Merge branch 'master' of http://115.159.85.185:8098/r/SuZhouGuanHong/ShanMe...

wanshenmean

2026-03-30 1faef6894400be9923b24038fddb7f9218bd7b6b

 Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs

@@ -2,14 +2,17 @@
using MapsterMapper;
using Microsoft.Extensions.Configuration;
using SqlSugar;
using System.DirectoryServices.Protocols;
using System.Text.Json;
using WIDESEA_Common.LocationEnum;
using WIDESEA_Common.StockEnum;
using WIDESEA_Common.TaskEnum;
using WIDESEA_Common.WareHouseEnum;
using WIDESEA_Core;
using WIDESEA_Core.BaseRepository;
using WIDESEA_Core.BaseServices;
using WIDESEA_Core.Core;
using WIDESEA_Core.Enums;
using WIDESEA_Core.Helper;
using WIDESEA_DTO.GradingMachine;
using WIDESEA_DTO.MES;
@@ -33,6 +36,7 @@
        private readonly IMesService _mesService;
        private readonly ITask_HtyService _task_HtyService;
        private readonly IStockInfo_HtyService _stockInfo_HtyService;
        private readonly IUnitOfWorkManage _unitOfWorkManage;

        public IRepository<Dt_Task> Repository => BaseDal;

@@ -55,7 +59,8 @@
            RoundRobinService roundRobinService,
            IMesService mesService,
            ITask_HtyService task_HtyService,
            IStockInfo_HtyService stockInfo_HtyService) : base(BaseDal)
            IStockInfo_HtyService stockInfo_HtyService,
            IUnitOfWorkManage unitOfWorkManage) : base(BaseDal)
        {
            _mapper = mapper;
            _stockInfoService = stockInfoService;
@@ -66,6 +71,7 @@
            _mesService = mesService;
            _task_HtyService = task_HtyService;
            _stockInfo_HtyService = stockInfo_HtyService;
            _unitOfWorkManage = unitOfWorkManage;
        }

        #region WCS逻辑处理
@@ -222,6 +228,12 @@
                var stockInfo = await _stockInfoService.GetStockInfoAsync(taskDto.PalletCode);
                if (stockInfo == null) return WebResponseContent.Instance.Error("未找到对应库存信息");

                // 判断是不是极卷库任务
                //if (taskDto.WarehouseId == (int)WarehouseEnum.FJ1 || taskDto.WarehouseId == (int)WarehouseEnum.ZJ1)
                //{
                //    return WebResponseContent.Instance.OK();
                //}

                return await ExecuteWithinTransactionAsync(async () =>
                {
                    WebResponseContent content = new WebResponseContent();
@@ -278,6 +290,18 @@

                var stockInfo = await _stockInfoService.GetStockInfoAsync(taskDto.PalletCode);
                if (stockInfo == null) return WebResponseContent.Instance.Error("未找到对应库存信息");

                // 判断是不是极卷库任务
                if (taskDto.WarehouseId == (int)WarehouseEnum.FJ1 || taskDto.WarehouseId == (int)WarehouseEnum.ZJ1)
                {
                    OutTaskCompleteDto outTaskCompleteDto = new OutTaskCompleteDto()
                    {
                        TaskId = task.OrderNo,
                        DevId = task.TargetAddress,
                        ReqTime = DateTime.Now.ToString()
                    };
                    return await OutTaskComplete(outTaskCompleteDto);
                }

                WebResponseContent content = new WebResponseContent();
                return await ExecuteWithinTransactionAsync(async () =>
@@ -419,6 +443,20 @@
                    if (!updateLocationResult || !updateStockResult)
                        return WebResponseContent.Instance.Error("任务完成失败");

                    // 保存任务历史
                    var historyTask = _mapper.Map<Dt_Task_Hty>(task);
                    historyTask.InsertTime = DateTime.Now;
                    historyTask.OperateType = "空托盘入库完成";
                    if (await _task_HtyService.Repository.AddDataAsync(historyTask) <= 0)
                        return WebResponseContent.Instance.Error("任务历史保存失败");

