修改问题

DESKTOP-9BNTV8O

2024-12-16 66b1b95f207cbf623e0ef216c963d2e96a6923f6

 Wms/WMS.BLL/BllTransServer/RcsServer.cs

@@ -1,11 +1,17 @@
using Microsoft.IdentityModel.Protocols;
using Model.InterFaceModel;
using Model.ModelDto;
using Model.ModelDto.DataDto;
using Model.ModelDto.LogDto;
using Newtonsoft.Json;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
using Utility.Tools;
using WMS.BLL.LogServer;
using WMS.DAL;
using WMS.Entity.BllAsnEntity;
using WMS.Entity.BllSoEntity;
@@ -15,6 +21,7 @@
using WMS.Entity.SysEntity;
using WMS.IBLL.IBllTransServer;
using static Model.InterFaceModel.RCSModel;
using static System.Collections.Specialized.BitVector32;

namespace WMS.BLL.BllTransServer
{
@@ -22,423 +29,544 @@
    {
        private static readonly SqlSugarScope Db = DataContext.Db;
        /// <summary>
        /// RCS叫桶(净桶和脏桶)
        ///  RCS叫桶
        /// </summary>
        /// <param name="warehouseno">库区</param>
        /// <param name="type">叫料类型</param>
        /// <returns></returns>
        public void GetPalletNo(Pallnetmsg pallnetmsg)
        {
            DataStockDetail pallet = new DataStockDetail();
            SysStorageLocat locat = new SysStorageLocat();
        /// <param name="model"></param>
        /// <param name="url"></param>
        /// <param name="taskNo"></param>
        /// <exception cref="Exception"></exception>
        public void GetPalletNo(Pallnetmsg model, string url, out string taskNo)
        {            
            try
            {
                var house = "W01";//叫桶位置，后续根据位置关联或定义，来判断叫桶位置所属车间
                var url = "";//回传MES的接口地址
                var noticeno = "0";//出入库单据明细ID
                var sql = "select PalletNo,LocatNo from DataStockDetail where Status = '0'";
                switch (pallnetmsg.Type)
                string taskMsg = "";
                if (string.IsNullOrEmpty(model.Location))
                {
                    throw new Exception("设备所在位置不可为空");
                }
                //叫桶设备所在储位信息（目标储位）
                var endLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == model.Location);
                if (endLoction == null)
                {
                    throw new Exception("设备储位信息不存在");
                }
                var houseNo = endLoction.WareHouseNo;//叫桶位置，后续根据位置关联或定义，来判断叫桶位置所属车间
                var urlMes = "";//回传MES的接口地址
                var noticeNo = "0";//出入库单据明细ID
                var stockDetail = Db.Queryable<DataStockDetail>().Where(w => w.Status == "0");//所有待分配的桶

                //开始事务
                Db.BeginTran();
                DataStockDetail pallet = new DataStockDetail();
                switch (model.Type)
                {
                    case "0"://叫净桶
                        List<DataStockDetail> jtpallet = new List<DataStockDetail>();
                        sql += $"and  WareHouseNo = '{house}' and AreaNo like '%01' order by CreateTime desc";
                        jtpallet = Db.Ado.SqlQuery<DataStockDetail>(sql).ToList();
                        if (jtpallet.Count == 0)
                        //查找到该车间净桶区
                        List<string> areaNoList = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "0" && w.WareHouseNo == houseNo).Select(s=>s.AreaNo).ToList();
                        //查找净桶
                        pallet = stockDetail.Where(w => w.WareHouseNo == houseNo && w.PalletStatus == "0" && w.Status == "0"
                        && areaNoList.Contains(w.AreaNo)).OrderByDescending(o => o.CreateTime).First();
                        if (pallet == null)
                        {
                            throw new Exception("暂无净桶可分配");
                        }
                        //遍历库存净桶，返回MES验证
                        foreach (var item in jtpallet)
                        {
                            string jsonReq = JsonConvert.SerializeObject(item.PalletNo);
                            var response = HttpHelper.DoPost(url, jsonReq, "回传MES净桶编号", "RCS").ToString();
                            var obj = JsonConvert.DeserializeObject<ReMes>(response);//解析返回数据
                            if (obj.Success == "0")
                            {
                                if (obj.Result != "0")//可用，生成小车拉净桶任务
                                {
                                    //查找是否有空余脏桶位
                                    sql = $"select LocatNo from SysStorageLocat where AreaNo like '%04' and WareHouseNo = wareno and Status = 0";
                                    locat = Db.Ado.SqlQuery<SysStorageLocat>(sql).FirstOrDefault();
                                    if (locat == null)
                                    {
                                        Db.Ado.BeginTran();
                                        //脏桶区无空余库位，则锁定此净桶库存,并重新遍历
                                        sql = $"UPDATE DataStockDetail Set Status = '5' Where locat ='{locat.LocatNo}'";
                                        Db.Ado.ExecuteCommand(sql);
                                        Db.Ado.CommitTran();
                                        break;
                                    }
                                    //生成调度小车净桶去脏桶区任务
                                    var ztask = new TaskDetial
                                    {
                                        Startport = item.LocatNo,
                                        Endport = locat.LocatNo,
                                        Pallno = item.PalletNo,
                                        Type = "4",
                                        Crtype = "0",
                                        Noticedetailno = int.Parse(noticeno),
                                    };
                                    CreateLotTask(ztask);
                                    return;
                                }
                                //下发小车任务
                                var task2 = new TaskDetial
                                {
                                    Startport = item.LocatNo,
                                    Endport = pallnetmsg.Location,
                                    Pallno = item.PalletNo,
                                    Type = pallnetmsg.Type,
                                    Crtype = "1",
                                    Noticedetailno = int.Parse(noticeno),
                                };
                                CreateLotTask(task2);
                                return;
                            }
                            else
                            {
                                throw new Exception("回传MES净桶编号失败！");
                            }
                        }
                        }                        
                        pallet.Status = "2";//分配状态 0:待分配，1：部分分配 ， 2:已分配
                        //更新桶库存明细
                        Db.Updateable(pallet).ExecuteCommand();

