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dengjunjie

6 天以前 fd073a00f6813eada92b08f1884b115295ac1177

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -37,6 +37,7 @@
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;

namespace WIDESEAWCS_TaskInfoService
@@ -44,14 +45,16 @@
    public partial class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    {
        private readonly IRouterService _routerService;
        private readonly IRouterRepository _routerRepository;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ITaskHtyService _taskHtyService;
        private readonly IMapper _mapper;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
                {nameof(Dt_Task.Grade),OrderByType.Desc },
                {nameof(Dt_Task.CreateDate),OrderByType.Asc},
                {nameof(Dt_Task.TaskNum),OrderByType.Asc},
            };

        public Dictionary<string, OrderByType> TaskOrderBy { get { return _taskOrderBy; } set { _taskOrderBy = value; } }
@@ -60,11 +63,15 @@

        public List<int> TaskOutboundTypes => typeof(TaskOutboundTypeEnum).GetEnumIndexList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper) : base(BaseDal)
        public List<int> TaskRelocationTypes => typeof(TaskRelocationTypeEnum).GetEnumIndexList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, IRouterRepository routerRepository, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, ITaskHtyService taskHtyService, IMapper mapper) : base(BaseDal)
        {
            _routerService = routerService;
            _routerRepository = routerRepository;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _taskHtyService = taskHtyService;
            _mapper = mapper;
        }
        /// <summary>
@@ -80,10 +87,12 @@
                List<Dt_Task> tasks = new List<Dt_Task>();
                foreach (var item in taskDTOs)
                {
                    if (BaseDal.QueryFirst(x => x.TaskNum == item.TaskNum || x.PalletCode == item.PalletCode) != null)
                    if (BaseDal.QueryFirst(x => x.TaskNum == item.TaskNum) != null)
                    {
                        continue;
                        throw new Exception($"任务号【{item.TaskNum}】已存在任务");
                    }
                    if (BaseDal.QueryFirst(x => x.PalletCode == item.PalletCode) != null)
                        throw new Exception($"托盘号【{item.PalletCode}】已存在任务");
                    Dt_Task task = _mapper.Map<Dt_Task>(item);
                    task.Creater = "WMS";
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
@@ -92,7 +101,8 @@
                        //暂不考虑多路径
                        if (routers.Count > 0)
                        {
                            task.TaskState = (int)TaskOutStatusEnum.OutNew;

                            task.TaskState = item.SourceIsPickPlace ? TaskOutStatusEnum.Car_OutFinish.ObjToInt() : TaskOutStatusEnum.OutNew.ObjToInt();
                            task.CurrentAddress = item.SourceAddress;
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                        }
@@ -103,7 +113,8 @@
                        //暂不考虑多路径
                        if (routers.Count > 0)
                        {
                            task.TaskState = (int)TaskInStatusEnum.InNew;
                            if (task.TaskType != TaskInboundTypeEnum.PalletInbound.ObjToInt())
                                task.TaskState = (int)TaskInStatusEnum.InNew;
                            task.CurrentAddress = item.SourceAddress;
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                        }
@@ -122,87 +133,6 @@
            }
            return content;
        }
        /// <summary>
        /// è¾“送线入库完成向WMS申请入库/堆垛机申请入库
        /// </summary>
        /// <param name="task"></param>
        /// <returns></returns>
        public WebResponseContent StackerCraneRequestInbound(Dt_Task task)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                ConveyorLineDTO lineDTO = new ConveyorLineDTO()
                {
                    stationCode = task.CurrentAddress,
                    TaskNum = task.TaskNum,
                    Barcode = task.PalletCode
                };
                var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.StackerCraneRequestInbound, lineDTO.ToJson(), headers: new Dictionary<string, string>());
                if (ResultData.Result == null) throw new Exception($"向WMS请求入库分配货位失败!任务号:{task.TaskNum}");
                content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
                if (content.Status)
                {
                    var receiveWMSInfo = JsonConvert.DeserializeObject<ReceiveWMSInfo>(content.Data.ToJson());
                    task.IsPickPlace = receiveWMSInfo.IsPickPlace;
                    task.TargetAddress = receiveWMSInfo.TargetAddress;
                    task.NextAddress = task.TargetAddress;
                    BaseDal.UpdateData(task);
                }
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// è¾“送线检测口向WMS申请入库
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="sourceAddress">起始地址</param>
        /// <returns></returns>
        public WebResponseContent RequestWMSTask(ConveyorLineDTO lineDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                #region å‘WMS申请
                var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.ConveyorLineRequestInbound, lineDTO.ToJson(), headers: new Dictionary<string, string>());
                if (ResultData.Result == null) throw new Exception($"向WMS请求入库失败!托盘号:{lineDTO.Barcode}");

