using AngleSharp.Dom;
using log4net.Core;
using Mapster;
using Masuit.Tools;
using Microsoft.EntityFrameworkCore.Storage.ValueConversion.Internal;
using NewLife;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using OfficeOpenXml.Table.PivotTable;
using SixLabors.Fonts.Tables.AdvancedTypographic;
using SqlSugar;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Linq.Expressions;
using System.Reflection;
using System.Reflection.Metadata;
using System.Security.Policy;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using WIDESEA_Cache;
using WIDESEA_Common;
using WIDESEA_Core.BaseRepository;
using WIDESEA_Core.Const;
using WIDESEA_Core.Enums;
using WIDESEA_DTO.Basic;
using WIDESEA_DTO.ERP;
using WIDESEA_DTO.Location;
using WIDESEA_DTO.Stock;
using WIDESEA_DTO.WMS;
using WIDESEA_IOrderRepository;
using WIDESEA_IServices;
using WIDESEA_Model.Models;
using WIDESEA_Model.Models.Basic;
using WIDESEA_Model.Models.ERP;
using WIDESEA_Model.Models.Order;
using WIDESEA_OrderRepository;
using WIDESEA_StorageTaskRepository;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_QuartzJob.Models;
using static System.Collections.Specialized.BitVector32;

namespace WIDESEA_StorageTaskServices;

public partial class Dt_TaskService : ServiceBase<Dt_Task, IDt_TaskRepository>, IDt_TaskService
{
    private readonly LogFactory LogFactory = new LogFactory();
    private readonly IUnitOfWorkManage _unitOfWorkManage;
    private readonly IStockInfoRepository _stockInfoRepository;
    private readonly IStockInfoDetailRepository _stockInfoDetailRepository;
    private readonly IDt_Task_HtyRepository _task_HtyRepository;
    private readonly IMapper _mapper;
    private readonly ILocationInfoRepository _locationRepository;
    private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
    private readonly ILocationStatusChangeRecordRepository _locationStatusChangeRecordRepository;
    private readonly IBoxingInfoRepository _boxingInfoRepository; //组盘
    private readonly IDt_AreaInfoRepository _areaInfoRepository; //区域
    private readonly IDt_StationManagerRepository _stationManagerRepository;
    private readonly ISys_ConfigService _configService;
    private readonly IDt_OrderOutDetailsRepository _orderOutDetailsRepository;
    private readonly IDt_WareAreaInfoRepository _wareAreaInfoRepository;
    private readonly IDt_InventoryRecordRepository _inventoryRecordRepository;

    public Dt_TaskService(IDt_TaskRepository BaseDal,
                                IUnitOfWorkManage unitOfWorkManage,
                                IStockInfoRepository stockInfoRepository,
                                IDt_Task_HtyRepository task_HtyRepository,
                                IMapper mapper,
                                ILocationInfoRepository locationRepository,
                                ITaskExecuteDetailRepository taskExecuteDetailRepository,
                                ILocationStatusChangeRecordRepository locationStatusChangeRecordRepository,
                                IBoxingInfoRepository boxingInfoRepository,
                                IDt_AreaInfoRepository areaInfoRepository,
                                IStockInfoDetailRepository stockInfoDetailRepository,
                                IDt_StationManagerRepository stationManagerRepository,
                                ISys_ConfigService configService,
                                IDt_OrderOutDetailsRepository orderOutDetailsRepository,
                                IDt_WareAreaInfoRepository wareAreaInfoRepository,
                                IDt_InventoryRecordRepository inventoryRecordRepository) : base(BaseDal)
    {
        _unitOfWorkManage = unitOfWorkManage;
        _stockInfoRepository = stockInfoRepository;
        _task_HtyRepository = task_HtyRepository;
        _mapper = mapper;
        _locationRepository = locationRepository;
        _taskExecuteDetailRepository = taskExecuteDetailRepository;
        _locationStatusChangeRecordRepository = locationStatusChangeRecordRepository;
        _boxingInfoRepository = boxingInfoRepository;
        _areaInfoRepository = areaInfoRepository;
        _stockInfoDetailRepository = stockInfoDetailRepository;
        _stationManagerRepository = stationManagerRepository;
        _configService = configService;
        _orderOutDetailsRepository = orderOutDetailsRepository;
        _wareAreaInfoRepository = wareAreaInfoRepository;
        _inventoryRecordRepository = inventoryRecordRepository;
    }

    #region 外部接口方法

    #region 出库任务完成

    public async Task<WebResponseContent> CompleteOutboundTaskAsync(Dt_Task task, DtStockInfo stock)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            if (task.TaskState.GetTaskStateGroup() == TaskStateGroup.CarryGroup)
            {
                var result1 = UpdateLocationStatus(task.SourceAddress, LocationEnum.Free, task.TaskNum.Value, StatusChangeTypeEnum.AutomaticOutbound);
                await _locationStatusChangeRecordRepository.AddDataAsync(result1.Item1);
                await _locationRepository.UpdateDataAsync(result1.Item2);
            }

            task.TaskState = (int)TaskOutStatusEnum.OutFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
            taskHty.FinishTime = DateTime.Now;
            taskHty.OperateType = App.User.UserName != null ? (int)OperateTypeEnum.人工完成 : (int)OperateTypeEnum.自动完成;
            taskHty.Creater = App.User.UserName != null ? App.User.UserName : "System";
            stock.ModifyDate = DateTime.Now;
            stock.LocationCode = task.TargetAddress;
            var result2 = UpdateLocationStatus(task.TargetAddress, LocationEnum.InStock, task.TaskNum.Value, StatusChangeTypeEnum.AutomaticOutbound);

            DtStockInfo_Hty stockInfo_Hty = stock.Adapt<DtStockInfo_Hty>();
            var orderDetails = _orderOutDetailsRepository.QueryData(x => x.PalletCode == task.PalletCode);
            List<Dt_OrderOutDetails_Hty> orderdetailshtys = new List<Dt_OrderOutDetails_Hty>();

            orderDetails.ForEach(item =>
        {
            orderdetailshtys.Add(item.Adapt<Dt_OrderOutDetails_Hty>());
        });

            await ERPAllocateOut(stock);

            //调拨出库
            if (task.TaskType == (int)TaskOutboundTypeEnum.OutAllocate)
            {
                if (orderDetails.Count > 0)
                    await ERPAllocate(orderDetails.Where(x => x.OrderType == (int)OrderTypeEmun.调拨出库单).ToList());
            }
            //其他出库
            else if (task.TaskType == (int)TaskOutboundTypeEnum.OutOther)
            {
                if (orderDetails.Count > 0)
                {
                    await ERPMixedSend(orderDetails.Where(x => x.OrderType == (int)OrderTypeEmun.其他出库单).ToList());
                }
            }
            //生产领料出库
            else if (task.TaskType == (int)TaskOutboundTypeEnum.MaterialRequisition)
            {
                if (orderDetails.Count > 0)
                {
                    content = await ERPProduction(orderDetails.Where(x => x.OrderType == (int)OrderTypeEmun.生产领料单).ToList());
                }
            }

            var boxingInfo = await _boxingInfoRepository.QueryFirstNavAsync(x => x.PalletCode == stock.PalletCode);
            if (boxingInfo != null)
            {
                var mergedDetails = boxingInfo.BoxingInfoDetails
                        .GroupBy(x => new { x.MaterielCode, x.MaterielName })
                        .Select(g => new DtBoxingInfoDetail
                        {
                            MaterielCode = g.Key.MaterielCode,
                            MaterielName = g.Key.MaterielName,
                            DemandClassification = g.FirstOrDefault().DemandClassification,
                            Warehouse = "WMS出库缓存区",
                            WareHouseId = "205",
                            OrderNo = g.FirstOrDefault().OrderNo,
                            Unit = g.FirstOrDefault().Unit,
                            Specs = g.FirstOrDefault().Specs,
                            Weight = g.FirstOrDefault().Weight,
                            DrawingNumber = g.FirstOrDefault().DrawingNumber,
                            Date = g.FirstOrDefault().Date,
                            Remark = g.FirstOrDefault().Remark,
                            Quantity = g.Sum(item => item.Quantity),
                        })
                        .ToList();
                boxingInfo.BoxingInfoDetails = mergedDetails;
            }

            //await _unitOfWorkManage.UseTranAsync(async () =>
            //{
            _unitOfWorkManage.BeginTran();
                await DeleteStockInfoAsync(stock.Id);
                _boxingInfoRepository.UpdateDataNav(boxingInfo);
                await DeleteStockInfoDetailsAsync(stock.StockInfoDetails);
                await AddStockInfoHtyAsync(stockInfo_Hty);
                await _locationStatusChangeRecordRepository.AddDataAsync(result2.Item1);
                await _locationRepository.UpdateDataAsync(result2.Item2);
                await _orderOutDetailsRepository.DeleteDataAsync(orderDetails);
                await SqlSugarHelper.DbWMS.Insertable(orderdetailshtys).ExecuteCommandAsync();

                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
            _unitOfWorkManage.CommitTran();
            //});
            content.OK("出库完成");

        }
        catch (Exception ex)
        {
            _unitOfWorkManage.RollbackTran();
            task.ErrorMessage = ex.Message;
            await BaseDal.UpdateDataAsync(task);
            return content.Error(ex.Message);
        }
        return content;
    }

    #endregion 出库任务完成

    #region 移库任务完成

    /// <summary>
    /// 移库任务完成
    /// </summary>
    /// <param name="saveModel">任务数据合集</param>
    /// <returns>返回结果集</returns>
    public async Task<WebResponseContent> CompleteTransferTaskAsync(Dt_Task task, DtStockInfo stock)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var locationStart = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.SourceAddress);
            var locationEnd = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.TargetAddress);

            task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
            taskHty.FinishTime = DateTime.Now;
            taskHty.OperateType = App.User.UserName != null ? (int)OperateTypeEnum.人工完成 : (int)OperateTypeEnum.自动完成;
            taskHty.Creater = App.User.UserName != null ? App.User.UserName : "System";

            if (stock != null)
            {
                stock.ModifyDate = DateTime.Now;
                stock.LocationCode = task.TargetAddress;
            }
            var result1 = UpdateLocationStatus(locationStart.LocationCode, LocationEnum.Free, task.TaskNum.Value, StatusChangeTypeEnum.AutomaticRelocation);
            var result2 = UpdateLocationStatus(locationEnd.LocationCode, LocationEnum.InStock, task.TaskNum.Value, StatusChangeTypeEnum.AutomaticRelocation);
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await _locationStatusChangeRecordRepository.AddDataAsync(result1.Item1);
                await _locationRepository.UpdateDataAsync(result1.Item2);
                await _locationStatusChangeRecordRepository.AddDataAsync(result2.Item1);
                await _locationRepository.UpdateDataAsync(result2.Item2);
                if (stock != null)
                    _stockInfoRepository.UpdateData(stock);
                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
            });
            content.OK("移库完成");
        }
        catch (Exception err)
        {
            Console.WriteLine(err.Message.ToString());
        }
        return content;
    }

