1

huangxiaoqiang

2025-10-20 63dcb7fc55d32960f643f4040900ce9a0e33536d

 ÏîÄ¿´úÂë/WMS/WIDESEA_WMSServer/WIDESEA_StorageTaskServices/Task/Dt_TaskService.cs

@@ -2,6 +2,7 @@
using log4net.Core;
using Mapster;
using Masuit.Tools;
using Microsoft.EntityFrameworkCore.Storage.ValueConversion.Internal;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using OfficeOpenXml.Table.PivotTable;
using SixLabors.Fonts.Tables.AdvancedTypographic;
@@ -16,11 +17,13 @@
using WIDESEA_Core.BaseRepository;
using WIDESEA_Core.Const;
using WIDESEA_Core.Enums;
using WIDESEA_DTO.ERP;
using WIDESEA_DTO.Location;
using WIDESEA_DTO.WMS;
using WIDESEA_IServices;
using WIDESEA_Model.Models;
using WIDESEA_Model.Models.Basic;
using WIDESEA_Model.Models.ERP;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_QuartzJob.Models;
using static System.Collections.Specialized.BitVector32;
@@ -147,16 +150,36 @@
        WebResponseContent content = new WebResponseContent();
        try
        {
            var boxing = await _boxingInfoRepository.QueryFirstNavAsync(x => x.PalletCode == task.PalletCode);
            var locationStart = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.SourceAddress);
            var locationEnd = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.TargetAddress);

            if (boxing == null)
            {
                return content.Error("未找到组盘数据");
            }

            DtStockInfo stock = CreatePalletStock(task, boxing);
            DtBoxingInfo_Hty boxingInfo_Hty = boxing.Adapt<DtBoxingInfo_Hty>();
            boxingInfo_Hty.ModifyDate = DateTime.Now;

            task.TaskState = (int)TaskInStatusEnum.InFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
            taskHty.FinishTime = DateTime.Now;
            taskHty.OperateType = App.User.UserName != null ? (int)OperateTypeEnum.人工完成 : (int)OperateTypeEnum.自动完成;
            taskHty.Creater = App.User.UserName != null ? App.User.UserName : "System";

            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await _stockInfoRepository.AddDataNavAsync(stock);
                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
                await _boxingInfoRepository.Db.DeleteNav<DtBoxingInfo>(x => x.Id == boxing.Id)
                                        .Include(x => x.BoxingInfoDetails)
                                        .ExecuteCommandAsync();
                await AddBoxingHtyAsync(boxingInfo_Hty);
            });
            content.OK("入库完成");
        }
        catch (Exception ex)
        {
@@ -177,8 +200,8 @@
            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.SourceAddress);
            var Targetlocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.TargetAddress);

            UpdateLocationStatus(Sourcelocation, LocationEnum.Free);
            UpdateLocationStatus(Targetlocation, LocationEnum.InStock);
            //UpdateLocationStatus(Sourcelocation, LocationEnum.Free);
            //UpdateLocationStatus(Targetlocation, LocationEnum.InStock);

            task.TaskState = (int)TaskAGVCarryStatusEnum.CarryFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
@@ -266,14 +289,6 @@
        {
            return await CompleteTransferTaskAsync(task, stock);
        }
        else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.CarryGroup)
        {
            return await CompleteCarryTaskAsync(task, stock);
        }
        else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.AcrossFloorGroup)
        {
            return await CompleteAcrossFloorTaskAsync(task, stock);
        }
        else
        {
            return content.Error("未找到任务类型");
@@ -284,28 +299,102 @@

    #region è¯·æ±‚任务入库

    public async Task<WebResponseContent> RequestTaskAsync(RequestTaskDto taskDto)
    public async Task<WebResponseContent> RequestInboundTaskAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var boxingInfo = await _boxingInfoRepository.QueryFirstNavAsync(x => x.PalletCode == taskDto.PalletCode);
            if (boxingInfo == null)
            {
                return content.Error("托盘信息不存在，请确认托盘已组盘成功");
            }

            foreach (var item in boxingInfo.BoxingInfoDetails)
            {
                var ERPStock = SqlSugarHelper.DBERP.Queryable<WMS_用友库存一览表_ST>().Where(x => x.仓库名称 == item.Warehouse && x.料号 == item.MaterielCode && x.品名 == item.MaterielName).ToList().FirstOrDefault();
                if (ERPStock == null)
                {
                    return content.Error($"组盘数据未在ERP库存数据中，请人工确认数据是否正确");
                }
            }