                        taskMsg = "设备叫净桶任务";
                        break;
                    case "1"://叫料桶（混料）
                        //判断是否有批次号
                        if (string.IsNullOrWhiteSpace(pallnetmsg.LotNo))
                        if (string.IsNullOrWhiteSpace(model.LotNo))
                        {
                            throw new Exception("批次号为空！");
                        }
                        /*BllArrivalNoticeDetail ArriveMes = new BllArrivalNoticeDetail();
                        //判断该批次是否有对应入库单
                        sql = $"select * from BllArrivalNoticeDetail where LotNo =  '{pallnetmsg.LotNo}' order by CreateTime desc";
                        ArriveMes = Db.Ado.SqlQuery<BllArrivalNoticeDetail>(sql).FirstOrDefault();
                        if (ArriveMes == null)
                        {
                            throw new Exception("该批次没有对应的入库单");
                        }
                        noticeno = ArriveMes.Id.ToString();*/
                        //查找到该车间预混区
                        List<string> areaNoList2 = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "1" && w.WareHouseNo == houseNo).Select(s => s.AreaNo).ToList();
                        //查找库存中是否有可用的此批次的混料桶
                        sql= $"select PalletNo,LocatNo from DataStockDetail where a.LotNo =  '{pallnetmsg.LotNo}'and AreaNo like '%02' " +
                            $"and a.WareHouseNo = '{house}' and b.status = '0' order by CompleteTime desc";
                        pallet = Db.Ado.SqlQuery<DataStockDetail>(sql).FirstOrDefault();
                        pallet = stockDetail.Where(w => w.WareHouseNo == houseNo && w.PalletStatus == "1" && w.Status == "0" && w.LotNo == model.LotNo
                        && areaNoList2.Contains(w.AreaNo)).OrderByDescending(o => o.CompleteTime).First();
                        if (pallet == null)
                        {
                            throw new Exception("暂无混料桶可分配");
                        }
                        pallet.Status = "2";//分配状态 0:待分配，1：部分分配 ， 2:已分配
                        //更新桶库存明细
                        Db.Updateable(pallet).ExecuteCommand();

                        taskMsg = "设备叫料桶混料任务";
                        break;
                    case "2"://叫料桶（下料）
                        BllExportNoticeDetail bllSo = new BllExportNoticeDetail();
                        //判断是否有批次号
                        if (string.IsNullOrWhiteSpace(pallnetmsg.LotNo))
                        if (string.IsNullOrWhiteSpace(model.LotNo))
                        {
                            throw new Exception("批次号为空！");
                        }
                        //查找是否有此批次出库单
                        sql = $"select * from BllSoNoticeDetail where LotNo =  '{pallnetmsg.LotNo}' order by CreateTime desc";
                        bllSo = Db.Ado.SqlQuery<BllExportNoticeDetail>(sql).FirstOrDefault();
                        if (bllSo == null)
                        //查找是否有此批次出库单明细
                        var soNoticeDetail = Db.Queryable<BllExportNoticeDetail>().Where(w => w.IsDel == "0" && w.LotNo == model.LotNo).OrderBy(o => o.CreateTime).First();
                        if (soNoticeDetail == null)
                        {
                            throw new Exception("该批次没有对应的出库单明细");
                        }
                        noticeNo = soNoticeDetail.Id.ToString();
                        //出库总单
                        var soNotice = Db.Queryable<BllExportNotice>().Where(w => w.IsDel == "0" && w.SONo == soNoticeDetail.SONo).First();
                        if (soNotice == null)
                        {
                            throw new Exception("该批次没有对应的出库单");
                        }
                        noticeno = bllSo.Id.ToString();
                        //查找库存中是否有此批次的下料桶
                        sql += $"select PalletNo,LocatNo from DataStockDetail where a.LotNo =  '{pallnetmsg.LotNo}'and AreaNo like '%03' " +
                            $"and a.WareHouseNo = '{house}' and b.status = '0' order by CompleteTime desc";
                        pallet = Db.Ado.SqlQuery<DataStockDetail>(sql).FirstOrDefault();
                        soNotice.Status = "3";//正在执行
                        soNotice.UpdateTime = DateTime.Now;
                        //更新出库单
                        Db.Updateable(soNotice).ExecuteCommand();

                        //查找到该车间半成品区
                        List<string> areaNoList3 = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "2" && w.WareHouseNo == houseNo).Select(s => s.AreaNo).ToList();
                        //查找库存中是否有此批次的合格下料桶
                        pallet = stockDetail.Where(w => w.WareHouseNo == houseNo && w.PalletStatus == "2" && w.Status == "0" && w.LotNo == model.LotNo && w.InspectStatus=="1"
                        && areaNoList3.Contains(w.AreaNo)).OrderByDescending(o => o.CompleteTime).First();
                        if (pallet == null)
                        {
                            throw new Exception("暂无下料桶可分配");
                        }
                        pallet.Status = "2";//分配状态 0:待分配，1：部分分配 ， 2:已分配
                        //更新桶库存明细
                        Db.Updateable(pallet).ExecuteCommand();

                        taskMsg = "设备叫料桶下料任务";
                        break;
                    case "3"://叫脏桶
                        sql += $"and WareHouseNo = '{house}' and AreaNo like '%04' order by CreateTime desc";
                        pallet = Db.Ado.SqlQuery<DataStockDetail>(sql).FirstOrDefault();
                        if (pallet == null)
                        //查找到该车间脏桶区
                        List<string> areaNoList4 = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "3" && w.WareHouseNo == houseNo).Select(s => s.AreaNo).ToList();
                        List<DataStockDetail> palletList = stockDetail.Where(w => w.WareHouseNo == houseNo && w.PalletStatus == "3" && w.Status == "0"
                        && areaNoList4.Contains(w.AreaNo)).OrderByDescending(o => o.CompleteTime).ToList();
                        if (palletList.Count <= 0)
                        {
                            throw new Exception("暂无脏桶可分配");
                        }
                        //遍历库存脏桶，返回MES验证
                        foreach (var item in palletList)
                        {
                            #region 去掉MES
                            //string jsonReq = JsonConvert.SerializeObject(item.PalletNo);
                            //var response = HttpHelper.DoPost(urlMes, jsonReq, "回传MES脏桶编号", "RCS").ToString();
                            //var obj = JsonConvert.DeserializeObject<ReMes>(response);//解析返回数据
                            //if (obj.Success == "0")
                            //{
                            //    if (obj.Result != "1")//不可清洗，将脏桶冻结
                            //    {
                            //        item.Status = "5";//异常冻结
                            //        //修改该桶库存状态
                            //        Db.Updateable(item).ExecuteCommand();

                            //        continue;
                            //    }
                            //    //下发小车任务
                            //    var task2 = new TaskDetial
                            //    {
                            //        Startport = item.LocatNo,
                            //        Endport = model.Location,
                            //        Pallno = item.PalletNo,
                            //        Type = model.Type,
                            //        Crtype = "1",
                            //        Noticedetailno = int.Parse(noticeno),
                            //    };
                            //    CreateLotTask(task2);
                            //    return;
                            //}
                            //else
                            //{
                            //    throw new Exception("回传MES净桶编号失败！");
                            //}
                            #endregion

