using System;
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using System.Collections.Generic;
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using System.IdentityModel.Protocols.WSTrust;
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using System.Linq;
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using System.Security.Policy;
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using System.Threading.Tasks;
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using HH.WCS.Mobox3.AnGang.core;
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using HH.WCS.Mobox3.AnGang.models;
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using HH.WCS.Mobox3.AnGang.util;
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using Newtonsoft.Json;
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using static System.Net.WebRequestMethods;
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using static HH.WCS.Mobox3.AnGang.api.ApiModel;
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namespace HH.WCS.Mobox3.AnGang.dispatch {
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/// <summary>
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/// 国自调度辅助类
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/// </summary>
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public class GZRobot {
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private static readonly HttpHelper apiHelper = new HttpHelper();
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private static readonly string baseUrl = Settings.RCSApiUrl;//配置文件获取国自调度地址
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//private static readonly string logName = "guozi";
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public static List<IOState> GetIO() {
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var result = apiHelper.Get(baseUrl + "api/engine/view/iostates/");
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var data = JsonConvert.DeserializeObject<gzResult<IOState>>(result);
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return data.data;
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}
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public static void UpdateIOState() {
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var data = new { data = new List<IOSateInfo>() };
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var result = apiHelper.Post(baseUrl + "api/engine/tasks/iostates/", JsonConvert.SerializeObject(data));
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var dataResult = JsonConvert.DeserializeObject<gzResult<IOStatesInfoResult>>(result);
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}
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// DOC 1. 创建订单 WMS->RCS
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public static int CreateOrder(string taskNo, int priority, string param, string ts = "churuku", string created_user = "hanhe") {
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LogHelper.Info($"CreateOrder参数信息:taskNo:{taskNo},priority:{priority},param:{param},ts:{ts}，created_user：{created_user}", "API");
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var msg = "";
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var orderId = 0;
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var data = new OrderInfo() { order_name = taskNo, priority = priority, dead_line = DateTime.Now, ts_name = ts, parameters = param, created_user = created_user };
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var request = JsonConvert.SerializeObject(data);
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var response = apiHelper.Post(baseUrl + "api/om/order/", request);
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LogHelper.Info($"CreateOrder:url:{baseUrl}api/om/order/,request:{request}", "API");
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msg = $"[guozi-CreateOrder] request={request} response={response}";
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Console.WriteLine(msg);
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if (response != "") {
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try {
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var dataResult = JsonConvert.DeserializeObject<gzResult<OrderInfoResult>>(response);
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// 原代码部分
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//if (dataResult.code == 0) {
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// orderId = dataResult.data[0].in_order_id;
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//}
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// 尊重文档的版本
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// 返回参数中，code目前不再使用，可通过msg字段判断是否成功，如果msg为”success”则表示成功，否则为报错信息或不存在。http code为422时候的报错为系统报错，其中的msg无法全部获取。
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// SELFNOTE: 直接调用HttpHelper.Post方法，无法获取header，暂时不考虑
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if (dataResult.msg == "success") {
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orderId = dataResult.data[0].in_order_id;
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}
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}
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catch (Exception ex) {
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}
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}
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else {
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msg = "[guozi-CreateOrder]创建订单失败";
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Console.WriteLine(msg);
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LogHelper.Info($"创建订单失败", "API");
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}
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return orderId;
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}
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public static bool CancelOrder(int orderId) {
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bool result = false;
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string msg = "";
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var request = new CancelOrderInfo() { order_list = new List<int>(orderId) };
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var response = apiHelper.Post(baseUrl + "api/om/order/cancel/", JsonConvert.SerializeObject(request));
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msg = $"[guozi-CancelOrder] request={request};response={response}";
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Console.WriteLine(msg);
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if (response != "") {
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var dataResult = JsonConvert.DeserializeObject<gzResult<CancelOrderInfoResult>>(response);
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if (dataResult.code == 0) {
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result = true;
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}
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}
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else {
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msg = "[guozi-CancelOrder]取消订单失败";
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Console.WriteLine(msg);
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}
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return result;
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}
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// DOC 2. 取消订单 WMS->RCS
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public static bool CancelGZOrder(int orderId) {
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bool result = false;
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string msg = "";
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List<CancelGZOrderInfo> requests = new List<CancelGZOrderInfo>();
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var request = new CancelGZOrderInfo() { order_id = orderId, order_command_type_id = 2 };
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requests.Add(request);
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var response = apiHelper.Put(baseUrl + "api/om/order/order-command/", JsonConvert.SerializeObject(requests));
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msg = $"[guozi-CancelOrder] request={requests};response={response}";
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if (response != "") {
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var dataResult = JsonConvert.DeserializeObject<CancelGZOrderResult>(response);
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// 原代码版本
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//if (dataResult.code == 0) {
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// msg = "[guozi-CancelOrder]取消订单成功";
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// Console.WriteLine(msg);
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// result = true;
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// return result;
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//}
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// 尊重文档的版本
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if (dataResult.msg == "success") { // 目前只取消一个任务，成功无需再检查success_list和error_list
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Console.WriteLine("[guozi-CancelOrder]取消订单成功");
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result = true;
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return result;