                content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);

                #endregion

                #region äº§çº¿ç”³è¯·å…¥åº“任务
                if (content != null && content.Status)//任务转换
                {
                    var task = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson());
                    if (task != null)
                    {
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.TargetAddress);
                        if (routers.Count > 0)
                        {
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                        }
                        task.WMSId = task.TaskId;
                        task.Creater = "WMS";
                        task.Dispatchertime = null;
                        task.CreateDate = DateTime.Now;
                        BaseDal.AddData(task);
                    }
                }
                #endregion

            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址查询输送线未执行的任务
@@ -212,7 +142,17 @@
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTask(string deviceNo, string currentAddress, string Barcode)
        {
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.NextAddress == currentAddress && x.PalletCode == Barcode && x.TaskState == (int)TaskInStatusEnum.AGV_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.NextAddress == currentAddress && x.PalletCode == Barcode && x.TaskState == (int)TaskInStatusEnum.AGV_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish && x.CurrentAddress == currentAddress), TaskOrderBy);
        }
        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址查询输送线未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTaskNum(string deviceNo, string currentAddress, int TaskNum)
        {
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.NextAddress == currentAddress && x.TaskNum == TaskNum && x.TaskState == (int)TaskInStatusEnum.AGV_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish && x.CurrentAddress == currentAddress), TaskOrderBy);
        }

        /// <summary>
@@ -223,7 +163,18 @@
        /// <returns></returns>
        public Dt_Task QueryExecutingConveyorLineTask(int taskNum, string nextAddress)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.NextAddress == nextAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InExecuting || x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && (x.NextAddress == nextAddress && x.TaskState == (int)TaskInStatusEnum.Line_InExecuting || x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish && x.TargetAddress == nextAddress), TaskOrderBy);
        }

        /// <summary>
        /// æ ¹æ®æ‰˜ç›˜å·ã€ä¸‹ä¸€åœ°å€æŸ¥è¯¢è¾“送线执行中的任务
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="nextAddress">下一地址</param>
        /// <returns></returns>
        public Dt_Task QueryExecutingConveyorLineTask(string Barcode, string nextAddress)
        {
            return BaseDal.QueryFirst(x => x.PalletCode == Barcode && x.NextAddress == nextAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InExecuting || x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
        }

        /// <summary>
@@ -232,11 +183,18 @@
        /// <param name="taskNum">任务号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryCompletedConveyorLineTask(int taskNum, string currentAddress)
        public Dt_Task QueryCompletedConveyorLineTask(string Barcode, string currentAddress)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
            return BaseDal.QueryFirst(x => x.PalletCode == Barcode && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
        }

        public Dt_Task QuertOutProductionLineTask(bool NextAddIsNull)
        {
            if (NextAddIsNull)
                return BaseDal.QueryFirst(x => x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish && string.IsNullOrEmpty(x.NextAddress), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish, TaskOrderBy);
        }
        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、任务类型分组(可选)按照优先级以及创建时间排序查询任务池新增的任务
        /// </summary>
@@ -253,7 +211,26 @@
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            return null;
        }

