1

z8018

2025-06-10 e46aa927d231af83724683c7286d9db503e24cf7

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

@@ -15,852 +15,918 @@
 *----------------------------------------------------------------*/
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using AutoMapper;
using Magicodes.ExporterAndImporter.Core;
using Microsoft.AspNetCore.Mvc.RazorPages;
using NetTaste;
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.TaskEnum;
using AutoMapper;
using HslCommunication;
using HslCommunication.WebSocket;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using SqlSugar;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_BasicInfoService;
using WIDESEAWCS_Common;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Utilities;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.BasicInfo;
using WIDESEAWCS_DTO.PlacedBlockDTO;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using static Microsoft.IO.RecyclableMemoryStreamManager;
using WIDESEAWCS_QuartzJob.Repository;
using static Dm.net.buffer.ByteArrayBuffer;

namespace WIDESEAWCS_TaskInfoService
{
    /// <summary>
    /// ä»»åŠ¡æœåŠ¡ç±»ï¼Œæä¾›ä»»åŠ¡ç›¸å…³çš„业务逻辑操作
    /// </summary>
    /// <remarks>
    /// ä¸»è¦åŠŸèƒ½åŒ…括： <br/>
    /// 1. æŸ¥è¯¢é—¨æž¶è®¾å¤‡æœªæ‰§è¡Œä»»åŠ¡ <br/>
    /// 2. æ‰§è¡Œè®¢å•å—放置测试 <br/>
    /// 3. åˆ›å»ºå’Œç®¡ç†ä»»åŠ¡ <br/>
    /// 4. ç”Ÿæˆå’Œé‡æ–°ç”Ÿæˆä»»åŠ¡ <br/>
    /// 5. å¤„理异常任务 <br/>
    /// 6. ä»»åŠ¡å®Œæˆå¤„理 <br/>
    /// ä¾èµ–仓储层进行数据访问，通过工作单元管理事务 <br/>
    /// ä½¿ç”¨WebSocket进行实时通知，并包含完整的异常处理机制
    /// </remarks>
    public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    {
        private readonly IRouterService _routerService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ITask_HtyService _task_HtyService;
        /// <summary>
        /// å·¥ä½œå•å…ƒç®¡ç†æŽ¥å£å®žä¾‹ï¼Œç”¨äºŽç®¡ç†æ•°æ®åº“事务和工作单元
        /// </summary>
        private readonly IUnitOfWorkManage _unitOfWorkManage;

        /// <summary>
        /// ç”¨äºŽå¯¹è±¡æ˜ å°„的映射器实例
        /// </summary>
        private readonly IMapper _mapper;

        /// <summary>
        /// å®¹å™¨ä»“储接口实例，用于容器相关数据操作
        /// </summary>
        private readonly IContainerRepository _containerRepository;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
                {nameof(Dt_Task.Grade),OrderByType.Desc },
                {nameof(Dt_Task.CreateDate),OrderByType.Asc},
            };
        /// <summary>
        /// å®¹å™¨ç‰©å“ä»“储接口实例（只读）
        /// </summary>
        private readonly IContainerItemRepository _containerItemRepository;

        public Dictionary<string, OrderByType> TaskOrderBy { get { return _taskOrderBy; } set { _taskOrderBy = value; } }
        /// <summary>
        /// WebSocket服务器实例，用于处理WebSocket连接
        /// </summary>
        private readonly WebSocketServer _webSocketServer;

        public List<int> TaskInboundTypes => typeof(TaskInboundTypeEnum).GetEnumIndexList();
        /// <summary>
        /// è®¢å•è¯¦æƒ…仓储接口实例（只读）
        /// </summary>
        private readonly IOrderDetailsRepository _orderDetailsRepository;

        public List<int> TaskOutboundTypes => typeof(TaskOutboundTypeEnum).GetEnumIndexList();
        /// <summary>
        /// å®¹å™¨æœåŠ¡æŽ¥å£å®žä¾‹ï¼Œç”¨äºŽç®¡ç†ä¾èµ–注入容器相关操作
        /// </summary>
        private readonly IContainerService _containerService;

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService task_HtyService) : base(BaseDal)
        /// <summary>
        /// è®¢å•æ˜Žç»†æœåŠ¡æŽ¥å£
        /// </summary>
        private readonly IOrderDetailsService _orderDetailsService;

        /// <summary>
        /// è®¢å•è¡Œä»“储接口实例，用于操作订单行数据
        /// </summary>
        private readonly IOrderrowsRepository _orderrowsRepository;

        /// <summary>
        /// è®¢å•å®¹å™¨ä»“储接口实例，用于操作订单容器相关数据
        /// </summary>
        private readonly IOrderContainerRepository _orderContainerRepository;

        public TaskService(ITaskRepository BaseDal, IUnitOfWorkManage unitOfWorkManage, IMapper mapper, IContainerRepository containerRepository, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsRepository orderDetailsRepository, IContainerService containerService, IOrderDetailsService orderDetailsService, IOrderrowsRepository orderrowsRepository, IOrderContainerRepository orderContainerRepository) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _task_HtyService = task_HtyService;
            _unitOfWorkManage = unitOfWorkManage;
            _mapper = mapper;
            _containerRepository = containerRepository;
            _containerItemRepository = containerItemRepository;
            _webSocketServer = webSocketServer;
            _orderDetailsRepository = orderDetailsRepository;
            _containerService = containerService;
            _orderDetailsService = orderDetailsService;
            _orderrowsRepository = orderrowsRepository;
            _orderContainerRepository = orderContainerRepository;
        }

        /// <summary>
        /// æŽ¥æ”¶WMS任务信息
        /// æŸ¥è¯¢æŒ‡å®šé—¨æž¶è®¾å¤‡æœªæ‰§è¡Œçš„任务
        /// </summary>
        /// <param name="taskDTOs">WMS任务对象集合</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent ReceiveWMSTask(Dt_Task taskDTOs)
        /// <param name="gantryDeviceNo">门架设备编号</param>
        /// <returns>未执行的任务数据，若不存在则返回null</returns>
        public Dt_Task? QueryAGantryUnExecuteTask(string gantryDeviceNo)
        {
            WebResponseContent content = new WebResponseContent();
            return BaseDal.QueryFirst(x => x.TaskState == (int)TaskStatusEnum.Gantry_New && x.DeviceCode == gantryDeviceNo);
        }

