatus == (int)EnumDoorStatus.开门到位保持)
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{
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Log.Information("进入开门状态,马上要成功了");
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try
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{
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/* elevator.current_floor = elevator.end_floor;
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await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();*/
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}
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catch (Exception ex)
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{
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Logger.LogError("更新延迟队列异常", ex);
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throw;
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}
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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}
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return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
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}
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catch (Exception ex)
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{
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Logger.Error("放货确认失败", ex);
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return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
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throw;
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}
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Logger.Information("--------------------------------------------------------");
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}
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/// <summary>
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/// 任务链状态上报
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/// </summary>
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/// <returns></returns>
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[HttpPost, NonUnify, AllowAnonymous]
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public async Task<Result> TaskChainCallBack(TaskChainCallBackInput input)
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{
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Logger.Information("--------------------------------------------------------");
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try
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{
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Logger.Information($"任务链上报->任务链编号：{input.taskChainCode},状态：{input.status},设备ID：{input.deviceID}");
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switch (input.status)
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{
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case "CREATED": break;
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case "ALLOCATED": break;
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case "PROCESSING":
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if (input.taskChainCode.Trim().IsNullOrEmpty())
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{
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return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
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}
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List<WmsDistaskH> disTasks = await _db.Queryable<WmsDistaskH>().Where(it => it.bill_code.Contains(input.taskChainCode)).ToListAsync();
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List<EqpEquipment> eps = await _db.Queryable<EqpEquipment>().Where(it => it.code.Contains(input.deviceID)).ToListAsync();
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if (disTasks == null || disTasks.Count < 1)
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{
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Logger.Error($"根据任务链编号:{input.taskChainCode} ,未获取到任何任务");
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}
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if (disTasks?.Count > 0)
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{
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TaskExecuteUpInput taskExecuteUpInput = new()
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{
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disTaskIds = disTasks?.Select(x => x.id).ToList() ?? Enumerable.Empty<string>().ToList(),
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EqpIds = eps?.Select(x => x.id).ToList() ?? Enumerable.Empty<string>().ToList(),
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};
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await _wareHouseService.TaskExecute(taskExecuteUpInput);
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}
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break;
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case "CANCELLED": break;
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case "SUCCEED": break;
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case "FAILURE": break;
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case "FINISHED": break;
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default: break;
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}
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/*ConnectionConfigOptions opts = App.GetOptions<ConnectionConfigOptions>();
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UserAgent userAgent = new(App.HttpContext);
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//写系统日志
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await _eventPublisher.PublishAsync(new LogEventSource("Log:CreateOpLog", opts, new SysLogEntity
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{
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Id = SnowflakeIdHelper.NextId(),
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Category = 4,
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UserId = _userManager.UserId,
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UserName = _userManager.User.RealName,
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IPAddress = NetHelper.Ip,
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RequestURL = App.HttpContext.Request.Path,
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RequestMethod = App.HttpContext.Request.Method,
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Json = $"任务链状态上报,任务链编号:{input.taskChainCode},上报状态:{input.status},设备编号:{input.deviceID}",
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PlatForm = string.Format("{0}-{1}", userAgent.OS.ToString(), userAgent.RawValue),
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CreatorTime = DateTime.Now
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}));*/
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}
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catch (Exception ex)
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{
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Logger.Error("任务链状态上报", ex);
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Logger.Error($"任务链状态上报错误堆栈{Environment.NewLine}{ex.StackTrace}");
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return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
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throw;
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}
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Logger.Information("--------------------------------------------------------");
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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/// <summary>
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/// 任务状态上报
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/// </summary>
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/// <param name="input"></param>
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/// <returns></returns>
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[HttpPost, NonUnify, AllowAnonymous]
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public async Task<Result> TaskCallback(TaskCallBackInput input)
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{
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Logger.Information("--------------------------------------------------------");
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Logger.Information($"任务状态上报->接收参数:{JsonConvert.SerializeObject(input)}");
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try
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{
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List<WmsDistaskH> disTasks = await _db.Queryable<WmsDistaskH>().Where(it => it.bill_code.Contains(input.taskCode)).ToListAsync();
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if (input.action == "LOAD")
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{
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Logger.Information("----------Load Begin----------");