            var StartAddress = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);
            if (StartAddress == null)
            {
                return content.Error("起点库位未找到");
            }
            if (!LocationIsOutBound(StartAddress))
            {
                return content.Error($"起点库位{StartAddress.LocationCode}搬运路径被占用，请人工确认再下发任务");
            }
            if (taskDto.AreaId != 0)
            {
                switch (taskDto.AreaId)
                {
                    case 1:
                        return await InboundStakerArea(taskDto, StartAddress, await GetEmptyLocation("SC1"));
                    case 2:
                    case 3:
                    case 4:
                    case 5:
                    case 6:
                        return await InboundAGVCacheArea(taskDto, StartAddress, await GetAGVEmptyCacheLocation(taskDto.AreaId, StartAddress));
                    default:
                        return content.Error("请选择正确的区域信息");
                }
            }
            else if (taskDto.TargetAddress != null)
            {
                var location = _locationRepository.QueryFirst(x => x.LocationCode == taskDto.TargetAddress);
                if (location != null && location.LocationStatus == (int)LocationEnum.Free && location.EnalbeStatus == 1)
                {
                    switch (taskDto.AreaId)
                    {
                        case 1:
                            return await InboundStakerArea(taskDto, location, StartAddress);
                        case 2:
                        case 3:
                        case 4:
                        case 5:
                        case 6:
                            return await InboundAGVCacheArea(taskDto, location, StartAddress);
                        default:
                            return content.Error("货位区域未找到");
                    }
                }
                else
                {
                    return content.OK("目标库位不可用");
                }
            }
            else
            {
                return content.OK("请选择入库区域或终点地址");
            }
        }
        catch (Exception err)
        {
            return content.Error(err.Message);
        }
    }

    public async Task<WebResponseContent> InboundStakerArea(RequestTaskDto taskDto,DtLocationInfo StartAddress, DtLocationInfo location)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var station = _stationManagerRepository.QueryFirst(x => x.stationType == 1 && x.Roadway == "SC1");

            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            var TargetAddress = await GetEmptyLocation("SC1");

            if (location == null || TargetAddress == null)
            if (location == null)
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
                return content.Error("终点区域未找到空闲库位");
            }

            Dt_Task taskNew = new Dt_Task
            {
                Grade = 1,
                Roadway = "SC1",
                TargetAddress = TargetAddress.LocationCode,
                TargetAddress = location.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = station.stationChildCode,
@@ -323,24 +412,60 @@
            };
            var taskDTO = CreateListTaskDTO(taskNew);

            var isResult = await AddTaskAsync(taskNew, location,TargetAddress);
            if (!isResult)
            {
                _unitOfWorkManage.RollbackTran();
                return content.Error("新增任务失败");
            }
            BaseDal.AddData(taskNew);

            UpdateLocationStatus(StartAddress, LocationEnum.InStockDisable, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);
            UpdateLocationStatus(location, LocationEnum.Lock, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);
            
            

            //return content.OK();
            return content = await SendWCSTask(taskDTO);
        }
        catch (Exception err)
        catch (Exception ex)
        {
            content.Error(err.Message);
            _unitOfWorkManage.RollbackTran();
            return content.Error(ex.Message);
        }

        return content;
    }

    public async Task<WebResponseContent> InboundAGVCacheArea(RequestTaskDto taskDto, DtLocationInfo StartAddress, DtLocationInfo location)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            if (location == null)
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
            }
            Dt_Task taskNew = new Dt_Task();
            if (StartAddress.Floor != location.Floor)
            {
                taskNew= RequestAcrossFloorTask(StartAddress,location, (int)TaskInboundTypeEnum.Inbound,taskDto.PalletCode);
            }
            else
            {
                taskNew = RequestAGVCarryTask(StartAddress, location, (int)TaskInboundTypeEnum.Inbound, taskDto.PalletCode);
            }
                
            var taskDTO = CreateListTaskDTO(taskNew);
            _unitOfWorkManage.BeginTran();

            UpdateLocationStatus(StartAddress, LocationEnum.InStockDisable, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);
            UpdateLocationStatus(location, LocationEnum.Lock, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);

            BaseDal.AddData(taskNew);

            _unitOfWorkManage.CommitTran();
            //return content.OK();
            return content = await SendWCSTask(taskDTO);
        }
        catch (Exception ex)
        {
            _unitOfWorkManage.RollbackTran();
            return content.Error(ex.Message);
        }
    }
    #endregion è¯·æ±‚任务入库

