#region << 版 本 注 释 >>
/*----------------------------------------------------------------
 * 命名空间：WIDESEAWCS_TaskInfoService
 * 创建者：胡童庆
 * 创建时间：2024/8/2 16:13:36
 * 版本：V1.0.0
 * 描述：
 *
 * ----------------------------------------------------------------
 * 修改人：
 * 修改时间：
 * 版本：V1.0.1
 * 修改说明：
 * 
 *----------------------------------------------------------------*/
#endregion << 版 本 注 释 >>

using Autofac.Core;
using AutoMapper;
using HslCommunication;
using Magicodes.ExporterAndImporter.Core;
using Microsoft.AspNetCore.Components.Routing;
using Microsoft.AspNetCore.Mvc;
using Microsoft.AspNetCore.Mvc.RazorPages;
using Microsoft.AspNetCore.Routing;
using NetTaste;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using StackExchange.Profiling.Internal;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Linq.Expressions;
using System.Net.NetworkInformation;
using System.Reflection;
using System.Reflection.Metadata;
using System.Reflection.PortableExecutable;
using System.Runtime.InteropServices;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
using WIDESEA_Comm.Http;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Utilities;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;
using static Microsoft.IO.RecyclableMemoryStreamManager;
using static System.Net.Mime.MediaTypeNames;

namespace WIDESEAWCS_TaskInfoService
{
    public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    {
        private readonly IRouterService _routerService;
        private readonly IRouterRepository _routerRepository;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ITask_HtyService _task_HtyService;
        private readonly IMapper _mapper;
        private readonly IEquipmentStatusService _equipmentStatus;
        private readonly IAgvStationService _gvStationService;


        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
                {nameof(Dt_Task.Grade),OrderByType.Asc },
                {nameof(Dt_Task.CreateDate),OrderByType.Asc},
            };

        public Dictionary<string, OrderByType> TaskOrderBy { get { return _taskOrderBy; } set { _taskOrderBy = value; } }

        public List<int> TaskInboundTypes => typeof(TaskInboundTypeEnum).GetEnumIndexList();

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

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService task_HtyService, IRouterRepository routerRepository, IEquipmentStatusService equipmentStatus, IAgvStationService agvStationService) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _task_HtyService = task_HtyService;
            _mapper = mapper;
            _routerRepository = routerRepository;
            _equipmentStatus = equipmentStatus;
            _gvStationService = agvStationService;
        }

        /// <summary>
        /// 兰剑WCS调取接口
        /// </summary>
        public string urlLanJianWCSAPI = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlLanJianWCSAPI"];
        /// <summary>
        /// 兰剑接口名（堆垛机运行状态）
        /// </summary>
        public string LanJianStkRunStatus = WIDESEAWCS_Core.Helper.AppSettings.Configuration["LanJianStkRunStatus"];
        /// <summary>
        /// 兰剑任务反馈接口
        /// </summary>
        public string LanJiantaskResult = WIDESEAWCS_Core.Helper.AppSettings.Configuration["LanJiantaskResult"];

        /// <summary>
        /// 接收任务信息
        /// </summary>
        /// <param name="taskDTOs">WMS任务对象集合</param>
        /// <returns>返回处理结果</returns>
        public ExpoReverse TaskInstruction(ExpoTaskDTO expoTask)
        {
            ExpoReverse content = new ExpoReverse();
            try
            {
                foreach (var item in expoTask.data)
                {
                    //查询数据库，查看是否有当前任务
                    Dt_Task dt_Tasks = BaseDal.QueryFirst(x => x.TaskNum == item.taskNo);
                    if (dt_Tasks != null)
                    {
                        content.code = 1;
                        content.msg = $"明和WCS已有当前任务ID，请勿重新下发，任务号：{dt_Tasks.TaskNum}";

                        WriteLog.Write_Log("任务接收", "任务重复", "异常任务", $"任务号：{dt_Tasks.TaskNum}重复,兰剑系统下发重复任务！！！");
                        return content;
                    }
                    if (item.type == 1)     //入库
                    {
                        Dt_Task dt_Task = new Dt_Task();
                        dt_Task.TaskNum = item.taskNo;
                        dt_Task.PalletCode = item.containerNo;    //暂无
                        dt_Task.Roadway = "RGV101";
                        dt_Task.TaskType = (int)TaskInboundTypeEnum.Inbound;
                        dt_Task.RGVTaskType = (int)RGVTaskTypeEnum.PickingUp;      //取货
                        dt_Task.RGVCurrentexecution = "0";      //目前暂无
                        dt_Task.TaskState = (int)TaskInStatusEnum.RGV_InNew;      //目前暂无
                        dt_Task.SourceAddress = item.startAddress;
                        dt_Task.TargetAddress = item.endAddress;
                        dt_Task.CurrentAddress = item.startAddress;
                        dt_Task.NextAddress = "";   //目前暂无
                        dt_Task.Grade = item.priority;
                        dt_Task.WMSId = 0;   //目前暂无
                        BaseDal.AddData(dt_Task);
                        content.code = 0;

                        int taskidt = BaseDal.QueryFirst(x => x.TaskNum == dt_Task.TaskNum).TaskId;
                        _taskExecuteDetailService.AddTaskExecuteDetail(taskidt, $"系统自动流程，创建任务");
                    }
                    else if (item.type == 2)    //出库
                    {
                        string roadway = "";
                        switch (item.startAddress)
                        {
                            case "1":
                                roadway = "RGV110";
                                break;
                            case "2":
                                roadway = "RGV112";
                                break;
                            case "3":
                                roadway = "RGV114";
                                break;
                            case "4":
                                roadway = "RGV115";
                                break;
                        }

                        AGVStation gVStation = _gvStationService.Corridorequipment(roadway);

                        Dt_Task dt_Task = new Dt_Task();
                        dt_Task.TaskNum = item.taskNo;
                        dt_Task.PalletCode = item.containerNo;    //暂无
                        dt_Task.Roadway = roadway;
                        dt_Task.TaskType = (int)TaskOutboundTypeEnum.Outbound;
                        dt_Task.RGVTaskType = (int)RGVTaskTypeEnum.TravelingOnly;      //取货
                        dt_Task.RGVCurrentexecution = "0";      //目前暂无
                        dt_Task.TaskState = (int)TaskOutStatusEnum.OutNew;      //目前暂无
                        dt_Task.SourceAddress = item.startAddress;
                        dt_Task.TargetAddress = "0";
                        dt_Task.CurrentAddress = gVStation.Motherinlaw.ToString();
                        dt_Task.NextAddress = gVStation.ZicheMotherinlaw.ToString();   //目前暂无
                        dt_Task.Grade = item.priority;
                        dt_Task.WMSId = 0;   //目前暂无
                        BaseDal.AddData(dt_Task);
                        content.code = 0;

