Merge branch 'dev' of http://115.159.85.185:8098/r/SuZhouGuanHong/ShanMeiXi...

wanshenmean

10 天以前 4fc1be40676b5f9928da3a83bdb1c215d0584ae9

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -1,4 +1,5 @@
#region << 版 本 注 释 >>

/*----------------------------------------------------------------
 * 命名空间：WIDESEAWCS_TaskInfoService
 * 创建者：胡童庆
@@ -11,21 +12,30 @@
 * 修改时间：
 * 版本：V1.0.1
 * 修改说明：
 * 
 *
 *----------------------------------------------------------------*/

#endregion << 版 本 注 释 >>

using AutoMapper;
using MapsterMapper;
using Microsoft.IdentityModel.Tokens;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using WIDESEA_Core;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;

@@ -37,6 +47,10 @@
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly IMapper _mapper;
        private readonly IOutboundTaskFlowService _outboundTaskFlowService;
        private readonly IInboundTaskFlowService _inboundTaskFlowService;
        private readonly IRelocationTaskFlowService _relocationTaskFlowService;
        private readonly IRobotTaskFlowService _robotTaskFlowService;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
@@ -44,18 +58,36 @@
                {nameof(Dt_Task.CreateDate),OrderByType.Asc},
            };

        public Dictionary<string, OrderByType> TaskOrderBy { get { return _taskOrderBy; } set { _taskOrderBy = value; } }
        public Dictionary<string, OrderByType> TaskOrderBy
        { get { return _taskOrderBy; } set { _taskOrderBy = value; } }

        public List<int> TaskInboundTypes => typeof(TaskInboundTypeEnum).GetEnumIndexList();

        public List<int> TaskOutboundTypes => typeof(TaskOutboundTypeEnum).GetEnumIndexList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper) : base(BaseDal)
        public List<int> TaskRelocationTypes => typeof(TaskRelocationTypeEnum).GetEnumIndexList();

        public List<int> TaskRobotTypes => typeof(TaskOtherTypeEnum).GetEnumIndexList();

        public TaskService(
            ITaskRepository BaseDal,
            IRouterService routerService,
            ITaskExecuteDetailService taskExecuteDetailService,
            ITaskExecuteDetailRepository taskExecuteDetailRepository,
            IMapper mapper,
            IOutboundTaskFlowService outboundTaskFlowService,
            IInboundTaskFlowService inboundTaskFlowService,
            IRelocationTaskFlowService relocationTaskFlowService,
            IRobotTaskFlowService robotTaskFlowService) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _mapper = mapper;
            _outboundTaskFlowService = outboundTaskFlowService;
            _inboundTaskFlowService = inboundTaskFlowService;
            _relocationTaskFlowService = relocationTaskFlowService;
            _robotTaskFlowService = robotTaskFlowService;
        }

        /// <summary>
@@ -77,35 +109,15 @@
                    }
                    Dt_Task task = _mapper.Map<Dt_Task>(item);
                    task.Creater = "WMS";
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(item.RoadWay, item.TargetAddress);
                        //暂不考虑多路径
                        if (routers.Count > 0)
                        {
                            task.TaskState = (int)TaskOutStatusEnum.OutNew;
                            task.CurrentAddress = item.SourceAddress;
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                        }
                    }
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(item.SourceAddress, item.TargetAddress);
                        //暂不考虑多路径
                        if (routers.Count > 0)
                        {
                            task.TaskState = (int)TaskInStatusEnum.InNew;
                            task.CurrentAddress = item.SourceAddress;
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                        }
                    }
                    InitializeTaskOnReceive(task, item);
                    tasks.Add(task);
                }
                // TOOD: 这里注意添加错误要返回错误
                BaseDal.AddData(tasks);

                _taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskNum).ToList(), "接收WMS任务");

                content = WebResponseContent.Instance.OK("成功");
                content = WebResponseContent.Instance.OK("成功", tasks);
            }
            catch (Exception ex)
            {
@@ -130,10 +142,10 @@
                    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                    Grade = 1,
                    PalletCode = palletCode,
                    RoadWay = "SC01",
                    Roadway = "SC01",
                    SourceAddress = sourceAddress,
                    TargetAddress = "SC01",
                    TaskState = (int)TaskInStatusEnum.InNew,
                    TaskStatus = (int)TaskInStatusEnum.InNew,
                    Id = 0,
                    TaskType = (int)TaskInboundTypeEnum.Inbound
                };
@@ -148,6 +160,32 @@
        }

