#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 Magicodes.ExporterAndImporter.Core;
using Microsoft.AspNetCore.Mvc.RazorPages;
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 System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Linq.Expressions;
using System.Reflection;
using System.Reflection.Metadata;
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_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using static Microsoft.IO.RecyclableMemoryStreamManager;

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 _task_HtyService;
        private readonly IMapper _mapper;


        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> AGVTaskTypes => typeof(AGVTaskTypeEnum).GetEnumIndexList();

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

        /// <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] List<Dt_Task> taskDTOs)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {// 创建一个Dt_Task类型的列表用于存储转换后的任务数据
                List<Dt_Task> tasks = new List<Dt_Task>();
                // 遍历传入的WMSTaskDTO列表
                foreach (var item in taskDTOs)
                {
                    tasks.Add(item);
                }
                BaseDal.AddData(tasks);
                _taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskNum).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;
        }

        /// <summary>
        /// 查找该站台是否有任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public List<string> QueryConveyorLineTask()
        {
            var query = BaseDal.QueryData();
            return query.SelectMany(x =>
                new[] { x.SourceAddress, x.TargetAddress }
                .Where(address => !string.IsNullOrEmpty(address)))
                .ToList();
        }

        /// <summary>
        /// 查找该站台是否有任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTask(string stationName)
        {
            return BaseDal.QueryFirst(x => x.SourceAddress == stationName||x.TargetAddress==stationName);
        }

        /// <summary>
        /// 修改任务，添加目标地址
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public WebResponseContent UpdateTargetAddress(int TaskId,string TargetAddress)
        {
            
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.TaskId == TaskId);
                dt_Task.TargetAddress = TargetAddress;
                dt_Task.NextAddress = TargetAddress;
                BaseDal.UpdateData(dt_Task);
                content = WebResponseContent.Instance.OK("成功");
            }
            catch (Exception ex)
            {
                content = WebResponseContent.Instance.Error($"任务接收错误,错误信息:{ex.Message}");
            }
            finally
            {
                WriteLog.GetLog("接收任务").Write(JsonConvert.SerializeObject(content), "接收任务");
            }
            return content;
        }

        public bool QueryConveyorLinetaeersuadd(string stationName)
        {
            Dt_Task dt_= BaseDal.QueryFirst(x => x.SourceAddress == stationName || x.TargetAddress == stationName);
            if(dt_==null) return true;
            else return false;

        }
        /// <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 deviceNo, string currentAddress)
        {
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
        /// 根据任务号、下一地址查询输送线执行中的任务
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="nextAddress">下一地址</param>
        /// <returns></returns>
        public Dt_Task QueryExecutingConveyorLineTask(int taskNum, string nextAddress)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.NextAddress == nextAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InExecuting || x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
        }

        /// <summary>
        /// 根据任务号、当前地址查询输送线完成的任务
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryCompletedConveyorLineTask(int taskNum, string currentAddress)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
        }

        /// <summary>
        /// 根据设备编号、任务类型分组(可选)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="taskTypeGroup">任务类型分组(可选)</param>
        /// <returns></returns>
        public Dt_Task? QuertStackerCraneTask(string deviceNo, TaskTypeGroup? taskTypeGroup = null)
        {
            if (taskTypeGroup == null)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.InboundGroup)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
            if (taskTypeGroup.Value == TaskTypeGroup.OutbondGroup)
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
            return null;
        }

        /// <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 = "")
        {
            return BaseDal.QueryFirst(x => x.TaskState == (int)AGVTaskStatusEnum.AGVNew && x.AGVName == deviceNo, TaskOrderBy);
        }


        public Dt_Task IngStackerCraneTask(string deviceNo)
        {
            //string deviceNot = deviceNo == "SC01" ? "1" : "2";
            return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskInStatusEnum.SC_InExecuting);
        }

        public Dt_Task IngStackerCraneTask2(string deviceNo)
        {
            //string deviceNot = deviceNo == "SC01" ? "1" : "2";
            try
            {
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting);
            }
            catch (Exception ex)
            {

                throw;
            }
        }

        /// <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>返回任务实体对象集合，可能为null</returns>
        public List<Dt_Task> QueryStackerCraneOutTasks(string deviceNo, List<string> outStationCodes)
        {
            return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
        }

