1

huangxiaoqiang

2 天以前 2190be42c0d77be84fed82d387f2a34da7fe4acc

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

@@ -16,46 +16,37 @@
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using AutoMapper;
using Magicodes.ExporterAndImporter.Core;
using Microsoft.AspNetCore.Mvc.RazorPages;
using NetTaste;
using HslCommunication;
using Mapster;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Linq.Expressions;
using System.Reflection;
using System.Reflection.Metadata;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
using WIDESEA_Comm.Http;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Utilities;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.BasicInfo;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_TaskInfoRepository;
using static Microsoft.IO.RecyclableMemoryStreamManager;
using static WIDESEAWCS_QuartzJob.Service.DeviceInfoService;

namespace WIDESEAWCS_TaskInfoService
{
@@ -66,8 +57,11 @@
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ITask_HtyService _taskHtyService;
        private readonly ITask_HtyRepository _taskHtyRepository;
        private readonly ISys_ConfigService _sys_ConfigService;
        private readonly IMapper _mapper;
        private readonly IDeviceInfoRepository _deviceInfoRepository;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        private readonly IDt_WMSErrorMessageRepository _errorMessageRepository;


        private Dictionary<string, OrderByType> _taskOrderBy = new()
@@ -83,7 +77,8 @@
        public List<int> TaskOutboundTypes => typeof(TaskOutboundTypeEnum).GetEnumIndexList();
        public List<int> TaskRelocationboundTypes => typeof(TaskRelocationTypeEnum).GetEnumIndexList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService taskHtyService, IDt_StationManagerRepository stationManagerRepository, ITask_HtyRepository taskHtyRepository) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService taskHtyService, ISys_ConfigService sys_ConfigService, IDt_StationManagerRepository stationManagerRepository, ITask_HtyRepository taskHtyRepository,
        IDeviceInfoRepository deviceInfoRepository, IDt_WMSErrorMessageRepository errorMessageRepository) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
@@ -92,6 +87,10 @@
            _mapper = mapper;
            _stationManagerRepository = stationManagerRepository;
            _taskHtyRepository = taskHtyRepository;
            _mapper = mapper;
            _sys_ConfigService = sys_ConfigService;
            _deviceInfoRepository = deviceInfoRepository;
            _errorMessageRepository = errorMessageRepository;
        }