                    // 保存库存历史
                    var historyStock = _mapper.Map<Dt_StockInfo_Hty>(stockInfo);
                    historyStock.InsertTime = DateTime.Now;
                    historyStock.OperateType = "空托盘入库完成";
                    if (await _stockInfo_HtyService.Repository.AddDataAsync(historyStock) <= 0)
                        return WebResponseContent.Instance.Error("库存历史保存失败");

                    var deleteResult = await BaseDal.DeleteDataAsync(task);
                    if (!deleteResult) return WebResponseContent.Instance.Error("任务完成失败");

@@ -502,6 +540,20 @@
                    var updateStockResult = await _stockInfoService.UpdateStockAsync(stockInfo);
                    if (!updateLocationResult || !updateStockResult)
                        return WebResponseContent.Instance.Error("任务完成失败");

                    // 保存任务历史
                    var historyTask = _mapper.Map<Dt_Task_Hty>(task);
                    historyTask.InsertTime = DateTime.Now;
                    historyTask.OperateType = "空托盘出库完成";
                    if (await _task_HtyService.Repository.AddDataAsync(historyTask) <= 0)
                        return WebResponseContent.Instance.Error("任务历史保存失败");

                    // 保存库存历史
                    var historyStock = _mapper.Map<Dt_StockInfo_Hty>(stockInfo);
                    historyStock.InsertTime = DateTime.Now;
                    historyStock.OperateType = "空托盘出库完成";
                    if (await _stockInfo_HtyService.Repository.AddDataAsync(historyStock) <= 0)
                        return WebResponseContent.Instance.Error("库存历史保存失败");

                    var deleteResult = await BaseDal.DeleteDataAsync(task);
                    if (!deleteResult) return WebResponseContent.Instance.Error("任务完成失败");
@@ -1068,5 +1120,401 @@
        }

