更新

hutongqing

2024-10-15 0d07b90fd906e52ce486484aa53a6850983b1325

 WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -15,24 +15,28 @@
 *----------------------------------------------------------------*/
#endregion << 版 本 注 释 >>

using AutoMapper;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_Common.TaskEnum;

namespace WIDESEAWCS_TaskInfoService
{
@@ -41,12 +45,26 @@
        private readonly IRouterService _routerService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly IMapper _mapper;

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository) : base(BaseDal)
        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
                {nameof(Dt_Task.Grade),OrderByType.Desc },
                {nameof(Dt_Task.CreateDate),OrderByType.Asc},
            };

        public Dictionary<string, OrderByType> TaskOrderBy { get { return _taskOrderBy; } set { _taskOrderBy = value; } }

        public List<int> TaskInboundTypes => typeof(TaskInboundTypeEnum).GetEnumIndexList();

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

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _mapper = mapper;
        }

        /// <summary>
@@ -54,7 +72,7 @@
        /// </summary>
        /// <param name="taskDTOs">WMS任务对象集合</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent ReceiveWMSTask(List<WMSTaskDTO> taskDTOs)
        public WebResponseContent ReceiveWMSTask([NotNull] List<WMSTaskDTO> taskDTOs)
        {
            WebResponseContent content = new WebResponseContent();
            try
@@ -66,66 +84,35 @@
                    {
                        continue;
                    }

                    Dt_Task task = new()
                    Dt_Task task = _mapper.Map<Dt_Task>(item);
                    task.Creater = "WMS";
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        PalletCode = item.PalletCode,
                        TaskNum = item.TaskNum,
                        Roadway = item.RoadWay,
                        TaskType = item.TaskType,
                        SourceAddress = item.SourceAddress,
                        WMSId = item.Id,
                        TargetAddress = item.TargetAddress,
                        Grade = item.Grade,
                        Creater = "WMS"
                    };

                    if (!int.TryParse(Enum.Parse<TaskOutboundTypeEnum>(task.TaskType.ToString()).ToString(), out int result))
                    {
                        List<Dt_Router> routers = _routerService.QueryRoutes(item.SourceAddress, item.TargetAddress);
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(item.RoadWay, item.TargetAddress);
                        //暂不考虑多路径
                        if (routers.Count > 0)
                        {
                            task.TaskState = (int)TaskOutStatusEnum.OutNew;
                            task.CurrentAddress = item.SourceAddress;
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                            tasks.Add(task);
                        }
                    }
                    else if (!int.TryParse(Enum.Parse<TaskInboundTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        List<Dt_Router> routers = _routerService.QueryRoutes(item.SourceAddress, item.TargetAddress);
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(item.SourceAddress, item.TargetAddress);
                        //暂不考虑多路径
                        if (routers.Count > 0)
                        {
                            task.TaskState = (int)TaskInStatusEnum.InNew;
                            task.CurrentAddress = item.SourceAddress;
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                            tasks.Add(task);
                        }
                    }
                    else if (!int.TryParse(Enum.Parse<TaskRelocationTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                    {
                        //if ((TaskRelocationTypeEnum)result == TaskRelocationTypeEnum.Relocation)
                        //{
                        //    task.TaskState = (int)TaskOutStatusEnum.OutNew;
                        //    task.CurrentAddress = item.SourceAddress;
                        //    task.NextAddress = item.TargetAddress;
                        //    tasks.Add(task);
                        //}
                    }
                    else if (!int.TryParse(Enum.Parse<TaskOtherTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                    {

                    }
                    else
                    {
                        throw new Exception($"接收WMS任务失败,任务类型错误,未找到该任务类型,任务号:【{item.TaskNum}】,任务类型:【{item.TaskType}】");
                    }


                    tasks.Add(task);
                }
                BaseDal.AddData(tasks);

                _taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskNum).ToList(), "接收WMS任务");

                content = WebResponseContent.Instance.OK("成功");
            }
@@ -137,6 +124,89 @@
        }