        /// <summary>
        /// 根据出库货位查询是否有当前浅货位任务
        /// </summary>
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns>返回任务实体对象集合，可能为null</returns>
        public List<Dt_Task> QueryStationIsOccupiedOutTasks(string deviceNo, string SourceAddress)
        {
            return BaseDal.QueryData(x => x.Roadway == deviceNo && SourceAddress.Contains(x.SourceAddress), 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>
        /// 更新任务状态信息，并同步至WMS
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="status">任务状态</param>
        public void UpdateTaskStatus(int taskNum, int status)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null) return;
            task.TaskState = status;
            task.ModifyDate = DateTime.Now;
            BaseDal.UpdateData(task);
        }

        /// <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 == (int)AGVTaskTypeEnum.AGVCarry)
                {
                    if (task.TaskState >= (int)AGVTaskStatusEnum.AGVFinish)
                    {
                        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<AGVTaskStatusEnum>();
                    task.TaskState = nextStatus;
                    if (task.TaskState == (int)AGVTaskStatusEnum.AGV_Executing)
                    {
                        task.Dispatchertime = DateTime.Now;
                    }
                    if (task.TaskState == (int)AGVTaskStatusEnum.AGVFinish)
                    {
                        content = StackCraneTaskCompleted(task.TaskNum);
                        return content;
                    }
                }
                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;
        }

        /// <summary>
        /// 根据任务号、当前地址更新任务位置信息
        /// </summary>
        /// <param name="taskNum">任务号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task? UpdatePosition(int taskNum, string currentAddress)
        {
            try
            {
                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress);
                if (task == null) throw new Exception($"未找到该任务信息,任务号:【{taskNum}】");

                string oldCurrentPos = task.CurrentAddress;
                string oldNextPos = task.NextAddress;

                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
                if (!routers.Any()) throw new Exception($"未找到设备路由信息");

                task.CurrentAddress = task.NextAddress;
                task.NextAddress = routers.FirstOrDefault().ChildPosi;

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

                _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"系统自动流程，更新当前位置【{oldCurrentPos} ----> {task.CurrentAddress}】和下一位置【{oldNextPos} ----> {task.NextAddress}】");
                return task;
            }
            catch (Exception ex)
            {
            }
            return null;
        }

        
        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.TaskState == (int)AGVTaskStatusEnum.AGV_Executing)
                {
                    task.TaskState = (int)AGVTaskStatusEnum.AGVFinish;
                    task.ModifyDate = DateTime.Now;
                    BaseDal.DeleteData(task);
                    _task_HtyService.AddTaskHty(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"AGV搬运完成完成");
                }
                else
                {
                    throw new Exception($"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;
        }

        /// <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)
                {
                    _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);
            }
        }

        //agv任务
        public WebResponseContent GetAgvTaskData()
        {
            WebResponseContent content=new WebResponseContent();
            List<Dt_Task> tasks = BaseDal.QueryData().ToList();
            List<AGCTaskDto> agvdto = new List<AGCTaskDto>();
            foreach (var item in tasks)
            {
                AGCTaskDto aGCTaskDto = new AGCTaskDto();
                aGCTaskDto.TaskNum = item.TaskNum;
                aGCTaskDto.SourceAddress= item.SourceAddress;
                aGCTaskDto.TargetAddress= item.TargetAddress==null? "暂定" : item.TargetAddress;
                aGCTaskDto.Dispatchertime = item.Dispatchertime;
                aGCTaskDto.TaskState = item.TaskState == (int)TaskInStatusEnum.InNew ? "新建任务" : (item.TaskState == (int)TaskInStatusEnum.AGV_InExecuting ? "AGV任务执行" : "任务完成");
                aGCTaskDto.TaskType = item.TaskType.ToString();
                aGCTaskDto.Roadway = item.Roadway=="1"?"区域一":(item.Roadway == "2" ? "区域二": item.Roadway == "3" ? "区域三":"区域四");
                agvdto.Add(aGCTaskDto);
            }
            return content.OK(data: agvdto);
        }

        //agv状态
        public WebResponseContent GetAgvStatusData()
        {
            var response = new WebResponseContent();
            try
            {
                //agv类型：0-潜伏型，1 - 牵引型，2 - 承载型，3 - 举升型，4 -辊道型，5 - 叉车型，6 - 其他
                int agvType = 0;
                //agv编号
                int agvCode = 2;
                //agv上下线状态，0-下线，1 - 上线
                int agvOnline = 4;
                //agv当前地标号
                int agvRfidLabel = 6;
                //agv当前x坐标值
                int agvXcoordinate = 8;
                //agv当前y坐标值
                int agvYcoordinate = 12;
                //agv运行状态 ：0-停止，1 - 行驶，2 - 暂停
                int agvStatus = 16;
                //agv当前运行速度(mm / s)
                int agvSpeed = 18;
                //agv报警代码(按位状态提取，最多可表示32种报警
                int agvAlarmCode = 20;
                bool isFirst = true;
                List<AGVStatus> statusList = new List<AGVStatus>();
                