        /// <summary>
@@ -99,87 +98,323 @@
        /// </summary>
        /// <param name="taskDTOs">WMS任务对象集合</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent ReceiveWMSTask([NotNull] List<WMSTaskDTO> taskDTOs)
        public WebResponseContent ReceiveWMSTask([NotNull] WMSTaskDTO taskDTOs)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {// åˆ›å»ºä¸€ä¸ªDt_Task类型的列表用于存储转换后的任务数据
                List<Dt_Task> tasks = new List<Dt_Task>();
                // éåŽ†ä¼ å…¥çš„WMSTaskDTO列表
                foreach (var item in taskDTOs)
            {
                WriteLog.GetLog("接收WMS任务").Write(JsonConvert.SerializeObject(taskDTOs), "接收WMS任务");
                Dt_Task task =null;
                // åˆ¤æ–­ä»»åŠ¡ç±»åž‹æ˜¯å¦ä¸ºå‡ºåº“任务
                if (taskDTOs.TaskType == "2")
                {
                    // æŸ¥è¯¢æ•°æ®åº“中是否存在相同任务编号或托盘码的任务，如果存在则跳过当前循环
                    if (BaseDal.QueryFirst(x => x.TaskNum == item.TaskId || x.PalletCode == item.TPbarcode) != null)
                    if (Convert.ToInt32(taskDTOs.EndPoint) > 1999 && Convert.ToInt32(taskDTOs.EndPoint) < 3000)
                    {
                        continue;
                    }
                    // å°†WMSTaskDTO对象映射为Dt_Task对象
                    Dt_Task task = _mapper.Map<Dt_Task>(item);
                    // è®¾ç½®ä»»åŠ¡çš„创建者为"WMS"
                    task.Creater = "WMS";
                    task.Grade = 1; // è®¾ç½®é»˜è®¤ä¼˜å…ˆçº§ä¸º1
                    // åˆ¤æ–­ä»»åŠ¡ç±»åž‹æ˜¯å¦ä¸ºå‡ºåº“任务
                    if (item.TaskType == "2")
                    {
                        task.TaskType = (int)TaskOutboundTypeEnum.Outbound;
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(item.WhCode, item.EndPoint);
                        if (routers.Count > 0)
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.EndPoint);
                        if (stationManagerStart == null)
                        {
                            // è®¾ç½®ä»»åŠ¡çŠ¶æ€ä¸ºå‡ºåº“新建
                            task.TaskState = (int)TaskOutStatusEnum.OutNew;
                            // è®¾ç½®å½“前地址为源地址
                            task.CurrentAddress = item.BeginPoint;
                            // è®¾ç½®ä¸‹ä¸€ä¸ªåœ°å€ä¸ºç¬¬ä¸€ä¸ªå­ä½ç½®
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                            return content.Error("未找到出库站台信息");
                        }
                        else
                        task = new Dt_Task()
                        {
                            // æŸ¥è¯¢ä»Žæºåœ°å€åˆ°ç›®æ ‡åœ°å€çš„路由
                            routers = _routerService.QueryNextRoutes(item.BeginPoint, item.EndPoint);
                            if (routers.Count > 0)
                            {
                                // è®¾ç½®ä»»åŠ¡çŠ¶æ€ä¸ºå‡ºåº“完成
                                task.TaskState = (int)TaskOutStatusEnum.SC_OutFinish;
                                // è®¾ç½®å½“前地址为源地址
                                task.CurrentAddress = item.BeginPoint;
                                // è®¾ç½®ä¸‹ä¸€ä¸ªåœ°å€ä¸ºç¬¬ä¸€ä¸ªå­ä½ç½®
                                task.NextAddress = routers.FirstOrDefault().ChildPosi;
                            }
                        }
                    }// åˆ¤æ–­ä»»åŠ¡ç±»åž‹æ˜¯å¦ä¸ºå…¥åº“任务
                    else if (item.TaskType == "1")
                    {
                        task.TaskType = (int)TaskInboundTypeEnum.Inbound;
                        // æŸ¥è¯¢ä»Žæºåœ°å€åˆ°ç›®æ ‡åœ°å€çš„路由
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(item.BeginPoint, item.EndPoint);
                        if (routers.Count > 0)
                        {
                            // è®¾ç½®ä»»åŠ¡çŠ¶æ€ä¸ºå…¥åº“新建
                            task.TaskState = (int)TaskInStatusEnum.InNew;
                            // è®¾ç½®å½“前地址为源地址
                            task.CurrentAddress = item.BeginPoint;
                            // è®¾ç½®ä¸‹ä¸€ä¸ªåœ°å€ä¸ºç¬¬ä¸€ä¸ªå­ä½ç½®
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                        }
                    }
                    else if (item.TaskType == "3")
                    {
                        task.TaskType = (int)TaskRelocationTypeEnum.Relocation;
                        // è®¾ç½®ä»»åŠ¡çŠ¶æ€ä¸ºæ–°å»º
                        task.TaskState = (int)TaskRelocationStatusEnum.RelocationNew;
                        task.Grade = 3; // è®¾ç½®é»˜è®¤ä¼˜å…ˆçº§ä¸º1
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskOutboundTypeEnum.Outbound,
                            TaskState = (int)TaskOutStatusEnum.OutNew,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = taskDTOs.BeginPoint,
                            Roadway = stationManagerStart.Roadway,
                            NextAddress = taskDTOs.EndPoint,
                            TargetAddress = taskDTOs.EndPoint,
                            Floor = stationManagerStart.stationFloor,
                            RGVName = ""
                        };
                        BaseDal.AddData(task);
                    }
                    else
                    {
                        return content.Error($"任务类型错误,未找到该任务类型,任务号:【{item.TaskId}】,任务类型:【{item.TaskType}】");
                        string[] targetCodes = taskDTOs.BeginPoint.Split("-");

                        if (taskDTOs.EndPoint == "3004")
                        {
                            var newTask = BaseDal.QueryFirst(x => x.SourceAddress == "3001" && x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState != (int)TaskInStatusEnum.HoistNew && x.TaskState != (int)TaskInStatusEnum.HoistInExecuting && x.TaskState > 225);
                            if (newTask != null)
                            {
                                return content.Error("已存在入库任务，出库任务不可下发");
                            }
                        }


                        Dt_StationManager stationManagerEnd = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.EndPoint);
                        if (stationManagerEnd == null)
                        {
                            return content.Error("未找到出库站台信息");
                        }

                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == GetScCode(Convert.ToInt32(targetCodes[0])) && x.stationType == 2 && x.stationFloor == stationManagerEnd.stationFloor);