        /// <summary>
        /// æ‰§è¡Œè®¢å•å—放置测试，根据订单行ID获取订单明细并计算放置位置
        /// </summary>
        /// <param name="orderRowId">订单行ID</param>
        /// <returns>包含放置块信息的Web响应内容。成功时返回放置块列表，失败时返回错误信息</returns>
        /// <remarks>
        /// 1. é€šè¿‡è®¢å•è¡ŒID查询订单明细数据 <br/>
        /// 2. å¯¹æ¯ä¸ªæœ‰æ•ˆè®¢å•æ˜Žç»†è®¡ç®—合适的放置位置 <br/>
        /// 3. åˆ›å»ºå®¹å™¨é¡¹å’Œä»»åŠ¡è®°å½• <br/>
        /// 4. é€šè¿‡WebSocket发布放置位置信息 <br/>
        /// 5. è¿”回所有成功放置的块信息
        /// </remarks>
        public WebResponseContent PlaceBlockTest(int orderRowId)
        {
            try
            {
                
                BaseDal.AddData(taskDTOs);
                content = WebResponseContent.Instance.OK("成功");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"生成任务失败,错误信息:{ex.Message}");
            }
            finally
            {
                WriteLog.GetLog("生成任务").Write(JsonConvert.SerializeObject(content), "生成任务");
            }
            return content;
        }

        /// <summary>
        /// æŸ¥æ‰¾è¯¥ç«™å°æ˜¯å¦æœ‰ä»»åŠ¡
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public List<string> QueryConveyorLineTaskSourceAddress()
        {
            return BaseDal.QueryData().Select(task => task.SourceAddress).ToList();
        }

        /// <summary>
        /// ä¿®æ”¹ä»»åŠ¡ï¼Œæ·»åŠ ç›®æ ‡åœ°å€
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public WebResponseContent UpdateTargetAddress(int TaskId,string TargetAddress)
        {
            
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.TaskId == TaskId);
                dt_Task.TargetAddress = TargetAddress;
                dt_Task.NextAddress = TargetAddress;
                BaseDal.UpdateData(dt_Task);
                content = WebResponseContent.Instance.OK("成功");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务接收错误,错误信息:{ex.Message}");
            }
            finally
            {
                WriteLog.GetLog("接收任务").Write(JsonConvert.SerializeObject(content), "接收任务");
            }
            return content;
        }

        /// <summary>
        /// æŸ¥æ‰¾æ˜¯å¦æœ‰ä»»åŠ¡å¯ä»¥æ”¾åœ¨è¯¥ä½ç½®
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTaskRoadway(int agvarea)
        {
            return BaseDal.QueryFirst(x => x.Roadway == agvarea.ToString() && x.MaterialType == (int)AgvStationEnum.BoardUnload && x.TargetAddress =="");

        }


        public bool QueryConveyorLinetaeersuadd(string taeersuadd)
        {
            Dt_Task dt_= BaseDal.QueryFirst(x => x.SourceAddress == taeersuadd || x.TargetAddress == taeersuadd);
            if(dt_==null) return true;
            else return false;

        }
        /// <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 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);
        }

        /// <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
        /// </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 QueryStackerCraneTask(string deviceNo, string currentAddress = "")
        {
            return BaseDal.QueryFirst(x => x.TaskState == (int)TaskOutStatusEnum.OutNew && (deviceNo == "AGV01" ? x.Roadway == AgvareaEnum.AreaOne.ToString() : x.Roadway != AgvareaEnum.AreaOne.ToString()),TaskOrderBy);
        }


        public Dt_Task IngStackerCraneTask(string deviceNo)
        {
            //string deviceNot = deviceNo == "SC01" ? "1" : "2";
            return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskInStatusEnum.SC_InExecuting);
        }

        public Dt_Task IngStackerCraneTask2(string deviceNo)
        {
            //string deviceNot = deviceNo == "SC01" ? "1" : "2";
            try
            {
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting);
            }
            catch (Exception ex)
            {

                throw;
            }
        }

        /// <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 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);
            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出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 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);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && 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出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);
        }

        /// <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
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="message">异常信息</param>
        public WebResponseContent UpdateTaskExceptionMessage(int taskNum, string message)
        {
            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}】");
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                List<OrderDetails> orderDetails = _orderDetailsRepository.QueryData(x => x.Orderrowsid == orderRowId);
                if (orderDetails == null || orderDetails.Count == 0)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutPending;
                    return WebResponseContent.Instance.Error("未找到订单明细信息");
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)

                List<PlacedBlock> placedBlocks = new List<PlacedBlock>();

                string putPosition = "";

                for (int i = 0; i < orderDetails.Count; i++)
                {
                    task.TaskState = (int)TaskInStatusEnum.InPending;
                }
                task.ExceptionMessage = message;
                task.ModifyDate = DateTime.Now;
                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, task.ExceptionMessage);

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

        /// <summary>
        /// æ›´æ–°ä»»åŠ¡çŠ¶æ€ä¿¡æ¯ï¼Œå¹¶åŒæ­¥è‡³WMS
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="status">任务状态</param>
        public void UpdateTaskStatus(int taskNum, int status)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null) return;
            task.TaskState = status;
            task.ModifyDate = DateTime.Now;
            BaseDal.UpdateData(task);
        }

        /// <summary>
        /// å°†ä»»åŠ¡çŠ¶æ€ä¿®æ”¹ä¸ºä¸‹ä¸€ä¸ªçŠ¶æ€
        /// </summary>
        /// <param name="taskNum">任务号</param>
        public WebResponseContent UpdateTaskStatusToNext(int taskNum)
        {
            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}】");
                return UpdateTaskStatusToNext(task);
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// å°†ä»»åŠ¡çŠ¶æ€ä¿®æ”¹ä¸ºä¸‹ä¸€ä¸ªçŠ¶æ€
        /// </summary>
        /// <param name="task">任务实体对象</param>
        /// <returns></returns>
        public WebResponseContent UpdateTaskStatusToNext([NotNull] Dt_Task task)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                int oldState = task.TaskState;
                if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
                    if (task.TaskState >= (int)TaskOutStatusEnum.OutFinish)
                    try
                    {
                        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}】");
                    }

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

                    task.TaskState = nextStatus;
                    if (task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                }
                else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                {
                    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}】");
                    }

                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;
                    if (task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                    if (task.TaskState == (int)TaskRelocationTypeEnum.Relocation)
                    {
                        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 if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                {
                    if (task.TaskState <= (int)TaskRelocationStatusEnum.SC_RelocationFinish)
                    {
                        
                        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}】");
                    }

                    int nextStatus = (int)TaskRelocationStatusEnum.SC_RelocationExecuting;
                    task.TaskState = nextStatus;
                    if (task.TaskState == (int)TaskRelocationStatusEnum.SC_RelocationExecuting)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                }
                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();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            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)
        {
            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}】");

                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");

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

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

                _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;
            }
            catch (Exception ex)
            {
            }
            return null;
        }

        
        public WebResponseContent StackCraneTaskCompleted(int taskNum)
        {
            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}】");

                if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    /*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");*/

                    task.TaskState = (int)TaskOutStatusEnum.OutFinish;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.DeleteData(task);
                    _task_HtyService.AddTaskHty(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"出库完成");
                    //todo åŒæ­¥åˆ°WMS

