现场修改提交

duyongjia

2024-11-19 05d580b4357829263c9c44449621ca6017576dcb

现场修改提交

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/FileContentIndex/16a40d16-80f0-4c73-a9a6-e28826d2b979.vsidx

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 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/FileContentIndex/33f3558c-adae-4d5b-a8db-37cdc93fc75a.vsidx

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 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/FileContentIndex/591ce19e-7364-4503-b4b3-a190a9a73366.vsidx

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 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/FileContentIndex/a239e3a6-c377-4c06-90b5-6cbecfe39546.vsidx

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 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/FileContentIndex/d04c6c27-9127-4d1a-aa0f-9cd4d8948537.vsidx

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 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/config/applicationhost.config

@@ -812,7 +812,7 @@
                </add>
            </traceFailedRequests>

            <traceProviderDefinitions>
             <traceProviderDefinitions>
                <add name="WWW Server" guid="{3a2a4e84-4c21-4981-ae10-3fda0d9b0f83}">
                    <areas>
                        <clear />
@@ -905,7 +905,7 @@
                <add name="CgiModule" lockItem="true" />
                <add name="FastCgiModule" lockItem="true" />
<!--                <add name="WebDAVModule" /> -->
                <add name="RewriteModule" />
                <add name="RewriteModule" /> 
                <add name="OutputCache" type="System.Web.Caching.OutputCacheModule" preCondition="managedHandler" />
                <add name="Session" type="System.Web.SessionState.SessionStateModule" preCondition="managedHandler" />
                <add name="WindowsAuthentication" type="System.Web.Security.WindowsAuthenticationModule" preCondition="managedHandler" />
@@ -923,7 +923,6 @@
                <add name="ConfigurationValidationModule" lockItem="true" />
                <add name="UrlRoutingModule-4.0" type="System.Web.Routing.UrlRoutingModule" preCondition="managedHandler,runtimeVersionv4.0" />
                <add name="ScriptModule-4.0" type="System.Web.Handlers.ScriptModule, System.Web.Extensions, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35" preCondition="managedHandler,runtimeVersionv4.0" />
                <add name="ServiceModel" type="System.ServiceModel.Activation.HttpModule, System.ServiceModel, Version=3.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" preCondition="managedHandler,runtimeVersionv2.0" />
                <add name="AspNetCoreModule" lockItem="true" />
                <add name="AspNetCoreModuleV2" lockItem="true" />
            </modules>
@@ -944,12 +943,6 @@
                <add name="cshtml-ISAPI-4.0_64bit" path="*.cshtml" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v4.0.30319\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv4.0,bitness64" responseBufferLimit="0" />
                <add name="vbhtm-ISAPI-4.0_64bit" path="*.vbhtm" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v4.0.30319\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv4.0,bitness64" responseBufferLimit="0" />
                <add name="vbhtml-ISAPI-4.0_64bit" path="*.vbhtml" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v4.0.30319\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv4.0,bitness64" responseBufferLimit="0" />
                <add name="svc-Integrated" path="*.svc" verb="*" type="System.ServiceModel.Activation.HttpHandler, System.ServiceModel, Version=3.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" preCondition="integratedMode,runtimeVersionv2.0" />
                <add name="svc-ISAPI-2.0" path="*.svc" verb="*" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness32" />
                <add name="xoml-Integrated" path="*.xoml" verb="*" type="System.ServiceModel.Activation.HttpHandler, System.ServiceModel, Version=3.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" preCondition="integratedMode,runtimeVersionv2.0" />
                <add name="xoml-ISAPI-2.0" path="*.xoml" verb="*" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness32" />
                <add name="rules-Integrated" path="*.rules" verb="*" type="System.ServiceModel.Activation.HttpHandler, System.ServiceModel, Version=3.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" preCondition="integratedMode,runtimeVersionv2.0" />
                <add name="rules-ISAPI-2.0" path="*.rules" verb="*" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness32" />
                <add name="AXD-ISAPI-4.0_32bit" path="*.axd" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v4.0.30319\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv4.0,bitness32" responseBufferLimit="0" />
                <add name="PageHandlerFactory-ISAPI-4.0_32bit" path="*.aspx" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v4.0.30319\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv4.0,bitness32" responseBufferLimit="0" />
                <add name="SimpleHandlerFactory-ISAPI-4.0_32bit" path="*.ashx" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v4.0.30319\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv4.0,bitness32" responseBufferLimit="0" />
@@ -1001,15 +994,12 @@
                <add name="WebServiceHandlerFactory-ISAPI-2.0" path="*.asmx" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness32" responseBufferLimit="0" />
                <add name="HttpRemotingHandlerFactory-rem-ISAPI-2.0" path="*.rem" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness32" responseBufferLimit="0" />
                <add name="HttpRemotingHandlerFactory-soap-ISAPI-2.0" path="*.soap" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness32" responseBufferLimit="0" />
                <add name="svc-ISAPI-2.0-64" path="*.svc" verb="*" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" />
                <add name="AXD-ISAPI-2.0-64" path="*.axd" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" responseBufferLimit="0" />
                <add name="PageHandlerFactory-ISAPI-2.0-64" path="*.aspx" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" responseBufferLimit="0" />
                <add name="SimpleHandlerFactory-ISAPI-2.0-64" path="*.ashx" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" responseBufferLimit="0" />
                <add name="WebServiceHandlerFactory-ISAPI-2.0-64" path="*.asmx" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" responseBufferLimit="0" />
                <add name="HttpRemotingHandlerFactory-rem-ISAPI-2.0-64" path="*.rem" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" responseBufferLimit="0" />
                <add name="HttpRemotingHandlerFactory-soap-ISAPI-2.0-64" path="*.soap" verb="GET,HEAD,POST,DEBUG" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" responseBufferLimit="0" />
                <add name="rules-64-ISAPI-2.0" path="*.rules" verb="*" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" />
                <add name="xoml-64-ISAPI-2.0" path="*.xoml" verb="*" modules="IsapiModule" scriptProcessor="%windir%\Microsoft.NET\Framework64\v2.0.50727\aspnet_isapi.dll" preCondition="classicMode,runtimeVersionv2.0,bitness64" />
                <add name="CGI-exe" path="*.exe" verb="*" modules="CgiModule" resourceType="File" requireAccess="Execute" allowPathInfo="true" />
                <add name="SSINC-stm" path="*.stm" verb="GET,HEAD,POST" modules="ServerSideIncludeModule" resourceType="File" />
                <add name="SSINC-shtm" path="*.shtm" verb="GET,HEAD,POST" modules="ServerSideIncludeModule" resourceType="File" />