                            item.Status = "2";//分配状态 0:待分配，1：部分分配 ， 2:已分配
                            //更新桶库存明细
                            Db.Updateable(item).ExecuteCommand();
                            //起始储位地址信息
                            var startLoction2 = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == item.LocatNo);
                            if (startLoction2 == null)
                            {
                                throw new Exception($"起始目标储位信息不存在，桶号：{item.LocatNo}");
                            }

                            taskNo = new Common().GetMaxNo("TK");//任务号
                            var logTaskEntry2 = new LogTask
                            {
                                TaskNo = taskNo,
                                Sender = "WMS",
                                Receiver = "RCS",
                                //IsSuccess = 1, //是否下发成功 0失败 1成功
                                SendDate = DateTime.Now,  //发送时间
                                                          //BackDate = DateTime.Now,  //返回时间
                                StartLocat = item.LocatNo,//起始位置
                                EndLocat = model.Location,//目标位置
                                PalletNo = item.PalletNo,//托盘码
                                IsSend = 1,//是否可再次下发
                                IsCancel = 1,//是否可取消
                                IsFinish = 1,//是否可完成
                                Type = "1",//任务类型 0 入库任务 1 出库任务  2 移库任务
                                OrderType = "3",//单据类型 0 入库 1 出库 3 移库
                                Status = "0",//任务状态0：等待执行1正在执行2执行完成
                                NoticeDetailNo = int.Parse(noticeNo),
                                Msg = taskMsg, //关键信息
                            };
                            //组织下发小车任务信息
                            var task2 = new TaskDetial
                            {
                                Taskno = taskNo,//任务号
                                Startport = item.LocatNo,
                                Endport = model.Location,
                                Pallno = item.PalletNo,
                                Crtype = "1",//叫桶
                            };
                            //给下车下发任务
                            logTaskEntry2.SendDate = DateTime.Now;//发送时间
                            var agvResult2 = CreateTaskForAgv(task2, url);
                            if (agvResult2)//成功
                            {
                                //请求成功修改任务表相应字段状态
                                logTaskEntry2.IsSuccess = 1;
                                logTaskEntry2.IsSend = 0;
                                //logTaskEntry2.IsCancel = 0;
                                logTaskEntry2.BackDate = DateTime.Now;
                                logTaskEntry2.Status = "1";
                                Db.Insertable(logTaskEntry2).ExecuteCommand();

                                startLoction2.Status = "3";//出库中
                                Db.Updateable(startLoction2).ExecuteCommand();

                                endLoction.Status = "2";//入库中
                                Db.Updateable(endLoction).ExecuteCommand();
                            }
                            else//失败
                            {
                                logTaskEntry2.IsSuccess = 0;
                                Db.Insertable(logTaskEntry2).ExecuteCommand();

                            }
                            //提交事务
                            Db.CommitTran();
                            return;
                        }

                        taskMsg = "设备叫脏桶任务";
                        break;
                    default:
                        throw new Exception("任务类型无效");
                }
                //下发小车任务
                //起始储位地址信息
                var startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == pallet.LocatNo);
                if (startLoction == null)
                {
                    throw new Exception($"起始目标储位信息不存在，桶号：{pallet.LocatNo}");
                }

                taskNo = new Common().GetMaxNo("TK");//任务号
                //任务信息
                var logTaskEntry = new LogTask
                {
                    TaskNo = taskNo,
                    Sender = "WMS",
                    Receiver = "RCS",
                    //IsSuccess = 1, //是否下发成功 0失败 1成功
                    SendDate = DateTime.Now,  //发送时间
                    //BackDate = DateTime.Now,  //返回时间
                    StartLocat = pallet.LocatNo,//起始位置
                    EndLocat = model.Location,//目标位置
                    PalletNo = pallet.PalletNo,//托盘码
                    IsSend = 1,//是否可再次下发
                    IsCancel = 1,//是否可取消
                    IsFinish = 1,//是否可完成
                    Type = "1",//任务类型 0 入库任务 1 出库任务  2 移库任务
                    OrderType = "3",//单据类型 0 入库 1 出库 3移库
                    Status = "0",//任务状态0：等待执行1正在执行2执行完成
                    NoticeDetailNo = int.Parse(noticeNo),
                    Msg = taskMsg, //关键信息
                };

                //组织下发小车任务信息
                var task = new TaskDetial
                {
                    Startport = pallet.LocatNo,
                    Endport = pallnetmsg.Location,
                    Pallno = pallet.PackagNo,
                    Type = pallnetmsg.Type,
                    Crtype = "1",
                    Noticedetailno = int.Parse(noticeno),
                    Taskno= taskNo,//任务号
                    Startport = pallet.LocatNo,//起始位置
                    Endport = model.Location,//目标位置
                    Pallno = pallet.PalletNo,//桶号
                    Crtype = "1",//叫桶
                };
                CreateLotTask(task);
                return;
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                var agvResult = CreateTaskForAgv(task, url);
                if (agvResult)//成功
                {
                    //请求成功修改任务表相应字段状态
                    logTaskEntry.IsSuccess = 1;
                    logTaskEntry.IsSend = 0;
                    //logTaskEntry.IsCancel = 0;
                    logTaskEntry.BackDate = DateTime.Now;
                    logTaskEntry.Status = "1";//正在执行
                    Db.Insertable(logTaskEntry).ExecuteCommand();

                    startLoction.Status = "3";//出库中
                    Db.Updateable(startLoction).ExecuteCommand();

                    endLoction.Status = "2";//入库中
                    Db.Updateable(endLoction).ExecuteCommand();
                }
                else//失败
                {
                    logTaskEntry.IsSuccess = 0;
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                    
                }
                //提交事务
                Db.CommitTran();
            }
            catch (Exception ex)
            {
                Db.Ado.RollbackTran();
                throw ex;
                //回滚事务
                Db.RollbackTran();
                throw new Exception(ex.Message);
            }
        }