                    //暂不考虑多个出库口
                }
                else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                {
                    //todo 
                    //int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = (int)TaskInStatusEnum.InFinish;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";
                    BaseDal.DeleteData(task);
                    _task_HtyService.AddTaskHty(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"入库完成");

                }
                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 content;
        }

        /// <summary>
        /// æ¢å¤æŒ‚起任务
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent TaskStatusRecovery(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                if (task.TaskState != (int)TaskInStatusEnum.InPending && task.TaskState != (int)TaskOutStatusEnum.OutPending)
                {
                    return content = WebResponseContent.Instance.Error($"该任务状态不可恢复,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                }

                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;
                }
                else
                {
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutNew;
                    }
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                    }
                    //todo
                }

                task.ExceptionMessage = string.Empty;

                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}】");

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

        /// <summary>
        /// å›žæ»šä»»åŠ¡çŠ¶æ€
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent RollbackTaskStatusToLast(int taskNum)
        {
            WebResponseContent content = new();
            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;
                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 } });
                if (taskExecuteDetail != null)
                {
                    task.TaskState = 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}】");
                }

                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}】");

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


        /// <summary>
        /// åˆ é™¤æ•°æ®
        /// </summary>
        /// <param name="keys">主键数组</param>
        /// <returns></returns>
        public virtual WebResponseContent DeleteData(object[] keys)
        {
            try
            {
                List<Dt_Task> tasks = BaseDal.QureyDataByIds(keys);
                foreach (Dt_Task task in tasks)
                {
                    _task_HtyService.AddTaskHty(task);
                }


                if (typeof(Dt_Task).GetNavigatePro() == null)
                    return BaseDal.DeleteDataByIds(keys) ? WebResponseContent.Instance.OK() : WebResponseContent.Instance.Error();
                else
                {
                    if (keys != null)
                    {
                        Type detailType = typeof(Dt_Task).GetDetailType();
                        string name = typeof(Dt_Task).GetMainIdByDetail();
                        List<object> dynamicDelKeys = new List<object>();

                        for (int i = 0; i < keys.Length; i++)
                        lock (placedBlocks)
                        {
                            dynamicDelKeys.Add(keys[i]);
                            int length = Convert.ToInt32(orderDetails[i].Orderdetails_length);
                            int width = Convert.ToInt32(orderDetails[i].Orderdetails_width);
                            int height = Convert.ToInt32(orderDetails[i].Orderdetails_thickness);

                            OrderInfo orderInfo = _orderDetailsService.GetOrderInfoByBarcode(orderDetails[i].Orderdetails_outid);

                            var (flag, taskPosition, message) = _containerService.GetPosition(orderInfo.OrderHeadId, orderInfo.OrderNo, length, width, height);
                            if (flag && taskPosition != null)
                            {
                                if (string.IsNullOrEmpty(putPosition))
                                {
                                    putPosition = taskPosition.PutPosition;
                                }

                                if (putPosition != taskPosition.PutPosition)
                                {
                                    continue;
                                }

                                Dt_OrderContainer orderContainer = _orderContainerRepository.QueryFirst(x => x.OrderNo == orderInfo.OrderNo && x.ContainerCode == taskPosition.PutPosition);

                                Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == taskPosition.PutPosition);
                                if (putContainer == null)
                                {
                                    //todo
                                    throw new Exception("未找到放货位置");
                                }

                                bool isAdd = false;
                                if (orderContainer == null)
                                {
                                    orderContainer = new Dt_OrderContainer()
                                    {
                                        OrderId = orderInfo.OrderHeadId,
                                        ContainerCode = putContainer.ContainerCode,
                                        ContainerId = putContainer.Id,
                                        OrderNo = orderInfo.OrderNo,
                                    };
                                    int containerLength = putContainer.ContainerLength;
                                    int containerWidth = putContainer.ContainerWidth;
                                    int maxValue = Math.Max(length, width);
                                    int minValue = Math.Min(length, width);
                                    if (minValue > putContainer.ContainerWidth)
                                    {
                                        containerLength = maxValue;
                                        containerWidth = minValue;
                                    }

                                    orderContainer.MaxLength = containerLength;
                                    orderContainer.MaxWidth = containerWidth;
                                    isAdd = true;
                                }

                                if (taskPosition != null)
                                {
                                    Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
                                    {
                                        ContainerId = putContainer.Id,
                                        ItemCode = orderInfo.Barcode,
                                        ItemLength = length,
                                        ItemWidth = width,
                                        ItemHeight = height,
                                        ItemPositionX = taskPosition.PositionX,
                                        ItemPositionY = taskPosition.PositionY,
                                        ItemPositionZ = taskPosition.PositionZ,
                                        ItemRelaPositionX = taskPosition.PutPositionX,
                                        ItemRelaPositionY = taskPosition.PutPositionY,
                                        ItemRelaPositionZ = taskPosition.PutPositionZ,
                                        ItemStatus = (int)ItemStatusEnum.Assigned,
                                        ItemName = orderInfo.Barcode
                                    };

                                    Dt_Task dt_Task = new Dt_Task()
                                    {
                                        PalletCode = orderInfo.Barcode,
                                        DeviceCode = putContainer.DeviceCode,
                                        TaskState = (int)TaskStatusEnum.Gantry_Wait,
                                        TaskType = 0,
                                        SourceAddress = "",
                                        TargetAddress = $"F06",
                                        CurrentAddress = $"F06*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
                                        NextAddress = $"{putContainer.ContainerCode}*{taskPosition.PutPositionX}*{taskPosition.PutPositionY}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
                                        ItemInfo = $"{length}*{width}*{height}",
                                        Grade = 0,
                                    };
                                    putContainer.ContainerStatus = ContainerStatusEnum.NonEmpty.ObjToInt();
                                    _unitOfWorkManage.BeginTran();
                                    BaseDal.AddData(dt_Task);
                                    _containerRepository.UpdateData(putContainer);
                                    _containerItemRepository.AddData(dt_ContainerItem);
                                    if (isAdd)
                                    {
                                        _orderContainerRepository.AddData(orderContainer);
                                    }
                                    _unitOfWorkManage.CommitTran();

                                    PlacedBlock placedBlock = new PlacedBlock(new Point3D(taskPosition.PositionX, taskPosition.PositionY, taskPosition.PositionZ), length > width ? length : width, width > length ? length : width, height);
                                    placedBlocks.Add(placedBlock);

                                    Thread.Sleep(1000);
                                    object obj = new
                                    {
                                        x = taskPosition.PutCenterPositionX - putContainer.ContainerLength / 2,
                                        y = taskPosition.PutCenterPositionY - putContainer.ContainerWidth / 2,
                                        z = taskPosition.PutPositionZ,
                                        length = length > width ? length : width,
                                        width = width > length ? length : width,
                                        height,
                                    };
                                    _webSocketServer.PublishAllClientPayload(obj.Serialize());
                                }
                            }
                        }
                        ((SqlSugarClient)BaseDal.Db).BeginTran();