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/HttpManager.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,98 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_Common
{
    public class HttpManager
    {
        public static Task<string> HttpPostAsync(string url, string postData = null, string contentType = "application/json", int timeOut = 30, Dictionary<string, string> headers = null)
        {
            HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
            request.Method = "POST";
            request.Timeout = 10000;
            if (!string.IsNullOrEmpty(contentType))
            {
                request.ContentType = contentType;

            }
            if (headers != null)
            {
                foreach (var header in headers)
                    request.Headers[header.Key] = header.Value;
            }

            try
            {
                byte[] bytes = Encoding.UTF8.GetBytes(postData ?? "");
                using (Stream sendStream = request.GetRequestStream())
                {
                    sendStream.Write(bytes, 0, bytes.Length);
                }

                using (HttpWebResponse response = (HttpWebResponse)request.GetResponse())
                {
                    Stream responseStream = response.GetResponseStream();
                    StreamReader streamReader = new StreamReader(responseStream, Encoding.UTF8);
                    return streamReader.ReadToEndAsync();
                }
            }
            catch (Exception ex)
            {
                return Task.FromResult(ex.Message);
            }

        }

        public static Task<string> HttpPost(string url, string postData)
        {
            HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
            request.Method = "POST";
            try
            {
                byte[] bytes = Encoding.UTF8.GetBytes(postData ?? "");
                using (Stream sendStream = request.GetRequestStream())
                {
                    sendStream.Write(bytes, 0, bytes.Length);
                }

                using (HttpWebResponse response = (HttpWebResponse)request.GetResponse())
                {
                    Stream responseStream = response.GetResponseStream();
                    StreamReader streamReader = new StreamReader(responseStream, Encoding.UTF8);
                    return streamReader.ReadToEndAsync();
                }
            }
            catch (Exception ex)
            {
                return Task.FromResult(ex.Message);
            }

        }
        public static Task<string> HttpGetAsync(string url, Dictionary<string, string> headers = null)
        {
            try
            {
                HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
                if (headers != null)
                {
                    foreach (var header in headers)
                        request.Headers[header.Key] = header.Value;
                }
                using (HttpWebResponse response = (HttpWebResponse)request.GetResponse())
                {
                    Stream responseStream = response.GetResponseStream();
                    StreamReader streamReader = new StreamReader(responseStream, Encoding.UTF8);
                    return streamReader.ReadToEndAsync();
                }
            }
            catch (Exception ex)
            {
                return Task.FromResult(ex.Message);
            }
        }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/LocationEnum/LocationStatusEnum.cs

@@ -30,10 +30,5 @@
        [Description("有货")]
        InStock = 2,


        PalletLock = 98,

        [Description("空托盘")]
        Pallet = 99
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/LocationEnum/LocationTypeEnum.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,42 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_Common.LocationEnum
{
    public enum LocationTypeEnum
    {
        /// <summary>
        /// æ­£å¸¸è´§ä½ 
        /// </summary>
        [Description("正常货位")]
        Normal = 1,

        /// <summary>
        /// ä¸Šæ–™è´§ä½
        /// </summary>
        [Description("上料货位")]
        Feeding= 2,

        /// <summary>
        /// å…¥åº“口货位
        /// </summary>
        [Description("入库口货位")]
        In = 3,

        /// <summary>
        /// ç©ºè½¦å‡ºåº“口货位
        /// </summary>
        [Description("空车出库口货位")]
        OutEmpty = 4,

        /// <summary>
        /// çª‘炉上料机货位
        /// </summary>
        [Description("窑炉上料机货位")]
        OutWorkUnit = 5
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/ServiceLog/ServiceLogger.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,78 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_Common.ServiceLog
{
    public class ServiceLogger
    {
        private static ReaderWriterLockSlim LogWriteLock = new ReaderWriterLockSlim();

        private static string folderPath = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Log\\" + DateTime.Now.ToString("yyyy-MM-dd"));

        private static int size = 10485760;

        private static string ext = ".log";

        public static void WriteLogToFile(string fileName, string log)
        {
            try
            {
                LogWriteLock.EnterWriteLock();
                if (!Directory.Exists(folderPath))
                {
                    Directory.CreateDirectory(folderPath);
                }

                string path = Path.Combine(folderPath, GetLastAccessFileName(fileName));
                DateTime now = DateTime.Now;
                string contents = $"【{now}】{Environment.NewLine}{log}";
                File.AppendAllText(path, contents);
            }
            catch
            {
            }
            finally
            {
                LogWriteLock.ExitWriteLock();
            }
        }

        private static string GetLogFilePath(string folderPath, string fileName)
        {
            string fileName2 = fileName;
            List<FileInfo> list = (from fi in new DirectoryInfo(folderPath).GetFiles()
                                   where fi.Name.ToLower().Contains(fileName2.ToLower()) && fi.Extension.ToLower() == ext.ToLower() && fi.Length < size
                                   select fi into d
                                   orderby d.Name descending
                                   select d).ToList();
            if (list.Count > 0)
            {
                return list.FirstOrDefault().FullName;
            }

            return Path.Combine(folderPath, fileName2 + "_" + DateTime.Now.ToString("HH-mm-ss") + ".log");
        }

        private static string GetLastAccessFileName(string fileName)
        {
            string[] existLogFileNames = GetExistLogFileNames(fileName);
            foreach (string text in existLogFileNames)
            {
                if (new FileInfo(text).Length < size)
                {
                    return text;
                }
            }

            return fileName + "_" + DateTime.Now.ToString("HH-mm-ss") + ".log";
        }

        public static string[] GetExistLogFileNames(string fileName)
        {
            return Directory.GetFiles(folderPath, fileName + "*.log");
        }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskStatusEnum.cs

@@ -10,34 +10,35 @@
    public enum TaskInStatusEnum
    {
        /// <summary>
        /// æ–°å»ºå…¥åº“任务
        /// æ–°å»ºå…¥åº“任务 å¯¹åº”WMS请求 1001-AGV请求是否允计进入
        /// </summary>
        [Description("新建入库任务")]
        InNew = 200,

        ///// <summary>
        ///// AGV入库执行中
        ///// </summary>
        //[Description("AGV入库执行中")]
        //AGV_InExecuting = 210,

        ///// <summary>
        ///// AGV入库完成
        ///// </summary>
        //[Description("AGV搬运完成")]
        //AGV_InFinish = 215,
        /// <summary>
        /// AGV入库执行中 å¯¹åº”WMS请求 3001-AGV放货完成
        /// </summary>
        [Description("AGV入库执行中")]
        AGV_InExecuting = 210,

        /// <summary>
        /// AGV入库完成   å¯¹åº”WMS请求 101-提升机提升完成
        /// </summary>
        [Description("AGV搬运完成")]
        AGV_InFinish = 215,

