1

huangxiaoqiang

2025-10-21 6c663b92b0078aa89657df22ec188dff65599f04

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

@@ -2,23 +2,35 @@
using log4net.Core;
using Mapster;
using Masuit.Tools;
using Microsoft.EntityFrameworkCore.Storage.ValueConversion.Internal;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using OfficeOpenXml.Table.PivotTable;
using SixLabors.Fonts.Tables.AdvancedTypographic;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq.Expressions;
using System.Reflection;
using System.Reflection.Metadata;
using System.Security.Policy;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using WIDESEA_Cache;
using WIDESEA_Common;
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;

namespace WIDESEA_StorageTaskServices;

@@ -75,16 +87,33 @@
        WebResponseContent content = new WebResponseContent();
        try
        {
            var locationStart = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.SourceAddress);
            var locationEnd = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.TargetAddress);

            task.TaskState = (int)TaskOutStatusEnum.OutFinish;
            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";

            //DtStockInfo_Hty stockInfo_Hty = stock.Adapt<DtStockInfo_Hty>();
            //stockInfo_Hty.ModifyDate = DateTime.Now; 
            stock.ModifyDate = DateTime.Now;
            stock.LocationCode = task.TargetAddress;
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                //await DeleteStockInfoAsync(stock.Id);
                //await DeleteStockInfoDetailsAsync(stock.StockInfoDetails);
                //await AddStockInfoHtyAsync(stockInfo_Hty);
                _stockInfoRepository.UpdateData(stock);

                UpdateLocationStatus(locationStart, LocationEnum.Free, task.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticOutbound);
                UpdateLocationStatus(locationEnd, LocationEnum.InStock, task.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticOutbound);

                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
            });
            content.OK("出库完成");
        }
        catch (Exception ex)
        {
@@ -109,17 +138,27 @@
        WebResponseContent content = new WebResponseContent();
        try
        {
            // æ›´æ–°è´§ä½å’Œåº“存信息
            (DtStockInfo updateStock, DtLocationInfo locationInForm, DtLocationInfo locationInfoTo) = UpdateStockLocation(stock, task);
            var taskHty = CreateHistoricalTask(task);
            LogFactory.GetLog("任务完成").InfoFormat(true, "移库任务完成", $"货位地址：{task.TargetAddress},修改后库存数据：{JsonConvert.SerializeObject(updateStock)}，原先货位数据：{locationInForm}");
            var locationStart = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.SourceAddress);
            var locationEnd = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.TargetAddress);

            // æ‰§è¡Œæ•°æ®åº“事务
            bool isResult = false;
            if (isResult)
                content.OK("移库任务完成成功");
            else
                content.Error("移库任务完成失败");
            task.TaskState = (int)TaskOutStatusEnum.OutFinish;
            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";

            stock.ModifyDate = DateTime.Now;
            stock.LocationCode = task.TargetAddress;

            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                //UpdateLocationStatus(locationStart, LocationEnum.Free, task.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);
                UpdateLocationStatus(locationEnd, LocationEnum.InStock, task.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticRelocation);
                _stockInfoRepository.UpdateData(stock);
                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
            });
            content.OK("移库完成");
        }
        catch (Exception err)
        {
@@ -142,16 +181,38 @@
        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();
                UpdateLocationStatus(locationStart, LocationEnum.Free, task.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);
                UpdateLocationStatus(locationEnd, LocationEnum.InStock, task.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);
                await AddBoxingHtyAsync(boxingInfo_Hty);
            });
            content.OK("入库完成");
        }
        catch (Exception ex)
        {
@@ -169,6 +230,12 @@
        WebResponseContent content = new WebResponseContent();
        try
        {
            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);

            task.TaskState = (int)TaskAGVCarryStatusEnum.CarryFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
            taskHty.FinishTime = DateTime.Now;
@@ -254,14 +321,6 @@
        {
            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");
@@ -270,23 +329,138 @@

