添加HTTP客户端助手、枚举、DTO；更新URL

wanshenmean

2026-02-28 c3de7bb2097aa347a1f92c2f640d18753aff633a

添加HTTP客户端助手、枚举、DTO；更新URL

引入可重用的HTTP客户端工具及支持类型，更新客户端基础URL，并添加任务/库存DTO。

- 新增WIDESEA_Core HTTP工具：HttpClientHelper（包含重试、超时、请求头、泛型反序列化功能）、HttpRequestConfig以及HttpResponseResult（含泛型变体）。
- 更新客户端API基础URL端口：在Code/WCS/WIDESEAWCS_Client/src/api/http.js中，将开发环境和生产环境的9291端口改为9292。
- 扩展任务枚举：在TaskStatusEnum中新增RobotPickFinish（315）和RobotPutFinish（320）；在TaskTypeEnum中为SplitPallet添加Description特性。
- 在WIDESEAWCS_DTO.Stock.StockDTO.cs中新增StockInfoDTO（包含PalletCode，TaskNum）。
- 包含次要的IDE元数据/文档布局更新（.vs文件/DocumentLayout.json）。

 Code/WCS/WIDESEAWCS_Client/src/api/http.js

@@ -12,14 +12,14 @@
let loadingInstance;
let loadingStatus = false;
if (process.env.NODE_ENV == 'development') {
    axios.defaults.baseURL = 'http://127.0.0.1:9291/';
    axios.defaults.baseURL = 'http://127.0.0.1:9292/';
}
else if (process.env.NODE_ENV == 'debug') {
    axios.defaults.baseURL = 'http://127.0.0.1:8098/';
}

else if (process.env.NODE_ENV == 'production') {
    axios.defaults.baseURL = 'http://115.159.85.185:9291/';
    axios.defaults.baseURL = 'http://115.159.85.185:9292/';
}
if (!axios.defaults.baseURL.endsWith('/')) {
    axios.defaults.baseURL+="/";

 Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db

Binary files differ

 Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db

Binary files differ

 Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v18/DocumentLayout.json

@@ -3,76 +3,8 @@
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 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskStatusEnum.cs

@@ -160,6 +160,18 @@
        RobotExecuting = 310,

        /// <summary>
        /// æœºæ¢°æ‰‹å–货完成
        /// </summary>
        [Description("机械手取货完成")]
        RobotPickFinish = 315,

        /// <summary>
        /// æœºæ¢°æ‰‹æ”¾è´§å®Œæˆ
        /// </summary>
        [Description("机械手放货完成")]
        RobotPutFinish = 320,

        /// <summary>
        /// æœºæ¢°æ‰‹å®Œæˆ
        /// </summary>
        [Description("机械手完成")]

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs

@@ -95,6 +95,7 @@
        /// <summary>
        /// æ‹†ç›˜ä»»åŠ¡
        /// </summary>
        [Description("换盘任务")]
        SplitPallet = 520
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpClientHelper.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,268 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Http;
using System.Net.Http.Headers;
using System.Reflection.Metadata;
using System.Text;
using System.Text.Json;
using System.Threading.Tasks;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Logging;
using Newtonsoft.Json;

namespace WIDESEA_Core
{
    public class HttpClientHelper
    {
        private readonly IHttpClientFactory _httpClientFactory;

        public HttpClientHelper(IHttpClientFactory httpClientFactory, IConfiguration configuration = null)
        {
            _httpClientFactory = httpClientFactory ?? throw new ArgumentNullException(nameof(httpClientFactory));
        }

        /// <summary>
        /// POST请求
        /// </summary>
        /// <param name="url">请求URL</param>
        /// <param name="content">请求内容</param>
        /// <param name="mediaType">媒体类型</param>
        /// <param name="config">请求配置</param>
        /// <returns></returns>
        public HttpResponseResult Post(string url, string content, string contentType = "application/json", HttpRequestConfig? config = null)
        {
            HttpResponseResult httpResponseResult = ExecuteAsync(async (client) =>
            {
                var request = new HttpRequestMessage(HttpMethod.Post, url);
                request.Content = new StringContent(content ?? string.Empty, Encoding.UTF8, contentType);
                SetRequestHeaders(request, config?.Headers);
                return await client.SendAsync(request);
            }, config, $"POST {url}").Result;
            httpResponseResult.ApiUrl = url;
            return httpResponseResult;
        }

        public HttpResponseResult Get(string url, HttpRequestConfig? config = null)
        {
            HttpResponseResult httpResponseResult = ExecuteAsync(async (client) =>
            {
                var request = new HttpRequestMessage(HttpMethod.Get, url);
                SetRequestHeaders(request, config?.Headers);
                return await client.SendAsync(request);
            }, config, $"GET {url}").Result;

            httpResponseResult.ApiUrl = url;
            return httpResponseResult;
        }


        /// <summary>
        /// POST请求
        /// </summary>
        /// <param name="url">请求URL</param>
        /// <param name="content">请求内容</param>
        /// <param name="mediaType">媒体类型</param>
        /// <param name="config">请求配置</param>
        /// <returns></returns>
        public HttpResponseResult<TResponse> Post<TResponse>(string url, string content, string contentType = "application/json", HttpRequestConfig? config = null)
        {

            HttpResponseResult httpResponseResult = Post(url, content, contentType, config);

            HttpResponseResult<TResponse> result = new HttpResponseResult<TResponse>
            {
                IsSuccess = httpResponseResult.IsSuccess,
                StatusCode = httpResponseResult.StatusCode,
                Content = httpResponseResult.Content,
                Headers = httpResponseResult.Headers,
                Duration = httpResponseResult.Duration,
                ErrorMessage = httpResponseResult.ErrorMessage,
                Exception = httpResponseResult.Exception
            };

            if (result.IsSuccess && !string.IsNullOrEmpty(result.Content))
            {
                try
                {
                    TResponse? response = JsonConvert.DeserializeObject<TResponse>(result.Content);
                    if (response != null)
                    {
                        result.Data = response;
                    }
                    else
                    {
                        result.IsSuccess = false;
                        result.ErrorMessage = "反序列化结果为null";
                    }
                }
                catch (Exception ex)
                {
                    result.IsSuccess = false;
                    result.ErrorMessage = $"反序列化失败: {ex.Message}";
                    result.Exception = ex;
                }
            }

            return result;
        }

        public HttpResponseResult<TResponse> Get<TResponse>(string url, HttpRequestConfig? config = null)
        {
            HttpResponseResult httpResponseResult = Get(url, config);

            HttpResponseResult<TResponse> result = new HttpResponseResult<TResponse>
            {
                IsSuccess = httpResponseResult.IsSuccess,
                StatusCode = httpResponseResult.StatusCode,
                Content = httpResponseResult.Content,
                Headers = httpResponseResult.Headers,
                Duration = httpResponseResult.Duration,
                ErrorMessage = httpResponseResult.ErrorMessage,
                Exception = httpResponseResult.Exception
            };

            if (result.IsSuccess && !string.IsNullOrEmpty(result.Content))
            {
                try
                {
                    TResponse? response = JsonConvert.DeserializeObject<TResponse>(result.Content);
                    if (response != null)
                    {
                        result.Data = response;
                    }
                    else
                    {
                        result.IsSuccess = false;
                        result.ErrorMessage = "反序列化结果为null";
                    }
                }
                catch (Exception ex)
                {
                    result.IsSuccess = false;
                    result.ErrorMessage = $"反序列化失败: {ex.Message}";
                    result.Exception = ex;
                }
            }

            return result;
        }

        /// <summary>
        /// æ‰§è¡ŒHTTP请求
        /// </summary>
        private async Task<HttpResponseResult> ExecuteAsync(Func<HttpClient, Task<HttpResponseMessage>> requestFunc, HttpRequestConfig? config, string requestInfo)
        {
            var result = new HttpResponseResult();
            var stopwatch = System.Diagnostics.Stopwatch.StartNew();
            config ??= new HttpRequestConfig();

            try
            {
                using var client = CreateHttpClient(config);
                HttpResponseMessage? response = null;
                Exception? lastException = null;

