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@@ -10,127 +10,127 @@ using WCS.WorkEngineering.WebApi.Models.AGV.Response;
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namespace WCS.WorkEngineering.WebApi.Controllers
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{
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- ///// <summary>
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- ///// AGV相关接口控制器
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- ///// </summary>
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- //[ApiController]
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- //[Route("api/[controller]/[action]")]
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- //public class AgvController : ControllerBase
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- //{
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- // /// <summary>
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- // /// AGV任务下发测试
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- // /// </summary>
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- // /// <param name="type">任务类型</param>
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- // /// <param name="code">RFID</param>
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- // /// <param name="pos">目标位置</param>
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- // /// <returns></returns>
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- // [HttpPost]
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- // public string AgvDebug(int type, string code, string pos)
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- // {
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- // try
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- // {
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- // switch (type)
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- // {
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- // case 1:
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- // //AgvApi.机台补空(pos, code, "1");
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- // break;
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+ /// <summary>
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+ /// AGV相关接口控制器
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+ /// </summary>
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+ [ApiController]
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+ [Route("api/[controller]/[action]")]
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+ public class AgvController : ControllerBase
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+ {
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+ /// <summary>
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+ /// AGV任务下发测试
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+ /// </summary>
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+ /// <param name="type">任务类型</param>
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+ /// <param name="code">RFID</param>
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+ /// <param name="pos">目标位置</param>
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+ /// <returns></returns>
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+ [HttpPost]
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+ public string AgvDebug(int type, string code, string pos)
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+ {
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+ try
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+ {
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+ switch (type)
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+ {
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+ case 1:
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+ //AgvApi.机台补空(pos, code, "1");
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+ break;
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- // case 2:
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- // //AgvApi.机台补满();
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- // break;
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+ case 2:
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+ //AgvApi.机台补满();
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+ break;
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- // case 3:
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- // //AgvApi.满轮入库(code, pos, Guid.NewGuid().ToString().Replace("-", ""), "1");
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- // break;
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- // }
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- // return "成功";
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- // }
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- // catch (Exception ex)
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- // {
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- // return $"Error-----" +
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- // $"{ex.Message}------" +
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- // $"{ex.StackTrace}";
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- // }
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- // }
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+ case 3:
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+ //AgvApi.满轮入库(code, pos, Guid.NewGuid().ToString().Replace("-", ""), "1");
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+ break;
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+ }
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+ return "成功";
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+ }
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+ catch (Exception ex)
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+ {
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+ return $"Error-----" +
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+ $"{ex.Message}------" +
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+ $"{ex.StackTrace}";
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+ }
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+ }
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- // /// <summary>
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- // /// AGV执行回调
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- // /// </summary>
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- // /// <param name="reqDto"></param>
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- // /// <returns></returns>
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- // [HttpPost]
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- // public AgvCallbackResponse AgvCallback([FromBody] AgvCallbackRequest reqDto)
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- // {
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- // var key = $"WCS:Lock:AGV:{nameof(AgvCallback)}";
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- // var res = new AgvCallbackResponse() { code = AgvResponseCode.Success, message = "失败" };
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- // //LogHub.InterfacePublish(nameof(AgvCallback), $"传入参数--reqCode:{reqDto.reqCode}--taskCode:{reqDto.taskCode}--method:{reqDto.method}");
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- // try
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- // {
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- // RedisHub.Do(key, redis =>
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- // {
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- // SqlSugarHelper.Do(db =>
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- // {
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- // //跟据AGVid找到对应的AGV任务
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- // var agvTask = db.Default.Queryable<WCS_AgvTaskInfo>().UpdLock().SplitTable(tabs => tabs.Take(2))
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- // .First(v => v.AgvID == reqDto.taskCode && v.Status < AGVTaskStatus.MissionCompleted);
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- // if (agvTask == null)
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- // {
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- // res.code = AgvResponseCode.Fail;
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- // res.message = "未找到对应的AGV任务";
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+ /// <summary>
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+ /// AGV执行回调
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+ /// </summary>
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+ /// <param name="reqDto"></param>
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+ /// <returns></returns>
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+ [HttpPost]
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+ public AgvCallbackResponse AgvCallback([FromBody] AgvCallbackRequest reqDto)
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+ {
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+ var key = $"WCS:Lock:AGV:{nameof(AgvCallback)}";