    #region æ›´æ–°ä»»åŠ¡çŠ¶æ€
@@ -434,36 +559,101 @@

    #endregion


    #region è¯·æ±‚出库

    /// <summary>
    /// è¯·æ±‚托盘任务
    /// è¯·æ±‚出库任务
    /// </summary>
    /// <param name="position">目标位置</param>
    /// <param name="tag">托盘类型（1：实盘，2：空盘）</param>
    /// <param name="areaCode">区域编码</param>
    /// <param name="roadways">巷道编码集合</param>
    /// <returns>返回结果集</returns>
    public async Task<WebResponseContent> RequestOutTaskAsync(RequestTaskDto taskDto)
    /// <param name="taskDto"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> RequestOutboundTaskAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            //DtStockInfo stcok= await _stockInfoRepository.QueryFirstAsync(x => x.PalletCode == taskDto.PalletCode);
            //if (stcok == null)
            //{
            //    return content.Error("托盘信息不存在，请确认托盘已入库成功");
            //}

            var StartAddress = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);
            if (StartAddress == null)
            {
                return content.Error("起点库位未找到");
            }
            if (!LocationIsOutBound(StartAddress))
            {
                return content.Error($"起点库位{StartAddress.LocationCode}出库路径被占用，请人工确认再下发任务");
            }
            DtLocationInfo location = null;
            if (taskDto.AreaId != 0)
            {
                if (taskDto.AreaId == 1)
                {
                    location = await GetEmptyLocation("SC1");
                }
                else
                {
                    location = await GetAGVEmptyCacheLocation(taskDto.AreaId, StartAddress);
                }
                    
            }
            else if (taskDto.TargetAddress != null)
            {
                location = _locationRepository.QueryFirst(x => x.LocationCode == taskDto.TargetAddress);

                if (location != null && location.LocationStatus != (int)LocationEnum.Free && location.EnalbeStatus == 1)
                {
                    return content.OK("目标库位不可用");
                }
            }
            else
            {
                return content.OK("请选择入库区域或终点地址");
            }

            switch (StartAddress.AreaId)
            {
                case 1:
                    return await OutboundStakerArea(taskDto, StartAddress, location);
                case 2:
                case 3:
                case 4:
                case 5:
                case 6:
                    return await OutboundAGVCacheArea(taskDto, StartAddress, location);
                default:
                    return content.Error("请选择正确的区域信息");
            }
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    public async Task<WebResponseContent> OutboundStakerArea(RequestTaskDto taskDto, DtLocationInfo StartAddress, DtLocationInfo location)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var station = _stationManagerRepository.QueryFirst(x => x.stationType == 1 && x.Roadway == "SC1");

            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(2, Sourcelocation);
            if (Targetlocation == null || Sourcelocation == null)
            if (location == null)
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
                return content.Error("终点区域未找到空闲库位");
            }

            if (location.AreaId == 5 || location.AreaId == 6)
            {
                return content.Error("当前区域不可出库，请联系管理员");
            }
            Dt_Task taskNew = new Dt_Task
            {
                Grade = 1,
                Grade = Convert.ToInt32(StartAddress.Remark),
                Roadway = "SC1",
                TargetAddress = Targetlocation.LocationCode,
                TargetAddress = location.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = station.stationChildCode,
@@ -472,7 +662,7 @@
                SourceAddress = taskDto.Position,
                CurrentAddress = taskDto.Position,
                TaskState = (int)TaskOutStatusEnum.OutNew,
                TaskType = (int)TaskOutboundTypeEnum.Outbound,
                TaskType = taskDto.TaskType,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
@@ -481,12 +671,11 @@
            };
            var taskDTO = CreateListTaskDTO(taskNew);

            var isResult = await AddTaskAsync(taskNew, Sourcelocation, Targetlocation);
            if (!isResult)
            {
                _unitOfWorkManage.RollbackTran();
                return content.Error("新增任务失败");
            }
            UpdateLocationStatus(StartAddress, LocationEnum.InStockDisable, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticOutbound);
            UpdateLocationStatus(location, LocationEnum.Lock, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticOutbound);

            BaseDal.AddData(taskNew);
            //return content.OK();
            return content = await SendWCSTask(taskDTO);
        }
        catch (Exception ex)
@@ -495,7 +684,39 @@
        }
    }

    public async Task<WebResponseContent> OutboundAGVCacheArea(RequestTaskDto taskDto, DtLocationInfo StartAddress, DtLocationInfo location)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            if (location == null)
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
            }
            Dt_Task taskNew = new Dt_Task();
            if (StartAddress.Floor != location.Floor)
            {
                taskNew = RequestAcrossFloorTask(StartAddress, location, taskDto.TaskType, taskDto.PalletCode);
            }
            else
            {
                taskNew = RequestAGVCarryTask(StartAddress, location, taskDto.TaskType, taskDto.PalletCode);
            }

            var taskDTO = CreateListTaskDTO(taskNew);

            UpdateLocationStatus(StartAddress, LocationEnum.InStockDisable, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticOutbound);
            UpdateLocationStatus(location, LocationEnum.Lock, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticOutbound);

            BaseDal.AddData(taskNew);
            //return content.OK();
            return content = await SendWCSTask(taskDTO);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }
    #endregion è¯·æ±‚出库（实盘&空盘）