        /// <summary>
        /// 根据托盘号、起始地址向WMS请求任务
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="sourceAddress">起始地址</param>
        /// <returns></returns>
        public WebResponseContent RequestWMSTask(string palletCode, string sourceAddress)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                WMSTaskDTO taskDTO = new WMSTaskDTO()
                {
                    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                    Grade = 1,
                    PalletCode = palletCode,
                    RoadWay = "SC01",
                    SourceAddress = sourceAddress,
                    TargetAddress = "SC01",
                    TaskState = (int)TaskInStatusEnum.InNew,
                    Id = 0,
                    TaskType = (int)TaskInboundTypeEnum.Inbound
                };

                content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 根据设备编号、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 QueryConveyorLineTask(string deviceNo, string currentAddress)
        {
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
        /// 根据任务号、下一地址查询输送线执行中的任务
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="nextAddress">下一地址</param>
        /// <returns></returns>
        public Dt_Task QueryExecutingConveyorLineTask(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);
        }

        /// <summary>
        /// 根据任务号、当前地址查询输送线完成的任务
        /// </summary>
        /// <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)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
        }

        /// <summary>
        /// 根据设备编号、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>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="taskTypeGroup">任务类型分组(可选)</param>
        /// <returns></returns>
        public Dt_Task? QuertStackerCraneTask(string deviceNo, TaskTypeGroup? taskTypeGroup = null)
        {
            if (taskTypeGroup == null)
                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.OutNew), TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.InboundGroup)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.OutbondGroup)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            return null;
        }

        /// <summary>
        /// 根据设备编号、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>
        /// <param name="deviceNo">设备编号</param>
@@ -144,19 +214,10 @@
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneTask(string deviceNo, string currentAddress = "")
        {
            IEnumerable<int> taskInboundTypes = Enum.GetValues(typeof(TaskInboundTypeEnum)).Cast<int>();
            IEnumerable<int> taskOutboundTypes = Enum.GetValues(typeof(TaskOutboundTypeEnum)).Cast<int>();

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

            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (x.TaskType >= taskInboundTypes.Min() && x.TaskType <= taskInboundTypes.Max() && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskType >= taskOutboundTypes.Min() && x.TaskType <= taskOutboundTypes.Max() && x.TaskState == (int)TaskOutStatusEnum.OutNew), orderBy);
                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.OutNew), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (x.TaskType >= taskInboundTypes.Min() && x.TaskType <= taskInboundTypes.Max() && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskType >= taskOutboundTypes.Min() && x.TaskType <= taskOutboundTypes.Max() && x.TaskState == (int)TaskOutStatusEnum.OutNew), orderBy);
                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.OutNew), TaskOrderBy);
        }

        /// <summary>
@@ -167,18 +228,10 @@
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneInTask(string deviceNo, string currentAddress = "")
        {
            IEnumerable<int> taskInboundTypes = Enum.GetValues(typeof(TaskInboundTypeEnum)).Cast<int>();

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

            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskType >= taskInboundTypes.Min() && x.TaskType <= taskInboundTypes.Max() && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, orderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskType >= taskInboundTypes.Min() && x.TaskType <= taskInboundTypes.Max() && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && x.CurrentAddress == currentAddress, orderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -189,18 +242,10 @@
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneOutTask(string deviceNo, string currentAddress = "")
        {
            IEnumerable<int> taskInboundTypes = Enum.GetValues(typeof(TaskOutboundTypeEnum)).Cast<int>();

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

            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskType >= taskInboundTypes.Min() && x.TaskType <= taskInboundTypes.Max() && x.TaskState == (int)TaskOutStatusEnum.OutNew, orderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskType >= taskInboundTypes.Min() && x.TaskType <= taskInboundTypes.Max() && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, orderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -211,14 +256,7 @@
        /// <returns>返回任务实体对象集合，可能为null</returns>
        public List<Dt_Task> QueryStackerCraneOutTasks(string deviceNo, List<string> outStationCodes)
        {
            IEnumerable<int> taskInboundTypes = Enum.GetValues(typeof(TaskOutboundTypeEnum)).Cast<int>();

            Dictionary<string, OrderByType> orderBy = new()
            {
                {nameof(Dt_Task.Grade),OrderByType.Desc },
                {nameof(Dt_Task.CreateDate),OrderByType.Asc},
            };
            return BaseDal.QueryData(x => x.Roadway == deviceNo && x.TaskType >= taskInboundTypes.Min() && x.TaskType <= taskInboundTypes.Max() && x.TaskState == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), orderBy);
            return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
        }