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+ var res = new AgvCallbackResponse() { code = AgvResponseCode.Success, message = "失败" };
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+ //LogHub.InterfacePublish(nameof(AgvCallback), $"传入参数--reqCode:{reqDto.reqCode}--taskCode:{reqDto.taskCode}--method:{reqDto.method}");
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+ try
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+ {
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+ RedisHub.Do(key, redis =>
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+ {
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+ SqlSugarHelper.Do(db =>
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+ {
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+ //跟据AGVid找到对应的AGV任务
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+ var agvTask = db.Default.Queryable<WCS_AgvTaskInfo>().UpdLock().SplitTable(tabs => tabs.Take(2))
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+ .First(v => v.AgvID == reqDto.taskCode && v.Status < AGVTaskStatus.MissionCompleted);
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+ if (agvTask == null)
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+ {
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+ res.code = AgvResponseCode.Fail;
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+ res.message = "未找到对应的AGV任务";
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- // return;
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- // }
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- // switch (reqDto.method)
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- // {
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- // case "applyContinue": //表示请求巷道
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- // agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission1;
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- // break;
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+ return;
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+ }
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+ switch (reqDto.method)
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+ {
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+ case "applyContinue": //表示请求巷道
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+ agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission1;
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+ break;
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- // case "outbin": //小车退出取货位
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- // agvTask.AgvStatus = AGVTaskStatus.LeaveGet;
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- // break;
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+ case "outbin": //小车退出取货位
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+ agvTask.AgvStatus = AGVTaskStatus.LeaveGet;
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+ break;
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- // case "applySecurity": //表示请求放货或取货
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- // agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission2;
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- // break;
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+ case "applySecurity": //表示请求放货或取货
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+ agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission2;
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+ break;
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- // case "applySecurityPut": //表示请求放货或取货
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- // agvTask.AgvStatus = AGVTaskStatus.PutRequestOrPermission;
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- // break;
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+ case "applySecurityPut": //表示请求放货或取货
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+ agvTask.AgvStatus = AGVTaskStatus.PutRequestOrPermission;
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+ break;
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- // case "FJend": //任务完成
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- // agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
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- // break;
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+ case "FJend": //任务完成
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+ agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
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+ break;
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- // case "cancel": //取消任务
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- // if (agvTask.TaskType == AGVTaskType.EnterDepot)
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- // {
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- // agvTask.AgvStatus = AGVTaskStatus.Cancel;
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- // }
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+ case "cancel": //取消任务
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+ if (agvTask.TaskType == AGVTaskType.EnterDepot)
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+ {
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+ agvTask.AgvStatus = AGVTaskStatus.Cancel;
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+ }
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- // break;
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- // }
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+ break;
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+ }
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- // int i = db.Default.Updateable(agvTask).SplitTable(x => x.Take(2)).ExecuteCommand();
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- // if (i > 0)
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- // {
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- // res.code = AgvResponseCode.Success;
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- // res.message = "成功";
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- // }
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- // else
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- // {
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- // return;
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- // }
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- // });
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- // });
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- // }
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- // catch (Exception ex)
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- // {
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- // res.code = AgvResponseCode.Error;
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- // res.message = ex.Message;
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- // }
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- // //LogHub.InterfacePublish(nameof(AgvCallback), $"返回结果--reqCode:{reqDto.reqCode}--code:{res.code}--message:{res.message}--taskCode:{reqDto.taskCode}");
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- // return res;
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- // }
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- //}
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+ int i = db.Default.Updateable(agvTask).SplitTable(x => x.Take(2)).ExecuteCommand();
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+ if (i > 0)
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+ {
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+ res.code = AgvResponseCode.Success;
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+ res.message = "成功";
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+ }
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+ else
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+ {
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+ return;
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+ }
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+ });
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+ });
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+ }
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+ catch (Exception ex)
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+ {
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+ res.code = AgvResponseCode.Error;
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+ res.message = ex.Message;
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+ }
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+ //LogHub.InterfacePublish(nameof(AgvCallback), $"返回结果--reqCode:{reqDto.reqCode}--code:{res.code}--message:{res.message}--taskCode:{reqDto.taskCode}");
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+ return res;
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+ }
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+ }
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}
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xu.lu