                // é‡è¯•æœºåˆ¶
                for (int retry = 0; retry <= config.MaxRetryCount; retry++)
                {
                    try
                    {
                        response = await requestFunc(client);
                        if (response.StatusCode == System.Net.HttpStatusCode.OK)
                            break;
                    }
                    catch (Exception ex) when (retry < config.MaxRetryCount)
                    {
                        lastException = ex;
                        if (config.EnableLogging)
                        {
                            // TODO：日志记录
                        }
                        await Task.Delay(config.RetryIntervalMs, default);
                    }
                }

                if (response == null)
                {
                    throw lastException ?? new HttpRequestException("请求失败");
                }

                result.StatusCode = response.StatusCode;
                result.IsSuccess = response.IsSuccessStatusCode;

                // è¯»å–响应内容
                result.Content = await response.Content.ReadAsStringAsync();

                // èŽ·å–响应头
                result.Headers = new Dictionary<string, IEnumerable<string>>();
                foreach (var header in response.Headers)
                {
                    result.Headers[header.Key] = header.Value;
                }
                foreach (var header in response.Content.Headers)
                {
                    result.Headers[header.Key] = header.Value;
                }

                if (config.EnableLogging)
                {
                    // TODO：日志记录
                }
            }
            catch (Exception ex)
            {
                result.IsSuccess = false;
                result.ErrorMessage = ex.Message;
                result.Exception = ex;

                if (config.EnableLogging)
                {
                    // TODO：日志记录
                }
            }
            finally
            {
                stopwatch.Stop();
                result.Duration = stopwatch.ElapsedMilliseconds;
            }

            return result;
        }

        /// <summary>
        /// åˆ›å»ºHttpClient
        /// </summary>
        private HttpClient CreateHttpClient(HttpRequestConfig config)
        {
            var client = _httpClientFactory.CreateClient();
            client.Timeout = TimeSpan.FromMilliseconds(config.TimeoutMs);

            // è®¾ç½®é»˜è®¤è¯·æ±‚头
            client.DefaultRequestHeaders.Clear();
            client.DefaultRequestHeaders.Accept.Clear();
            client.DefaultRequestHeaders.Accept.Add(new MediaTypeWithQualityHeaderValue("application/json"));

            return client;
        }


        /// <summary>
        /// è®¾ç½®è¯·æ±‚头
        /// </summary>
        private void SetRequestHeaders(HttpRequestMessage request, Dictionary<string, string>? headers)
        {
            if (headers != null)
            {
                foreach (var header in headers)
                {
                    if (!request.Headers.Contains(header.Key))
                    {
                        request.Headers.Add(header.Key, header.Value);
                    }
                }
            }
        }

    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpRequestConfig.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,39 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEA_Core
{
    /// <summary>
    /// HTTP请求配置
    /// </summary>
    public class HttpRequestConfig
    {
        /// <summary>
        /// è¶…时时间（毫秒）
        /// </summary>
        public int TimeoutMs { get; set; } = 300000;

        /// <summary>
        /// æœ€å¤§é‡è¯•æ¬¡æ•°
        /// </summary>
        public int MaxRetryCount { get; set; } = 3;

        /// <summary>
        /// é‡è¯•é—´éš”（毫秒）
        /// </summary>
        public int RetryIntervalMs { get; set; } = 1000;

        /// <summary>
        /// è¯·æ±‚头
        /// </summary>
        public Dictionary<string, string> Headers { get; set; } = new Dictionary<string, string>();

        /// <summary>
        /// æ˜¯å¦å¯ç”¨æ—¥å¿—
        /// </summary>
        public bool EnableLogging { get; set; } = true;
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpResponseResult.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,68 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEA_Core
{
    /// <summary>
    /// HTTP响应结果
    /// </summary>
    public class HttpResponseResult
    {
        /// <summary>
        /// æ˜¯å¦æˆåŠŸ
        /// </summary>
        public bool IsSuccess { get; set; }

        /// <summary>
        /// HTTP状态码
        /// </summary>
        public HttpStatusCode StatusCode { get; set; }

        /// <summary>
        /// å“åº”内容
        /// </summary>
        public string Content { get; set; }

        /// <summary>
        /// å“åº”头
        /// </summary>
        public Dictionary<string, IEnumerable<string>> Headers { get; set; }

        /// <summary>
        /// è¯·æ±‚耗时（毫秒）
        /// </summary>
        public long Duration { get; set; }

        /// <summary>
        /// é”™è¯¯ä¿¡æ¯
        /// </summary>
        public string ErrorMessage { get; set; }

        /// <summary>
        /// å¼‚常信息
        /// </summary>
        public Exception Exception { get; set; }

        /// <summary>
        /// 
        /// </summary>
        public string ApiUrl { get; set; }
    }


    /// <summary>
    /// HTTP响应结果（泛型）
    /// </summary>
    public class HttpResponseResult<T> : HttpResponseResult
    {
        /// <summary>
        /// ååºåˆ—化后的数据
        /// </summary>
        public T Data { get; set; }
    }

}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/Stock/StockDTO.cs

@@ -48,4 +48,16 @@
        /// </summary>
        public string CellBarcode { get; set; }
    }

    public class StockInfoDTO
    {
        /// <summary>
        /// æ‰˜ç›˜ç 
        /// </summary>
        public string PalletCode { get; set; }
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public int TaskNum { get; set; }
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRobotTaskService.cs

@@ -55,5 +55,7 @@


        public Dt_RobotTask? QueryRobotCraneTask(string deviceCode);

        Task<bool> UpdateRobotTaskAsync(Dt_RobotTask robotTask);
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/DeviceBase/DeviceCommand.cs

@@ -160,17 +160,17 @@
                    case TypeCode.String:
                        ushort dataLength = CheckStringAttribute(propertyInfo);

                        if (dataLength - 2 != Content[index])
                        {
                            throw new Exception($"读取PLC字符串定义长度【{Content[index]}】与对象【{GetType().Name}】属性【{propertyInfo.Name}】特性定义字符串长度【{dataLength}】不一致");
                        }
                        //if (dataLength - 2 != Content[index])
                        //{
                        //    throw new Exception($"读取PLC字符串定义长度【{Content[index]}】与对象【{GetType().Name}】属性【{propertyInfo.Name}】特性定义字符串长度【{dataLength}】不一致");
                        //}

                        if (Content[index + 1] > Content.Length - index - 2)
                        {
                            throw new Exception($"读取PLC字符串实际长度【{Content[index + 1]}】超出当前byte数组长度，索引：【{index}】，字符串起始索引：【{index + 2}】，数组长度：【{Content.Length}】，解析长度：【{Content.Length - index - 2}】");
                        }
                        //if (Content[index + 1] > Content.Length - index - 2)
                        //{
                        //    throw new Exception($"读取PLC字符串实际长度【{Content[index + 1]}】超出当前byte数组长度，索引：【{index}】，字符串起始索引：【{index + 2}】，数组长度：【{Content.Length}】，解析长度：【{Content.Length - index - 2}】");
                        //}

                        propertyInfo.SetValue(this, Encoding.Default.GetString(Content, index + 2, Content[index + 1]));
                        propertyInfo.SetValue(this, Encoding.Default.GetString(Content, index + 2, Content[index + 1] > 0 ? Content[index + 1] : dataLength - 2));
                        index += dataLength;
                        break;
                    default:

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Program.cs

@@ -1,5 +1,3 @@
using System.Reflection;
using System.Text;
using Autofac;
using Autofac.Core;
using Autofac.Extensions.DependencyInjection;
@@ -11,6 +9,9 @@
using Newtonsoft.Json;
using Newtonsoft.Json.Converters;
using Newtonsoft.Json.Serialization;
using System.Reflection;
using System.Text;
using WIDESEA_Core;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Authorization;
using WIDESEAWCS_Core.BaseServices;
@@ -84,6 +85,8 @@
    options.Filters.Add(typeof(CustomAuthorizeFilter));
});

builder.Services.AddScoped<HttpClientHelper>();

builder.Services.AddAuthorizationSetup();

builder.Services.AddIpPolicyRateLimitSetup(builder.Configuration);//IPLimit限流 å¯åŠ¨æœåŠ¡