        /// <summary>
        /// 申请储位
        /// </summary>
        /// <param name="PalletNo"></param>
        /// <returns></returns>
        public void ApplyLocatNo(Pallnetmsg pallnetmsg)
        {
            var sql = $"select LocatNo from SysStorageLocat where status = '0'";
            var sql2 = "";
            var house = "W01";//……叫桶位置，后续根据位置关联或定义，来判断叫桶位置所属车间
            var noticeno = "";//出入库单据明细ID
            SysStorageLocat loction = new SysStorageLocat();
            BllArrivalNoticeDetail ArriveMes = new BllArrivalNoticeDetail();
        /// <param name="model"></param>
        /// <param name="url"></param>
        /// <param name="taskNo"></param>
        /// <exception cref="Exception"></exception>
        public void ApplyLocatNo(Pallnetmsg model, string url, out string taskNo)
        {            
            try
            {
                switch (pallnetmsg.Type)
                string taskMsg = "";
                //查找该桶有没有正在执行的任务
                var tasking = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && w.Status == "1" && w.PalletNo == model.PalletNo);
                if (tasking != null)
                {
                    case "0"://净桶申请储位
                        sql += $"and AreaNo like '%01' and WareHouseNo = {house}";
                        loction = Db.Ado.SqlQuery<SysStorageLocat>(sql).OrderByDescending(a => a.CreateTime).FirstOrDefault();
                        if (loction == null)
                        {
                            throw new Exception("库内暂无空余净桶储位");
                        }
                        break;
                    case "1"://混料桶申请储位
                        //判断是否有批次号
                        if (string.IsNullOrWhiteSpace(pallnetmsg.LotNo))
                        {
                            throw new Exception("批次号为空！");
                        }
                        //校验此批次是否有入库单
                        /*sql2 = $"select * from BllArrivalNoticeDetail where LotNo =  '{pallnetmsg.LotNo}' order by CreateTime desc";
                        ArriveMes = Db.Ado.SqlQuery<BllArrivalNoticeDetail>(sql).FirstOrDefault();
                        if (ArriveMes == null)
                        {
                            throw new Exception("该批次没有对应的入库单");
                        }
                        noticeno = ArriveMes.Id.ToString();*/
                        sql += $"and AreaNo  like '%02' and WareHouseNo = {house}";
                        loction = Db.Ado.SqlQuery<SysStorageLocat>(sql).OrderByDescending(a => a.CreateTime).FirstOrDefault();
                        if (loction == null)
                        {
                            throw new Exception("库内暂无空余混料桶储位");
                        }
                        break;
                    case "2"://半成品桶申请储位
                        //判断是否有批次号
                        if (string.IsNullOrWhiteSpace(pallnetmsg.LotNo))
                        {
                            throw new Exception("批次号为空！");
                        }
                        //校验此批次是否有入库单
                        sql2 = $"select * from BllArrivalNoticeDetail where LotNo =  '{pallnetmsg.LotNo}' order by CreateTime desc";
                        ArriveMes = Db.Ado.SqlQuery<BllArrivalNoticeDetail>(sql).FirstOrDefault();
                        if (ArriveMes == null)
                        {
                            throw new Exception("该批次没有对应的入库单");
                        }
                        noticeno = ArriveMes.Id.ToString();
                        sql += $"and AreaNo like '%03' and WareHouseNo = {house}";
                        loction = Db.Ado.SqlQuery<SysStorageLocat>(sql).OrderByDescending(a => a.CreateTime).FirstOrDefault();
                        if (loction == null)
                        {
                            throw new Exception("库内暂无空余半成品桶储位");
                        }
                        break;
                    case "3"://脏桶申请储位
                        sql += $"and AreaNo like '%04' and WareHouseNo = {house}";
                        loction = Db.Ado.SqlQuery<SysStorageLocat>(sql).OrderByDescending(a => a.CreateTime).FirstOrDefault();
                        if (loction == null)
                        {
                            throw new Exception("库内暂无空余脏桶储位");
                        }
                        break;
                    throw new Exception($"该桶有正在执行的任务，PalletNo:{model.PalletNo}");
                }
                var task = new TaskDetial
                //设备所在储位信息（起始储位）
                var deviceLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == model.Location);
                if (deviceLocatInfo == null)
                {
                    Startport = pallnetmsg.Location,
                    Endport = loction.LocatNo,
                    Pallno = pallnetmsg.Palletno,
                    Type = pallnetmsg.Type,
                    Crtype = "0",
                    Noticedetailno = int.Parse(noticeno),
                };
                CreateLotTask(task);
            }
            catch (Exception)
            {

                throw;
            }
        }


        /// <summary>
        /// RCS生成任务
        /// </summary>
        /// <param name="taskCode"></param>
        /// <param name="taskType"></param>
        /// <param name="startPos">起始位置</param>
        /// <param name="endPos">目的位置</param>
        /// <param name="agvCode"></param>
        /// <param name="url">RCS地址</param>
        /// <returns></returns>
        public genAgvSchedulingTaskRep genAgvSchedulingTask(AgvTask agv,string url)
        {
            try
            {
                genAgvSchedulingTaskRep cbrep = new genAgvSchedulingTaskRep();
                PositionCodePath pcd1 = new PositionCodePath()
                {
                    positionCode = agv.startPos.ToString(),
                    type = "00",
                };
                PositionCodePath pcd2 = new PositionCodePath()
                {
                    positionCode = agv.endPos.ToString(),
                    type = "00",
                };
                List<PositionCodePath> lst = new List<PositionCodePath>();
                lst.Add(pcd1);
                lst.Add(pcd2);
                genAgvSchedulingTaskReq cbreq = new genAgvSchedulingTaskReq()
                {
                    reqCode = agv.taskCode.ToString(),
                    taskCode = agv.taskCode.ToString(),
                    taskTyp = agv.taskType,
                    positionCodePath = lst,
                    podCode = "",
                    agvCode = agv.agvCode,
                    ctnrTyp = "1",
                    //ctnrCode="2",

                };
                cbrep = genAgvSchedulingTask(cbreq,url);
                

                return cbrep;
            }
            catch (Exception ex) { throw ex; }
        }

        /// <summary>
        /// 生成任务单
        /// </summary>
        /// <param name="req"></param>
        /// <returns></returns>
        private genAgvSchedulingTaskRep genAgvSchedulingTask(genAgvSchedulingTaskReq req,string url)
        {
            genAgvSchedulingTaskRep rep = new genAgvSchedulingTaskRep()
            {
                code = "-1",
                message = "生产任务单失败"
            };
            if (req == null)
            {
                return rep;
            }
            try
            {
                string jsonReq = JsonConvert.SerializeObject(req);

                string jsonRep = HttpHelper.DoPost(url + "/genAgvSchedulingTask", jsonReq,"小车任务下发","RCS");
                jsonRep = jsonRep.TrimStart('\"');
                jsonRep = jsonRep.TrimEnd('\"');
                jsonRep = jsonRep.Replace("\\", "");
                rep = JsonConvert.DeserializeObject<genAgvSchedulingTaskRep>(jsonRep);
                return rep;
            }
            catch (Exception ex)
            {
                throw ex;
            }
        }


