using HanHe.Message;
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using HH.WCS.ZhongCeJinTan.core;
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using HH.WCS.ZhongCeJinTan.dispatch;
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using HH.WCS.ZhongCeJinTan.process;
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using HH.WCS.ZhongCeJinTan.util;
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using HH.WCS.ZhongCeJinTan.wms;
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using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Web.Http;
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using static HH.WCS.ZhongCeJinTan.api.ApiModel;
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namespace HH.WCS.ZhongCeJinTan.api
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{
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//[RoutePrefix("Agv")]
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public class AgvController : System.Web.Http.ApiController
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{
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[HttpPost]
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public ReturnResult AGVCallbackState(AgvTaskState model)
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{
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LogHelper.Info("AGVCallbackState Request：" + JsonConvert.SerializeObject(model), "HosttoagvTask");
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try
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{
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TaskCore.OperateTaskStatus(model);
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return new ReturnResult();
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}
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catch (Exception)
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{
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return new ReturnResult();
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}
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}
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/// <summary>
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/// 车体错误缓存
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/// </summary>
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public static Dictionary<string, AgvDeviceStatus> percentage = new Dictionary<string, AgvDeviceStatus>();
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/// <summary>
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/// 车体错误
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/// </summary>
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/// <param name="models"></param>十进制转二进制 小车发十进制 错误文档则是16进制
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/// <returns></returns>
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[HttpPost]
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public ReturnResult AGVDeviceReceive(List<AgvDeviceStatus> models)
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{
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LogHelper.Info("AGVDeviceReceive 参数信息：" + JsonConvert.SerializeObject(models),"HosttoagvCar");
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try
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{
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var chi = new SqlHelper<object>().GetInstance();
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var newDb = chi.CopyNew();
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var Alone = newDb.Queryable<S_AGV_TYPEEntitys>().Where(e => e.S_IS_OPEN == "Y").ToList();
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List<S_AGV_CONDITIONEntitys> Conditions = new List<S_AGV_CONDITIONEntitys>();
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foreach (var item in models)
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{
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if (item.errCode != "0" || item.errCode2 != "0" || item.faildCode != "0")
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{
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LogHelper.Info($"errCode {item.errCode} errCode2 {item.errCode}","HosttoagvCar");
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if (percentage.ContainsKey(item.forkliftNo))
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{
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var Model = percentage[item.forkliftNo];
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double differenceInMinutes = (Model.Operattime - item.Operattime).TotalMinutes;
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if (differenceInMinutes > 5)
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{
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LogHelper.Info($" 车体错误缓存 {JsonConvert.SerializeObject(Model)}", "HosttoagvCar");
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if (Model.errCode != item.errCode || Model.errCode2 != item.errCode2 || Model.faildCode != item.faildCode)
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{
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if (Model.errCode != item.errCode && item.errCode != "0")
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{
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if (differenceInMinutes > 5)
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{
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AgvCa(item, item.errCode, Alone, "1");
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}
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}
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if (Model.errCode2 != item.errCode2 && item.errCode2 != "0")
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{
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if (differenceInMinutes > 5)
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{
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AgvCa(item, item.errCode2, Alone, "2");
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}
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}
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if (Model.faildCode != item.faildCode && item.faildCode != "0")
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{
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if (differenceInMinutes > 5)
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{
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AgvCa(item, item.faildCode, Alone, "3");
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}
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}
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if (differenceInMinutes > 5)
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{
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percentage[item.forkliftNo] = item;
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}
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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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percentage.Add(item.forkliftNo, item);
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if (item.errCode != "0")
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{
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AgvCa(item, item.errCode, Alone, "1");
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}
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if (item.errCode2 != "0")
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{
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AgvCa(item, item.errCode2, Alone, "2");
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}
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if (item.faildCode != "0")
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{
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AgvCa(item, item.faildCode, Alone, "3");
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}
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}
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}
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S_AGV_CONDITIONEntitys cond = new S_AGV_CONDITIONEntitys();
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//车号
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cond.forkliftNo = item.forkliftNo;
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//电池
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string[] battery = item.battery.Split(',');
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cond.Battery_Soc = battery[0];
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cond.Battery_V = battery[1];