        /// <summary>
@@ -233,11 +271,11 @@
            {
                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 (!int.TryParse(Enum.Parse<TaskOutboundTypeEnum>(task.TaskType.ToString()).ToString(), out int result))
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutPending;
                }
                else if (!int.TryParse(Enum.Parse<TaskInStatusEnum>(task.TaskType.ToString()).ToString(), out result))
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    task.TaskState = (int)TaskInStatusEnum.InPending;
                }
@@ -245,7 +283,7 @@
                task.ModifyDate = DateTime.Now;
                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, task.TaskNum, task.TaskState, task.ExceptionMessage);
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, task.ExceptionMessage);

                content = WebResponseContent.Instance.OK();
            }
@@ -281,40 +319,70 @@
            {
                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}】");
                return UpdateTaskStatusToNext(task);
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

                if (task.TaskState >= (int)TaskInStatusEnum.InFinish || task.TaskState >= (int)TaskOutStatusEnum.OutFinish)
                {
                    return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                }
        /// <summary>
        /// 将任务状态修改为下一个状态
        /// </summary>
        /// <param name="task">任务实体对象</param>
        /// <returns></returns>
        public WebResponseContent UpdateTaskStatusToNext([NotNull] Dt_Task task)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                int oldState = task.TaskState;
                if (!int.TryParse(Enum.Parse<TaskOutboundTypeEnum>(task.TaskType.ToString()).ToString(), out int result))
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    List<int> list = Enum.GetValues(typeof(TaskOutStatusEnum)).Cast<int>().ToList();
                    int nextStatus = list.Where(x => x > task.TaskState && x < (int)TaskOutStatusEnum.OutFinish).OrderBy(x => x).FirstOrDefault();
                    task.TaskState = nextStatus;
                }
                else if (!int.TryParse(Enum.Parse<TaskInboundTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                {
                    int nextStatus = Enum.GetValues(typeof(TaskInStatusEnum)).Cast<int>().Where(x => x > task.TaskState && x < (int)TaskInStatusEnum.InFinish).OrderBy(x => x).FirstOrDefault();
                    task.TaskState = nextStatus;
                }
                else if (!int.TryParse(Enum.Parse<TaskRelocationTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                {
                    //todo 调用WMS移库完成
                }
                else if (!int.TryParse(Enum.Parse<TaskOtherTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                {
                    if (task.TaskState >= (int)TaskOutStatusEnum.OutFinish)
                    {
                        return content = WebResponseContent.Instance.Error($"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<TaskOutStatusEnum>();

                    task.TaskState = nextStatus;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    if (task.TaskState >= (int)TaskInStatusEnum.InFinish)
                    {
                        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<TaskInStatusEnum>();
                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    {
                        Random random = new Random();
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = $"{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}";
                        task.TargetAddress = task.NextAddress;
                    }
                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{task.TaskNum}】,任务类型:【{task.TaskType}】");
                }

                if (task.TaskState <= 0)
                {
                    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}】");
                }

                task.ModifyDate = DateTime.Now;
                task.Modifier = "System";
                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, task.TaskNum, task.TaskState, App.User.UserId > 0 ? $"人工将任务状态从【{oldState}】跳转到【{task.TaskState}】" : "", App.User.UserId > 0);
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, App.User.UserId > 0 ? $"人工手动将任务状态从【{oldState}】跳转到【{task.TaskState}】" : $"系统自动流程，任务状态从【{oldState}】转到【{task.TaskState}】");

                content = WebResponseContent.Instance.OK();
            }
@@ -326,11 +394,46 @@
        }

        /// <summary>
        /// 根据任务号、当前地址更新任务位置信息
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task? UpdatePosition(int taskNum, string currentAddress)
        {
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress);
                if (task == null) throw new Exception($"未找到该任务信息,任务号:【{taskNum}】");

                string oldCurrentPos = task.CurrentAddress;
                string oldNextPos = task.NextAddress;

                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
                if (!routers.Any()) throw new Exception($"未找到设备路由信息");

                task.CurrentAddress = task.NextAddress;
                task.NextAddress = routers.FirstOrDefault().ChildPosi;

                task.ModifyDate = DateTime.Now;
                task.Modifier = "System";
                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"系统自动流程，更新当前位置【{oldCurrentPos} ----> {task.CurrentAddress}】和下一位置【{oldNextPos} ----> {task.NextAddress}】");
                return task;
            }
            catch (Exception ex)
            {
            }
            return null;
        }

