#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 AutoMapper;
using HslCommunication;
using Mapster;
using Newtonsoft.Json;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using System.Threading.Tasks;
using WIDESEA_Comm.Http;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Utilities;
using WIDESEAWCS_DTO.Enum;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.BasicInfo;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_TaskInfoRepository;

namespace WIDESEAWCS_TaskInfoService
{
    public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    {
        private readonly IRouterService _routerService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly ITask_HtyService _taskHtyService;
        private readonly ITask_HtyRepository _taskHtyRepository;
        private readonly ISys_ConfigService _sys_ConfigService;
        private readonly IMapper _mapper;
        private readonly IDeviceInfoRepository _deviceInfoRepository;
        private readonly IDt_StationManagerRepository _stationManagerRepository;


        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
                {nameof(Dt_Task.Grade),OrderByType.Desc },
                {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 List<int> TaskRelocationboundTypes => typeof(TaskRelocationTypeEnum).GetEnumIndexList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService taskHtyService, ISys_ConfigService sys_ConfigService, IDt_StationManagerRepository stationManagerRepository, ITask_HtyRepository taskHtyRepository,
        IDeviceInfoRepository deviceInfoRepository) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _taskHtyService = taskHtyService;
            _mapper = mapper;
            _stationManagerRepository = stationManagerRepository;
            _taskHtyRepository = taskHtyRepository;
            _mapper = mapper;
            _sys_ConfigService = sys_ConfigService;
            _deviceInfoRepository = deviceInfoRepository;
        }

        /// <summary>
        /// 接收WMS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 WebResponseContent ReceiveWMSTask([NotNull] WMSTaskDTO taskDTOs)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                List<Dt_Task> tasks = new List<Dt_Task>();
                // 判断任务类型是否为出库任务
                if (taskDTOs.TaskType == "2")
                {
                    if (Convert.ToInt32(taskDTOs.EndPoint) > 1999 && Convert.ToInt32(taskDTOs.EndPoint) < 3000)
                    {
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.EndPoint);
                        if (stationManagerStart == null)
                        {
                            return content.Error("未找到出库站台信息");
                        }
                        Dt_Task taskIn = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskOutboundTypeEnum.Outbound,
                            TaskState = (int)TaskOutStatusEnum.OutNew,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = taskDTOs.BeginPoint,
                            Roadway = stationManagerStart.Roadway,
                            NextAddress = taskDTOs.EndPoint,
                            TargetAddress = taskDTOs.EndPoint,
                            Floor = stationManagerStart.stationFloor,
                            RGVName = ""
                        };
                        BaseDal.AddData(taskIn);
                    }
                    else
                    {

                        string[] targetCodes = taskDTOs.BeginPoint.Split("-");

                        Dt_StationManager stationManagerEnd = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.EndPoint);
                        if (stationManagerEnd == null)
                        {
                            return content.Error("未找到出库站台信息");
                        }

                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == GetScCode(Convert.ToInt32(targetCodes[0])) && x.stationType == 2 && x.stationFloor == stationManagerEnd.stationFloor);