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}
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}
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else {
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msg = "[guozi-CancelOrder]取消订单失败";
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Console.WriteLine(msg);
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}
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return result;
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}
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// DOC 3. 订单状态推送 RCS->WMS
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/// <summary>
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/// 订单状态反馈
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/// </summary>
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/// <returns></returns>
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public static GzResult orderStatusReport(orderStatusReportParme model) {
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LogHelper.Info("orderStatusReport：RCS国自AGV任务状态回报：" + JsonConvert.SerializeObject(model), "HosttoagvTask");
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GzResult result = new GzResult();
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AgvTaskState agv = new AgvTaskState();
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if (model == null) {
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result.resultCode = 1;
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result.orderID = model.orderID;
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result.msg = "返回订单状态失败";
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}
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switch (model.orderStatus) {
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case "active":
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agv.state = 1;
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break;
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case "waiting":
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agv.state = 1;
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break;
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case "dispatched":
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//调度派车（开始取货）NEW ADDED
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agv.state = 3;
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break;
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case "source_finish":
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//取货完成
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agv.state = 4;
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break;
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case "dest_finish":
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//卸货完成
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agv.state = 6;
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break;
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case "finish":
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agv.state = 2;
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break;
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case "manually_finish":
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agv.state = 2;
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break;
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case "cancel_finish":
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agv.state = 7;
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break;
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case "error":
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agv.state = 7;
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break;
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default:
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agv.state = 0;
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break;
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}
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if (agv.state != 0) {
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agv.task_no = model.orderName;
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agv.forklift_no = model.agvIDList;
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WCSCore.OperateAgvTaskStatus(agv);
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}
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else {
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result.resultCode = 2;
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result.orderID = model.orderID;
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result.msg = "反馈订单状态失败，orderStatus参数不正确";
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LogHelper.Info(result.msg, "API");
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return result;
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}
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result.resultCode = 0;
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result.msg = "返回订单状态成功";
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result.orderID = model.orderID;
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LogHelper.Info("orderStatusReport返回信息" + JsonConvert.SerializeObject(result), "API");
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return result;
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}
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public class CancelGZOrderInfo
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{
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public int order_id { get; set; }
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public int order_command_type_id { get; set; }
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}
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public static QueryOrderResult QueryOrder(int id) {
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//
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var result = new QueryOrderResult() { agv_list = new List<int> { 0 } };
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string msg = "";
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var response = apiHelper.Get(baseUrl + $"/api/om/order/{id}/");
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msg = $"[guozi-QueryOrderResult] request={id};response={response}";
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Console.WriteLine(msg);
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if (response != "") {
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var data = JsonConvert.DeserializeObject<gzResult<QueryOrderResult>>(response);
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result = data.data[0];
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}
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else {
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msg = "[guozi-QueryOrderResult]查询订单信息失败";
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Console.WriteLine(msg);
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}
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return result;
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}
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// DOC 6. 交互表查询
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/// <summary>
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/// 获取交互信息
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/// </summary>
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/// <param name="typeId">1任务状态 2开门或交管 3目的点</param>
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/// <param name="status"></param>
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/// <returns></returns>
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public static List<InteractInfoResult> QueryInteractInfo(int typeId, string status = "active") {
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//string aaa = "{\"app_name\": \"Gouzi client\", \"version\": \"1.0.0\", \"code\": 0, \"msg\": \"success\", \"data\": [{\"interaction_info_id\": 233, \"interaction_info_name\": \"TN2012030001\", \"interaction_info_desp\": null, \"interaction_info_type_id\": 3, \"value_json\": {\"state\": \"4\"}, \"info_status\": \"active\", \"return_value\": null}]}";
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//var data = JsonConvert.DeserializeObject<gzResult<InteractInfoResult>>(aaa);
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var list = new List<InteractInfoResult>();
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string msg = "";
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var result = apiHelper.Get(baseUrl + $"api/om/interaction_info/find_by_type/?type_id={typeId}&info_status={status}");
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if (!string.IsNullOrEmpty(result)) {
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Console.WriteLine(result);
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// {"app_name": "Gouzi client", "version": "1.0.0", "code": 0, "msg": "success", "data": [{"interaction_info_id": 230, "interaction_info_name": "2", "interaction_info_desp": null, "interaction_info_type_id": 3, "value_json": {"state": "4"}, "info_status": "active", "return_value": null}, {"interaction_info_id": 231, "interaction_info_name": "2", "interaction_info_desp": null, "interaction_info_type_id": 3, "value_json": {"state": "6"}, "info_status": "active", "return_value": null}, {"interaction_info_id": 232, "interaction_info_name": "2", "interaction_info_desp": null, "interaction_info_type_id": 3, "value_json": {"state": "2"}, "info_status": "active", "return_value": null}, {"interaction_info_id": 233, "interaction_info_name": "TN2012030001", "interaction_info_desp": null, "interaction_info_type_id": 3, "value_json": {"state": "4"}, "info_status": "active", "return_value": null}]}