        /// <summary>
        /// æŸ¥è¯¢åº“内移库任务
        /// </summary>
        /// <param name="deviceNo"></param>
        /// <param name="currentAddress"></param>
        /// <returns></returns>
        public Dt_Task QueryStackerCraneRelocationTask(string deviceNo, string currentAddress = "")
        {
            Dt_Task task = null;
            List<Dt_Task> tasks = new List<Dt_Task>();
            if (string.IsNullOrEmpty(currentAddress))
                tasks = BaseDal.QueryData(x => x.Roadway == deviceNo && TaskRelocationTypes.Contains(x.TaskType) && x.TaskState < TaskRelocationStatusEnum.SC_RelocationExecuting.ObjToInt()).OrderBy(x => x.TaskNum).ToList();
            else
                tasks = BaseDal.QueryData(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && TaskRelocationTypes.Contains(x.TaskType) && x.TaskState < TaskRelocationStatusEnum.SC_RelocationExecuting.ObjToInt()).OrderBy(x => x.TaskNum).ToList();
            if (tasks != null && tasks.Count > 0)
            {
                task = tasks.First();
            }
            return task;
        }
        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址按照优先级以及创建时间排序查询任务池新增的任务
        /// </summary>
@@ -262,10 +239,24 @@
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneTask(string deviceNo, string currentAddress = "")
        {
            Dt_Task? _Task = null;
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish), TaskOrderBy);
            {
                _Task = BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && !string.IsNullOrEmpty(x.NextAddress) || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState <= (int)TaskOutStatusEnum.Car_OutFinish), TaskOrderBy);
                if (_Task != null && TaskOutboundTypes.Contains(_Task.TaskType))
                {
                    if (_Task.TaskState != TaskOutStatusEnum.Car_OutFinish.ObjToInt()) _Task = null;
                }
            }
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish), TaskOrderBy);
            {
                _Task = BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState <= (int)TaskOutStatusEnum.Car_OutFinish), TaskOrderBy);
                if (_Task != null && TaskOutboundTypes.Contains(_Task.TaskType))
                {
                    if (_Task.TaskState != TaskOutStatusEnum.Car_OutFinish.ObjToInt()) _Task = null;
                }
            }
            return _Task;
        }

        /// <summary>
@@ -277,11 +268,16 @@
        public Dt_Task QueryStackerCraneInTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && !string.IsNullOrEmpty(x.NextAddress), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && !string.IsNullOrEmpty(x.NextAddress) && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        public Dt_Task QueryCarOutFinish()
        {
            Dt_Task? _Task = BaseDal.QueryFirst(x => TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish, TaskOrderBy);
            return _Task;
        }
        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址按照优先级以及创建时间排序查询任务池出库类型的新增的任务
        /// </summary>
@@ -290,10 +286,13 @@
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneOutTask(string deviceNo, string currentAddress = "")
        {
            Dt_Task? _Task = null;
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish, TaskOrderBy);
                _Task = BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState <= (int)TaskOutStatusEnum.Car_OutFinish, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
                _Task = BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState <= (int)TaskOutStatusEnum.Car_OutFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
            if (_Task != null && _Task.TaskState != TaskOutStatusEnum.Car_OutFinish.ObjToInt()) _Task = null;
            return _Task;
        }

        /// <summary>
@@ -395,8 +394,9 @@
                    }

                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();