                        var RGVName = string.Empty;
                        if (stationManager.stationFloor == "1F")
                        {
                            RGVName = stationManager.RGVName;
                        }
                        Dt_Task taskOut = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskOutboundTypeEnum.Outbound,
                            TaskState = (int)TaskOutStatusEnum.OutNew,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = taskDTOs.BeginPoint,
                            Roadway = GetScCode(Convert.ToInt32(targetCodes[0])),
                            NextAddress = stationManager.stationChildCode,
                            TargetAddress = taskDTOs.EndPoint,
                            RGVName = stationManager.RGVName != null ? stationManager.RGVName : RGVName,
                            Floor = stationManager.stationFloor,
                            TargetStation= stationManagerEnd.remark,
                            SourceStation= 0,
                        };
                        BaseDal.AddData(taskOut);
                    }
                }
                // 判断任务类型是否为入库任务
                else if (taskDTOs.TaskType == "1")
                {
                    if (taskDTOs.BeginPoint == "3002")
                    {
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.BeginPoint);
                        if (stationManagerStart == null)
                        {
                            return content.Error("未找到入库站台信息");
                        }
                        string[] targetCodes = taskDTOs.EndPoint.Split("-");
                        Dt_Task taskIn = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskInboundTypeEnum.Inbound,
                            TaskState = (int)TaskInStatusEnum.HoistNew,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = stationManagerStart.stationChildCode,
                            Roadway = GetScCode(Convert.ToInt32(targetCodes[0])),
                            NextAddress = stationManagerStart.stationNextChildCode,
                            TargetAddress = taskDTOs.EndPoint,
                            Floor = stationManagerStart.stationFloor,
                            RGVName = "RGV03"
                        };
                        BaseDal.AddData(taskIn);
                    } 
                    else if (Convert.ToInt32(taskDTOs.BeginPoint) > 1999 && Convert.ToInt32(taskDTOs.BeginPoint) < 3000)
                    {
                        Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode == taskDTOs.BeginPoint);
                        if (stationManagerStart == null)
                        {
                            return content.Error("未找到出库站台信息");
                        }
                        Dt_Task taskIn = new Dt_Task()
                        {
                            TaskNum = BaseDal.GetTaskNo().Result,
                            Creater = "WMS",
                            WMSTaskNum = taskDTOs.TaskId,
                            Grade = 1,
                            PalletCode = taskDTOs.TPbarcode,
                            TaskType = (int)TaskInboundTypeEnum.Inbound,
                            TaskState = (int)TaskInStatusEnum.Line_InFinish,
                            SourceAddress = taskDTOs.BeginPoint,
                            CurrentAddress = stationManagerStart.stationChildCode,
                            Roadway = stationManagerStart.Roadway,
                            NextAddress = taskDTOs.EndPoint,
                            TargetAddress = taskDTOs.EndPoint,
                            Floor = stationManagerStart.stationFloor,
                            RGVName = ""
                        };
                        BaseDal.AddData(taskIn);
                    }
                    else
                    {
                        var task = BaseDal.QueryFirst(x => x.PalletCode == taskDTOs.TPbarcode);
                        if (task != null)
                        {
                            task.Creater = "WMS";
                            task.Grade = 1;
                            task.PalletCode = taskDTOs.TPbarcode;

                            task.TaskType = (int)TaskInboundTypeEnum.Inbound;

                            task.TaskState = (int)TaskInStatusEnum.RGV_IndispatchFinish;

                            task.CurrentAddress = taskDTOs.BeginPoint;

                            task.WMSTaskNum = taskDTOs.TaskId;

                            task.TargetAddress = taskDTOs.EndPoint;

                            string[] targetCodes = taskDTOs.EndPoint.Split("-");

                            task.Roadway = GetScCode(Convert.ToInt32(targetCodes[0]));

                            Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationType == 3 && x.stationFloor == task.Floor);

                            Dt_StationManager stationManagerStart = _stationManagerRepository.QueryFirst(x => x.stationChildCode==taskDTOs.BeginPoint && x.stationFloor == task.Floor);

                            task.NextAddress = stationManager.stationChildCode;

                            task.SourceStation = stationManagerStart.remark;

                            task.TargetStation = stationManager.stationRemark;

                            BaseDal.UpdateData(task);
                        }
                        else
                        {
                            return content.Error($"未找到该托盘【{taskDTOs.TPbarcode}】任务");
                        }
                    }
                }
                else if (taskDTOs.TaskType == "3")
                {
                    string[] targetCodes = taskDTOs.BeginPoint.Split("-");
                    Dt_Task taskRelocation = new Dt_Task()
                    {
                        TaskType = (int)TaskRelocationTypeEnum.Relocation,

                        TaskState = (int)TaskRelocationStatusEnum.RelocationNew,

                        Roadway = GetScCode(Convert.ToInt32(targetCodes[0])),

                        SourceAddress = taskDTOs.BeginPoint,

                        CurrentAddress = taskDTOs.BeginPoint,

                        NextAddress = taskDTOs.EndPoint,

                        TargetAddress = taskDTOs.EndPoint,

                        Grade = 3,

                    };
                    BaseDal.AddData(taskRelocation);
                }
                else
                {
                    return content.Error($"任务类型错误,未找到该任务类型,任务号:【{taskDTOs.TaskId}】,任务类型:【{taskDTOs.TaskType}】");
                }
                _taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskId).ToList(), "接收WMS任务");
                content = WebResponseContent.Instance.OK("成功");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"生成任务失败,错误信息:{ex.Message}");
            }
            finally
            {
                WriteLog.GetLog("生成任务").Write(JsonConvert.SerializeObject(content), "生成任务");
            }
            return content;
        }