    #endregion ä»»åŠ¡å®Œæˆ

    #region è¯·æ±‚任务入库

    public async Task<WebResponseContent> RequestTaskAsync(RequestTaskDto taskDto)
    #region å–消任务
    public WebResponseContent TaskCancel(int taskNum)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null)
            {
                return content = WebResponseContent.Instance.Error("未找到任务信息");
            }
            _unitOfWorkManage.BeginTran();
            MethodInfo? methodInfo = GetType().GetMethod(((TaskTypeEnum)task.TaskType) + "TaskCancel");
            if (methodInfo != null)
            {
                WebResponseContent? responseContent = (WebResponseContent?)methodInfo.Invoke(this, new object[] { task });
                if (responseContent != null)
                {
                    if (responseContent != null)
                    {
                        
                    }
                }
            }
            return content = WebResponseContent.Instance.Error("未找到任务类型对应业务处理逻辑");
        }
        catch (Exception ex)
        {
            _unitOfWorkManage.RollbackTran();
            return content = WebResponseContent.Instance.Error(ex.Message);
        }
    }
    #endregion

    #region è¯·æ±‚任务入库

    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 (location.AreaId)
                    {
                        case 1:
                            return await InboundStakerArea(taskDto, StartAddress, location);
                        case 2:
                        case 3:
                        case 4:
                        case 5:
                        case 6:
                            return await InboundAGVCacheArea(taskDto, StartAddress, location);
                        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);

            if (location == null)
            {
                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 = "SC1",
                TargetAddress = location.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = station.stationChildCode,
@@ -304,24 +478,60 @@
            };
            var taskDTO = CreateListTaskDTO(taskNew);

            var isResult = await AddInBoundTaskAsync(taskNew, location);
            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€
@@ -415,56 +625,23 @@

    #endregion


    #region è¯·æ±‚出库

    /// <summary>
    /// è¯·æ±‚托盘任务
    /// </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)
    public async Task<WebResponseContent> OtherOutBoundTaskAsync(string palletCode)
    {
        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);
            Dt_Task taskNew = new Dt_Task
            DtStockInfo stcok = await _stockInfoRepository.QueryFirstAsync(x => x.PalletCode == palletCode);
            if (stcok == null)
            {
                Grade = 1,
                Roadway = "SC1",
                TargetAddress = Targetlocation.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = station.stationChildCode,
                OrderNo = null,
                PalletCode = taskDto.PalletCode,
                SourceAddress = taskDto.Position,
                CurrentAddress = taskDto.Position,
                TaskState = (int)TaskOutStatusEnum.OutNew,
                TaskType = (int)TaskOutboundTypeEnum.Outbound,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
                AGVTaskNum = GenerateUniqueId(),
                Floor = "1F",
            };
            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.Error("托盘信息不存在，请确认托盘已入库成功");
            }
            return content = await SendWCSTask(taskDTO);
            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == stcok.LocationCode);
            if (location.AreaId == 2)
            {
                return content.Error("该托盘库存已在出库缓存区");
            }
            return await RequestOutboundTaskAsync(new RequestTaskDto { PalletCode = palletCode, AreaId = 2, Position = stcok.LocationCode ,TaskType = (int)TaskOutboundTypeEnum.OutOther });
        }
        catch (Exception ex)
        {
@@ -473,6 +650,162 @@
    }


    /// <summary>
    /// è¯·æ±‚出库任务
    /// </summary>
    /// <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");

            if (location == null)
            {
                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 = Convert.ToInt32(StartAddress.Remark),
                Roadway = "SC1",
                TargetAddress = location.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = station.stationChildCode,
                OrderNo = null,
                PalletCode = taskDto.PalletCode,
                SourceAddress = taskDto.Position,
                CurrentAddress = taskDto.Position,
                TaskState = (int)TaskOutStatusEnum.OutNew,
                TaskType = taskDto.TaskType,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
                AGVTaskNum = GenerateUniqueId(),
                Floor = "1F",
            };
            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);
        }
    }