    #region è¯·æ±‚跨楼层2任务
@@ -534,7 +755,7 @@
                SourceAddress = task.SourceAddress,
                CurrentAddress = stationManager.stationChildCode,
                TaskState = (int)TaskAcrossFloorStatusEnum.SecondCarry,
                TaskType = (int)TaskAcrossFloorTypeEnum.AcrossFloorCarry,
                TaskType = task.TaskType,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
@@ -564,248 +785,75 @@
    #endregion

    #region è¯·æ±‚跨楼层任务
    public async Task<WebResponseContent> RequestAcrossFloorTaskAsync(RequestTaskDto taskDto)
    public Dt_Task RequestAcrossFloorTask(DtLocationInfo StartAddress,DtLocationInfo EndAddress,int TaskType,string palletCode)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {

            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId, Sourcelocation);

            if (Targetlocation == null || Sourcelocation == null)
            var next = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == StartAddress.Floor);
            return new Dt_Task
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
            }

            if (IsAcrossFloor(Sourcelocation, Targetlocation))
            {
                return content.Error("同楼层不允许请求跨楼层任务");
            }

            if (Sourcelocation != null)
            {
                var next = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == Sourcelocation.Floor);
                Dt_Task taskNew = new Dt_Task
                {
                    Grade = 1,
                    Roadway = "AGV",
                    TargetAddress = Targetlocation.LocationCode,
                    Dispatchertime = DateTime.Now,
                    MaterialNo = "",
                    NextAddress = next.stationChildCode,
                    OrderNo = null,
                    PalletCode = taskDto.PalletCode,
                    SourceAddress = taskDto.Position,
                    CurrentAddress = taskDto.Position,
                    TaskState = (int)TaskAcrossFloorStatusEnum.CarryNew,
                    TaskType = (int)TaskAcrossFloorTypeEnum.AcrossFloorCarry,
                    TaskNum = BaseDal.GetTaskNo().Result,
                    CreateDate = DateTime.Now,
                    TaskId = 0,
                    AGVTaskNum = GenerateUniqueId(),
                    Floor = Sourcelocation.Floor,
                };
                var taskDTO = CreateListTaskDTO(taskNew);


                var isResult = await AddTaskAsync(taskNew, Sourcelocation, Targetlocation);
                if (!isResult)
                {
                    _unitOfWorkManage.RollbackTran();
                    return content.Error("新增任务失败");
                }

                return content = await SendWCSTask(taskDTO);
            }
            return content.Error("未找到提升机站点");
                Grade = StartAddress.Column,
                Roadway = "AGV",
                TargetAddress = EndAddress.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = next.stationChildCode,
                OrderNo = null,
                PalletCode = palletCode,
                SourceAddress = StartAddress.LocationCode,
                CurrentAddress = StartAddress.LocationCode,
                TaskState = (int)TaskAcrossFloorStatusEnum.CarryNew,
                TaskType = TaskType,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
                Remark = StartAddress.AreaId.ToString(),
                AGVTaskNum = GenerateUniqueId(),
                Floor = StartAddress.Floor,
            };
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
            return null;
        }
    }

    public async Task<WebResponseContent> RequestPointAcrossFloorTaskAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            var Targetlocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.TargetAddress);

            if (Targetlocation == null || Sourcelocation == null)
            {
                return content.Error("起点或终点未定义");
            }

            if (IsAcrossFloor(Sourcelocation, Targetlocation))
            {
                return content.Error("同楼层不允许请求跨楼层任务");
            }
            if (Sourcelocation != null)
            {
                var next = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == Sourcelocation.Floor);
                Dt_Task taskNew = new Dt_Task
                {
                    Grade = 1,
                    Roadway = "AGV",
                    TargetAddress = Targetlocation.LocationCode,
                    Dispatchertime = DateTime.Now,
                    MaterialNo = "",
                    NextAddress = next.stationChildCode,
                    OrderNo = null,
                    PalletCode = taskDto.PalletCode,
                    SourceAddress = taskDto.Position,
                    CurrentAddress = taskDto.Position,
                    TaskState = (int)TaskAcrossFloorStatusEnum.CarryNew,
                    TaskType = (int)TaskAcrossFloorTypeEnum.AcrossFloorCarry,
                    TaskNum = BaseDal.GetTaskNo().Result,
                    CreateDate = DateTime.Now,
                    TaskId = 0,
                    AGVTaskNum = GenerateUniqueId(),
                    Floor = Sourcelocation.Floor,
                };
                var taskDTO = CreateListTaskDTO(taskNew);


                var isResult = await AddTaskAsync(taskNew, Sourcelocation, Targetlocation);
                if (!isResult)
                {
                    _unitOfWorkManage.RollbackTran();
                    return content.Error("新增任务失败");
                }

                return content = await SendWCSTask(taskDTO);
            }
            return content.Error("未找到提升机站点");
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    #endregion