                        var RGVName = string.Empty;
                        if (stationManager.stationFloor == "1F")
                        {
                            RGVName = stationManager.RGVName;
                        }
                        Dt_Task NewTask = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskOutboundTypeEnum.Outbound,
                            TaskState = (int)TaskOutStatusEnum.OutNew,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = taskDTOs.BeginPoint,
                            Roadway = GetScCode(Convert.ToInt32(targetCodes[0])),
                            NextAddress = stationManager.stationChildCode,
                            TargetAddress = taskDTOs.EndPoint,
                            RGVName = stationManager.RGVName != null ? stationManager.RGVName : RGVName,
                            Floor = stationManager.stationFloor,
                            TargetStation = stationManagerEnd.remark,
                            SourceStation = 0,
                        };
                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && (taskDTOs.EndPoint == "1030" || taskDTOs.EndPoint == "1029"))
                        {
                            Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode== "1025");
                            NewTask.TargetStation = stationTransfer.stationRemark;
                            NewTask.Remark = "1025";
                        }
                        if(taskDTOs.EndPoint == "1004")
                        {
                            return content.Error("该点位不是出库点位");
                        }
                        if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && taskDTOs.EndPoint == "1002")
                        {
                            Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode == "1026");
                            NewTask.TargetStation = stationTransfer.stationRemark;
                            NewTask.Remark = "1026";
                        }
                        task = NewTask;
                        BaseDal.AddData(NewTask);
                    }
                }
                BaseDal.AddData(tasks);
                _taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskId).ToList(), "接收WMS任务");
                // åˆ¤æ–­ä»»åŠ¡ç±»åž‹æ˜¯å¦ä¸ºå…¥åº“任务
                else if (taskDTOs.TaskType == "1")
                {
                    if (taskDTOs.BeginPoint == "3002")
                    {
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.BeginPoint);
                        if (stationManagerStart == null)
                        {
                            return content.Error("未找到入库站台信息");
                        }
                        string[] targetCodes = taskDTOs.EndPoint.Split("-");
                        task = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskInboundTypeEnum.Inbound,
                            TaskState = (int)TaskInStatusEnum.HoistNew,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = stationManagerStart.stationChildCode,
                            Roadway = GetScCode(Convert.ToInt32(targetCodes[0])),
                            NextAddress = stationManagerStart.stationNextChildCode,
                            TargetAddress = taskDTOs.EndPoint,
                            Floor = stationManagerStart.stationFloor,
                            RGVName = "RGV03"
                        };
                        BaseDal.AddData(task);
                    } 
                    else if (Convert.ToInt32(taskDTOs.BeginPoint) > 1999 && Convert.ToInt32(taskDTOs.BeginPoint) < 3000)
                    {
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.BeginPoint);
                        if (stationManagerStart == null)
                        {
                            return content.Error("未找到出库站台信息");
                        }
                        task = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskInboundTypeEnum.Inbound,
                            TaskState = (int)TaskInStatusEnum.Line_InFinish,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = stationManagerStart.stationChildCode,
                            Roadway = stationManagerStart.Roadway,
                            NextAddress = taskDTOs.EndPoint,
                            TargetAddress = taskDTOs.EndPoint,
                            Floor = stationManagerStart.stationFloor,
                            RGVName = ""
                        };
                        BaseDal.AddData(task);
                    }
                    else
                    {
                        task = BaseDal.QueryFirst(x => x.PalletCode == taskDTOs.TPbarcode);
                        string[] targetCodes = taskDTOs.EndPoint.Split("-");
                                                
                        if (task != null)
                        {
                            task.Creater = "WMS";
                            task.Grade = 1;
                            task.PalletCode = taskDTOs.TPbarcode;

                            task.TaskType = (int)TaskInboundTypeEnum.Inbound;

                            task.TaskState = (int)TaskInStatusEnum.RGV_IndispatchFinish;

                            task.CurrentAddress = taskDTOs.BeginPoint;

                            task.WMSTaskNum = taskDTOs.TaskId;

                            task.TargetAddress = taskDTOs.EndPoint;

                            task.Roadway = GetScCode(Convert.ToInt32(targetCodes[0]));

                            Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationType == 3 && x.stationFloor == task.Floor);

                            Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode==taskDTOs.BeginPoint && x.stationFloor == task.Floor);

                            task.NextAddress = stationManager.stationChildCode;

                            task.SourceStation = stationManagerStart.remark;

                            task.TargetStation = stationManager.stationRemark;


                            if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC01" && (taskDTOs.BeginPoint == "1030" || taskDTOs.EndPoint == "1029"))
                            {
                                Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode == "1026");
                                task.TargetStation = stationTransfer.stationRemark;
                                task.Remark = "1026";
                            }

                            if (GetScCode(Convert.ToInt32(targetCodes[0])) == "SC06" && (taskDTOs.BeginPoint == "1002" || taskDTOs.BeginPoint == "1004"))
                            {
                                Dt_StationManager stationTransfer = _stationManagerRepository.QueryFirst(x => x.stationChildCode == "1026");
                                task.TargetStation = stationTransfer.stationRemark;
                                task.Remark = "1025";
                            }
                            BaseDal.UpdateData(task);
                        }
                        else
                        {
                            return content.Error($"未找到该托盘【{taskDTOs.TPbarcode}】任务");
                        }
                    }
                }
                else if (taskDTOs.TaskType == "3")
                {
                    string[] targetCodes = taskDTOs.BeginPoint.Split("-");
                    task = new Dt_Task()
                    {
                        TaskType = (int)TaskRelocationTypeEnum.Relocation,