        public string GetScCode(int number)
        {
            if (number >= 1 && number <= 4)
            {
                return "SC01";
            }
            else if (number >= 5 && number <= 7)
            {
                return "SC02";
            }
            else if (number >= 8 && number <= 10)
            {
                return "SC03";
            }
            else if (number >= 11 && number <= 14)
            {
                return "SC04";
            }
            else if (number >= 15 && number <= 18)
            {
                return "SC05";
            }
            else if (number >= 19 && number <= 22)
            {
                return "SC06";
            }
            else
            {
                // 处理不在1-16范围内的情况（可选）
                throw new ArgumentOutOfRangeException(nameof(number), "输入的数字必须在1-16范围内");
                // 或者返回一个默认值：return "SC00";
            }
        }


        public WebResponseContent GetTask(WMSTaskDTO taskDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.WMSTaskNum == taskDTO.TaskId && x.Roadway == taskDTO.WhCode);
                Dt_Task_Hty taskHty = _taskHtyRepository.QueryFirst(x => x.WMSTaskNum == taskDTO.TaskId && x.Roadway == taskDTO.WhCode);
                if (task != null)
                {
                    return content.OK(data: new WMSTaskDTO()
                    {
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = task.Roadway,
                        BeginPoint = task.SourceAddress,
                        EndPoint = task.TargetAddress,
                        Results = GetTaskState(task.TaskState)
                    });
                }
                else if (taskHty != null)
                {
                    return content.OK(data: new WMSTaskDTO()
                    {
                        TaskId = taskHty.WMSTaskNum,
                        TPbarcode = taskHty.PalletCode,
                        WhCode = taskHty.Roadway,
                        BeginPoint = taskHty.SourceAddress,
                        EndPoint = taskHty.TargetAddress,
                        Results = GetTaskState(taskHty.TaskState)
                    });
                }
                else
                {
                    return content.Error($"未找到该任务信息,任务号:【{taskDTO.TaskId}】");
                }
            }
            catch (Exception ex)
            {
                return content.Error(ex.Message);
            }
        }

        public Dictionary<int, string> TaskStateMapping = new Dictionary<int, string>
        {
            // 新建状态
            { (int)TaskInStatusEnum.InNew, "4" },
            { (int)TaskOutStatusEnum.OutNew, "4" },
            { (int)TaskRelocationStatusEnum.RelocationNew, "4" },
    
            // 执行中状态
            { (int)TaskInStatusEnum.Line_InExecuting, "5" },
            { (int)TaskInStatusEnum.SC_InExecuting, "5" },
            { (int)TaskOutStatusEnum.Line_OutExecuting, "5" },
            { (int)TaskOutStatusEnum.SC_OutExecuting, "5" },
            { (int)TaskRelocationStatusEnum.Relocation_Executing, "5" },
    
            // 手动完成状态
            { (int)TaskInStatusEnum.InHandFinish, "2" },
            { (int)TaskOutStatusEnum.OutHandFinish, "2" },
            { (int)TaskRelocationStatusEnum.RelocationHandFinish, "2" },
    
            // 已完成状态
            { (int)TaskInStatusEnum.InFinish, "1" },
            { (int)TaskOutStatusEnum.OutFinish, "1" },
            { (int)TaskRelocationStatusEnum.RelocationFinish, "1" },
    
            // 已取消状态
            { (int)TaskInStatusEnum.InCancel, "3" },
            { (int)TaskOutStatusEnum.OutCancel, "3" },
            { (int)TaskRelocationStatusEnum.RelocationCancel, "3" },
    
