出入库流程

wankeda

2 天以前 734f49c3f74e4a46cfb5892ce60dbf1bb86e74ab

 WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -17,127 +17,242 @@

using AutoMapper;
using HslCommunication.Enthernet;
using Microsoft.AspNetCore.Mvc.RazorPages;
using NetTaste;
using Microsoft.AspNetCore.Components.Routing;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Linq.Expressions;
using System.Reflection;
using System.Reflection.Metadata;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Comm.Http;
using WIDESEA_Common.Log;
using WIDESEA_DTO.Agv;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Utilities;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.BasicInfo;
using WIDESEAWCS_DTO.System;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Model.Models.System;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;
using static Microsoft.IO.RecyclableMemoryStreamManager;
using WIDESEAWCS_TaskInfoRepository;
using ICacheService = WIDESEAWCS_Core.Caches.ICacheService;

namespace WIDESEAWCS_TaskInfoService
{
    public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    public partial class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    {
        private readonly IMapper _mapper;
        private readonly ICacheService _cacheService;
        private readonly IRouterService _routerService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ITask_HtyService _task_HtyService;
        private readonly IPlatformStationService _PlatformStationService;
        private readonly IMapper _mapper;
        private readonly IStationMangerRepository _stationMangerRepository;
        private readonly IRouterRepository _routerRepository;
        private readonly IApiInfoRepository _apiInfoRepository;
        private List<Dt_ApiInfo> apiInfos;

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

        private List<Dt_Warehouse>? Warehouses = new List<Dt_Warehouse>();

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

        public List<int> TaskInboundTypes => typeof(TaskInboundTypeEnum).GetEnumIndexList();
        public List<int> TaskInboundTypes => typeof(TaskTypeEnum).GetEnumIndexList().Where(x => x >= 500 && x < 900).ToList();

        public List<int> TaskOutboundTypes => typeof(TaskOutboundTypeEnum).GetEnumIndexList();
        public List<int> TaskOutboundTypes => typeof(TaskTypeEnum).GetEnumIndexList().Where(x => x >= 100 && x < 500).ToList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService task_HtyService, IPlatformStationService platformStation) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IMapper mapper, ICacheService cacheService, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IStationMangerRepository stationMangerRepository, IRouterRepository routerRepository, IApiInfoRepository apiInfoRepository) : base(BaseDal)
        {
            _mapper = mapper;
            _cacheService = cacheService;
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _task_HtyService = task_HtyService;
            _PlatformStationService = platformStation;
            _mapper = mapper;
            _stationMangerRepository = stationMangerRepository;
            _routerRepository = routerRepository;
            _apiInfoRepository = apiInfoRepository;

            string? cacheStr = _cacheService.Get(nameof(Dt_Warehouse));
            if (!string.IsNullOrEmpty(cacheStr))
            {
                Warehouses = JsonConvert.DeserializeObject<List<Dt_Warehouse>>(cacheStr);
            }


            string? apiInfoStr = _cacheService.Get("apiInfos");
            if (!string.IsNullOrEmpty(apiInfoStr))
            {
                List<Dt_ApiInfo>? infos = JsonConvert.DeserializeObject<List<Dt_ApiInfo>>(apiInfoStr);
                if (infos == null || infos.Count == 0)
                {
                    apiInfos = new List<Dt_ApiInfo>();
                }
                else
                {
                    apiInfos = infos;
                }
            }
        }