                        TaskState = (int)TaskRelocationStatusEnum.RelocationNew,

                        Roadway = GetScCode(Convert.ToInt32(targetCodes[0])),

                        SourceAddress = taskDTOs.BeginPoint,

                        CurrentAddress = taskDTOs.BeginPoint,

                        NextAddress = taskDTOs.EndPoint,

                        TargetAddress = taskDTOs.EndPoint,

                        Grade = 3,

                    };
                    BaseDal.AddData(task);
                }
                else if (taskDTOs.TaskType == "4")
                {
                    task = BaseDal.QueryFirst(x => x.PalletCode == taskDTOs.TPbarcode);
                    Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
                    if (stationManager == null)
                    {
                        return content.Error("未找到起点站台");
                    }
                    
                    if (task != null)
                    {
                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;
                        task_Hty.OperateType = (int)OperateTypeEnum.异常退回;

                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                        Dt_WMSErrorMessage message = new Dt_WMSErrorMessage()
                        {
                            TaskNum = task.TaskNum,
                            PalletCode=taskDTOs.TPbarcode,
                            ErrorMessage=taskDTOs.EndPoint,
                            CreateDate=DateTime.Now,
                            Creater = "WMS"
                        };
                        _errorMessageRepository.AddData(message);
                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.RGVName);
                        if (device != null)
                        {
                            if (task.RGVName == "RGV01" || task.RGVName == "RGV02")
                            {
                                CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;

                                commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, Convert.ToSByte(stationManager.stationRemark));
                                commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(task.TaskNum));
                                commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(4));
                            }
                            else
                            {
                                CommonRGV commonRGV = (CommonRGV)device;
                                commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, Convert.ToSByte(stationManager.stationRemark));
                                commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(task.TaskNum));
                                commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(4));
                            }
                        }
                    }
                    else
                    {
                        IDevice? deviceconveyorline = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
                        if (deviceconveyorline != null)
                        {
                            CommonConveyorLine conveyorLine = (CommonConveyorLine)deviceconveyorline;

                            conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(3), stationManager.stationChildCode);

                            Dt_WMSErrorMessage message = new Dt_WMSErrorMessage()
                            {
                                PalletCode = taskDTOs.TPbarcode,
                                ErrorMessage = taskDTOs.EndPoint,
                                CreateDate = DateTime.Now,
                                Creater ="WMS"
                            };
                            _errorMessageRepository.AddData(message);
                        }
                    }
                    return content.OK();
                }
                else
                {
                    return content.Error($"任务类型错误,未找到该任务类型,任务号:【{taskDTOs.TaskId}】,任务类型:【{taskDTOs.TaskType}】");
                }
                _taskExecuteDetailService.AddTaskExecuteDetailS(task.TaskNum, "接收WMS任务");
                content = WebResponseContent.Instance.OK("成功");
            }
            catch (Exception ex)
            {
                WriteLog.GetLog("接收WMS任务").Write(JsonConvert.SerializeObject(ex.Message), "接收WMS任务");
                content = WebResponseContent.Instance.Error($"生成任务失败,错误信息:{ex.Message}");
            }
            finally
@@ -189,18 +424,53 @@
            return content;
        }

        public string GetScCode(int number)
        {
            if (number >= 1 && number <= 4)
            {
                return "SC01";
            }
            else if (number >= 5 && number <= 7)
            {
                return "SC02";
            }
            else if (number >= 8 && number <= 10)
            {
                return "SC03";
            }
            else if (number >= 11 && number <= 14)
            {
                return "SC04";
            }
            else if (number >= 15 && number <= 18)
            {
                return "SC05";
            }
            else if (number >= 19 && number <= 22)
            {
                return "SC06";
            }
            else
            {
                // å¤„理不在1-16范围内的情况（可选）
                throw new ArgumentOutOfRangeException(nameof(number), "输入的数字必须在1-16范围内");
                // æˆ–者返回一个默认值：return "SC00";
            }
        }