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TaskExecuteAfterUpInput taskExecuteAfterUpInput = new()
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{
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disTaskIds = disTasks.Select(x => x.id).ToList()
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};
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Logger.Information($"设备取返回输入参数:{JsonConvert.SerializeObject(taskExecuteAfterUpInput)}");
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await _wareHouseService.TaskExecuteAfter(taskExecuteAfterUpInput);
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Logger.Information($"Agv取货完成,任务Id:{string.Join(",", disTasks.Select(x => x.id))}");
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WmsElevatorUnexecute elevatorQueueItem = await _db.Queryable<WmsElevatorUnexecute>().FirstAsync(it => disTasks.Select(x => x.id).Contains(it.distask_id) && it.task_status == "执行中");
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if (elevatorQueueItem != null)
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{
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Logger.Information("开始进入关门流程");
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var disTask = disTasks.Find(x => x.id == elevatorQueueItem.distask_id);
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int doorStatus = await _elevatorControlService.GetTagAsync(elevatorQueueItem.elevator_code, ElevatorConsts.DoorStatus);
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if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持
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&& !disTask.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)
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)
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{
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_ = await _elevatorControlService.SendOpenCloseCmd(elevatorQueueItem.elevator_code, 4); //向电梯发送前门关门指令
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_ = await _db.Deleteable(elevatorQueueItem).ExecuteCommandAsync();
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}
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}
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Logger.Information("----------Load End----------");
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}
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else if (input.action == "UNLOAD")
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{
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Logger.Information("----------UnLoad Begin----------");
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TaskCompleUpInput taskCompleUpInput = new()
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{
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disTaskIds = disTasks.Select(x => x.id).ToList()
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};
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Logger.Information($"taskCompleUpInput json parameter:{JsonConvert.SerializeObject(taskCompleUpInput)}");
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await _wareHouseService.TaskComplate(taskCompleUpInput);
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Logger.Information("----------UnLoad end----------");
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}
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}
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catch (Exception ex)
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{
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Logger.Error("任务状态上报出现错误", ex);
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return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
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throw;
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}
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finally
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{
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_ = InvokeGenPretaskExcute();
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}
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Logger.Information("--------------------------------------------------------");
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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/// <summary>
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/// 申请进出电梯
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/// </summary>
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/// <param name="input"></param>
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/// <returns></returns>
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[HttpPost, NonUnify, AllowAnonymous]
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public async Task<Result> ElevatorConfirm(ConfirmInput input)
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{
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try
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{
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List<WmsElevatorH> eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
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.LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
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.Where((a, b, c) => c.startlocation_code == input.sourceName && c.bill_code == input.taskCode)
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.ToListAsync();
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}
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catch (Exception)
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{
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return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
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throw;
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}
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return await ToApiResult(HttpStatusCode.OK, "未启用");
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}
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/// <summary>
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/// 根据产线获取Agv列表
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/// </summary>
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/// <param name="lineId">产线Id，默认空，(潍柴的只有一条产线所以不用传)</param>
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/// <remarks>
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/// returns:
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/// <br/>{
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/// <br/> name:设备名称
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/// <br/> code:设备代码
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/// <br/>}
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/// </remarks>
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[HttpGet("lineId"), AllowAnonymous]
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public async Task<dynamic> GetAgvListByLineId(string lineId = "")
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{
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var devList = await _db.Queryable<EqpEquipment>().InnerJoin<EqpEquipType>((a, b) => a.equip_type_id == b.id)
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.Where((a, b) => b.code == "003" && b.status == 1)
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.Select((a, b) => new
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{
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a.name,
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a.code,
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})
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.ToListAsync();
|
||
return devList;
|
||
}
|
||
/// <summary>
|
||
/// 获取Agv实时信息
|
||
/// </summary>
|
||
/// <param name="q">查询输入参数</param>
|
||
///<remarks>
|
||
/// <br/>{
|
||
/// <br/> deviceCode:设备序号
|
||
/// <br/> devicePostionRec:设备所在二维码的x,y坐标，前边的值是x，后边的是y
|
||
/// <br/> devicePosition:设备当前位置
|
||
/// <br/> oritation:方向
|
||
/// <br/> speed:速度
|
||
/// <br/> shelfNumber：当前搬运的货架编号,对应载具编号
|
||
/// <br/>}
|
||
///</remarks>
|
||
[HttpGet, AllowAnonymous]
|
||
public async Task<List<AgvRealInfoOutput>> GetAgvRealInfo([FromQuery] AgvRealInfoQuery q)
|
||
{
|
||
//请求Les接口，bing解析返回结果 绑定到AgvRealInfoOutput实例 此处忽略
|
||
var devCodes = new[] { "Dev01", "Dev02", "Dev03", "Dev04", "Dev05" };
|
||
|
||
if (!q.deviceCode.IsNullOrWhiteSpace())
|
||
{
|
||
devCodes = devCodes.Where(x => q.deviceCode.Contains(x)).ToArray();
|
||
}
|
||
var result = new List<AgvRealInfoOutput>();
|
||
for (int i = 0; i < devCodes.Length; i++)
|
||
{
|
||
AgvRealInfoOutput output = new();
|
||
output.deviceCode = devCodes[i];
|
||
output.oritation = 0;
|
||
output.speed = Random.Shared.Next(0, 100);
|
||
var x = Random.Shared.NextDouble() * 100;
|
||
var y = Random.Shared.NextDouble() * 100;
|
||
output.devicePostionRec = new[] { x, y };
|
||
output.shelfNumber = "xxxx";
|
||
result.Add(output);
|
||
}
|
||
return result;
|
||
}
|
||
}
|
||
}
|