    #endregion 移库任务完成

    #region 入库任务完成

    /// <summary>
    /// 完成入库任务
    /// </summary>
    /// <param name="task">任务数据合集</param>
    /// <returns>返回结果集</returns>
    public async Task<WebResponseContent> CompleteInboundTaskAsync(Dt_Task task)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var boxinfo = await _boxingInfoRepository.QueryFirstNavAsync(x => x.PalletCode == task.PalletCode);

            if (boxinfo == null)
            {
                return content.Error("未找到组盘数据");
            }

            if (task.TaskState.GetTaskStateGroup() == TaskStateGroup.CarryGroup)
            {
                var result1 = UpdateLocationStatus(task.SourceAddress, LocationEnum.Free, task.TaskNum.Value, StatusChangeTypeEnum.AutomaticInbound);
                await _locationStatusChangeRecordRepository.AddDataAsync(result1.Item1);
                await _locationRepository.UpdateDataAsync(result1.Item2);
            }

            

            var stock = CreateStock(boxinfo, task);

            task.TaskState = (int)TaskInStatusEnum.InFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
            taskHty.FinishTime = DateTime.Now;
            taskHty.OperateType = App.User.UserName != null ? (int)OperateTypeEnum.人工完成 : (int)OperateTypeEnum.自动完成;
            taskHty.Creater = App.User.UserName != null ? App.User.UserName : "System";

            var result2 = UpdateLocationStatus(task.TargetAddress, LocationEnum.InStock, task.TaskNum.Value, StatusChangeTypeEnum.AutomaticInbound);

            //await _unitOfWorkManage.UseTranAsync(async () =>
            //{
            _unitOfWorkManage.BeginTran();
            await _stockInfoRepository.AddDataNavAsync(stock);
                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
                await _locationStatusChangeRecordRepository.AddDataAsync(result2.Item1);
                await _locationRepository.UpdateDataAsync(result2.Item2);
            _unitOfWorkManage.CommitTran();
            //});
            await ERPAllocate(boxinfo);
            content.OK("入库完成");
        }
        catch (Exception ex)
        {
            _unitOfWorkManage.RollbackTran();
            task.ErrorMessage = ex.Message;
            await BaseDal.UpdateDataAsync(task);
            return content.Error(ex.Message);
        }
        return content;
    }

    public DtStockInfo CreateStock(DtBoxingInfo boxingInfo,Dt_Task task)
    {
        var boxDetail = boxingInfo.BoxingInfoDetails.Adapt<List<DtStockInfoDetail>>();
        boxDetail.ForEach(x =>
        {
            x.Status = (int)StockStateEmun.已入库;
        });
        var mergedDetails = boxDetail
                        .GroupBy(x => new { x.MaterielCode, x.MaterielName })
                        .Select(g => new DtStockInfoDetail
                        {
                            MaterielCode = g.Key.MaterielCode,
                            MaterielName = g.Key.MaterielName,
                            DemandClassification = g.FirstOrDefault().DemandClassification,
                            Warehouse = "智能立库",
                            WareHouseId = "107",
                            OrderNo = g.FirstOrDefault().OrderNo,
                            Unit = g.FirstOrDefault().Unit,
                            Specs = g.FirstOrDefault().Specs,
                            Weight = g.FirstOrDefault().Weight,
                            OutboundQuantity = g.FirstOrDefault().OutboundQuantity,
                            DrawingNumber = g.FirstOrDefault().DrawingNumber,
                            Date = g.FirstOrDefault().Date,
                            AllocateWarehouse = g.FirstOrDefault().AllocateWarehouse,
                            Remark = g.FirstOrDefault().Remark,
                            Quantity = g.Sum(item => item.Quantity),
                        })
                        .ToList();
        return new DtStockInfo()
        {
            PalletCode = task.PalletCode,
            LocationCode = task.TargetAddress,
            CreateDate = DateTime.Now,
            Creater = "system",
            IsFullExit = boxingInfo.IsFullExit,
            StockInfoDetails = mergedDetails,
            StockStatus = (int)StockStateEmun.已入库
        };
    }
    #endregion 入库任务完成

    #region 任务完成

    /// <summary>
    /// 完成任务
    /// </summary>
    /// <param name="taskNum">任务编号</param>
    /// <returns>返回结果集</returns>
    public async Task<WebResponseContent> CompleteAsync(int taskNum)
    {
        // 初始化响应内容
        WebResponseContent content = new WebResponseContent();

        // 提取任务数据
        LogFactory.GetLog("任务完成").InfoFormat(true, "提取任务数据", $"任务号：{taskNum}");

        // 验证任务是否存在
        var task = await GetByTaskNum(taskNum);
        if (task == null)
        {
            return content.Error("任务不存在");
        }
        LogFactory.GetLog("任务完成").InfoFormat(true, "验证任务是否存在", JsonConvert.SerializeObject(task));


        // 验证库存是否存在
        var stock = await _stockInfoRepository.QueryFirstNavAsync(x => x.PalletCode == task.PalletCode);

        if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
        {
            return await CompleteOutboundTaskAsync(task, stock);
        }
        else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
        {
            return await CompleteInboundTaskAsync(task);
        }
        else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
        {
            return await CompleteTransferTaskAsync(task, stock);
        }
        else
        {
            return content.Error("未找到任务类型");
        }
    }

    #endregion 任务完成

    #region 取消任务
    public WebResponseContent TaskCancel(int taskNum)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null)
            {
                return content = WebResponseContent.Instance.Error("未找到任务信息");
            }
            _unitOfWorkManage.BeginTran();
            MethodInfo? methodInfo = GetType().GetMethod(((TaskTypeEnum)task.TaskType) + "TaskCancel");
            if (methodInfo != null)
            {
                WebResponseContent? responseContent = (WebResponseContent?)methodInfo.Invoke(this, new object[] { task });
                if (responseContent != null)
                {
                    if (responseContent != null)
                    {
                        
                    }
                }
            }
            return content = WebResponseContent.Instance.Error("未找到任务类型对应业务处理逻辑");
        }
        catch (Exception ex)
        {
            _unitOfWorkManage.RollbackTran();
            return content = WebResponseContent.Instance.Error(ex.Message);
        }
    }
    #endregion

    #region 请求任务入库

    public async Task<WebResponseContent> RequestInboundTaskAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = BaseDal.QueryFirst(x => x.PalletCode == taskDto.PalletCode);
            if (task != null)
            {
                return content.Error("该托盘已经存在任务，请勿重复下发");
            }

            var boxingInfo = await _boxingInfoRepository.QueryFirstNavAsync(x => x.PalletCode == taskDto.PalletCode && x.StockStatus == (int)StockStateEmun.组盘暂存);

            if (boxingInfo == null)
            {
                return content.Error("托盘信息不存在，请确认托盘已组盘成功");
            }

            //foreach (var item in boxingInfo.BoxingInfoDetails)
            //{
            //    var ERPStock = SqlSugarHelper.DBERP.Queryable<用友即时库存_ST>().Where(x => x.存储地点名称 == item.Warehouse && x.料号 == item.MaterielCode && x.品名 == item.MaterielName && x.库存数量 >= item.Quantity).ToList().FirstOrDefault();
            //    if (ERPStock == null)
            //    {
            //        return content.Error($"组盘数据未在ERP库存数据中，请人工确认数据是否正确");
            //    }
            //}

            var StartAddress = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);
            if (StartAddress == null)
            {
                return content.Error("起点库位未找到");
            }
            if (!LocationIsOutBound(StartAddress))
            {
                return content.Error($"起点库位{StartAddress.LocationCode}搬运路径被占用，请人工确认再下发任务");
            }
            Dt_Task taskNew = new Dt_Task();
            var area = _areaInfoRepository.QueryFirst(x => x.AreaID == taskDto.AreaId);
            if (area == null)
            {
                return content.Error("请选择入库区域");
            }

            var locationInfo = await _locationRepository.QueryDataAsync(x => x.AreaId == area.AreaID && x.EnalbeStatus == 1 && x.LocationStatus == (int)LocationEnum.Free);

            var taskArea = BaseDal.QueryData(x => x.TargetAddress == area.AreaName && x.TaskType == (int)TaskInboundTypeEnum.Inbound);

            if (locationInfo.Count - taskArea.Count <= 0)
            {
                return content.Error("该区域无可用库位，请选择其他区域");
            }

            switch (taskDto.AreaId)
            {
                case 1:
                    taskNew = InboundStakerArea(taskDto, StartAddress, area);
                    break;
                case 2:
                case 3:
                case 4:
                case 5:
                case 6:
                    taskNew = InboundAGVCacheArea(taskDto, StartAddress, area);
                    break;
                default:
                    return content.Error("请选择正确的区域信息");
            }
            var taskDTO = CreateListTaskDTO(taskNew);

            var result = UpdateLocationStatus(StartAddress.LocationCode, LocationEnum.InStockDisable, taskNew.TaskNum.Value, (int)StatusChangeTypeEnum.AutomaticInbound);

            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await _locationStatusChangeRecordRepository.AddDataAsync(result.Item1);
                await _locationRepository.UpdateDataAsync(result.Item2);
                BaseDal.AddData(taskNew);
            });
            return content = await SendWCSTask(taskDTO);
        }
        catch (Exception err)
        {
            return content.Error(err.Message);
        }
    }

    public Dt_Task InboundStakerArea(RequestTaskDto taskDto, DtLocationInfo StartAddress,Dt_AreaInfo area)
    {
        var station = _stationManagerRepository.QueryFirst(x => x.stationType == 1 && x.Roadway == "SC1");

        return new Dt_Task
        {
            Grade = 1,
            Roadway = "SC1",
            TargetAddress = area.AreaName,
            Dispatchertime = DateTime.Now,
            MaterialNo = "",
            NextAddress = station.stationChildCode,
            OrderNo = null,
            PalletCode = taskDto.PalletCode,
            SourceAddress = taskDto.Position,
            CurrentAddress = taskDto.Position,
            TaskState = (int)TaskInStatusEnum.InNew,
            TaskType = (int)TaskInboundTypeEnum.Inbound,
            TaskNum = BaseDal.GetTaskNo().Result,
            CreateDate = DateTime.Now,
            TaskId = 0,
            AGVTaskNum = GenerateUniqueId(),
            Floor = "1F",
        };
    }

    public Dt_Task InboundAGVCacheArea(RequestTaskDto taskDto, DtLocationInfo StartAddress, Dt_AreaInfo area)
    {
        WebResponseContent content = new WebResponseContent();