        public WebResponseContent GetTask(WMSTaskDTO taskDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskDTO.TaskId || x.Roadway == taskDTO.WhCode);
                Dt_Task_Hty taskHty = _taskHtyRepository.QueryFirst(x => x.TaskNum == taskDTO.TaskId || x.Roadway == taskDTO.WhCode);
                Dt_Task task = BaseDal.QueryFirst(x => x.WMSTaskNum == taskDTO.TaskId && x.Roadway == taskDTO.WhCode);
                Dt_Task_Hty taskHty = _taskHtyRepository.QueryFirst(x => x.WMSTaskNum == taskDTO.TaskId && x.Roadway == taskDTO.WhCode);
                if (task != null)
                {
                    return content.OK(data: new WMSTaskDTO()
                    {
                        TaskId = task.TaskNum,
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = task.Roadway,
                        BeginPoint = task.SourceAddress,
@@ -212,7 +482,7 @@
                {
                    return content.OK(data: new WMSTaskDTO()
                    {
                        TaskId = taskHty.TaskNum,
                        TaskId = taskHty.WMSTaskNum,
                        TPbarcode = taskHty.PalletCode,
                        WhCode = taskHty.Roadway,
                        BeginPoint = taskHty.SourceAddress,
@@ -290,9 +560,42 @@
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTask(string deviceNo, string currentAddress)
        public Dt_Task QueryConveyorLineTask(string currentAddress,int taskNum)
        {
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
            Dt_Task task= BaseDal.QueryFirst(x => TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.RGV_InExecutingFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
            if (task == null)
            {
                task = BaseDal.QueryFirst(x => TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
            }
            return task;
        }

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址查询输送线未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineFinishTask(string currentAddress,int taskNum)
        {
            Dt_Task task = BaseDal.QueryFirst(x => TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InExecuting && x.NextAddress == currentAddress && x.TaskNum == taskNum, TaskOrderBy);
            if (task == null)
            {
                task = BaseDal.QueryFirst(x => TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting && x.CurrentAddress == currentAddress && x.TaskNum == taskNum, TaskOrderBy);
            }
            return task;
        }


        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址查询RGV未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryRGVExecutingTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish|| x.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS|| x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish) && x.RGVName == deviceNo);
        }

        /// <summary>
@@ -301,9 +604,9 @@
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryRGVTask(string deviceNo, string currentAddress)
        public Dt_Task QueryRGVExecutingTask(string deviceNo,int taskNum)
        {
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS) && x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish && x.RGVName == deviceNo&&x.TaskNum==taskNum);
        }

        /// <summary>
@@ -331,44 +634,6 @@
                return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

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

        /// <summary>
        /// æ ¹æ®ä»»åŠ¡å·ã€å½“前地址查询输送线完成的任务
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryCompletedConveyorLineTask(int taskNum, string currentAddress)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
        }

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、任务类型分组(可选)按照优先级以及创建时间排序查询任务池新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="taskTypeGroup">任务类型分组(可选)</param>
        /// <returns></returns>
        public Dt_Task? QuertStackerCraneTask(string deviceNo, TaskTypeGroup? taskTypeGroup = null)
        {
            if (taskTypeGroup == null)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.InboundGroup)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.OutbondGroup)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            return null;
        }

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址按照优先级以及创建时间排序查询任务池新增的任务
@@ -381,7 +646,23 @@
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew)), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew)), TaskOrderBy); return BaseDal.QueryFirst(x => x.TaskState == (int)AGVTaskStatusEnum.AGVNew && x.Roadway == deviceNo, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew)), TaskOrderBy);
        }

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址按照优先级以及创建时间排序查询任务池新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryRGVTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.RGVName == deviceNo && ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish)), TaskOrderBy);
        }

        public List<Dt_Task> QueryRGVTask()
        {
            return BaseDal.QueryData(x => ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish) && x.Floor == "1F"), TaskOrderBy);
        }

        /// <summary>
@@ -396,6 +677,17 @@
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址按照优先级以及创建时间排序查询任务池入库类型的新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryRGVInTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.RGVName == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew, TaskOrderBy);
        }

        /// <summary>
@@ -417,22 +709,12 @@
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象集合，可能为null</returns>
        public List<Dt_Task> QueryStackerCraneOutTasks(string deviceNo, List<string> outStationCodes)
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryRGVOutTask(string deviceNo)
        {
            return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
            return BaseDal.QueryFirst(x => x.RGVName == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish, TaskOrderBy);
        }

        /// <summary>
        /// æ ¹æ®å‡ºåº“货位查询是否有当前浅货位任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象集合，可能为null</returns>
        public List<Dt_Task> QueryStationIsOccupiedOutTasks(string deviceNo, string SourceAddress)
        {
            return BaseDal.QueryData(x => x.Roadway == deviceNo && SourceAddress.Contains(x.SourceAddress), TaskOrderBy);
        }

        /// <summary>
        /// æ›´æ–°ä»»åŠ¡å¼‚常信息显示
@@ -470,17 +752,144 @@
        }

        /// <summary>
        /// æ›´æ–°ä»»åŠ¡çŠ¶æ€ä¿¡æ¯ï¼Œå¹¶åŒæ­¥è‡³WMS
        /// å°†ä»»åŠ¡çŠ¶æ€ä¿®æ”¹ä¸ºä¸‹ä¸€ä¸ªçŠ¶æ€
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="status">任务状态</param>
        public void UpdateTaskStatus(int taskNum, int status)
        public WebResponseContent HandUpdateTaskStatusToNext(int taskNum)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null) return;
            task.TaskState = status;
            task.ModifyDate = DateTime.Now;
            BaseDal.UpdateData(task);
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                int oldState = task.TaskState;
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();

