1

duyongjia

2024-11-20 81f3d2205ff6ee8d173f6d30f57ad510ad86e0bf

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -16,8 +16,10 @@
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using AutoMapper;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using SqlSugar.Extensions;
using System;
using System.Collections.Generic;
using System.ComponentModel;
@@ -26,11 +28,16 @@
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.LocationEnum;
using WIDESEAWCS_Common.ServiceLog;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -44,7 +51,9 @@
        private readonly IRouterService _routerService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ILocationInfoRepository _locationInfoRepository;
        private readonly IMapper _mapper;
        private readonly IUnitOfWorkManage _unitOfWorkManage;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
@@ -58,12 +67,18 @@

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

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

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

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ILocationInfoRepository locationInfoRepository, IUnitOfWorkManage unitOfWorkManage) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _mapper = mapper;
            _locationInfoRepository = locationInfoRepository;
            _unitOfWorkManage = unitOfWorkManage;
        }

        /// <summary>
@@ -122,6 +137,344 @@
            return content;
        }


        /// <summary>
        /// æŽ¥æ”¶MES任务信息
        /// </summary>
        /// <param name="taskDTO">MES任务对象</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent ReceiveMESTask([NotNull] MESTaskDTO taskDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                string inparam = JsonConvert.SerializeObject(taskDTO);
                
                ServiceLogger.WriteDebug("ReceiveTask", $"ReceiveMESTask方法入参{inparam}"); 
                Dt_Task task = new Dt_Task();
                Dt_Task taskinfo = BaseDal.QueryFirst(x => x.TaskNum == taskDTO.task_id);
                if(taskDTO.cmd==101)//如果是101按旧的任务号去查
                {
                    taskinfo = BaseDal.QueryFirst(x => x.TaskNum == taskDTO.weight);
                }

                if (taskDTO.cmd!=3001&& taskDTO.cmd != 101 && taskinfo != null)
                {
                    ServiceLogger.WriteDebug("ReceiveTask", $"任务号重复，任务号：{taskDTO.task_id}");
                    return content = WebResponseContent.Instance.Error($"任务号重复，任务号：{taskDTO.task_id}");
                }
                Dt_LocationInfo locationsrc = _locationInfoRepository.QueryFirst(x => x.Remark == taskDTO.src_station.ToString());
                Dt_LocationInfo locationdsc = _locationInfoRepository.QueryFirst(x => x.Remark == taskDTO.dest_station.ToString());
                switch (taskDTO.cmd)
                {
                    case 1001://AGV请求入库
                        task.TaskType = (int)TaskInboundTypeEnum.Inbound;
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                        task.Roadway = "SC01";
                        task.Grade = 2;
                        task.WMSId = 0;//表示自动入库
                        if (locationsrc != null)
                        {
                            task.SourceAddress = locationsrc.LocationCode;
                        }
                        else
                        {
                            ServiceLogger.WriteDebug("ReceiveTask", $"WCS未查询到源站点对应的库位，源站点：{taskDTO.dest_station.ToString()}");
                            return content = WebResponseContent.Instance.Error($"WCS未查询到源站点对应的库位，源站点：{taskDTO.dest_station.ToString()}");
                        }
                        break;
                    case 3001://AGV放货完成 WMS发3001的同时会写提升信号
                        if (BaseDal.QueryFirst(x => x.TaskNum == taskDTO.task_id) == null)//手动入库直接发3001，需要生成任务，因为没有1001环节
                        {

                            task.TaskType = (int)TaskInboundTypeEnum.Inbound;
                            task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
                            task.Roadway = "SC01";
                            task.WMSId = 1;//表示手动入库
                            task.Grade = 2;
                            if (locationsrc != null)
                            {
                                task.SourceAddress = locationsrc.LocationCode;
                            }
                            else
                            {
                                ServiceLogger.WriteDebug("ReceiveTask", $"WCS未查询到源站点对应的库位，源站点：{taskDTO.dest_station.ToString()}");
                                return content = WebResponseContent.Instance.Error($"WCS未查询到源站点对应的库位，源站点：{taskDTO.dest_station.ToString()}");
                            }
                        }
                        else
                        {
                            if (taskinfo != null)
                            {
                                UpdateTaskStatus(taskinfo.TaskId, (int)TaskInStatusEnum.AGV_InExecuting);
                                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"AGV入库执行中");
                                ServiceLogger.WriteDebug("ReceiveTask", $"AGV入库执行中（自动3001）更新状态成功，任务号：{taskinfo.TaskId}");
                                return content = WebResponseContent.Instance.OK($"AGV入库执行中（自动3001）更新状态成功，任务号：{taskinfo.TaskId}");
                            }
                            else
                            {
                                return content = WebResponseContent.Instance.Error($"AGV入库执行中（自动3001）更新状态时，查询不到任务号");