        Dt_Task taskNew = new Dt_Task();
        if (StartAddress.Floor != area.Spare1)
        {
            taskNew = RequestAcrossFloorTask(StartAddress, area, (int)TaskInboundTypeEnum.Inbound, taskDto);
        }
        else
        {
            taskNew = RequestAGVCarryTask(StartAddress, GetAGVEmptyCacheLocation(area.AreaID, StartAddress).Result, (int)TaskInboundTypeEnum.Inbound, taskDto);
        }
        return taskNew;

    }
    #endregion 请求任务入库

    #region 更新任务状态


    /// <summary>
    /// 更新任务货位
    /// </summary>
    /// <param name="input"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> UpdateTaskStatus(int taskNum, int taskState)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = await BaseDal.QueryFirstAsync(x => x.TaskNum == taskNum);
            if (task == null)
                return content.Error("未找到任务");

            task.TaskState = taskState;
            var asb = await BaseDal.UpdateDataAsync(task);
            if (asb)
                content.OK();
            else
                content.Error();
        }
        catch (Exception ex)
        {
            content.Error(ex.Message);
        }
        return content;
    }

    #endregion

    #region 请求出库
    /// <summary>
    /// 手动出库至缓存区域
    /// </summary>
    /// <param name="palletCode"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> OutBoundTaskAsync(string palletCode,string remark,int doubleTray)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            DtStockInfo stcok = await _stockInfoRepository.QueryFirstNavAsync(x => x.PalletCode == palletCode);
            if (stcok == null)
            {
                return content.Error("托盘信息不存在，请确认托盘已入库成功");
            }

            if (stcok.LocationInfo.LocationStatus != (int)LocationEnum.InStock)
            {
                return content.Error("请确认库存货位状态是否为有货");
            }
            var task = await BaseDal.QueryFirstAsync(x => x.PalletCode == palletCode);
            if (task != null)
            {
                return content.Error("该托盘已存在任务");
            }

            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == stcok.LocationCode);
            if (location.AreaId == 2)
            {
                return content.Error("该托盘库存已在出库缓存区");
            }

            Dt_Task taskNew = await RequestOutboundTaskAsync(new RequestTaskDto { PalletCode = palletCode, AreaId = 2, Position = stcok.LocationCode, TaskType = (int)TaskOutboundTypeEnum.Outbound, DoubleTray= doubleTray });
            List<Dt_InventoryRecord> records = new List<Dt_InventoryRecord>();
            stcok.StockInfoDetails.ForEach(x =>
            {
                records.Add(new Dt_InventoryRecord()
                {
                    PalletCode = stcok.PalletCode,
                    MaterielCode = x.MaterielCode,
                    MaterielName = x.MaterielName,
                    Quantity = x.Quantity,
                    Status = (int)InventoryStatus.Normal,
                    Remark = remark,
                });
            });

            var taskDto = CreateListTaskDTO(taskNew);
            var result = GetlcoationState(taskNew, StatusChangeTypeEnum.AutomaticOutbound);
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await BaseDal.AddDataAsync(taskNew);
                await _inventoryRecordRepository.AddDataAsync(records);
                await _stockInfoRepository.UpdateDataAsync(stcok);
                await _locationStatusChangeRecordRepository.AddDataAsync(result.Item1);
                await _locationRepository.UpdateDataAsync(result.Item2);
            });
            return content = await SendWCSTask(taskDto);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }


    /// <summary>
    /// 其他出库
    /// </summary>
    /// <param name="details"></param>
    /// <returns></returns>

    public async Task<WebResponseContent> OtherOutBoundTaskAsync(List<DtStockInfoDetail> details)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var stock = await _stockInfoRepository.QueryFirstNavAsync(x => x.Id == details[0].StockId);
            if (stock == null)
            {
                return content.Error("未找到库存表头信息");
            }
            if (stock.LocationInfo.LocationStatus != (int)LocationEnum.InStock)
            {
                return content.Error("请确认库存货位状态是否为有货");
            }
            var task = await BaseDal.QueryFirstAsync(x => x.PalletCode == stock.PalletCode);
            if (task != null)
            {
                return content.Error("该托盘已存在任务");
            }
            if (stock.LocationInfo.AreaId == 2)
            {
                return content.Error("该托盘库存已在出库缓存区");
            }

            Dt_Task taskNew = await RequestOutboundTaskAsync(new RequestTaskDto { PalletCode = stock.PalletCode, AreaId = 2, Position = stock.LocationCode, TaskType = (int)TaskOutboundTypeEnum.OutOther });

            List<Dt_OrderOutDetails> outDetails = new List<Dt_OrderOutDetails>();
            details.Where(x => x.OutboundQuantity > 0).ForEach(x =>
            {
                if (x.Quantity < x.OutboundQuantity)
                {
                    throw new Exception($"{x.MaterielName}{x.MaterielCode}出库数量不可大于库存数量");
                }
                outDetails.Add(new Dt_OrderOutDetails()
                {
                    OrderNo = "",
                    PalletCode = stock.PalletCode,
                    OrderType = (int)OrderTypeEmun.其他出库单,
                    ERPOrderId = "",
                    MaterielCode = x.MaterielCode,
                    MaterielName = x.MaterielName,
                    AllocateWarehouse = "",
                    Warehouse = "智能立库",
                    WareHouseId = "107",
                    AllocateWarehouseId = "",
                    OutboundQuantity = x.OutboundQuantity,
                });
            });
            stock.StockInfoDetails = details;

            var taskDto = CreateListTaskDTO(taskNew);
            var result = GetlcoationState(taskNew, StatusChangeTypeEnum.AutomaticOutbound);
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await BaseDal.AddDataAsync(taskNew);
                await _stockInfoRepository.UpdateDataNavAsync(stock);
                await _locationStatusChangeRecordRepository.AddDataAsync(result.Item1);
                await _locationRepository.UpdateDataAsync(result.Item2);
                await _orderOutDetailsRepository.AddDataAsync(outDetails);
            });
            return content = await SendWCSTask(taskDto);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    /// <summary>
    /// 手动调拨
    /// </summary>
    /// <param name="details"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> HandAllocateOutBoundTaskAsync(List<DtStockInfoDetail> details)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var stock = await _stockInfoRepository.QueryFirstNavAsync(x => x.Id == details[0].StockId);
            if (stock == null)
            {
                return content.Error("未找到库存表头信息");
            }
            if (stock.LocationInfo.LocationStatus != (int)LocationEnum.InStock)
            {
                return content.Error("请确认库存货位状态是否为有货");
            }
            var task = await BaseDal.QueryFirstAsync(x => x.PalletCode == stock.PalletCode);
            if (task != null)
            {
                return content.Error("该托盘已存在任务");
            }
            if (stock.LocationInfo.AreaId == 2)
            {
                return content.Error("该托盘库存已在出库缓存区");
            }

            Dt_Task taskNew = await RequestOutboundTaskAsync(new RequestTaskDto { PalletCode = stock.PalletCode, AreaId = 2, Position = stock.LocationCode, TaskType = (int)TaskOutboundTypeEnum.OutAllocate });

            List<Dt_OrderOutDetails> outDetails = new List<Dt_OrderOutDetails>();
            details.Where(x=>x.OutboundQuantity>0).ForEach(x =>
            {
                if (x.Quantity < x.OutboundQuantity)
                {
                    throw new Exception($"{x.MaterielName}{x.MaterielCode}出库数量不可大于库存数量");
                }
                var wareinfo = _wareAreaInfoRepository.QueryFirst(y => y.WareAreaCode ==x.AllocateWarehouse);
                if (wareinfo == null)
                {
                    throw new Exception($"未找到调拨仓库{x.AllocateWarehouse}数据");
                }
                if (wareinfo.WareAreaCode == "205")
                {
                    throw new Exception($"不可调拨至WMS出库缓存区{x.AllocateWarehouse}数据");
                }
                outDetails.Add(new Dt_OrderOutDetails()
                {
                    OrderNo = "",
                    PalletCode = stock.PalletCode,
                    OrderType = (int)OrderTypeEmun.调拨出库单,
                    ERPOrderId = "",
                    MaterielCode = x.MaterielCode,
                    MaterielName = x.MaterielName,
                    AllocateWarehouse = wareinfo.WareAreaName,
                    Warehouse = "智能立库",
                    WareHouseId = "107",
                    AllocateWarehouseId = wareinfo.WareAreaCode ,
                    OutboundQuantity = x.OutboundQuantity,
                });
            });
           
            stock.StockInfoDetails = details;

            var taskDto = CreateListTaskDTO(taskNew);
            var result = GetlcoationState(taskNew, StatusChangeTypeEnum.AutomaticOutbound);
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await BaseDal.AddDataAsync(taskNew);
                await _stockInfoRepository.UpdateDataNavAsync(stock);
                await _locationStatusChangeRecordRepository.AddDataAsync(result.Item1);
                await _locationRepository.UpdateDataAsync(result.Item2);
                await _orderOutDetailsRepository.AddDataAsync(outDetails);
            });
            return content = await SendWCSTask(taskDto);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    public (List<DtLocationStatusChangeRecord>,List<DtLocationInfo>) GetlcoationState(Dt_Task task, StatusChangeTypeEnum StatusChangeTypeEnum)
    {
        List<DtLocationStatusChangeRecord> locationStatusChangeRecords = new List<DtLocationStatusChangeRecord>();
        List<DtLocationInfo> locations = new List<DtLocationInfo>();
        var result = UpdateLocationStatus(task.SourceAddress, LocationEnum.InStockDisable, task.TaskNum.Value, (int)StatusChangeTypeEnum);
        locationStatusChangeRecords.AddRange(result.Item1);
        locations.AddRange(result.Item2);