                    task.TaskState = nextStatus;
                    if (task.SourceIsPickPlace && task.TaskState == TaskOutStatusEnum.OutNew.ObjToInt())
                        task.TaskState = TaskOutStatusEnum.SC_OutExecuting.ObjToInt();
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
@@ -414,6 +414,39 @@
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = string.Empty;// $"{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}";
                        task.TargetAddress = task.NextAddress;
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)//库内移库
                {
                    if (task.TaskState >= (int)TaskRelocationStatusEnum.RelocationFinish)
                    {
                        return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                    }
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskRelocationStatusEnum>();
                    if (task.SourceIsPickPlace && task.TaskState == TaskRelocationStatusEnum.RelocationNew.ObjToInt())
                        task.TaskState = TaskRelocationStatusEnum.SC_RelocationExecuting.ObjToInt();
                    else
                        task.TaskState = nextStatus;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)//库内移车
                {
                    if (task.TaskType == TaskOtherTypeEnum.RelocationCar.ObjToInt())
                    {
                        if (task.TaskState >= (int)TaskCarStatusEnum.RelocationCarFinish)
                        {
                            return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                        }
                        int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskCarStatusEnum>();
                        task.TaskState = nextStatus;
                    }
                    else if (task.TaskType == TaskOtherTypeEnum.RelocationCarCharging.ObjToInt())
                    {
                        if (task.TaskState >= (int)CarChargingTaskEnum.CarChargingFinish)
                        {
                            return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                        }
                        int nextStatus = task.TaskState.GetNextNotCompletedStatus<CarChargingTaskEnum>();
                        task.TaskState = nextStatus;
                    }
                }
                else
@@ -476,94 +509,6 @@
            return null;
        }

        /// <summary>
        /// ä»»åŠ¡å®Œæˆ
        /// </summary>
        /// <param name="taskNum">任务编号</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent StackCraneTaskCompleted(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");

                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
                    if (!routers.Any()) return WebResponseContent.Instance.Error($"未找到设备路由信息");

                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
                    task.TaskState = nextStatus;
                    task.CurrentAddress = task.NextAddress;
                    task.NextAddress = routers.FirstOrDefault().ChildPosi;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";
                    BaseDal.UpdateData(task);

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    //todo åŒæ­¥åˆ°WMS

                    //暂不考虑多个出库口
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                {
                    //todo 
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    #region å‘WMS反馈堆垛机任务完成
                    WMSTaskDTO WMStask = _mapper.Map<WMSTaskDTO>(task);
                    var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.UpdateTaskStatus, WMStask.ToJson(), headers: new Dictionary<string, string>());
                    if (ResultData.Result == null) throw new Exception($"任务状态同步到WMS失败!任务号:{task.TaskNum}");
                    content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
                    if (content.Status)
                    {
                        BaseDal.UpdateData(task);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");
                    }
                    #endregion



                    //WMSTaskDTO taskDTO = new WMSTaskDTO()
                    //{
                    //    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                    //    Grade = 1,
                    //    PalletCode = task.PalletCode + "S",
                    //    RoadWay = "SC01",
                    //    SourceAddress = task.TargetAddress,
                    //    TargetAddress = "CLOutAreaA",
                    //    TaskState = (int)TaskOutStatusEnum.OutNew,
                    //    Id = 0,
                    //    TaskType = (int)TaskOutboundTypeEnum.Outbound
                    //};

                    //content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {
                    //todo è°ƒç”¨WMS移库完成
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
                {

                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");
                }
                content = WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务完成异常,任务号:【{taskNum}】");
            }
            return content;
        }

        /// <summary>
        /// æ¢å¤æŒ‚起任务
@@ -655,12 +600,25 @@
            }
            return content;
        }

        public Dt_Task GetTaskInfo(int taskNum)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum);
        }

        /// <summary>
        /// æ ¹æ®ä»»åŠ¡å·å’Œä»»åŠ¡çŠ¶æ€æŸ¥è¯¢ä»»åŠ¡
        /// </summary>
        /// <param name="taskNum"></param>
        /// <returns></returns>
        public Dt_Task GetTaskInfo(int taskNum, int taskState)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.TaskState == taskState);
        }
        /// <summary>
        /// æ ¹æ®ä»»åŠ¡çŠ¶æ€ã€ç±»åž‹æŸ¥è¯¢ä»»åŠ¡
        /// </summary>
        /// <param name="TaskState"></param>
        /// <param name="TaskType"></param>
        /// <returns></returns>
        public Dt_Task GetTaskState(int TaskState, int TaskType)
        {
            Dt_Task task = null;
@@ -672,20 +630,7 @@
                task = BaseDal.QueryFirst(x => x.TaskType == TaskType);
            return task;
        }