                        _taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskId, $"系统自动流程，创建任务");
                    }
                    else
                    {
                        content.code = 1;
                        content.msg = $"任务类型错误，wcs接收到的类型为：{item.type}";
                    }
                }
                WriteLog.Write_Log("任务接收", "接收兰剑下发任务", "成功", $"接收到的数据为：{expoTask.ToJson()}");
            }
            catch (Exception ex)
            {
                content.code = 1;
                content.msg = $"数据错误，原因：{ex.Message}";
                WriteLog.Write_Log("任务接收", "接收兰剑下发任务异常", "异常", ex.Message);
            }
            return content;
        }


        /// <summary>
        /// 根据设备编号、当前地址按照优先级以及创建时间排序查询任务池新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneTask(AGVStation GdMuChe, AGVStation GdZiche)
        {
            if (GdZiche.Station_Area == 3)  //3巷道母车
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.Roadway == GdMuChe.ChildPosiDeviceCode && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);    //获取到对应母车的任务
                if (dt_Task != null)
                {
                    Dt_Task dt_Task4 = BaseDal.QueryFirst(x => x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.NextAddress == GdZiche.MotherCarDeviceCode.ToString() && x.Grade < dt_Task.Grade, TaskOrderBy);

                    Dt_Task dt_Taskhcj = BaseDal.QueryFirst(x => x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp && x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarFinish && x.CurrentAddress == GdZiche.HCJStorageaddress.ToString() && x.Grade < dt_Task.Grade, TaskOrderBy);
                    if (dt_Task4 == null && dt_Taskhcj == null)   //在两个站台的任务优先级都正常，则正常移动
                    {
                        return dt_Task;
                    }

                }
                //获取HCJ站台任务与4巷任务

                return null;
            }
            return null;
        }

        public Dt_Task ObtainHCJtask(string curraderr)
        {
            return BaseDal.QueryFirst(x => x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp && (x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarFinish || x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheExecuting || x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheFinish || x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheReleaseExecuting) && x.CurrentAddress == curraderr, TaskOrderBy);
        }
        public Dt_Task ObtainMuChetask(string Nextaderr)
        {
            return BaseDal.QueryFirst(x => x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.NextAddress == Nextaderr, TaskOrderBy);
        }

        /// <summary>
        /// 获取母车是否有任务，进行判断
        /// </summary>
        public Dt_Task ObtainMuChetaskbool(AGVStation ZicheinnerSide)
        {
            return BaseDal.QueryFirst(x => x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly && (x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskType == (int)TaskOutStatusEnum.RGV_OutMothercarExecuting), TaskOrderBy);
        }

        public Dt_Task GetChariotTaskBool(string ChildPosiDeviceCode)
        {
            Dt_Task dt_Task2 = BaseDal.QueryFirst(x => x.Roadway == ChildPosiDeviceCode, TaskOrderBy);
            if (dt_Task2 != null) return dt_Task2;
            return null;
        }

        /// <summary>
        /// 获取HCJ站台是否有任务
        /// </summary>
        public Dt_Task GetHCJTaskBool(string ChildPosiDeviceCode,int HCJaddres)
        {
            Dt_Task dt_Task2 = BaseDal.QueryFirst(x => x.Roadway == ChildPosiDeviceCode && x.CurrentAddress== HCJaddres.ToString(), TaskOrderBy);
            if (dt_Task2 != null) return dt_Task2;
            return null;
        }

        public Dt_Task ChildVehicleMission(AGVStation aGVStation)
        {
            Dt_Task dt_Tasks2 = BaseDal.QueryFirst(x => x.Roadway == aGVStation.ChildPosiDeviceCode && x.CurrentAddress == aGVStation.MotherCardeputy.ToString() && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            if (dt_Tasks2 != null) return dt_Tasks2;

            Dt_Task dt_Tasks = BaseDal.QueryFirst(x => x.Roadway == aGVStation.ChildPosiDeviceCode && x.CurrentAddress == aGVStation.MotherCarDeviceCode.ToString() && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            if (dt_Tasks != null) return dt_Tasks;

            Dt_Task dt_Tasks3 = BaseDal.QueryFirst(x => x.Roadway == aGVStation.ChildPosiDeviceCode && x.CurrentAddress == aGVStation.HCJStorageaddress.ToString() && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
            if (dt_Tasks3 != null) return dt_Tasks3;
            return null;
        }


        public Dt_Task GetFinhuoTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing, TaskOrderBy);
        }

        public Dt_Task GetOutkouFinhuoTask(string DeviceCode, string curraderr)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskOutStatusEnum.RGV_OutPickupFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing && x.NextAddress != "", TaskOrderBy);
        }

        /// <summary>
        /// 获取出库口子车取货
        /// </summary>
        /// <param name="DeviceCode"></param>
        /// <param name="curraderr"></param>
        /// <returns></returns>
        public Dt_Task GetOutchachekouFinhuoTask(string DeviceCode, string curraderr)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp && x.CurrentAddress == curraderr, TaskOrderBy);
        }

        /// <summary>
        /// 入库取货任务
        /// </summary>
        /// <param name="DeviceCode"></param>
        /// <param name="type">1：查找需要取货的任务</param>
        public Dt_Task PickupWarehouse(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InNew && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
        }


        /// <summary>
        /// 任务查找
        /// </summary>
        /// <param name="DeviceCode"></param>
        /// <param name="type">1：查找需要取货的任务   2：查找需要放货的任务</param>
        public Dt_Task GetInkouFinhuoTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.NextAddress != "" && x.TaskState == (int)TaskInStatusEnum.RGV_InPickupFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing, TaskOrderBy);
        }

        /// <summary>
        /// 母车移动任务
        /// </summary>
        /// <param name="DeviceCode"></param>
        public Dt_Task MothermachinemovementTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly, TaskOrderBy);
        }

        /// <summary>
        /// 获取母车移动任务和移动中的任务（入库）
        /// </summary>
        /// <param name="DeviceCode"></param>
        /// <returns></returns>
        public Dt_Task MothermachinemovementTask2(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarExecuting && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly), TaskOrderBy);
        }

        /// <summary>
        /// 获取母车移动任务和移动中的任务（入库）
        /// </summary>
        public Dt_Task MothermacTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarExecuting || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarFinish || x.TaskState == (int)TaskInStatusEnum.SC_InExecuting || x.TaskState == (int)TaskInStatusEnum.InFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly), TaskOrderBy);
        }

        /// <summary>
        /// 获取母车移动任务和移动中的任务（出库）
        /// </summary>
        /// <param name="DeviceCode"></param>
        public Dt_Task OutMothermaTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarExecuting && x.RGVTaskType == (int)TaskOutStatusEnum.RGV_OutMothercarFinish), TaskOrderBy);
        }