                            }
                        }
                        break;
                    case 101://提升机提升完成 
                        if (taskinfo != null)
                        {
                            //更新任务表中NextAddress字段为新的任务号   taskDTO.weight-旧的任务号   taskDTO.task_id-新的任务号
                            UpdateTaskStatus(taskinfo.TaskId, taskDTO.task_id, (int)TaskInStatusEnum.AGV_InFinish);
                            _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"AGV搬运完成");
                            ServiceLogger.WriteDebug("ReceiveTask", $"AGV搬运完成（101）更新状态成功，任务号：{taskinfo.TaskId}");
                            return content = WebResponseContent.Instance.OK($"AGV搬运完成（101）更新状态成功，任务号：{taskinfo.TaskId}");
                        }
                        else
                        {
                            ServiceLogger.WriteDebug("ReceiveTask", $"AGV搬运完成（101）更新状态时，查询不到任务号");
                            return content = WebResponseContent.Instance.Error($"AGV搬运完成（101）更新状态时，查询不到任务号");
                        }
                        break;

                    case 103://产品移库（移库，出库）
                        task.TaskType= (int)TaskRelocationTypeEnum.Relocation;
                        task.TaskState = (int)TaskOutStatusEnum.OutNew;
                        task.Roadway = "SC01";
                        task.Grade = 1;
                        break;
                    case 102:
                        if(taskDTO.dest_station ==1003)//空车出库  æš‚存位-->输送线
                        {
                            task.TaskType = (int)TaskOutboundTypeEnum.OutPick;
                            task.TaskState = (int)TaskOutStatusEnum.OutNew;
                            task.Roadway = "SC01";
                            task.Grade = 1;
                        }
                        else if(taskDTO.dest_station ==1001|| taskDTO.dest_station == 1002)//异常出库
                        {
                            task.TaskType = (int)TaskOutboundTypeEnum.OutInventory;
                            task.TaskState = (int)TaskOutStatusEnum.OutNew;
                            task.Roadway = "SC01";
                            task.Grade = 1;
                        }
                        if (locationdsc != null)
                        {
                            task.TargetAddress = locationdsc.LocationCode;
                        }
                        else
                        {
                            ServiceLogger.WriteDebug("ReceiveTask", $"WCS未查询到目标站点对应的库位，目标站点：{taskDTO.dest_station.ToString()}");
                            return  content = WebResponseContent.Instance.Error($"WCS未查询到目标站点对应的库位，目标站点：{taskDTO.dest_station.ToString()}");
                        }
                        break;
                    case 104://组立机上料  æš‚存位-->组立机
                        {
                            task.TaskType = (int)TaskOtherTypeEnum.Feed;
                            task.TaskState = (int)TaskOutStatusEnum.OutNew;
                            task.Grade = 1;
                            task.Remark = taskDTO.total.ToString()+"-"+taskDTO.startIndex.ToString();//取总层数和当前层数
                            //不会传组立机上料站点，只会传暂存库位，需根据暂存库位去查货位表中的组立机站点库位号

                            Dt_LocationInfo locationtemp = _locationInfoRepository.QueryFirst(x => x.Row==taskDTO.src_rack&&x.Column==taskDTO.src_col&&x.Layer==taskDTO.src_row);
                            if (locationtemp != null)
                            {
                                task.TargetAddress = locationtemp.Remark;
                            }
                            else
                            {
                                ServiceLogger.WriteDebug("ReceiveTask", $"WCS未查询到目标站点对应的库位，目标站点：{task.TargetAddress.ToString()}");
                                return  content = WebResponseContent.Instance.Error($"WCS未查询到目标站点对应的库位，目标站点：{task.TargetAddress.ToString()}");
                            }
                            //根据目标地址（组立机）查询默认的执行任务的小堆垛机编号
                            Dt_LocationInfo locationtemp2 = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.TargetAddress.ToString());
                            if (locationtemp2 != null)
                            {
                                task.Roadway = locationtemp2.Remark.Trim();//确定默认执行任务的小堆垛机编号
                            }
                            else
                            {