        #endregion 分容柜接口


        #region 极卷库任务模块
        public string AGV_OutTaskComplete = WIDESEA_Core.Helper.AppSettings.Configuration["AGV_OutTaskComplete"]; // 上报AGV出库输送线完成
        public string WCS_ReceiveTask = WIDESEA_Core.Helper.AppSettings.Configuration["WCS_ReceiveTask"]; // WMS输送线任务下发
        /// <summary>
        /// 出入库申请
        /// </summary>
        /// <param name="applyInOutDto">请求参数</param>
        /// <returns></returns>
        public async Task<AGVResponse> ApplyInOutAsync(ApplyInOutDto applyInOutDto)
        {
            AGVResponse aGVResponse = new AGVResponse();
            try
            {
                // 参数验证
                if (applyInOutDto == null) return aGVResponse.Error("请求参数不能为空");
                if (string.IsNullOrWhiteSpace(applyInOutDto.TrayNumber)) return aGVResponse.Error("托盘号不能为空");
                if (string.IsNullOrWhiteSpace(applyInOutDto.TaskId)) return aGVResponse.Error("任务号不能为空");
                if (string.IsNullOrWhiteSpace(applyInOutDto.MaterialType)) return aGVResponse.Error("物料类型不能为空");
                if (string.IsNullOrWhiteSpace(applyInOutDto.MaterialName)) return aGVResponse.Error("物料描述不能为空");
                if (string.IsNullOrWhiteSpace(applyInOutDto.ReqTime)) return aGVResponse.Error("请求时间不能为空");
                if (applyInOutDto.Floor != 1 && applyInOutDto.Floor != 2) return aGVResponse.Error($"楼层段错误，必须为1(模切段)或2(卷绕段)，当前值：{applyInOutDto.Floor}");
                if (applyInOutDto.YinYang != 1 && applyInOutDto.YinYang != 2) return aGVResponse.Error($"阴阳极错误，必须为1(阴极)或2(阳极)，当前值：{applyInOutDto.YinYang}");
                if (applyInOutDto.InOut != 1 && applyInOutDto.InOut != 2) return aGVResponse.Error($"出入库类型错误，必须为1(入库)或2(出库)，当前值：{applyInOutDto.InOut}");
                if (applyInOutDto.InOut == 1) // 入库
                {
                    if (applyInOutDto.Width == null || applyInOutDto.Width <= 0) return aGVResponse.Error("入库时宽度不能为空且必须大于0");
                    if (string.IsNullOrWhiteSpace(applyInOutDto.Group)) return aGVResponse.Error("入库时整托组别不能为空");
                }
                // 检查任务是否已存在
                var existingTask = await BaseDal.QueryFirstAsync(x => x.PalletCode == applyInOutDto.TrayNumber);
                if (existingTask != null) return aGVResponse.Error($"WMS已有当前任务，不可重复下发，任务号：{applyInOutDto.TaskId}");
                // 创建任务
                Dt_Task task = new Dt_Task
                {
                    OrderNo = applyInOutDto.TaskId, // 使用AGV的任务号
                    PalletCode = applyInOutDto.TrayNumber,
                    PalletType = applyInOutDto.Floor,
                    //WarehouseId = applyInOutDto.YinYang,
                    Grade = 1,
                    Creater = "AGV",
                    CreateDate = DateTime.Now,
                    Remark = $"物料类型：{applyInOutDto.MaterialType}，物料描述：{applyInOutDto.MaterialName}"
                };
                // 根据阴极/阳极设置巷道和站台
                if (applyInOutDto.YinYang == 1) // 阴极
                {
                    // 货物到达后分配货物位
                    task.Roadway = WarehouseEnum.FJ1.ToString();
                    task.WarehouseId = (int)WarehouseEnum.FJ1;
                    task.SourceAddress = applyInOutDto.InOut == 1 ? "D10010" : "D10020"; // 入库口/出库口
                    task.NextAddress = "D10080"; // 阴极公共出库口
                    task.TargetAddress = "阴极卷库";
                }
                else if (applyInOutDto.YinYang == 2) // 阳极
                {
                    task.Roadway = WarehouseEnum.ZJ1.ToString();
                    task.WarehouseId = (int)WarehouseEnum.ZJ1;
                    task.SourceAddress = applyInOutDto.InOut == 1 ? "D10100" : "D10090"; // 入库口/出库口
                    task.NextAddress = "D10160"; // 阳极公共出库口
                    task.TargetAddress = "正极卷库";
                }
                // 根据出入库类型设置目标地址
                if (applyInOutDto.InOut == 1) // 入库
                {
                    var stockInfo = await _stockInfoService.GetStockInfoAsync(applyInOutDto.TrayNumber);
                    if (stockInfo != null) return aGVResponse.Error($"当前托盘{applyInOutDto.TrayNumber}已经入库了");

                    task.TaskType = (int)TaskInboundTypeEnum.Inbound;
                    task.TaskStatus = (int)TaskInStatusEnum.InNew;
                    task.CurrentAddress = task.SourceAddress; // 当前在入库口
                    // 保存任务
                    var result = await BaseDal.AddDataAsync(task);
                }
                else // 出库
                {
                    // 判断是否移库
                    task.TaskType = (int)TaskOutboundTypeEnum.Outbound;
                    task.TaskStatus = (int)TaskOutStatusEnum.OutNew;
                    task.CurrentAddress = task.SourceAddress; // 当前在入库口
                    // 查找库存
                    var stockInfo = await _stockInfoService.GetStockInfoAsync(applyInOutDto.TrayNumber);
                    if (stockInfo == null) return aGVResponse.Error($"未找到托盘{applyInOutDto.TrayNumber}的库存信息");
                    // 验证库存所属是否正确
                    if (stockInfo.WarehouseId != applyInOutDto.YinYang) return aGVResponse.Error($"托盘{applyInOutDto.TrayNumber}不属于当前{(applyInOutDto.YinYang == 1 ? "阴极" : "阳极")}");
                    if (stockInfo.StockStatus != (int)StockStatusEmun.入库完成) return aGVResponse.Error($"托盘{applyInOutDto.TrayNumber}正在移动中，请稍后！");
                    task.SourceAddress = stockInfo.LocationCode; // 源地址为货位
                    task.CurrentAddress = stockInfo.LocationCode; // 当前位置在货位
                    task.TargetAddress = applyInOutDto.YinYang == 1 ? "D10020" : "D10090"; // 目标地址为出库口