        /// <summary>
        /// 子车进行放货任务
        /// </summary>
        /// <param name="DeviceCode"></param>
        public Dt_Task ViceChariotPlacingTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InZicheFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.Placing, TaskOrderBy);
        }

        /// <summary>
        /// 子车取货任务，取货HCJ任务
        /// </summary>
        /// <param name="DeviceCode"></param>
        public Dt_Task ViceChariotPickupTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && x.TaskState == (int)TaskInStatusEnum.RGV_InReleaseFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
        }

        /// <summary>
        /// 获取子车取货任务，进入母车取货
        /// </summary>
        /// <param name="DeviceCode"></param>
        public Dt_Task OutPickupZiche(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarFinish || x.TaskState == (int)TaskOutStatusEnum.RGV_OutZicheExecuting) && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
        }



        /// <summary>
        /// 判断是否有子车取HCJ任务，或者在执行的任务
        /// </summary>
        /// <param name="DeviceCode"></param>
        public Dt_Task ViceChariotPickupTask2(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheExecuting || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseExecuting || x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish) && x.RGVTaskType == (int)RGVTaskTypeEnum.PickingUp, TaskOrderBy);
        }





        public WebResponseContent UpdateDeliveryAddress(string NextAddress, int tasktype)
        {
            WebResponseContent webResponse = new WebResponseContent();
            try
            {
                Dt_Task dt_Task = null;
                if (tasktype == 1)
                {
                    dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState== (int)TaskInStatusEnum.InexceptionalSelection);

                }
                else
                {
                    dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskOutboundTypeEnum.Outbound && x.NextAddress == "");
                }
                if (dt_Task == null) return webResponse.Error("未找到需要修改的任务，无需修改");
                dt_Task.NextAddress = NextAddress;
                BaseDal.UpdateData(dt_Task);
                return webResponse.OK("任务放货地址修改成功");
            }
            catch (Exception ex)
            {
                return webResponse.Error($"任务放货地址修改失败！原因：{ex.Message}");
                throw;
            }
        }

        public WebResponseContent UpdateRGVTasktype(int taskNum, int RGVTasktype)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                int RGvtype = 0;
                string rwlx = "无";
                switch (RGVTasktype)
                {
                    case (int)RGVTaskTypeEnum.PickingUp:
                        RGvtype = 1;
                        rwlx = "取货";
                        break;
                    case (int)RGVTaskTypeEnum.Placing:
                        RGvtype = 2;
                        rwlx = "放货";
                        break;
                    case (int)RGVTaskTypeEnum.TravelingOnly:
                        RGvtype = 3;
                        rwlx = "仅行走中";
                        break;
                }
                task.RGVTaskType = RGvtype;
                bool updatesta = BaseDal.UpdateData(task);

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

            return content;
        }


        /// <summary>
        /// 更新任务异常信息显示
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="message">异常信息</param>
        public WebResponseContent UpdateTaskExceptionMessage(int taskNum, string message)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                {
                    task.TaskState = (int)TaskInStatusEnum.InPending;
                }
                else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutPending;
                }
                task.ExceptionMessage = message;
                task.ModifyDate = DateTime.Now;
                BaseDal.UpdateData(task);
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "更新任务异常：" + task.ExceptionMessage);
                content = WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error(ex.Message);
            }
            return content;
        }

        /// <summary>
        /// 将任务状态修改为下一个状态
        /// </summary>
        /// <param name="task">任务实体对象</param>
        /// <returns></returns>
        public WebResponseContent UpdateTaskStatusToNext([NotNull] Dt_Task task)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                int oldState = task.TaskState;
                if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                {
                    if (task.TaskState >= (int)TaskInStatusEnum.InFinish)
                    {
                        return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                    }

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

                    task.TaskState = nextStatus;
                    /*if (task.TaskState == (int)TaskInStatusEnum.RGV_InPickupExecuting)  //当下发入库口取货中，则调取兰剑接口
                    {
                        TaskResultIn(task.TaskNum.ToString(),"",1,"");
                    }*/

                }
                else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
                    if (task.TaskState >= (int)TaskOutStatusEnum.OutFinish)
                    {
                        return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                    }

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

                    task.TaskState = nextStatus;
                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{task.TaskNum}】,任务类型:【{task.TaskType}】");
                }

                if (task.TaskState <= 0)
                {
                    return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                }


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

                string oldstaterem = _taskExecuteDetailService.GetEnumDescription(oldState); //前一个状态
                string afterstaterem = _taskExecuteDetailService.GetEnumDescription(task.TaskState); //后一个状态

                string rgvtyperem = _taskExecuteDetailService.GetEnumDescription2(task.RGVTaskType); //后一个状态

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, App.User.UserId > 0 ?
                    $"人工手动将任务状态从【{oldstaterem}】跳转到【{afterstaterem}】"
                    : $"系统自动流程，任务状态从【{oldstaterem}】转到【{afterstaterem}】");

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

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

                Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.IsNormal, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                if (taskExecuteDetail != null)
                {
                    task.TaskState = taskExecuteDetail.TaskState;
                }
                else
                {
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutNew;
                    }
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        task.TaskState = (int)TaskInStatusEnum.RGV_InNew;
                    }
                    //todo
                }

                task.ExceptionMessage = string.Empty;

                BaseDal.UpdateData(task);

                string afterstaterem = _taskExecuteDetailService.GetEnumDescription(task.TaskState); //后一个状态

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工恢复挂起任务,恢复挂起时任务状态【{afterstaterem}】");

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

        /// <summary>
        /// 回滚任务状态
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent RollbackTaskStatusToLast(int taskNum)
        {
            WebResponseContent content = new();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");

                int oldState = task.TaskState;
                Dt_TaskExecuteDetail taskExecuteDetail = null;

                if (task.NextAddress == "1061")
                {
                    taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState > task.TaskState && x.TaskState > 0, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                }
                else
                {
                    taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState < task.TaskState && x.TaskState > 0, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });

                }



                if (taskExecuteDetail != null)
                {
                    task.TaskState = taskExecuteDetail.TaskState;
                    task.CurrentAddress = taskExecuteDetail.CurrentAddress;
                    task.NextAddress = taskExecuteDetail.NextAddress;
                }
                else
                {
                    return content = WebResponseContent.Instance.Error($"未找到任务明细信息,该任务状态不可回滚到上一步,任务号:【{taskNum}】,任务状态:【{task.TaskState}】");
                }

                task.ExceptionMessage = string.Empty;

                BaseDal.UpdateData(task);

                string oldstaterem = _taskExecuteDetailService.GetEnumDescription(oldState); //前一个状态
                string afterstaterem = _taskExecuteDetailService.GetEnumDescription(task.TaskState); //后一个状态

                string rgvtyperem = _taskExecuteDetailService.GetEnumDescription2(task.RGVTaskType); //后一个状态

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId,
                    $"人工手动将任务状态从【{oldstaterem}】回归到【{afterstaterem}】");