                                ServiceLogger.WriteDebug("ReceiveTask", $"WCS未查询到组立机对应的默认小堆垛机配置");
                                return content = WebResponseContent.Instance.Error($"WCS未查询到组立机对应的默认小堆垛机配置");
                            }
                            
                        }

                        break;
                    default:
                        break;
                }

                task.TaskNum = taskDTO.task_id;
                task.PalletCode = taskDTO.CarId;
             
                if (string.IsNullOrEmpty(task.SourceAddress))//如果不是站点，直接取行列层
                {
                    task.SourceAddress = $"SC01-{taskDTO.src_rack.ToString().PadLeft(3, '0')}-{taskDTO.src_col.ToString().PadLeft(3, '0')}-{taskDTO.src_row.ToString().PadLeft(3, '0')}";
                }
                if(string.IsNullOrEmpty(task.TargetAddress))//如果不是站点，直接取行列层
                {
                    task.TargetAddress = $"SC01-{taskDTO.dest_rack.ToString().PadLeft(3, '0')}-{taskDTO.dest_col.ToString().PadLeft(3, '0')}-{taskDTO.dest_row.ToString().PadLeft(3, '0')}";
                }
                task.Creater = "MES";

                //判断货位状态
                Dt_LocationInfo srcLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.SourceAddress);
                Dt_LocationInfo tarLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.TargetAddress);
                if (srcLocation != null && tarLocation != null)
                {
                    if (srcLocation.EnableStatus == (int)EnableStatusEnum.Disable)
                    {
                        ServiceLogger.WriteDebug("ReceiveTask", $"源地址已禁用：{srcLocation.LocationCode}");
                        return content = WebResponseContent.Instance.Error($"源地址已禁用：{srcLocation.LocationCode}");
                    }
                    if (tarLocation.EnableStatus == (int)EnableStatusEnum.Disable)
                    {
                        ServiceLogger.WriteDebug("ReceiveTask", $"目标地址已禁用：{tarLocation.LocationCode}");
                        return content = WebResponseContent.Instance.Error($"目标地址已禁用：{tarLocation.LocationCode}");
                    }
                    if (taskDTO.cmd != 101)//入库时不需要判断是否锁定，锁定状态是在生成任务时锁定
                    {
                       
                        if (taskinfo != null && taskDTO.cmd==3001&&taskinfo.WMSId==1)//如果是手动入库，发3001，会生成任务，需要判断库位是否锁定;自动模式发1001的时候就生成了任务，再发3001就不需要判断是否锁定了
                        {
                            if (srcLocation.LocationStatus == (int)LocationStatusEnum.Lock)
                            {

                                ServiceLogger.WriteDebug("ReceiveTask", $"源地址已锁定：{srcLocation.LocationCode}");
                                return content = WebResponseContent.Instance.Error($"源地址已锁定：{srcLocation.LocationCode}");
                            }
                            if (tarLocation.LocationStatus == (int)LocationStatusEnum.Lock)
                            {
                                ServiceLogger.WriteDebug("ReceiveTask", $"目标地址已锁定：{tarLocation.LocationCode}");
                                return content = WebResponseContent.Instance.Error($"目标地址已锁定：{tarLocation.LocationCode}");
                            }
                        }
                    }
                    if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)//入库  è·¯å¾„：提升机库位-->库位
                    {
                        //WCS查询库位状态是否为“空闲”并且未禁用，锁定库位修改库位状态为“锁定”，生成WCS产品入库任务，加入WCS任务队列中。          
                        if (tarLocation.LocationStatus != (int)LocationStatusEnum.Free)
                        {

                            ServiceLogger.WriteDebug("ReceiveTask", $"入库-目标地址不是空闲状态：{tarLocation.LocationCode}");
                            return content = WebResponseContent.Instance.Error($"入库-目标地址不是空闲状态：{tarLocation.LocationCode}");
                        }
                        //srcLocation.LocationStatus = (int)LocationStatusEnum.Lock;
                        tarLocation.LocationStatus = (int)LocationStatusEnum.Lock;

                        //if (srcLocation.LocationStatus != (int)LocationStatusEnum.Free)
                        //{
                        //    return content = WebResponseContent.Instance.Error($"入库-源地址不是空闲状态：{srcLocation.LocationCode}");
                        //}