        public string urlWMSTask = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlWMSTask"];
        public string urlTaskCompleted = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlTaskCompleted"];
        public string urlWMSMovelibraryTask = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlWMSMovelibraryTask"];
        public string urlRelocationTaskCompleted = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlRelocationTaskCompleted"];
        /*public string urlQueryinventory = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlQueryinventory"];
        public string urlEmptyOutbound = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlEmptyOutbound"];
        public string urlRawmaterialout = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlRawmaterialout"];
        public string urlPalletQueryinventory = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlPalletQueryinventory"];*/
        public WebResponseContent TaskCompleted(int taskNum)
        {
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task != null)
                {
                    task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                    BaseDal.DeleteAndMoveIntoHty(task, App.User?.UserId == 0 ? OperateTypeEnum.自动完成 : OperateTypeEnum.人工完成);
                }
                string? url = apiInfos.FirstOrDefault(x => x.ApiCode == APIEnum.FeedBackWMSTaskCompleted.ToString())?.ApiAddress;
                if (string.IsNullOrEmpty(url))
                {
                    _taskExecuteDetailService.AddTaskExecuteDetail(taskNum, $"未找到WMS任务完成接口,请检查接口配置");
                    UpdateTaskExceptionMessage(taskNum, $"未找到WMS任务完成接口,请检查接口配置");
                    return WebResponseContent.Instance.Error($"{taskNum},未找到WMS任务完成接口,请检查接口配置");
                }
                string responseStr = HttpHelper.Get(url + "?taskNum=" + taskNum);
                WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(responseStr) ?? WebResponseContent.Instance.Error($"{taskNum},未接收到任务完成返回值");
                return content;
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
        public WebResponseContent AgvCarrying(int row, int startColumn, int endColumn, int startlayer, int targetLayer)
        {
            try
            {
                List<Dt_Task> tasks = new List<Dt_Task>();
                for (int i = startColumn; i <= endColumn; i++)
                {
                    string column = i.ToString();
                    if (i < 10)
                    {
                        column = "0" + i.ToString();
                    }
                    string layer = targetLayer.ToString();
                    if (targetLayer < 10)
                    {
                        layer = "0" + targetLayer.ToString();
                    }
                    Dt_Task task = new Dt_Task()
                    {
                        WarehouseId = 7,
                        TaskNum = DateTime.Now.ToString("yyMMddHHmm").ObjToInt() + i,
                        PalletCode = DateTime.Now.ToString("yyMMddHHmm") + i,
                        PalletType = 0,
                        DeviceCode = "AGV_CP",
                        Roadway = "AGV_CP",
                        TaskType = 999,
                        SourceAddress = string.Format($"AGV_CP-00{row}-0{column}-00{startlayer}-01"),
                        CurrentAddress = string.Format($"AGV_CP-00{row}-0{column}-00{startlayer}-01"),
                        TargetAddress = string.Format($"AGV_CP-00{row}-0{column}-00{layer}-01"),
                        NextAddress = string.Format($"AGV_CP-00{row}-0{column}-00{layer}-01"),
                        Grade = 0,
                        WMSId = 0,
                        AgvTaskNum = "CP" + DateTime.Now.ToString("yyMMddHHmm").ObjToInt() + i,
                        TaskState = TaskStatusEnum.New.ObjToInt(),
                        Remark = "测试空框"
                    };
                    tasks.Add(task);
                }
                BaseDal.AddData(tasks);
                return WebResponseContent.Instance.OK("");
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }

        }
        /// <summary>
        /// 接收WMS任务信息
        /// </summary>
        /// <param name="taskDTOs">WMS任务对象集合</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent ReceiveWMSTask([NotNull]List<Dt_Task> taskDTOs)
        public WebResponseContent ReceiveWMSTask([NotNull] List<WMSTaskDTO> taskDTOs)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                bool flag = false;
                List<Dt_Task> tasks = new List<Dt_Task>();
                List<Dt_Task> tasksOld = BaseDal.QueryData();
                List<Dt_Router> routersAll = _routerRepository.QueryData();
                List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData();
                foreach (var item in taskDTOs)
                {
                    if (BaseDal.QueryFirst(x => x.TaskNum == item.TaskNum || x.PalletCode == item.PalletCode) != null)
                    if (tasksOld.FirstOrDefault(x => x.TaskNum == item.TaskNum || x.PalletCode == item.PalletCode) != null)
                    {
                        flag = true;
                        continue;
                    }
                   Dt_Task task = _mapper.Map<Dt_Task>(item);
                   task.TaskState = (int)TaskOutStatusEnum.OutNew;
                   task.Roadway =  (item.Roadway == "1") ? "SC01" :
                                    (item.Roadway == "2") ? "SC02" :
                                    (item.Roadway == "3") ? "SC03" :
                                    (item.Roadway == "4") ? "SC04" :
                                    (item.Roadway == "5") ? "SC05" :
                                    (item.Roadway == "6") ? "SC06" : task.Roadway;
                    task.TaskType = (int)TaskOutboundTypeEnum.Outbound;
                    task.CreateDate = DateTime.Now;
                    task.CurrentAddress= _PlatformStationService.GetSCName(task.Roadway);
                    Dt_Task task = _mapper.Map<Dt_Task>(item);
                    task.Creater = "WMS";
                    task.TaskState = (int)TaskStatusEnum.New;

                    Dt_Router? router;