        return (locationStatusChangeRecords,locations);
    }

    /// <summary>
    /// 请求出库任务
    /// </summary>
    /// <param name="taskDto"></param>
    /// <returns></returns>
    public async Task<Dt_Task> RequestOutboundTaskAsync(RequestTaskDto taskDto)
    {
        DtStockInfo stcok = await _stockInfoRepository.QueryFirstAsync(x => x.PalletCode == taskDto.PalletCode);
        if (stcok == null)
        {
            throw new Exception("托盘信息不存在，请确认托盘已入库成功");
        }

        var StartAddress = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);
        if (StartAddress == null)
        {
            throw new Exception("起点库位未找到");
        }
        if (!LocationIsOutBound(StartAddress))
        {
            throw new Exception($"起点库位{StartAddress.LocationCode}出库路径被占用，请稍后重试");
        }

        var area = _areaInfoRepository.QueryFirst(x => x.AreaID == 2);

        var locationInfo = await _locationRepository.QueryDataAsync(x => x.AreaId == area.AreaID && x.EnalbeStatus == 1 && x.LocationStatus == (int)LocationEnum.Free);

        var taskArea = BaseDal.QueryData(x => x.TargetAddress == area.AreaName && x.TaskType == (int)TaskInboundTypeEnum.Inbound);

        if (locationInfo.Count - taskArea.Count <= 0)
        {
            throw new Exception($"出库缓存区无可用库位，请清理库位后再试");
        }

        switch (StartAddress.AreaId)
        {
            case 1:
                return OutboundStakerArea(taskDto, StartAddress, area);
            case 2:
            case 3:
            case 4:
            case 5:
            case 6:
                return OutboundAGVCacheArea(taskDto, StartAddress, area);
            default:
                throw new Exception("请选择正确的区域信息");
        }
    }


    public Dt_Task OutboundStakerArea(RequestTaskDto taskDto, DtLocationInfo StartAddress, Dt_AreaInfo area)
    {
        var station = _stationManagerRepository.QueryFirst(x => x.stationType == 1 && x.Roadway == "SC1");

        return new Dt_Task
        {
            Grade = Convert.ToInt32(StartAddress.Remark),
            Roadway = "SC1",
            TargetAddress = area.AreaName,
            Dispatchertime = DateTime.Now,
            MaterialNo = taskDto.MaterielCode,
            NextAddress = station.stationChildCode,
            OrderNo = taskDto.OrderNo,
            PalletCode = taskDto.PalletCode,
            SourceAddress = taskDto.Position,
            CurrentAddress = taskDto.Position,
            TaskState = (int)TaskOutStatusEnum.OutNew,
            TaskType = taskDto.TaskType,
            TaskNum = BaseDal.GetTaskNo().Result,
            CreateDate = DateTime.Now,
            TaskId = 0,
            AGVTaskNum = GenerateUniqueId(),
            Floor = "1F",
        };
    }

    public Dt_Task OutboundAGVCacheArea(RequestTaskDto taskDto, DtLocationInfo StartAddress, Dt_AreaInfo area)
    {
        Dt_Task taskNew = new Dt_Task();
        if (StartAddress.Floor != area.Spare1)
        {
            taskNew = RequestAcrossFloorTask(StartAddress, area, taskDto.TaskType, taskDto);
        }
        else
        {
            taskNew = RequestAGVCarryTask(StartAddress, GetAGVEmptyCacheLocation(taskDto.AreaId, StartAddress).Result, taskDto.TaskType,  taskDto);
        }
        return taskNew;

    }
    #endregion 请求出库（实盘&空盘）

    #region 请求移库任务
    public async Task<WebResponseContent> RequestRelocationTaskAsync(string SourceAddress,string TargetAddress)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var startLocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == SourceAddress);
            var endLocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == TargetAddress);

            if (!startLocation.IsNotEmptyOrNull() || !endLocation.IsNotEmptyOrNull())
            {
                return content.Error("库位信息不存在");
            }
            if (endLocation.LocationStatus != (int)LocationEnum.Free)
            {
                return content.Error($"终点库位{endLocation.LocationCode}未处于空闲状态，请人工确认库位状态");
            }
            if ((startLocation.AreaId == 1 || endLocation.AreaId == 1) && startLocation.AreaId != endLocation.AreaId)
            {
                return content.Error("移库起点库位与终点库位不在同一区域");
            }
            if (startLocation.Floor != endLocation.Floor)
            {
                return content.Error("移库起点库位与终点库位不在同一楼层");
            }

            var stock = await _stockInfoRepository.QueryFirstAsync(x => x.LocationCode == startLocation.LocationCode);
            var taskNew = new Dt_Task
            {
                Grade = startLocation.Floor == "1F" ? 10 : 1,
                Roadway = endLocation.RoadwayNo,
                TargetAddress = endLocation.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = endLocation.LocationCode,
                OrderNo = null,
                PalletCode = stock == null ? "M" + DateTime.Now.ToString("MMddHHmmss") + "-" + new Random().Next(100, 1000) : stock.PalletCode,
                SourceAddress = startLocation.LocationCode,
                CurrentAddress = startLocation.LocationCode,
                TaskState = startLocation.AreaId == 1 ? (int)TaskRelocationStatusEnum.RelocationNew : (int)TaskRelocationStatusEnum.RelocationNewAGV,
                TaskType = (int)TaskRelocationTypeEnum.Relocation,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
                AGVTaskNum = GenerateUniqueId(),
                Floor = startLocation.Floor,
            };


            var result = AddTaskAsync(new List<Dt_Task>() { taskNew });
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await _locationStatusChangeRecordRepository.AddDataAsync(result.Item2);
                await _locationRepository.UpdateDataAsync(result.Item1);
                await BaseDal.AddDataAsync(taskNew);
            });
            await SendWCSTask(CreateListTaskDTO(taskNew));
            return content.OK("成功");
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }


    #endregion

    #region 请求跨楼层2任务
    /// <summary>
    /// 请求跨楼层2任务
    /// </summary>
    /// <param name="taskDto"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> AcrossFloorTaskAsync(RequestAcrossFloorTaskDto taskDto)
    {
        WebResponseContent content=new WebResponseContent();
        try
        {
            var task = BaseDal.QueryFirst(x => x.TaskNum == Convert.ToInt32(taskDto.TaskNum) && x.PalletCode == taskDto.PalletCode);
            if(task == null)
                return content.Error("未找到任务");
            Dt_StationManager stationManager = new Dt_StationManager();
            if (task.Floor == "1F")
            {
                stationManager = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == "2F");
            }
            else
            {
                stationManager = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == "1F");
            }
            content = await RequestLocation(taskDto.PalletCode);
            Dt_Task taskNew = new Dt_Task
            {
                Grade = 1,
                Roadway = "AGV",
                TargetAddress = content.Data.ToString(),
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = content.Data.ToString(),
                OrderNo = null,
                PalletCode = task.PalletCode,
                SourceAddress = task.SourceAddress,
                CurrentAddress = stationManager.stationChildCode,
                TaskState = (int)TaskAcrossFloorStatusEnum.SecondCarry,
                TaskType = task.TaskType,
                TaskNum = BaseDal.GetTaskNo().Result,
                CreateDate = DateTime.Now,
                TaskId = 0,
                AGVTaskNum = GenerateUniqueId(),
                Floor = stationManager.stationFloor,
            };
            var taskDTO = CreateTaskDTO(taskNew);
            task.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarryFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
            taskHty.FinishTime = DateTime.Now;
            taskHty.OperateType = App.User.UserName != null ? (int)OperateTypeEnum.人工完成 : (int)OperateTypeEnum.自动完成;
            taskHty.Creater = App.User.UserName != null ? App.User.UserName : "System";

            await UpdateStartLocationInfo(taskNew);
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await DeleteTaskAsync(task.TaskId);
                await AddTaskHtyAsync(taskHty);
                BaseDal.AddData(taskNew);
            });
            return content.OK(data: taskDTO);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    #endregion

    #region 请求跨楼层任务
    public Dt_Task RequestAcrossFloorTask(DtLocationInfo StartAddress, Dt_AreaInfo area, int TaskType,  RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();

        var next = _stationManagerRepository.QueryFirst(x => x.stationType == 5 && x.stationFloor == StartAddress.Floor);
        return new Dt_Task
        {
            Grade = StartAddress.Column,
            Roadway = "AGV",
            TargetAddress = area.AreaName,
            Dispatchertime = DateTime.Now,
            MaterialNo = taskDto.MaterielCode,
            NextAddress = next.stationChildCode,
            OrderNo = taskDto.OrderNo,
            PalletCode = taskDto.PalletCode,
            SourceAddress = StartAddress.LocationCode,
            CurrentAddress = StartAddress.LocationCode,
            TaskState = (int)TaskAcrossFloorStatusEnum.CarryNew,
            TaskType = TaskType,
            TaskNum = BaseDal.GetTaskNo().Result,
            CreateDate = DateTime.Now,
            TaskId = 0,
            Remark = StartAddress.AreaId.ToString(),
            AGVTaskNum = GenerateUniqueId(),
            Floor = StartAddress.Floor,
            DoubleTray = taskDto.DoubleTray,
        };

    }
    #endregion

    #region 请求AGV搬运任务
    public Dt_Task RequestAGVCarryTask(DtLocationInfo StartAddress, DtLocationInfo EndAddress, int TaskType, RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();

        return new Dt_Task
        {
            Grade = StartAddress.Column,
            Roadway = "AGV",
            TargetAddress = EndAddress.LocationCode,
            Dispatchertime = DateTime.Now,
            MaterialNo = taskDto.MaterielCode,
            NextAddress = EndAddress.LocationCode,
            OrderNo = taskDto.OrderNo,
            PalletCode = taskDto.PalletCode,
            SourceAddress = StartAddress.LocationCode,
            CurrentAddress = StartAddress.LocationCode,
            TaskState = (int)TaskAGVCarryStatusEnum.CarryNew,
            TaskType = TaskType,
            TaskNum = BaseDal.GetTaskNo().Result,
            CreateDate = DateTime.Now,
            TaskId = 0,
            Remark = StartAddress.AreaId.ToString(),
            AGVTaskNum = GenerateUniqueId(),
            Floor = StartAddress.Floor,
        };
    }

    #endregion

    #region  判断是否需要移库

    /// <summary>
    /// 判断堆垛机出库是否需要移库
    /// </summary>
    /// <param name="taskDto"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> StackerIsNeedRelocationAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = BaseDal.QueryFirst(x => x.PalletCode == taskDto.PalletCode && x.TaskNum == taskDto.TaskNum);
            if (task == null)
            {
                return content.Error("未找到任务");
            }