    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
@@ -511,7 +844,7 @@
                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,
@@ -519,16 +852,17 @@
                Floor = stationManager.stationFloor,
            };
            var taskDTO = CreateTaskDTO(taskNew);

            task.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarryFinish;
            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 () =>
            {
                BaseDal.AddData(taskNew);
                
                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
                BaseDal.AddData(taskNew);
            });
            return content.OK(data: taskDTO);
        }
@@ -541,183 +875,253 @@
    #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)
    {
        LogFactory.GetLog("任务完成").InfoFormat(true, "移库任务完成", $"111111");
        WebResponseContent content = new WebResponseContent();
        try
        {

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

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId);

            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;
        }
    }
    #endregion

    public async Task<WebResponseContent> RequestPointAcrossFloorTaskAsync(RequestTaskDto taskDto)
    #region è¯·æ±‚AGV搬运任务
    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);

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

            if (Targetlocation == null || Sourcelocation == null)
            return new Dt_Task
            {
                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");
                Grade = StartAddress.Column,
                Roadway = "AGV",
                TargetAddress = EndAddress.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = EndAddress.LocationCode,
                OrderNo = null,
                PalletCode = palletCode,
                SourceAddress = StartAddress.LocationCode,
                CurrentAddress = StartAddress.LocationCode,
                TaskState = (int)TaskAGVCarryStatusEnum.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;
        }
    }

    #endregion

    #region è¯·æ±‚AGV搬运任务
    public async Task<WebResponseContent> RequestAGVCarryTaskAsync(RequestTaskDto taskDto)
    #region  åˆ¤æ–­æ˜¯å¦éœ€è¦ç§»åº“

    /// <summary>
    /// åˆ¤æ–­å †åž›æœºå‡ºåº“是否需要移库
    /// </summary>
    /// <param name="taskDto"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> StackerIsNeedRelocationAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId);

            if (Targetlocation == null || Sourcelocation == null)
            var task = BaseDal.QueryFirst(x => x.PalletCode == taskDto.PalletCode && x.TaskNum == taskDto.TaskNum);
            if (task == null)
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
                return content.Error("未找到任务");
            }

            if (!IsSamefloor(Sourcelocation, Targetlocation))
            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            if (location == null || location.Depth != 2)
            {
                return content.Error("同楼层不允许请求跨楼层任务");
                return content.OK(data: _mapper.Map<WMSTaskDTO>(task));
            }

            Dt_Task taskNew = new Dt_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 == (int)LocationEnum.FreeDisable || locationLateral.LocationStatus == (int)LocationEnum.Free) && locationLateral.EnalbeStatus == 1)
            {
                Grade = 1,
                Roadway = "AGV",
                TargetAddress = Targetlocation.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = taskDto.TargetAddress,
                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);
                return content.OK(data: _mapper.Map<WMSTaskDTO>(task));
            }
            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 == (int)LocationEnum.InStockDisable && locationLateral.EnalbeStatus == 1)
            {
                var TargetAddress = await GetEmptyLocation("SC1");

            var isResult = await AddTaskAsync(taskNew, Sourcelocation, Targetlocation);
            if (!isResult)
                if (TargetAddress == null)
                {
                    return content.Error($"未找到可分配货位,请查看是否还有空闲可使用货位");
                }

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

                Dt_Task taskNew = new Dt_Task
                {
                    Grade = 1,
                    Roadway = "SC1",
                    TargetAddress = TargetAddress.LocationCode,
                    Dispatchertime = DateTime.Now,
                    MaterialNo = "",
                    NextAddress = TargetAddress.LocationCode,
                    OrderNo = null,
                    PalletCode = taskDto.PalletCode + "001",
                    SourceAddress = locationLateral.LocationCode,
                    CurrentAddress = locationLateral.LocationCode,
                    TaskState = (int)TaskRelocationStatusEnum.RelocationNew,
                    TaskType = (int)TaskRelocationTypeEnum.Relocation,
                    TaskNum = BaseDal.GetTaskNo().Result,
                    CreateDate = DateTime.Now,
                    TaskId = 0,
                    Floor = "1F",
                };
                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();
                    return content.Error("新增任务失败");
                }
                return content.OK(data: taskDTO);
            }
            else
            {
                _unitOfWorkManage.RollbackTran();
                return content.Error("新增任务失败");
                return content.Error("货位异常需人工确认才可出库");
            }
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    public async Task<WebResponseContent> AGVIsNeedRelocationAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = BaseDal.QueryFirst(x => x.PalletCode == taskDto.PalletCode && x.TaskNum == taskDto.TaskNum);
            if (task == null)
            {
                return content.Error("未找到任务");
            }