                    TaskTypeGroup taskTypeGroup = item.TaskType.GetTaskTypeGroup();
                    Dt_StationManger? stationManger;
                    if (taskTypeGroup == TaskTypeGroup.InboundGroup)
                    {
                        stationManger = stationMangers.FirstOrDefault(x => x.StationCode == item.NextAddress || x.StationDeviceCode == item.SourceAddress);
                        task.DeviceCode = stationManger.StationDeviceCode;
                        List<Dt_Router> routers = routersAll.Where(x => x.InOutType == item.TaskType && (item.NextAddress == x.NextPosi || item.RoadWay == x.StartPosi /*|| item.RoadWay == x.ChildPosiDeviceCode || item.RoadWay == x.ChildPosi*/)).ToList();
                        router = routers.FirstOrDefault();
                        if (router == null)
                        {
                            return WebResponseContent.Instance.Error($"未找到路由配置信息");
                        }
                        task.SourceAddress = router.StartPosi;
                        task.CurrentAddress = task.SourceAddress;
                    }
                    else
                    {
                        stationManger = stationMangers.FirstOrDefault(x => x.StationCode == item.NextAddress || x.StationDeviceCode == item.NextAddress);
                        task.DeviceCode = stationManger.StationDeviceCode;
                        List<Dt_Router> routers = routersAll.Where(x => x.InOutType == item.TaskType && (item.NextAddress == x.StartPosi || item.RoadWay == x.StartPosi /*|| item.RoadWay == x.ChildPosiDeviceCode || item.RoadWay == x.ChildPosi*/)).ToList();
                        router = routers.FirstOrDefault();
                        if (router == null)
                        {
                            return WebResponseContent.Instance.Error($"未找到路由配置信息");
                        }
                        //task.NextAddress = stationManger.StackerCraneStationCode;
                        task.TargetAddress = router.NextPosi;
                        //出库
                    }
                    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");

                content = (flag || tasks.Count > 0) ? WebResponseContent.Instance.OK("成功") : WebResponseContent.Instance.Error("失败");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务接收错误,错误信息:{ex.Message}");
            }
            finally
            {
                WriteLog.GetLog("接收任务").Write(JsonConvert.SerializeObject(content), "接收任务");
            }
            return content;
        }
@@ -148,194 +263,366 @@
        /// <param name="palletCode">托盘号</param>
        /// <param name="sourceAddress">起始地址</param>
        /// <returns></returns>
        public class GenerateInv
        {
            public string PalletCode { get; set; }
        }

        public WebResponseContent RequestWMSTask(string palletCode, string sourceAddress,int GoodsType)
        public WebResponseContent RequestWMSTask(string palletCode, string sourceAddress, string materielBoxCode = "")
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                //task.CurrentAddress = _PlatformStationService.GetSCName(task.Roadway);
                //Dt_Task taskDTO = new Dt_Task()
                //{
                //    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                //    Grade = 1,
                //    PalletCode = palletCode,
                //    Roadway = "SC04",
                //    SourceAddress = "R04-002-0037-001-01",
                //    TargetAddress = "R04-001-0036-001-01",
                //    TaskState = (int)TaskInStatusEnum.InNew,
                //    TaskType = (int)TaskInboundTypeEnum.Inbound,
                //    CurrentAddress = sourceAddress,
                //    NextAddress = "1019",
                //    WMSId=0,
                //    Creater="system",
                //    //PalletCodequantity= GoodsType,
                //    PalletCodequantity= 1,
                //    Station_storey=1
                //};
                //BaseDal.AddData(taskDTO);
                ////ReceiveWMSTask(new List<Dt_Task> { taskDTO });
                //return content = content = WebResponseContent.Instance.OK();

                GenerateInv generate = new GenerateInv()
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == sourceAddress);
                if (stationManger == null)
                {
                    PalletCode = palletCode
                };


                content = HttpHelper.Post<WebResponseContent>($"{urlWMSTask}", generate);
                Dt_Task task = new Dt_Task();
                if (content != null)
                    return WebResponseContent.Instance.Error($"未找到站台信息");
                }
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    if (content.Status)
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = "";
                if (!string.IsNullOrEmpty(materielBoxCode))
                {
                    responseStr = HttpHelper.Get($"{address}/api/Task/DeviceRequestInboundTask?stationCode={sourceAddress}&roadwayNo={stationManger.StackerCraneCode}&palletCode={palletCode}&materielBoxCode={materielBoxCode}");
                }
                else
                {
                    responseStr = HttpHelper.Get($"{address}/api/Task/DeviceRequestInboundTask?stationCode={sourceAddress}&roadwayNo={stationManger.StackerCraneCode}&palletCode={palletCode}");
                }
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    WMSTaskDTO? taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(responseContent.Data.ToString());
                    if (taskDTO != null)
                    {
                        task = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToString());
                        