                        if (dynamicDelKeys.Count > 0)
                            BaseDal.Db.Deleteable<object>().AS(detailType.Name).Where($"{name} in (@id)", new { id = dynamicDelKeys.ToArray() }).ExecuteCommandHasChange();

                        BaseDal.DeleteDataByIds(keys);

                        ((SqlSugarClient)BaseDal.Db).CommitTran();

                        return WebResponseContent.Instance.OK();
                    }
                    else
                    catch (Exception ex)
                    {
                        return WebResponseContent.Instance.Error("参数错误");

                    }
                }
                return WebResponseContent.Instance.OK(data: placedBlocks);
            }
            catch (Exception ex)
            {
                ((SqlSugarClient)BaseDal.Db).RollbackTran();
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        //agv任务
        public WebResponseContent GetAgvTaskData()
        /// <summary>
        /// åˆ›å»ºä»»åŠ¡å¹¶è®¡ç®—物品放置位置
        /// </summary>
        /// <param name="takePosition">取货位置编码</param>
        /// <param name="putPosition">放货位置编码</param>
        /// <param name="deviceCode">设备编码</param>
        /// <param name="length">物品长度</param>
        /// <param name="width">物品宽度</param>
        /// <param name="height">物品高度</param>
        /// <returns>包含操作结果的Web响应内容</returns>
        /// <remarks>
        /// 1. éªŒè¯å–è´§/放货位置是否存在 <br/>
        /// 2. è®¡ç®—物品在容器中的最佳放置位置 <br/>
        /// 3. åˆ›å»ºå®¹å™¨ç‰©å“è®°å½•å’Œä»»åŠ¡è®°å½• <br/>
        /// 4. é€šè¿‡WebSocket通知客户端
        /// </remarks>
        public WebResponseContent CreateTask(string takePosition, string putPosition, string deviceCode, int length, int width, int height)
        {
            WebResponseContent content=new WebResponseContent();
            List<Dt_Task> tasks = BaseDal.QueryData().ToList();
            List<AGCTaskDto> agvdto = new List<AGCTaskDto>();
            foreach (var item in tasks)
            {
                AGCTaskDto aGCTaskDto = new AGCTaskDto();
                aGCTaskDto.TaskNum = item.TaskNum;
                aGCTaskDto.SourceAddress= item.SourceAddress;
                aGCTaskDto.TargetAddress= item.TargetAddress==null? "暂定" : item.TargetAddress;
                aGCTaskDto.Dispatchertime = item.Dispatchertime;
                aGCTaskDto.TaskState = item.TaskState == (int)TaskInStatusEnum.InNew ? "新建任务" : (item.TaskState == (int)TaskInStatusEnum.AGV_InExecuting ? "AGV任务执行" : "任务完成");
                aGCTaskDto.TaskType = item.TaskType.ToString();
                aGCTaskDto.Roadway = item.Roadway=="1"?"区域一":(item.Roadway == "2" ? "区域二": item.Roadway == "3" ? "区域三":"区域四");
                agvdto.Add(aGCTaskDto);
            }
            return content.OK(data: agvdto);
        }

        //agv状态
        public WebResponseContent GetAgvStatusData()
        {
            var response = new WebResponseContent();
            try
            {
                //agv类型：0-潜伏型，1 - ç‰µå¼•åž‹ï¼Œ2 - æ‰¿è½½åž‹ï¼Œ3 - ä¸¾å‡åž‹ï¼Œ4 -辊道型，5 - å‰è½¦åž‹ï¼Œ6 - å…¶ä»–
                int agvType = 0;
                //agv编号
                int agvCode = 2;
                //agv上下线状态，0-下线，1 - ä¸Šçº¿
                int agvOnline = 4;
                //agv当前地标号
                int agvRfidLabel = 6;
                //agv当前x坐标值
                int agvXcoordinate = 8;
                //agv当前y坐标值
                int agvYcoordinate = 12;
                //agv运行状态 ï¼š0-停止，1 - è¡Œé©¶ï¼Œ2 - æš‚停
                int agvStatus = 16;
                //agv当前运行速度(mm / s)
                int agvSpeed = 18;
                //agv报警代码(按位状态提取，最多可表示32种报警
                int agvAlarmCode = 20;
                bool isFirst = true;
                List<AGVStatus> statusList = new List<AGVStatus>();
                
                for (int i = 0; i < 3; i++)
                Dt_Container takeContainer = _containerRepository.QueryFirst(x => x.ContainerCode == takePosition && x.ContainerType == ContainerTypeEnum.TakeContainer.ObjToInt());
                if (takeContainer == null)
                {
                    AGVStatus aGVStatus = new AGVStatus();
                    aGVStatus.agvCode = i;
                    aGVStatus.agvType = 1+i;
                    aGVStatus.agvOnline = "123" + i;
                    aGVStatus.agvRfidLabel = 2 + i;
                    aGVStatus.agvXcoordinate = 3 + i;
                    aGVStatus.agvYcoordinate = 4 + i;
                    aGVStatus.agvStatus = 5 + i;
                    aGVStatus.agvSpeed = 6 + i;
                    aGVStatus.agvAlarmCode = i+99; //client.SiemensPLCClient.SiemensS7NetClient.Read("DB1001." + agvAlarmCode.ToString(), 32).Content;
                    statusList.Add(aGVStatus);

                    return WebResponseContent.Instance.Error("取货位置不存在");
                }
                
                response.OK(data: statusList);

                List<Dt_Container> containers = _containerRepository.QueryData(x => x.DeviceCode == deviceCode && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());

                Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == putPosition && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());
                if (putContainer == null)
                {
                    return WebResponseContent.Instance.Error("放货位置不存在");
                }

                int edge = 0;
                if (putContainer.ContainerNo == containers.Min(x => x.ContainerNo))
                {
                    edge = 1;
                }

                ContainerSize containerSize = new ContainerSize(putContainer.ContainerLength, putContainer.ContainerWidth, putContainer.ContainerHeight);
                List<Dt_ContainerItem> containerItems = _containerItemRepository.QueryData(x => x.ContainerId == putContainer.Id);

                List<PlacedBlock> placedBlocks = containerItems.Select(x => new PlacedBlock(new Point3D(x.ItemPositionX, x.ItemPositionY, x.ItemPositionZ), x.ItemLength > x.ItemLength ? x.ItemLength : x.ItemWidth, x.ItemLength > x.ItemLength ? x.ItemWidth : x.ItemLength, x.ItemHeight)).ToList();