            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            if (location == null || location.Depth != 2)
            {
                return content.OK(data: _mapper.Map<WMSTaskDTO>(task));
            }

            var locationLateral = _locationRepository.QueryFirst(x => x.RoadwayNo == location.RoadwayNo && x.Row == 1 && x.Layer == location.Layer && x.Column == location.Column);
            if (locationLateral != null && (locationLateral.LocationStatus == (int)LocationEnum.FreeDisable || locationLateral.LocationStatus == (int)LocationEnum.Free) && locationLateral.EnalbeStatus == 1)
            {
                return content.OK(data: _mapper.Map<WMSTaskDTO>(task));
            }
            else if (locationLateral != null && locationLateral.LocationStatus == 1 && locationLateral.EnalbeStatus == 1)
            {
                return content.Error($"一深位异常锁定暂不可出库");
            }
            else if (locationLateral != null && (locationLateral.LocationStatus == (int)LocationEnum.InStockDisable|| locationLateral.LocationStatus == (int)LocationEnum.InStock) && locationLateral.EnalbeStatus == 1)
            {
                var taskLateral = BaseDal.QueryFirst(x => x.SourceAddress == locationLateral.LocationCode);
                if (taskLateral != null)
                {
                    return content.OK(data: _mapper.Map<WMSTaskDTO>(taskLateral));
                }

                var TargetAddress = await GetEmptyLocation("SC1");

                if (TargetAddress == null)
                {
                    return content.Error($"未找到可分配货位,请查看是否还有空闲可使用货位");
                }
                var stock = await _stockInfoRepository.QueryFirstAsync(x => x.LocationCode == locationLateral.LocationCode);

                Dt_Task taskNew = new Dt_Task
                {
                    Grade = 1,
                    Roadway = "SC1",
                    TargetAddress = TargetAddress.LocationCode,
                    Dispatchertime = DateTime.Now,
                    MaterialNo = "",
                    NextAddress = TargetAddress.LocationCode,
                    OrderNo = null,
                    PalletCode = stock == null ? "M" + DateTime.Now.ToString("MMddHHmmss") + "-" + new Random().Next(100, 1000) : stock.PalletCode,
                    SourceAddress = locationLateral.LocationCode,
                    CurrentAddress = locationLateral.LocationCode,
                    TaskState = (int)TaskRelocationStatusEnum.RelocationNew,
                    TaskType = (int)TaskRelocationTypeEnum.Relocation,
                    TaskNum = BaseDal.GetTaskNo().Result,
                    CreateDate = DateTime.Now,
                    TaskId = 0,
                    Floor = "1F",
                };
                var taskDTO = CreateListTaskDTO(taskNew);

                var isResult = await AddTaskAsync(taskNew, locationLateral, TargetAddress);
                if (!isResult)
                {
                    _unitOfWorkManage.RollbackTran();
                    return content.Error("新增任务失败");
                }
                return content.OK(data: taskDTO);
            }
            else
            {
                return content.Error("货位异常需人工确认才可出库");
            }
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    public async Task<WebResponseContent> AGVIsNeedRelocationAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = BaseDal.QueryFirst(x => x.PalletCode == taskDto.PalletCode && x.TaskNum == taskDto.TaskNum);
            if (task == null)
            {
                return content.Error("未找到任务");
            }

            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            if (location == null)
            {
                return content.Error($"未找到货位信息{taskDto.Position}");
            }
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            switch (location.AreaId)
            {
                case 2:
                    locationInfos = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark && x.AreaId == location.AreaId);
                    break;
                case 5:
                case 6:
                    locationInfos = _locationRepository.QueryData(x => x.Row == location.Row && x.Column < location.Column && x.Remark == location.Remark && x.AreaId == location.AreaId);
                    break;
                default:
                    break;
            }

            if (locationInfos.Count == 0)
            {
                return content.OK(data: new List<WMSTaskDTO> { _mapper.Map<WMSTaskDTO>(task) });
            }

            List<WMSTaskDTO> taskDTO = new List<WMSTaskDTO>();
            List<Dt_Task> taskNew = new List<Dt_Task>();
            foreach (var item in locationInfos)
            {
                if(item.LocationStatus == (int)LocationEnum.Lock)
                {
                    return content.Error($"{item.LocationCode}路径被占用，请稍后再试");
                }
                if ((item.LocationStatus == (int)LocationEnum.InStockDisable || item.LocationStatus == (int)LocationEnum.InStock) && item.EnalbeStatus == 1)
                {
                    DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(item.AreaId, item);

                    if (Targetlocation == null)
                    {
                        return content.Error("起点未定义或终点区域未找到空闲库位");
                    }
                    var stock = _stockInfoRepository.QueryFirst(x => x.LocationCode == item.LocationCode);

                    var Relocationtask = BaseDal.QueryFirst(x => x.SourceAddress == item.LocationCode);
                    
                    if (Relocationtask != null)
                    {
                        taskDTO.Add(CreateTaskDTO(Relocationtask));
                        continue;
                    }
                    else
                    {
                        taskNew.Add(new Dt_Task
                        {
                            Grade = item.Column,
                            Roadway = "AGV",
                            TargetAddress = Targetlocation.LocationCode,
                            Dispatchertime = DateTime.Now,
                            MaterialNo = "",
                            NextAddress = Targetlocation.LocationCode,
                            OrderNo = null,
                            PalletCode = stock == null ? "M" + DateTime.Now.ToString("MMddHHmmss") + "-" + new Random().Next(100, 1000) : stock.PalletCode,
                            SourceAddress = item.LocationCode,
                            CurrentAddress = item.LocationCode,
                            TaskState = (int)TaskRelocationStatusEnum.RelocationNewAGV,
                            TaskType = (int)TaskRelocationTypeEnum.Relocation,
                            TaskNum = BaseDal.GetTaskNo().Result,
                            CreateDate = DateTime.Now,
                            TaskId = 0,
                            AGVTaskNum = GenerateUniqueId(),
                            Floor = item.Floor,
                            Remark = item.AreaId.ToString(),
                        });
                    }
                    
                }
            }
            taskDTO = CreateTaskDTO(taskNew);

            var result = AddTaskAsync(taskNew);
            await _unitOfWorkManage.UseTranAsync(async () =>
            {
                await _locationStatusChangeRecordRepository.AddDataAsync(result.Item2);
                await _locationRepository.UpdateDataAsync(result.Item1);
                await BaseDal.AddDataAsync(taskNew);
            });
            return content.OK(data: taskDTO);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }


    #endregion

    #region 更新起点货位信息
    public async Task<WebResponseContent> UpdateStartLocationInfo(Dt_Task task)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            if (task == null)
                return content.OK();
            var result = UpdateLocationStatus(task.SourceAddress, LocationEnum.Free, task.TaskNum.Value, task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup ? (int)StatusChangeTypeEnum.AutomaticOutbound : (int)StatusChangeTypeEnum.AutomaticInbound);

            await _locationStatusChangeRecordRepository.AddDataAsync(result.Item1);
            await _locationRepository.UpdateDataAsync(result.Item2);

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


    #endregion

    #region 获取终点货位信息
    public async Task<WebResponseContent> RequestLocation(string palletCode)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = await BaseDal.QueryFirstAsync(x => x.PalletCode == palletCode);
            if (task == null)
                return content.Error("未找到任务");
            var areaInfo = await _areaInfoRepository.QueryFirstAsync(x => x.AreaName == task.TargetAddress);
            if (areaInfo == null)
                return content.Error($"未找到终点区域信息{task.TargetAddress}请联系管理员");
            var location = _locationRepository.QueryFirst(x => x.LocationCode == task.SourceAddress);
            DtLocationInfo locationInfo = new DtLocationInfo();
            switch (areaInfo.AreaID)
            {
                case 1:
                    locationInfo = await GetEmptyLocation("SC1");
                    break;
                case 2:
                case 3:
                case 4:
                case 5:
                case 6:
                    locationInfo = await GetAGVEmptyCacheLocation(areaInfo.AreaID, location);
                    break;
                default:
                    return content.Error("请选择正确的区域信息");
            }
            if (locationInfo == null)
            {
                return content.Error("未找到可分配货位,请查看是否还有空闲可使用货位");
            }
            task.CurrentAddress = task.NextAddress;
            task.TargetAddress = locationInfo.LocationCode;
            task.NextAddress = locationInfo.LocationCode;

            var result = UpdateLocationStatus(locationInfo.LocationCode, LocationEnum.Lock, task.TaskNum.Value, task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup ? StatusChangeTypeEnum.AutomaticOutbound : StatusChangeTypeEnum.AutomaticInbound);
            await BaseDal.UpdateDataAsync(task);
            await _locationStatusChangeRecordRepository.AddDataAsync(result.Item1);
            await _locationRepository.UpdateDataAsync(result.Item2);

            return content.OK(data: locationInfo.LocationCode);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    #endregion

    #region 获取AGV任务号

    private static readonly Random _random = new Random();

    public static string GenerateUniqueId()
    {
        // 获取当前毫秒级时间戳
        long timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds();

        // 生成4位随机数（0000-9999）
        int randomNumber = _random.Next(0, 10000);
        string randomPart = randomNumber.ToString("D4"); // 补零到4位

        return $"{timestamp}{randomPart}";
    }
    #endregion

    #region 获取任务信息
    public WebResponseContent GetTaskInfo()
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            Expression<Func<Dt_Task, bool>> expression = x => true;
            if (!App.User.IsSuperAdmin)
            {
                expression = x => x.Creater == App.User.UserName;
            }
            var task = BaseDal.Db.Queryable<Dt_Task>().OrderByDescending(x => x.CreateDate).Take(100).Select(x => new Dt_Task { TaskNum = x.TaskNum, PalletCode = x.PalletCode, TaskType = x.TaskType, SourceAddress = x.SourceAddress, TargetAddress = x.TargetAddress }).ToList();
            content = WebResponseContent.Instance.OK(data: task);
        }
        catch (Exception ex)
        {
            content = WebResponseContent.Instance.Error(ex.Message);
        }
        return content;
    }
    #endregion