            return content = await SendWCSTask(taskDTO);
            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            if (location == null)
            {
                return content.Error("未找到货位或者该库位不是二深货位");
            }
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            switch (location.AreaId)
            {
                case 2:
                    locationInfos = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark && x.AreaId == location.AreaId);
                    break;
                case 5:
                case 6:
                    locationInfos = _locationRepository.QueryData(x => x.Row == location.Row && x.Column < location.Column && x.Remark == location.Remark && x.AreaId == location.AreaId);
                    break;
                default:
                    break;
            }

            if (locationInfos.Count == 0)
            {
                return content.OK(data: new List<WMSTaskDTO> { _mapper.Map<WMSTaskDTO>(task) });
            }

            List<WMSTaskDTO> taskDTO = new List<WMSTaskDTO>();

            foreach (var item in locationInfos)
            {
                if ((item.LocationStatus == 0 || item.LocationStatus == (int)LocationEnum.FreeDisable) && item.EnalbeStatus == 1)
                {
                    continue;
                }
                else
                {
                    DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(item.AreaId, item);

                    if (Targetlocation == null)
                    {
                        return content.Error("起点未定义或终点区域未找到空闲库位");
                    }
                    //todo查询移库库存信息

                    Dt_Task taskNew = new Dt_Task
                    {
                        Grade = item.Column,
                        Roadway = "AGV",
                        TargetAddress = Targetlocation.LocationCode,
                        Dispatchertime = DateTime.Now,
                        MaterialNo = "",
                        NextAddress = Targetlocation.LocationCode,
                        OrderNo = null,
                        PalletCode = _random.Next(0, 10000).ToString(),
                        SourceAddress = item.LocationCode,
                        CurrentAddress = item.LocationCode,
                        TaskState = (int)TaskAGVCarryStatusEnum.CarryNew,
                        TaskType = (int)TaskRelocationTypeEnum.Relocation,
                        TaskNum = BaseDal.GetTaskNo().Result,
                        CreateDate = DateTime.Now,
                        TaskId = 0,
                        AGVTaskNum = GenerateUniqueId(),
                        Floor = item.Floor,
                        Remark = item.AreaId.ToString(),
                    };
                    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();
                        return content.Error("新增任务失败");
                    }

                }
            }
            return content.OK(data: taskDTO);
        }
        catch (Exception ex)
        {
@@ -726,62 +1130,7 @@
    }


    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 = taskDto.TargetAddress,
                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 èŽ·å–AGV任务号

@@ -800,10 +1149,32 @@
    }
    #endregion

    #region èŽ·å–任务信息
    public WebResponseContent GetTaskInfo()
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            Expression<Func<Dt_Task, bool>> expression = x => true;
            if (!App.User.IsSuperAdmin)
            {
                expression = x => x.Creater == App.User.UserName;
            }
            var task = BaseDal.Db.Queryable<Dt_Task>().OrderByDescending(x => x.CreateDate).Take(100).Select(x => new Dt_Task { TaskNum = x.TaskNum, PalletCode = x.PalletCode, TaskType = x.TaskType, SourceAddress = x.SourceAddress, TargetAddress = x.TargetAddress }).ToList();
            content = WebResponseContent.Instance.OK(data: task);
        }
        catch (Exception ex)
        {
            content = WebResponseContent.Instance.Error(ex.Message);
        }
        return content;
    }
    #endregion