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


        /// <summary>
        /// 删除数据
        /// </summary>
        /// <param name="keys">主键数组</param>
        /// <returns></returns>
        public virtual WebResponseContent DeleteData(object[] keys)
        {
            try
            {
                List<Dt_Task> tasks = BaseDal.QureyDataByIds(keys);
                foreach (Dt_Task task in tasks)
                {
                    _task_HtyService.AddTaskHty(task);
                }


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

                        for (int i = 0; i < keys.Length; i++)
                        {
                            dynamicDelKeys.Add(keys[i]);
                        }
                        ((SqlSugarClient)BaseDal.Db).BeginTran();

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

                        BaseDal.DeleteDataByIds(keys);

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

                        return WebResponseContent.Instance.OK();
                    }
                    else
                    {
                        return WebResponseContent.Instance.Error("参数错误");
                    }
                }
            }
            catch (Exception ex)
            {
                ((SqlSugarClient)BaseDal.Db).RollbackTran();
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }


        /// <summary>
        /// 任务完成将状态修改至下一步（后续调整）
        /// </summary>
        /// <param name="taskNum">任务编号</param>
        /// <returns>返回处理结果</returns>
        public WebResponseContent UpdateTaskStatus(int taskNum)
        {
            WebResponseContent content = new WebResponseContent();

            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null)
                return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");

            int oldState = task.TaskState;

            try
            {
                if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)  //正常流程
                {
                    HandleInboundTask(task);
                }
                else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound && (task.NextAddress == "1001" || task.NextAddress == "1002"))
                {
                    task.TaskState = (int)TaskInStatusEnum.RGV_InMothercarFinish;
                }
                else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
                    HandleOutboundTask(task);
                }
                else
                {
                    return WebResponseContent.Instance.Error("未知的任务类型");
                }

                task.ExceptionMessage = string.Empty;
                BaseDal.UpdateData(task);

                string oldstaterem = _taskExecuteDetailService.GetEnumDescription(oldState); //前一个状态
                string afterstaterem = _taskExecuteDetailService.GetEnumDescription(task.TaskState); //后一个状态

                string rgvtyperem = _taskExecuteDetailService.GetEnumDescription2(task.RGVTaskType); //后一个状态
                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, App.User.UserId > 0 ?
                    $"人工手动将任务状态从【{oldstaterem}】跳转到【{afterstaterem}】"
                    : $"系统自动流程，任务状态从【{oldstaterem}】转到【{afterstaterem}】");


                if (task.TaskState == (int)TaskInStatusEnum.RGV_InMothercarFinish || task.TaskState == (int)TaskOutStatusEnum.OutFinish)   //入库任务完成
                {
                    
                    if (task.NextAddress == "1001" || task.NextAddress == "1002")
                    {
                        //异常排除任务时，异常上报
                    }
                    else
                    {
                        //正常任务，正常上报
                        TaskResultIn(task.TaskNum.ToString(), "", 2, "");

                        /*AutomaticTaskCompleted(task);   //任务完成
                        BaseDal.DeleteData(task);*/
                    }

                }

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

                return WebResponseContent.Instance.Error("更新任务状态时发生系统错误");
            }
        }
        #region 入库

        public WebResponseContent HandleInAbnormal(int taskNum)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null)
                return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
            task.TaskState = (int)TaskInStatusEnum.InAbnormalFinish;
            task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
            BaseDal.UpdateData(task);
            return WebResponseContent.Instance.OK();

        }


        private void HandleInboundTask(Dt_Task task)
        {
            switch (task.TaskState)
            {
                case (int)TaskInStatusEnum.RGV_InPickupExecuting:
                    task.TaskState = (int)TaskInStatusEnum.RGV_InPickupFinish;
                    task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
                    task.NextAddress = "1021";
                    break;

                case (int)TaskInStatusEnum.RGV_InReleaseExecuting:
                    HandleInboundRelease(task);     //入库RGV放货完成后，修改任务状态到子车取货任务
                    break;

                case (int)TaskInStatusEnum.RGV_InZicheExecuting:
                    task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
                    task.TaskState = (int)TaskInStatusEnum.RGV_InZicheFinish;
                    break;

                case (int)TaskInStatusEnum.RGV_InZicheReleaseExecuting:
                    HandleInboundZichemove(task);
                    break;
                case (int)TaskInStatusEnum.RGV_InMothercarExecuting:
                    task.TaskState = (int)TaskInStatusEnum.RGV_InMothercarFinish;
                    break;

                default:
                    throw new InvalidOperationException($"未知的入库任务状态: {task.TaskState}");
            }
        }

        /// <summary>
        /// 入库RGV放货完成后
        /// </summary>
        /// <param name="task"></param>
        private void HandleInboundRelease(Dt_Task task)
        {
            task.TaskState = (int)TaskInStatusEnum.RGV_InReleaseFinish;
            task.RGVTaskType = (int)RGVTaskTypeEnum.PickingUp;

            Dt_Router routes = _routerRepository.QueryFirst(x =>
                x.StartPosi == task.NextAddress &&
                x.InOutType == 1 &&
                x.IsEnd == false && x.ChildPosi == task.TargetAddress
                );
            if (task.TargetAddress != "1" && task.TargetAddress != "2")
            {

                routes = _routerRepository.QueryFirst(x =>
                x.StartPosi == task.NextAddress &&
                x.InOutType == 1 &&
                x.IsEnd == false && x.ChildPosi == "1061"
                );
            }
            task.Roadway = routes.ChildPosiDeviceCode;
            task.CurrentAddress = routes.StartPosi;
            task.NextAddress = routes.NextPosi;
        }

        private void HandleInboundZichemove(Dt_Task task)
        {
            if (task.TargetAddress == "1" || task.TargetAddress == "2")
            {
                task.TaskState = (int)TaskInStatusEnum.RGV_InZicheReleaseFinish;
                task.RGVTaskType = (int)RGVTaskTypeEnum.TravelingOnly;

                Dt_Router dt_InRouter = _routerRepository.QueryFirst(x => x.IsEnd == true && x.StartPosi == task.NextAddress && x.InOutType == 1);
                task.CurrentAddress = dt_InRouter.StartPosi;
                task.NextAddress = dt_InRouter.NextPosi;
                task.Roadway = dt_InRouter.ChildPosiDeviceCode;