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json

@@ -1,5 +1,5 @@
{
  "urls": "http://*:9291", //web服务端口，如果用IIS部署，把这个去掉
  "urls": "http://*:9292", //web服务端口，如果用IIS部署，把这个去掉
  "Logging": {
    "LogLevel": {
      "Default": "Information",

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs

@@ -57,21 +57,26 @@
            _mapper = mapper;
        }

        public override WebResponseContent DeleteData(object[] keys)
        {
            List<int> taskKeys = new List<int>();
            for (int i = 0; i < keys.Length; i++)
            {
                taskKeys.Add(Convert.ToInt32(keys[i]));
            }
            List<Dt_RobotTask> tasks = BaseDal.QueryData(x => taskKeys.Contains(x.RobotTaskId));
            BaseDal.DeleteAndMoveIntoHty(tasks, OperateTypeEnum.人工删除);
            return WebResponseContent.Instance.OK($"成功删除{tasks.Count}条数据");
        }
        //public override WebResponseContent DeleteData(object[] keys)
        //{
        //    List<int> taskKeys = new List<int>();
        //    for (int i = 0; i < keys.Length; i++)
        //    {
        //        taskKeys.Add(Convert.ToInt32(keys[i]));
        //    }
        //    List<Dt_RobotTask> tasks = BaseDal.QueryData(x => taskKeys.Contains(x.RobotTaskId));
        //    BaseDal.DeleteAndMoveIntoHty(tasks, OperateTypeEnum.人工删除);
        //    return WebResponseContent.Instance.OK($"成功删除{tasks.Count}条数据");
        //}

        public Dt_RobotTask? QueryRobotCraneTask(string deviceCode)
        {
            return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState <= (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
            return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState != (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
        }

        public async Task<bool> UpdateRobotTaskAsync(Dt_RobotTask robotTask)
        {
            return await BaseDal.UpdateDataAsync(robotTask);
        }
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -21,12 +21,15 @@
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using System.Text.Json;
using WIDESEA_Core;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Http;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
@@ -42,6 +45,7 @@
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly IMapper _mapper;
        private readonly HttpClientHelper _httpClientHelper;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
@@ -58,12 +62,13 @@

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

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, HttpClientHelper httpClientHelper) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _mapper = mapper;
            _httpClientHelper = httpClientHelper;
        }

        /// <summary>
@@ -364,20 +369,15 @@
                        // è°ƒç”¨WMS系统接口，获取最终目标地址
                        CreateTaskDto taskDto = new CreateTaskDto()
                        {
                            Roadway = task.TargetAddress,
                            PalletCode = task.PalletCode,
                            SourceAddress = task.SourceAddress,
                            // ç›®æ ‡åœ°å€å¾…定
                            TargetAddress = "CLOutAreaA",
                            TaskType = task.TaskType,
                        };
                        content = HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToString(), nameof(ConfigKey.GetTasksLocation)).Result;
                        if (!content.Status)
                        var result = _httpClientHelper.Post<WebResponseContent>("WMS", taskDto.ToJson(), nameof(ConfigKey.GetTasksLocation));
                        if (!result.IsSuccess && !result.Data.Status)
                        {
                            return WebResponseContent.Instance.Error($"调用WMS接口获取任务目标地址失败,任务号:【{task.TaskNum}】,错误信息:【{content.Message}】");
                        }

                        string wmsTargetAddress = content.Data?.ToString() ?? string.Empty;
                        string wmsTargetAddress = result.Data.Data?.ToString() ?? string.Empty;
                        if (string.IsNullOrEmpty(wmsTargetAddress))
                        {
                            return WebResponseContent.Instance.Error($"调用WMS接口获取任务目标地址失败,任务号:【{task.TaskNum}】,错误信息:【未获取到有效的目标地址】");
@@ -486,13 +486,20 @@
                    BaseDal.UpdateData(task);

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    //todo åŒæ­¥åˆ°WMS

                    //暂不考虑多个出库口
                    var result = _httpClientHelper.Post<WebResponseContent>("WMS", (new StockInfoDTO() { PalletCode = task.PalletCode, TaskNum = task.TaskNum }).ToJson());
                    if (result.IsSuccess && result.Data.Status)
                    {
                        return content.Error($"通知WMS系统堆垛机出库完成成功,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】");

                    }
                    else
                    {
                        return content.Error($"通知WMS系统堆垛机出库完成失败,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】,错误信息:【{result.Data.Message}】");
                    }
                }
                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;
@@ -500,20 +507,20 @@
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");

                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                        Grade = 1,
                        PalletCode = task.PalletCode + "S",
                        RoadWay = "SC01",
                        SourceAddress = task.TargetAddress,
                        TargetAddress = "CLOutAreaA",
                        TaskState = (int)TaskOutStatusEnum.OutNew,
                        Id = 0,
                        TaskType = (int)TaskOutboundTypeEnum.Outbound
                    };

                    content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                    var result = _httpClientHelper.Post<WebResponseContent>("WMS", (new CreateTaskDto()
                    {
                        PalletCode = task.PalletCode,
                    }).ToJson());

                    if (result.IsSuccess && result.Data.Status)
                    {
                        return content.Error($"通知WMS系统堆垛机入库完成成功,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】");
                    }
                    else
                    {
                        return content.Error($"通知WMS系统堆垛机入库完成失败,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】,错误信息:【{result.Data.Message}】");
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs

@@ -73,7 +73,7 @@
                        try
                        {
                            ConveyorLineTaskCommandNew command = conveyorLine.ReadCustomer<ConveyorLineTaskCommandNew>(childDeviceCode);
                            if (command == null || command.PLC_STB == 0)
                            if (command == null || command.PLC_STB != 1)
                            {
                                return;
                            }
@@ -85,6 +85,8 @@
                                return;
                            }

                            if (command.TaskNo > 0)
                            {
                            Dt_Task task = _taskService.QueryExecutingConveyorLineTask(command.TaskNo, childDeviceCode);
                            if (task.IsNullOrEmpty())
                            {
@@ -94,6 +96,8 @@

                            // å¤„理任务状态
                            ProcessTaskState(conveyorLine, command, task, childDeviceCode);
                            }

                        }
                        catch (Exception innerEx)
                        {
@@ -132,9 +136,9 @@
            switch (state)
            {
                case InExecuting:
                    if (isTargetAddress)
                        _conveyorLineDispatch.ConveyorLineInFinish(conveyorLine, command, childDeviceCode);
                    else
                    //if (isTargetAddress)
                    //    _conveyorLineDispatch.ConveyorLineInFinish(conveyorLine, command, childDeviceCode);
                    //else
                        _conveyorLineDispatch.RequestInNextAddress(conveyorLine, command, childDeviceCode);
                    break;


 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLine/ConveyorLineDBNameNew.cs