            // 异常/挂起状态
            { (int)TaskInStatusEnum.InException, "6" },
            { (int)TaskInStatusEnum.InPending, "6" },
            { (int)TaskOutStatusEnum.OutPending, "6" },
            { (int)TaskOutStatusEnum.OutException, "6" },
            { (int)TaskRelocationStatusEnum.RelocationPending, "6" },
            { (int)TaskRelocationStatusEnum.RelocationException, "6" }
        };

        public string GetTaskState(int state)
        {
            try
            {
                return TaskStateMapping.TryGetValue(state, out var result)
                    ? result
                    : "0";
            }
            catch (Exception ex)
            {
                return $"获取任务状态失败,错误信息:{ex.Message}";
            }
        }


        /// <summary>
        /// 根据设备编号、当前地址查询输送线未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTask(string currentAddress,int taskNum)
        {
            Dt_Task task= BaseDal.QueryFirst(x => TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.RGV_InExecutingFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
            if (task == null)
            {
                task = BaseDal.QueryFirst(x => TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
            }
            return task;
        }

        /// <summary>
        /// 根据设备编号、当前地址查询输送线未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineFinishTask(string currentAddress,int taskNum)
        {
            Dt_Task task = BaseDal.QueryFirst(x => TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InExecuting && x.NextAddress == currentAddress && x.TaskNum == taskNum, TaskOrderBy);
            if (task == null)
            {
                task = BaseDal.QueryFirst(x => TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting && x.CurrentAddress == currentAddress && x.TaskNum == taskNum, TaskOrderBy);
            }
            return task;
        }


        /// <summary>
        /// 根据设备编号、当前地址查询RGV未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryRGVExecutingTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish|| x.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS|| x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish) && x.RGVName == deviceNo);
        }

        /// <summary>
        /// 根据设备编号、当前地址查询RGV未执行的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryRGVExecutingTask(string deviceNo,int taskNum)
        {
            return BaseDal.QueryFirst(x => (x.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS) && x.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish && x.RGVName == deviceNo&&x.TaskNum==taskNum);
        }

        /// <summary>
        /// 查找移库作业
        /// </summary>
        /// <param name="deviceNo"></param>
        /// <returns></returns>
        public Dt_Task QueryRelocationTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskType == (int)TaskRelocationTypeEnum.Relocation && x.TaskState == (int)TaskRelocationStatusEnum.RelocationNew);
        }

        /// <summary>
        /// 根据设备编号、排除的任务、当前地址按照优先级以及创建时间排序查询任务池出库类型的新增的所有任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="excludedTaskId">排除的任务</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public List<Dt_Task> QueryAllOutboundTasks(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            else
                return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
        }


        /// <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>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew)), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew)), TaskOrderBy);
        }

        /// <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>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryRGVTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.RGVName == deviceNo && ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish)), TaskOrderBy);
        }

        public List<Dt_Task> QueryRGVTask()
        {
            return BaseDal.QueryData(x => ((TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew) || (TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish) && x.Floor == "1F"), TaskOrderBy);
        }

        /// <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入库类型的新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneInTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <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入库类型的新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryRGVInTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.RGVName == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew, TaskOrderBy);
        }

        /// <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出库类型的新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryStackerCraneOutTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <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出库类型的新增的任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象，可能为null</returns>
        public Dt_Task QueryRGVOutTask(string deviceNo)
        {
            return BaseDal.QueryFirst(x => x.RGVName == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish, TaskOrderBy);
        }


        /// <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.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutPending;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    task.TaskState = (int)TaskInStatusEnum.InPending;
                }
                task.ExceptionMessage = message;
                task.ModifyDate = DateTime.Now;
                BaseDal.UpdateData(task);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, 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="taskNum">任务号</param>
        public WebResponseContent UpdateTaskStatusToNext(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}】");
                return UpdateTaskStatusToNext(task);
            }
            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.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();

                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutFinish)
                    {
                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;

                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                    }
                    if (task.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting)
                    {
                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationChildCode == task.NextAddress);
                        Dt_StationManager stationManagerend = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.TargetAddress);
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = task.TargetAddress;
                        task.SourceStation = stationManager.stationRemark;
                        task.TargetStation = stationManagerend.remark;
                    }

                    if (task.TaskState == (int)TaskOutStatusEnum.SC_OutFinish)
                    {
                        content = StackCraneTaskCompleted(task.TaskNum);
                        return content;
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                {
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;

                    if (task.TaskState == (int)TaskInStatusEnum.Line_InFinish)
                    {
                        task.CurrentAddress = task.NextAddress;
                        task.NextAddress = task.TargetAddress;
                    }
                    else if (task.TaskState == (int)TaskInStatusEnum.SC_InFinish)
                    {
                        if (App.User.UserId > 0)
                        {
                            content = StackCraneTaskCompleted(task.TaskNum);
                            return content;
                        }

