264 lines
11 KiB
C#
264 lines
11 KiB
C#
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/*************************************************************************************
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*
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* 文 件 名: SendDataToAgv
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* 描 述: 向Agv发送数据
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* 备 注:
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* 创 建 者： Du
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* 创建时间： 2022/8/2 9:41:19
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*************************************************************************************/
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using Newtonsoft.Json;
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using RGD.HaiRouAPI.HaiRouModel;
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using RGD.HaiRouAPI.HaiRouModel.Inv;
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using System;
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using System.Collections.Generic;
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namespace RGD.HaiRouAPI
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{
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public class SendDataToAgv
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{
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private static string agvip = "http://192.168.0.50:9046";
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/// <summary>
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/// 获取机器人状态
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/// </summary>
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/// <param name="robotCode">agv编码</param>
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/// <returns></returns>
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public static robot getRobotStatue(string robotCode)
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{
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var url = agvip + "/robot/query";
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List<string> robotCodeList = new List<string>();
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robotCodeList.Add(robotCode);
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RobotStatue rs = new RobotStatue();
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rs.RobotsCodes = robotCodeList;
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var jsonmodel = JsonConvert.SerializeObject(rs);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "getRobotStatue");
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robot robot = JsonConvert.DeserializeObject<robot>(content);
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return robot;
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}
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/// <summary>
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/// 发送任务到AGV
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/// </summary>
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/// <param name="taskType">任务类型</param>
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/// <param name="startPos">起始位置</param>
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/// <param name="EndPos">终点位置</param>
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/// <param name="TaskIndex">调度任务号</param>
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/// <param name="containerCode">容器编码</param>
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/// <returns></returns>
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public static ApplyResult SendTaskToAgv(string taskType, string startPos, string EndPos, string TaskIndex, string containerCode)
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{
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var url = agvip + "/task/create";
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TaskApply ta = new TaskApply();
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List<HaiRouModel.task> lt = new List<HaiRouModel.task>();
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HaiRouModel.task tasks = new HaiRouModel.task();
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List<taskDescribe> ltd = new List<taskDescribe>();
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tasks.taskCode = TaskIndex;
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if (taskType == "1")
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{
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ta.taskType = "tote_inbound";
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InTaskDescribe itd = new InTaskDescribe();
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itd.containerCode = containerCode != "" ? containerCode : "999999999";
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itd.containerType = "CT_KUBOT_STANDARD";
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itd.fromLocationCode = startPos;
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itd.locationCode = EndPos;
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tasks.taskDescribe = itd;
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lt.Add(tasks);
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ta.tasks = lt;
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}
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else if (taskType == "2")
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{
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ta.taskType = "tote_outbound";
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OutTaskDescribe otd = new OutTaskDescribe();
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otd.containerCode = containerCode != "" ? containerCode : "999999999";
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otd.fromLocationCode = startPos;
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otd.toLocationCode = EndPos;
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;
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tasks.taskDescribe = otd;
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lt.Add(tasks);
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ta.tasks = lt;
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}
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var jsonmodel = JsonConvert.SerializeObject(ta);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "SendTaskToAgv");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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/// <summary>
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/// 发送任务列表到AGV,只用于出库模式
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/// </summary>
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/// <param name="taskType">任务类型</param>
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/// <param name="startPos">起始位置</param>
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/// <param name="EndPos">终点位置</param>
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/// <param name="TaskIndex">调度任务号</param>
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/// <param name="containerCode">容器编码</param>
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/// <returns></returns>
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public static ApplyResult SendTasksToAgv(List<HaiRouModel.task> tasks)
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{
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var url = agvip + "/task/create";
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TaskApply ta = new TaskApply();
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ta.taskType = "tote_outbound";
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ta.tasks = tasks;
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var jsonmodel = JsonConvert.SerializeObject(ta);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "SendTaskToAgv");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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public static ApplyResult SendTasksToAgv(CreateActionTask tasks)
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{
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var url = "http://192.168.0.50:9000/wms/createActionTask";
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var jsonmodel = JsonConvert.SerializeObject(tasks);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "SendTaskToAgv4Inv");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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/// <summary>
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/// 任务取消
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/// </summary>
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/// <param name="taskIndex">调度任务号</param>
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/// <returns></returns>
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public static ApplyResult SendCancelToAgv(string taskIndex)
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{
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var url = agvip + "/task/cancel";
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TaskCancel tc = new TaskCancel();
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List<string> code = new List<string>();
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code.Add(taskIndex);
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tc.taskCodes = code;
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var jsonmodel = JsonConvert.SerializeObject(tc);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "SendCancelToAgv");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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/*public static ApplyResult TestSendTaskToAgv(string taskType, string startPos, string EndPos, string TaskIndex, string containerCode)