@@ -25,21 +25,69 @@
{
    public enum ConveyorLineDBNameNew
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        TaskNo,
        /// <summary>
        /// å¼€å§‹åœ°å€
        /// </summary>
        Source,
        /// <summary>
        /// ç›®çš„地址
        /// </summary>
        Target,
        /// <summary>
        /// æ‰˜ç›˜ç±»åž‹
        /// </summary>
        BoxType,
        /// <summary>
        /// è®¾å¤‡ç©ºé—²çŠ¶æ€è¾“送带状态
        /// </summary>
        CV_State,
        /// <summary>
        /// è¾“送故障代码
        /// </summary>
        CV_ERRCode,
        /// <summary>
        /// WCS下发完成时，触发为1
        /// </summary>
        WCS_STB,
        /// <summary>
        /// WCS收到完成时，触发为1
        /// </summary>
        WCS_ACK,
        /// <summary>
        /// å®Œæˆä»»åŠ¡æ—¶ï¼Œè§¦å‘为1
        /// </summary>
        PLC_STB,
        /// <summary>
        /// æ”¶åˆ°ä»»åŠ¡æ—¶ï¼Œè§¦å‘为1
        /// </summary>
        PLC_ACK,
        /// <summary>
        /// å…¥åº“站台，到位写1
        /// </summary>
        PLC_REQ,
        /// <summary>
        /// WCS故障代码
        /// </summary>
        WCS_ERRCode,
        /// <summary>
        /// WCS特殊处理标识(旋转标识、强制放行、循环、特殊申请、是否叠盘、是否堵塞)
        /// </summary>
        WCS_Special,
        /// <summary>
        /// æ‰‹åŠ¨1，自动2
        /// </summary>
        Equ_Auto,
        /// <summary>
        /// å°¾ç›˜æ ‡è¯†
        /// </summary>
        Last_pallet,
        /// <summary>
        /// å®¹å™¨æ¡ç 1,字符数组
        /// </summary>
        Barcode
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLineDispatchHandler.cs

@@ -150,9 +150,14 @@
            Dt_Task task = _taskService.QueryConveyorLineTask(conveyorLine.DeviceCode, childDeviceCode);
            if (task != null)
            {
                ConveyorLineTaskCommandNew taskCommand = _mapper.Map<ConveyorLineTaskCommandNew>(task);
                taskCommand.WCS_ACK = command.WCS_ACK;
                conveyorLine.SendCommand(taskCommand, childDeviceCode);
                //ConveyorLineTaskCommandNew taskCommand = _mapper.Map<ConveyorLineTaskCommandNew>(task);
                //taskCommand.WCS_ACK = command.WCS_ACK;
                //conveyorLine.SendCommand(taskCommand, childDeviceCode);

                conveyorLine.SetValue(ConveyorLineDBNameNew.TaskNo, task.TaskNum, childDeviceCode);
                conveyorLine.SetValue(ConveyorLineDBNameNew.Barcode, task.PalletCode, childDeviceCode);
                conveyorLine.SetValue(ConveyorLineDBNameNew.Target, task.TargetAddress, childDeviceCode);
                conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, 1, childDeviceCode);

                _taskService.UpdateTaskStatusToNext(task);
            }
@@ -202,6 +207,7 @@
                }

                Dt_Task? newTask = _taskService.UpdatePosition(task.TaskNum, task.CurrentAddress);

            }
        }


 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs

@@ -5,6 +5,7 @@
using System.Net.Sockets;
using System.Text.Json;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Http;
@@ -22,22 +23,26 @@
    [DisallowConcurrentExecution]
    public class RobotJob : IJob
    {
        private const int MaxTaskTotalNum = 48;

        private readonly TcpSocketServer _TcpSocket;
        private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
        private static int _eventSubscribedFlag;


        private readonly ITaskService _taskService;
        private readonly IRobotTaskService _robottaskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly IRobotTaskService _robotTaskService;

        private static IRobotTaskService _latestRobotTaskService = null!;
        private static ITaskService _latestTaskService = null!;

        public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
        {
            _TcpSocket = TcpSocket;
            _robottaskService = RobottaskService;
            this._taskService = TaskService;
            _robotTaskService = RobottaskService;
            _taskService = TaskService;

            _latestRobotTaskService = RobottaskService;
            _latestTaskService = TaskService;
        }

        public async Task Execute(IJobExecutionContext context)
@@ -77,40 +82,91 @@

            if (!state.IsEventSubscribed)
            {
                _TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
                Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state);
                if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
                {
                    _ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
                        .ContinueWith(t =>
                        {
                            if (t.IsFaulted)
                                Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
                        }, TaskContinuationOptions.OnlyOnFaulted);
                state.IsEventSubscribed = true;
                }
            }

            // èŽ·å–任务并缓存到状态中
            Dt_RobotTask? task = GetTask(robotCrane);
            if (task != null)
            {
                state.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
                state.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
                state.CurrentTask = task;
                if (task.RobotTaskTotalNum != 48)
                if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
                {
                    // å¤„理正在执行的任务
                    if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
                    if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
                    {
                        await Task.Delay(1000);
                        if ((state.CurrentAction == "Homed" || state.CurrentAction == "PickFinished" || state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
                        if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
                        {
                            string taskString = $"Putbattery,{task.RobotTargetAddress}";
                            bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
                            if (result)
                            {
                                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                                await _robotTaskService.UpdateRobotTaskAsync(task);
                            }
                        }
                        else if (state.CurrentAction == "PutFinished" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
                        {
                            task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                            await _robotTaskService.UpdateRobotTaskAsync(task);
                        }
                        else if (state.OperStatus == "Homed" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
                        {
                            // TODO è¯»å–线体电池条码，发送取电池指令
                            if (true)
                            {
                                // æ¨¡æ‹Ÿè¯»å–条码
                                state.CellBarcode = new string[] { "CellBarcode1", "CellBarcode2", "CellBarcode3", "CellBarcode4" };
                            // éšæœºç”Ÿæˆä¸¤å¤©æ‰˜ç›˜æ¡ç å­˜æ”¾åˆ°ä¸¤ä¸ªå˜é‡é‡Œé¢
                            // å®šä¹‰å‰ç¼€ï¼ˆä¾‹å¦‚：TRAY代表托盘）
                            string prefix = "TRAY";

                            // ç”Ÿæˆä¸¤ä¸ªæ‰˜ç›˜æ¡ç 
                            string trayBarcode1 = GenerateTrayBarcode(state, prefix);
                            string trayBarcode2 = GenerateTrayBarcode(state, prefix);
                            if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
                            {
                                string taskString = $"Pickbattery,{task.RobotSourceAddress}";
                                // å‘送任务指令
                                bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
                                if (result)
                                {
                                    // TODO å¤„理成功发送任务指令后的逻辑
                                    task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                                    result = await _robotTaskService.UpdateRobotTaskAsync(task);
                                }
                            }
                            }
                        }
                    }
                }
            }

            return;
        //临时测试用
        private static string GenerateTrayBarcode(RobotSocketState state, string prefix = "")
        {
            // å½“前日期
            string datePart = DateTime.Now.ToString("yyyyMMdd");

            // æ—¶é—´æˆ³ï¼ˆæ—¶åˆ†ç§’）
            string timePart = DateTime.Now.ToString("HHmmss");

            // éšæœºæ•°
            string randomPart = Random.Shared.Next(100, 1000).ToString();

            // ç»„合：前缀 + æ—¥æœŸ + æ—¶é—´ + éšæœºæ•°
            var barCode = prefix + datePart + timePart + randomPart;
            state.CellBarcode.Add(randomPart);

            return barCode;
        }

        /// <summary>
@@ -138,6 +194,7 @@

            if (await IsSimpleCommandAsync(messageLower, state))
            {
                await _TcpSocket.SendMessageAsync(client, message);
                return null;
            }

@@ -146,77 +203,70 @@
                try
                {
                    var parts = message.Split(',');
                    if (parts.Length >= 1)
                    if (parts.Length >= 1 && state.CurrentTask != null)
                    {
                        var cmd = parts[0].ToLowerInvariant();
                        int[] positions = new int[4];
                        for (int i = 1; i <= 4 && i < parts.Length; i++)
                        {
                            int.TryParse(parts[i], out positions[i - 1]);
                        }
                        int[] positions = parts.Skip(1)
                           .Select(p => int.TryParse(p, out int value) ? value : (int?)null)
                           .Where(v => v.HasValue && v.Value != 0)
                           .Select(v => v!.Value)
                           .ToArray();

                        var task = await _latestRobotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);