        /// <summary>
        /// 生成任务单到LogTask
        /// </summary>
        /// <param name="req"></param>
        /// <returns></returns>
        public void CreateLotTask(TaskDetial taskDetial)
        {
            try
            {
                var na = taskDetial.Crtype == "0"?"入库":"出库";
                var sql = "";
                var sql2 = "";
                var ordertype = "3";
                if (taskDetial.Type == "2" && taskDetial.Crtype =="1")
                {
                    ordertype = "1";
                    throw new Exception($"未查询到该设备所在储位信息，Location:{model.Location}");
                }
                else if(taskDetial.Type =="2" && taskDetial.Crtype == "0")
                var houseNo = deviceLocatInfo.WareHouseNo;//申请储位设备所在车间编号
                var noticeno = "0";//出入库单据明细ID
                //桶库存信息
                var palletInfo = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.PalletNo == model.PalletNo);
                if (palletInfo == null)
                {
                    ordertype = "0";
                    throw new Exception($"未查询到该桶的库存信息，PalletNo:{model.PalletNo}");
                }

                var storageLocat = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0");
                //开启事务
                Db.BeginTran();
                //判断任务是否为新任务
                if (string.IsNullOrWhiteSpace(taskDetial.Taskno))

                SysStorageLocat loction = new SysStorageLocat();//目标储位信息
                switch (model.Type)
                {
                    taskDetial.Taskno = new Common().GetMaxNo("T");
                    case "3"://清洗设备申请储位（净桶申请储位）
                        //查找到该车间净桶区
                        List<string> areaNoList = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "0" && w.WareHouseNo == houseNo).Select(s => s.AreaNo).ToList();
                        loction = storageLocat.Where(w => w.WareHouseNo == houseNo && areaNoList.Contains(w.AreaNo)).OrderByDescending(o => o.CreateTime).First();
                        if (loction == null)
                        {
                            throw new Exception("该车间净桶区暂无空余储位");
                        }

                        taskMsg = "清洗设备（净桶）申请储位任务";
                        break;
                    case "0"://接料设备申请储位（预混料桶申请储位）
                        //判断是否有批次号
                        if (string.IsNullOrWhiteSpace(model.LotNo))
                        {
                            throw new Exception("批次号为空！");
                        }
                        //查找到该车间预混区
                        List<string> areaNoList2 = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "1" && w.WareHouseNo == houseNo).Select(s => s.AreaNo).ToList();
                        loction = storageLocat.Where(w => w.WareHouseNo == houseNo && areaNoList2.Contains(w.AreaNo)).OrderByDescending(o => o.CreateTime).First();
                        if (loction == null)
                        {
                            throw new Exception("该车间预混区暂无空余储位");
                        }
                        palletInfo.LotNo = model.LotNo;//批次号
                        //更新桶库存信息
                        Db.Updateable(palletInfo).ExecuteCommand();

                        taskMsg = "接料设备（预混料桶）申请储位任务";
                        break;
                    case "1"://混料设备申请储位（半成品桶申请储位）
                        //判断是否有批次号
                        if (string.IsNullOrWhiteSpace(model.LotNo))
                        {
                            throw new Exception("批次号为空！");
                        }
                        //校验此批次是否有入库单
                        var noticeDetail = Db.Queryable<BllArrivalNoticeDetail>().Where(w => w.IsDel == "0" && w.Status == "0" && w.LotNo == model.LotNo).OrderByDescending(o => o.CreateTime).First();
                        if (noticeDetail == null)
                        {
                            throw new Exception("该批次没有对应的入库单明细");
                        }
                        noticeno = noticeDetail.Id.ToString();
                        //入库总单
                        var notice = Db.Queryable<BllArrivalNotice>().Where(w => w.IsDel == "0" && w.ASNNo == noticeDetail.ASNNo).First();
                        if (notice == null)
                        {
                            throw new Exception("该批次没有对应的入库单");
                        }
                        notice.Status = "1";//正在执行
                        //更新入库单状态
                        Db.Updateable(notice).ExecuteCommand();

                        //查找到该车间半成品区
                        List<string> areaNoList3 = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "2" && w.WareHouseNo == houseNo).Select(s => s.AreaNo).ToList();
                        loction = storageLocat.Where(w => w.WareHouseNo == houseNo && areaNoList3.Contains(w.AreaNo)).OrderByDescending(o => o.CreateTime).First();
                        if (loction == null)
                        {
                            throw new Exception("该车间半成品区暂无空余储位");
                        }

                        taskMsg = "接料设备（混料桶）申请储位任务";
                        break;
                    case "2"://下料设备申请储位（脏桶申请储位）
                        //查找到该车间脏桶区
                        List<string> areaNoList4 = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Type == "3" && w.WareHouseNo == houseNo).Select(s => s.AreaNo).ToList();
                        loction = storageLocat.Where(w => w.WareHouseNo == houseNo && areaNoList4.Contains(w.AreaNo)).OrderByDescending(o => o.CreateTime).First();
                        if (loction == null)
                        {
                            throw new Exception("该车间脏桶区暂无空余储位");
                        }

                        taskMsg = "下料设备（脏桶）申请储位任务";
                        break;
                }
                var logTaskEntry = new LogTask    