                    }
                    else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)  //产品移库（移库，出库共用）  è·¯å¾„：库位-->库位/暂存库位
                    {
                        //WCS查询库位状态是否为“有货”，库位/暂存库位是否“空闲”
                        if (srcLocation.LocationStatus != (int)LocationStatusEnum.InStock)
                        {

                            ServiceLogger.WriteDebug("ReceiveTask", $"移库-源地址不是有货状态：{srcLocation.LocationCode}");
                            return content = WebResponseContent.Instance.Error($"移库-源地址不是有货状态：{srcLocation.LocationCode}");
                        }
                        if(tarLocation.LocationStatus != (int)LocationStatusEnum.Free)
                        {

                            ServiceLogger.WriteDebug("ReceiveTask", $"移库-目标地址不是空闲状态：{srcLocation.LocationCode}");
                            return content = WebResponseContent.Instance.Error($"移库-目标地址不是空闲状态：{srcLocation.LocationCode}");
                        }
                        srcLocation.LocationStatus = (int)LocationStatusEnum.Lock;
                        tarLocation.LocationStatus = (int)LocationStatusEnum.Lock;

                    }
                    else if (task.TaskType == (int)TaskOutboundTypeEnum.OutInventory)  //异常出库（退库） è·¯å¾„：库位-->提升机库位  
                    {
                        //WCS查询库位状态是否为“有货”
                        if (srcLocation.LocationStatus != (int)LocationStatusEnum.InStock)
                        {

                            ServiceLogger.WriteDebug("ReceiveTask", $"异常出库-源地址不是有货状态：{srcLocation.LocationCode}");
                            return content = WebResponseContent.Instance.Error($"异常出库-源地址不是有货状态：{srcLocation.LocationCode}");
                        }
                        srcLocation.LocationStatus = (int)LocationStatusEnum.Lock;
                        //tarLocation.LocationStatus = (int)LocationStatusEnum.Lock;
                        //if (tarLocation.LocationStatus != (int)LocationStatusEnum.Free)
                        //{
                        //    return content = WebResponseContent.Instance.Error($"异常出库-目标地址不是空闲状态：{srcLocation.LocationCode}");
                        //}

                    }
                    else if (task.TaskType == (int)TaskOutboundTypeEnum.OutPick)  //空车出库  è·¯å¾„：暂存库位-->输送线 
                    {
                        //WCS查询暂存库位是否“有货”
                        if (srcLocation.LocationStatus != (int)LocationStatusEnum.InStock)
                        {

                            ServiceLogger.WriteDebug("ReceiveTask", $"空车出库-源地址不是有货状态：{srcLocation.LocationCode}");
                            return content = WebResponseContent.Instance.Error($"空车出库-源地址不是有货状态：{srcLocation.LocationCode}");
                        }
                        //srcLocation.LocationStatus = (int)LocationStatusEnum.Lock;
                        //tarLocation.LocationStatus = (int)LocationStatusEnum.Lock;
                        //if (tarLocation.LocationStatus != (int)LocationStatusEnum.Free)
                        //{
                        //    return content = WebResponseContent.Instance.Error($"空车出库-目标地址不是空闲状态：{srcLocation.LocationCode}");
                        //}
                    }
                    else if (task.TaskType == (int)TaskOtherTypeEnum.Feed)  //上料    è·¯å¾„：暂存位-->组立机   
                    {
                        //WCS查询暂存库位是否“有货”
                        if (srcLocation.LocationStatus != (int)LocationStatusEnum.InStock)
                        {

                            ServiceLogger.WriteDebug("ReceiveTask", $"上料任务-源地址不是有货状态：{srcLocation.LocationCode}");
                            return content = WebResponseContent.Instance.Error($"上料任务-源地址不是有货状态：{srcLocation.LocationCode}");
                        }
                        //srcLocation.LocationStatus = (int)LocationStatusEnum.Lock;
                        //tarLocation.LocationStatus = (int)LocationStatusEnum.Lock;

                    }

                }
                else
                {
                    ServiceLogger.WriteDebug("ReceiveTask", $"库位地址不存在，任务号:{task.TaskNum}");
                    return content = WebResponseContent.Instance.Error($"库位地址不存在，任务号:{task.TaskNum}");
                }

