feat: 完成WCS/WMS任务链路与设备调度改造

wanshenmean

2026-03-18 2ef99428f9be29ec299029782edb97baef88e126

 Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs

@@ -1,4 +1,5 @@
using AutoMapper;
using Mapster;
using MapsterMapper;
using Microsoft.Extensions.Configuration;
using SqlSugar;
using System.Text.Json;
@@ -8,7 +9,10 @@
using WIDESEA_Core;
using WIDESEA_Core.BaseRepository;
using WIDESEA_Core.BaseServices;
using WIDESEA_DTO;
using WIDESEA_Core.Core;
using WIDESEA_Core.Helper;
using WIDESEA_DTO.GradingMachine;
using WIDESEA_DTO.Stock;
using WIDESEA_DTO.Task;
using WIDESEA_IBasicService;
using WIDESEA_IStockService;
@@ -209,6 +213,7 @@
                    var r when r.Contains("CW") => DateTime.Now.AddHours(1),
                    _ => DateTime.Now
                };
                stockInfo.StockStatus = StockStatusEmun.入库完成.GetHashCode();

                location.LocationStatus = LocationStatusEnum.InStock.GetHashCode();

@@ -216,14 +221,7 @@
                var updateStockResult = await _stockInfoService.UpdateStockAsync(stockInfo);
                if (!updateLocationResult || !updateStockResult)
                    return WebResponseContent.Instance.Error("任务完成失败");

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

                var historyTask = _mapper.Map<Dt_Task_Hty>(task);
                historyTask.InsertTime = DateTime.Now;

                return WebResponseContent.Instance.OK("任务完成");
                return await CompleteTaskAsync(task);
            }
            catch (Exception ex)
            {
@@ -244,8 +242,9 @@
                var location = await _locationInfoService.GetLocationInfo(task.Roadway, task.SourceAddress);
                if (location == null) return WebResponseContent.Instance.Error("未找到对应的货位");

                var stockInfo = await _stockInfoService.GetStockInfoAsync(taskDto.PalletCode); stockInfo.LocationCode = location.LocationCode;
                stockInfo.LocationId = location.Id;
                var stockInfo = await _stockInfoService.GetStockInfoAsync(taskDto.PalletCode); 
                stockInfo.LocationId = 0;
                stockInfo.LocationCode = null;
                stockInfo.OutboundDate = DateTime.Now;

                location.LocationStatus = LocationStatusEnum.Free.GetHashCode();
@@ -254,14 +253,50 @@
                var updateStockResult = await _stockInfoService.UpdateStockAsync(stockInfo);
                if (!updateLocationResult || !updateStockResult)
                    return WebResponseContent.Instance.Error("任务完成失败");
                return await CompleteTaskAsync(task);
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error($"完成任务失败: {ex.Message}");
            }
        }

                var deleteTaskResult = await BaseDal.DeleteDataAsync(task);
                if (!deleteTaskResult) return WebResponseContent.Instance.Error("任务完成失败");
        /// <summary>
        /// 移库任务完成：修改库存位置与状态，修改源/目标货位状态，删除任务数据
        /// </summary>
        public async Task<WebResponseContent> RelocationFinishTaskAsync(CreateTaskDto taskDto)
        {
            try
            {
                var task = await BaseDal.QueryFirstAsync(s =>
                    s.PalletCode == taskDto.PalletCode &&
                    s.TaskType == TaskRelocationTypeEnum.Relocation.GetHashCode());
                if (task == null) return WebResponseContent.Instance.Error("未找到对应的移库任务");

                var historyTask = _mapper.Map<Dt_Task_Hty>(task);
                historyTask.InsertTime = DateTime.Now;
                var sourceLocation = await _locationInfoService.GetLocationInfo(task.Roadway, task.SourceAddress);
                if (sourceLocation == null) return WebResponseContent.Instance.Error("未找到移库源货位");

                return WebResponseContent.Instance.OK("任务完成");
                var targetLocation = await _locationInfoService.GetLocationInfo(task.Roadway, task.TargetAddress);
                if (targetLocation == null) return WebResponseContent.Instance.Error("未找到移库目标货位");