        /// <summary>
        /// æŸ¥è¯¢ç©¿æ¢­è½¦å‡ºå…¥åº“任务
        /// </summary>
        /// <param name="deviceNo"></param>
        /// <param name="currentAddress"></param>
        /// <returns></returns>
        public Dt_Task QueryShuttleCarTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.ShuttleCarCode == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.SC_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.ShuttleCarCode == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.SC_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
        }
        private static readonly SemaphoreSlim _semaphore = new SemaphoreSlim(1, 1);
        /// <summary>
        /// æ·»åŠ ç§»è½¦ä»»åŠ¡
        /// </summary>
@@ -694,28 +639,51 @@
        /// <param name="ShuttleCarCode">穿梭车号</param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent AddRelocationCarTask(string SourceAddress, string TargetAddress, string ShuttleCarCode = "", string remark = "")
        public async Task AddRelocationCarTask(string SourceAddress, string TargetAddress, string ShuttleCarCode = "", string remark = "")
        {
            #region åˆ›å»ºå †åž›æœºç§»è½¦ä»»åŠ¡
            Dt_Task dt_Task = new Dt_Task()
            await _semaphore.WaitAsync();
            try
            {
                TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                Grade = 2,
                Roadway = "SC01",
                TaskType = (int)TaskOtherTypeEnum.RelocationCar,
                SourceAddress = SourceAddress,
                TargetAddress = TargetAddress,
                CurrentAddress = SourceAddress,
                NextAddress = TargetAddress,
                CreateDate = DateTime.Now,
                Creater = "WCS",
                TaskState = (int)TaskCarStatusEnum.CarNew,
                ShuttleCarCode = ShuttleCarCode,
                WMSId = 0,
                Remark = remark
            };
            return AddData(dt_Task);
            #endregion
                if (!string.IsNullOrEmpty(SourceAddress) && SourceAddress != "")
                {
                    Dt_Task? task = BaseDal.QueryFirst(x => x.SourceAddress == SourceAddress && (x.TaskType == TaskOtherTypeEnum.RelocationCar.ObjToInt() || x.TaskType == TaskOtherTypeEnum.RelocationCarCharging.ObjToInt()));
                    if (task != null) return;
                }
                if (!string.IsNullOrEmpty(TargetAddress) && TargetAddress != "")
                {
                    Dt_Task? task = BaseDal.QueryFirst(x => x.TargetAddress == TargetAddress && (x.TaskType == TaskOtherTypeEnum.RelocationCar.ObjToInt() || x.TaskType == TaskOtherTypeEnum.RelocationCarCharging.ObjToInt()));
                    if (task != null) return;
                }
                #region åˆ›å»ºå †åž›æœºç§»è½¦ä»»åŠ¡
                Dt_Task dt_Task = new Dt_Task()
                {
                    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                    Grade = 2,
                    Roadway = "SC01",
                    TaskType = string.IsNullOrEmpty(remark) ? (int)TaskOtherTypeEnum.RelocationCar : (int)TaskOtherTypeEnum.RelocationCarCharging,
                    SourceAddress = SourceAddress,
                    TargetAddress = TargetAddress,
                    CurrentAddress = SourceAddress,
                    NextAddress = TargetAddress,
                    CreateDate = DateTime.Now,
                    Creater = "WCS",
                    TaskState = string.IsNullOrEmpty(remark) ? (int)TaskCarStatusEnum.CarNew : (int)CarChargingTaskEnum.CarChargingNew,
                    ShuttleCarCode = ShuttleCarCode,
                    WMSId = 0,
                    Remark = remark
                };
                if (SourceAddress == TargetAddress) dt_Task.TaskState = (int)CarChargingTaskEnum.CarChargingSC_CarFinish;
                AddData(dt_Task);
                #endregion
            }
            catch (Exception)
            {

            }
            finally
            {
                _semaphore.Release();
            }
        }
    }
}