                

                try
                {
                    //开启事物
                    _unitOfWorkManage.BeginTran();
                    _locationInfoRepository.UpdateData(tarLocation);
                    _locationInfoRepository.UpdateData(srcLocation);
                    BaseDal.AddData(task);
                    Dt_Task tasktemp=  BaseDal.QueryFirst(x => x.TaskNum ==task.TaskNum);
                    _taskExecuteDetailService.AddTaskExecuteDetail(tasktemp.TaskId, "接收MES任务");
                    //提交事务
                    _unitOfWorkManage.CommitTran();
 
                }
                catch (Exception)
                {
                    _unitOfWorkManage.RollbackTran();
                    throw;
                }
                ServiceLogger.WriteDebug("ReceiveTask", $"接收任务成功，任务号:{task.TaskNum}");
                content = WebResponseContent.Instance.OK($"接收任务成功，任务号:{task.TaskNum}", task);
                
            }
            catch (Exception ex)
            {
                ServiceLogger.WriteDebug("ReceiveTask", $"任务接收错误,错误信息:{ex.Message}");
                content = WebResponseContent.Instance.Error($"任务接收错误,错误信息:{ex.Message}");
            }
            return content;

        }

        /// <summary>
        /// æ ¹æ®æ‰˜ç›˜å·ã€èµ·å§‹åœ°å€å‘WMS请求任务
        /// </summary>
@@ -155,6 +508,8 @@
            return content;
        }



        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址查询输送线未执行的任务
        /// </summary>
@@ -174,7 +529,8 @@
        /// <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);
            //return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.NextAddress == nextAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InExecuting || x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
            return null;
        }

        /// <summary>
@@ -185,7 +541,8 @@
        /// <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);
            //return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
            return null;
        }

        /// <summary>
@@ -196,28 +553,64 @@
        /// <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);
            //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
        /// æ ¹æ®è®¾å¤‡ç¼–号 æŒ‰ç…§ä¼˜å…ˆçº§ä»¥åŠåˆ›å»ºæ—¶é—´æŽ’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 = "")
        public Dt_Task QueryStackerCraneTask(string deviceNo)
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
            return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.AGV_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew || TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew || TaskOtherboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
        }

        /// <summary>
        /// æŸ¥è¯¢å°å †åž›æœºä»»åŠ¡
        /// </summary>
        /// <returns></returns>
        public Dt_Task QueryStackerCraneTask()
        {
            return BaseDal.QueryFirst(x => (x.Roadway =="SC02"|| x.Roadway == "SC03")&& x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
        }

        /// <summary>
        /// æŸ¥è¯¢å°å †åž›æœºå‡ºåº“完成任务
        /// </summary>
        /// <returns></returns>
        public Dt_Task QueryStackerCraneFinishTask()
        {
            return BaseDal.QueryFirst(x => (x.Roadway == "SC02" || x.Roadway == "SC03") && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish, TaskOrderBy);
        }

        /// <summary>
        /// æŸ¥è¯¢å…¥åº“任务 å¯¹åº”WMS请求 1001-AGV请求是否允计进入
        /// </summary>
        /// <param name="deviceNo"></param>
        /// <returns></returns>
        public Dt_Task QueryStackerCraneTaskByAGVRequest(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew), TaskOrderBy);
        }
        /// <summary>
        /// å¯¹åº”WMS请求 3001-AGV放货完成
        /// </summary>
        /// <param name="deviceNo"></param>
        /// <returns></returns>
        public Dt_Task QueryStackerCraneTaskByAGVPutFinish(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.AGV_InExecuting), TaskOrderBy);
        }



        /// <summary>
        /// æ ¹æ®è®¾å¤‡ç¼–号、当前地址按照优先级以及创建时间排序查询任务池入库类型的新增的任务
@@ -227,10 +620,11 @@
        /// <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);
            //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);
            return null;
        }

        /// <summary>
@@ -296,13 +690,32 @@
        /// <summary>
        /// æ›´æ–°ä»»åŠ¡çŠ¶æ€ä¿¡æ¯ï¼Œå¹¶åŒæ­¥è‡³WMS
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="taskId">任务ID</param>
        /// <param name="status">任务状态</param>
        public void UpdateTaskStatus(int taskNum, int status)
        public void UpdateTaskStatus(int taskId, int status)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskId == taskId);
            if (task == null) return;
            task.TaskState = status;
            task.Modifier = "System";
            task.ModifyDate = DateTime.Now;
            BaseDal.UpdateData(task);
        }