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

                stockInfo.LocationCode = targetLocation.LocationCode;
                stockInfo.LocationId = targetLocation.Id;
                stockInfo.StockStatus = StockStatusEmun.入库完成.GetHashCode();

                sourceLocation.LocationStatus = LocationStatusEnum.Free.GetHashCode();
                targetLocation.LocationStatus = LocationStatusEnum.InStock.GetHashCode();

                var updateSourceResult = await _locationInfoService.UpdateLocationInfoAsync(sourceLocation);
                var updateTargetResult = await _locationInfoService.UpdateLocationInfoAsync(targetLocation);
                var updateStockResult = await _stockInfoService.UpdateStockAsync(stockInfo);

                if (!updateSourceResult || !updateTargetResult || !updateStockResult)
                    return WebResponseContent.Instance.Error("移库任务完成失败");

                return await CompleteTaskAsync(task);
            }
            catch (Exception ex)
            {
@@ -306,7 +341,7 @@
            try
            {

                var stockInfo = await _stockInfoService.Repository.QueryFirstAsync(x => x.LocationDetails.WarehouseId == taskDto.WarehouseId && x.LocationDetails.LocationStatus == LocationStatusEnum.InStock.GetHashCode() && x.StockStatus == StockStatusEmun.空托盘库存.GetHashCode());
                var stockInfo = await _stockInfoService.Repository.QueryDataNavFirstAsync(x => x.LocationDetails.WarehouseId == taskDto.WarehouseId && x.LocationDetails.LocationStatus == LocationStatusEnum.InStock.GetHashCode() && x.StockStatus == StockStatusEmun.空托盘库存.GetHashCode());
                if (stockInfo == null)
                    return WebResponseContent.Instance.Error("未找到对应的库存信息");

@@ -320,13 +355,15 @@
                    NextAddress = taskDto.TargetAddress,
                    TargetAddress = taskDto.TargetAddress,
                    Roadway = stockInfo.LocationDetails.RoadwayNo,
                    TaskType = TaskTypeEnum.OutEmpty.GetHashCode(),
                    TaskType = TaskOutboundTypeEnum.OutEmpty.GetHashCode(),
                    TaskStatus = TaskStatusEnum.New.GetHashCode(),
                    Grade = 1,
                    TaskNum = await BaseDal.GetTaskNo(),
                    Creater = "system",
                };
                var taskDtos = _mapper.Map<List<WMSTaskDTO>>(task);
                var taskDtos = task.Adapt<WMSTaskDTO>();

                BaseDal.AddData(task);
                return WebResponseContent.Instance.OK("查询成功", taskDtos);
            }
            catch (Exception ex)
@@ -383,20 +420,52 @@
        }

        /// <summary>
        /// 根据巷道确定目标地址
        /// 完成任务后统一处理（删除任务数据）
        /// </summary>
        private string DetermineTargetAddress(string roadway, Dictionary<string, string> addressMap)
        private async Task<WebResponseContent> CompleteTaskAsync(Dt_Task task)
        {
            var deleteTaskResult = await BaseDal.DeleteDataAsync(task);
            if (!deleteTaskResult) return WebResponseContent.Instance.Error("任务完成失败");

            // 保留历史对象构建逻辑，后续可接入历史表落库
            var historyTask = _mapper.Map<Dt_Task_Hty>(task);
            historyTask.InsertTime = DateTime.Now;

            return WebResponseContent.Instance.OK("任务完成");
        }

        /// <summary>
        /// 根据巷道确定目标地址（支持多出库口轮询）
        /// </summary>
        private string DetermineTargetAddress(string roadway, Dictionary<string, List<string>> addressMap)
        {
            if (string.IsNullOrWhiteSpace(roadway))
                return "10080"; // 默认地址
                return "10080";

            // 查找匹配的巷道前缀
            string matchedPrefix = null;
            foreach (var kvp in addressMap)
            {
                if (roadway.Contains(kvp.Key))
                    return kvp.Value;
                {
                    matchedPrefix = kvp.Key;
                    break;
                }
            }

            return "10080"; // 默认地址
            if (matchedPrefix == null)
                return "10080";

            var addresses = addressMap[matchedPrefix];
            if (addresses == null || addresses.Count == 0)
                return "10080";

            // 单个地址，直接返回
            if (addresses.Count == 1)
                return addresses[0];

            // 多个地址，使用轮询服务
            return _roundRobinService.GetNextAddress(matchedPrefix, addresses);
        }