                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;

                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                    }
                }
                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);

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

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


        public WebResponseContent RGVTaskCompleted(int taskNum, string Barcode = "")
        {
            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.RGV_Indispatch)
                {
                    task.TaskState = (int)TaskInStatusEnum.RGV_InAwaitWMS;
                    task.PalletCode = Barcode;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.UpdateData(task);

                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.RequestTask)?.ConfigValue;

                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TPbarcode = Barcode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP 未配置");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;


                    

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV调度完成等待WMS任务");
                }
                else if (task.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
                {
                    Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress && x.stationFloor == task.Floor);
                    task.TaskState = (int)TaskInStatusEnum.RGV_InExecutingFinish;
                    task.CurrentAddress = task.NextAddress;
                    task.NextAddress = stationManager.stationNextChildCode;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV入库完成");
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch)
                {
                    task.TaskState = (int)TaskOutStatusEnum.RGV_OutdispatchFinish;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.UpdateData(task);

                }
                else if (task.TaskState == (int)TaskInStatusEnum.InRetuen)
                {
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;

                    BaseDal.DeleteData(task);
                    _taskHtyRepository.AddData(task_Hty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库完成");
                }
                else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting)
                {
                    task.TaskState = (int)TaskOutStatusEnum.OutFinish;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;

                    BaseDal.DeleteData(task);
                    _taskHtyRepository.AddData(task_Hty);

                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress,
                        EndPoint = task.TargetAddress,
                        Results = "1"
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP 未配置");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;


                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"RGV出库完成");
                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");
                }
                content = WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务完成异常,任务号:【{taskNum}】");
            }
            return content;
        }


        public WebResponseContent StackCraneTaskCompleted(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.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    if (Convert.ToInt32(task.TargetAddress) > 1999 && Convert.ToInt32(task.TargetAddress) < 3000)
                    {
                        task.TaskState = (int)TaskOutStatusEnum.OutFinish; ;
                        task.ModifyDate = DateTime.Now;
                        task.Modifier = "System";

                        Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                        task_Hty.TaskId = 0;

                        BaseDal.DeleteData(task);
                        _taskHtyRepository.AddData(task_Hty);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    }
                    else
                    {
                        task.TaskState = (int)TaskOutStatusEnum.SC_OutFinish;

                        Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.Roadway == task.Roadway && x.stationType == 2 && x.stationFloor == task.Floor);

                        task.CurrentAddress = task.NextAddress;

                        task.NextAddress = stationManager.stationNextChildCode;

                        BaseDal.UpdateData(task);

                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    }    
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskState == (int)TaskOutStatusEnum.SC_OutFinish)
                {

                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                {
                    task.TaskState = (int)TaskInStatusEnum.InFinish; ;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;

                    BaseDal.DeleteData(task);
                    _taskHtyRepository.AddData(task_Hty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");

                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress,
                        EndPoint = task.TargetAddress,
                        Results = "1"
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP 未配置");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskRelocationStatusEnum>();
                    task.TaskState = nextStatus;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    Dt_Task_Hty task_Hty = _mapper.Map<Dt_Task_Hty>(task);
                    task_Hty.TaskId = 0;