    #endregion å¤–部接口方法

    #region è°ƒç”¨WCS接口
    private string GetAGVIPAddress(string baseIp, string name)
    private string GetWCSIPAddress(string baseIp, string name)
    {
        var configz = _configService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
        var wcsBasez = configz.Where(x => x.ConfigKey == baseIp).FirstOrDefault()?.ConfigValue;
@@ -817,7 +1188,7 @@
    public async Task<WebResponseContent> SendWCSTask(List<WMSTaskDTO> taskDTO)
    {
        WebResponseContent content = new WebResponseContent();
        var AgvSendTaskAddrss = GetAGVIPAddress(SysConfigConst.WCSIPAddress, SysConfigConst.ReceiveTask);
        var AgvSendTaskAddrss = GetWCSIPAddress(SysConfigConst.WCSIPAddress, SysConfigConst.ReceiveTask);
        // å‘送请求并等待响应
        var result = await HttpHelper.PostAsync(AgvSendTaskAddrss, taskDTO.ToJsonString());

@@ -827,7 +1198,173 @@
    }
    #endregion

    #region ERP接口调用
    public string GetERPIPAddress(string baseIp, string name)
    {
        var configz = _configService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
        var wcsBasez = configz.Where(x => x.ConfigKey == baseIp).FirstOrDefault()?.ConfigValue;
        var address = configz.Where(x => x.ConfigKey == name).FirstOrDefault()?.ConfigValue;
        if (wcsBasez == null || address == null)
        {
            throw new InvalidOperationException("WMS IP æœªé…ç½®");
        }
        return wcsBasez + address;
    }

    public async Task<WebResponseContent> SendERPTaskCompletion(string palletCode)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            DtStockInfo stock = await _stockInfoRepository.QueryFirstNavAsync(x=>x.PalletCode== palletCode);
            Allocate allocate = new Allocate
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "TransIn002",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,

                transferInList = stock.StockInfoDetails.Select(item => new transferInList
                {
                    ItemCode = item.MaterielCode,
                    TransInWHCode = item.Warehouse,
                    TransInQty = item.Quantity,
                    TransOutWHCode = "001",
                }).ToList()
            };
            return content.OK(data: allocate);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }


    #endregion

    #region å†…部调用方法

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

        List<DtLocationInfo> Beforelocation = locations.Select(x => new DtLocationInfo
        {
            Id = x.Id,
            LocationCode = x.LocationCode,
            LocationStatus = x.LocationStatus
        }).ToList();

        foreach (var item in locations)
        {
            if (locationStatus == LocationEnum.Lock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.Lock;
                }
                else if (item.LocationStatus == (int)LocationEnum.Free)
                {
                    item.LocationStatus = (int)LocationEnum.FreeDisable;
                }
            }
            else if (locationStatus == LocationEnum.InStock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.InStock;
                }
                else if (item.LocationStatus == (int)LocationEnum.FreeDisable)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
            }
            else if (locationStatus == LocationEnum.InStockDisable)
            {
                if (item.LocationStatus == (int)LocationEnum.InStock)
                {
                    item.LocationStatus = (int)LocationEnum.InStockDisable;
                }
                else if (item.LocationStatus == (int)LocationEnum.Free)
                {
                    item.LocationStatus = (int)LocationEnum.FreeDisable;
                }
            }
            else if (locationStatus == LocationEnum.Free)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
                else if (item.LocationStatus == (int)LocationEnum.FreeDisable || item.LocationStatus == (int)LocationEnum.InStockDisable)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
            }
        }
        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);
    }

    public List<DtLocationInfo> GetGroupLocations(DtLocationInfo location)
    {
        List<DtLocationInfo> locationInfos = _locationRepository.QueryData(x => x.AreaId == location.AreaId);
        List<DtLocationInfo> locations = new List<DtLocationInfo>() { location };
        if (location.AreaId == 1)
        {
            if (location.Depth == 2)
            {
                DtLocationInfo? locationInfo = locationInfos.FirstOrDefault(x => x.Depth == 1 && x.Column == location.Column && x.Layer == location.Layer && x.Row == 1);
                if (locationInfo != null)
                {
                    locations.Add(locationInfo);
                }
            }
        }
        else if (location.AreaId == 2)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark);
            if (locationLateral.Count > 0)
            {
                locations.AddRange(locationLateral);
            }
        }
        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);
            if (locationLateral.Count > 0)
            {
                locations.AddRange(locationLateral);
            }
        }
        return locations;