        /// <summary>
@@ -408,38 +477,12 @@
            {
                // 1. 查询到期库存
                var expiredStocks = await _stockInfoService.Repository
                    .QueryDataAsync(s => s.OutboundDate <= DateTime.Now
                    .QueryDataNavAsync(s => s.OutboundDate <= DateTime.Now
                        && s.StockStatus == StockStatusEmun.入库完成.GetHashCode());

                if (expiredStocks == null || !expiredStocks.Any())
                {
                    return WebResponseContent.Instance.OK("无到期库存需要处理");
                }

                // 批量加载位置详情（优化 N+1 查询问题）
                var locationIds = expiredStocks
                    .Where(s => s.LocationId > 0)
                    .Select(s => s.LocationId)
                    .Distinct()
                    .Cast<object>()
                    .ToList();

                if (locationIds.Any())
                {
                    var locations = await _locationInfoService.Repository
                        .QureyDataByIdsAsync(locationIds);

                    // 创建位置字典以便快速查找
                    var locationDict = locations.ToDictionary(l => l.Id, l => l);

                    // 为每个库存关联位置详情
                    foreach (var stock in expiredStocks)
                    {
                        if (stock.LocationId > 0 && locationDict.ContainsKey(stock.LocationId))
                        {
                            stock.LocationDetails = locationDict[stock.LocationId];
                        }
                    }
                }

                // 过滤有位置且位置有库存的记录
@@ -475,8 +518,8 @@

                // 4. 获取配置的目标地址映射
                var targetAddressMap = _configuration.GetSection("AutoOutboundTask:TargetAddresses")
                    .Get<Dictionary<string, string>>()
                    ?? new Dictionary<string, string>();
                    .Get<Dictionary<string, List<string>>>()
                    ?? new Dictionary<string, List<string>>();

                // 5. 批量创建任务
                var taskList = new List<Dt_Task>();
@@ -500,7 +543,7 @@
                        TaskType = TaskTypeEnum.Outbound.GetHashCode(),
                        TaskStatus = TaskStatusEnum.New.GetHashCode(),
                        Grade = 1,
                        TaskNum = 0,  // 使用 0 让数据库自动生成任务号
                        TaskNum = await BaseDal.GetTaskNo(),
                        Creater = "system_auto"
                    };
                    taskList.Add(task);
@@ -512,23 +555,55 @@
                    return WebResponseContent.Instance.Error($"批量创建任务失败，共 {taskList.Count} 个任务");
                }

                // 任务创建成功后，同步锁定库存和货位状态，避免重复分配
                var stocksToUpdate = stocksToProcess
                    .Select(s =>
                    {
                        s.StockStatus = StockStatusEmun.出库锁定.GetHashCode();
                        return s;
                    })
                    .ToList();

                var updateStockResult = await _stockInfoService.Repository.UpdateDataAsync(stocksToUpdate);
                if (!updateStockResult)
                {
                    return WebResponseContent.Instance.Error($"任务创建成功，但库存状态更新失败，共 {stocksToUpdate.Count} 条");
                }

                var locationsToUpdate = stocksToProcess
                    .Where(s => s.LocationDetails != null)
                    .GroupBy(s => s.LocationDetails.Id)
                    .Select(g =>
                    {
                        var location = g.First().LocationDetails;
                        location.LocationStatus = LocationStatusEnum.InStockLock.GetHashCode();
                        return location;
                    })
                    .ToList();

                if (locationsToUpdate.Any())
                {
                    var updateLocationResult = await _locationInfoService.Repository.UpdateDataAsync(locationsToUpdate);
                    if (!updateLocationResult)
                    {
                        return WebResponseContent.Instance.Error($"任务创建成功，但货位状态更新失败，共 {locationsToUpdate.Count} 条");
                    }
                }

                // 6. 通知 WCS（异步，不影响主流程）
                _ = Task.Run(() =>
                {
                    foreach (var task in taskList)
                    try
                    {
                        try
                        {
                            var wmstaskDto = _mapper.Map<WMSTaskDTO>(task);
                            _httpClientHelper.Post<WebResponseContent>(
                                "http://logistics-service/api/logistics/notifyoutbound",
                                JsonSerializer.Serialize(wmstaskDto));
                        }
                        catch (Exception ex)
                        {
                            // WCS 通知失败不影响任务创建，记录日志即可
                            Console.WriteLine($"WCS 通知失败，任务编号: {task.TaskNum}, 错误: {ex.Message}");
                        }
                        var wmstaskDtos = _mapper.Map<List<WMSTaskDTO>>(taskList);
                        _httpClientHelper.Post<WebResponseContent>(
                            "http://localhost:9292/api/Task/ReceiveTask",
                            wmstaskDtos.ToJson());
                    }
                    catch (Exception ex)
                    {
                        // WCS 通知失败不影响任务创建，记录日志即可
                        Console.WriteLine($"WCS 批量通知失败，任务数量: {taskList.Count}, 错误: {ex.Message}");
                    }
                });