                        
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                        task.TaskType = (int)TaskInboundTypeEnum.Inbound;
                        task.Roadway = (task.Roadway == "1") ? "SC01" :
                                         (task.Roadway == "2") ? "SC02" :
                                         (task.Roadway == "3") ? "SC03" :
                                         (task.Roadway == "4") ? "SC04" :
                                         (task.Roadway == "5") ? "SC05" :
                                         (task.Roadway == "6") ? "SC06" : task.Roadway;
                        task.CurrentAddress = sourceAddress;
                        task.CreateDate = DateTime.Now;
                        BaseDal.AddData(task);
                        return content = WebResponseContent.Instance.OK();
                        content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                    }
                }
                return content = WebResponseContent.Instance.Error();

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



       
        /// <summary>
        /// 根据深库位向wms申请判断浅库位是否有货，是否需要进行移库操作
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="sourceAddress">起始地址</param>
        /// <returns></returns>
        public Dt_Task RequestWMSTaskMovelibrary(Dt_Task _Task)
        public WebResponseContent RequestWMSZHTask(string agvTaskCode, string palletCode, string palletType, string materialLot)
        {
            WebResponseContent content = new WebResponseContent();
            content = HttpHelper.Get<WebResponseContent>($"{urlWMSMovelibraryTask}?TaskNum={_Task.TaskNum}&SourceAddress={_Task.SourceAddress}");
            Dt_Task task = new Dt_Task();
            if (content != null)
            try
            {
                if (content.Status)
                Dt_Task task = BaseDal.QueryFirst(x => x.AgvTaskNum == agvTaskCode);
                if (task != null)
                {
                    if(content.Data != null)
                    {
                        task = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToString());
                        if (task.TaskNum != _Task.TaskNum)
                        {
                    return WebResponseContent.Instance.Error($"任务号{task.TaskNum}对应任务已存在");
                }
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = "";
                if (string.IsNullOrEmpty(materialLot))
                {
                    return content.Error("物料批次为空");

                            task.TaskState = (int)TaskRelocationTypeEnum.Relocation;
                            task.Roadway = task.Roadway == "1" ? task.Roadway = "SC01" : task.Roadway = "SC02";
                            task.TaskNum = task.TaskNum;
                            task.Grade = 3;
                            task.TaskType= (int)TaskRelocationTypeEnum.Relocation;
                            BaseDal.AddData(task);
                            return task;
                        }
                }
                responseStr = HttpHelper.Get($"{address}/api/Task/RequestZHInboundTask?agvTaskCode={agvTaskCode}&palletCode={palletCode}&palletType={palletType}&materialLot={materialLot}");
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    WMSTaskDTO? taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(responseContent.Data.ToString());
                    if (taskDTO != null)
                    {
                        taskDTO.AGVTaskNum = agvTaskCode;
                        content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                    }
                }
                else
                {
                    return null;
                    WriteLog.GetLog("PLC日志").Write($"失败信息：{content.Message}", "移库信息");
                    content.Error(responseContent.Message);
                }

            }

            return _Task;
        }

        /// <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，修改任务状态，下一地址，与当前地址
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="nextAddress">下一地址</param>
        /// <returns></returns>
        public Dt_Task QueryExeupConveyorLineTask(int taskNum, string nextAddress)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.NextAddress == nextAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InExecuting), 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 bool QueryOutConveyorLineTask(int taskNum)
        {
            Dt_Task dt_Task = BaseDal.QueryFirst(x => x.TaskNum == taskNum && (x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
            dt_Task.TaskState = (int)TaskOutStatusEnum.Line_OutFinish;
            if (BaseDal.UpdateData(dt_Task))
            catch (Exception ex)
            {
                return true;
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            else
            {
                return false;
            }
            
            return content;
        }

        /// <summary>
        /// 查询该站台是否被占用
        /// 
        /// </summary>
        /// <param name="taskNum"></param>
        /// <param name="palletCode"></param>
        /// <param name="sourceAddress"></param>
        /// <returns></returns>
        public bool OutConveyorLineTask(PlatformStation platform)
        public WebResponseContent RequestWMSTaskSimple(string palletCode, string sourceAddress)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.NextAddress == platform.Station_code && (x.TaskState == (int)TaskOutStatusEnum.Line_OutRgvFinish && x.TaskState == (int)TaskOutStatusEnum.AGV_OutExecuting), TaskOrderBy);
                if (dt_Task == null)
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    List<string> Platack = _PlatformStationService.GetPlatform2(platform.ChildPosiDeviceCode);