    #region è¯·æ±‚AGV搬运任务
    public async Task<WebResponseContent> RequestAGVCarryTaskAsync(RequestTaskDto taskDto)
    public Dt_Task RequestAGVCarryTask(DtLocationInfo StartAddress, DtLocationInfo EndAddress, int TaskType, string palletCode)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId,Sourcelocation);

            if (Targetlocation == null || Sourcelocation == null)
            return new Dt_Task
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
            }

            if (!IsSamefloor(Sourcelocation, Targetlocation))
            {
                return content.Error("同楼层不允许请求跨楼层任务");
            }

            Dt_Task taskNew = new Dt_Task
            {
                Grade = 1,
                Grade = StartAddress.Column,
                Roadway = "AGV",
                TargetAddress = Targetlocation.LocationCode,
                TargetAddress = EndAddress.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = Targetlocation.LocationCode,
                NextAddress = EndAddress.LocationCode,
                OrderNo = null,
                PalletCode = taskDto.PalletCode,
                SourceAddress = taskDto.Position,
                CurrentAddress = taskDto.Position,
                PalletCode = palletCode,
                SourceAddress = StartAddress.LocationCode,
                CurrentAddress = StartAddress.LocationCode,
                TaskState = (int)TaskAGVCarryStatusEnum.CarryNew,
                TaskType = (int)TaskAGVCarryTypeEnum.Carry,
                TaskType = TaskType,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
                Remark = StartAddress.AreaId.ToString(),
                AGVTaskNum = GenerateUniqueId(),
                Floor = Sourcelocation.Floor,
                Floor = StartAddress.Floor,
            };
            var taskDTO = CreateListTaskDTO(taskNew);

            UpdateLocationStatus(Sourcelocation, LocationEnum.InStockDisable);
            UpdateLocationStatus(Targetlocation, LocationEnum.Lock);

            var isResult = await AddTaskAsync(taskNew, Sourcelocation, Targetlocation);
            if (!isResult)
            {
                _unitOfWorkManage.RollbackTran();
                return content.Error("新增任务失败");
            }

            //return content = await SendWCSTask(taskDTO);
            return content.OK();
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
            return null;
        }
    }


    public async Task<WebResponseContent> RequestPointAGVCarryTaskAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            var Targetlocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.TargetAddress);

            if (Targetlocation == null || Sourcelocation == null)
            {
                return content.Error("起点或终点未定义");
            }

            if (!IsSamefloor(Sourcelocation, Targetlocation))
            {
                return content.Error("同楼层不允许请求跨楼层任务");
            }
            Dt_Task taskNew = new Dt_Task
            {
                Grade = 1,
                Roadway = "AGV",
                TargetAddress = Targetlocation.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = Targetlocation.LocationCode,
                OrderNo = null,
                PalletCode = taskDto.PalletCode,
                SourceAddress = taskDto.Position,
                CurrentAddress = taskDto.Position,
                TaskState = (int)TaskAGVCarryStatusEnum.CarryNew,
                TaskType = (int)TaskAGVCarryTypeEnum.Carry,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
                AGVTaskNum = GenerateUniqueId(),
                Floor = Sourcelocation.Floor,
            };
            var taskDTO = CreateListTaskDTO(taskNew);

            var isResult = await AddTaskAsync(taskNew, Sourcelocation, Targetlocation);
            if (!isResult)
            {
                _unitOfWorkManage.RollbackTran();
                return content.Error("新增任务失败");
            }

            return content = await SendWCSTask(taskDTO);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }
    #endregion

    #region  åˆ¤æ–­æ˜¯å¦éœ€è¦ç§»åº“
@@ -830,19 +878,19 @@

            if (location == null || location.Depth != 2)
            {
                return content.Error("未找到货位或者该库位不是二深货位");
                return content.OK(data: _mapper.Map<WMSTaskDTO>(task));
            }

            var locationLateral = _locationRepository.QueryFirst(x => x.RoadwayNo == location.RoadwayNo && x.Row == 1 && x.Layer == location.Layer && x.Column == location.Column);
            if (locationLateral != null && (locationLateral.LocationStatus == 0 || locationLateral.EnalbeStatus == 1))
            if (locationLateral != null && (locationLateral.LocationStatus == (int)LocationEnum.FreeDisable || locationLateral.LocationStatus == (int)LocationEnum.Free) && locationLateral.EnalbeStatus == 1)
            {
                return content.OK(data: _mapper.Map<WMSTaskDTO>(task));
            }
            else if (locationLateral != null && (locationLateral.LocationStatus == 1 || locationLateral.EnalbeStatus == 1))
            else if (locationLateral != null && locationLateral.LocationStatus == 1 && locationLateral.EnalbeStatus == 1)
            {
                return content.Error($"一深位异常锁定暂不可出库");
            }
            else if (locationLateral != null && (locationLateral.LocationStatus == 2 || locationLateral.EnalbeStatus == 1))
            else if (locationLateral != null && locationLateral.LocationStatus == (int)LocationEnum.InStockDisable && locationLateral.EnalbeStatus == 1)
            {
                var TargetAddress = await GetEmptyLocation("SC1");