        /// <summary>
        /// 任务完成
        /// </summary>
        /// <param name="taskNum">任务编号</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent TaskCompleted(int taskNum)
        public WebResponseContent StackCraneTaskCompleted(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();
            try
@@ -338,45 +441,54 @@
                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 (!int.TryParse(Enum.Parse<TaskOutboundTypeEnum>(task.TaskType.ToString()).ToString(), out int result))
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    List<Dt_Router> routers = _routerService.QueryRoutes(task.SourceAddress, task.TargetAddress);
                    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");
                    if (routers.Count != 0)
                    {
                        int nextStatus = Enum.GetValues(typeof(TaskOutboundTypeEnum)).Cast<int>().Where(x => x > task.TaskState).OrderBy(x => x).FirstOrDefault();
                        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, task.TaskNum, task.TaskState, $"");
                        //todo 同步到WMS
                    }
                    else//暂不考虑多个出库口
                    {

                    }
                }
                else if (!int.TryParse(Enum.Parse<TaskInboundTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                {
                    string locationCode = "";
                    //todo 调用WMS申请分配货位

                    int nextStatus = Enum.GetValues(typeof(TaskInboundTypeEnum)).Cast<int>().Where(x => x > task.TaskState).OrderBy(x => x).FirstOrDefault();
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
                    task.TaskState = nextStatus;
                    task.CurrentAddress = task.NextAddress;
                    task.NextAddress = locationCode;
                    task.NextAddress = routers.FirstOrDefault().ChildPosi;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";
                    BaseDal.UpdateData(task);

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, task.TaskNum, task.TaskState, $"");
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    //todo 同步到WMS

                    //暂不考虑多个出库口
                }
                else if (!int.TryParse(Enum.Parse<TaskRelocationTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                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";
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");

                    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 调用WMS移库完成
                }
                else if (!int.TryParse(Enum.Parse<TaskOtherTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
                {

                }
@@ -417,11 +529,11 @@
                }
                else
                {
                    if (!int.TryParse(Enum.Parse<TaskOutboundTypeEnum>(task.TaskType.ToString()).ToString(), out int result))
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutNew;
                    }
                    else if (!int.TryParse(Enum.Parse<TaskInboundTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                    }
@@ -432,7 +544,7 @@

                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, taskNum, task.TaskState, $"人工恢复挂起任务,恢复挂起时任务状态【{task.TaskState}】", true);
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工恢复挂起任务,恢复挂起时任务状态【{task.TaskState}】");

                content = WebResponseContent.Instance.OK();
            }
@@ -450,39 +562,30 @@
        /// <returns>返回处理结果</returns>
        public WebResponseContent RollbackTaskStatusToLast(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();
            WebResponseContent content = new();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                if (task.TaskState >= (int)TaskInStatusEnum.InFinish || task.TaskState >= (int)TaskOutStatusEnum.OutFinish || task.TaskState == (int)TaskInStatusEnum.InNew || task.TaskState == (int)TaskOutStatusEnum.OutNew)
                {
                    return content = WebResponseContent.Instance.Error($"该任务状态不可回滚到上一步,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                }

                int oldState = task.TaskState;
                Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState < task.TaskState, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState < task.TaskState && x.TaskState > 0, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                if (taskExecuteDetail != null)
                {
                    task.TaskState = taskExecuteDetail.TaskState;
                    task.CurrentAddress = taskExecuteDetail.CurrentAddress;
                    task.NextAddress = taskExecuteDetail.NextAddress;
                }
                else
                {
                    if (!int.TryParse(Enum.Parse<TaskOutboundTypeEnum>(task.TaskType.ToString()).ToString(), out int result))
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutNew;
                    }
                    else if (!int.TryParse(Enum.Parse<TaskInboundTypeEnum>(task.TaskType.ToString()).ToString(), out result))
                    {
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                    }
                    //todo
                    return content = WebResponseContent.Instance.Error($"未找到任务明细信息,该任务状态不可回滚到上一步,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                }

                task.ExceptionMessage = string.Empty;

                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, taskNum, task.TaskState, $"人工将任务状态从【{oldState}】回滚到【{task.TaskState}】", true);
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工将任务状态从【{oldState}】回滚到【{task.TaskState}】");

                content = WebResponseContent.Instance.OK();
            }
@@ -492,7 +595,5 @@
            }
            return content;
        }


    }
}