                    Dt_Task dt_Tasks = BaseDal.QueryFirst(x => Platack.Contains(x.CurrentAddress) && (x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
                    if(dt_Tasks != null)
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = HttpHelper.Get($"{address}/api/Task/DeviceRequestInboundTaskSimple?stationCode={sourceAddress}&palletCode={palletCode}");
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    WMSTaskDTO? taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(responseContent.Data.ToString());
                    if (taskDTO != null)
                    {
                        dt_Tasks.TaskState = (int)TaskOutStatusEnum.Line_OutRgvFinish;
                        dt_Tasks.NextAddress = platform.Station_code;
                        BaseDal.UpdateData(dt_Tasks);
                        return true;
                        content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                    }
                }
                return false;

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

        /// <summary>
        /// 
        /// </summary>
        /// <param name="palletCode"></param>
        /// <param name="sourceAddress"></param>
        /// <param name="roadway"></param>
        /// <returns></returns>
        //public WebResponseContent RequestWMSTask(string palletCode, string sourceAddress, string roadway)
        //{
        //    WebResponseContent content = new WebResponseContent();
        //    try
        //    {
        //        string address = AppSettings.Get("WMSApiAddress");
        //        if (string.IsNullOrEmpty(address))
        //        {
        //            return WebResponseContent.Instance.Error($"未找到WMSApi地址");
        //        }
        //        string responseStr = HttpHelper.Get($"{address}/api/Task/DeviceRequestInboundTask?stationCode={sourceAddress}&roadwayNo={roadway}&palletCode={palletCode}");
        //        WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
        //        if (responseContent != null && responseContent.Status && responseContent.Data != null)
        //        {
        //            WMSTaskDTO? taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(responseContent.Data.ToString());
        //            if (taskDTO != null)
        //            {
        //                content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
        //            }
        //        }

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

        /// <summary>
        /// 
        /// </summary>
        /// <param name="sourceAddress"></param>
        /// <param name="palletCode"></param>
        /// <param name="heightType"></param>
        /// <param name="roadways"></param>
        /// <returns></returns>
        public WebResponseContent RequestWMSTask(string palletCode, string sourceAddress, int heightType, List<string> roadways)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = HttpHelper.Post($"{address}/api/Task/DeviceRequestInboundTaskByRoadways?stationCode={sourceAddress}&palletCode={palletCode}&heightType={heightType}", roadways.Serialize());
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    WMSTaskDTO? taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(responseContent.Data.ToString());
                    if (taskDTO != null)
                    {
                        content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                    }
                }

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

        /// <summary>
        /// 分配巷道
        /// </summary>
        /// <param name="taskNum"></param>
        /// <param name="roadwayNos"></param>
        /// <returns></returns>
        public WebResponseContent RequestWMSAssignRoadway(int taskNum, List<string> roadwayNos)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = HttpHelper.Post($"{address}/api/Task/AssignRoadway?taskNum={taskNum}", roadwayNos.Serialize());
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    return responseContent;
                }

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

        /// <summary>
        /// 
        /// </summary>
        /// <param name="roadwayNos"></param>
        /// <param name="palletCode"></param>
        /// <param name="heightType"></param>
        /// <returns></returns>
        public WebResponseContent RequestWMSAssignRoadway(List<string> roadwayNos, string palletCode, int heightType)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = HttpHelper.Post($"{address}/api/Task/AssignRoadwayByHeightAndCode?palletCode={palletCode}&heightType={heightType}", roadwayNos.Serialize());
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    return responseContent;
                }

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

        /// <summary>
        /// 分配巷道
        /// </summary>
        /// <param name="roadwayNos"></param>
        /// <param name="taskNum"></param>
        /// <param name="heightType"></param>
        /// <returns></returns>
        public WebResponseContent RequestWMSAssignRoadway(List<string> roadwayNos, int taskNum, int heightType)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = HttpHelper.Post($"{address}/api/Task/AssignRoadway?taskNum={taskNum}&heightType={heightType}", roadwayNos.Serialize());
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    return responseContent;
                }