            }
            else
            {
                //子车完成
                Dt_Router dt_Routernei = _routerRepository.QueryFirst(x => x.StartPosi == task.NextAddress && x.InOutType == 1 && x.ChildPosi == task.TargetAddress && x.IsEnd == false);
                if (dt_Routernei != null)
                {
                    task.TaskState = (int)TaskInStatusEnum.RGV_InReleaseFinish;
                    task.RGVTaskType = (int)RGVTaskTypeEnum.PickingUp;

                    task.CurrentAddress = dt_Routernei.StartPosi;
                    task.NextAddress = dt_Routernei.NextPosi;
                    task.Roadway = dt_Routernei.ChildPosiDeviceCode;
                }
                else
                {
                    Dt_Router dt_Routernei2 = _routerRepository.QueryFirst(x => x.StartPosi == task.NextAddress && x.InOutType == 1 && x.ChildPosi == task.TargetAddress && x.IsEnd==true);

                    task.TaskState = (int)TaskInStatusEnum.RGV_InZicheReleaseFinish;
                    task.RGVTaskType = (int)RGVTaskTypeEnum.TravelingOnly;

                    task.CurrentAddress = dt_Routernei2.StartPosi;
                    task.NextAddress = dt_Routernei2.NextPosi;
                    task.Roadway = dt_Routernei2.ChildPosiDeviceCode;
                }
            }
        }
        #endregion

        #region 出库

        private void HandleOutboundTask(Dt_Task task)
        {
            switch (task.TaskState)
            {
                case (int)TaskOutStatusEnum.RGV_OutMothercarExecuting:
                    Dt_Router dt_Router = _routerRepository.QueryFirst(x => x.StartPosi == task.NextAddress && x.InOutType == 2);
                    task.CurrentAddress = dt_Router.StartPosi;
                    task.NextAddress = dt_Router.NextPosi;
                    task.Roadway = dt_Router.ChildPosiDeviceCode;
                    task.TaskState = (int)TaskOutStatusEnum.RGV_OutMothercarFinish;
                    task.RGVTaskType = (int)RGVTaskTypeEnum.PickingUp;
                    break;

                case (int)TaskOutStatusEnum.RGV_OutZicheExecuting:
                    task.TaskState = (int)TaskOutStatusEnum.RGV_OutZicheFinish;
                    task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
                    break;

                case (int)TaskOutStatusEnum.RGV_OutZicheReleaseExecuting:
                    HandleOutboundZicheRelease(task);
                    break;

                case (int)TaskOutStatusEnum.RGV_OutPickupExecuting:
                    task.TaskState = (int)TaskOutStatusEnum.RGV_OutPickupFinish;
                    task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
                    break;

                case (int)TaskOutStatusEnum.RGV_OutReleaseExecuting:
                    task.TaskState = (int)TaskOutStatusEnum.OutFinish;
                    break;

                default:
                    throw new InvalidOperationException($"未知的出库任务状态: {task.TaskState}");
            }
        }

        private void HandleOutboundZicheRelease(Dt_Task task)
        {
            var route = _routerRepository.QueryFirst(x =>
                x.StartPosi == task.CurrentAddress &&
                x.InOutType == 2
            );

            if (route == null)
                throw new InvalidOperationException("未找到对应的路由信息");

            if (route.IsEnd)
            {
                task.TaskState = (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish;
                task.RGVTaskType = (int)RGVTaskTypeEnum.PickingUp;
                task.Roadway = "RGV118";
                task.CurrentAddress = "1171";
                task.NextAddress = "";
            }
            else
            {
                var nextRoute = _routerRepository.QueryFirst(x =>
                    x.StartPosi == task.NextAddress &&
                    x.InOutType == 2
                );

                if (nextRoute == null)
                    throw new InvalidOperationException("未找到下一个路由信息");

                task.TaskState = (int)TaskOutStatusEnum.RGV_OutMothercarFinish;
                task.RGVTaskType = (int)RGVTaskTypeEnum.PickingUp;
                task.CurrentAddress = nextRoute.StartPosi;
                task.NextAddress = nextRoute.NextPosi;
                task.Roadway = nextRoute.ChildPosiDeviceCode;
            }
        }
        #endregion


        #region 兰剑调取接口内容

        /// <summary>
        /// 查询RGV状态（完成，待测试）
        /// </summary>
        /// <param name="statusquery"></param>
        /// <returns></returns>
        public RGVStoResponse RgvStatus(StatusqueryReception statusquery)
        {
            RGVStoResponse rGVstatus = new RGVStoResponse();
            try
            {
                foreach (var item in statusquery.data)
                {
                    if (statusquery == null)
                    {
                        rGVstatus.code = 1;
                        rGVstatus.msg = "明和WCS接收到的参数为空，请检查";
                        return rGVstatus;
                    }

                    if (item.rgvTag == null)
                    {
                        rGVstatus.code = 1;
                        rGVstatus.msg = "明和WCS接收到RGV编号为空，请检查";
                        return rGVstatus;
                    }
                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == item.rgvTag);
                    if (device == null)
                    {
                        rGVstatus.code = 1;
                        rGVstatus.msg = "查询的RGV已断线";
                        return rGVstatus;
                    }
                    SpeStackerCrane Commonstacker = (SpeStackerCrane)device;

                    //当前位置
                    DeviceProDTO? deviceProDTO = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RGVCurrentlocation" && x.DeviceProParamType == "RGVCurrentlocation");

                    if (item.type == "pick")   //取货
                    {
                        //获取设备
                        //获取取货站台货位站台
                        AGVStation aGVStation = _gvStationService.Corridorequipment(item.rgvTag);
                        if (aGVStation == null)
                        {
                            rGVstatus.code = 1;
                            rGVstatus.msg = "未查找到该RGV";
                            return rGVstatus;
                        }

                        //有无货状态
                        DeviceProDTO? deviceProFh = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvEquipmentStatus" && x.DeviceProParamType == "RgvEquipmentStatus");

                        DeviceProDTO? RgvCraneAutoStatus = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvCraneAutoStatus" && x.DeviceProParamType == "RgvCraneAutoStatus");

                        int Itstock = Commonstacker.Communicator.Read<short>(deviceProFh.DeviceProAddress);

                        int RgvCraneAutoStatusValues = Commonstacker.Communicator.Read<short>(RgvCraneAutoStatus.DeviceProAddress);


                        int Currentlocation = Commonstacker.Communicator.Read<short>(deviceProDTO.DeviceProAddress);
                        if (Currentlocation == aGVStation.Motherinlaw && Itstock == 1 && RgvCraneAutoStatusValues == 1)    //是否在取货位
                        {
                            rGVstatus.code = 0;
                            rGVstatus.data = new List<RgvOperation>
                            {
                                new RgvOperation { rgvTag = item.rgvTag, type = "pick", status = 1 },
                            };
                        }
                        else
                        {
                            rGVstatus.code = 0;
                            rGVstatus.data = new List<RgvOperation>
                            {
                                new RgvOperation { rgvTag = item.rgvTag, type = "pick", status = 0 },
                            };
                        }
                    }
                    else if (item.type == "put")    //放货
                    {
                        AGVStation aGVStation = _gvStationService.Corridorequipment(item.rgvTag);
                        int Currentlocation = Commonstacker.Communicator.Read<short>(deviceProDTO.DeviceProAddress);