        /// <summary>
        /// è¾“送线入库执行中
        /// </summary>
        [Description("输送线入库执行中")]
        Line_InExecuting = 220,
        //[Description("输送线入库执行中")]
        //Line_InExecuting = 220,

        /// <summary>
        /// è¾“送线入库完成
        /// </summary>
        [Description("输送线输送完成")]
        Line_InFinish = 225,
        //[Description("输送线输送完成")]
        //Line_InFinish = 225,

        /// <summary>
        /// å †åž›æœºå…¥åº“执行中
@@ -99,14 +100,14 @@
        /// <summary>
        /// è¾“送线出库执行中
        /// </summary>
        [Description("输送线出库执行中")]
        Line_OutExecuting = 120,
        //[Description("输送线出库执行中")]
        //Line_OutExecuting = 120,

        /// <summary>
        /// è¾“送线出库完成
        /// </summary>
        [Description("输送线输送完成")]
        Line_OutFinish = 125,
        //[Description("输送线输送完成")]
        //Line_OutFinish = 125,

        ///// <summary>
        ///// AGV出库执行中

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs

@@ -14,21 +14,7 @@
        /// </summary>
        [Description("入库")]
        Inbound = 200,
        /// <summary>
        /// ç›˜ç‚¹å…¥åº“
        /// </summary>
        [Description("盘点入库")]
        InInventory = 201,
        /// <summary>
        /// åˆ†æ‹£å…¥åº“
        /// </summary>
        [Description("分拣入库")]
        InPick = 202,
        /// <summary>
        /// è´¨æ£€å…¥åº“
        /// </summary>
        [Description("质检入库")]
        InQuality = 203
       
    }

    public enum TaskOutboundTypeEnum
@@ -36,41 +22,42 @@
        /// <summary>
        /// å‡ºåº“
        /// </summary>
        [Description("出库")]
        Outbound = 100,
        //[Description("出库")]
        //Outbound = 100,
        /// <summary>
        /// ç›˜ç‚¹å‡ºåº“
        /// å¼‚常出库
        /// </summary>
        [Description("盘点出库")]
        [Description("异常出库")]
        OutInventory = 101,
        /// <summary>
        /// åˆ†æ‹£å‡ºåº“
        /// ç©ºè½¦å‡ºåº“
        /// </summary>
        [Description("分拣出库")]
        [Description("空车出库")]
        OutPick = 102,
        /// <summary>
        /// è´¨æ£€å‡ºåº“
        /// </summary>
        [Description("质检出库")]
        OutQuality = 103,

    }

    public enum TaskRelocationTypeEnum
    {
        /// <summary>
        /// åº“内移库
        /// ç§»åº“
        /// </summary>
        [Description("库内移库")]
        [Description("移库")]
        Relocation = 300,
        /// <summary>
        /// åº“外移库
        /// </summary>
        [Description("库外移库")]
        RelocationIn = 301
        //[Description("库外移库")]
        //RelocationIn = 301
    }

    public enum TaskOtherTypeEnum
    {
        /// <summary>
        /// ä¸Šæ–™
        /// </summary>
        [Description("上料")]
        Feed = 400,

    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/WIDESEAWCS_Common.csproj

@@ -6,4 +6,8 @@
    <Nullable>enable</Nullable>
  </PropertyGroup>

  <ItemGroup>
    <PackageReference Include="Newtonsoft.Json" Version="13.0.3" />
  </ItemGroup>

</Project>

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/DeliveryPlan.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,19 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.TaskInfo
{
    public class DeliveryPlan
    {
        public bool isUpKiln { get; set; } = false; // æ˜¯å¦ä¸ºä¸Šçª‘任务
        public string startPlan { get; set; } // èµ·å§‹åº“存位置
        public string endPlan { get; set; } // ç»ˆç‚¹åº“存位置
        public string CarId { get; set; }
        public bool isQuit { get; set; } = true; // æ˜¯å¦ä¸ºå¼‚常出库

        public bool isAtomatic { get; set; } = true; // æ˜¯å¦ä¸ºAGV入库， true：agv入库、false：手动入库
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/MESPeekBack.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,32 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.TaskInfo
{
    /// <summary>
    /// ä¸Šæ–™è¯·æ±‚回调实体
    /// </summary>
    public class MESPeekBack
    {
        public int cmd { get; set; }
        public int task_id { get; set; }
        public int src_rack { get; set; }
        public int src_col { get; set; }
        public int src_row { get; set; }
        public int dest_rack { get; set; }
        public int dest_col { get; set; }
        public int dest_row { get; set; }
        public int src_station { get; set; }
        public int dest_station { get; set; }
        public int size { get; set; } = 0;
        public int weight { get; set; } = 0;
        public string barcode { get; set; } = "";
        public int startIndex { get; set; }
        public int total { get; set; }
        public string CarId { get; set; }
        public int status { get; set; } = 6;
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/MESTaskDTO.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,71 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.TaskInfo
{
    /// <summary>
    /// WCS生成任务入参实体类
    /// </summary>
    public class MESTaskDTO
    {
        /// <summary>
        /// ä»»åŠ¡ç±»åž‹  è‡ªåŠ¨å…¥åº“申请-1001  æ‰‹åŠ¨å…¥åº“（AGV放货完成）-3001  å…¥åº“-101 ; ç§»åº“（移库，出库共用）-103;异常出库（退库）-102; ç©ºè½¦å‡ºåº“ -102; ä¸Šæ–™-104
        /// </summary>
        public int cmd { get; set; }
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public int task_id { get; set; }
        /// <summary>
        /// èµ·å§‹è¡Œ
        /// </summary>
        public int src_rack { get; set; }
        /// <summary>
        /// èµ·å§‹åˆ—
        /// </summary>
        public int src_col { get; set; }
        /// <summary>
        /// èµ·å§‹å±‚
        /// </summary>
        public int src_row { get; set; }
        /// <summary>
        /// ç›®æ ‡è¡Œ
        /// </summary>
        public int dest_rack { get; set; }
        /// <summary>
        /// ç›®æ ‡åˆ—
        /// </summary>
        public int dest_col { get; set; }
        /// <summary>
        /// ç›®æ ‡å±‚
        /// </summary>
        public int dest_row { get; set; }
        /// <summary>
        /// æºç«™ç‚¹
        /// </summary>
        public int src_station { get; set; }
        /// <summary>
        /// ç›®æ ‡ç«™ç‚¹
        /// </summary>
        public int dest_station { get; set; }
        public int size { get; set; } = 0;
        public int weight { get; set; } = 0;
        public string barcode { get; set; } = "";
        /// <summary>
        /// å½“前料车层数
        /// </summary>
        public int startIndex { get; set; }
        /// <summary>
        /// æ€»å±‚æ•°
        /// </summary>
        public int total { get; set; }
        /// <summary>
        /// æ–™è½¦å·
        /// </summary>
        public string CarId { get; set; }
        public int status { get; set; } = 6;
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs

@@ -55,6 +55,14 @@
        /// <returns>返回处理结果</returns>
        WebResponseContent ReceiveWMSTask([NotNull] List<WMSTaskDTO> taskDTOs);


        /// <summary>
        /// æŽ¥æ”¶MES任务信息
        /// </summary>
        /// <param name="taskDTO">MES任务对象集合</param>
        /// <returns>返回处理结果</returns>
        WebResponseContent ReceiveMESTask([NotNull] MESTaskDTO taskDTO);

        /// <summary>
        /// æ ¹æ®æ‰˜ç›˜å·ã€èµ·å§‹åœ°å€å‘WMS请求任务
        /// </summary>
@@ -96,12 +104,40 @@
        Dt_Task? QuertStackerCraneTask(string deviceNo, TaskTypeGroup? taskTypeGroup = 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–号按照优先级以及创建时间排序查询任务池新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        Dt_Task QueryStackerCraneTask(string deviceNo, string currentAddress = "");
        Dt_Task QueryStackerCraneTask(string deviceNo);

        /// <summary>
        /// æŸ¥è¯¢å°å †åž›æœºä»»åŠ¡
        /// </summary>
        /// <returns></returns>
        Dt_Task QueryStackerCraneTask();


        /// <summary>
        /// æŸ¥è¯¢å°å †åž›æœºå‡ºåº“完成任务
        /// </summary>
        /// <returns></returns>
        Dt_Task QueryStackerCraneFinishTask();

        /// <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>
        Dt_Task QueryStackerCraneTaskByAGVRequest(string deviceNo);


        /// <summary>
        /// å¯¹åº”WMS请求 3001-AGV放货完成
        /// </summary>
        /// <param name="deviceNo"></param>
        /// <returns></returns>
        Dt_Task QueryStackerCraneTaskByAGVPutFinish(string deviceNo);

        /// <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
@@ -137,9 +173,18 @@
        /// <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">任务号</param>
        /// <param name="status">任务状态</param>
        void UpdateTaskStatus(int taskNum, int status);
        void UpdateTaskStatus(int taskId, int status);


        /// <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="taskId">WMS上一环节(3001)的任务号</param>
        /// <param name="status">任务状态</param>
        void UpdateTaskStatus(int taskId, int oldtaskId, int status);

        /// <summary>
        /// å°†ä»»åŠ¡çŠ¶æ€ä¿®æ”¹ä¸ºä¸‹ä¸€ä¸ªçŠ¶æ€

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/Comm/ResponseModel.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,14 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_Model.Models.Comm
{
    public class ResponseModel
    {
        public int Status { get; set; }
        public string Message { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/Dt_Task.cs

@@ -104,7 +104,7 @@
        public string CurrentAddress { get; set; }

        /// <summary>
        /// ä¸‹ä¸€åœ°å€
        /// ä¸‹ä¸€åœ°å€ï¼ˆå…¥åº“æ—¶WMS发3001时用于存新任务号）
        /// </summary>
        [ImporterHeader(Name = "下一地址")]
        [ExporterHeader(DisplayName = "下一地址")]
@@ -128,7 +128,7 @@
        public int Grade { get; set; }

        /// <summary>
        /// WMS任务主键
        /// WMS任务主键 1表示手动入库
        /// </summary>
        [ImporterHeader(Name = "WMS任务主键")]
        [ExporterHeader(DisplayName = "WMS任务主键")]
@@ -144,7 +144,7 @@
        public DateTime? Dispatchertime { get; set; }

        /// <summary>
        /// å¤‡æ³¨
        /// å¤‡æ³¨  ç”¨äºŽå­˜ä¸Šæ–™æ–™è½¦çš„总层数和当前层数 æ ¼å¼ï¼šæ€»å±‚æ•°-当前层数
        /// </summary>
        [ImporterHeader(Name = "备注")]
        [ExporterHeader(DisplayName = "备注")]

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/Basic/LocationInfoController.cs

@@ -22,7 +22,7 @@
            _repository = repository;
        }

        [HttpPost, Route("InitializationLocation")]
        [HttpPost, Route("InitializationLocation"),AllowAnonymous]
        public WebResponseContent InitializationLocation([FromBody] InitializationLocationDTO initializationLocationDTO)
        {
            return Service.InitializationLocation(initializationLocationDTO);

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/Task/TaskController.cs

@@ -1,6 +1,7 @@
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
using System.Diagnostics.CodeAnalysis;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseController;
using WIDESEAWCS_DTO.TaskInfo;
@@ -48,5 +49,16 @@
        {
            return Service.RollbackTaskStatusToLast(taskNum);
        }

        /// <summary>
        /// æŽ¥æ”¶WMS任务信息
        /// </summary>
        /// <param name="taskDTO">MES任务对象</param>
        /// <returns>返回处理结果</returns>
        [HttpPost, Route("/WCS/V1/CMD"), AllowAnonymous]
        public WebResponseContent ReceiveMESTask([FromBody] MESTaskDTO taskDTO)
        {
            return Service.ReceiveMESTask(taskDTO);
        }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json

@@ -23,5 +23,8 @@
  },
  "ApiName": "WIDESEA",
  "ExpMinutes": 120,
  "QuartzJobAutoStart": true
  "QuartzJobAutoStart": true,
  "MESApi": "http://10.0.250.12:8888/agv/v1/CMD",
  "ConveyorLineApi": "http://10.0.250.12:8888/wcs/goBack"//空车出库任务信息获取地址

}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_StockRepository/StockInfoRepository.cs