                    // 保存任务
                    var result = await BaseDal.AddDataAsync(task);
                    // 判断是否移库
                    //var transferTask = await _locationInfoService.TransferCheckAsync(result);
                }

                // 构建响应数据
                AGVDataDto aGVDataDto = new AGVDataDto
                {
                    DevId = applyInOutDto.InOut == 1 ? task.SourceAddress : task.TargetAddress,
                    TrayNumber = task.PalletCode,
                    Group = applyInOutDto.Group,
                    Width = applyInOutDto.Width ?? 0,
                    LabelNumber = applyInOutDto.LabelNumber,
                    ProductNo = applyInOutDto.ProductNo,
                    ProductName = applyInOutDto.ProductName,
                    Quantity = applyInOutDto.Quantity,
                    UomCode = applyInOutDto.UomCode,
                    ProductType = applyInOutDto.ProductType,
                    Equipment = applyInOutDto.Equipment,
                    ProductionDate = applyInOutDto.ProductionDate,
                    LowerLimitTime = applyInOutDto.LowerLimitTime,
                    WarningTime = applyInOutDto.WarningTime,
                    OverdueTime = applyInOutDto.OverdueTime
                };

                return aGVResponse.OK(aGVDataDto);
            }
            catch (Exception ex)
            {
                return aGVResponse.Error($"WMS任务创建接口错误: {ex.Message}");
            }
        }
        /// <summary>
        /// 手动出库完成反馈给AGV
        /// </summary>
        /// <param name="outTaskCompleteDto">请求参数</param>
        /// <returns></returns>
        public async Task<WebResponseContent> OutTaskComplete(OutTaskCompleteDto outTaskCompleteDto)
        {
            WebResponseContent webResponse = new WebResponseContent();
            try
            {
                if (outTaskCompleteDto == null) return webResponse.Error("请求参数不能为空");
                if (string.IsNullOrWhiteSpace(outTaskCompleteDto.TaskId)) return webResponse.Error("任务号不能为空");
                if (string.IsNullOrWhiteSpace(outTaskCompleteDto.DevId)) return webResponse.Error("出库口编号不能为空");
                var task = await BaseDal.QueryFirstAsync(x => x.OrderNo == outTaskCompleteDto.TaskId);
                if (task == null) return webResponse.Error("未找到任务信息");
                outTaskCompleteDto.ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                var httpResponse = _httpClientHelper.Post<AGVResponse>(AGV_OutTaskComplete, JsonSerializer.Serialize(outTaskCompleteDto)).Data;
                // 判断远程接口返回是否成功
                if (httpResponse != null && httpResponse.Data != null)
                {
                    AGVResponse agvResponse = httpResponse;
                    // 根据code字段判断，code为true表示成功
                    if (agvResponse.Code == true)
                    {
                        var stockInfo = await _stockInfoService.GetStockInfoAsync(task.PalletCode);
                        if (stockInfo == null) return webResponse.Error($"未找到托盘{task.PalletCode}的库存信息");
                        var locationInfo = await _locationInfoService.GetLocationInfoAsync(stockInfo.LocationCode);
                        if (locationInfo == null) return webResponse.Error($"未找到托盘{stockInfo.LocationCode}的货位信息");