                taskNo = new Common().GetMaxNo("TK");//任务号
                //任务信息
                var logTaskEntry = new LogTask
                {
                    TaskNo = taskDetial.Taskno,
                    TaskNo = taskNo,
                    Sender = "WMS",
                    Receiver = "RCS",
                    //IsSuccess = 1, //是否下发成功 0失败 1成功
                    SendDate = DateTime.Now,  //发送时间
                    //BackDate = DateTime.Now,  //返回时间
                    StartLocat = taskDetial.Startport,//起始位置
                    EndLocat = taskDetial.Endport,//目标位置
                    PalletNo = taskDetial.Pallno,//托盘码
                    StartLocat = model.Location,//起始位置
                    EndLocat = loction.LocatNo,//目标位置
                    PalletNo = model.PalletNo,//桶号
                    IsSend = 1,//是否可再次下发
                    IsCancel = 1,//是否可取消
                    IsFinish = 1,//是否可完成
                    Type = taskDetial.Crtype,//任务类型 0 入库任务 1 出库任务  2 移库任务
                    OrderType = ordertype,//单据类型 0 入库 1 出库 3其他
                    Type = "0",//任务类型 0 入库任务 1 出库任务  2 移库任务
                    OrderType = "3",//单据类型 0 入库 1 出库 3 移库
                    Status = "0",//任务状态0：等待执行1正在执行2执行完成
                    NoticeDetailNo = int.Parse(taskDetial.Noticedetailno.ToString()),
                    Msg = $"{taskDetial.Endport}的{na}任务", //关键信息
                    NoticeDetailNo = int.Parse(noticeno),
                    Msg = taskMsg, //关键信息
                };
                var Agv = new AgvTask
                var task = new TaskDetial
                {
                    taskCode = taskDetial.Taskno,
                    taskType = taskDetial.Type,
                    startPos = taskDetial.Startport,
                    endPos = taskDetial.Endport,
                    agvCode = "1",//……需要和AGV确认此字段值
                    Taskno = taskNo,//任务号
                    Startport = model.Location,
                    Endport = loction.LocatNo,
                    Pallno = model.PalletNo,
                    Crtype = "0",//入库
                };
                //请求小车
                genAgvSchedulingTaskRep chrep =genAgvSchedulingTask(Agv, "url");
                if (chrep.code != "0")
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                var agvResult = CreateTaskForAgv(task, url);
                if (agvResult)//成功
                {
                    //请求成功修改任务表相应字段状态
                    logTaskEntry.IsSuccess = 1;
                    logTaskEntry.IsSend = 0;
                    //logTaskEntry.IsCancel = 0;
                    logTaskEntry.BackDate = DateTime.Now;
                    logTaskEntry.Status = "1";//正在执行
                    Db.Insertable(logTaskEntry).ExecuteCommand();

                    deviceLocatInfo.Status = "3";//出库中
                    Db.Updateable(deviceLocatInfo).ExecuteCommand();

                    loction.Status = "2";//入库中
                    Db.Updateable(loction).ExecuteCommand();
                }
                else//失败
                {
                    logTaskEntry.IsSuccess = 0;
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                    Db.CommitTran();
                    throw new Exception("RCS任务下发错误，RCS返回消息：" + chrep.message);
                }
                logTaskEntry.IsSuccess = 1;
                logTaskEntry.BackDate = DateTime.Now;
                logTaskEntry.Status = "1";
                if (taskDetial.Crtype == "0")
                //提交事务
                Db.CommitTran();
            }
            catch (Exception ex)
            {
                //回滚事务
                Db.RollbackTran();
                throw new Exception(ex.Message);
            }
        }


        /// <summary>
        /// MES下发将净桶改为脏桶并拉到脏桶区
        /// </summary>
        /// <param name="PalletNo"></param>
        /// <returns></returns>
        public void ChangePalletStatus(string PalletNo,string url)
        {
            try
            {
                var detail = Db.Queryable<DataStockDetail>().First(w => w.PalletNo == PalletNo && w.PalletStatus == "0");
                if (detail == null)
                {
                    sql = $"UPDATE SysStorageLocat SET Status = '2' where LocatNo = '{taskDetial.Endport}'";
                    sql2 = $"UPDATE DataStockDetail SET PalletStatus = '{taskDetial.Type}' where PalletNo = '{taskDetial.Pallno}'";
                    Db.Ado.ExecuteCommand(sql2);
                    throw new Exception($"库存中不存在桶号为：{PalletNo}的库存!");
                }
                //起始目标储位信息
                var statrtLocat = Db.Queryable<SysStorageLocat>().First(w => w.WareHouseNo == detail.WareHouseNo && w.AreaNo == detail.AreaNo && w.LocatNo == detail.LocatNo);
                if (statrtLocat == null)
                {
                    throw new Exception($"该桶所在的储位信息不存在!");
                }
                //开启事务
                Db.BeginTran();

                //查找是否有空余脏桶位
                var endLocat = Db.Queryable<SysStorageLocat>().First(w => w.WareHouseNo == detail.WareHouseNo && w.AreaNo.Contains("04") && w.Status == "0" && w.Flag=="0");
                if (endLocat == null)
                {
                    detail.Status = "5";//异常锁定
                    detail.PalletStatus = "3";//脏桶
                    //修改库存状态
                    Db.Updateable(detail).ExecuteCommand();
                }
                else
                {
                    sql = $"UPDATE SysStorageLocat SET Status = '3' where LocatNo = '{taskDetial.Startport}' ";
                    //生成调度小车净桶去脏桶区任务
                    var ztask = new TaskDetial
                    {
                        Startport = detail.LocatNo,
                        Endport = endLocat.LocatNo,
                        Pallno = PalletNo,
                        Crtype = "2",
                    };
                    string taskNo = "";
                    CreateTaskForAgv(ztask, url);

                    statrtLocat.Status = "3";//出库中
                    //修改起始储位状态
                    Db.Updateable(statrtLocat).ExecuteCommand();

                    detail.Status = "5";//异常锁定
                    detail.PalletStatus = "3";//脏桶
                    //修改库存状态
                    Db.Updateable(detail).ExecuteCommand();
                }
                Db.Insertable(logTaskEntry).ExecuteCommand();
                Db.Ado.ExecuteCommand(sql);
                //提交事务
                Db.CommitTran();
            }
            catch (Exception ex)
@@ -446,7 +574,454 @@
                Db.RollbackTran();
                throw ex;
            }
        }

        /// <summary>
        /// MES下发清洗锁定脏桶
        /// </summary>
        /// <param name="pallnetmsg"></param>
        public void CleanPallet(Pallnetmsg pallnetmsg,string url)
        {
            try
            {
                var detail = Db.Queryable<DataStockDetail>().First(w => w.PalletNo == pallnetmsg.PalletNo && w.PalletStatus == "3");
                if (detail == null)
                {
                    throw new Exception($"库存中不存在桶号为：{pallnetmsg.PalletNo}的库存!");
                }
                //下发小车任务
                var task = new TaskDetial
                {
                    Startport = detail.LocatNo,
                    Endport = pallnetmsg.Location,
                    Pallno = detail.PalletNo,
                    Crtype = "1",
                };
                string taskNo = "";
                CreateTaskForAgv(task,url);
            }
            catch (Exception ex)
            {
                throw ex;
            }
        }