@@ -101,7 +101,8 @@
        {
            //ISugarQueryable<string> locationCodes = Db.Queryable<Dt_LocationInfo>().Where(x => x.RoadwayNo == roadwayNo && x.LocationStatus == LocationStatusEnum.Pallet.ObjToInt() && (x.EnalbeStatus == LocationEnalbeStatusEnum.OnlyOut.ObjToInt() || LocationEnalbeStatusEnum.Normal.ObjToInt() == x.EnalbeStatus)).Select(x => x.LocationCode);

            return Db.Queryable<Dt_StockInfo>().Where(x => x.StockStatus == StockStatusEmun.已入库.ObjToInt() && SqlFunc.Subqueryable<Dt_LocationInfo>().Where(v => v.LocationCode == x.LocationCode && v.RoadwayNo == roadwayNo && v.LocationStatus == LocationStatusEnum.Pallet.ObjToInt() && (v.EnableStatus == EnableStatusEnum.OnlyOut.ObjToInt() || EnableStatusEnum.Normal.ObjToInt() == v.EnableStatus)).Any()).OrderBy(x => x.ModifyDate).First();
            //return Db.Queryable<Dt_StockInfo>().Where(x => x.StockStatus == StockStatusEmun.已入库.ObjToInt() && SqlFunc.Subqueryable<Dt_LocationInfo>().Where(v => v.LocationCode == x.LocationCode && v.RoadwayNo == roadwayNo && v.LocationStatus == LocationStatusEnum.Pallet.ObjToInt() && (v.EnableStatus == EnableStatusEnum.OnlyOut.ObjToInt() || EnableStatusEnum.Normal.ObjToInt() == v.EnableStatus)).Any()).OrderBy(x => x.ModifyDate).First();
            return null;
        }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/Common/ApiInvoke.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,53 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.TaskInfo;
using static System.Net.WebRequestMethods;

namespace WIDESEAWCS_TaskInfoService
{
    public class ApiInvoke
    {
        public static MESResponse SendTaskCMD(MESSendCMD sendCmd)
        {

            string postData = sendCmd.Serialize();
            string url = AppSettings.Configuration.GetSection("MESApi").Value;
            string response = "";
            try
            {
                response = HttpManager.HttpPostAsync(url, postData).Result;
                MESResponse res  = JsonConvert.DeserializeObject<MESResponse>(response);
                return res;
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }

        public static MESResponse DeliveryPlanCMD(DeliveryPlan sendCmd)
        {

            string postData = sendCmd.Serialize();
            string url = AppSettings.Configuration.GetSection("ConveyorLineApi").Value;
            string response = "";
            try
            {
                response = HttpManager.HttpPostAsync(url, postData).Result;
                MESResponse res = JsonConvert.DeserializeObject<MESResponse>(response);
                return res;
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }

    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/Common/MESResponse.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,15 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_TaskInfoService
{
    public class MESResponse
    {
        public int code { get; set; }
        public string message { get; set; }
        public object data {  get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/Common/MESSendCMD.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,28 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_TaskInfoService
{
    /// <summary>
    /// ä»»åŠ¡å®Œæˆå›žä¼ MES实体类
    /// </summary>
    public class MESSendCMD
    {
        /// <summary>
        /// ä»»åŠ¡ç±»åž‹ 
        /// </summary>
        public int cmd { get; set; }
        /// <summary>
        /// åˆ—
        /// </summary>
        public int task_id { get; set; }
        public int status { get; set; }




    }
}

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

@@ -74,9 +74,9 @@
                };
                BaseDal.AddData(taskExecuteDetail);
            }
            catch (Exception ex)
            catch (Exception)
            {

                throw;
            }
        }


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

@@ -18,6 +18,7 @@
using AutoMapper;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using SqlSugar.Extensions;
using System;
using System.Collections.Generic;
using System.ComponentModel;
@@ -26,11 +27,16 @@
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 +50,9 @@
        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 +66,18 @@

        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 +136,313 @@
            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
            {
               // ServiceLogger.WriteLogToFile("");
                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)
                {
                    return content = WebResponseContent.Instance.Error($"任务号重复，任务号：{taskDTO.task_id}");
                }
                Dt_LocationInfo locationsrc = _locationInfoRepository.QueryFirst(x => x.Remark == taskDTO.src_station.ToString());
                Dt_LocationInfo locationdsc = _locationInfoRepository.QueryFirst(x => x.Remark == taskDTO.dest_station.ToString());
                switch (taskDTO.cmd)
                {
                    case 1001://AGV请求入库
                        task.TaskType = (int)TaskInboundTypeEnum.Inbound;
                        task.TaskState = (int)TaskInStatusEnum.InNew;
                        task.Roadway = "SC01";
                        task.Grade = 2;
                        task.WMSId = 0;//表示自动入库
                        if (locationsrc != null)
                        {
                            task.SourceAddress = locationsrc.LocationCode;
                        }
                        else
                        {
                            return content = WebResponseContent.Instance.Error($"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
                            {
                                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, $"AGV入库执行中");
                                return content = WebResponseContent.Instance.OK($"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, $"AGV搬运完成");
                            return content = WebResponseContent.Instance.OK($"AGV搬运完成（101）更新状态成功，任务号：{taskinfo.TaskId}");
                        }
                        else
                        {
                            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
                        {
                           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
                            {
                              return  content = WebResponseContent.Instance.Error($"WCS未查询到目标站点对应的库位，目标站点：{task.TargetAddress.ToString()}");
                            }
                            //根据目标地址（组立机）查询默认的执行任务的小堆垛机编号
                            Dt_LocationInfo locationtemp2 = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.TargetAddress.ToString());
                            if (locationtemp2 != null)
                            {
                                task.Roadway = locationtemp2.Remark.Trim();//确定默认执行任务的小堆垛机编号
                            }
                            else
                            {
                                return content = WebResponseContent.Instance.Error($"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;
                task.Roadway = "SC01";
                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)
                    {
                        return content = WebResponseContent.Instance.Error($"源地址已禁用：{srcLocation.LocationCode}");
                    }
                    if (tarLocation.EnableStatus == (int)EnableStatusEnum.Disable)
                    {
                        return content = WebResponseContent.Instance.Error($"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)
                            {
                                return content = WebResponseContent.Instance.Error($"源地址已锁定：{srcLocation.LocationCode}");
                            }
                            if (tarLocation.LocationStatus == (int)LocationStatusEnum.Lock)
                            {
                                return content = WebResponseContent.Instance.Error($"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)
                        {
                            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)
                        {
                            return content = WebResponseContent.Instance.Error($"移库-源地址不是有货状态：{srcLocation.LocationCode}");
                        }
                        if(tarLocation.LocationStatus != (int)LocationStatusEnum.Free)
                        {
                            return content = WebResponseContent.Instance.Error($"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)
                        {
                            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)
                        {
                            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)
                        {
                            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
                {
                    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;
                }

                content = WebResponseContent.Instance.OK("成功",task);
                
            }
            catch (Exception ex)
            {
                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 +476,8 @@
            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 +497,8 @@
        /// <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 +509,8 @@
        /// <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 +521,64 @@
        /// <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 +588,11 @@
        /// <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 +658,32 @@
        /// <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 +740,7 @@
                    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;
@@ -440,55 +821,173 @@
                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, $"出库任务完成");
                        //提交事务
                        _unitOfWorkManage.CommitTran();
                        //出库完成，回传WMS
                        //回传到WMS
                        MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = task.TaskNum, status = 6 };
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {
                            content = WebResponseContent.Instance.Error($"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, $"堆垛机出库完成");
                    //todo åŒæ­¥åˆ°WMS
                    }
                    catch (Exception ex)
                    {
                        _unitOfWorkManage.RollbackTran();
                        content = WebResponseContent.Instance.Error($"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 };
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {
                            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}】");
                        }