                TaskPosition? taskPosition = _containerService.GetTaskPosition(length, width, height, containerSize, placedBlocks, edge);
                if (taskPosition == null)
                {
                    return WebResponseContent.Instance.Error("未找到合适放置位置");
                }

                object obj = new
                {
                    x = taskPosition.PutCenterPositionX - putContainer.ContainerLength / 2,
                    y = taskPosition.PutCenterPositionY - putContainer.ContainerWidth / 2,
                    z = taskPosition.PutCenterPositionZ,
                    length,
                    width,
                    height,
                };

                _webSocketServer.PublishAllClientPayload(obj.Serialize());

                string code = DateTime.Now.ToString("yyyyMMddHHmmss");

                Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
                {
                    ContainerId = putContainer.Id,
                    ItemCode = code,
                    ItemLength = length,
                    ItemWidth = width,
                    ItemHeight = height,
                    ItemPositionX = taskPosition.PositionX,
                    ItemPositionY = taskPosition.PositionY,
                    ItemPositionZ = taskPosition.PositionZ,
                    ItemRelaPositionX = taskPosition.PutPositionX,
                    ItemRelaPositionY = taskPosition.PutPositionY,
                    ItemRelaPositionZ = taskPosition.PutPositionZ,
                    ItemStatus = (int)ItemStatusEnum.Assigned,
                    ItemName = code
                };

                Dt_Task dt_Task = new Dt_Task()
                {
                    PalletCode = code,
                    DeviceCode = putContainer.DeviceCode,
                    TaskState = (int)TaskStatusEnum.Gantry_New,
                    TaskType = 0,
                    SourceAddress = "",
                    TargetAddress = $"{takeContainer.ContainerNo}",
                    CurrentAddress = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
                    NextAddress = $"{putContainer.ContainerCode}*{taskPosition.PutPositionX}*{taskPosition.PutPositionY}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
                    ItemInfo = $"{length}*{width}*{height}",
                    Grade = 0,
                };

                _containerItemRepository.AddData(dt_ContainerItem);
                base.AddData(dt_Task);

                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                response.Error(ex.Message);
                return WebResponseContent.Instance.Error(ex.Message);
            }

            return response;
        }

        public WebResponseContent GetAgvStatusData2()
        /// <summary>
        /// æ ¹æ®è®¢å•ä¿¡æ¯ç”Ÿæˆä»»åŠ¡
        /// </summary>
        /// <param name="orderInfo">订单信息</param>
        /// <returns>包含三个值的元组： <br/>
        /// Item1 - æ“ä½œæ˜¯å¦æˆåŠŸ (bool) <br/>
        /// Item2 - ç”Ÿæˆçš„任务对象 (Dt_Task)，失败时为null <br/>
        /// Item3 - é”™è¯¯æ¶ˆæ¯ (string)，成功时为空字符串
        /// </returns>
        /// <remarks>
        /// è¯¥æ–¹æ³•ä¼šï¼š <br/>
        /// 1. æ ¹æ®è®¢å•å°ºå¯¸èŽ·å–合适的货位 <br/>
        /// 2. åˆ›å»ºå®¹å™¨é¡¹å’Œä»»åŠ¡è®°å½• <br/>
        /// 3. æ›´æ–°ç›¸å…³å®¹å™¨çŠ¶æ€ <br/>
        /// 4. åœ¨äº‹åŠ¡ä¸­æ‰§è¡Œæ‰€æœ‰æ•°æ®åº“操作
        /// </remarks>
        public (bool, Dt_Task?, string) GenerateTask(OrderInfo orderInfo)
        {
            var response = new WebResponseContent();
            try
            {
                //agv类型：0-潜伏型，1 - ç‰µå¼•åž‹ï¼Œ2 - æ‰¿è½½åž‹ï¼Œ3 - ä¸¾å‡åž‹ï¼Œ4 -辊道型，5 - å‰è½¦åž‹ï¼Œ6 - å…¶ä»–
                int agvType = 0;
                //agv编号
                int agvCode = 2;
                //agv上下线状态，0-下线，1 - ä¸Šçº¿
                int agvOnline = 4;
                //agv当前地标号
                int agvRfidLabel = 6;
                //agv当前x坐标值
                int agvXcoordinate = 8;
                //agv当前y坐标值
                int agvYcoordinate = 12;
                //agv运行状态 ï¼š0-停止，1 - è¡Œé©¶ï¼Œ2 - æš‚停
                int agvStatus = 16;
                //agv当前运行速度(mm / s)
                int agvSpeed = 18;
                //agv报警代码(按位状态提取，最多可表示32种报警
                int agvAlarmCode = 20;
                bool isFirst = true;
                List<AGVStatus> statusList = new List<AGVStatus>();
                int length = Convert.ToInt32(orderInfo.Length);
                int width = Convert.ToInt32(orderInfo.Width);
                int height = Convert.ToInt32(orderInfo.Thickness);

                for (int i = 0; i < 6; i++)
                var (flag, taskPosition, message) = _containerService.GetPosition(orderInfo.OrderHeadId, orderInfo.OrderNo, length, width, height);
                if (flag && taskPosition != null)
                {
                    AGVStatus aGVStatus = new AGVStatus();
                    aGVStatus.agvCode = i;
                    aGVStatus.agvType = 1 + i;
                    aGVStatus.agvOnline = "123" + i;
                    aGVStatus.agvRfidLabel = 2 + i;
                    aGVStatus.agvXcoordinate = 3 + i;
                    aGVStatus.agvYcoordinate = 4 + i;
                    aGVStatus.agvStatus = 5 + i;
                    aGVStatus.agvSpeed = 6 + i;
                    aGVStatus.agvAlarmCode = i + 99; //client.SiemensPLCClient.SiemensS7NetClient.Read("DB1001." + agvAlarmCode.ToString(), 32).Content;
                    statusList.Add(aGVStatus);
                    Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == taskPosition.PutPosition);
                    if (putContainer == null)
                    {
                        return (false, null, "未找到放货位置");
                    }

                    Dt_Container? takeContainer = GetTakePosition(putContainer.DeviceCode);
                    if (takeContainer == null)
                    {
                        return (false, null, "未找到取货位置");
                    }

                    Dt_OrderContainer orderContainer = _orderContainerRepository.QueryFirst(x => x.OrderNo == orderInfo.OrderNo && x.ContainerCode == putContainer.ContainerCode);

                    bool isAdd = false;
                    bool isUpdate = false;
                    if (orderContainer == null)
                    {
                        orderContainer = new Dt_OrderContainer()
                        {
                            OrderId = orderInfo.OrderHeadId,
                            ContainerCode = putContainer.ContainerCode,
                            ContainerId = putContainer.Id,
                            OrderNo = orderInfo.OrderNo,
                        };

                        int containerLength = putContainer.ContainerLength;
                        int containerWidth = putContainer.ContainerWidth;
                        int maxValue = Math.Max(length, width);
                        int minValue = Math.Min(length, width);
                        if (minValue > putContainer.ContainerWidth)
                        {
                            containerLength = maxValue;
                            containerWidth = minValue;
                        }