        /// <summary>
        /// 任务完成
        /// </summary>
        /// <param name="TaskNo"></param>
        /// <param name="Status"></param>
        /// <exception cref="Exception"></exception>
        public void RCSFinishTask(string taskNo, string status, string comeFrom, int userId = 0)
        {
            try
            {
                #region 条件判断
                var resultModel = new ErpModel() { Success = -1, Message = "" };
                if (string.IsNullOrEmpty(taskNo))
                {
                    throw new Exception("任务号不可为空");
                }
                //任务信息
                var taskInfo = Db.Queryable<LogTask>().First(w => w.TaskNo == taskNo);
                if (taskInfo == null)
                {
                    throw new Exception($"任务号为:{taskNo}的任务不存在!");
                }
                if (taskInfo.Status != "1" && comeFrom != "WMS")
                {
                    throw new Exception($"任务号为:{taskNo}的任务状态异常");
                }
                #endregion
                //开启事务
                Db.BeginTran();
                var comTime = DateTime.Now;

                if (status == "0")
                {
                    taskInfo.Status = "3";//异常结束
                    //修改任务状态
                    Db.Updateable(taskInfo).ExecuteCommand();

                    resultModel.Success = 0;
                    resultModel.Message = "成功";

                    //提交事务
                    Db.CommitTran();

                    return;
                }
                //库存明细
                var stockDetail = Db.Queryable<DataStockDetail>().First(w => w.PalletNo == taskInfo.PalletNo);
                if (stockDetail == null)
                {
                    throw new Exception($"桶库存信息不存在");
                }
                //起始储位信息
                var startLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.LocatNo == taskInfo.StartLocat && w.IsDel == "0");
                if (startLocatInfo == null)
                {
                    throw new Exception($"起始储位信息不存在");
                }
                startLocatInfo.Status = "0";//空储位
                //修改起始储位状态
                Db.Updateable(startLocatInfo).ExecuteCommand();

                //目标储位信息
                var endLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.LocatNo == taskInfo.EndLocat && w.IsDel == "0");
                if (endLocatInfo == null)
                {
                    throw new Exception($"目标储位信息不存在");
                }
                endLocatInfo.Status = "1";//有物品
                //修改目标储位状态
                Db.Updateable(endLocatInfo).ExecuteCommand();

                //目标储位所属区域
                var endAreaInfo = Db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.WareHouseNo == endLocatInfo.WareHouseNo && w.AreaNo == endLocatInfo.AreaNo);
                if (endAreaInfo == null)
                {
                    throw new Exception($"目标储位所属区域信息不存在");
                }

                stockDetail.WareHouseNo = endLocatInfo.WareHouseNo;//所属仓库
                stockDetail.RoadwayNo = endLocatInfo.RoadwayNo;//所属巷道
                stockDetail.AreaNo = endLocatInfo.AreaNo;//所属区域
                stockDetail.LocatNo = endLocatInfo.LocatNo;//储位地址               
                if (endAreaInfo.Type == "0")//洁净区
                {
                    stockDetail.PalletStatus = "0";
                    stockDetail.Status = "0";//待分配
                }
                else if (endAreaInfo.Type == "1")//预混区
                {
                    stockDetail.PalletStatus = "1";
                    stockDetail.Status = "0";//待分配
                }
                else if (endAreaInfo.Type == "2")//半成品区
                {
                    stockDetail.PalletStatus = "2";
                    stockDetail.Status = "0";//待分配
                }
                else if (endAreaInfo.Type == "3")//脏桶区
                {
                    stockDetail.PalletStatus = "3";
                    stockDetail.LotNo = "";//批次
                    stockDetail.SkuNo = "";
                    stockDetail.SkuName = "";
                    stockDetail.Status = "0";//待分配
                    stockDetail.InspectStatus = "0";//待检验
                }
                //修改库存明细
                Db.Updateable(stockDetail).ExecuteCommand();
                //入库任务，处理入库单
                if (taskInfo.Type == "0" && taskInfo.NoticeDetailNo != 0)
                {
                    var notice = Db.Queryable<BllArrivalNotice>().First(w => w.IsDel == "0" && w.Status == "1");
                    if (notice != null)
                    {
                        notice.Status = "2";//执行完成
                        notice.UpdateTime = DateTime.Now;
                        notice.CompleteTime = DateTime.Now;
                        //修改入库单状态
                        Db.Updateable(notice).ExecuteCommand();
                    }
                }
                //出库任务，处理出库单
                if (taskInfo.Type == "1" && taskInfo.NoticeDetailNo != 0)//入库
                {
                    var notice = Db.Queryable<BllExportNotice>().First(w => w.IsDel == "0" && w.Status == "3");
                    if (notice != null)
                    {
                        notice.Status = "4";//执行完成
                        notice.UpdateTime = DateTime.Now;
                        notice.CompleteTime = DateTime.Now;
                        //修改入库单状态
                        Db.Updateable(notice).ExecuteCommand();
                    }
                }

                #region 去掉MES
                //回传桶状态给MES
                //BackPalletStatus(taskInfo.PalletNo, sd3.PalletStatus);
                #endregion

                taskInfo.Status = "2";//执行完成
                taskInfo.IsSend = 0;
                taskInfo.IsCancel = 0;
                taskInfo.IsFinish = 0;
                taskInfo.FinishDate = DateTime.Now;//完成时间
                //修改任务状态
                Db.Updateable(taskInfo).ExecuteCommand();

                if (comeFrom == "WMS")
                {
                    //添加操作日志记录
                    var k = new OperationCrServer().AddLogOperationCr("库内作业", "库内日志", taskInfo.TaskNo, "完成", $"点击完成按钮、任务号为：{taskInfo.TaskNo}的任务", userId);
                }
                //提交事务
                Db.CommitTran();
            }
            catch (Exception ex)
            {
                //回滚事务
                Db.RollbackTran();
                throw new Exception(ex.Message);
            }
        }

        /// <summary>
        /// 手动取消任务
        /// </summary>
        /// <param name="taskNo"></param>
        /// <param name="userId"></param>
        /// <exception cref="Exception"></exception>
        public void CancelTask(string taskNo, int userId)
        {
            try
            {
                //开启事务
                Db.BeginTran();
                //任务信息
                var task = Db.Queryable<LogTask>().First(m => m.TaskNo == taskNo && m.IsDel == "0");
                if (task == null)
                {
                    throw new Exception("未查询到任务信息");
                }
                //if (task.Status != "0")
                //{
                //    throw new Exception("只有等待执行的任务才可取消");
                //}
                //修改任务 
                task.IsSuccess = 0;
                task.IsSend = 0;
                task.IsCancel = 0;
                task.IsFinish = 0;
                task.Status = "4";//已取消
                task.CancelDate = DateTime.Now;
                Db.Updateable(task).ExecuteCommand();