                    }
                    catch (Exception ex)
                    {
                        _unitOfWorkManage.RollbackTran();
                        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);
                        srcLocation.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, $"出库任务完成");
                        //提交事务
                        _unitOfWorkManage.CommitTran();
                        //移库完成，回传MES
                        //回传到WMS
                        MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = task.TaskNum, status = 6 };
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {
                            content = WebResponseContent.Instance.Error($"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();
                        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, $"出库任务完成");
                        //提交事务
                        _unitOfWorkManage.CommitTran();
                        //上料完成，回传WMS
                        MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = task.TaskNum, status = 6 };
                        MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                        if (res != null && res.code != 0)
                        {
                            content = WebResponseContent.Instance.Error($"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 };
                                        ApiInvoke.DeliveryPlanCMD(send);//回调MES接口生成空车出库任务
                                 
                                    }
                                   
                                }
                              
                            }
                        }

                    }
                    catch (Exception ex)
                    {
                        _unitOfWorkManage.RollbackTran();
                        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
@@ -594,5 +1093,8 @@
            }
            return content;
        }



    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/WIDESEAWCS_TaskInfoService.csproj

@@ -8,6 +8,7 @@

    <ItemGroup>
        <ProjectReference Include="..\WIDESEAWCS_BasicInfoService\WIDESEAWCS_BasicInfoService.csproj" />
        <ProjectReference Include="..\WIDESEAWCS_IBasicRepository\WIDESEAWCS_IBasicRepository.csproj" />
        <ProjectReference Include="..\WIDESEAWCS_ITaskInfoService\WIDESEAWCS_ITaskInfoService.csproj" />
    </ItemGroup>


 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -1,4 +1,5 @@
using Microsoft.AspNetCore.Components.Routing;
using HslCommunication;
using Microsoft.AspNetCore.Components.Routing;
using Quartz;
using System;
using System.Collections.Generic;
@@ -7,40 +8,48 @@
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.StackerCraneJob;

namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class CommonStackerCraneJob : IJob
    public class CommonStackerCraneJob : JobBase, IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly ILocationInfoRepository _locationInfoRepository;

        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService,  ILocationInfoRepository locationInfoRepository)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _locationInfoRepository = locationInfoRepository;
        }

        public Task Execute(IJobExecutionContext context)
        {
            CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
            try
            {
                CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
            {  
                if (commonStackerCrane != null)
                {
                    if (!commonStackerCrane.IsEventSubscribed)
@@ -51,7 +60,7 @@
                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次

                        
                        if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            Dt_Task? task = GetTask(commonStackerCrane);
@@ -63,8 +72,22 @@
                                    bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        commonStackerCrane.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                      
                                        if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                                        {
                                            _taskService.UpdateTaskStatus(task.TaskId, (int)TaskInStatusEnum.SC_InExecuting);
                                            _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库执行中");
                                        }
                                        else if(task.TaskType == (int)TaskOutboundTypeEnum.OutInventory|| task.TaskType == (int)TaskOutboundTypeEnum.OutPick|| task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
                                        {
                                            _taskService.UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutExecuting);
                                            _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库执行中");
                                        }
                                    }
                                    else
                                    {
                                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, "堆垛机执行任务命令失败！");
                                        WriteDebug(nameof(CommonStackerCraneJob), "堆垛机执行任务命令失败！");
                                    }
                                }
                            }
@@ -74,8 +97,154 @@
            }
            catch (Exception ex)
            {
                Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
                WriteError(nameof(CommonStackerCraneJob), "大堆垛机执行任务异常！",ex);
            }


            //查询提升机/组立机信号
            //Task.Run(delegate
            //{
                try
                {
                   
                    if (commonStackerCrane != null)
                    {
                        Dt_Task? task1001 = _taskService.QueryStackerCraneTaskByAGVRequest("SC01");
                        if (task1001 != null)
                        {
                            //读取提升机信号，确定是否可以进入
                            int IsAllow = 0;
                            if (task1001.SourceAddress == "SC01-002-000-001")//WMS 1001站点
                            {
                                IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.0.0");
                            }
                            else if (task1001.SourceAddress == "SC01-002-000-002")//WMS 1002站点
                            {
                                IsAllow = commonStackerCrane.Communicator.Read<short>("DB2.8.0");
                            }
                            if (IsAllow == 1)//如果为1，则允计AGV进入，回传WMS
                            {
                                MESSendCMD sendcmd = new MESSendCMD { cmd = 2001, task_id = task1001.TaskNum, status = 6 };
                                MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                                if (res != null && res.code != 0)
                                {
                                    WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS失败！任务号{task1001.TaskNum}");
                                }
                            }
                        }
                        Dt_Task? task3001 = _taskService.QueryStackerCraneTaskByAGVPutFinish("SC01");
                        if (task3001 != null)
                        {
                            int IsFinish = 0;
                            int IsWriteOne = 0;
                            int IsWriteTwo = 0;
                            if (task3001.SourceAddress == "SC01-002-000-001")//WMS 1001站点
                            {
                                //写入提升信息
                                IsWriteOne = commonStackerCrane.Communicator.Read<short>("DB1.0.0");
                                if(IsWriteOne == 0) 
                                {
                                  
                                    commonStackerCrane.Communicator.Write<short>("DB1.0.0", 1);
                                }
                                //读取提升机信号，确定是否提升完成
                               
                                commonStackerCrane.Communicator.Read<short>("DB2.2.0");
                            }
                            else if (task3001.SourceAddress == "SC01-002-000-002")//WMS 1002站点
                            {
                                //写入提升信息
                                IsWriteTwo = commonStackerCrane.Communicator.Read<short>("DB1.6.0");
                                if (IsWriteTwo == 0)
                                {
                                    commonStackerCrane.Communicator.Write<short>("DB1.6.0", 1);
                                }    
                                //读取提升机信号，确定是否提升完成
                                IsFinish = commonStackerCrane.Communicator.Read<short>("DB2.10.0");
                            }
                            if (IsFinish == 1)//如果为1，则表示提升完成，回传WMS
                            {
                                MESSendCMD sendcmd = new MESSendCMD { cmd = 2002, task_id = task3001.TaskNum, status = 6 };
                                MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                                if (res != null && res.code != 0)
                                {
                                    WriteDebug(nameof(CommonStackerCraneJob), $"提升机提升完成，回传WMS失败！任务号{task3001.TaskNum}");
                                }