                        orderContainer.MaxLength = containerLength;
                        orderContainer.MaxWidth = containerWidth;
                        isAdd = true;
                    }

                    Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
                    {
                        ContainerId = putContainer.Id,
                        ItemCode = orderInfo.Barcode,
                        ItemLength = length,
                        ItemWidth = width,
                        ItemHeight = height,
                        ItemPositionX = taskPosition.PositionX,
                        ItemPositionY = taskPosition.PositionY,
                        ItemPositionZ = taskPosition.PositionZ,
                        ItemRelaPositionX = taskPosition.PutPositionX,
                        ItemRelaPositionY = taskPosition.PutPositionY,
                        ItemRelaPositionZ = taskPosition.PutPositionZ,
                        ItemStatus = (int)ItemStatusEnum.Assigned,
                        ItemName = orderInfo.Barcode,
                        Remark = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}"
                    };

                    Dt_Task dt_Task = new Dt_Task()
                    {
                        PalletCode = orderInfo.Barcode,
                        DeviceCode = putContainer.DeviceCode,
                        TaskState = (int)TaskStatusEnum.Gantry_Wait,
                        TaskType = 0,
                        SourceAddress = "",
                        TargetAddress = $"{takeContainer.ContainerNo}",
                        CurrentAddress = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
                        NextAddress = $"{putContainer.ContainerCode}*{taskPosition.PutPositionX}*{taskPosition.PutPositionY}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
                        ItemInfo = $"{length}*{width}*{height}",
                        Grade = 0,
                    };
                    putContainer.ContainerStatus = ContainerStatusEnum.NonEmpty.ObjToInt();
                    _unitOfWorkManage.BeginTran();
                    BaseDal.AddData(dt_Task);
                    _containerRepository.UpdateData(putContainer);
                    _containerItemRepository.AddData(dt_ContainerItem);
                    if (isAdd)
                    {
                        _orderContainerRepository.AddData(orderContainer);
                    }
                    else if (isUpdate)
                    {
                        _orderContainerRepository.UpdateData(orderContainer);
                    }
                    _unitOfWorkManage.CommitTran();

                    return (true, dt_Task, "");
                }

                response.OK(data: statusList);
                else
                {
                    return (false, null, message);
                }
            }
            catch (Exception ex)
            {
                response.Error(ex.Message);
                _unitOfWorkManage.RollbackTran();
                return (false, null, $"错误,{ex.ExceptionToString()}");
            }

            return response;
        }


        public class AGVStatus
        /// <summary>
        /// é‡æ–°ç”Ÿæˆä»»åŠ¡
        /// </summary>
        /// <param name="task">原始任务对象</param>
        /// <param name="stationCode">工作站编码</param>
        /// <returns>
        /// åŒ…含三个值的元组： <br/>
        /// 1. bool - æ“ä½œæ˜¯å¦æˆåŠŸ <br/>
        /// 2. Dt_Task - æ›´æ–°åŽçš„任务对象（失败时为null） <br/>
        /// 3. string - é”™è¯¯æ¶ˆæ¯ï¼ˆæˆåŠŸæ—¶ä¸ºç©ºå­—符串）
        /// </returns>
        /// <remarks>
        /// è¯¥æ–¹æ³•ç”¨äºŽé‡æ–°ç”Ÿæˆä»»åŠ¡ä¿¡æ¯ï¼ŒåŒ…括： <br/>
        /// 1. è§£æžæ¿å­å°ºå¯¸ä¿¡æ¯ <br/>
        /// 2. éªŒè¯å–è´§/放货位置 <br/>
        /// 3. è®¡ç®—物品放置位置 <br/>
        /// 4. æ›´æ–°ä»»åŠ¡çŠ¶æ€å’Œä½ç½®ä¿¡æ¯ <br/>
        /// 5. åœ¨äº‹åŠ¡ä¸­æ›´æ–°æ•°æ®åº“记录
        /// </remarks>
        public (bool, Dt_Task?, string) RegenerateTask(Dt_Task task, string stationCode)
        {
            /// <summary>
            /// agv类型：0-潜伏型，1 - ç‰µå¼•åž‹ï¼Œ2 - æ‰¿è½½åž‹ï¼Œ3 - ä¸¾å‡åž‹ï¼Œ4 -辊道型，5 - å‰è½¦åž‹ï¼Œ6 - å…¶ä»–
            /// </summary>
            public int agvType { get; set; }
            try
            {
                int length = 0;
                int width = 0;
                int height = 0;
                Dt_ContainerItem containerItem = _containerItemRepository.QueryFirst(x => x.ItemCode == task.PalletCode);
                if (containerItem == null)
                {
                    List<string> itemInfos = task.ItemInfo.Split("*").ToList();
                    if (itemInfos.Count == 3)
                    {
                        length = Convert.ToInt32(itemInfos[0]);
                        width = Convert.ToInt32(itemInfos[1]);
                        height = Convert.ToInt32(itemInfos[2]);
                    }
                    else
                    {
                        return (false, null, "板子尺寸信息错误");
                    }
                }
                else
                {
                    length = containerItem.ItemLength;
                    width = containerItem.ItemWidth;
                    height = containerItem.ItemHeight;
                }
                string containerCode = task.NextAddress.Split("*")[0];

            /// <summary>
            /// agv编号
            /// </summary>
            public int agvCode { get; set; }
                Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == containerCode);

            /// <summary>
            /// agv上下线状态，0-下线，1 - ä¸Šçº¿
            /// </summary>
            public string agvOnline { get; set; }
                if (putContainer == null)
                {
                    return (false, null, "未找到放货位置");
                }

            /// <summary>
            /// agv当前地标号
            /// </summary>
            public int agvRfidLabel { get; set; }
                Dt_Container? takeContainer = _containerRepository.QueryFirst(x => x.ContainerCode == stationCode);
                if (takeContainer == null)
                {
                    return (false, null, "未找到取货位置");
                }

            /// <summary>
            /// agv当前x坐标值
            /// </summary>
            public int agvXcoordinate { get; set; }
                var (flag, taskPosition, message) = _containerService.GetPosition(putContainer, length, width, height);
                if (!flag || taskPosition == null)
                {
                    return (false, null, message);
                }

            /// <summary>
            /// agv当前y坐标值
            /// </summary>
            public int agvYcoordinate { get; set; }
                Dt_OrderContainer orderContainer = _orderContainerRepository.QueryFirst(x => x.ContainerCode == putContainer.ContainerCode);

            /// <summary>
            /// agv运行状态 ï¼š0-停止，1 - è¡Œé©¶ï¼Œ2 - æš‚停
            /// </summary>
            public int agvStatus { get; set; }
                bool isAdd = false;