                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutFinish)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutFinish;
                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;
                        task_Hty.OperateType = (int)OperateTypeEnum.人工完成;
                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);

                        var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                        var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                        var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                        WMSTaskDTO taskDTO = new WMSTaskDTO()
                        {
                            TaskId = task.WMSTaskNum,
                            TPbarcode = task.PalletCode,
                            WhCode = "1001",
                            BeginPoint = task.SourceAddress,
                            EndPoint = task.TargetAddress,
                            Results = "1"
                        };
                        if (wmsBase == null || requestTask == null)
                        {
                            throw new InvalidOperationException("WMS IP æœªé…ç½®");
                        }
                        var wmsIpAddress = wmsBase + requestTask;
                        var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;


                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库完成");
                    }

                    if (task.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting)
                    {
                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationChildCode == task.NextAddress);
                        Dt_StationManager stationManagerend = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.TargetAddress);
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = task.TargetAddress;
                        task.SourceStation = stationManager.stationRemark;
                        task.TargetStation = stationManagerend.remark;
                    }

                    if (task.TaskState == (int)TaskOutStatusEnum.SC_OutFinish)
                    {
                        content = StackCraneTaskCompleted(task.TaskNum);
                        return content;
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    {
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = task.TargetAddress;
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                    {
                        return content.Error("请等待WMS下发入库任务");
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.RGV_InExecutingFinish)
                    {
                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress && x.stationFloor == task.Floor);
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = stationManager.stationNextChildCode;
                        task.ModifyDate = DateTime.Now;
                        BaseDal.UpdateData(task);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV入库完成");
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.SC_InFinish)
                    {
                        if (App.User.UserId > 0)
                        {
                            content = StackCraneTaskCompleted(task.TaskNum);
                            return content;
                        }

                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;
                        task_Hty.OperateType = (int)OperateTypeEnum.人工完成;
                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_InExecutingFinish)
                    {
                        RGVTaskCompleted(task.TaskNum);
                    }
                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{task.TaskNum}】,任务类型:【{task.TaskType}】");
                }

                if (task.TaskState <= 0)
                {
                    return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                }

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

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

                content = WebResponseContent.Instance.OK();

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

        /// <summary>
@@ -520,22 +929,24 @@

                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskOutStatusEnum.Line_OutFinish)
                    if (task.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting)
                    {
                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;

                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationChildCode == task.NextAddress);
                        Dt_StationManager stationManagerend = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.TargetAddress);
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = task.TargetAddress;
                        task.SourceStation = stationManager.stationRemark;
                        task.TargetStation = stationManagerend.remark;
                    }

                    if (task.TaskState == (int)TaskOutStatusEnum.SC_OutFinish)
                    {
                        content = StackCraneTaskCompleted(task.TaskNum);
                        return content;
                    }
                    if (task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
@@ -545,20 +956,8 @@

                    if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    {
                        #region å…¥åº“调用接口获取货位地址

                        // æ£€æŸ¥çŠ¶æ€å¹¶è¿”回
                        if (!content.Status)
                            return content;

                        // ååºåˆ—化任务数据
                        var taskResult = JsonConvert.DeserializeObject<WMSTaskDTO>(content.Data.ToString());

                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = taskResult.EndPoint;
                        task.TargetAddress = task.NextAddress;

                        #endregion å…¥åº“调用接口获取货位地址
                        task.NextAddress = task.TargetAddress;
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.SC_InFinish)
                    {
@@ -577,6 +976,10 @@
                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.InFinish|| task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
                    {
                        RGVTaskCompleted(task.TaskNum);
                    }
                }
                else
                {
@@ -594,23 +997,6 @@

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

                #region æ›´æ–°ä»»åŠ¡çŠ¶æ€

                // èŽ·å–WMSip地址
                //var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                //var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                //var updateTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.UpdateTask)?.ConfigValue;
                //if (wmsBase == null || updateTask == null)
                //{
                //    throw new InvalidOperationException("WMS IP æœªé…ç½®");
                //}
                //var wmsIpAddress = wmsBase + updateTask;

                //var result = HttpHelper.PostAsync(wmsIpAddress, new { TaskNum = task.TaskNum, TaskState = task.TaskState }.ToJsonString()).Result;
                //content = JsonConvert.DeserializeObject<WebResponseContent>(result);

                #endregion æ›´æ–°ä»»åŠ¡çŠ¶æ€

                content = WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
@@ -620,42 +1006,131 @@
            return content;
        }