        /// <summary>
        /// 按任务分组初始化任务接收信息。
        /// </summary>
        /// <param name="task">任务实体。</param>
        /// <param name="source">WMS原始任务对象。</param>
        private void InitializeTaskOnReceive(Dt_Task task, WMSTaskDTO source)
        {
            switch (task.TaskType.GetTaskTypeGroup())
            {
                case TaskTypeGroup.OutbondGroup:
                    _outboundTaskFlowService.InitializeOnReceive(task, source);
                    break;
                case TaskTypeGroup.InboundGroup:
                    _inboundTaskFlowService.InitializeOnReceive(task, source);
                    break;
                case TaskTypeGroup.RelocationGroup:
                    _relocationTaskFlowService.InitializeOnReceive(task, source);
                    break;
                case TaskTypeGroup.OtherGroup:
                    _robotTaskFlowService.InitializeOnReceive(task, source);
                    break;
                default:
                    break;
            }
        }

        /// <summary>
        /// 根据设备编号、当前地址查询输送线未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
@@ -155,7 +193,7 @@
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTask(string deviceNo, string currentAddress)
        {
            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);
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskInStatusEnum.InNew || TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -166,7 +204,10 @@
        /// <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);
            if (string.IsNullOrEmpty(nextAddress))
                throw new ArgumentNullException(nameof(nextAddress), "下一地址不能为空");

            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.NextAddress == nextAddress && (x.TaskStatus == (int)TaskInStatusEnum.Line_InExecuting || x.TaskStatus == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
        }

        /// <summary>
@@ -177,7 +218,10 @@
        /// <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);
            if (string.IsNullOrEmpty(currentAddress))
                throw new ArgumentNullException(nameof(currentAddress), "当前地址不能为空");

            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskStatus == (int)TaskInStatusEnum.Line_InFinish || x.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
        }

        /// <summary>
@@ -189,11 +233,11 @@
        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);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (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);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskStatus == (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 BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            return null;
        }

@@ -206,9 +250,9 @@
        public Dt_Task QueryStackerCraneTask(string deviceNo, string currentAddress = "")
        {
            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);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskOutStatusEnum.OutNew || TaskRelocationTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskRelocationStatusEnum.RelocationNew), 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.Roadway == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskOutStatusEnum.OutNew || TaskRelocationTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskRelocationStatusEnum.RelocationNew), TaskOrderBy);
        }

        /// <summary>
@@ -220,9 +264,9 @@
        public Dt_Task QueryStackerCraneInTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskStatus == (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);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskInStatusEnum.Line_InFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -234,9 +278,9 @@
        public Dt_Task QueryStackerCraneOutTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -247,7 +291,7 @@
        /// <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)
        {
            return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
            return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskStatus == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
        }

        /// <summary>
@@ -260,15 +304,18 @@
            WebResponseContent content = new WebResponseContent();
            try
            {
                if (string.IsNullOrEmpty(message))
                    throw new ArgumentNullException(nameof(message), "异常信息不能为空");

                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.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutPending;
                    task.TaskStatus = (int)TaskOutStatusEnum.OutPending;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    task.TaskState = (int)TaskInStatusEnum.InPending;
                    task.TaskStatus = (int)TaskInStatusEnum.InPending;
                }
                task.ExceptionMessage = message;
                task.ModifyDate = DateTime.Now;
@@ -294,7 +341,7 @@
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null) return;
            task.TaskState = status;
            task.TaskStatus = status;
            task.ModifyDate = DateTime.Now;
            BaseDal.UpdateData(task);
        }
@@ -326,62 +373,47 @@
        /// <returns></returns>
        public WebResponseContent UpdateTaskStatusToNext([NotNull] Dt_Task task)
        {
            WebResponseContent content = new WebResponseContent();
            try
            int oldState = task.TaskStatus;

            var result = task.TaskType.GetTaskTypeGroup() switch
            {
                int oldState = task.TaskState;
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    if (task.TaskState >= (int)TaskOutStatusEnum.OutFinish)
                    {
                        return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                    }
                TaskTypeGroup.OutbondGroup => _outboundTaskFlowService.MoveToNextStatus(task),
                TaskTypeGroup.InboundGroup => _inboundTaskFlowService.MoveToNextStatus(task),
                TaskTypeGroup.RelocationGroup => _relocationTaskFlowService.MoveToNextStatus(task),
                TaskTypeGroup.OtherGroup => _robotTaskFlowService.MoveToNextStatus(task),
                _ => WebResponseContent.Instance.Error($"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}】")
            };

                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
            if (!result.Status)
                return result;

                    task.TaskState = nextStatus;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    if (task.TaskState >= (int)TaskInStatusEnum.InFinish)
                    {
                        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}】");
                    }
            // 出库完成线体节点时，可能需要接收入库新任务。
            if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup
                && result.Data is List<WMSTaskDTO> wmsTasks
                && wmsTasks.Count > 0)
            {
                return ReceiveWMSTask(wmsTasks);
            }