    }

    /// <summary>
    /// åˆ›å»ºä»»åŠ¡DTO
@@ -863,18 +1400,10 @@
            Id = 0,
            TaskType = task.TaskType,
            AGVTaskNum = task.AGVTaskNum,
            Remark= task.Remark
        };
    }

    private bool IsAcrossFloor(DtLocationInfo Sourcelocation,DtLocationInfo Targetlocation)
    {
        return Sourcelocation.Floor == Targetlocation.Floor;
    }

    private bool IsSamefloor(DtLocationInfo Sourcelocation, DtLocationInfo Targetlocation)
    {
        return Sourcelocation.Floor == Targetlocation.Floor;
    }
    private async Task DeleteStockInfoAsync(int stockId)
    {
        var isStockUpdated = await _stockInfoRepository.DeleteDataByIdAsync(stockId);
@@ -893,14 +1422,24 @@
        }
    }

    private async Task UpdateLocationAsync(DtLocationInfo info)
    private async Task DeleteBoxingInfoAsync(int boxingId)
    {
        var isStockUpdated = await _locationRepository.UpdateDataAsync(info);
        var isStockUpdated = await _stockInfoRepository.DeleteDataByIdAsync(boxingId);
        if (!isStockUpdated)
        {
            throw new Exception("库位信息更新失败");
            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");
        }
    }


    private async Task DeleteStockInfoDetailsAsync(IEnumerable<DtStockInfoDetail> details)
    {
@@ -998,26 +1537,6 @@
        return taskHty;
    }

    /// <summary>
    /// æ›´æ–°åº“存位置
    /// </summary>
    /// <param name="stock">库存对象</param>
    /// <param name="toLocation">目标位置</param>
    // æ›´æ–°åº“存和位置信息
    private (DtStockInfo, DtLocationInfo, DtLocationInfo) UpdateStockLocation(DtStockInfo stock, Dt_Task task)
    {
        //修改来源库位和 ç›®æ ‡åº“位状态
        var fromLocation = _locationRepository.QueryFirst(x => x.LocationCode == task.SourceAddress && x.RoadwayNo == task.Roadway);
        fromLocation.LocationStatus = LocationEnum.Free.ObjToInt();
        var toLocation = _locationRepository.QueryFirst(x => x.LocationCode == task.SourceAddress && x.RoadwayNo == task.Roadway);
        toLocation.LocationStatus = LocationEnum.InStock.ObjToInt();

        // å°†åº“存位置设置为目标位置
        stock.LocationCode = task.TargetAddress;

        // è¿”回更新后的库存和位置信息
        return (stock, fromLocation, toLocation);
    }

    #region ä»»åŠ¡è¯·æ±‚方法

@@ -1035,7 +1554,7 @@
            TaskNum = task.TaskNum.Value,
            LocationId = location.Id,
            LocationCode = location.LocationCode,
            ChangeType = (int)StatusChangeTypeEnum.AutomaticStorage,
            ChangeType = (int)StatusChangeTypeEnum.AutomaticInbound,
        };

        bool isUpdateChange = _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);
@@ -1044,68 +1563,45 @@
        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;
    }

    private async Task<bool> AddInBoundTaskAsync(Dt_Task task, DtLocationInfo location)
    {
        bool isResult = await BaseDal.AddDataAsync(task) > 0;
        int beforeStatus = location.LocationStatus;

        location.LocationStatus = (int)LocationEnum.InStockDisable;

        LocationChangeRecordDto changeRecordDto = new LocationChangeRecordDto()
        {
            AfterStatus = location.LocationStatus,
            BeforeStatus = beforeStatus,
            TaskNum = task.TaskNum.Value,
            LocationId = location.Id,
            LocationCode = location.LocationCode,
            ChangeType = (int)StatusChangeTypeEnum.AutomaticStorage,