            /// <summary>
            /// agv当前运行速度(mm / s)
            /// </summary>
            public int agvSpeed { get; set; }
                if (orderContainer == null)
                {
                    return (false, null, "未找到订单与容器绑定关系");
                }

            /// <summary>
            /// agv报警代码(按位状态提取，最多可表示32种报警
            /// </summary>
            public int agvAlarmCode { get; set; }
                int containerLength = putContainer.ContainerLength;
                int containerWidth = putContainer.ContainerWidth;
                int maxValue = Math.Max(length, width);
                int minValue = Math.Min(length, width);
                if (minValue > putContainer.ContainerWidth)
                {
                    containerLength = maxValue;
                    containerWidth = minValue;
                }

                orderContainer.MaxLength = containerLength;
                orderContainer.MaxWidth = containerWidth;

                if (containerItem == null)
                {
                    containerItem = new Dt_ContainerItem()
                    {
                        ContainerId = putContainer.Id,
                        ItemCode = task.PalletCode,
                        ItemLength = length,
                        ItemWidth = width,
                        ItemHeight = height,
                        ItemPositionX = taskPosition.PositionX,
                        ItemPositionY = taskPosition.PositionY,
                        ItemPositionZ = taskPosition.PositionZ,
                        ItemRelaPositionX = taskPosition.PutPositionX,
                        ItemRelaPositionY = taskPosition.PutPositionY,
                        ItemRelaPositionZ = taskPosition.PutPositionZ,
                        ItemStatus = (int)ItemStatusEnum.Assigned,
                        ItemName = task.PalletCode,
                        Remark = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}"
                    };
                    isAdd = true;
                }
                else
                {
                    containerItem.ItemLength = length;
                    containerItem.ItemWidth = width;
                    containerItem.ItemHeight = height;
                    containerItem.ItemPositionX = taskPosition.PositionX;
                    containerItem.ItemPositionY = taskPosition.PositionY;
                    containerItem.ItemPositionZ = taskPosition.PositionZ;
                    containerItem.ItemRelaPositionX = taskPosition.PutPositionX;
                    containerItem.ItemRelaPositionY = taskPosition.PutPositionY;
                    containerItem.ItemRelaPositionZ = taskPosition.PutPositionZ;
                    containerItem.ItemStatus = (int)ItemStatusEnum.Assigned;
                    containerItem.Remark = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}";
                }

                task.TaskState = (int)TaskStatusEnum.Gantry_New;
                task.CurrentAddress = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}";
                task.NextAddress = $"{putContainer.ContainerCode}*{taskPosition.PutPositionX}*{taskPosition.PutPositionY}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}";
                task.ItemInfo = $"{length}*{width}*{height}";

                _unitOfWorkManage.BeginTran();
                BaseDal.UpdateData(task);
                _containerRepository.UpdateData(putContainer);
                _orderContainerRepository.UpdateData(orderContainer);

                if (isAdd)
                {
                    _containerItemRepository.AddData(containerItem);
                }
                else
                {
                    _containerItemRepository.UpdateData(containerItem);
                }
                _unitOfWorkManage.CommitTran();

                return (true, task, "");

            }
            catch (Exception ex)
            {
                _unitOfWorkManage.RollbackTran();
                return (false, null, $"错误,{ex.ExceptionToString()}");
            }
        }

        /// <summary>
        /// ç”Ÿæˆå¼‚常任务
        /// </summary>
        /// <param name="orderInfo">订单信息</param>
        /// <returns>元组包含三个值： <br/>
        /// Item1 - æ“ä½œæ˜¯å¦æˆåŠŸï¼ˆbool） <br/>
        /// Item2 - ç”Ÿæˆçš„任务对象（Dt_Task），失败时为null <br/>
        /// Item3 - é”™è¯¯æ¶ˆæ¯ï¼ˆstring），成功时为空字符串</returns>
        /// <remarks>
        /// è¯¥æ–¹æ³•ä¼šæ ¹æ®è®¢å•ä¿¡æ¯ç”Ÿæˆä¸€ä¸ªå¼‚常处理任务，包括： <br/>
        /// 1. èŽ·å–异常位置 <br/>
        /// 2. éªŒè¯æ”¾è´§/取货位置 <br/>
        /// 3. åˆ›å»ºå®¹å™¨é¡¹å’Œä»»åŠ¡è®°å½• <br/>
        /// 4. æäº¤äº‹åŠ¡
        /// </remarks>
        public (bool, Dt_Task?, string) GenerateExceptionTask(OrderInfo orderInfo)
        {
            int length = Convert.ToInt32(orderInfo.Length);
            int width = Convert.ToInt32(orderInfo.Width);
            int height = Convert.ToInt32(orderInfo.Thickness);

            var (flag, taskPosition, message) = _containerService.GetExceptionPosition(length, width, height);
            if (flag && taskPosition != null)
            {
                Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == taskPosition.PutPosition);
                if (putContainer == null)
                {
                    return (false, null, "未找到放货位置");
                }

                Dt_Container? takeContainer = GetTakePosition(putContainer.DeviceCode);
                if (takeContainer == null)
                {
                    return (false, null, "未找到取货位置");
                }

                Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
                {
                    ContainerId = putContainer.Id,
                    ItemCode = orderInfo.Barcode,
                    ItemLength = length,
                    ItemWidth = width,
                    ItemHeight = height,
                    ItemPositionX = taskPosition.PositionX,
                    ItemPositionY = taskPosition.PositionY,
                    ItemPositionZ = taskPosition.PositionZ,
                    ItemRelaPositionX = taskPosition.PutPositionX,
                    ItemRelaPositionY = taskPosition.PutPositionY,
                    ItemRelaPositionZ = taskPosition.PutPositionZ,
                    ItemStatus = (int)ItemStatusEnum.Assigned,
                    ItemName = orderInfo.Barcode,
                    Remark = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}"
                };

                Dt_Task dt_Task = new Dt_Task()
                {
                    PalletCode = orderInfo.Barcode,
                    DeviceCode = putContainer.DeviceCode,
                    TaskState = (int)TaskStatusEnum.Gantry_Wait,
                    TaskType = 0,
                    SourceAddress = "",
                    TargetAddress = $"{takeContainer.ContainerNo}",
                    CurrentAddress = $"{takeContainer.ContainerCode}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
                    NextAddress = $"{putContainer.ContainerCode}*{taskPosition.PutPositionX}*{taskPosition.PutPositionY}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
                    ItemInfo = $"{length}*{width}*{height}",
                    Grade = 0,
                };

                if (taskPosition.TakeCenterPositionZ == 99)
                {
                    dt_Task.TaskState = (int)TaskStatusEnum.Gantry_BeRelease;
                }

                _unitOfWorkManage.BeginTran();
                BaseDal.AddData(dt_Task);
                _containerItemRepository.AddData(dt_ContainerItem);
                _unitOfWorkManage.CommitTran();

                return (true, dt_Task, "");
            }
            else
            {
                return (false, null, message);
            }
        }