        /// <summary>
        /// æ›´æ–°ä»»åŠ¡çŠ¶æ€ä¿¡æ¯å’Œæ–°çš„任务号（1001，3001时一样任务号）
        /// </summary>
        /// <param name="taskId">任务ID</param>
        /// <param name="newtaskId">WMS新(101)的任务号</param>
        /// <param name="status">任务状态</param>
        public void UpdateTaskStatus(int taskId,int newtaskId, int status)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskId == taskId);
            if (task == null) return;
            task.TaskState = status;
            task.Modifier = "System";
            task.NextAddress = newtaskId.ToString();
            task.ModifyDate = DateTime.Now;
            BaseDal.UpdateData(task);
        }
@@ -359,7 +772,7 @@
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    //if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    {
                        Random random = new Random();
                        task.CurrentAddress = task.NextAddress;
@@ -440,66 +853,209 @@
                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}】");

                //异常出库、空车出库 ç»ˆç‚¹ä¸ä¸€æ ·  1,异常出库（退库） è·¯å¾„：库位-->提升机库位   2,空车出库  è·¯å¾„：暂存库位-->输送线
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && 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");
                {   
                    try
                    {
                        Dt_LocationInfo srcLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.SourceAddress);
                        srcLocation.LocationStatus = (int)LocationStatusEnum.Free;
                        UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutFinish);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");

                    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";
                    BaseDal.UpdateData(task);
                        //开启事物
                        _unitOfWorkManage.BeginTran();
                        UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.OutFinish);
                        _locationInfoRepository.UpdateData(srcLocation);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"出库任务完成");
                        //提交事务
                        _unitOfWorkManage.CommitTran();
                        //出库完成，回传WMS
                        //回传到WMS
                        MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = task.TaskNum, status = 6 };
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {
                            ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机完成出库任务后回传MES失败！,任务号:【{taskNum}】,失败信息:【{res.message}】");
                            content = WebResponseContent.Instance.Error($"大堆垛机完成出库任务后回传MES失败！,任务号:【{taskNum}】,失败信息:【{res.message}】");
                        }

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    //todo åŒæ­¥åˆ°WMS
                    }
                    catch (Exception ex)
                    {
                        _unitOfWorkManage.RollbackTran();
                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机执行出库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                        content = WebResponseContent.Instance.Error($"大堆垛机执行出库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                    }

                    //暂不考虑多个出库口


                }
                //入库 è·¯å¾„：提升机库位-->库位
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                {
                    //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");

                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    try
                    {
                        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
                    };
                        Dt_LocationInfo tarLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.TargetAddress);
                        tarLocation.LocationStatus = (int)LocationStatusEnum.InStock;//库位状态更新为有货

                    content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                        UpdateTaskStatus(task.TaskId, (int)TaskInStatusEnum.SC_InFinish);

                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");
                        //开启事物
                        _unitOfWorkManage.BeginTran();

                        UpdateTaskStatus(task.TaskId, (int)TaskInStatusEnum.InFinish);
                 
                        _locationInfoRepository.UpdateData(tarLocation);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"入库任务完成");
                        //提交事务
                        _unitOfWorkManage.CommitTran();

                        //入库完成，回传MES  å…¥åº“完成回传task.NextAddress ä¹‹å‰101请求时存的新任务号
                        MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = int.Parse(task.NextAddress), status = 6 };
                        string inparam = JsonConvert.SerializeObject(sendcmd);
                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机完成入库任务后回传MES入参:{inparam}");
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {

                            ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机完成入库任务后回传MES失败！,任务号:【{taskNum}】,失败信息:【{res.message}】");
                            content = WebResponseContent.Instance.Error($"大堆垛机完成入库任务后回传MES失败！,任务号:【{taskNum}】,失败信息:【{res.message}】");
                        }
                        else
                        {
                            ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机完成入库任务后回传MES成功！,任务号:【{taskNum}】");
                        }

                    }
                    catch (Exception ex)
                    {
                        _unitOfWorkManage.RollbackTran();
                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机执行入库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                        content = WebResponseContent.Instance.Error($"大堆垛机执行入库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                //移库任务（移库，出库共用） è·¯å¾„：库位-->库位/暂存库位
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    //todo è°ƒç”¨WMS移库完成
                    try
                    {
                        Dt_LocationInfo srcLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.SourceAddress);
                        srcLocation.LocationStatus = (int)LocationStatusEnum.Free;

                        Dt_LocationInfo tarLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.TargetAddress);
                        tarLocation.LocationStatus = (int)LocationStatusEnum.InStock;
                        UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutFinish);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");