        /// <summary>
        /// æ ¹æ®ä»»åŠ¡å·ã€å½“前地址更新任务位置信息
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task? UpdatePosition(int taskNum, string currentAddress)

        public WebResponseContent RGVTaskCompleted(int taskNum, string Barcode = "")
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress);
                if (task == null) throw new Exception($"未找到该任务信息,任务号:【{taskNum}】");
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");

                string oldCurrentPos = task.CurrentAddress;
                string oldNextPos = task.NextAddress;
                if (task.TaskState == (int)TaskInStatusEnum.RGV_Indispatch)
                {
                    task.TaskState = (int)TaskInStatusEnum.RGV_InAwaitWMS;
                    task.PalletCode = Barcode;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.UpdateData(task);

                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
                if (!routers.Any()) throw new Exception($"未找到设备路由信息");
                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.RequestTask)?.ConfigValue;

                task.CurrentAddress = task.NextAddress;
                task.NextAddress = routers.FirstOrDefault().ChildPosi;
                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TPbarcode = Barcode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP æœªé…ç½®");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                    WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");

                task.ModifyDate = DateTime.Now;
                task.Modifier = "System";
                BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV调度完成等待WMS任务");
                }
                else if (task.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                {
                    Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress && x.stationFloor == task.Floor);
                    task.TaskState = (int)TaskInStatusEnum.RGV_InExecutingFinish;
                    task.CurrentAddress = task.NextAddress;
                    task.NextAddress = stationManager.stationNextChildCode;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV入库完成");
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch)
                {
                    task.TaskState = (int)TaskOutStatusEnum.RGV_OutdispatchFinish;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库调度");
                }
                else if (task.TaskState == (int)TaskInStatusEnum.InRetuen)
                {
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"系统自动流程，更新当前位置【{oldCurrentPos} ----> {task.CurrentAddress}】和下一位置【{oldNextPos} ----> {task.NextAddress}】");
                return task;
                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;

                    BaseDal.DeleteData(task);
                    _taskHtyRepository.AddData(task_Hty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库完成");
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutFinish;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;
                    task_Hty.OperateType = (int)OperateTypeEnum.自动完成;
                    BaseDal.DeleteData(task);
                    _taskHtyRepository.AddData(task_Hty);

                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress,
                        EndPoint = task.TargetAddress,
                        Results = "1"
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP æœªé…ç½®");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                    WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库完成");
                }
                else if (task.TaskState == (int)TaskInStatusEnum.RGV_TransFer)
                {
                    task.TaskState = (int)TaskInStatusEnum.RGV_TransFerFInish;
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV入库中转");
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_TransFer)
                {
                    task.TaskState = (int)TaskOutStatusEnum.RGV_TransFerFInish;
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库中转");
                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");
                }
                content = WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务完成异常,任务号:【{taskNum}】");
            }
            return null;
            return content;
        }

        

        public WebResponseContent StackCraneTaskCompleted(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();
@@ -664,18 +1139,109 @@
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");

                if ( task.TaskState == (int)AGVTaskStatusEnum.AGV_Executing)
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    task.TaskState = (int)AGVTaskStatusEnum.AGVFinish;
                    if (Convert.ToInt32(task.TargetAddress) > 1999 && Convert.ToInt32(task.TargetAddress) < 3000)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutFinish; ;
                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;
                        task_Hty.OperateType = (int)OperateTypeEnum.自动完成;
                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    }
                    else
                    {
                        task.TaskState = (int)TaskOutStatusEnum.SC_OutFinish;

                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationType == 2 && x.stationFloor == task.Floor);

                        task.CurrentAddress = task.NextAddress;

                        task.NextAddress = stationManager.stationNextChildCode;

                        BaseDal.UpdateData(task);

                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    }    
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutFinish)
                {

                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                {
                    task.TaskState = (int)TaskInStatusEnum.InFinish; ;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;
                    task_Hty.OperateType = (int)OperateTypeEnum.自动完成;
                    BaseDal.DeleteData(task);
                    //_taskHtyService.AddTaskHty(task, (int)OperateTypeEnum.自动完成);
                    _taskHtyRepository.AddData(task_Hty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");

                    Dt_Task_Hty taskHty = _mapper.Map<Dt_Task_Hty>(task);
                    taskHty.OperateType = (int)OperateTypeEnum.自动完成;
                    _taskHtyRepository.AddData(taskHty);
                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress,
                        EndPoint = task.TargetAddress,
                        Results = "1"
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP æœªé…ç½®");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                    WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskRelocationStatusEnum>();
                    task.TaskState = nextStatus;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"AGV搬运完成完成");
                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;
                    task_Hty.OperateType = (int)OperateTypeEnum.自动完成;
                    BaseDal.DeleteData(task);
                    _taskHtyRepository.AddData(task_Hty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机移库完成");