                for (int i = 0; i < 3; i++)
                {
                    AGVStatus aGVStatus = new AGVStatus();
                    aGVStatus.agvCode = i;
                    aGVStatus.agvType = 1+i;
                    aGVStatus.agvOnline = "123" + i;
                    aGVStatus.agvRfidLabel = 2 + i;
                    aGVStatus.agvXcoordinate = 3 + i;
                    aGVStatus.agvYcoordinate = 4 + i;
                    aGVStatus.agvStatus = 5 + i;
                    aGVStatus.agvSpeed = 6 + i;
                    aGVStatus.agvAlarmCode = i+99; //client.SiemensPLCClient.SiemensS7NetClient.Read("DB1001." + agvAlarmCode.ToString(), 32).Content;
                    statusList.Add(aGVStatus);

                }
                
                response.OK(data: statusList);
            }
            catch (Exception ex)
            {
                response.Error(ex.Message);
            }

            return response;
        }

        public WebResponseContent GetAgvStatusData2()
        {
            var response = new WebResponseContent();
            try
            {
                //agv类型：0-潜伏型，1 - 牵引型，2 - 承载型，3 - 举升型，4 -辊道型，5 - 叉车型，6 - 其他
                int agvType = 0;
                //agv编号
                int agvCode = 2;
                //agv上下线状态，0-下线，1 - 上线
                int agvOnline = 4;
                //agv当前地标号
                int agvRfidLabel = 6;
                //agv当前x坐标值
                int agvXcoordinate = 8;
                //agv当前y坐标值
                int agvYcoordinate = 12;
                //agv运行状态 ：0-停止，1 - 行驶，2 - 暂停
                int agvStatus = 16;
                //agv当前运行速度(mm / s)
                int agvSpeed = 18;
                //agv报警代码(按位状态提取，最多可表示32种报警
                int agvAlarmCode = 20;
                bool isFirst = true;
                List<AGVStatus> statusList = new List<AGVStatus>();

                for (int i = 0; i < 6; i++)
                {
                    AGVStatus aGVStatus = new AGVStatus();
                    aGVStatus.agvCode = i;
                    aGVStatus.agvType = 1 + i;
                    aGVStatus.agvOnline = "123" + i;
                    aGVStatus.agvRfidLabel = 2 + i;
                    aGVStatus.agvXcoordinate = 3 + i;
                    aGVStatus.agvYcoordinate = 4 + i;
                    aGVStatus.agvStatus = 5 + i;
                    aGVStatus.agvSpeed = 6 + i;
                    aGVStatus.agvAlarmCode = i + 99; //client.SiemensPLCClient.SiemensS7NetClient.Read("DB1001." + agvAlarmCode.ToString(), 32).Content;
                    statusList.Add(aGVStatus);

                }

                response.OK(data: statusList);
            }
            catch (Exception ex)
            {
                response.Error(ex.Message);
            }

            return response;
        }


        public class AGVStatus
        {
            /// <summary>
            /// agv类型：0-潜伏型，1 - 牵引型，2 - 承载型，3 - 举升型，4 -辊道型，5 - 叉车型，6 - 其他
            /// </summary>
            public int agvType { get; set; }

            /// <summary>
            /// agv编号
            /// </summary>
            public int agvCode { get; set; }

            /// <summary>
            /// agv上下线状态，0-下线，1 - 上线
            /// </summary>
            public string agvOnline { get; set; }

            /// <summary>
            /// agv当前地标号
            /// </summary>
            public int agvRfidLabel { get; set; }

            /// <summary>
            /// agv当前x坐标值
            /// </summary>
            public int agvXcoordinate { get; set; }

            /// <summary>
            /// agv当前y坐标值
            /// </summary>
            public int agvYcoordinate { get; set; }

            /// <summary>
            /// agv运行状态 ：0-停止，1 - 行驶，2 - 暂停
            /// </summary>
            public int agvStatus { get; set; }

            /// <summary>
            /// agv当前运行速度(mm / s)
            /// </summary>
            public int agvSpeed { get; set; }

            /// <summary>
            /// agv报警代码(按位状态提取，最多可表示32种报警
            /// </summary>
            public int agvAlarmCode { get; set; }
        }
    }
}