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

        /// <summary>
        /// 分配巷道
        /// </summary>
        /// <param name="roadwayNos"></param>
        /// <returns></returns>
        public WebResponseContent RequestWMSAssignRoadway(List<string> roadwayNos)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string address = AppSettings.Get("WMSApiAddress");
                if (string.IsNullOrEmpty(address))
                {
                    return WebResponseContent.Instance.Error($"未找到WMSApi地址");
                }
                string responseStr = HttpHelper.Post($"{address}/api/Task/SingleAssignRoadway", roadwayNos.Serialize());
                WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
                if (responseContent != null && responseContent.Status && responseContent.Data != null)
                {
                    return responseContent;
                }

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

        /// <summary>
        /// 向WMS申请分配货位
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="roadwayNo">巷道号</param>
        /// <returns></returns>
        public string? RequestAssignLocation(int taskNum, string roadwayNo)
        {
            string address = AppSettings.Get("WMSApiAddress");
            if (string.IsNullOrEmpty(address)) throw new Exception("未找到WMSApi地址");
            string responseStr = HttpHelper.Get($"{address}/api/Task/AssignInboundTaskLocation?taskNum={taskNum}&roadwayNo={roadwayNo}");

            WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
            if (responseContent != null && responseContent.Status && responseContent.Data != null)
            {
                return responseContent.Data.ToString();
            }

            return "";
        }

        /// <summary>
        /// 向WMS申请分配货位
        /// </summary>
        /// <param name="taskNum"></param>
        /// <param name="roadwayNo"></param>
        /// <param name="heightType"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public string? RequestAssignLocationByHeight(int taskNum, string roadwayNo, int heightType)
        {
            string address = AppSettings.Get("WMSApiAddress");
            if (string.IsNullOrEmpty(address)) throw new Exception("未找到WMSApi地址");
            string responseStr = HttpHelper.Get($"{address}/api/Task/AssignInboundTaskLocation?taskNum={taskNum}&roadwayNo={roadwayNo}&heightType={heightType}");

            WebResponseContent? responseContent = JsonConvert.DeserializeObject<WebResponseContent>(responseStr);
            if (responseContent != null && responseContent.Status && responseContent.Data != null)
            {
                return responseContent.Data.ToString();
            }

            return "";
        }

        /// <summary>
@@ -346,12 +633,12 @@
        /// <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);
            if (taskTypeGroup == null)
                return BaseDal.QueryFirst(x => x.DeviceCode == deviceNo && x.TaskState == (int)TaskStatusEnum.New, TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.InboundGroup)
                return BaseDal.QueryFirst(x => x.DeviceCode == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskStatusEnum.SC_Execute, TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.OutbondGroup)
                return BaseDal.QueryFirst(x => x.DeviceCode == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskStatusEnum.SC_Execute, TaskOrderBy);
            return null;
        }

@@ -364,28 +651,9 @@
        public Dt_Task QueryStackerCraneTask(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 || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
                return BaseDal.QueryFirst(x => x.DeviceCode == deviceNo && x.TaskState == (int)TaskStatusEnum.SC_Execute, TaskOrderBy);
            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.OutNew), TaskOrderBy);
        }
        public Dt_Task IngStackerCraneTask(string deviceNo)
        {
            //string deviceNot = deviceNo == "SC01" ? "1" : "2";
            return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskInStatusEnum.SC_InExecuting);
        }

        public Dt_Task IngStackerCraneTask2(string deviceNo)
        {
            //string deviceNot = deviceNo == "SC01" ? "1" : "2";
            try
            {
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting);
            }
            catch (Exception ex)
            {

                throw;
            }
                return BaseDal.QueryFirst(x => x.DeviceCode == deviceNo && x.CurrentAddress == currentAddress && x.TaskState == (int)TaskStatusEnum.SC_Execute, TaskOrderBy);
        }

        /// <summary>
@@ -397,9 +665,9 @@
        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.DeviceCode == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskStatusEnum.SC_Execute, 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.DeviceCode == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskStatusEnum.SC_Execute && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -411,9 +679,9 @@
        public Dt_Task QueryStackerCraneOutTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.DeviceCode == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskStatusEnum.SC_Execute, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.DeviceCode == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskStatusEnum.SC_Execute && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -424,18 +692,7 @@
        /// <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)
        {
            return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
        }