                        if (cmd.StartsWith("pickfinished"))
                        {
                            StockDTO stockDTO = new StockDTO
                            if (state.IsSplitPallet)
                            {
                                SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
                                SourcePalletNo = state.CurrentTask?.RobotSourceAddressPalletCode,
                                TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
                                TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
                                Details = positions
                                        .Where(x => x > 0)
                                        .OrderBy(x => x)
                                        .Select((x, idx) => new StockDetailDTO
                                        {
                                            Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
                                            Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
                                            CellBarcode = state.CellBarcode[idx]
                                        })
                                        .ToList()
                            };
                                var stockDTO = BuildStockDTO(state, positions);
                            state.LastPickPositions = positions;

                            var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.SplitPalletAsync));

                            if (result.Status)
                            {
                                state.CurrentAction = "PickFinished";
                            }
                        }
                            else
                            {
                                state.CurrentAction = "PickFinished";
                            }

                            task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
                            await _latestRobotTaskService.Repository.UpdateDataAsync(task);
                        }
                        else if (cmd.StartsWith("putfinished"))
                        {
                            bool putSuccess = true;
                            if (state.IsGroupPallet)
                            {
                            state.LastPutPositions = positions;
                            if (state.CurrentTask?.RobotTaskType == 1)
                            {
                                // å‘送数据给WMS组盘/换盘
                                StockDTO stockDTO = new StockDTO
                                {
                                    SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
                                    SourcePalletNo = state.CurrentTask?.RobotSourceAddressPalletCode,
                                    TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
                                    TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
                                    Details = positions
                                        .Where(x => x > 0)
                                        .OrderBy(x => x)
                                        .Select((x, idx) => new StockDetailDTO
                                        {
                                            Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
                                            Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
                                            CellBarcode = state.CellBarcode[idx]
                                        })
                                        .ToList()
                                };
                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
                                var stockDTO = BuildStockDTO(state, positions);
                                var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
                                    ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), configKey);
                                putSuccess = result.Status;
                            }

                                if (result.Status)
                            if (putSuccess)
                                {
                                    state.CurrentAction = "PutFinished";
                                state.RobotTaskTotalNum += positions.Length;
                                task.RobotTaskTotalNum += positions.Length;
                            }

                            task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
                            await _latestRobotTaskService.Repository.UpdateDataAsync(task);
                                }
                            }
                        }
                catch (Exception ex)
                {
                    Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
                    }
                }
                catch { }

                await _TcpSocket.SendMessageAsync(client, message);

                return null;
            }
@@ -230,16 +280,16 @@
        /// <param name="message"></param>
        /// <param name="state"></param>
        /// <returns></returns>
        private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
        private static async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
        {
            switch (message)
            {
                case "homing":
                    state.CurrentAction = "Homing";
                    state.OperStatus = "Homing";
                    return true;

                case "homed":
                    state.CurrentAction = "Homed";
                    state.OperStatus = "Homed";
                    return true;

                case "picking":
@@ -250,17 +300,17 @@
                    state.CurrentAction = "Putting";
                    return true;

                case "allpickfinished":
                case "allpickfinished": // å–货完成
                    state.CurrentAction = "AllPickFinished";
                    if (state.CurrentTask?.RobotTaskType == 2 || state.CurrentTask?.RobotTaskType == 3)
                    if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
                    {
                        await HandleInboundTaskAsync(state, useSourceAddress: true);
                    }
                    return true;

                case "allputfinished":
                case "allputfinished": // æ”¾è´§å®Œæˆ
                    state.CurrentAction = "AllPutFinished";
                    if (state.CurrentTask?.RobotTaskType == 1)
                    if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
                    {
                        await HandleInboundTaskAsync(state, useSourceAddress: false);
                    }
@@ -311,7 +361,7 @@
            }
        }

        private async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
        private static async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
        {
            var currentTask = state.CurrentTask;
            if (currentTask == null)
@@ -325,7 +375,7 @@
            CreateTaskDto taskDto = new CreateTaskDto
            {
                PalletCode = currentTask.RobotTargetAddressPalletCode ?? string.Empty,
                SourceAddress = currentTask.RobotTargetAddress ?? string.Empty,
                SourceAddress = currentTask.RobotSourceAddress ?? string.Empty,
                TargetAddress = currentTask.RobotTargetAddress ?? string.Empty,
                Roadway = roadway,
                WarehouseId = warehouseId,
@@ -340,15 +390,15 @@
            }

            WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
            var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            var content = _latestTaskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            if (!content.Status) return;

            var taskInfo = _taskService.QueryByTaskNum(taskDTO.TaskNum);

            var taskInfo = _latestTaskService.QueryByTaskNum(taskDTO.TaskNum);
            if (taskInfo == null) return;

            string targetAddress = useSourceAddress ? taskDTO.SourceAddress : taskDTO.TargetAddress;

            IDevice? device = Storage.Devices.Where(x => x.DeviceProDTOs.Select(x => x.DeviceChildCode == taskDTO.SourceAddress).FirstOrDefault()).FirstOrDefault() ?? null;
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == targetAddress));
            device?.Communicator.Write(nameof(ConveyorLineDBNameNew.Target), taskInfo.NextAddress);
            device?.Communicator.Write(nameof(ConveyorLineDBNameNew.TaskNo), taskDTO.TaskNum);
            device?.Communicator.Write(nameof(ConveyorLineDBNameNew.WCS_STB), 1);
@@ -364,9 +414,30 @@
            return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
        }

        private static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
        {
            return new StockDTO
            {
                SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
                SourcePalletNo = state.CurrentTask?.RobotSourceAddressPalletCode,
                TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
                TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
                Details = positions
                    .Where(x => x > 0)
                    .OrderBy(x => x)
                    .Select((x, idx) => new StockDetailDTO
                    {
                        Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
                        Channel = x,
                        CellBarcode = !state.CellBarcode.IsNullOrEmpty() ? state.CellBarcode[idx] : ""
                    })
                    .ToList()
            };
        }

        private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
        {
            return _robottaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
            return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
        }
    }

@@ -390,7 +461,7 @@
        public int? RobotControlMode { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹æŠ“取对象
        /// æœºæ¢°æ‰‹æ˜¯å¦æŠ“取物料，0-无物料，1-有物料
        /// </summary>
        public int? RobotArmObject { get; set; }

@@ -422,11 +493,26 @@
        /// <summary>
        /// æŠ“取位置条码
        /// </summary>
        public string[] CellBarcode { get; set; }
        public List<string> CellBarcode { get; set; } = new();

        /// <summary>
        /// å½“前抓取任务
        /// </summary>
        public Dt_RobotTask? CurrentTask { get; set; }

        /// <summary>
        /// æ˜¯å¦éœ€è¦æ‹†ç›˜
        /// </summary>
        public bool IsSplitPallet { get; set; }

        /// <summary>
        /// æ˜¯å¦éœ€è¦ç»„盘
        /// </summary>
        public bool IsGroupPallet { get; set; }

        /// <summary>
        /// ä»»åŠ¡æ€»æ•°
        /// </summary>
        public int RobotTaskTotalNum { get; set; }
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Clients.cs

@@ -124,7 +124,7 @@
        /// <param name="client">要发送消息到的TCP客户端。必须处于连接状态；否则方法不执行任何操作。</param>
        /// <param name="message">要发送给客户端的文本消息。消息在传输前将被编码并添加帧头。</param>
        /// <returns>表示异步发送操作的任务。</returns>
        private async Task SendMessageAsync(TcpClient client, string message)
        public async Task SendMessageAsync(TcpClient client, string message)
        {
            if (client == null || !client.Connected)
            {

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -116,12 +116,12 @@
            CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
            if (commonStackerCrane != null)
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                //if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                //{
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
                //}
            }
        }


 Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/CopilotIndices/18.0.988.22099/CodeChunks.db

Binary files differ

 Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/CopilotIndices/18.0.988.22099/SemanticSymbols.db