        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号获取取货位置
        /// </summary>
        /// <param name="deviceCode">设备编号</param>
        /// <returns>符合条件的容器对象，若找不到则返回null</returns>
        /// <remarks>
        /// 1. é¦–先查询指定设备下所有可用的取货容器，并按ContainerSort升序排序 <br/>
        /// 2. æŸ¥æ‰¾è¯¥è®¾å¤‡æœ€è¿‘的任务记录 <br/>
        /// 3. å¦‚果找到任务记录，则根据任务源地址匹配容器，返回下一个容器(若已是最后一个则返回第一个) <br/>
        /// 4. å¦‚果出现异常或未找到匹配项，则返回第一个可用容器
        /// </remarks>
        public Dt_Container? GetTakePosition(string deviceCode)
        {
            Dictionary<string, OrderByType> orderby = new Dictionary<string, OrderByType>() { { nameof(Dt_Container.ContainerSort), OrderByType.Asc } };
            List<Dt_Container> containers = _containerRepository.QueryData(x => x.ContainerType == ContainerTypeEnum.TakeContainer.ObjToInt() && x.DeviceCode == deviceCode && x.ContainerEnable, orderby);

            try
            {
                if (containers == null || containers.Count == 0)
                {
                    throw new Exception($"未找到对应的取货位置,设备编号:{deviceCode}");
                }

                Dictionary<string, OrderByType> taskOrderby = new Dictionary<string, OrderByType>() { { nameof(Dt_Task.TaskNum), OrderByType.Desc } };
                Dt_Task task = BaseDal.QueryFirst(x => x.DeviceCode == deviceCode, taskOrderby);
                if (task != null)
                {
                    string? sourceCode = task.SourceAddress.Split("*").FirstOrDefault();
                    if (!string.IsNullOrEmpty(sourceCode))
                    {
                        Dt_Container? container = containers.FirstOrDefault(x => x.ContainerCode == sourceCode);
                        if (container != null)
                        {
                            int index = containers.IndexOf(container);

                            if (index + 1 < containers.Count)
                            {
                                return containers[index + 1];
                            }
                            else
                            {
                                return containers.FirstOrDefault();
                            }
                        }
                    }
                }
            }
            catch (Exception ex)
            {

            }
            return containers.FirstOrDefault();
        }

        /// <summary>
        /// ä»»åŠ¡å®Œæˆå¤„理方法
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns>Web响应内容</returns>
        /// <remarks>
        /// 1. æ›´æ–°ä»»åŠ¡çŠ¶æ€ä¸º"龙门架完成" <br/>
        /// 2. æ›´æ–°ç›¸å…³è®¢å•è¯¦æƒ…状态为"码垛成功" <br/>
        /// 3. æ›´æ–°è®¢å•è¡Œä¸­çš„托盘数量 <br/>
        /// 4. æ ¹æ®ä»»åŠ¡å®Œæˆæƒ…况发送WebSocket通知 <br/>
        /// 5. è®°å½•æ“ä½œæ—¥å¿—并提交事务 <br/>
        /// 6. å¼‚常时回滚事务并返回错误信息
        /// </remarks>
        public WebResponseContent TaskComplete(Dt_Task task)
        {
            try
            {
                task.TaskState = TaskStatusEnum.Gantry_Completed.ObjToInt();
                _unitOfWorkManage.BeginTran();
                OrderDetails orderDetails = _orderDetailsRepository.QueryFirst(x => x.Orderdetails_outid == task.PalletCode);
                if (orderDetails != null)
                {
                    orderDetails.Orderdetails_status = PalletingStatusEnmu.PalletingSuccess.ObjToInt();

                    Orderrows orderrows = _orderrowsRepository.QueryFirst(x => x.id == orderDetails.Orderrowsid);
                    if (orderrows != null)
                    {
                        orderrows.Orderrows_PalletNum = orderrows.Orderrows_PalletNum ?? 0 + 1;

                        Dt_Container container = _containerRepository.QueryFirst(x => task.NextAddress.Contains(x.ContainerCode));

                        _orderDetailsRepository.UpdateData(orderDetails);
                        _orderrowsRepository.UpdateData(orderrows);

                        if (container.ContainerType == ContainerTypeEnum.ExceptionContainer.ObjToInt())
                        {
                            int count = Db.Queryable<Dt_ContainerItem>().Count(x => x.ContainerId == container.Id);
                            if (count >= 5)
                            {
                                if (LightStatusStorage.LightStatusDic.ContainsKey(container.ContainerCode))
                                {
                                    LightStatusStorage.LightStatusDic[container.ContainerCode] = LightStatusEnum.LightError;
                                }
                            }
                        }

                        try
                        {
                            List<string> containerItemCodes = _containerItemRepository.QueryData(x => x.ContainerId == container.Id).Select(x => x.ItemCode).ToList();

                            List<OrderDetails> totalDetails = _orderDetailsRepository.QueryData(x => x.Orderrowsid == orderrows.id);
                            List<OrderDetails> details = totalDetails.Where(x => x.Orderrowsid == orderrows.id && x.Orderdetails_status == PalletingStatusEnmu.PalletingSuccess.ObjToInt() && containerItemCodes.Contains(x.Orderdetails_outid)).ToList();

                            int sortedNum = totalDetails.Where(x => x.Orderrowsid == orderrows.id && x.Orderdetails_status == PalletingStatusEnmu.PalletingSuccess.ObjToInt()).Count();

                            List<object> orderData = new List<object>();
                            foreach (var item in details)
                            {
                                object obj = new
                                {
                                    name = item.Orderdetails_name,
                                    baseName = item.Orderdetails_productName,
                                    size = $"{item.Orderdetails_length}*{item.Orderdetails_width}*{item.Orderdetails_thickness}",
                                    process = "",
                                };
                                orderData.Add(obj);
                            }
                            object data = new
                            {
                                orderCode = orderrows.Orderrows_orderid,
                                orderName = orderrows.Orderrows_name,
                                cusName = orderrows.Orderrows_customer,
                                stationCode = container.ContainerCode,
                                orderTotalNum = totalDetails.Count,
                                sortedNum = sortedNum,
                                unsortedNum = totalDetails.Count - sortedNum,
                                stationSortedNum = details.Count,
                                orderData = orderData,
                                orderId = orderrows.id,
                                release = 0
                            };


                            _webSocketServer.PublishAllClientPayload(data.Serialize());

                        }
                        catch (Exception ex)
                        {

                        }
                    }
                }

                BaseDal.DeleteAndMoveIntoHty(task, App.User?.UserId > 0 ? OperateTypeEnum.人工完成 : OperateTypeEnum.自动完成);
                _unitOfWorkManage.CommitTran();
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                _unitOfWorkManage.RollbackTran();
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
    }
}