        /// <summary>
        /// 根据出库货位查询是否有当前浅货位任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象集合，可能为null</returns>
        public List<Dt_Task> QueryStationIsOccupiedOutTasks(string deviceNo, string SourceAddress)
        {
            return BaseDal.QueryData(x => x.Roadway == deviceNo && SourceAddress.Contains(x.SourceAddress), TaskOrderBy);
            return BaseDal.QueryData(x => x.DeviceCode == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskStatusEnum.SC_Execute && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
        }

        /// <summary>
@@ -450,14 +707,7 @@
            {
                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.OutPending;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    task.TaskState = (int)TaskInStatusEnum.InPending;
                }
                task.TaskState = (int)TaskStatusEnum.Pending;
                task.ExceptionMessage = message;
                task.ModifyDate = DateTime.Now;
                BaseDal.UpdateData(task);
@@ -474,272 +724,6 @@
        }

        /// <summary>
        /// 更新任务状态信息，并同步至WMS
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="status">任务状态</param>
        public void UpdateTaskStatus(int taskNum, int status)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null) return;
            task.TaskState = status;
            task.ModifyDate = DateTime.Now;
            BaseDal.UpdateData(task);
        }

        /// <summary>
        /// 将任务状态修改为下一个状态
        /// </summary>
        /// <param name="taskNum">任务号</param>
        public WebResponseContent UpdateTaskStatusToNext(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}】");
                return UpdateTaskStatusToNext(task);
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        public WebResponseContent UpdateTaskStatusToNext2(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 == (int)TaskInboundTypeEnum.Inbound)
                {
                    if (task.TaskState == (int)TaskInStatusEnum.Line_InExecuting)
                    {
                        task.TaskState=(int)TaskInStatusEnum.Line_InFinish;
                        BaseDal.UpdateData(task);
                        return content = WebResponseContent.Instance.OK();
                    }
                }
                
                return content = WebResponseContent.Instance.Error();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        /// <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 (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
                    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;
                    if (task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                }
                else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                {
                    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.SC_InExecuting)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                    /*if (task.TaskState == (int)TaskRelocationTypeEnum.Relocation)
                    {
                        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 if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                {
                    if (task.TaskState <= (int)TaskRelocationStatusEnum.SC_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 = (int)TaskRelocationStatusEnum.SC_RelocationExecuting;
                    task.TaskState = nextStatus;
                    if (task.TaskState == (int)TaskRelocationStatusEnum.SC_RelocationExecuting)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                }*/
                else
                {
                    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, 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();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        /// <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 class GenerateInv2
        {
            public string PalletCode { get; set; }
            public string SourceAddress { get; set; }
            public string TargetAddress { get; set; }
        }
        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 == (int)TaskOutboundTypeEnum.Outbound && task.TaskState == (int)TaskOutStatusEnum.AGV_OutExecuting)
                {
                    //content = HttpHelper.Get<WebResponseContent>($"{urlTaskCompleted}?TaskNum={task.TaskNum}");
                    task.TaskState = (int)TaskOutStatusEnum.OutFinish;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.DeleteData(task);
                    _task_HtyService.AddTaskHty(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"出库完成");
                }
                else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    task.TaskState = (int)TaskOutStatusEnum.SC_OutFinish;
                    BaseDal.UpdateData(task);
                }
                else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                {
                    //content = HttpHelper.Get<WebResponseContent>($"{urlTaskCompleted}?TaskNum={task.TaskNum}");
                    task.TaskState = (int)TaskInStatusEnum.InFinish;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";
                    BaseDal.DeleteData(task);
                    _task_HtyService.AddTaskHty(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"入库完成");

                }else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound && task.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                {
                    task.TaskState = (int)TaskInStatusEnum.Line_InExecuting;
                    BaseDal.UpdateData(task);
                }

               /* else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
                {
                    GenerateInv2 generate = new GenerateInv2()
                    {
                        PalletCode = task.PalletCode,
                        SourceAddress = task.SourceAddress,
                        TargetAddress = task.TargetAddress

                    };
                    content = HttpHelper.Post<WebResponseContent>($"{urlRelocationTaskCompleted}", generate);
                    task.TaskState = (int)TaskOutStatusEnum.SC_OutFinish;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.DeleteData(task);
                    _task_HtyService.AddTaskHty(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"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>
        /// 恢复挂起任务
        /// </summary>
        /// <param name="taskNum">任务号</param>
@@ -751,7 +735,7 @@
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                if (task.TaskState != (int)TaskInStatusEnum.InPending && task.TaskState != (int)TaskOutStatusEnum.OutPending)
                if (task.TaskState != (int)TaskStatusEnum.Pending)
                {
                    return content = WebResponseContent.Instance.Error($"该任务状态不可恢复,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                }
@@ -763,15 +747,7 @@
                }
                else
                {
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutNew;
                    }
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                    }
                    //todo
                    task.TaskState = (int)TaskStatusEnum.New;
                }

                task.ExceptionMessage = string.Empty;
@@ -830,78 +806,63 @@
            return content;
        }