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try {
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var data = JsonConvert.DeserializeObject<gzResult<InteractInfoResult>>(result);
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if (data.data != null) {
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list = data.data;
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}
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}
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catch (Exception ex) {
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Console.WriteLine(ex.Message);
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}
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}
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else {
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msg = "[guozi-QueryInteractInfo]读取交互信息失败";
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Console.WriteLine(msg);
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}
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return list;
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}
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/// <summary>
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/// 根据没有interaction_info_name（task.S_CODE）获取interaction_info_id
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/// </summary>
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/// <param name="taskCode"></param>
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/// <param name="infoId"></param>
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/// <returns></returns>
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public static bool TryGetInteractionInfoId(string taskCode, out int infoId) {
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var list = QueryInteractInfo(3);
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if (list.Count == 0) {
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LogHelper.Info($"查交互表失败！没有读取到交互表！");
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infoId = 0;
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return false;
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}
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var data = list.Where(i => i.interaction_info_name == taskCode).FirstOrDefault();
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if (data == null) {
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LogHelper.Info($"查交互表失败！没有interaction_info_name='{taskCode}'的值！" + JsonConvert.SerializeObject(list));
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infoId = 0;
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return false;
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}
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infoId = data.interaction_info_id;
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return true;
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}
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// DOC 6. 交互表查询（更新终点货位）
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public static bool UpdateInteractInfo(UpdateInteractInfo interactInfo) {
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string msg = "";
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var result = false;
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var request = JsonConvert.SerializeObject(interactInfo);
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var response = apiHelper.Post(baseUrl + "api/om/interaction_info/update/", request);
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msg = $"[mes-UpdateInteractInfo] request={request};response={response}";
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if (response != "") {
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var dataResult = JsonConvert.DeserializeObject<gzResult<object>>(response);
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result = dataResult.code == 0;
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}
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else {
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msg = "[guozi-UpdateInteractInfo]更新交互信息失败";
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//Console.WriteLine(msg);
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LogHelper.Info(msg);
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}
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return result;
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}
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// DOC 5. 称重信息查询
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public static List<CustomData> CustomBuf() {
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var res = new List<CustomData>();
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string msg = "";
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//var result = apiHelper.Get(baseUrl + $"/api/engine/agvs/custom-buf/", "application/json");
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LogHelper.Info($"正在请求GET: \"/api/engine/agvs/custom-buf/\"", "API");
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var result = apiHelper.GetNew(baseUrl + $"api/engine/agvs/custom-buf/");
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if (!string.IsNullOrEmpty(result)) {
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Console.WriteLine(result);
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try {
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LogHelper.Info($"称重信息：" + result);
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var data = JsonConvert.DeserializeObject<gzResult<CustomData>>(result);
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if (data.data != null) {
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res = data.data;
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}
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}
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catch (Exception ex) {
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Console.WriteLine(ex.Message);
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}
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}
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else {
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msg = "[guozi-CustomBuf]读取交互信息失败";
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Console.WriteLine(msg);
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}
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return res;
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}
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}
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public class CustomData {
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public string agv_id { get; set; }
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public string parameter_varchar200_up { get; set; }
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public string parameter_varchar200_down { get; set; }
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}
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public class gzResult<T>
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{
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public string app_name { get; set; }
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public string version { get; set; }
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public int code { get; set; }
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public string msg { get; set; }
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public List<T> data { get; set; }
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}
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public class IOState
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{
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public int io_id { get; set; }
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public string io_name { get; set; }
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public string io_type_id { get; set; }
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public string io_type { get; set; }
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public int io_status_id { get; set; }
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public string io_status_type { get; set; }
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public string parameter_definition_int4_1 { get; set; }
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public int io_value_int4_1 { get; set; }
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public string parameter_definition_int4_2 { get; set; }
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public int io_value_int4_2 { get; set; }
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public string parameter_definition_int4_3 { get; set; }
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public int io_value_int4_3 { get; set; }
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public string parameter_definition_int4_4 { get; set; }
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public int io_value_int4_4 { get; set; }
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public string parameter_definition_json { get; set; }