@@ -540,6 +615,125 @@
            }
        }

        /// <summary>
        /// 创建机械手组盘任务
        /// </summary>
        public async Task<WebResponseContent> CreateRobotGroupPalletTaskAsync(StockDTO stock)
        {
            return await CreateRobotPalletTaskAsync(
                stock,
                "组盘",
                RobotTaskTypeEnum.GroupPallet,
                s => string.IsNullOrWhiteSpace(s.TargetPalletNo) ? s.SourcePalletNo : s.TargetPalletNo,
                requireStockWithoutLocation: false);
        }

        /// <summary>
        /// 创建机械手换盘任务
        /// </summary>
        public async Task<WebResponseContent> CreateRobotChangePalletTaskAsync(StockDTO stock)
        {
            return await CreateRobotPalletTaskAsync(
                stock,
                "换盘",
                RobotTaskTypeEnum.ChangePallet,
                s => s.SourcePalletNo,
                requireStockWithoutLocation: true,
                stockPalletCodeSelector: s => s.SourcePalletNo);
        }

        /// <summary>
        /// 创建机械手拆盘任务
        /// </summary>
        public async Task<WebResponseContent> CreateRobotSplitPalletTaskAsync(StockDTO stock)
        {
            return await CreateRobotPalletTaskAsync(
                stock,
                "拆盘",
                RobotTaskTypeEnum.SplitPallet,
                s => s.SourcePalletNo,
                requireStockWithoutLocation: true,
                stockPalletCodeSelector: s => s.SourcePalletNo);
        }

        private async Task<WebResponseContent> CreateRobotPalletTaskAsync(
            StockDTO stock,
            string taskName,
            RobotTaskTypeEnum taskType,
            Func<StockDTO, string?> palletCodeSelector,
            bool requireStockWithoutLocation,
            Func<StockDTO, string?>? stockPalletCodeSelector = null)
        {
            try
            {
                if (stock == null)
                    return WebResponseContent.Instance.Error("任务参数不能为空");

                var palletCode = palletCodeSelector(stock)?.Trim();
                if (string.IsNullOrWhiteSpace(palletCode))
                    return WebResponseContent.Instance.Error("托盘号不能为空");

                var sourceLineNo = stock.SourceLineNo?.Trim();
                var targetLineNo = stock.TargetLineNo?.Trim();
                if (string.IsNullOrWhiteSpace(sourceLineNo) || string.IsNullOrWhiteSpace(targetLineNo))
                    return WebResponseContent.Instance.Error("来源线体编号和目标线体编号不能为空");

                var existingTask = await BaseDal.QueryFirstAsync(t =>
                    t.PalletCode == palletCode &&
                    (t.TaskStatus == TaskRobotStatusEnum.RobotNew.GetHashCode()
                     || t.TaskStatus == TaskRobotStatusEnum.RobotExecuting.GetHashCode()
                     || t.TaskStatus == TaskRobotStatusEnum.RobotPickFinish.GetHashCode()
                     || t.TaskStatus == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
                     || t.TaskStatus == TaskRobotStatusEnum.RobotPending.GetHashCode()));
                if (existingTask != null)
                    return WebResponseContent.Instance.Error($"托盘[{palletCode}]已存在未完成任务");