    #endregion 外部接口方法

    #region 调用WCS接口
    private string GetWCSIPAddress(string baseIp, string name)
    {
        var configz = _configService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
        var wcsBasez = configz.Where(x => x.ConfigKey == baseIp).FirstOrDefault()?.ConfigValue;
        var address = configz.Where(x => x.ConfigKey == name).FirstOrDefault()?.ConfigValue;
        if (wcsBasez == null || address == null)
        {
            throw new InvalidOperationException("WMS IP 未配置");
        }
        return wcsBasez + address;
    }

    public async Task<WebResponseContent> SendWCSTask(List<WMSTaskDTO> taskDTO)
    {
        WebResponseContent content = new WebResponseContent();
        var AgvSendTaskAddrss = GetWCSIPAddress(SysConfigConst.WCSIPAddress, SysConfigConst.ReceiveTask);
        // 发送请求并等待响应
        var result = await HttpHelper.PostAsync(AgvSendTaskAddrss, taskDTO.ToJsonString());

        content = JsonConvert.DeserializeObject<WebResponseContent>(result.ToString());

        return content;
    }
    #endregion

    #region ERP接口调用
    public string GetERPIPAddress(string baseIp, string name)
    {
        var configz = _configService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
        var wcsBasez = configz.Where(x => x.ConfigKey == baseIp).FirstOrDefault()?.ConfigValue;
        var address = configz.Where(x => x.ConfigKey == name).FirstOrDefault()?.ConfigValue;
        if (wcsBasez == null || address == null)
        {
            throw new InvalidOperationException("WMS IP 未配置");
        }
        return wcsBasez + address;
    }

    /// <summary>
    /// 生产领料
    /// </summary>
    /// <param name="palletCode"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> ERPProduction(List<Dt_OrderOutDetails> orderOutDetails)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            MaterialRequisition materialRequisition = new MaterialRequisition
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "LL20",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,
                issueList = orderOutDetails.Select(item => new issueList
                {
                    PickListID = item.ERPOrderId,
                    //存储地点
                    WhCode = "205",
                    //领料数量
                    IssueQty = item.OutboundQuantity,
                }).ToList()

            };
            var ERPProduction = GetERPIPAddress(SysConfigConst.ERPIPAddress, SysConfigConst.MaterialRequisition);
            // 发送请求并等待响应

            var result = await HttpsClient.PostAsync(ERPProduction, materialRequisition.ToJsonString());

            var respone = JsonConvert.DeserializeObject<ResponeData>(result.ToString());
            if (respone.d.ResultStatus)
            {
                return content.OK();
            }
            return content.Error(respone.d.ResultMsg);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }
    /// <summary>
    /// 调拨
    /// </summary>
    /// <param name="palletCode"></param>
    /// <returns></returns>
    /// 
    public async Task ERPAllocate(DtBoxingInfo boxing)
    {
        try
        {
            if (boxing == null)
            {
                throw new Exception("未找到组盘信息");
            }
            Allocate allocate = new Allocate
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "TransIn002",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,

                transferInList = boxing.BoxingInfoDetails.Select(item => new transferInList
                {
                    //物料编码
                    ItemCode = item.MaterielCode,
                    //调入仓库地址
                    TransInWHCode = "107",
                    //调入数量
                    TransInQty = item.Quantity,
                    // 调出仓库编码
                    TransOutWHCode = item.WareHouseId,
                }).ToList()
            };
            var Allocate = GetERPIPAddress(SysConfigConst.ERPIPAddress, SysConfigConst.Allocate);
            // 发送请求并等待响应
            var result = await HttpsClient.PostAsync(Allocate, allocate.ToJsonString());

            var respone = JsonConvert.DeserializeObject<ResponeData>(result.ToString());
            if (!respone.d.ResultStatus)
            {
                throw new Exception(respone.d.ResultMsg);
            }
            
        }
        catch (Exception ex)
        {
            throw new Exception(ex.Message);
        }
    }

    public async Task ERPAllocateOut(DtStockInfo stock)
    {
        try
        {
            if (stock == null)
            {
                throw new Exception("未找到库存信息");
            }
            Allocate allocate = new Allocate
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "TransIn002",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,

                transferInList = stock.StockInfoDetails.Select(item => new transferInList
                {
                    //物料编码
                    ItemCode = item.MaterielCode,
                    //调入仓库地址
                    TransInWHCode = "205",
                    //调入数量
                    TransInQty = item.Quantity,
                    // 调出仓库编码
                    TransOutWHCode = "107",
                }).ToList()
            };
            var Allocate = GetERPIPAddress(SysConfigConst.ERPIPAddress, SysConfigConst.Allocate);
            // 发送请求并等待响应
            var result = await HttpsClient.PostAsync(Allocate, allocate.ToJsonString());

            var respone = JsonConvert.DeserializeObject<ResponeData>(result.ToString());
            if (!respone.d.ResultStatus)
            {
                throw new Exception(respone.d.ResultMsg);
            }

        }
        catch (Exception ex)
        {
            throw new Exception(ex.Message);
        }
    }


    public async Task ERPAllocate(List<Dt_OrderOutDetails> orderOutDetails)
    {
        try
        {
            if (orderOutDetails.Count <= 0)
            {
                throw new Exception($"未找到调拨出库数据");
            }
            List<transferInList> transferInList=new List<transferInList>();
            foreach (var item in orderOutDetails)
            {
                if (item.AllocateWarehouseId == "205")
                {
                    continue;
                }
                transferInList.Add(new transferInList
                {
                    //物料编码
                    ItemCode = item.MaterielCode,
                    //调入仓库地址
                    TransInWHCode = item.AllocateWarehouseId,
                    //调入数量
                    TransInQty = item.OutboundQuantity,
                    // 调出仓库编码
                    TransOutWHCode = "205",
                });
            }
            if (transferInList.Count <= 0)
            {
                return;
            }
            Allocate allocate = new Allocate
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "TransIn002",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,
                transferInList = transferInList,
            };
            var Allocate = GetERPIPAddress(SysConfigConst.ERPIPAddress, SysConfigConst.Allocate);
            // 发送请求并等待响应
            var result = await HttpsClient.PostAsync(Allocate, allocate.ToJsonString());

            var respone = JsonConvert.DeserializeObject<ResponeData>(result.ToString());
            if (!respone.d.ResultStatus)
            {
                throw new Exception($"ERP调拨出库{respone.d.ResultMsg}");
            }
        }
        catch (Exception ex)
        {
            throw new Exception(ex.Message);
        }
    }
    /// <summary>
    /// 杂发
    /// </summary>
    /// <param name="palletCode"></param>
    /// <returns></returns>
    public async Task ERPMixedSend(List<Dt_OrderOutDetails> orderOutDetails)
    {
        try
        {
            if (orderOutDetails.Count <= 0)
            {
                throw new Exception($"未找到调拨出库数据");
            }
            MixedSend send = new MixedSend
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "MiscShip001",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,

                miscShipList = orderOutDetails.Select(item => new miscShipList
                {
                    //物料编码
                    ItemCode = item.MaterielCode,
                    //存储地点编号
                    WhCode = "205",
                    //杂发数量
                    Qty = item.OutboundQuantity,

                    BenefitDeptCode = "0505",
                }).ToList()
            };
            var ERPMixedSend = GetERPIPAddress(SysConfigConst.ERPIPAddress, SysConfigConst.MixedSend);
            // 发送请求并等待响应
            var result = await HttpsClient.PostAsync(ERPMixedSend, send.ToJsonString());

            var respone = JsonConvert.DeserializeObject<ResponeData>(result.ToString());
            if (!respone.d.ResultStatus)
            {
                throw new Exception($"ERP其他出库{respone.d.ResultMsg}");
            }
        }
        catch (Exception ex)
        {
            throw new Exception(ex.Message);
        }
    }
    /// <summary>
    /// 杂收
    /// </summary>
    /// <param name="palletCode"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> ERPMixedReceive(string palletCode)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            DtStockInfo stock = await _stockInfoRepository.QueryFirstNavAsync(x => x.PalletCode == palletCode);
            MixedReceive allocate = new MixedReceive
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "TransIn002",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,

                miscRcvList = stock.StockInfoDetails.Where(x => x.OutboundQuantity > 0).Select(item => new miscRcvList
                {
                    ItemCode = item.MaterielCode,
                    WhCode = item.Warehouse,
                    Qty = item.OutboundQuantity,
                    CostPrice = 0,
                }).ToList()
            };
            return content.OK(data: allocate);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }
    /// <summary>
    /// 退料
    /// </summary>
    /// <param name="palletCode"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> ERPreturnMaterialList(string palletCode)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            DtStockInfo stock = await _stockInfoRepository.QueryFirstNavAsync(x => x.PalletCode == palletCode);
            ReturnMaterials allocate = new ReturnMaterials
            {
                context = new Context
                {
                    CultureName = "zh-CN",
                    EntCode = "001",
                    OrgCode = "102",
                    UserCode = "MH0551"
                },
                documentTypeCode = "TransIn002",
                businessDate = DateTime.Now.ToString("yyyy-MM-dd"),
                isApproved = true,

                returnMaterialList = stock.StockInfoDetails.Select(item => new returnMaterialList
                {
                    PickListID = item.MaterielCode,
                    WhCode = item.Warehouse,
                    RecedeQty = item.OutboundQuantity,
                    RecedeReason = 1,
                }).ToList()
            };
            return content.OK(data: allocate);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    #endregion

    #region 内部调用方法

    public (List<DtLocationStatusChangeRecord>,List<DtLocationInfo>) UpdateLocationStatus(DtLocationInfo location, LocationEnum locationStatus, int taskNum, int StatusChangeType)
    {
        List<DtLocationInfo> locations = GetGroupLocations(location);