Binary files differ

 Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.backup.json

@@ -3,28 +3,56 @@
  "WorkspaceRootPath": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\",
  "Documents": [
    {
      "AbsoluteMoniker": "D:0:0:{D81A65B5-47D1-40C1-8FDE-7D24FF003F51}|WIDESEA_WMSServer\\WIDESEA_WMSServer.csproj|d:\\git\\shanmeixinnengyuan\\code\\wms\\widesea_wmsserver\\widesea_wmsserver\\controllers\\taskinfo\\taskcontroller.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
      "RelativeMoniker": "D:0:0:{D81A65B5-47D1-40C1-8FDE-7D24FF003F51}|WIDESEA_WMSServer\\WIDESEA_WMSServer.csproj|solutionrelative:widesea_wmsserver\\controllers\\taskinfo\\taskcontroller.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
      "AbsoluteMoniker": "D:0:0:{7DC26D42-D8EE-46F0-BA66-A13457086885}|WIDESEA_StockService\\WIDESEA_StockService.csproj|d:\\git\\shanmeixinnengyuan\\code\\wms\\widesea_wmsserver\\widesea_stockservice\\stockserivce.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
      "RelativeMoniker": "D:0:0:{7DC26D42-D8EE-46F0-BA66-A13457086885}|WIDESEA_StockService\\WIDESEA_StockService.csproj|solutionrelative:widesea_stockservice\\stockserivce.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
    },
    {
      "AbsoluteMoniker": "D:0:0:{7D7534D4-51D9-46DC-A6B7-6430042F4E12}|WIDESEA_TaskInfoService\\WIDESEA_TaskInfoService.csproj|d:\\git\\shanmeixinnengyuan\\code\\wms\\widesea_wmsserver\\widesea_taskinfoservice\\taskservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
      "RelativeMoniker": "D:0:0:{7D7534D4-51D9-46DC-A6B7-6430042F4E12}|WIDESEA_TaskInfoService\\WIDESEA_TaskInfoService.csproj|solutionrelative:widesea_taskinfoservice\\taskservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
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              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\GradingMachine\\InputDto.cs",
              "RelativeDocumentMoniker": "WIDESEA_DTO\\GradingMachine\\InputDto.cs",
@@ -175,12 +222,11 @@
              "RelativeToolTip": "WIDESEA_DTO\\GradingMachine\\InputDto.cs",
              "ViewState": "AgIAAAAAAAAAAAAAAAAAABgAAAAQAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-16T03:59:05.513Z",
              "EditorCaption": ""
              "WhenOpened": "2026-02-16T03:59:05.513Z"
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            {
              "$type": "Document",
              "DocumentIndex": 19,
              "DocumentIndex": 22,
              "Title": "RepositoryBase.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\BaseRepository\\RepositoryBase.cs",
              "RelativeDocumentMoniker": "WIDESEA_Core\\BaseRepository\\RepositoryBase.cs",
@@ -192,7 +238,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 13,
              "DocumentIndex": 19,
              "Title": "IRepository.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\BaseRepository\\IRepository.cs",
              "RelativeDocumentMoniker": "WIDESEA_Core\\BaseRepository\\IRepository.cs",
@@ -200,12 +246,11 @@
              "RelativeToolTip": "WIDESEA_Core\\BaseRepository\\IRepository.cs",
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              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-14T08:53:36.522Z",
              "EditorCaption": ""
              "WhenOpened": "2026-02-14T08:53:36.522Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 12,
              "DocumentIndex": 18,
              "Title": "StockViewService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockViewService.cs",
              "RelativeDocumentMoniker": "WIDESEA_StockService\\StockViewService.cs",
@@ -213,25 +258,23 @@
              "RelativeToolTip": "WIDESEA_StockService\\StockViewService.cs",
              "ViewState": "AgIAAAAAAAAAAAAAAAAAAEwAAAA/AAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
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              "EditorCaption": ""
              "WhenOpened": "2026-02-11T07:14:32.478Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 9,
              "DocumentIndex": 2,
              "Title": "ILocationInfoService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IBasicService\\ILocationInfoService.cs",
              "RelativeDocumentMoniker": "WIDESEA_IBasicService\\ILocationInfoService.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IBasicService\\ILocationInfoService.cs",
              "RelativeToolTip": "WIDESEA_IBasicService\\ILocationInfoService.cs",
              "ViewState": "AgIAADsAAAAAAAAAAAA2wEIAAAAxAAAAAAAAAA==",
              "ViewState": "AgIAADwAAAAAAAAAAAAYwEIAAAAxAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-11T02:33:03.398Z",
              "EditorCaption": ""
              "WhenOpened": "2026-02-11T02:33:03.398Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 11,
              "DocumentIndex": 17,
              "Title": "LocationInfoService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_BasicService\\LocationInfoService.cs",
              "RelativeDocumentMoniker": "WIDESEA_BasicService\\LocationInfoService.cs",
@@ -239,12 +282,11 @@
              "RelativeToolTip": "WIDESEA_BasicService\\LocationInfoService.cs",
              "ViewState": "AgIAAJIAAAAAAAAAAADgv6gAAAAjAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-11T02:22:42.847Z",
              "EditorCaption": ""
              "WhenOpened": "2026-02-11T02:22:42.847Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 10,
              "DocumentIndex": 16,
              "Title": "Dt_StockInfo.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Model\\Models\\Stock\\Dt_StockInfo.cs",
              "RelativeDocumentMoniker": "WIDESEA_Model\\Models\\Stock\\Dt_StockInfo.cs",
@@ -252,49 +294,47 @@
              "RelativeToolTip": "WIDESEA_Model\\Models\\Stock\\Dt_StockInfo.cs",
              "ViewState": "AgIAAEAAAAAAAAAAAAAkwFIAAAAeAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
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              "EditorCaption": ""
              "WhenOpened": "2026-02-11T01:38:37.887Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 17,
              "DocumentIndex": 9,
              "Title": "StockInfoService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockInfoService.cs",
              "RelativeDocumentMoniker": "WIDESEA_StockService\\StockInfoService.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockInfoService.cs",
              "RelativeToolTip": "WIDESEA_StockService\\StockInfoService.cs",
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              "WhenOpened": "2026-02-11T01:23:56.94Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 16,
              "DocumentIndex": 6,
              "Title": "IStockInfoService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IStockService\\IStockInfoService.cs",
              "RelativeDocumentMoniker": "WIDESEA_IStockService\\IStockInfoService.cs",
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              "RelativeToolTip": "WIDESEA_IStockService\\IStockInfoService.cs",
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              "$type": "Document",
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              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
              "RelativeDocumentMoniker": "WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
              "RelativeToolTip": "WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
              "ViewState": "AgIAABgAAAAAAAAAAAAgwEgAAAAeAAAAAAAAAA==",
              "ViewState": "AgIAACcAAAAAAAAAAAAIwDcAAABAAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-02-09T01:23:19.844Z",
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              "WhenOpened": "2026-02-09T01:23:19.844Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 8,
              "DocumentIndex": 15,
              "Title": "CreateTaskDto.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\Task\\CreateTaskDto.cs",
              "RelativeDocumentMoniker": "WIDESEA_DTO\\Task\\CreateTaskDto.cs",
@@ -302,21 +342,19 @@
              "RelativeToolTip": "WIDESEA_DTO\\Task\\CreateTaskDto.cs",
              "ViewState": "AgIAABEAAAAAAAAAAADwvw4AAAARAAAAAAAAAA==",
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              "WhenOpened": "2026-02-06T07:58:13.932Z"
            },
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              "$type": "Document",
              "DocumentIndex": 2,
              "DocumentIndex": 3,
              "Title": "ITaskService.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_ITaskInfoService\\ITaskService.cs",
              "RelativeDocumentMoniker": "WIDESEA_ITaskInfoService\\ITaskService.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_ITaskInfoService\\ITaskService.cs",
              "RelativeToolTip": "WIDESEA_ITaskInfoService\\ITaskService.cs",
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              "WhenOpened": "2026-02-06T07:00:19.697Z"
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            {
              "$type": "Document",
@@ -326,35 +364,34 @@
              "RelativeDocumentMoniker": "WIDESEA_TaskInfoService\\TaskService.cs",
              "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_TaskInfoService\\TaskService.cs",
              "RelativeToolTip": "WIDESEA_TaskInfoService\\TaskService.cs",
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              "WhenOpened": "2026-02-06T06:34:59.734Z"
            },
            {
              "$type": "Document",
              "DocumentIndex": 3,
              "DocumentIndex": 10,
              "Title": "StockDTO.cs",
              "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\Stock\\StockDTO.cs",
              "RelativeDocumentMoniker": "WIDESEA_DTO\\Stock\\StockDTO.cs",
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            {
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              "RelativeDocumentMoniker": "WIDESEA_StockService\\StockSerivce.cs",
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              "RelativeToolTip": "WIDESEA_StockService\\StockSerivce.cs",
              "ViewState": "AgIAAHsAAAAAAAAAAAA5wJEAAAAJAAAAAAAAAA==",
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              "WhenOpened": "2026-02-06T01:53:49.077Z",
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 Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/LocationEnum/LocationStatusEnum.cs