                        //有无货状态
                        DeviceProDTO? deviceProFh = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvEquipmentStatus" && x.DeviceProParamType == "RgvEquipmentStatus");

                        DeviceProDTO? RgvCraneAutoStatus = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvCraneAutoStatus" && x.DeviceProParamType == "RgvCraneAutoStatus");

                        int Itstock = Commonstacker.Communicator.Read<short>(deviceProFh.DeviceProAddress);

                        int RgvCraneAutoStatusValues = Commonstacker.Communicator.Read<short>(RgvCraneAutoStatus.DeviceProAddress);

                        if (aGVStation.Motherinlaw== Currentlocation && Itstock==0 && RgvCraneAutoStatusValues==1) //Itstock:0为无货    RgvCraneAutoStatusValues： 1为自动
                        {
                            rGVstatus.code = 0;
                            rGVstatus.data = new List<RgvOperation>
                                {
                                    new RgvOperation { rgvTag = item.rgvTag, type = "put", status = 2 },
                                };
                        }
                        else
                        {
                            rGVstatus.code = 0;
                            rGVstatus.data = new List<RgvOperation>
                                {
                                    new RgvOperation { rgvTag = item.rgvTag, type = "put", status = 0 },
                                };
                        }
                    }
                    else
                    {
                        rGVstatus.code = 1;
                        rGVstatus.msg = $"明和WCS接收的参数类型错误，实际接收值为：{item.type}";

                    }
                }

                return rGVstatus;
            }
            catch (Exception ex)
            {
                rGVstatus.code = 1;
                rGVstatus.msg = $"明和WCS接口错误：{ex.Message}";
                return rGVstatus;
            }

        }



        /// <summary>
        /// 堆垛机完成的接口
        /// </summary>
        /// <param name="sCstatus"></param>
        /// <returns></returns>
        public ExpoReverse StkPickPutStatus(SCstatusReception sCstatus)
        {
            ExpoReverse expoReverse = new ExpoReverse();
            try
            {
                foreach (var item in sCstatus.data)
                {
                    if (sCstatus == null)
                    {
                        expoReverse.code = 1;
                        expoReverse.msg = "明和WCS接收到的参数为空，请检查";
                        return expoReverse;
                    }

                    if (item.rgvTag == null)
                    {
                        
                        expoReverse.code = 1;
                        expoReverse.msg = "明和WCS接收到RGV编号为空，请检查";
                        return expoReverse;
                    }

                    //查找RGV完成的任务
                    if (item.type == "pick")   //取货
                    {
                        if (item.status == 1)   //堆垛机进行取货中
                        {
                            Dt_Task dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarFinish && x.Roadway == item.rgvTag);
                            if (dt_Task == null)
                            {
                                expoReverse.code = 1;
                                expoReverse.msg = "明和WCS未找到需要取货的任务";
                                return expoReverse;
                            }
                            dt_Task.TaskState = (int)TaskInStatusEnum.SC_InExecuting;
                            BaseDal.UpdateData(dt_Task);
                            expoReverse.code = 0;
                        }
                        else if (item.status == 2)
                        {
                            Dt_Task dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState == (int)TaskInStatusEnum.SC_InExecuting && x.Roadway == item.rgvTag);
                            if (dt_Task == null)
                            {
                                expoReverse.code = 1;
                                expoReverse.msg = "明和WCS未找到需要取货的任务";
                                return expoReverse;
                            }
                            dt_Task.TaskState = (int)TaskInStatusEnum.InFinish;
                            AutomaticTaskCompleted(dt_Task);    //有问题,等待优化
                            BaseDal.DeleteData(dt_Task);        //删除任务
                            expoReverse.code = 0;
                        }
                        
                    }
                    else if (item.type == "put")    //放货
                    {
                        if (item.status == 2)   //堆垛机执行中
                        {
                            Dt_Task dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskOutboundTypeEnum.Outbound && x.TaskState == (int)TaskOutStatusEnum.OutNewLj && x.Roadway == item.rgvTag);
                            if (dt_Task != null)
                            {
                                dt_Task.TaskState = (int)TaskOutStatusEnum.OutNew;
                                BaseDal.UpdateData(dt_Task);
                            }
                        }
                        expoReverse.code = 0;
                    }
                    else
                    {
                        expoReverse.code = 1;
                        expoReverse.msg = $"明和WCS接收的参数类型错误，实际接收值为：{item.type}";
                    }
                }

                return expoReverse;
            }
            catch (Exception ex)
            {
                expoReverse.code = 1;
                expoReverse.msg = $"明和WCS接口错误：{ex.Message}";
                return expoReverse;
            }
        }

        /// <summary>
        /// 获取堆垛机故障信息
        /// </summary>
        /// <param name="sCErrorStatus"></param>
        /// <returns></returns>
        public ExpoReverse StkErrorStatus(SCErrorStatusReception sCErrorStatus)
        {
            ExpoReverse expoReverse = new ExpoReverse();
            try
            {
                if (sCErrorStatus == null)
                {
                    expoReverse.code = 1;
                    expoReverse.msg = "明和WCS接收到的参数为空，请检查";
                    return expoReverse;
                }

                List<EquipmentStatus> equipmentdata = new List<EquipmentStatus>();

                List<EquipmentStatus> equipmentList = _equipmentStatus.GetEquipmentStatus();
                foreach (var item in sCErrorStatus.data)
                {
                    EquipmentStatus equipment = equipmentList.Find(x => x.Equipment_Number == item.stackerName);
                    if (equipment.Equipment_Status != item.errorStatus)
                    {
                        equipment.Equipment_Status = item.errorStatus;
                        equipmentdata.Add(equipment);
                    }
                }
                if (equipmentdata.Count > 0)
                {
                    _equipmentStatus.UpdateData(equipmentdata);     //修改状态
                }
                
                expoReverse.code = 0;
                return expoReverse;
            }
            catch (Exception ex)
            {
                expoReverse.code = 1;
                expoReverse.msg = $"明和WCS接口错误：{ex.Message}";
                WriteLog.Write_Log("设备状态更改", "堆垛机状态更改", "异常", ex.Message);
                return expoReverse;
            }
        }

        /// <summary>
        /// 任务取消接口(待测试)
        /// </summary>
        /// <param name="sCErrorStatus"></param>
        /// <returns></returns>
        public ExpoReverse TaskCancel(TaskcanceledReception taskcanceled)
        {
            ExpoReverse expoReverse = new ExpoReverse();
            try
            {
                List<Dt_Task> _TaskList = BaseDal.QueryData(x => x.TaskType == (int)TaskInboundTypeEnum.Inbound).ToList();
                foreach (var item in taskcanceled.data)
                {
                    if (taskcanceled == null)
                    {
                        expoReverse.code = 1;
                        expoReverse.msg = "明和WCS接收到的参数为空，请检查";
                        return expoReverse;
                    }