        List<DtLocationInfo> Beforelocation = locations.Select(x => new DtLocationInfo
        {
            Id = x.Id,
            LocationCode = x.LocationCode,
            LocationStatus = x.LocationStatus
        }).ToList();

        foreach (var item in locations)
        {
            if (locationStatus == LocationEnum.Lock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.Lock;
                }
                else if (item.LocationStatus == (int)LocationEnum.Free)
                {
                    item.LocationStatus = (int)LocationEnum.FreeDisable;
                }
            }
            else if (locationStatus == LocationEnum.InStock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.InStock;
                }
                else if (item.LocationStatus == (int)LocationEnum.FreeDisable)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
            }
            else if (locationStatus == LocationEnum.InStockDisable)
            {
                if (item.LocationStatus == (int)LocationEnum.InStock)
                {
                    item.LocationStatus = (int)LocationEnum.InStockDisable;
                }
                else if (item.LocationStatus == (int)LocationEnum.Free)
                {
                    item.LocationStatus = (int)LocationEnum.FreeDisable;
                }
            }
            else if (locationStatus == LocationEnum.Free)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
                else if (item.LocationStatus == (int)LocationEnum.FreeDisable || item.LocationStatus == (int)LocationEnum.InStockDisable)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
            }
        }
        List<DtLocationStatusChangeRecord> changeRecordDto = new List<DtLocationStatusChangeRecord>();
        foreach (var item in Beforelocation)
        {
            var loc = locations.Where(x => x.LocationCode == item.LocationCode).FirstOrDefault();
            if (loc != null)
            {
                DtLocationStatusChangeRecord dtLocationStatusChangeRecord = new DtLocationStatusChangeRecord()
                {
                    ChangeType = StatusChangeType,
                    LocationCode = item.LocationCode,
                    LocationId = loc.Id,
                    Creater = "System",
                    TaskNum = taskNum,
                    AfterStatus = loc.LocationStatus,
                    BeforeStatus = item.LocationStatus,
                };

                changeRecordDto.Add(dtLocationStatusChangeRecord);
            }
        }
        return (changeRecordDto,locations);
    }

    public (List<DtLocationStatusChangeRecord>, List<DtLocationInfo>) UpdateLocationStatus(string locationCode, LocationEnum locationStatus, int taskNum, int StatusChangeType)
    {
        var location = _locationRepository.QueryFirst(x => x.LocationCode == locationCode);

        List<DtLocationInfo> locations = GetGroupLocations(location);

        List<DtLocationInfo> Beforelocation = locations.Select(x => new DtLocationInfo
        {
            Id = x.Id,
            LocationCode = x.LocationCode,
            LocationStatus = x.LocationStatus
        }).ToList();

        foreach (var item in locations)
        {
            if (locationStatus == LocationEnum.Lock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.Lock;
                }
            }
            else if (locationStatus == LocationEnum.InStock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.InStock;
                }
            }
            else if (locationStatus == LocationEnum.InStockDisable)
            {
                if (item.LocationStatus == (int)LocationEnum.InStock)
                {
                    item.LocationStatus = (int)LocationEnum.InStockDisable;
                }
            }
            else if (locationStatus == LocationEnum.Free)
            {
                item.LocationStatus = (int)LocationEnum.Free;
            }
        }
        List<DtLocationStatusChangeRecord> changeRecordDto = new List<DtLocationStatusChangeRecord>();
        foreach (var item in Beforelocation)
        {
            var loc = locations.Where(x => x.LocationCode == item.LocationCode).FirstOrDefault();
            if (loc != null)
            {
                DtLocationStatusChangeRecord dtLocationStatusChangeRecord = new DtLocationStatusChangeRecord()
                {
                    ChangeType = StatusChangeType,
                    LocationCode = item.LocationCode,
                    LocationId = loc.Id,
                    Creater = "System",
                    TaskNum = taskNum,
                    AfterStatus = loc.LocationStatus,
                    BeforeStatus = item.LocationStatus,
                };

                changeRecordDto.Add(dtLocationStatusChangeRecord);
            }
        }
        return (changeRecordDto, locations);
    }

    public (DtLocationStatusChangeRecord, DtLocationInfo) UpdateLocationStatus(string locationCode, LocationEnum locationStatus, int taskNum, StatusChangeTypeEnum StatusChangeType)
    {
        var location = _locationRepository.QueryFirst(x => x.LocationCode == locationCode);
        int Beforelocation = location.LocationStatus;

        location.LocationStatus = (int)locationStatus;

        DtLocationStatusChangeRecord dtLocationStatusChangeRecord = new DtLocationStatusChangeRecord()
        {
            ChangeType = (int)StatusChangeType,
            LocationCode = locationCode,
            LocationId = location.Id,
            Creater = "System",
            TaskNum = taskNum,
            AfterStatus = location.LocationStatus,
            BeforeStatus = Beforelocation,
        };

        return (dtLocationStatusChangeRecord, location);
    }

    public List<DtLocationInfo> GetGroupLocations(DtLocationInfo location)
    {
        List<DtLocationInfo> locationInfos = _locationRepository.QueryData(x => x.AreaId == location.AreaId);
        List<DtLocationInfo> locations = new List<DtLocationInfo>() { location };
        if (location.AreaId == 1)
        {
            if (location.Depth == 2)
            {
                DtLocationInfo? locationInfo = locationInfos.FirstOrDefault(x => x.Depth == 1 && x.Column == location.Column && x.Layer == location.Layer && x.Row == 1);
                if (locationInfo != null)
                {
                    locations.Add(locationInfo);
                }
            }
        }
        else if (location.AreaId == 2 || location.AreaId == 7)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark);
            if (locationLateral.Count > 0)
            {
                locations.AddRange(locationLateral);
            }
        }
        else if (location.AreaId == 5 || location.AreaId == 6)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column < location.Column && x.Remark == location.Remark);
            if (locationLateral.Count > 0)
            {
                locations.AddRange(locationLateral);
            }
        }
        return locations;

    }

    /// <summary>
    /// 创建任务DTO
    /// </summary>
    private List<WMSTaskDTO> CreateListTaskDTO(Dt_Task task)
    {
        return new List<WMSTaskDTO> { new WMSTaskDTO
        {
            TaskNum = task.TaskNum.Value,
            Grade = task.Grade.Value,
            PalletCode = task.PalletCode,
            RoadWay = task.Roadway,
            SourceAddress = task.SourceAddress,
            TargetAddress = task.TargetAddress,
            TaskState = task.TaskState,
            Id = 0,
            TaskType = task.TaskType,
            Floor =task.Floor,
            AGVTaskNum = task.AGVTaskNum,
            DoubleTray = task.DoubleTray,
        } };
    }

    private WMSTaskDTO CreateTaskDTO(Dt_Task task)
    {
        return new WMSTaskDTO
        {
            TaskNum = task.TaskNum.Value,
            Grade = task.Grade.Value,
            PalletCode = task.PalletCode,
            RoadWay = task.Roadway,
            SourceAddress = task.SourceAddress,
            TargetAddress = task.TargetAddress,
            TaskState = task.TaskState,
            Id = 0,
            TaskType = task.TaskType,
            AGVTaskNum = task.AGVTaskNum,
            Remark = task.Remark,
            Floor = task.Floor,
            DoubleTray = task.DoubleTray,
        };
    }
    private List<WMSTaskDTO> CreateTaskDTO(List<Dt_Task> task)
    {
        List<WMSTaskDTO> taskNews = new List<WMSTaskDTO>();
        foreach (var item in task)
        {
            taskNews.Add(new WMSTaskDTO
            {
                TaskNum = item.TaskNum.Value,
                Grade = item.Grade.Value,
                PalletCode = item.PalletCode,
                RoadWay = item.Roadway,
                SourceAddress = item.SourceAddress,
                TargetAddress = item.TargetAddress,
                TaskState = item.TaskState,
                Id = 0,
                TaskType = item.TaskType,
                AGVTaskNum = item.AGVTaskNum,
                Remark = item.Remark,
                Floor = item.Floor,
                DoubleTray = item.DoubleTray,
            });
        }

        return taskNews;
    }

    private async Task DeleteStockInfoAsync(int stockId)
    {
        var isStockUpdated = await _stockInfoRepository.DeleteDataByIdAsync(stockId);
        if (!isStockUpdated)
        {
            throw new Exception("库存信息更新失败");
        }
    }

    private async Task AddStockInfoHtyAsync(DtStockInfo_Hty dtStock)
    {
        var isStockAdd = await SqlSugarHelper.DbWMS.InsertNav(dtStock).IncludesAllFirstLayer().ExecuteCommandAsync();
        if (!isStockAdd)
        {
            throw new Exception("库存历史信息添加失败");
        }
    }

    private async Task DeleteBoxingInfoAsync(int boxingId)
    {
        var isStockUpdated = await _stockInfoRepository.DeleteDataByIdAsync(boxingId);
        if (!isStockUpdated)
        {
            throw new Exception("库存信息更新失败");
        }
    }

    private async Task AddBoxingHtyAsync(DtBoxingInfo_Hty boxingInfo)
    {
        var isStockAdd = await SqlSugarHelper.DbWMS.InsertNav(boxingInfo).IncludesAllFirstLayer().ExecuteCommandAsync();
        if (!isStockAdd)
        {
            throw new Exception("组盘历史信息添加失败");
        }
    }


    private async Task DeleteStockInfoDetailsAsync(IEnumerable<DtStockInfoDetail> details)
    {
        var ids = details.Select(x => (object)x.Id).ToArray();
        var isStockDetailUpdated = await _stockInfoDetailRepository.DeleteDataByIdsAsync(ids);
        if (!isStockDetailUpdated)
        {
            throw new Exception("库存详情信息更新失败");
        }
    }

    private async Task DeleteTaskAsync(int taskId)
    {
        var isTaskUpdated = await BaseDal.DeleteDataByIdAsync(taskId);
        if (!isTaskUpdated)
        {
            throw new Exception("任务信息更新失败");
        }
    }

    private async Task AddTaskHtyAsync(Dt_Task_Hty taskHty)
    {
        var isTaskAdd = await _task_HtyRepository.AddDataAsync(taskHty) > 0;
        if (!isTaskAdd)
        {
            throw new Exception("历史任务信息添加失败");
        }
    }

    public override WebResponseContent DeleteData(object[] key)
    {
        WebResponseContent content = new WebResponseContent();
        // 创建历史任务实例模型
        try
        {
            foreach (var item in key)
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskId == Convert.ToInt32(key));
                if (task == null)
                {
                    return content.Error("未找到任务信息!");
                }
                var taskHtyNG = CreateHistoricalTask(task, true);
                // 添加历史任务
                var isTaskHtyAdd = _task_HtyRepository.AddData(taskHtyNG) > 0;

                // 删除任务数据
                var isTaskDelete = BaseDal.Delete(task.TaskId);
            }
            return content.OK("删除成功!");
        }
        catch (Exception ex)
        {
            return content.Error("删除任务异常：" + ex.Message);
        }
    }
    /// <summary>
    /// 根据任务号获取任务
    /// </summary>
    /// <param name="taskNum"></param>
    /// <returns></returns>
    public async Task<Dt_Task> GetByTaskNum(int taskNum)
    {
        return await BaseDal.QueryFirstAsync(x => x.TaskNum == taskNum);
    }
    public async Task<Dt_Task> GetByTaskAddress(string SourceAddress, string TargetAddress)
    {
        return await BaseDal.QueryFirstAsync(x => x.SourceAddress == SourceAddress|| x.TargetAddress== TargetAddress);
    }
    #endregion 内部调用方法