                        if (stockInfo.StockStatus != (int)StockStatusEmun.出库锁定 || locationInfo.LocationStatus != (int)LocationStatusEnum.InStockLock)
                        {
                            return webResponse.Error($"当前库存{stockInfo.StockStatus}或者货位{locationInfo.LocationStatus}状态信息错误");
                        }
                        locationInfo.LocationStatus = (int)LocationStatusEnum.Free;
                        _unitOfWorkManage.BeginTran();
                        BaseDal.DeleteData(task);
                        _locationInfoService.UpdateData(locationInfo);
                        _stockInfoService.DeleteData(stockInfo);
                        _unitOfWorkManage.CommitTran();
                        return webResponse.OK(agvResponse.Msg);
                    }
                    else
                    {
                        // 失败：返回AGV返回的错误信息
                        return webResponse.Error(string.IsNullOrWhiteSpace(agvResponse.Msg)
                            ? "AGV接口调用失败"
                            : agvResponse.Msg);
                    }
                }
                else
                {
                    // HTTP请求本身失败
                    return webResponse.Error(httpResponse?.Msg ?? "AGV接口调用异常");
                }
            }
            catch (Exception ex)
            {
                _unitOfWorkManage.RollbackTran();
                return webResponse.Error($"WMS任务完成接口错误：{ex.Message}");
            }
        }
        ///// <summary>
        ///// 任务完成接口
        ///// </summary>
        ///// <param name="wCSTask"></param>
        ///// <returns></returns>
        //public async Task<WebResponseContent> TaskCompleted(WCSTaskDTO wCSTask)
        //{
        //    WebResponseContent webResponse = new WebResponseContent();
        //    try
        //    {
        //        Dt_Task task = await BaseDal.QueryFirstAsync(x => x.TaskId == wCSTask.TaskNum && x.PalletCode == wCSTask.PalletCode);
        //        if (task == null) return webResponse.Error("未找到任务信息");
        //        // 出库完成反馈
        //        OutTaskCompleteDto outTaskCompleteDto = new OutTaskCompleteDto()
        //        {
        //            TaskId = task.OrderNo,
        //            DevId = task.TargetAddress,
        //            ReqTime = DateTime.Now.ToString()
        //        };
        //        return await OutTaskComplete(outTaskCompleteDto);
        //    }
        //    catch (Exception ex)
        //    {
        //        return webResponse.Error($"WMS任务完成接口错误：{ex.Message}");
        //    }
        //}
        /// <summary>
        /// 输送线申请进入
        /// </summary>
        /// <param name="applyEnterDto">请求参数</param>
        /// <returns></returns>
        public async Task<AGVResponse> ApplyEnterAsync(ApplyEnterDto applyEnterDto)
        {
            AGVResponse aGVResponse = new AGVResponse();
            try
            {
                // 参数验证
                if (applyEnterDto == null) return aGVResponse.Error("请求参数不能为空");
                if (string.IsNullOrWhiteSpace(applyEnterDto.DevId)) return aGVResponse.Error("设备编号不能为空");
                if (string.IsNullOrWhiteSpace(applyEnterDto.TaskId)) return aGVResponse.Error("任务号不能为空");
                if (applyEnterDto.InOut != 1 && applyEnterDto.InOut != 2) return aGVResponse.Error($"出入库类型错误，必须为1(入库)或2(出库)，当前值：{applyEnterDto.InOut}");