                            }
                        }

                        //小堆垛机出库完成任务
                        Dt_Task? taskSmall = _taskService.QueryStackerCraneFinishTask();
                        if(taskSmall != null)
                        {
                            //根据任务源地址确定写入PLC位置 Depth
                            Dt_LocationInfo location = _locationInfoRepository.QueryFirst(x=>x.LocationCode==taskSmall.SourceAddress);
                            if(location != null)
                            {
                                string[] Levels = taskSmall.Remark.Split("-");
                                if (Levels.Length == 2)
                                {
                                    if (!string.IsNullOrEmpty(Levels[0]) && !string.IsNullOrEmpty(Levels[1]))
                                    {
                                        int level = Convert.ToInt16(Levels[0]) - Convert.ToInt16(Levels[1]);
                                        //剩余层数写入
                                        bool issuccess = commonStackerCrane.Communicator.Write<short>("DB28." + location.Depth + ".0", Convert.ToInt16(level));
                                        //如果当前提取层数等于总层数，则表示料车所有的层数取完
                                        if (level == 0)
                                        {
                                            //源地址（暂存位）对应的目标地址（组立机）location.Remark 
                                            if (!string.IsNullOrEmpty(location.Remark))
                                            {
                                                //根据目标地址查询组立机站点信息，获取写入整车完成的DB块 Depth
                                                Dt_LocationInfo location2 = _locationInfoRepository.QueryFirst(x => x.LocationCode == location.Remark);
                                                //整车完成写入
                                                bool issuccess2 = commonStackerCrane.Communicator.Write<short>("DB28." + location.Depth+".0", 1);
                                                if (issuccess2&&issuccess)
                                                {
                                                    _taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
                                                    _taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"出库任务完成");
                                                }
                                                else
                                                {
                                                    WriteDebug(nameof(CommonStackerCraneJob), $"整车完成信号写入失败！任务号{taskSmall.TaskNum}");
                                                }
                                            }

                                        }
                                        else
                                        {

                                            if (issuccess)
                                            {
                                                _taskService.UpdateTaskStatus(taskSmall.TaskId, (int)TaskOutStatusEnum.OutFinish);
                                                _taskExecuteDetailService.AddTaskExecuteDetail(taskSmall.TaskId, $"出库任务完成");
                                            }
                                            else
                                            {
                                                WriteDebug(nameof(CommonStackerCraneJob), $"剩余层数信号写入失败！任务号{taskSmall.TaskNum}");
                                            }
                                        }

                                    }
                                }
                            }
                            
                        }


                    }
                }
                catch (Exception ex)
                {
                    WriteError(nameof(CommonStackerCraneJob), "查询或写入PLC状态失败！", ex);
                }
             

            //});



            return Task.CompletedTask;
        }

@@ -106,47 +275,7 @@
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        {
            Dt_Task task;
            if (commonStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
            }
            else
            {
                if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    }
                }
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                }
            }

            if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
                if (OutTaskStationIsOccupied(task) != null)
                {
                    return task;
                }
                else
                {
                    List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
                    List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
                    foreach (var item in tasks)
                    {
                        if (OutTaskStationIsOccupied(task) != null)
                        {
                            return task;
                        }
                    }
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                }
            }

            task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
            return task;
        }

@@ -195,94 +324,35 @@
            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            stackerCraneTaskCommand.TrayType = 0;
            if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
            string[] SourceCodes = task.SourceAddress.Split("-");
            if (SourceCodes.Length == 4)
            {
                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
                if (routers.Count > 0)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);

                    string[] targetCodes = task.NextAddress.Split("-");
                    if (targetCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                        stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                        stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                    }
                    else
                    {
                        //数据配置错误
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，起点：【{task.NextAddress}】");
                        return null;
                    }
                }
                else
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
                    return null;
                }
                stackerCraneTaskCommand.StartRow = Convert.ToInt16(SourceCodes[1]);
                stackerCraneTaskCommand.StartColumn = Convert.ToInt16(SourceCodes[2]);
                stackerCraneTaskCommand.StartLayer = Convert.ToInt16(SourceCodes[3]);
            }
            else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            else
            {
                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
                if (routers.Count > 0)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);

                    string[] sourceCodes = task.CurrentAddress.Split("-");
                    if (sourceCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                        stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                        stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                    }
                    else
                    {
                        //数据配置错误
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
                        return null;
                    }
                }
                else
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机放货站台信息");
                    return null;
                }
                //数据配置错误
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
                return null;
            }
            else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
            string[] targetCodes = task.TargetAddress.Split("-");
            if (targetCodes.Length == 4)
            {
                string[] targetCodes = task.NextAddress.Split("-");
                if (targetCodes.Length == 3)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，起点：【{task.NextAddress}】");
                    return null;
                }
                string[] sourceCodes = task.CurrentAddress.Split("-");
                if (sourceCodes.Length == 3)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
                    return null;
                }
                stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
                stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
            }
            else
            {
                //数据配置错误
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务目标地址配置错误");
                return null;
            }
            return stackerCraneTaskCommand;
        }


    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/DoubleStackerCraneJob.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,303 @@
using HslCommunication;
using Microsoft.AspNetCore.Components.Routing;
using Quartz;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_IBasicRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.StackerCraneJob;

namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class DoubleStackerCraneJob : JobBase, IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly IDeviceInfoService _deviceInfoService;
        private readonly IDeviceInfoRepository _deviceInfoRepository;
        private readonly ILocationInfoRepository _locationInfoRepository;

        public DoubleStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IDeviceInfoService deviceInfoService, IDeviceInfoRepository deviceInfoRepository, ILocationInfoRepository locationInfoRepository)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _deviceInfoService = deviceInfoService;
            _deviceInfoRepository = deviceInfoRepository;
            _locationInfoRepository = locationInfoRepository;
        }

        public Task Execute(IJobExecutionContext context)
        {
            try
            {
                CommonStackerCrane? stackerCraneOne = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC02") as CommonStackerCrane;
                CommonStackerCrane? stackerCraneTwo = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC03") as CommonStackerCrane;

                Dt_DeviceInfo deviceSC02= _deviceInfoRepository.QueryFirst(x => x.DeviceCode == "SC02");
                Dt_DeviceInfo deviceSC03 = _deviceInfoRepository.QueryFirst(x => x.DeviceCode == "SC03");
                if(deviceSC02.DeviceStatus=="0")
                {
                    stackerCraneOne = null;
                }
                if(deviceSC03.DeviceStatus=="0")
                {
                    stackerCraneTwo = null;
                }
                Dt_Task? task = GetTask();
                if (task != null)
                {
                    CommonStackerCrane? StackerCrane= GetStrackerCrane(task, stackerCraneOne, stackerCraneTwo);
                    if(StackerCrane != null)
                    {
                        StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                        if (stackerCraneTaskCommand != null)
                        {
                            bool sendFlag = StackerCrane.SendCommand(stackerCraneTaskCommand); ;
                            if (sendFlag)
                            {
                                _taskService.UpdateTaskStatus(task.TaskId, (int)TaskOutStatusEnum.SC_OutExecuting);
                                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库执行中");