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cond.Battery_Amp = battery[2];
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cond.Battery_Temp = battery[3];
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cond.Battery_Prop = battery[4];
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//里程
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string[] mileage = item.mileage.Split(',');
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cond.Mileage_Km = mileage[0];
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cond.Mileage_m = mileage[1];
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//电机信息
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string[] motor = item.motor.Split(',');
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cond.Motor_Amp = motor[0];
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cond.Motor_Temp = motor[1];
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cond.Motor_Y_Amp = motor[2];
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cond.Motor_Y_Temp = motor[3];
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//交通管制信息
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string[] traffic = item.traffic.Split(',');
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cond.Traffic_Pt = traffic[0];
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cond.Traffic_Sec = traffic[1];
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cond.Traffic_Wire = traffic[2];
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cond.Traffic_Unit = traffic[3];
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cond.Traffic_Io = traffic[4];
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//开机时间
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string[] time = item.time.Split(',');
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cond.Time_D = time[0];
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cond.time_H = time[1];
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//举升次数
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string[] lifts = item.lifts.Split(',');
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cond.Lifts_Kc = lifts[0];
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cond.Lifts_c = lifts[1];
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//其他信息
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string[] pos = item.pos.Split(',');
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cond.Pos_X = pos[0];
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cond.Pos_Y = pos[1];
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cond.Pos_Z = pos[2];
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//转向角度
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cond.Angle_Deg = item.angle;
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switch (item.agvstate)
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{
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case "0":
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cond.Agvstate_s = "空闲";
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break;
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case "1":
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cond.Agvstate_s = "行动中";
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break;
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case "2":
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cond.Agvstate_s = "充电机中";
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break;
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}
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// cond.Agvstate_s = item.agvstate;
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Conditions.Add(cond);
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}
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//车体信息插入
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UpdateAgvState(Conditions);
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}
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catch (Exception ex)
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{
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LogHelper.Info("AGVDeviceReceive 异常：" + ex.Message, "HosttoagvCar");
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}
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return new ReturnResult();
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}
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/// <summary>
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/// 车体信息插入数据库
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/// </summary>
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/// <param name="Conds"></param>
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/// <returns></returns>
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public void UpdateAgvState(List<S_AGV_CONDITIONEntitys> Conds)
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{
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var chi = new SqlHelper<object>().GetInstance();
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var newDb = chi.CopyNew();
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try
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{
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//先查 在修改 当查询不到时添加数据
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var agv = chi.Queryable<S_AGV_CONDITIONEntitys>().Where(e => Conds.Select(c => c.forkliftNo).ToList().Contains(e.forkliftNo)).ToList();
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newDb.BeginTran();
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//修改
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foreach (var item in Conds)
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{
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var Up = agv.Find(e => e.forkliftNo == item.forkliftNo);
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if (Up != null)
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{
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var ffd = newDb.Updateable(item).UpdateColumns(it => new
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{
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it.Battery_Soc,
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it.Battery_V,
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it.Battery_Amp,
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it.Battery_Temp,
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it.Battery_Prop,
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it.Motor_Amp,
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it.Motor_Temp,
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it.Motor_Y_Amp,
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it.Motor_Y_Temp,
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it.Traffic_Pt,
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it.Traffic_Sec,
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it.Traffic_Wire,
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it.Traffic_Unit,
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it.Traffic_Io,
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it.Time_D,
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it.time_H,
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it.Mileage_Km,
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it.Mileage_m,
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it.Lifts_Kc,
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it.Lifts_c,
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it.Pos_X,
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it.Pos_Y,
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it.Pos_Z,
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it.Angle_Deg,
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it.Agvstate_s
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}).Where(a => a.forkliftNo == item.forkliftNo).ExecuteCommand();
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}
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else
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{
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newDb.Insertable(item).ExecuteCommand();
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}
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}
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newDb.CommitTran();
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}
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catch (Exception ex)
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{
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newDb.RollbackTran();