        //public WebResponseContent SendSecureReplyToAgv(int taskNum)
        //{
        //    try
        //    {
        //        Dt_Task WaitToTask = BaseDal.QueryFirst(x => x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt() && x.TaskNum == taskNum);
        //        AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO()
        //        {
        //            ReqCode = Guid.NewGuid().ToString().Replace("-", ""), //WaitToTask.TaskNum.ToString(),
        //            taskCode = WaitToTask.AgvTaskNum,
        //        };
        //        WebResponseContent content = AgvSecureReply(replyDTO);
        //        if (content.Status)
        //        {
        //            WaitToTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
        //        }
        //        else
        //        {
        //            WaitToTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
        //            WaitToTask.ExceptionMessage = content.Message;
        //        }
        //        UpdateData(WaitToTask);

        //        return WebResponseContent.Instance.OK();
        //    }
        //    catch (Exception ex)
        //    {
        //        return WebResponseContent.Instance.Error(ex.Message);
        //    }
        //}
        /// <summary>
        /// 删除数据
        /// //判断移库货位任务是否已存在，如存在先执行
        /// </summary>
        /// <param name="keys">主键数组</param>|| platforms.Contains(x.TargetAddress)
        public Dt_Task QueryStackerExistTask(string PalletCode, string locationCode)
        {
            return BaseDal.QueryFirst(x => x.PalletCode == PalletCode && x.SourceAddress == locationCode);
        }
        /// <summary>
        /// 接受WMS手动完成任务
        /// </summary>
        /// <param name="taskNum"></param>
        /// <returns></returns>
        public virtual WebResponseContent DeleteData(object[] keys)
        public WebResponseContent RecWMSTaskCompleted(int taskNum)
        {
            try
            {
                List<Dt_Task> tasks = BaseDal.QureyDataByIds(keys);
                foreach (Dt_Task task in tasks)
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task != null)
                {
                    _task_HtyService.AddTaskHty(task);
                    task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                    BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.人工完成);
                }


                if (typeof(Dt_Task).GetNavigatePro() == null)
                    return BaseDal.DeleteDataByIds(keys) ? WebResponseContent.Instance.OK() : WebResponseContent.Instance.Error();
                else
                {
                    if (keys != null)
                    {
                        Type detailType = typeof(Dt_Task).GetDetailType();
                        string name = typeof(Dt_Task).GetMainIdByDetail();
                        List<object> dynamicDelKeys = new List<object>();

                        for (int i = 0; i < keys.Length; i++)
                        {
                            dynamicDelKeys.Add(keys[i]);
                        }
                        ((SqlSugarClient)BaseDal.Db).BeginTran();

                        if (dynamicDelKeys.Count > 0)
                            BaseDal.Db.Deleteable<object>().AS(detailType.Name).Where($"{name} in (@id)", new { id = dynamicDelKeys.ToArray() }).ExecuteCommandHasChange();

                        BaseDal.DeleteDataByIds(keys);

                        ((SqlSugarClient)BaseDal.Db).CommitTran();

                        return WebResponseContent.Instance.OK();
                    }
                    else
                    {
                        return WebResponseContent.Instance.Error("参数错误");
                    }
                }
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                ((SqlSugarClient)BaseDal.Db).RollbackTran();
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }


        /// <summary>
        /// 根据rgv设备编号，查找rgv可下发的任务
        /// </summary>
        /// <param name="platforms"></param>
        /// <returns></returns>
        public Dt_Task QueryRgvCraneTask(List<string> platforms)
        {
            return BaseDal.QueryFirst(x => (platforms.Contains(x.NextAddress) && (x.TaskState == (int)TaskInStatusEnum.InNew || x.TaskState == (int)TaskOutStatusEnum.Line_OutRgvFinish)), TaskOrderBy);
        }

        //堆垛机任务完成  
        public List<Dt_Task> StackerCraneOutTask()
        {
            return BaseDal.QueryData(x =>x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish);
        }


    }
}