                            }
                            else
                            {
                                _taskService.UpdateTaskExceptionMessage(task.TaskNum, "堆垛机执行任务命令失败！");
                                WriteDebug(nameof(CommonStackerCraneJob), "堆垛机执行任务命令失败！");
                            }
                        }

                    }
                    else
                    {
                        WriteDebug(nameof(CommonStackerCraneJob), "未查询到当前可以执行上料任务的小堆垛机！");
                    }
                  
                }

            }
            catch (Exception ex)
            {
                WriteError(nameof(CommonStackerCraneJob), "小堆垛机执行任务异常！", ex);
            }
            return Task.CompletedTask;
        }

        /// <summary>
        /// ä»»åŠ¡å®Œæˆäº‹ä»¶è®¢é˜…的方法
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
        {
            CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
            if (commonStackerCrane != null)
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
            }
        }

        /// <summary>
        /// èŽ·å–任务
        /// </summary>
        /// <param name="commonStackerCrane">堆垛机对象</param>
        /// <returns></returns>
        private Dt_Task? GetTask()
        {
            Dt_Task task;
            task = _taskService.QueryStackerCraneTask();
            return task;
        }

        /// <summary>
        /// æŸ¥è¯¢ä¸Šæ–™çš„堆垛机,先查询默认堆垛机，如果不正常，再查询另外一台堆垛机，如果都不正常返回null
        /// </summary>
        /// <returns></returns>
        private CommonStackerCrane? GetStrackerCrane(Dt_Task task, CommonStackerCrane stackerCraneOne, CommonStackerCrane stackerCraneTwo)
        {
            if(task.Roadway=="SC02")
            {
                if (stackerCraneOne != null)
                {
                    if (!stackerCraneOne.IsEventSubscribed)
                    {
                        stackerCraneOne.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }
                    if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        stackerCraneOne.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                        if (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            return stackerCraneOne;
                        }

                    }
                    else//不能正常工作状态
                    {
                        if (stackerCraneTwo != null)
                        {
                            if (!stackerCraneTwo.IsEventSubscribed)
                            {
                                stackerCraneTwo.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                            }
                            if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
                            {
                                stackerCraneTwo.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                                if (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                                {
                                    return stackerCraneTwo;
                                }
                            }

                        }


                    }
                }
            }
            else if (task.Roadway=="SC03")
            {
                if (stackerCraneTwo != null)
                {
                    if (!stackerCraneTwo.IsEventSubscribed)
                    {
                        stackerCraneTwo.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }
                    if (stackerCraneTwo.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneOne.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        stackerCraneTwo.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                        if (stackerCraneTwo.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            return stackerCraneTwo;
                        }
                    }
                    else
                    {
                        if (stackerCraneOne != null)
                        {
                            if (!stackerCraneOne.IsEventSubscribed)
                            {
                                stackerCraneOne.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                            }
                            if (stackerCraneOne.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && stackerCraneTwo.StackerCraneStatusValue == StackerCraneStatus.Normal)
                            {
                                stackerCraneOne.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次
                                if (stackerCraneOne.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                                {
                                    return stackerCraneOne;
                                }
                            }
                        }

                    }
                }

            }
            return null;
        }



        /// <summary>
        /// ä»»åŠ¡å®žä½“转换成命令Model
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();

            stackerCraneTaskCommand.Barcode = task.PalletCode;
            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            if(string.IsNullOrEmpty(task.Remark))//总层数和层数是否为空
            {
                return null;
            }
            string[] Levels = task.Remark.Split("-");
            if (Levels.Length == 2)
            {
                //托盘类型 1:9层   2:4层
                if (!string.IsNullOrEmpty(Levels[0]))
                {
                    if (Levels[0].ToString()=="9")
                    {
                        stackerCraneTaskCommand.TrayType = 1;
                    }
                    else 
                    {
                        stackerCraneTaskCommand.TrayType = 2;
                    }   
                }
                //料车具体的层数
                if (!string.IsNullOrEmpty(Levels[1]))
                {  
                   stackerCraneTaskCommand.StartLayer =Convert.ToInt16(Levels[1]);
                }
            }
            else
            {
                return null;
            }


            string[] SourceCodes = task.SourceAddress.Split("-");
            if (SourceCodes.Length == 4)
            {
                stackerCraneTaskCommand.StartRow = Convert.ToInt16(SourceCodes[1]);
                stackerCraneTaskCommand.StartColumn = Convert.ToInt16(SourceCodes[2]);
               // stackerCraneTaskCommand.StartLayer = Convert.ToInt16(SourceCodes[3]);
            }
            else
            {
                //数据配置错误
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
                return null;
            }
            string[] targetCodes = task.TargetAddress.Split("-");
            if (targetCodes.Length == 4)
            {
                stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
                stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
            }
            else
            {
                //数据配置错误
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务目标地址配置错误");
                return null;
            }
            return stackerCraneTaskCommand;
        }


    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj

@@ -7,7 +7,7 @@
    </PropertyGroup>

    <ItemGroup>
      <PackageReference Include="WIDESEAWCS_QuartzJob" Version="2.0.4" />
      <PackageReference Include="WIDESEAWCS_QuartzJob" Version="2.1.0" />
    </ItemGroup>

    <ItemGroup>

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@@ -0,0 +1,19 @@
{
    "cmd": 101,
    "task_id": 7871,
    "src_rack": 2,
    "src_col": 0,
    "src_row": 1,
    "dest_rack": 2,
    "dest_col": 5,
    "dest_row": 3,
    "src_station": 0,
    "dest_station": 0,
    "size": 0,
    "weight": 0,
    "barcode": "",
    "startIndex": 0,
    "total": 9,
    "carId": "8044",
    "status": 2
}

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@@ -0,0 +1,19 @@
{
    "cmd": 102,
    "task_id": 7872,
    "src_rack": 2,
    "src_col": 5,
    "src_row": 2,
    "dest_rack":0 ,
    "dest_col":0 ,
    "dest_row":0 ,
    "src_station": 0,
    "dest_station": 1001,
    "size": 0,
    "weight": 0,
    "barcode": "",
    "startIndex": 0,
    "total": 9,
    "carId": "8044",
    "status": 2
}

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