                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    {
                        Random random = new Random();
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = $"{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}";
                        task.TargetAddress = task.NextAddress;
                    }
                }
                else
                {
                    throw new Exception($"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";
            // 更新任务数据
            task.ModifyDate = DateTime.Now;
            task.Modifier = "System";
            if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
            {
                BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
            }
            else
            {
                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();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;

            // 记录任务执行详情
            string logMessage = App.User.UserId > 0
                ? $"人工手动将任务状态从【{oldState}】跳转到【{task.TaskStatus}】"
                : $"系统自动流程，任务状态从【{oldState}】转到【{task.TaskStatus}】";
            _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, logMessage);

            return WebResponseContent.Instance.OK();
        }

        /// <summary>
@@ -394,17 +426,21 @@
        {
            try
            {
                if (string.IsNullOrEmpty(currentAddress))
                    throw new ArgumentNullException(nameof(currentAddress), "当前地址不能为空");

                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}】");

                string oldCurrentPos = task.CurrentAddress;
                string oldNextPos = task.NextAddress;

                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");

                Dt_Router routers = _routerService.QueryNextRoute(oldNextPos, task.TargetAddress);
                if (routers == null) throw new Exception($"未找到设备路由信息");

                task.CurrentAddress = task.NextAddress;
                task.NextAddress = routers.FirstOrDefault().ChildPosi;
                task.NextAddress = routers.ChildPosi;

                task.ModifyDate = DateTime.Now;
                task.Modifier = "System";
@@ -415,6 +451,7 @@
            }
            catch (Exception ex)
            {
                Console.WriteLine($"UpdatePosition 更新任务位置失败,任务号:【{taskNum}】,错误信息:【{ex.Message}】");
            }
            return null;
        }
@@ -431,62 +468,41 @@
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");

                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                TaskTypeGroup taskTypeGroup = task.TaskType.GetTaskTypeGroup();
                content = taskTypeGroup switch
                {
                    List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
                    if (!routers.Any()) return WebResponseContent.Instance.Error($"未找到设备路由信息");
                    TaskTypeGroup.OutbondGroup => _outboundTaskFlowService.CompleteStackerTask(task),
                    TaskTypeGroup.InboundGroup => _inboundTaskFlowService.CompleteStackerTask(task),
                    TaskTypeGroup.RelocationGroup => _relocationTaskFlowService.CompleteStackerTask(task),
                    TaskTypeGroup.OtherGroup => _robotTaskFlowService.CompleteStackerTask(task),
                    _ => throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】")
                };
                if (!content.Status)
                {
                    return content;
                }

                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
                    task.TaskState = nextStatus;
                    task.CurrentAddress = task.NextAddress;
                    task.NextAddress = routers.FirstOrDefault().ChildPosi;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";
                if (taskTypeGroup == TaskTypeGroup.OutbondGroup && task.TaskStatus == (int)TaskOutStatusEnum.SC_OutFinish)
                {
                    BaseDal.UpdateData(task);

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    //todo 同步到WMS

                    //暂不考虑多个出库口
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "堆垛机出库完成");
                    return content;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)

                if (taskTypeGroup == TaskTypeGroup.InboundGroup && task.TaskStatus == (int)TaskInStatusEnum.SC_InFinish)
                {
                    //todo 
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");
                    BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "堆垛机入库完成");
                    return content;
                }

                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                        Grade = 1,
                        PalletCode = task.PalletCode + "S",
                        RoadWay = "SC01",
                        SourceAddress = task.TargetAddress,
                        TargetAddress = "CLOutAreaA",
                        TaskState = (int)TaskOutStatusEnum.OutNew,
                        Id = 0,
                        TaskType = (int)TaskOutboundTypeEnum.Outbound
                    };
                if (taskTypeGroup == TaskTypeGroup.RelocationGroup && task.TaskStatus == (int)TaskRelocationStatusEnum.RelocationFinish)
                {
                    BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "堆垛机移库完成");
                    return content;
                }

                    content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {
                    //todo 调用WMS移库完成
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
                {

                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");
                }
                content = WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
@@ -508,25 +524,25 @@
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                if (task.TaskState != (int)TaskInStatusEnum.InPending && task.TaskState != (int)TaskOutStatusEnum.OutPending)
                if (task.TaskStatus != (int)TaskInStatusEnum.InPending && task.TaskStatus != (int)TaskOutStatusEnum.OutPending)
                {
                    return content = WebResponseContent.Instance.Error($"该任务状态不可恢复,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                    return content = WebResponseContent.Instance.Error($"该任务状态不可恢复,任务号:【{taskNum}】,任务状态:【{task.TaskStatus}】");
                }

                Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.IsNormal, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                if (taskExecuteDetail != null)
                {
                    task.TaskState = taskExecuteDetail.TaskState;
                    task.TaskStatus = taskExecuteDetail.TaskState;
                }
                else
                {
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutNew;
                        task.TaskStatus = (int)TaskOutStatusEnum.OutNew;
                    }
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                        task.TaskStatus = (int)TaskInStatusEnum.InNew;
                    }
                    //todo
                }
@@ -535,7 +551,7 @@