@@ -30,7 +30,7 @@
        InStockLock = 10,

        /// <summary>
        /// 
        /// ç©ºé—²é”å®š
        /// </summary>
        [Description("空闲锁定")]
        FreeLock = 20,

 Code/WMS/WIDESEA_WMSServer/WIDESEA_DTO/Stock/StockDTO.cs

@@ -56,6 +56,6 @@
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string TaskNum { get; set; }
        public int TaskNum { get; set; }
    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_IStockService/IStockService.cs

@@ -1,4 +1,5 @@
using System;
using Microsoft.AspNetCore.Mvc;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@@ -18,12 +19,18 @@

        IStockInfo_HtyService StockInfo_HtyService { get; }

        Task<bool> GroupPallet(StockDTO stock);
        Task<bool> GroupPalletAsync(StockDTO stock);

        Task<bool> ChangePallet(StockDTO stock);
        Task<bool> ChangePalletAsync(StockDTO stock);

        Task<bool> SplitPallet(StockDTO stock);
        Task<bool> SplitPalletAsync(StockDTO stock);

        Task<bool> UpdateStockInfo(StockInfoDTO stock);
        /// <summary>
        /// å †åž›æœºæ¢ç›˜åŽæ›´æ–°åº“存信息（清空库位信息）
        /// </summary>
        /// <param name="stock"></param>
        /// <returns></returns>
        Task<WebResponseContent> UpdateStockInfoAsync(StockInfoDTO stock);

    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_ITaskInfoService/ITaskService.cs

@@ -72,6 +72,13 @@
        public Task<WebResponseContent> OutboundFinishTaskAsync(CreateTaskDto taskDto);

        /// <summary>
        /// åˆ›å»ºç©ºæ‰˜ç›˜å…¥åº“任务
        /// </summary>
        /// <param name="taskDto"></param>
        /// <returns></returns>
        Task<WebResponseContent> CreateTaskInboundTrayAsync(CreateTaskDto taskDto);

        /// <summary>
        /// å †åž›æœºå–放货完成后物流通知化成分容柜完成信号
        /// </summary>
        /// <param name="input"></param>

 Code/WMS/WIDESEA_WMSServer/WIDESEA_StockService/StockSerivce.cs

@@ -1,4 +1,8 @@
using WIDESEA_Common.StockEnum;
using Autofac.Core;
using System.Net;
using System.Threading.Channels;
using WIDESEA_Common.StockEnum;
using WIDESEA_Core;
using WIDESEA_DTO.Stock;
using WIDESEA_IStockService;
using WIDESEA_Model.Models;
@@ -15,6 +19,8 @@
        public IStockInfoDetail_HtyService StockInfoDetail_HtyService { get; }
        public IStockInfo_HtyService StockInfo_HtyService { get; }



        public StockSerivce(
            IStockInfoDetailService stockInfoDetailService,
            IStockInfoService stockInfoService,
@@ -30,7 +36,7 @@
        /// <summary>
        /// ç»„盘
        /// </summary>
        public async Task<bool> GroupPallet(StockDTO stock)
        public async Task<bool> GroupPalletAsync(StockDTO stock)
        {
            var now = DateTime.Now;
            var details = stock.Details.Select(item => new Dt_StockInfoDetail
@@ -70,7 +76,7 @@
        /// <summary>
        /// æ¢ç›˜
        /// </summary>
        public async Task<bool> ChangePallet(StockDTO stock)
        public async Task<bool> ChangePalletAsync(StockDTO stock)
        {
            if (stock == null ||
                string.IsNullOrWhiteSpace(stock.TargetPalletNo) ||
@@ -121,7 +127,7 @@
        /// <summary>
        /// æ‹†ç›˜
        /// </summary>
        public async Task<bool> SplitPallet(StockDTO stock)
        public async Task<bool> SplitPalletAsync(StockDTO stock)
        {
            if (stock == null || string.IsNullOrWhiteSpace(stock.SourcePalletNo))
                return false;
@@ -130,7 +136,13 @@
            if (sourceStock == null) return false;

            var serialNumbers = stock.Details.Select(d => d.CellBarcode).Distinct().ToList();
            if (!serialNumbers.Any()) return false;
            if (!serialNumbers.Any())
            {
                serialNumbers = sourceStock.Details
                                            .Where(x => stock.Details.Any(d => d.Channel == x.InboundOrderRowNo))
                                            .Select(x => x.SerialNumber)
                                            .ToList();
            }

            var detailEntities = StockInfoDetailService.Repository.QueryData(
                d => d.StockId == sourceStock.Id && serialNumbers.Contains(d.SerialNumber));
@@ -145,19 +157,26 @@
            return await StockInfoDetailService.Repository.DeleteDataAsync(detailEntities);
        }

        public async Task<bool> UpdateStockInfo(StockInfoDTO stock)
        /// <summary>
        /// å †åž›æœºæ¢ç›˜åŽæ›´æ–°åº“存信息（清空库位信息）
        /// </summary>
        /// <param name="stock"></param>
        /// <returns></returns>
        public async Task<WebResponseContent> UpdateStockInfoAsync(StockInfoDTO stock)
        {
            if (stock == null) return false;
            WebResponseContent content = new WebResponseContent();
            if (string.IsNullOrWhiteSpace(stock.PalletCode)) return content.Error("托盘号不能为空");

            var existingStock = StockInfoService.Repository.QueryFirst(s => s.PalletCode == stock.PalletCode);
            if (existingStock == null) return false;
            if (existingStock == null) return content.Error("托盘信息不存在");

            existingStock.LocationCode = "";
            existingStock.LocationId = 0;

            return await StockInfoService.Repository.UpdateDataAsync(existingStock);
            var result = await StockInfoService.Repository.UpdateDataAsync(existingStock);
            if (!result) return content.Error("更新库存信息失败");
            return content.OK("更新库存信息成功");
        }


        private static List<Dt_StockInfoDetail_Hty> CreateDetailHistory(IEnumerable<Dt_StockInfoDetail> details, string operateType)
        {
@@ -208,5 +227,6 @@
                ModifyDate = s.ModifyDate
            }).ToList();
        }

    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs

@@ -60,12 +60,12 @@
                    string.IsNullOrWhiteSpace(taskDto.TargetAddress) ||
                    string.IsNullOrWhiteSpace(taskDto.Roadway))
                {
                    return WebResponseContent.Instance.Error("Invalid task details.");
                    return WebResponseContent.Instance.Error("无效的任务详情");
                }

                if (taskDto.TaskType != TaskTypeEnum.Inbound && taskDto.TaskType != TaskTypeEnum.InEmpty)
                {
                    return WebResponseContent.Instance.Error("Invalid task details.");
                    return WebResponseContent.Instance.Error("无效的任务详情");
                }

                var task = new Dt_Task
@@ -97,7 +97,6 @@
            }
        }


        /// <summary>
        /// æ ¹æ®æŒ‡å®šçš„任务详情异步创建新的出库任务
        /// </summary>
@@ -128,14 +127,13 @@

                var result = await BaseDal.AddDataAsync(taskList) > 0;
                var wmstaskDto = result ? _mapper.Map<WMSTaskDTO>(taskList) : null;
                return WebResponseContent.Instance.OK(result ? "任务创建成功" : "任务创建失败", wmstaskDto);
                return WebResponseContent.Instance.OK(result ? "任务创建成功" : "任务创建失败", wmstaskDto ?? new object());
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error($"任务创建失败: {ex.Message}");
            }
        }