        };

        bool isUpdateChange = _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);
        bool loc = await _locationRepository.UpdateDataAsync(location);

        return isResult && loc;
    }

    /// <summary>
@@ -1116,19 +1612,39 @@
    {
        try
        {
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.RoadwayNo == "SC1" && x.LocationStatus == 0 && x.EnalbeStatus == 1);
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.RoadwayNo == "SC1" && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
            if (locations.Count < 2)
            {
                return null;
            }

            if (locations.Where(x => x.Row == 2).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            var locationInside = locations.Where(x => x.Row == 3).ToList();

            if (locations.Where(x => x.Row == 2).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            {
                return locations.Where(x => x.Row == 2).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
            }
            else if (locations.Where(x => x.Row == 3).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            else if (locationInside.Count > 0)
            {
                return locations.Where(x => x.Row == 3).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
                foreach (var item in locationInside)
                {
                    var locationLateral = _locationRepository.QueryFirst(x => x.Row == 1 && x.Layer == item.Layer && x.Column == item.Column);
                    if (locationLateral.LocationStatus == (int)LocationEnum.Free && locationLateral.EnalbeStatus == 1)
                    {
                        locationInfos.Add(item);
                    }
                }

                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)
            {
                return locations.Where(x => x.Row == 1).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
            }
            else
            {
                return locations.Where(x => x.Row == 1).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
                return null;
            }
        }
        catch (Exception ex)
@@ -1137,32 +1653,31 @@
        }
    }

    public async Task<DtLocationInfo> GetAGVEmptyCacheLocation(int AreaId)
    public async Task<DtLocationInfo> GetAGVEmptyCacheLocation(int AreaId, DtLocationInfo loc)
    {
        try
        {
            DtLocationInfo location = null;
            if(loc==null)
            {
                return null;
            }
            switch (AreaId)
            {
                case 2:
                    location = await FromShallowToDeep(AreaId);
                    break;
                    case 3:
                    location = await AGVLIKU(AreaId);
                    break;
                    return await FromShallowToDeep(AreaId, loc);
                case 3:
                    return await AGVLIKU(AreaId);
                case 5:
                case 6:
                    location = await FromDeepToShallow(AreaId);
                    break;
                    return  await FromDeepToShallow(AreaId, loc);
                default:
                    break;
                    return null;
            }

            return location;
        }
        catch (Exception ex)
        {
            throw new Exception(ex.Message) ;
            throw new Exception(ex.Message);
        }
    }

@@ -1171,15 +1686,42 @@
    /// </summary>
    /// <param name="AreaId"></param>
    /// <returns></returns>
    public async Task<DtLocationInfo> FromDeepToShallow(int AreaId)
    public async Task<DtLocationInfo> FromDeepToShallow(int AreaId, DtLocationInfo loc)
    {
        try
        {
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == 0 && x.EnalbeStatus == 1);
            List<DtLocationInfo> locations = new List<DtLocationInfo>();

            var location = locations.OrderByDescending(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
            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)
                    {
                        Isavailable = false;
                        continue;
                    }
                }
                if(Isavailable)
                    locationInfos.Add(item);
            }

            return location;
            return locationInfos.Distinct().OrderByDescending(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
        }
        catch (Exception ex)
        {
@@ -1192,19 +1734,54 @@
    /// </summary>
    /// <param name="AreaId"></param>
    /// <returns></returns>
    public async Task<DtLocationInfo> FromShallowToDeep(int AreaId)
    public async Task<DtLocationInfo> FromShallowToDeep(int AreaId, DtLocationInfo loc)
    {
        try
        {
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == 0 && x.EnalbeStatus == 1);
            var location = locations.OrderBy(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
            return location;
            List<DtLocationInfo> locations = new List<DtLocationInfo>();

            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);
                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);
                    }
                }
            }

            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();
@@ -1220,6 +1797,83 @@
        }
    }


    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