                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress,
                        EndPoint = task.TargetAddress,
                        Results = "1"
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP æœªé…ç½®");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                    WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
                {
                }
                else
                {
@@ -695,7 +1261,7 @@
            WebResponseContent content = new WebResponseContent();
            try
            {
                List<Dt_Task> tasks = BaseDal.QueryData(x => (x.TaskState == (int)TaskInStatusEnum.InNew || x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskRelocationStatusEnum.RelocationNew) && x.TaskNum == taskDTO.TaskId && x.PalletCode == taskDTO.TPbarcode && x.Roadway == taskDTO.WhCode);
                List<Dt_Task> tasks = BaseDal.QueryData(x => (x.TaskState == (int)TaskInStatusEnum.InNew || x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskRelocationStatusEnum.RelocationNew) && x.WMSTaskNum == taskDTO.TaskId && x.PalletCode == taskDTO.TPbarcode && x.Roadway == taskDTO.WhCode);
                if (tasks.Count == 0) return content.Error("没有需要取消的任务");
                foreach (Dt_Task task in tasks)
                {
@@ -705,7 +1271,6 @@
                    BaseDal.DeleteData(task);

                    Dt_Task_Hty taskHty = _mapper.Map<Dt_Task_Hty>(task);
                    //_taskHtyService.AddTaskHty(task, (int)OperateTypeEnum.WMS取消);
                    taskHty.OperateType = (int)OperateTypeEnum.WMS取消;
                    _taskHtyRepository.AddData(taskHty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "人工取消任务");
@@ -719,6 +1284,130 @@
            return content;
        }

        public WebResponseContent TaskCancel(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return content.Error("未找到该任务信息");

                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutCancel;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    task.TaskState = (int)TaskInStatusEnum.InCancel;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {
                    task.TaskState = (int)TaskRelocationStatusEnum.RelocationCancel;
                }
                else
                {
                    return content.Error($"任务类型错误,未找到该任务类型,任务号:【{task.TaskNum}】,任务类型:【{task.TaskType}】");
                }
                task.ModifyDate = DateTime.Now;
                BaseDal.DeleteData(task);

                Dt_Task_Hty taskHty = _mapper.Map<Dt_Task_Hty>(task);
                taskHty.OperateType = (int)OperateTypeEnum.WCS人工取消;
                _taskHtyRepository.AddData(taskHty);

                #region ä¸ŠæŠ¥WMS执行结果
                var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                WMSTaskDTO taskDTO = new WMSTaskDTO()
                {
                    TaskId = task.WMSTaskNum,
                    TPbarcode = task.PalletCode,
                    WhCode = "1001",
                    BeginPoint = task.SourceAddress,
                    EndPoint = task.TargetAddress,
                    Results = "3"
                };
                if (wmsBase == null || requestTask == null)
                {
                    throw new InvalidOperationException("WMS IP æœªé…ç½®");
                }
                var wmsIpAddress = wmsBase + requestTask;
                var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");
                #endregion

                content = WebResponseContent.Instance.OK("取消任务成功");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        public WebResponseContent TaskComplete(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                var task=BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return content.Error("未找到该任务信息");

                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutHandFinish;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    task.TaskState = (int)TaskInStatusEnum.InHandFinish;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {
                    task.TaskState = (int)TaskRelocationStatusEnum.RelocationHandFinish;
                }
                else
                {
                    return content.Error($"任务类型错误,未找到该任务类型,任务号:【{task.TaskNum}】,任务类型:【{task.TaskType}】");
                }
                task.ModifyDate = DateTime.Now;
                BaseDal.DeleteData(task);

                Dt_Task_Hty taskHty = _mapper.Map<Dt_Task_Hty>(task);
                taskHty.OperateType = (int)OperateTypeEnum.人工完成;
                _taskHtyRepository.AddData(taskHty);

                #region ä¸ŠæŠ¥WMS完成
                var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                WMSTaskDTO taskDTO = new WMSTaskDTO()
                {
                    TaskId = task.WMSTaskNum,
                    TPbarcode = task.PalletCode,
                    WhCode = "1001",
                    BeginPoint = task.SourceAddress,
                    EndPoint = task.TargetAddress,
                    Results = "2"
                };
                if (wmsBase == null || requestTask == null)
                {
                    throw new InvalidOperationException("WMS IP æœªé…ç½®");
                }
                var wmsIpAddress = wmsBase + requestTask;
                var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                WriteLog.GetLog("WMS接口返回信息").Write(JsonConvert.SerializeObject(result), "WMS接口返回信息");
                #endregion

                content = WebResponseContent.Instance.OK("手动完成成功");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// æ¢å¤æŒ‚起任务
        /// </summary>