@@ -852,7 +900,7 @@
                }

                //todo查询内侧库存信息
                var stock = await _stockInfoRepository.QueryFirstAsync(x => x.LocationCode == locationLateral.LocationCode && x.LocationId == locationLateral.Id);
                var stock = await _stockInfoRepository.QueryFirstAsync(x => x.LocationCode == locationLateral.LocationCode);

                Dt_Task taskNew = new Dt_Task
                {
@@ -863,7 +911,7 @@
                    MaterialNo = "",
                    NextAddress = TargetAddress.LocationCode,
                    OrderNo = null,
                    PalletCode = taskDto.PalletCode+"001",
                    PalletCode = taskDto.PalletCode + "001",
                    SourceAddress = locationLateral.LocationCode,
                    CurrentAddress = locationLateral.LocationCode,
                    TaskState = (int)TaskRelocationStatusEnum.RelocationNew,
@@ -876,6 +924,8 @@
                var taskDTO = CreateListTaskDTO(taskNew);

                var isResult = await AddTaskAsync(taskNew, locationLateral, TargetAddress);
                //UpdateLocationStatus(TargetAddress, LocationEnum.Lock);
                UpdateLocationStatus(TargetAddress, LocationEnum.Lock, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticRelocation);
                if (!isResult)
                {
                    _unitOfWorkManage.RollbackTran();
@@ -934,7 +984,7 @@

            foreach (var item in locationInfos)
            {
                if (item.LocationStatus == 0 && item.EnalbeStatus == 1)
                if ((item.LocationStatus == 0 || item.LocationStatus == (int)LocationEnum.FreeDisable) && item.EnalbeStatus == 1)
                {
                    continue;
                }
@@ -961,7 +1011,7 @@
                        SourceAddress = item.LocationCode,
                        CurrentAddress = item.LocationCode,
                        TaskState = (int)TaskAGVCarryStatusEnum.CarryNew,
                        TaskType = (int)TaskAGVCarryTypeEnum.CarryReloction,
                        TaskType = (int)TaskRelocationTypeEnum.Relocation,
                        TaskNum = BaseDal.GetTaskNo().Result,
                        CreateDate = DateTime.Now,
                        TaskId = 0,
@@ -972,6 +1022,7 @@
                    taskDTO.Add(CreateTaskDTO(taskNew));

                    var isResult = await AddTaskAsync(taskNew, item, Targetlocation);
                    UpdateLocationStatus(Targetlocation, LocationEnum.Lock, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticRelocation);
                    if (!isResult)
                    {
                        _unitOfWorkManage.RollbackTran();
@@ -1038,7 +1089,7 @@

    #region å†…部调用方法

    public void UpdateLocationStatus(DtLocationInfo location, LocationEnum locationStatus)
    public void UpdateLocationStatus(DtLocationInfo location, LocationEnum locationStatus, int taskNum, int StatusChangeType)
    {
        List<DtLocationInfo> locations = GetGroupLocations(location);

@@ -1091,6 +1142,24 @@
                }
            }
        }
        List<LocationChangeRecordDto> changeRecordDto = new List<LocationChangeRecordDto>();
        foreach (var item in Beforelocation)
        {
            var loc = locations.Where(x => x.LocationCode == item.LocationCode).FirstOrDefault();
            if (loc != null)
            {
                changeRecordDto.Add(new LocationChangeRecordDto()
                {
                    AfterStatus = loc.LocationStatus,
                    BeforeStatus = item.LocationStatus,
                    TaskNum = taskNum,
                    LocationId = loc.Id,
                    LocationCode = loc.LocationCode,
                    ChangeType = StatusChangeType,
                });
            }
        }
        _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);