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{
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var url = agvip + "/task/create";
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TaskApply ta = new TaskApply();
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List<task> lt = new List<task>();
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task tasks = new task();
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//List<taskDescribe> ltd = new List<taskDescribe>();
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tasks.taskCode = TaskIndex;
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if (taskType == "1")
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{
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ta.taskType = "tote_inbound";
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InTaskDescribe itd = new InTaskDescribe();
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itd.containerCode = containerCode;
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itd.containerType = "CT_KUBOT_STANDARD";
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itd.fromLocationCode = startPos;
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itd.locationCode = EndPos;
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//ltd.Add(itd);
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tasks.taskDescribe = itd;
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lt.Add(tasks);
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ta.tasks = lt;
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}
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else if (taskType == "2")
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{
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ta.taskType = "tote_outbound";
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OutTaskDescribe otd = new OutTaskDescribe();
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otd.containerCode = containerCode != "" ? containerCode : "999999999";
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otd.fromLocationCode = startPos;
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otd.toLocationCode = EndPos;
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//ltd.Add(otd);
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tasks.taskDescribe = otd;
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lt.Add(tasks);
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ta.tasks = lt;
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}
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var jsonmodel = JsonConvert.SerializeObject(ta);
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var content = HttpServer.sendJsonToService(url, jsonmodel);
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}*/
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public static ContainerArrivedRes TestBoxArrive(string fromcode, string containercode)
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{
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var url = agvip + "/conveyor/containerArrived";
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ContainerArrived ca = new ContainerArrived();
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ca.slotCode = fromcode;
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ca.containerCode = containercode;
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var jsonmodel = JsonConvert.SerializeObject(ca);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "boxArrive");
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return JsonConvert.DeserializeObject<ContainerArrivedRes>(content);
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}
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public static ApplyResult LetGo()
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{
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var url = "http://192.168.0.50:9000/station/letRobotGo";
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LetRobotGo lrg = new LetRobotGo();
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lrg.robotCode = "kubot-1";
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var jsonmodel = JsonConvert.SerializeObject(lrg);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "letGo");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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public static ApplyResult TestSingleLoadTask()
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{
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ApplyResult containercreate = SendDataToAgv.ContainerCrteate("343810010264");
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ApplyResult boxarrive = SendDataToAgv.TestBoxArrive("1-1", "343810010264");
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if (boxarrive.code != "0")
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{
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ApplyResult arr = new ApplyResult();
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arr.code = "200";
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arr.msg = "容器到达接口失败";
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return arr;
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}
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var url = "http://192.168.0.50:9000/wms/createActionTask";
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CreateActionTask cat = new CreateActionTask();
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cat.robotCode = "kubot-1";
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cat.taskGroupCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
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List<HaiRouAPI.HaiRouModel.Inv.task> tasks4Test = new List<HaiRouAPI.HaiRouModel.Inv.task>();
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HaiRouAPI.HaiRouModel.Inv.task task = new HaiRouAPI.HaiRouModel.Inv.task();
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task.taskAction = "load";
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task.taskCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
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task.isFinallyPaused = 0;
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task.containerCode = "343810010264";
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task.locationCode = "12004";
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tasks4Test.Add(task);
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cat.tasks = tasks4Test;
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var jsonmodel = JsonConvert.SerializeObject(cat);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "test");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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public static ApplyResult TestSingleUnloadTask()
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{
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var url = "http://192.168.0.50:9000/wms/createActionTask";
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CreateActionTask cat = new CreateActionTask();
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cat.robotCode = "kubot-1";
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cat.taskGroupCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
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List<HaiRouAPI.HaiRouModel.Inv.task> tasks4Test = new List<HaiRouAPI.HaiRouModel.Inv.task>();
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HaiRouAPI.HaiRouModel.Inv.task task = new HaiRouModel.Inv.task();
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task.taskAction = "unload";
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task.taskCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
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task.isFinallyPaused = 0;
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task.containerCode = "343810010264";
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task.locationCode = "04-08-01";
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tasks4Test.Add(task);
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cat.tasks = tasks4Test;
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var jsonmodel = JsonConvert.SerializeObject(cat);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "test");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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public static ApplyResult ContainerCrteate(string containercode)
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{
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var url = "http://192.168.0.50:9000/container/add";
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ContainerAdds cas = new ContainerAdds();
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List<containerAdds> ca = new List<containerAdds>();
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containerAdds a = new containerAdds();
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a.containerCode = containercode;
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a.containerTypeCode = "CT_KUBOT_STANDARD";
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ca.Add(a);
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cas.containerAdds = ca;
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var jsonmodel = JsonConvert.SerializeObject(cas);
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var content = HttpServer.sendJsonToService(url, jsonmodel, "test");
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return JsonConvert.DeserializeObject<ApplyResult>(content);
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}
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}
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}
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