                    Dt_Task dt_Task = _TaskList.FirstOrDefault(x => x.TaskNum == item.taskNo);
                    if (dt_Task != null)
                    {
                        if (dt_Task.TaskState == (int)TaskInStatusEnum.RGV_InNew)
                        {
                            dt_Task.TaskState = (int)TaskInStatusEnum.InCancel; //任务取消后,则移入历史
                            _task_HtyService.AddTaskHty(dt_Task);
                            BaseDal.DeleteData(dt_Task);
                            expoReverse.code = 0;
                            WriteLog.Write_Log("任务取消信息", "任务取消", "信息", $"任务号：{dt_Task.TaskNum}，已取消");
                        }
                        else
                        {
                            expoReverse.code = 0;
                            expoReverse.msg = $"当前任务已在执行中，不可取消！任务号：{item.taskNo}";
                            return expoReverse;
                        }
                    }
                    else
                    {
                        expoReverse.code = 0;
                        expoReverse.msg = $"未找到入库任务，任务号：{item.taskNo}";
                        return expoReverse;
                    }
                }


                return expoReverse;
            }
            catch (Exception ex)
            {
                expoReverse.code = 1;
                expoReverse.msg = $"明和WCS接口错误：{ex.Message}";
                return expoReverse;
            }
        }
        #endregion




        /// <summary>
        /// 堆垛机运行状态接口
        /// </summary>
        /// <param name="sCErrorStatus"></param>
        /// <returns></returns>
        public WebResponseContent StkRunStatus()
        {
            WebResponseContent responseContent = new WebResponseContent();
            // 创建并赋值
            StkRunStatusReception reception = new StkRunStatusReception { data = new List<StkRunStatusData> { new StkRunStatusData { stackerName = "ALL" } } };
            StkRunStatusReturns LJReturns = HttpHelper.Post<StkRunStatusReturns>(urlLanJianWCSAPI + LanJianStkRunStatus, reception, "查询堆垛机运行状态");
            if (LJReturns.code == 0)
            {
                if (LJReturns.data[0].runStatus == 0)   //全部堆垛机不在运行状态
                {
                    return responseContent.OK();
                }
                else
                {
                    return responseContent.Error($"有堆垛机在运行中，不可限制");
                }

            }
            else
            {
                WriteLog.Write_Log("堆垛机运行状态查询", "状态查询失败", "接口调取失败", $"返回内容：{LJReturns.msg}");
                return responseContent.Error($"调取兰剑WCS失败！，返回内容：{LJReturns.msg}");
            }
        }


        /// <summary>
        /// 任务信息状态上传(固定入库接口)可进行测试   1.当执行该任务的时候，上报兰剑任务执行中
        /// </summary>
        /// <param name="sCErrorStatus"></param>
        /// <returns></returns>
        public WebResponseContent TaskResultIn(string taskNo, string finalAddress, int status, string remark)
        {
            WebResponseContent responseContent = new WebResponseContent();
            TaskfeedbackResponse reception = new TaskfeedbackResponse { data = new List<TaskfeedbackData> { new TaskfeedbackData { taskNo = taskNo, type = 1, finalAddress = finalAddress, status = status, remark = remark } } };
            StkRunStatusReturns LJReturns = HttpHelper.Post<StkRunStatusReturns>(urlLanJianWCSAPI + LanJiantaskResult, reception, "任务反馈接口");
            if (LJReturns.code == 0)
            {
                responseContent.OK("上传成功");
            }
            else
            {
                responseContent.OK("上传失败，原因：" + LJReturns.msg);
            }
            // 创建并赋值
            return responseContent;
        }

        /// <summary>
        /// 任务信息状态上传(固定出库接口)可进行测试
        /// </summary>
        /// <param name="sCErrorStatus"></param>
        /// <returns></returns>
        public WebResponseContent TaskResultOut(string taskNo, string finalAddress, int status, string remark)
        {
            WebResponseContent responseContent = new WebResponseContent();

            TaskfeedbackResponse reception = new TaskfeedbackResponse { data = new List<TaskfeedbackData> { new TaskfeedbackData { taskNo = taskNo, type = 2, finalAddress = finalAddress, status = status, remark = remark } } };
            StkRunStatusReturns LJReturns = HttpHelper.Post<StkRunStatusReturns>(urlLanJianWCSAPI + LanJiantaskResult, reception, "任务反馈接口");
            if (LJReturns.code == 0)
            {
                responseContent.OK("上传成功");
            }
            else
            {
                responseContent.OK("上传失败，原因：" + LJReturns.msg);
            }
            // 创建并赋值
            return responseContent;
        }

        /// <summary>
        /// 自动完成任务
        /// </summary>
        /// <param name="ids"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent AutomaticTaskCompleted(Dt_Task dt_task)
        {
            try
            {
                var res = _task_HtyService.AddData(new Dt_Task_hty
                {
                    TaskNum = dt_task.TaskNum,
                    PalletCode = dt_task.PalletCode,
                    Roadway = dt_task.Roadway,
                    TaskType = dt_task.TaskType,
                    TaskState = dt_task.TaskState,
                    SourceAddress = dt_task.SourceAddress,
                    TargetAddress = dt_task.TargetAddress,
                    CurrentAddress = dt_task.CurrentAddress,
                    NextAddress = dt_task.NextAddress,
                    WMSId = dt_task.WMSId,
                    Dispatchertime = dt_task.Dispatchertime,
                    Remark = "自动完成",
                    Creater = App.User.UserName,
                    CreateDate = DateTime.Now,
                    RGVTaskType = dt_task.RGVTaskType,
                    RGVCurrentexecution = dt_task.RGVCurrentexecution
                });
                
                return WebResponseContent.Instance.OK();

            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error("任务完成失败！");
            }
        }


        /// <summary>
        /// 人工手动完成
        /// </summary>
        /// <param name="ids"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent CompletedManually(int id, int CompletionType)
        {

            var db = BaseDal.Db as SqlSugarClient;

            try
            {
                db.Ado.BeginTran();

                Dt_Task dt_task = BaseDal.QueryData().Where(x => x.TaskId == id).FirstOrDefault();
                if (dt_task == null) return WebResponseContent.Instance.Error($"未查询到任务");
                string Remark = CompletionType == 1 ? "人工手动完成" : "自动完成";
                var res = _task_HtyService.AddData(new Dt_Task_hty
                {
                    TaskNum = dt_task.TaskNum,
                    PalletCode = dt_task.PalletCode,
                    Roadway = dt_task.Roadway,
                    TaskType = dt_task.TaskType,
                    TaskState = dt_task.TaskState,
                    SourceAddress = dt_task.SourceAddress,
                    TargetAddress = dt_task.TargetAddress,
                    CurrentAddress = dt_task.CurrentAddress,
                    NextAddress = dt_task.NextAddress,
                    WMSId = dt_task.WMSId,
                    Dispatchertime = dt_task.Dispatchertime,
                    Remark = Remark,
                    Creater = App.User.UserName,
                    CreateDate = DateTime.Now,
                    RGVTaskType = dt_task.RGVTaskType,
                    RGVCurrentexecution = dt_task.RGVCurrentexecution
                });

                if (res.Status == false)
                {
                    db.Ado.RollbackTran();
                    return WebResponseContent.Instance.Error($"{Remark}失败！");
                }

                var deletetask = BaseDal.DeleteData(dt_task);
                if (deletetask == false)
                {
                    db.Ado.RollbackTran();
                    return WebResponseContent.Instance.Error("删除任务失败所有操作回滚！");
                }
                db.Ado.CommitTran();
                return WebResponseContent.Instance.OK($"{Remark}成功！");