        /// <summary>
        /// èŽ·å–可入库货位
@@ -151,9 +149,9 @@
                if (locationInfo == null) return WebResponseContent.Instance.Error("未找到对应的货位");

                locationInfo.LocationStatus = LocationStatusEnum.FreeLock.GetHashCode();
                task.CurrentAddress = taskDto.SourceAddress;
                task.CurrentAddress = task.SourceAddress;
                task.NextAddress = locationInfo.LocationCode;
                task.TargetAddress = taskDto.TargetAddress;
                task.TargetAddress = locationInfo.LocationCode;
                task.TaskStatus = TaskStatusEnum.Line_Finish.GetHashCode();

                var updateResult = await BaseDal.UpdateDataAsync(task);
@@ -251,6 +249,27 @@
            }
        }

        /// <summary>
        /// åˆ›å»ºç©ºæ‰˜ç›˜å…¥åº“任务
        /// </summary>
        /// <param name="taskDto"></param>
        /// <returns></returns>
        public async Task<WebResponseContent> CreateTaskInboundTrayAsync(CreateTaskDto taskDto)
        {
            try
            {
                //var tasks = await BaseDal.QueryAsync(s => s.PalletCode == palletCode);
                //if (tasks == null || !tasks.Any())
                //    return WebResponseContent.Instance.Error("未找到对应的任务");
                //var taskDtos = _mapper.Map<List<WMSTaskDTO>>(tasks);
                return WebResponseContent.Instance.OK("查询成功"/*, taskDtos*/);
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error($"查询任务失败: {ex.Message}");
            }
        }

        #region åˆ†å®¹æŸœæŽ¥å£

        /// <summary>

 Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/Stock/StockController.cs

@@ -28,7 +28,7 @@
        [HttpGet,HttpPost,Route("GroupPalletAsync"), AllowAnonymous]
        public async Task<bool> GroupPallet([FromBody]StockDTO stock)
        {
            return await Service.GroupPallet(stock);
            return await Service.GroupPalletAsync(stock);
        }

        /// <summary>
@@ -37,9 +37,9 @@
        /// <param name="stock"></param>
        /// <returns></returns>
        [HttpGet, HttpPost, Route("ChangePalletAsync"),AllowAnonymous]
        public async Task<bool> ChangePallet([FromBody] StockDTO stock)
        public async Task<bool> ChangePalletAsync([FromBody] StockDTO stock)
        {
            return await Service.ChangePallet(stock);
            return await Service.ChangePalletAsync(stock);
        }

        /// <summary>
@@ -48,9 +48,9 @@
        /// <param name="stock"></param>
        /// <returns></returns>
        [HttpGet, HttpPost, Route("SplitPalletAsync"), AllowAnonymous]
        public async Task<bool> SplitPallet([FromBody] StockDTO stock)
        public async Task<bool> SplitPalletAsync([FromBody] StockDTO stock)
        {
            return await Service.SplitPallet(stock);
            return await Service.SplitPalletAsync(stock);
        }

        /// <summary>
@@ -59,9 +59,9 @@
        /// <param name="stock"></param>
        /// <returns></returns>
        [HttpGet, HttpPost, Route("UpdateStockInfoAsync"), AllowAnonymous]
        public async Task<bool> UpdateStockInfo([FromBody] StockInfoDTO stock)
        public async Task<WebResponseContent> UpdateStockInfoAsync([FromBody] StockInfoDTO stock)
        {
            return await Service.UpdateStockInfo(stock);
            return await Service.UpdateStockInfoAsync(stock);
        }
    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/TaskInfo/TaskController.cs

@@ -28,10 +28,54 @@
        /// </summary>
        /// <param name="taskDto"></param>
        /// <returns></returns>
        [HttpPost("CreateTaskInbound"),AllowAnonymous]
        [HttpGet, HttpPost, Route("CreateTaskInbound"),AllowAnonymous]
        public async Task<WebResponseContent?> CreateTaskInboundAsync([FromBody] CreateTaskDto taskDto)
        {
            return await Service.CreateTaskInboundAsync(taskDto);
        }

        /// <summary>
        /// æ ¹æ®æŒ‡å®šçš„任务详情异步创建新的出库任务
        /// </summary>
        /// <param name="taskDto"></param>
        /// <returns></returns>
        [HttpGet, HttpPost, Route("CreateTaskOutbound"), AllowAnonymous]
        public async Task<WebResponseContent?> CreateTaskOutboundAsync([FromBody] CreateTaskDto taskDto)
        {
            return await Service.CreateTaskOutboundAsync(taskDto);
        }

        /// <summary>
        /// èŽ·å–可入库货位
        /// </summary>
        /// <param name="taskDto"></param>
        /// <returns></returns>
        [HttpGet, HttpPost, Route("GetTasksLocation"), AllowAnonymous]
        public async Task<WebResponseContent?> GetTasksLocationAsync([FromBody] CreateTaskDto taskDto)
        {
            return await Service.GetTasksLocationAsync(taskDto);
        }

        /// <summary>
        /// å…¥åº“任务完成：添加库存，修改货位状态，删除任务数据，添加历史任务数据
        /// </summary>
        /// <param name="taskDto"></param>
        /// <returns></returns>
        [HttpGet, HttpPost, Route("InboundFinishTask"), AllowAnonymous]
        public async Task<WebResponseContent?> InboundFinishTaskAsync([FromBody] CreateTaskDto taskDto)
        {
            return await Service.InboundFinishTaskAsync(taskDto);
        }

        /// <summary>
        /// å‡ºåº“任务完成 ï¼šä¿®æ”¹åº“存，修改货位状态，删除任务数据，添加历史任务数据
        /// </summary>
        /// <param name="taskDto"></param>
        /// <returns></returns>
        [HttpGet, HttpPost, Route("OutboundFinishTask"), AllowAnonymous]
        public async Task<WebResponseContent?> OutboundFinishTaskAsync([FromBody] CreateTaskDto taskDto)
        {
            return await Service.OutboundFinishTaskAsync(taskDto);
        }

        /// <summary>
@@ -39,7 +83,7 @@
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost("InOrOutCompleted"), AllowAnonymous]
        [HttpGet, HttpPost, Route("InOrOutCompleted"), AllowAnonymous]
        public async Task<WebResponseContent?> InOrOutCompletedAsync([FromBody] InputDto input)
        {
            return await Service.InOrOutCompletedAsync(input);
@@ -50,7 +94,7 @@
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost("SendLocationStatus"), AllowAnonymous]
        [HttpGet, HttpPost, Route("SendLocationStatus"), AllowAnonymous]
        public async Task<WebResponseContent?> SendLocationStatusAsync([FromBody] InputDto input)
        {
            return await Service.SendLocationStatusAsync(input);
@@ -61,7 +105,7 @@
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost("RequestOutbound"), AllowAnonymous]
        [HttpGet, HttpPost, Route("RequestOutbound"), AllowAnonymous]
        public async Task<WebResponseContent?> RequestOutboundAsync([FromBody] InputDto input)
        {
            return await Service.RequestOutboundAsync(input);
@@ -72,7 +116,7 @@
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost("GetPalletCodeCell"), AllowAnonymous]
        [HttpGet, HttpPost, Route("GetPalletCodeCell"), AllowAnonymous]
        public async Task<WebResponseContent?> GetPalletCodeCellAsync([FromBody] InputDto input)
        {
            return await Service.GetPalletCodeCellAsync(input);