                // 查询任务是否存在
                var task = await BaseDal.QueryFirstAsync(x => x.OrderNo == applyEnterDto.TaskId);
                if (task == null) return aGVResponse.Error($"未找到任务信息，任务号：{applyEnterDto.TaskId}");
                if (applyEnterDto.InOut == 1 && task.TaskType == (int)TaskInboundTypeEnum.Inbound && task.TaskStatus == (int)TaskInStatusEnum.InNew)
                {
                    aGVResponse.OK();
                }
                else if(applyEnterDto.InOut == 2 && task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.TaskStatus == (int)TaskStatusEnum.Line_Finish)
                {
                    aGVResponse.OK();
                }
                return aGVResponse.Error($"输送线{applyEnterDto.DevId}当前繁忙，请稍后重试");

                // Dt_Task.SourceAddress询问wcs站台1-阴极入口叫D10010和D10020；2-阳极D10090和D10100是否有货物
                //var httpResponse = _httpClientHelper.Post<WebResponseContent>("http://127.0.0.1:9999/api/Task/ApplyInOut", JsonSerializer.Serialize(task)).Data;
                //if (httpResponse != null && httpResponse.Status == true)
                //{
                //    _unitOfWorkManage.BeginTran();
                //    task.TaskStatus = (int)TaskStatusEnum.AGV_Executing;
                //    await BaseDal.UpdateDataAsync(task);
                //    _unitOfWorkManage.CommitTran();
                //    return aGVResponse.OK();
                //}
                //else
                //{
                //    return aGVResponse.Error($"站台{task.SourceAddress}已经载货");
                //}
            }
            catch (Exception ex)
            {
                //_unitOfWorkManage.RollbackTran();
                return aGVResponse.Error($"WMS输送线申请接口错误：{ex.Message}");
            }
        }
        /// <summary>
        /// 取放货完成
        /// </summary>
        /// <param name="taskCompleteDto">请求参数</param>
        /// <returns></returns>
        public async Task<AGVResponse> TaskCompleteAsync(TaskCompleteDto taskCompleteDto)
        {
            AGVResponse aGVResponse = new AGVResponse();
            try
            {
                if (taskCompleteDto == null) return aGVResponse.Error("请求参数不能为空");
                if (string.IsNullOrWhiteSpace(taskCompleteDto.TaskId)) return aGVResponse.Error("任务号不能为空");
                if (string.IsNullOrWhiteSpace(taskCompleteDto.DevId)) return aGVResponse.Error("设备编号不能为空");
                if (taskCompleteDto.InOut != 1 && taskCompleteDto.InOut != 2) return aGVResponse.Error($"出入库类型错误，必须为1(入库)或2(出库)，当前值：{taskCompleteDto.InOut}");
                var task = await BaseDal.QueryFirstAsync(x => x.OrderNo == taskCompleteDto.TaskId);
                if (task == null) return aGVResponse.Error($"未找到任务信息，任务号：{taskCompleteDto.TaskId}");
                if (taskCompleteDto.InOut == 2)
                {
                    var stockInfo = await _stockInfoService.GetStockInfoAsync(task.PalletCode);
                    if (stockInfo == null) return aGVResponse.Error($"未找到托盘{task.PalletCode}的库存信息");
                    var locationInfo = await _locationInfoService.GetLocationInfoAsync(stockInfo.LocationCode);
                    if (locationInfo == null) return aGVResponse.Error($"未找到托盘{stockInfo.LocationCode}的货位信息");
                    if (stockInfo.StockStatus != (int)StockStatusEmun.出库锁定 || locationInfo.LocationStatus != (int)LocationStatusEnum.InStockLock)
                    {
                        return aGVResponse.Error($"当前库存{stockInfo.StockStatus}或者货位{locationInfo.LocationStatus}状态信息错误");
                    }
                    locationInfo.LocationStatus = (int)LocationStatusEnum.Free;
                    task.TaskStatus = (int)TaskOutStatusEnum.OutFinish;
                    _unitOfWorkManage.BeginTran();
                    _stockInfoService.DeleteData(stockInfo);
                    await _locationInfoService.UpdateLocationInfoAsync(locationInfo);
                    BaseDal.DeleteAndMoveIntoHty(task, App.User.UserId == 0 ? OperateTypeEnum.自动完成 : OperateTypeEnum.人工完成);
                    _unitOfWorkManage.CommitTran();
                }
                else
                {
                    //查找可用货位
                    var availableLocation = await _locationInfoService.GetLocationInfo(task.Roadway);

                    if (availableLocation == null) return aGVResponse.Error("无可用的入库货位");

                    task.TargetAddress = availableLocation.LocationCode;
                    // 通知WCS入库
                    var wcsTaskDto = _mapper.Map<WCSTaskDTO>(task);
                    var httpResponse = _httpClientHelper.Post<WebResponseContent>(WCS_ReceiveTask, JsonSerializer.Serialize(wcsTaskDto));
                    if (httpResponse == null) return aGVResponse.Error("下发WCS失败");