            }
            catch (Exception ex)
            {
                db.Ado.RollbackTran();
                return WebResponseContent.Instance.Error("任务完成失败！");
            }
        }

        /// <summary>
        /// 人工手动取消任务
        /// </summary>
        /// <param name="id"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent MHWCSTaskCancel(int id)
        {
            var db = BaseDal.Db as SqlSugarClient;

            try
            {
                db.Ado.BeginTran();
                Dt_Task dt_task = BaseDal.QueryData().Where(x => x.TaskId == id).FirstOrDefault();
                if (dt_task == null) return WebResponseContent.Instance.Error($"未查询到任务");
                //if (dt_task.TaskState > (int)TaskInStatusEnum.RGV_InNew || dt_task.TaskState > (int)TaskOutStatusEnum.OutNew) return WebResponseContent.Instance.Error($"任务状态不允许取消");
                /*if (dt_task.TaskType >= 200 && dt_task.TaskType <= 203)
                {
                    if (dt_task.TaskState > (int)TaskInStatusEnum.RGV_InNew) return WebResponseContent.Instance.Error($"任务状态不允许取消");
                }
                else
                {
                    if (dt_task.TaskState > (int)TaskOutStatusEnum.OutNew) return WebResponseContent.Instance.Error($"任务状态不允许取消");

                }*/

                Dt_Task_hty dt_Task_Hty = new Dt_Task_hty
                {
                    TaskNum = dt_task.TaskNum,
                    PalletCode = dt_task.PalletCode,
                    Roadway = dt_task.Roadway,
                    TaskType = dt_task.TaskType,
                    TaskState = dt_task.TaskType >= (int)TaskInboundTypeEnum.Inbound ? (int)TaskInStatusEnum.InCancel : (int)TaskOutStatusEnum.OutCancel,
                    SourceAddress = dt_task.SourceAddress,
                    TargetAddress = dt_task.TargetAddress,
                    CurrentAddress = dt_task.CurrentAddress,
                    NextAddress = dt_task.NextAddress,
                    WMSId = dt_task.WMSId,
                    Dispatchertime = dt_task.Dispatchertime,
                    Remark = "人工手动取消任务",
                    Creater = App.User.UserName,
                    CreateDate = DateTime.Now,
                    RGVTaskType = dt_task.RGVTaskType,
                    RGVCurrentexecution = dt_task.RGVCurrentexecution
                };
                var res = _task_HtyService.AddData(dt_Task_Hty);
                if (res.Status == false)
                {
                    db.Ado.RollbackTran();
                    return WebResponseContent.Instance.Error("取消任务失败！");
                }
                /*int oldState = dt_task.TaskState;
                _taskExecuteDetailService.AddTaskExecuteDetail(
    dt_task.TaskId,
    $"自动任务状态从【{oldState}】进入到【{dt_Task_Hty.TaskState}】"
);*/

                bool deletetask = BaseDal.DeleteData(dt_task);
                if (!deletetask)
                {
                    db.Ado.RollbackTran();
                    return WebResponseContent.Instance.Error("删除任务失败所有操作回滚！");
                }
                db.Ado.CommitTran();
                return WebResponseContent.Instance.OK("取消任务成功！");
            }
            catch (Exception ex)
            {
                db.Ado.RollbackTran();
                return WebResponseContent.Instance.Error("取消任务失败！");
            }
        }




        /// <summary>
        /// 任务下一步执行
        /// </summary>
        /// <param name="sCErrorStatus"></param>
        /// <returns></returns>
        public WebResponseContent NextStepeXecuted(int taskid)
        {
            WebResponseContent responseContent = new WebResponseContent();
            Dt_Task task = BaseDal.QueryData().Where(x => x.TaskNum == taskid).FirstOrDefault();
            if (task == null) return WebResponseContent.Instance.Error($"未查询到任务");
            switch (task.TaskState)
            {
                //入库状态
                case (int)TaskInStatusEnum.RGV_InNew:
                case (int)TaskInStatusEnum.RGV_InPickupFinish:
                case (int)TaskInStatusEnum.RGV_InReleaseFinish:
                case (int)TaskInStatusEnum.RGV_InZicheFinish:
                case (int)TaskInStatusEnum.RGV_InZicheReleaseFinish:
                //入库状态
                //出库状态
                case (int)TaskOutStatusEnum.OutNew:
                case (int)TaskOutStatusEnum.RGV_OutMothercarFinish:
                case (int)TaskOutStatusEnum.RGV_OutZicheFinish:
                case (int)TaskOutStatusEnum.RGV_OutZicheReleaseFinish:
                case (int)TaskOutStatusEnum.RGV_OutPickupFinish:
                    //出库状态
                    //调取下发的接口
                    responseContent = UpdateTaskStatusToNext(task);
                    break;


                //入库状态
                case (int)TaskInStatusEnum.RGV_InPickupExecuting:
                case (int)TaskInStatusEnum.RGV_InReleaseExecuting:
                case (int)TaskInStatusEnum.RGV_InZicheExecuting:
                case (int)TaskInStatusEnum.RGV_InZicheReleaseExecuting:
                case (int)TaskInStatusEnum.RGV_InMothercarExecuting:
                //入库状态
                //出库状态
                case (int)TaskOutStatusEnum.RGV_OutMothercarExecuting:
                case (int)TaskOutStatusEnum.RGV_OutZicheExecuting:
                case (int)TaskOutStatusEnum.RGV_OutZicheReleaseExecuting:
                case (int)TaskOutStatusEnum.RGV_OutPickupExecuting:
                case (int)TaskOutStatusEnum.RGV_OutReleaseExecuting:
                    //出库状态
                    //调取完成接口
                    responseContent = UpdateTaskStatus(task.TaskNum);
                    break;
                case (int)TaskInStatusEnum.RGV_InMothercarFinish:
                    return WebResponseContent.Instance.Error("RGV部分任务已走位,不可往下执行");
                default:
                    return WebResponseContent.Instance.Error("任务状态错误，执行下一步失败");
            }
            // 创建并赋值
            return responseContent;
        }




    }
}