                    BaseDal.DeleteData(task);
                    _taskHtyRepository.AddData(task_Hty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机移库完成");

                    var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                    var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskId = task.WMSTaskNum,
                        TPbarcode = task.PalletCode,
                        WhCode = "1001",
                        BeginPoint = task.SourceAddress,
                        EndPoint = task.TargetAddress,
                        Results = "1"
                    };
                    if (wmsBase == null || requestTask == null)
                    {
                        throw new InvalidOperationException("WMS IP 未配置");
                    }
                    var wmsIpAddress = wmsBase + requestTask;
                    var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
                {
                }
                else
                {
                    throw new Exception($"任务类型错误,未找到该任务类型,任务号:【{taskNum}】,任务类型:【{task.TaskType}】");
                }
                content = WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务完成异常,任务号:【{taskNum}】");
            }
            return content;
        }

        public WebResponseContent TaskCancel(WMSTaskDTO taskDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                List<Dt_Task> tasks = BaseDal.QueryData(x => (x.TaskState == (int)TaskInStatusEnum.InNew || x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskRelocationStatusEnum.RelocationNew) && x.WMSTaskNum == taskDTO.TaskId && x.PalletCode == taskDTO.TPbarcode && x.Roadway == taskDTO.WhCode);
                if (tasks.Count == 0) return content.Error("没有需要取消的任务");
                foreach (Dt_Task task in tasks)
                {
                    task.TaskState = task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup ? (int)TaskOutStatusEnum.OutCancel : task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup ? (int)TaskInStatusEnum.InCancel : (int)TaskRelocationStatusEnum.RelocationCancel;
                    task.ModifyDate = taskDTO.TaskTime;
                    task.Modifier = taskDTO.OperatorId;
                    BaseDal.DeleteData(task);

                    Dt_Task_Hty taskHty = _mapper.Map<Dt_Task_Hty>(task);
                    taskHty.OperateType = (int)OperateTypeEnum.WMS取消;
                    _taskHtyRepository.AddData(taskHty);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "人工取消任务");
                }
                content = WebResponseContent.Instance.OK("取消任务成功");
            }
            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.InNew;
                    }
                    //todo
                }

                task.ExceptionMessage = string.Empty;

                BaseDal.UpdateData(task);

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

                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 = _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);

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"人工将任务状态从【{oldState}】回滚到【{task.TaskState}】");

                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)
                {
                    //_taskHtyService.AddTaskHty(task, (int)OperateTypeEnum.人工删除);

                    Dt_Task_Hty taskHty = _mapper.Map<Dt_Task_Hty>(task);
                    taskHty.OperateType = (int)OperateTypeEnum.人工删除;
                    _taskHtyRepository.AddData(taskHty);
                }


                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);
            }
        }
        public WebResponseContent TaskComplete()
        {
            WebResponseContent content = new WebResponseContent();
            //var result = _stationManagerRepository.Db.Queryable<Dt_StationManager>()
            //    .Where(t => SqlFunc.Abs(t.LevelPointFist - taskNum) <= 1000)
            //    .ToList();
            var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
            var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
            var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.CompleteTask)?.ConfigValue;
            WMSTaskDTO taskDTO = new WMSTaskDTO()
            {
                TaskId="1",
                TPbarcode = "123456",
                WhCode = "1001",
                BeginPoint = "1013",
                EndPoint="1-1-1",
                Results="1"
            };
            if (wmsBase == null || requestTask == null)
            {
                throw new InvalidOperationException("WMS IP 未配置");
            }
            var wmsIpAddress = wmsBase + requestTask;
            var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;

            return content.OK(data: result);
        }

        public WebResponseContent RequestTask()
        {
            WebResponseContent content = new WebResponseContent();
            //var result = _stationManagerRepository.Db.Queryable<Dt_StationManager>()
            //    .Where(t => SqlFunc.Abs(t.LevelPointFist - taskNum) <= 1000)
            //    .ToList();
            var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
            var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
            var requestTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.RequestTask)?.ConfigValue;
            //var keys = new Dictionary<string, object>()
            //{
            //    {"TPbarcode", "123456"},
            //    {"WhCode", "1001"},
            //    {"BeginPoint", "1013"}
            //};

            WMSTaskDTO taskDTO = new WMSTaskDTO()
            {
                TPbarcode = "123456",
                WhCode = "1001",
                BeginPoint = "1013"
            };
            if (wmsBase == null || requestTask == null)
            {
                throw new InvalidOperationException("WMS IP 未配置");
            }
            var wmsIpAddress = wmsBase + requestTask;
            var result = WIDESEA_Comm.Http.HttpHelper.PostAsync(wmsIpAddress, taskDTO.ToJsonString()).Result;

            return content.OK(data: result);
        }
    }
}