                        //开启事物
                        _unitOfWorkManage.BeginTran();
                        UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.OutFinish);
                        _locationInfoRepository.UpdateData(srcLocation);
                        _locationInfoRepository.UpdateData(tarLocation);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"出库任务完成");
                        //提交事务
                        _unitOfWorkManage.CommitTran();
                        //移库完成，回传MES
                        //回传到WMS
                        MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = task.TaskNum, status = 6 };
                        string inparam = JsonConvert.SerializeObject(sendcmd);
                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机完成出库任务后回传MES入参:{inparam}");
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {
                            ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机完成出库任务后回传MES失败！,任务号:【{taskNum}】,失败信息:【{res.message}】");
                            content = WebResponseContent.Instance.Error($"大堆垛机完成出库任务后回传MES失败！,任务号:【{taskNum}】,失败信息:【{res.message}】");
                        }

                    }
                    catch (Exception ex)
                    {
                        _unitOfWorkManage.RollbackTran();
                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"大堆垛机执行出库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                        content = WebResponseContent.Instance.Error($"大堆垛机执行出库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                    }
                }
                //上料
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
                {
                    try
                    {
                        Dt_LocationInfo srcLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.SourceAddress);
                        //srcLocation.LocationStatus = (int)LocationStatusEnum.Free;
                        

                        //开启事物
                        _unitOfWorkManage.BeginTran();
                        UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutFinish);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                        //UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.OutFinish);
                        //_locationInfoRepository.UpdateData(srcLocation);
                        //_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"出库任务完成");
                        //提交事务
                        _unitOfWorkManage.CommitTran();
                        //上料完成，回传WMS
                        MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = task.TaskNum, status = 6 };
                        string inparam = JsonConvert.SerializeObject(sendcmd);
                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"小堆垛机执行出库任务回传MES入参{inparam}");
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {
                            content = WebResponseContent.Instance.Error($"小堆垛机完成出库任务后回传MES失败！,任务号:【{taskNum}】,失败信息:【{res.message}】");
                        }
                        else
                        {
                            //判断是否完成的最后一层，自动生成空车出库任务
                            string[] Levels = task.Remark.Split("-");
                            if (Levels.Length == 2)
                            {
                                if (!string.IsNullOrEmpty(Levels[0])&& !string.IsNullOrEmpty(Levels[1]))
                                {
                                    //如果当前提取层数等于总层料，则表示料车所有的层数取完
                                    if(Convert.ToInt16(Levels[0])== Convert.ToInt16(Levels[1]))
                                    {
                                        string[] SourceCodes = task.SourceAddress.Split("-");
                                        string startPlan = "";
                                        if (SourceCodes.Length == 4)
                                        {
                                            startPlan= "101"+ SourceCodes[2].Substring(1,2);
                                        }
                                        DeliveryPlan send = new DeliveryPlan { startPlan = startPlan, isQuit = false, CarId = task.PalletCode };
                                        string inparam2 = JsonConvert.SerializeObject(send);
                                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"小堆垛机执行出库任务回传MES入参{inparam2}");
                                        ApiInvoke.DeliveryPlanCMD(send);//回调MES接口生成空车出库任务
                                        //所有的层数都取完，需要把暂存位状态改为空闲状态
                                        srcLocation.LocationStatus = (int)LocationStatusEnum.Free;
                                        _locationInfoRepository.UpdateData(srcLocation);
                                    }

                                }
                              
                            }
                        }

                    }
                    catch (Exception ex)
                    {
                        _unitOfWorkManage.RollbackTran();
                        ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"小堆垛机执行出库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                        content = WebResponseContent.Instance.Error($"小堆垛机执行出库任务失败！,任务号:【{taskNum}】,失败信息:【{ex.Message}】");
                    }

                }
                else
                {
                    ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");
                    throw new Exception($"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();
                ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"任务完成成功,任务号:【{taskNum}】");
                content = WebResponseContent.Instance.OK($"任务完成成功,任务号:【{taskNum}】");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务完成异常,任务号:【{taskNum}】");
                ServiceLogger.WriteDebug("StackCraneTaskCompleted", $"任务完成异常,任务号:【{taskNum}】{ex.Message}");
                content = WebResponseContent.Instance.Error($"任务完成异常,任务号:【{taskNum}】{ex.Message}");
            }
            return content;
        }
@@ -594,5 +1150,8 @@
            }
            return content;
        }



    }
}