        _locationRepository.UpdateData(locations);
    }
@@ -1192,6 +1261,24 @@
        if (!isStockAdd)
        {
            throw new Exception("库存历史信息添加失败");
        }
    }

    private async Task DeleteBoxingInfoAsync(int boxingId)
    {
        var isStockUpdated = await _stockInfoRepository.DeleteDataByIdAsync(boxingId);
        if (!isStockUpdated)
        {
            throw new Exception("库存信息更新失败");
        }
    }

    private async Task AddBoxingHtyAsync(DtBoxingInfo_Hty boxingInfo)
    {
        var isStockAdd = await SqlSugarHelper.DbWMS.InsertNav(boxingInfo).IncludesAllFirstLayer().ExecuteCommandAsync();
        if (!isStockAdd)
        {
            throw new Exception("组盘历史信息添加失败");
        }
    }

@@ -1337,7 +1424,7 @@
            TaskNum = task.TaskNum.Value,
            LocationId = location.Id,
            LocationCode = location.LocationCode,
            ChangeType = (int)StatusChangeTypeEnum.AutomaticStorage,
            ChangeType = (int)StatusChangeTypeEnum.AutomaticInbound,
        };

        bool isUpdateChange = _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);
@@ -1346,42 +1433,43 @@
        return isResult && isUpdateLo;
    }

    private async Task<bool> AddTaskAsync(Dt_Task task, DtLocationInfo Sourcelocation, DtLocationInfo Targetlocation)
    private async Task<bool> AddTaskAsync(Dt_Task task, DtLocationInfo StartAddress, DtLocationInfo EndAddress)
    {
        //UpdateLocationStatus
        bool isResult = await BaseDal.AddDataAsync(task) > 0;
        int SourcebeforeStatus = Sourcelocation.LocationStatus;
        int SourcebeforeStatus = StartAddress.LocationStatus;

        int TargetbeforeStatus = Targetlocation.LocationStatus;
        int TargetbeforeStatus = EndAddress.LocationStatus;

        Sourcelocation.LocationStatus = (int)LocationEnum.InStockDisable;
        StartAddress.LocationStatus = (int)LocationEnum.InStockDisable;

        Targetlocation.LocationStatus = (int)LocationEnum.Lock;
        EndAddress.LocationStatus = (int)LocationEnum.Lock;

        List<LocationChangeRecordDto> changeRecordDto = new List<LocationChangeRecordDto>()
        {
            new LocationChangeRecordDto()
            {
                AfterStatus = Sourcelocation.LocationStatus,
                AfterStatus = StartAddress.LocationStatus,
                BeforeStatus = SourcebeforeStatus,
                TaskNum = task.TaskNum.Value,
                LocationId = Sourcelocation.Id,
                LocationCode = Sourcelocation.LocationCode,
                ChangeType = (int)StatusChangeTypeEnum.AutomaticDelivery,
                LocationId = StartAddress.Id,
                LocationCode = StartAddress.LocationCode,
                ChangeType = (int)StatusChangeTypeEnum.AutomaticInbound,
            },
            new LocationChangeRecordDto()
            {
                AfterStatus = Targetlocation.LocationStatus,
                AfterStatus = EndAddress.LocationStatus,
                BeforeStatus = TargetbeforeStatus,
                TaskNum = task.TaskNum.Value,
                LocationId = Targetlocation.Id,
                LocationCode = Targetlocation.LocationCode,
                ChangeType = (int)StatusChangeTypeEnum.AutomaticDelivery,
                LocationId = EndAddress.Id,
                LocationCode = EndAddress.LocationCode,
                ChangeType = (int)StatusChangeTypeEnum.AutomaticInbound,
            },
        };

        bool isUpdateChange = _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);
        bool Source = await _locationRepository.UpdateDataAsync(Sourcelocation);
        bool Target = await _locationRepository.UpdateDataAsync(Targetlocation);
        bool Source = await _locationRepository.UpdateDataAsync(StartAddress);
        bool Target = await _locationRepository.UpdateDataAsync(EndAddress);

        return isResult && Source && Target;
    }
@@ -1395,6 +1483,11 @@
        try
        {
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.RoadwayNo == "SC1" && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
            if (locations.Count < 2)
            {
                return null;
            }

            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            var locationInside = locations.Where(x => x.Row == 3).ToList();

@@ -1413,7 +1506,7 @@
                    }
                }

                return locationInfos.OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
                return locationInfos.Distinct().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
            }
            else if (locations.Where(x => x.Row == 1).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            {
@@ -1434,24 +1527,23 @@
    {
        try
        {
            DtLocationInfo location = null;
            if(loc==null)
            {
                return null;
            }
            switch (AreaId)
            {
                case 2:
                    location = await FromShallowToDeep(AreaId, loc);
                    break;
                    return await FromShallowToDeep(AreaId, loc);
                case 3:
                    location = await AGVLIKU(AreaId);
                    break;
                    return await AGVLIKU(AreaId);
                case 5:
                case 6:
                    location = await FromDeepToShallow(AreaId, loc);
                    break;
                    return  await FromDeepToShallow(AreaId, loc);
                default:
                    break;
                    return null;
            }

            return location;
        }
        catch (Exception ex)
        {
@@ -1470,22 +1562,36 @@
        {
            List<DtLocationInfo> locations = new List<DtLocationInfo>();