                    task.TaskStatus = (int)TaskStatusEnum.Line_Executing;
                    task.Dispatchertime = DateTime.Now;
                    var locationInfo = await _locationInfoService.GetLocationInfoAsync(task.TargetAddress);
                    if (locationInfo == null) return aGVResponse.Error($"未找到托盘{task.TargetAddress}的货位信息");
                    if (locationInfo.LocationStatus != (int)LocationStatusEnum.InStock)
                    {
                        return aGVResponse.Error($"当前货位{locationInfo.LocationStatus}状态信息错误");
                    }
                    Dt_StockInfo dt_Stock = new Dt_StockInfo()
                    {
                        PalletCode = task.PalletCode,
                        StockStatus = (int)StockStatusEmun.入库确认,
                        LocationCode = locationInfo.LocationCode,
                        WarehouseId = task.WarehouseId,
                        Creater = "AGV",
                        CreateDate = DateTime.Now
                    };
                    locationInfo.LocationStatus = (int)LocationStatusEnum.FreeLock;
                    _unitOfWorkManage.BeginTran();
                    BaseDal.UpdateData(task);
                    _locationInfoService.UpdateData(locationInfo);
                    _stockInfoService.AddData(dt_Stock);
                    _unitOfWorkManage.CommitTran();
                }
                return aGVResponse.OK();
            }
            catch (Exception ex)
            {
                _unitOfWorkManage.RollbackTran();
                return aGVResponse.Error($"WMS取放货完成接口错误：{ex.Message}");
            }
        }
        /// <summary>
        /// 任务取消
        /// </summary>
        /// <param name="taskCancelDto">请求参数</param>
        /// <returns></returns>
        public async Task<AGVResponse> TaskCancelAsync(TaskCancelDto taskCancelDto)
        {
            AGVResponse aGVResponse = new AGVResponse();
            try
            {
                if (taskCancelDto == null) return aGVResponse.Error("请求参数不能为空");
                if (string.IsNullOrWhiteSpace(taskCancelDto.TaskId)) return aGVResponse.Error("任务号不能为空");

                var task = await BaseDal.QueryFirstAsync(x => x.OrderNo == taskCancelDto.TaskId);
                // 没有任务强制取消
                if (task == null) return aGVResponse.OK();
                
                if (task.TaskStatus == (int)TaskInStatusEnum.InNew)
                {
                    task.TaskStatus = (int)TaskInStatusEnum.InCancel;
                    // 入库任务直接删除
                    _unitOfWorkManage.BeginTran();
                    BaseDal.DeleteAndMoveIntoHty(task, App.User.UserId == 0 ? OperateTypeEnum.自动完成 : OperateTypeEnum.人工完成);
                    _unitOfWorkManage.CommitTran();
                    return aGVResponse.OK();
                }
                else if(task.TaskStatus == (int)TaskOutStatusEnum.OutNew)
                {
                    // 出库任务恢复库存
                    var stockInfo = await _stockInfoService.GetStockInfoAsync(task.PalletCode);
                    if (stockInfo == null) return aGVResponse.Error($"未找到托盘{task.PalletCode}的库存信息");
                    var locationInfo = await _locationInfoService.GetLocationInfoAsync(stockInfo.LocationCode);
                    if (locationInfo == null) return aGVResponse.Error($"未找到托盘{stockInfo.LocationCode}的货位信息");
                    if (stockInfo.StockStatus != (int)StockStatusEmun.出库锁定 || locationInfo.LocationStatus != (int)LocationStatusEnum.InStockLock)
                    {
                        return aGVResponse.Error($"当前库存{stockInfo.StockStatus}或者货位{locationInfo.LocationStatus}状态信息错误");
                    }
                    stockInfo.StockStatus = (int)StockStatusEmun.入库完成;
                    locationInfo.LocationStatus = (int)LocationStatusEnum.InStock;
                    task.TaskStatus = (int)TaskOutStatusEnum.OutCancel;
                    _unitOfWorkManage.BeginTran();
                    _locationInfoService.UpdateData(locationInfo);
                    _stockInfoService.UpdateData(stockInfo);
                    BaseDal.DeleteAndMoveIntoHty(task, App.User.UserId == 0 ? OperateTypeEnum.自动完成 : OperateTypeEnum.人工完成);
                    _unitOfWorkManage.CommitTran();
                    return aGVResponse.OK();
                }
                return aGVResponse.Error("任务已经在执行中，不可取消");
            }
            catch (Exception ex)
            {
                _unitOfWorkManage.RollbackTran();
                return aGVResponse.Error($"WMS任务取消接口错误：{ex.Message}");
            }
        }

        #endregion 极卷库任务模块
    }
}