    #region private 内部方法

    /// <summary>
    /// 创建历史任务记录
    /// </summary>
    /// <param name="task"></param>
    /// <returns></returns>
    private Dt_Task_Hty CreateHistoricalTask(Dt_Task task, bool isHand = false)
    {
        // 更新任务状态
        task.TaskState = task.TaskType > 199 ? (int)TaskInStatusEnum.InFinish : (int)TaskOutStatusEnum.OutFinish;
        task.CurrentAddress = task.NextAddress;

        // 创建历史任务
        var taskHty = _mapper.Map<Dt_Task_Hty>(task);
        taskHty.FinishTime = DateTime.Now;
        taskHty.TaskId = 0;
        taskHty.OperateType = isHand ? (int)OperateTypeEnum.人工删除 : App.User.UserName != null ? (int)OperateTypeEnum.人工完成 : (int)OperateTypeEnum.自动完成;
        taskHty.SourceId = task.TaskId;
        if (isHand)
        {
            taskHty.Creater = App.User.UserName != null ? App.User.UserName : "System";
        }
        return taskHty;
    }


    #region 任务请求方法

    private static readonly SemaphoreSlim _semaphoreUpdate = new SemaphoreSlim(1, 1);
    // 更新任务货位

    // 修改任务
    private async Task<bool> UpdateTaskAsync(Dt_Task task, DtLocationInfo location, int beforeStatus)
    {
        bool isResult = await BaseDal.UpdateDataAsync(task);
        LocationChangeRecordDto changeRecordDto = new LocationChangeRecordDto()
        {
            AfterStatus = location.LocationStatus,
            BeforeStatus = beforeStatus,
            TaskNum = task.TaskNum.Value,
            LocationId = location.Id,
            LocationCode = location.LocationCode,
            ChangeType = (int)StatusChangeTypeEnum.AutomaticInbound,
        };

        bool isUpdateChange = _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);
        bool isUpdateLo = await _locationRepository.UpdateDataAsync(location);

        return isResult && isUpdateLo;
    }

    private async Task<bool> AddTaskAsync(Dt_Task task, DtLocationInfo StartAddress, DtLocationInfo EndAddress)
    {
        bool isResult = await BaseDal.AddDataAsync(task) > 0;
        int SourcebeforeStatus = StartAddress.LocationStatus;

        int TargetbeforeStatus = EndAddress.LocationStatus;

        StartAddress.LocationStatus = (int)LocationEnum.InStockDisable;

        EndAddress.LocationStatus = (int)LocationEnum.Lock;

        List<LocationChangeRecordDto> changeRecordDto = new List<LocationChangeRecordDto>()
        {
            new LocationChangeRecordDto()
            {
                AfterStatus = StartAddress.LocationStatus,
                BeforeStatus = SourcebeforeStatus,
                TaskNum = task.TaskNum.Value,
                LocationId = StartAddress.Id,
                LocationCode = StartAddress.LocationCode,
                ChangeType = (int)StatusChangeTypeEnum.AutomaticRelocation,
            },
            new LocationChangeRecordDto()
            {
                AfterStatus = EndAddress.LocationStatus,
                BeforeStatus = TargetbeforeStatus,
                TaskNum = task.TaskNum.Value,
                LocationId = EndAddress.Id,
                LocationCode = EndAddress.LocationCode,
                ChangeType = (int)StatusChangeTypeEnum.AutomaticRelocation,
            },
        };

        bool isUpdateChange = _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);
        bool Source = await _locationRepository.UpdateDataAsync(StartAddress);
        bool Target = await _locationRepository.UpdateDataAsync(EndAddress);

        return isResult && Source && Target;
    }

    private (List<DtLocationInfo>,List<DtLocationStatusChangeRecord>) AddTaskAsync(List<Dt_Task> task)
    {
        List<DtLocationStatusChangeRecord> changeRecordDto = new List<DtLocationStatusChangeRecord>();
        List<DtLocationInfo> locationos = new List<DtLocationInfo>();
        foreach (var item in task)
        {
            var SourceAddress = _locationRepository.QueryFirst(x => x.LocationCode == item.SourceAddress);
            var TargetAddress = _locationRepository.QueryFirst(x => x.LocationCode == item.TargetAddress);
            int SourcebeforeStatus = SourceAddress.LocationStatus;

            int TargetbeforeStatus = TargetAddress.LocationStatus;

            SourceAddress.LocationStatus = (int)LocationEnum.InStockDisable;
            TargetAddress.LocationStatus = (int)LocationEnum.Lock;
            changeRecordDto.Add(new DtLocationStatusChangeRecord()
            {
                ChangeType = (int)StatusChangeTypeEnum.AutomaticRelocation,
                LocationCode = TargetAddress.LocationCode,
                LocationId = TargetAddress.Id,
                Creater = "System",
                TaskNum = item.TaskNum,
                AfterStatus = TargetAddress.LocationStatus,
                BeforeStatus = TargetbeforeStatus,
            });
            changeRecordDto.Add(new DtLocationStatusChangeRecord
            {
                AfterStatus = TargetAddress.LocationStatus,
                BeforeStatus = TargetbeforeStatus,
                TaskNum = item.TaskNum.Value,
                Creater = "System",
                LocationId = TargetAddress.Id,
                LocationCode = TargetAddress.LocationCode,
                ChangeType = (int)StatusChangeTypeEnum.AutomaticRelocation,
            });
            locationos.Add(TargetAddress);
            locationos.Add(SourceAddress);
        }
        return (locationos, changeRecordDto);
    }

    /// <summary>
    /// 获取货位号
    /// </summary>
    /// <returns></returns>
    public async Task<DtLocationInfo> GetEmptyLocation(string roadWay)
    {
        List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.RoadwayNo == "SC1" && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
        if (locations.Count < 2)
        {
            return null;
        }

        List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
        var locationInside = locations.Where(x => x.Row == 3).ToList();

        if (locations.Where(x => x.Row == 2).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
        {
            return locations.Where(x => x.Row == 2).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
        }
        else if (locationInside.Count > 0)
        {
            foreach (var item in locationInside)
            {
                var locationLateral = _locationRepository.QueryFirst(x => x.Row == 1 && x.Layer == item.Layer && x.Column == item.Column);
                if (locationLateral.LocationStatus == (int)LocationEnum.Free && locationLateral.EnalbeStatus == 1)
                {
                    locationInfos.Add(item);
                }
            }

            return locationInfos.Distinct().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
        }
        else if (locations.Where(x => x.Row == 1).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
        {
            return locations.Where(x => x.Row == 1).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
        }
        else
        {
            return null;
        }
    }

    public async Task<DtLocationInfo> GetAGVEmptyCacheLocation(int AreaId, DtLocationInfo loc)
    {
        if (loc == null)
        {
            return null;
        }
        switch (AreaId)
        {
            case 2:
                return await FromShallowToDeep(AreaId, loc);
            case 3:
                return await AGVLIKU(AreaId);
            case 5:
            case 6:
                return await FromDeepToShallow(AreaId, loc);
            default:
                return null;
        }
    }

    /// <summary>
    /// 由深到浅
    /// </summary>
    /// <param name="AreaId"></param>
    /// <returns></returns>
    public async Task<DtLocationInfo> FromDeepToShallow(int AreaId, DtLocationInfo loc)
    {
        List<DtLocationInfo> locations = new List<DtLocationInfo>();

        if (AreaId == loc.AreaId)
        {
            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);
        }
        else
        {
            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
        }
        if (locations.Count == 0)
        {
            return null;
        }
        List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
        foreach (var item in locations)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == item.Row && x.Column < item.Column && x.Remark == item.Remark);
            if (locationLateral.Count == 0)
            {
                locationInfos.Add(item);
                continue;
            }
            bool Isavailable = true;
            foreach (var lateral in locationLateral)
            {
                if (lateral.LocationStatus != (int)LocationEnum.Free && lateral.EnalbeStatus == 1)
                {
                    Isavailable = false;
                    continue;
                }
            }
            if (Isavailable)
                locationInfos.Add(item);
        }

        return locationInfos.Distinct().OrderByDescending(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
    }

    /// <summary>
    /// 由浅到深
    /// </summary>
    /// <param name="AreaId"></param>
    /// <returns></returns>
    public async Task<DtLocationInfo> FromShallowToDeep(int AreaId, DtLocationInfo loc)
    {
        List<DtLocationInfo> locations = new List<DtLocationInfo>();

        if (AreaId == loc.AreaId)
        {
            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);
        }
        else
        {
            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
        }

        if (locations.Count == 0)
        {
            return null;
        }
        List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
        foreach (var item in locations)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == item.Row && x.Column > item.Column && x.Remark == item.Remark);
            if (locationLateral.Count == 0)
            {
                locationInfos.Add(item);
                continue;
            }
            bool Isavailable = true;
            foreach (var lateral in locationLateral)
            {
                if (lateral.LocationStatus != (int)LocationEnum.Free && lateral.EnalbeStatus == 1)
                {
                    Isavailable = false;
                    continue;
                }
            }
            if (Isavailable)
                locationInfos.Add(item);
        }
        return locationInfos.Distinct().OrderBy(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();

    }


    public async Task<DtLocationInfo> AGVLIKU(int AreaId)
    {
        WebResponseContent content = new WebResponseContent();

        List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == 0 && x.EnalbeStatus == 1);
        var location = locations.OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
        return location;

    }


    public bool LocationIsOutBound(DtLocationInfo location)
    {
        if (location.AreaId == 1)
        {
            if (location.Depth == 2)
            {
                var locationLateral = _locationRepository.QueryFirst(x => x.Row == 1 && x.Column == location.Column && x.Layer == location.Layer);

                if (locationLateral.LocationStatus == (int)LocationEnum.Lock && locationLateral.EnalbeStatus == 1)
                {
                    return false;
                }
            }
        }

        else if (location.AreaId == 2 || location.AreaId == 7)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark);

            foreach (var Lateral in locationLateral)
            {
                if (Lateral.LocationStatus == (int)LocationEnum.Lock && Lateral.EnalbeStatus == 1)
                {
                    return false;
                }
            }
        }

        else if (location.AreaId == 5 || location.AreaId == 6)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column < location.Column && x.Remark == location.Remark);

            foreach (var lateral in locationLateral)
            {
                if (lateral.LocationStatus == (int)LocationEnum.Lock && lateral.EnalbeStatus == 1)
                {
                    return false;
                }
            }
        }

        return true;

    }


    #endregion 任务请求方法

    #endregion private 内部方法
}