                Dt_StockInfo? stockInfo = null;
                if (requireStockWithoutLocation)
                {
                    var stockPalletCode = (stockPalletCodeSelector ?? palletCodeSelector).Invoke(stock)?.Trim();
                    if (string.IsNullOrWhiteSpace(stockPalletCode))
                        return WebResponseContent.Instance.Error("源托盘号不能为空");

                    stockInfo = await _stockInfoService.GetStockInfoAsync(stockPalletCode);
                    if (stockInfo == null)
                        return WebResponseContent.Instance.Error($"托盘[{stockPalletCode}]库存不存在");

                    if (stockInfo.LocationId > 0 || !string.IsNullOrWhiteSpace(stockInfo.LocationCode))
                        return WebResponseContent.Instance.Error($"托盘[{stockPalletCode}]库存已绑定货位，不能创建机械手{taskName}任务");
                }

                var task = new Dt_Task
                {
                    TaskNum = await BaseDal.GetTaskNo(),
                    PalletCode = palletCode,
                    PalletType = stockInfo?.PalletType ?? 0,
                    Roadway = stock.Roadway,
                    TaskType = taskType.GetHashCode(),
                    TaskStatus = TaskRobotStatusEnum.RobotNew.GetHashCode(),
                    SourceAddress = sourceLineNo,
                    TargetAddress = targetLineNo,
                    CurrentAddress = sourceLineNo,
                    NextAddress = targetLineNo,
                    WarehouseId = stockInfo?.WarehouseId ?? 1,
                    Grade = 1,
                    Remark = $"机械手{taskName}",
                    Creater = "system"
                };

                var result = await Repository.AddDataAsync(task) > 0;
                if (!result)
                    return WebResponseContent.Instance.Error($"机械手{taskName}任务创建失败");

                var wmstaskDto = _mapper.Map<WMSTaskDTO>(task);
                return WebResponseContent.Instance.OK($"机械手{taskName}任务创建成功", wmstaskDto);
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error($"机械手{taskName}任务创建失败: {ex.Message}");
            }
        }

        #endregion WCS逻辑处理

        #region 分容柜接口
@@ -547,7 +741,7 @@
        /// <summary>
        /// 堆垛机取放货完成后物流通知化成分容柜完成信号
        /// </summary>
        public async Task<WebResponseContent> InOrOutCompletedAsync(InputDto input)
        public async Task<WebResponseContent> InOrOutCompletedAsync(GradingMachineInputDto input)
        {
            WebResponseContent content = new WebResponseContent();
            if (string.IsNullOrWhiteSpace(input.PalletCode) || string.IsNullOrWhiteSpace(input.LocationCode))
@@ -562,7 +756,7 @@
                {
                    var location = await _locationInfoService.GetLocationInfoAsync(input.LocationCode);

                    OutPutDto outPutDto = new OutPutDto()
                    OutputDto outPutDto = new OutputDto()
                    {
                        LocationCode = input.LocationCode,
                        PalletCode = input.PalletCode,
@@ -573,7 +767,7 @@
                }
                else
                {
                    OutPutDto outPutDto = new OutPutDto()
                    OutputDto outPutDto = new OutputDto()
                    {
                        LocationCode = input.LocationCode,
                        PalletCode = input.PalletCode,
@@ -596,7 +790,7 @@
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        public async Task<WebResponseContent> SendLocationStatusAsync(InputDto input)
        public async Task<WebResponseContent> SendLocationStatusAsync(GradingMachineInputDto input)
        {
            WebResponseContent content = new WebResponseContent();
            if (string.IsNullOrWhiteSpace(input.LocationCode))
@@ -633,7 +827,7 @@
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        public async Task<WebResponseContent> RequestOutboundAsync(InputDto input)
        public async Task<WebResponseContent> RequestOutboundAsync(GradingMachineInputDto input)
        {
            WebResponseContent content = new WebResponseContent();
            if (string.IsNullOrWhiteSpace(input.LocationCode) || string.IsNullOrWhiteSpace(input.PalletCode))
@@ -692,7 +886,7 @@
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        public async Task<WebResponseContent> GetPalletCodeCellAsync(InputDto input)
        public async Task<WebResponseContent> GetPalletCodeCellAsync(GradingMachineInputDto input)
        {
            WebResponseContent content = new WebResponseContent();
            if (string.IsNullOrWhiteSpace(input.PalletCode) || string.IsNullOrWhiteSpace(input.LocationCode))
@@ -706,7 +900,7 @@
                {
                    return content.Error("未找到对应的托盘");
                }
                var outPutDtos = stockInfo.Details.Select(x => new OutPutDto()
                var outPutDtos = stockInfo.Details.Select(x => new OutputDto()
                {
                    LocationCode = input.LocationCode,
                    PalletCode = input.PalletCode,
@@ -725,4 +919,4 @@

        #endregion 分容柜接口
    }
}
}