                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工恢复挂起任务,恢复挂起时任务状态【{task.TaskState}】");
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工恢复挂起任务,恢复挂起时任务状态【{task.TaskStatus}】");

                content = WebResponseContent.Instance.OK();
            }
@@ -559,24 +575,24 @@
                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;
                Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState < task.TaskState && x.TaskState > 0, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                int oldState = task.TaskStatus;
                Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState < task.TaskStatus && x.TaskState > 0, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                if (taskExecuteDetail != null)
                {
                    task.TaskState = taskExecuteDetail.TaskState;
                    task.TaskStatus = taskExecuteDetail.TaskState;
                    task.CurrentAddress = taskExecuteDetail.CurrentAddress;
                    task.NextAddress = taskExecuteDetail.NextAddress;
                }
                else
                {
                    return content = WebResponseContent.Instance.Error($"未找到任务明细信息,该任务状态不可回滚到上一步,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                    return content = WebResponseContent.Instance.Error($"未找到任务明细信息,该任务状态不可回滚到上一步,任务号:【{taskNum}】,任务状态:【{task.TaskStatus}】");
                }

                task.ExceptionMessage = string.Empty;

                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工将任务状态从【{oldState}】回滚到【{task.TaskState}】");
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工将任务状态从【{oldState}】回滚到【{task.TaskStatus}】");

                content = WebResponseContent.Instance.OK();
            }
@@ -598,5 +614,117 @@
            BaseDal.DeleteAndMoveIntoHty(tasks, OperateTypeEnum.人工删除);
            return WebResponseContent.Instance.OK($"成功删除{tasks.Count}条数据");
        }

        /// <summary>
        /// 根据设备编号、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 QueryRobotCraneTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskRobotTypes.Contains(x.TaskType) && x.TaskStatus <= (int)TaskRobotStatusEnum.RobotExecuting), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskRobotTypes.Contains(x.TaskType) && x.CurrentAddress == currentAddress && x.TaskStatus <= (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
        }

        /// <summary>
        /// 获取与指定任务编号关联的任务。
        /// </summary>
        /// <param name="taskNum">要获取的任务的唯一标识符。</param>
        /// <returns>表示指定编号任务的<see cref="Dt_Task"/>对象，如果不存在该任务则返回<c>null</c>。</returns>
        public Dt_Task QueryByTaskNum(int taskNum)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum);
        }
    }
}

    public enum ConveyorLineDBNameNew
    {
        Barcode
    }
    public class ConveyorLineTaskCommandNew : DeviceCommand
    {
        /// <summary>
        /// 任务号
        /// </summary>
        public short TaskNo { get; set; }

        /// <summary>
        /// 源位置 开始地址
        /// </summary>
        public short Source { get; set; }

        /// <summary>
        /// 目标位置
        /// </summary>
        public short Target { get; set; }

        /// <summary>
        /// 箱型
        /// </summary>
        public byte BoxType { get; set; }

        /// <summary>
        /// 输送线状态 设备空闲状态
        /// </summary>
        public byte CV_State { get; set; }

        /// <summary>
        /// 输送线错误代码
        /// </summary>
        public byte CV_ERRCode { get; set; }

        /// <summary>
        /// WCS就绪标志 WCS下发完成时，触发为1
        /// </summary>
        public byte WCS_STB { get; set; }

        /// <summary>
        /// WCS应答标志 WCS收到完成时，触发为1
        /// </summary>
        public byte WCS_ACK { get; set; }

        /// <summary>
        /// PLC就绪标志 完成任务时，触发为1
        /// </summary>
        public byte PLC_STB { get; set; }

        /// <summary>
        /// PLC应答标志 收到任务时，触发为1
        /// </summary>
        public byte PLC_ACK { get; set; }

        /// <summary>
        /// PLC请求标志 入库站台，到位写1
        /// </summary>
        public byte PLC_REQ { get; set; }

        /// <summary>
        /// WCS错误代码
        /// </summary>
        public byte WCS_ERRCode { get; set; }

        /// <summary>
        /// WCS特殊标志 (旋转标识、强制放行、循环、特殊申请、是否叠盘、是否堵塞)
        /// </summary>
        public byte WCS_Special { get; set; }

        /// <summary>
        /// 设备自动模式 手动1，自动2
        /// </summary>
        public byte Equ_Auto { get; set; }

        /// <summary>
        /// 尾板标志
        /// </summary>
        public byte Last_pallet { get; set; }

        /// <summary>
        /// 条码（22个字符）
        /// </summary>
        [DataLength(22)]
        public string Barcode { get; set; }
    }
}