            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);

            if (AreaId == loc.AreaId)
            {
                locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);
            }
            else
            {
                locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
            }
            if (locations.Count == 0)
            {
                return null;
            }
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            foreach (var item in locations)
            {
                var locationLateral = _locationRepository.QueryData(x => x.Row == item.Row && x.Column < item.Column && x.Remark == item.Remark);
                bool Isavailable = true;
                foreach (var lateral in locationLateral)
                {
                    if (lateral.LocationStatus == (int)LocationEnum.Free && lateral.EnalbeStatus == 1)
                    if (lateral.LocationStatus != (int)LocationEnum.Free && lateral.EnalbeStatus == 1)
                    {
                        locationInfos.Add(item);
                        Isavailable = false;
                        continue;
                    }
                }
                if(Isavailable)
                    locationInfos.Add(item);
            }

            return locationInfos.OrderByDescending(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
            return locationInfos.Distinct().OrderByDescending(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
        }
        catch (Exception ex)
        {
@@ -1504,8 +1610,15 @@
        {
            List<DtLocationInfo> locations = new List<DtLocationInfo>();

            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);
           
            if (AreaId == loc.AreaId)
            {
                locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);
            }
            else
            {
                locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
            }

            if (locations.Count == 0)
            {
                return null;
@@ -1514,8 +1627,15 @@
            foreach (var item in locations)
            {
                var locationLateral = _locationRepository.QueryData(x => x.Row == item.Row && x.Column > item.Column && x.Remark == item.Remark);
                if (locationLateral.Count == 0)
                {
                    locationInfos.Add(item);
                    continue;
                }
                foreach (var Lateral in locationLateral)
                {
                    if (locationInfos.Contains(Lateral))
                        continue;
                    if (Lateral.LocationStatus == (int)LocationEnum.Free && Lateral.EnalbeStatus == 1)
                    {
                        locationInfos.Add(item);
@@ -1523,13 +1643,15 @@
                }
            }

            return locationInfos.OrderBy(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
            return locationInfos.Distinct().OrderBy(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
        }
        catch (Exception ex)
        {
            throw new Exception(ex.Message);
        }
    }


    public async Task<DtLocationInfo> AGVLIKU(int AreaId)
    {
        WebResponseContent content = new WebResponseContent();
@@ -1545,6 +1667,83 @@
        }
    }


    public bool LocationIsOutBound(DtLocationInfo location)
    {
        try
        {
            int sum = 0;
            if (location.AreaId == 1)
            {
                if (location.Depth == 2)
                {
                    var locationLateral = _locationRepository.QueryFirst(x => x.Row == 1 && x.Column == location.Column && x.Layer == location.Layer);

                    if (locationLateral.LocationStatus == (int)LocationEnum.Lock && locationLateral.EnalbeStatus == 1)
                    {
                        return false;
                    }
                }
            }

            else if (location.AreaId == 2)
            {
                var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark);

                foreach (var Lateral in locationLateral)
                {
                    if (Lateral.LocationStatus == (int)LocationEnum.Lock && Lateral.EnalbeStatus == 1)
                    {
                        return false;
                    }
                }
            }

            else if (location.AreaId == 5 || location.AreaId == 6)
            {
                var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column < location.Column && x.Remark == location.Remark);

                foreach (var lateral in locationLateral)
                {
                    if (lateral.LocationStatus == (int)LocationEnum.Lock && lateral.EnalbeStatus == 1)
                    {
                        return false;
                    }
                }
            }

            return true;
        }
        catch (Exception)
        {
            return false;
        }
    }

    private DtStockInfo CreatePalletStock(Dt_Task task, DtBoxingInfo boxing)
    {
        var loation = _locationRepository.QueryFirst(x => x.RoadwayNo == task.Roadway && x.LocationCode == task.TargetAddress);
        if (loation == null)
            throw new Exception("未找到对应位置信息");


        var boxDetail = boxing.BoxingInfoDetails.Adapt<List<DtStockInfoDetail>>();
        boxDetail.ForEach(x => { x.Status = (int)StockStateEmun.已入库; });
        var stock = new DtStockInfo()
        {
            PalletCode = task.PalletCode,
            LocationCode = task.TargetAddress,
            CreateDate = DateTime.Now,
            Creater = "system",
            IsFull = boxing.IsFull,
            StockInfoDetails = boxDetail,
        };

        stock.StockStatus = 1;

        return stock;
    }

    #endregion ä»»åŠ¡è¯·æ±‚方法

    #endregion private å†…部方法