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public string io_value_json { get; set; }
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}
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public class IOSateInfo
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{
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public int io_id { get; set; }
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public int io_status_id { get; set; }
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public int io_value_int4_1 { get; set; }
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public int io_value_int4_2 { get; set; }
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public int io_value_int4_3 { get; set; }
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public int io_value_int4_4 { get; set; }
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public string io_value_json { get; set; }
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}
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public class IOStatesInfoResult
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{
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public List<ResultInfo> success_list { get; set; }
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public List<ResultInfo> error_list { get; set; }
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public class ResultInfo { public int io_id { get; set; } }
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}
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public class OrderInfo
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{
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public string order_name { get; set; }
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public int priority { get; set; }
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public DateTime dead_line { get; set; }
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public string ts_name { get; set; }
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public string parameters { get; set; }//{\"dock\":1}
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public string created_user { get; set; }
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}
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public class OrderInfoResult
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{
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public int in_order_id { get; set; }
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}
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public class CancelOrderInfo
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{
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public List<int> order_list { get; set; }
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}
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public class CancelOrderInfoResult
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{
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public List<ResultInfo> success_list { get; set; }
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public List<ResultInfo> error_list { get; set; }
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public class ResultInfo { public int order_id { get; set; } }
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}
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public class cancle
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{
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public List<success_list> success_list { get; set; }
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public List<error_list> error_list { get; set; }
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}
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public class success_list
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{
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public int order_id { get; set; }
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}
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public class error_list
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{
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}
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public class CancelGZOrderResult
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{
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public string app_name { get; set; }
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public string version { get; set; }
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public int code { get; set; }
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public string msg { get; set; }
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public cancle data { get; set; }
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public List<int> success_list { get; set; }
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public List<int> error_list { get; set; }
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}
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public class QueryOrderResult
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{
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public int order_id { get; set; }
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public string order_name { get; set; }
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public int priority { get; set; }
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public DateTime dead_line { get; set; }
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public string ts_id { get; set; }
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public string parameters { get; set; }//{"TN_LocationName":"3-2-B", "PalletType":1}",
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public string trigger { get; set; }
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public string command { get; set; }
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public string status { get; set; }
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public List<int> agv_list { get; set; }
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public string current_task { get; set; }
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public string current_dest { get; set; }
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public string current_opt { get; set; }
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public string current_omi { get; set; }
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public DateTime create_time { get; set; }
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public DateTime? active_time { get; set; }
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public DateTime? finished_time { get; set; }
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public DateTime? cancel_time { get; set; }
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public string response_timespan { get; set; }
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public string execute_timespa { get; set; }
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public string total_timespan { get; set; }
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}
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public class InteractInfoResult
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{
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public int interaction_info_id { get; set; }
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public string interaction_info_name { get; set; }
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public string interaction_info_desp { get; set; }
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public int interaction_info_type_id { get; set; }
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public object value_json { get; set; }//{"dock": 1},
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public string info_status { get; set; }
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public string return_value { get; set; }
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}
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public class UpdateInteractInfo
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{
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public int interaction_info_id { get; set; }
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public string type_name { get; set; } = "GET_DST";
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public string info_status { get; set; }
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public string return_value { get; set; } = "";
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}
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public class interaction_state
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{
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public string state { get; set; }
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}
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public class interaction_door
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{
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public string door { get; set; }
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}
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public class interaction_bit
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{
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public string order { get; set; }
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}
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}
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