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LogHelper.Info("UpdateAgvState 异常：" + ex.Message, "HosttoagvCar");
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}
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}
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public void AgvCa(AgvDeviceStatus item, string reeCode, List<S_AGV_TYPEEntitys> Alone, string ii)
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{
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try
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{
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var chi = new SqlHelper<object>().GetInstance();
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var newDb = chi.CopyNew();
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var transportTask = newDb.Queryable<WMSTask>().Where(e => e.S_B_STATE != "取消" && e.S_B_STATE != "完成" && e.S_SCHEDULE_TYPE == "agv" && e.S_EQ_NO == item.forkliftNo)?.First();
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List<AgvErrorReportEntitys> AgbError = new List<AgvErrorReportEntitys>();
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string MistakeNumber = Convert.ToString(int.Parse(reeCode), 2);//小车错误二进制
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LogHelper.Info( $" 小车错误二进制 {MistakeNumber}","HosttoagvCar");
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int[] MistakeArray = new int[MistakeNumber.Length]; // 创建一个长度等于二进制数位数的数组
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for (int i = 0; i < MistakeNumber.Length; i++)
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{
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MistakeArray[i] = int.Parse(MistakeNumber[i].ToString()); // 将二进制数的每一位存储到数组中
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}
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Array.Reverse(MistakeArray);//数组反转
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var indexes = Enumerable.Range(0, MistakeArray.Length).Where(i => MistakeArray[i] == 1);//获取数组中1所在的索引
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LogHelper.Info($" 获取数组中1所在的索引 {JsonConvert.SerializeObject(indexes)}", "HosttoagvCar");
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foreach (var Inde in indexes)
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{
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//匹配错误 并且调用钉钉
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var ffgh = "";
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var ggf = Alone.Find(e => e.S_AGV_TYPE == ii && e.N_CODE_1 == Inde + 1);
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if (ggf != null)
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{
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if (transportTask.S_TYPE.Contains("入库"))
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{
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ffgh = $"任务号: {transportTask.S_CODE} \n 库区:{transportTask.S_END_AREA} \n 车号:{item.forkliftNo} \n 错误:{ggf?.S_AGV_NOTE} 时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
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LogHelper.Info($"任务号: {transportTask.S_CODE}库区:{transportTask.S_END_AREA} 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE} 时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}", "HosttoagvCar");
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}
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else
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{
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ffgh = $"任务号: {transportTask.S_CODE} \n 库区:{transportTask.S_START_AREA} \n 车号:{item.forkliftNo}\n 错误:{ggf?.S_AGV_NOTE} 时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
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LogHelper.Info($"任务号: {transportTask.S_CODE} 库区:{transportTask.S_START_AREA} 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE} 时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}", "HosttoagvCar");
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}
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}
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else
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{
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ffgh = $"任务号: 库区: 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE} 时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}";
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LogHelper.Info($"任务号: 库区: 车号:{item.forkliftNo} 错误:{ggf?.S_AGV_NOTE} 时间:{DateTime.Now.ToString("yyyy-MM-dd-HH-mm-ss")}", "HosttoagvCar");
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}
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if (!string.IsNullOrEmpty(ffgh))
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{
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var dd = new DingDingHelper();
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dd.button1_Click(ffgh);
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}
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AgbError.Add(new AgvErrorReportEntitys
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{
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AgvLicense = item.forkliftNo,
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AgvErrorMsg = ggf?.S_AGV_NOTE
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});
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//设备报警数统计表
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}
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//添加到表
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try
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{
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newDb.BeginTran();
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var B = newDb.Insertable(AgbError).ExecuteCommand();
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newDb.CommitTran();
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}
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catch (Exception)
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{
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newDb.RollbackTran();
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}
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}
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catch (Exception ex)
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{
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LogHelper.Info("AGVDeviceReceive 异常：" + ex.Message, "HosttoagvCar");
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}
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}
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/// <summary>
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/// 修改任务优先级
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/// </summary>
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/// <param name="model"></param>
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/// <returns></returns>
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[HttpPost]
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public zcResult Task(taskParme model)
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{
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LogHelper.Info("task 参数：" + JsonConvert.SerializeObject(model), "API");
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var res = TaskProcess.task1(model);
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LogHelper.Info("task 返回：" + JsonConvert.SerializeObject(res), "API");
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return res;
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}
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/// <summary>
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/// 强制完成任务信息
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/// </summary>
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[HttpPost]
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public Result CompleteTask(cancleTaskParme model)
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{
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LogHelper.Info("CompleteTask 参数：" + JsonConvert.SerializeObject(model), "API");
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var res = TaskProcess.completeTask1(model);
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LogHelper.Info("CompleteTask 返回：" + JsonConvert.SerializeObject(res), "API");
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return res;
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}
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}
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}
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