                //修改起始储位信息
                var locat = Db.Queryable<SysStorageLocat>().First(a => a.IsDel == "0" && a.LocatNo == task.StartLocat);
                if (locat == null)
                {
                    throw new Exception("未查询到起始位置储位信息，请核实！");
                }
                locat.Status = "1"; //有物品
                Db.Updateable(locat).ExecuteCommand();

                //修改目标储位信息
                var locatEnd = Db.Queryable<SysStorageLocat>().First(a => a.IsDel == "0" && a.LocatNo == task.EndLocat);
                if (locatEnd == null)
                {
                    throw new Exception("未查询到目标位置储位信息，请核实！");                    
                }
                locatEnd.Status = "0"; //空储位
                Db.Updateable(locatEnd).ExecuteCommand();

                if (task.Type == "1")//出库任务
                {
                    //修改库存明细
                    var stockDetail = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.PalletNo == task.PalletNo && w.Status == "2");
                    if (stockDetail == null)
                    {
                        throw new Exception("未查询到该桶库存信息,请检查!");
                    }
                    stockDetail.Status = "0";//待分配
                    Db.Updateable(stockDetail).ExecuteCommand();
                }
                //添加操作日志记录
                var k = new OperationCrServer().AddLogOperationCr("库内作业", "库内日志", taskNo, "取消", $"点击取消按钮、取消了任务号为：{taskNo}的任务", userId);
                Db.CommitTran();
            }
            catch (Exception e)
            {
                Db.RollbackTran();
                throw new Exception(e.Message);
            }
        }
        /// <summary>
        /// 手动下发任务
        /// </summary>
        /// <param name="taskNo"></param>
        /// <param name="userId"></param>
        /// <exception cref="Exception"></exception>
        public void DownTask(string taskNo, int userId,string url)
        {
            try
            {
                //开启事务
                Db.BeginTran();
                //任务信息
                var logTaskEntry = Db.Queryable<LogTask>().First(m => m.TaskNo == taskNo && m.IsDel == "0");
                if (logTaskEntry == null)
                {
                    throw new Exception("未查询到任务信息");
                }
                if (logTaskEntry.Status != "0")
                {
                    throw new Exception("只有等待执行的任务才可手动下发");
                }
                //查找该桶有没有正在执行的任务
                var tasking = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && w.Status == "1" && w.PalletNo == logTaskEntry.PalletNo);
                if (tasking != null)
                {
                    throw new Exception($"该桶有正在执行的任务");
                }
                //起始储位信息
                var startLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == logTaskEntry.StartLocat);
                if (startLocatInfo == null)
                {
                    throw new Exception($"未查询到起始储位信息");
                }
                if (startLocatInfo.Status != "1")
                {
                    throw new Exception($"起始储位状态异常");
                }
                //目标储位信息
                var endLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == logTaskEntry.EndLocat);
                if (endLocatInfo == null)
                {
                    throw new Exception($"未查询到目标储位信息");
                }
                if (endLocatInfo.Status != "0")
                {
                    throw new Exception($"目标储位状态异常");
                }
                //组织给小车下发任务信息
                var task = new TaskDetial
                {
                    Taskno = taskNo,//任务号
                    Startport = logTaskEntry.StartLocat,
                    Endport = logTaskEntry.EndLocat,
                    Pallno = logTaskEntry.PalletNo,
                    Crtype = logTaskEntry.Type,
                };
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                var agvResult = CreateTaskForAgv(task, url);
                if (agvResult)//成功
                {
                    //请求成功修改任务表相应字段状态
                    logTaskEntry.IsSuccess = 1;
                    logTaskEntry.IsSend = 0;
                    logTaskEntry.IsCancel = 0;
                    logTaskEntry.BackDate = DateTime.Now;
                    logTaskEntry.Status = "1";//正在执行
                    Db.Insertable(logTaskEntry).ExecuteCommand();

                    startLocatInfo.Status = "3";//出库中
                    Db.Updateable(startLocatInfo).ExecuteCommand();

                    endLocatInfo.Status = "2";//入库中
                    Db.Updateable(endLocatInfo).ExecuteCommand();
                }
                else//失败
                {
                    logTaskEntry.IsSuccess = 0;
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                }

                //添加操作日志记录
                var k = new OperationCrServer().AddLogOperationCr("库内作业", "库内日志", taskNo, "下发", $"点击下发按钮、任务号为：{taskNo}的任务", userId);
                Db.CommitTran();
            }
            catch (Exception e)
            {
                Db.RollbackTran();
                throw new Exception(e.Message);
            }
        }

        /// <summary>
        /// 生成任务单到LogTask
        /// </summary>
        /// <param name="req"></param>
        /// <returns></returns>
        public bool CreateTaskForAgv(TaskDetial taskDetial, string url)
        {
            bool result = false;

            #region 呼叫小车代码
            List<AgvSchedulingTask> agvTaskList = new List<AgvSchedulingTask>();

            List<PositionCodePath> pahtList = new List<PositionCodePath>();
            //起始位置
            PositionCodePath path1 = new PositionCodePath();
            path1.positionCode = taskDetial.Startport;
            if (taskDetial.Crtype == "1")//叫桶（桶出库）
            {
                path1.type = "05";
            }
            else//申请储位（桶入库）
            {
                path1.type = "05";
            }
            pahtList.Add(path1);

            //目标位置
            PositionCodePath path2 = new PositionCodePath();
            path2.positionCode = taskDetial.Endport;
            if (taskDetial.Crtype == "1")//叫桶（桶出库）
            {
                path2.type = "05";
            }
            else//申请储位（桶入库）
            {
                path2.type = "05";
            }
            pahtList.Add(path2);

            //下车任务单
            AgvSchedulingTask agvTask = new AgvSchedulingTask();
            agvTask.reqCode = taskDetial.Taskno;//请求编号
            agvTask.taskCode = taskDetial.Taskno;//任务号
            agvTask.ctnrCode = taskDetial.Pallno;//桶号
            agvTask.ctnrTyp = "1";
            agvTask.reqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");//请求时间                
            agvTask.wbCode = "";
            agvTask.positionCodePath = pahtList;//小车路径
            agvTask.podCode = "";
            agvTask.userCallCode = "";//taskDetial.Endport;//目标位置
            if (taskDetial.Crtype == "1")//叫桶（桶出库）
            {
                agvTask.taskTyp = "Z3";//任务类型 线边到托盘收集器 Z1， 托盘垛申请入库 Z2
            }
            else//申请储位（桶入库）
            {
                agvTask.taskTyp = "Z4";//任务类型 线边到托盘收集器 Z1， 托盘垛申请入库 Z2
            }
            agvTaskList.Add(agvTask);

            // 正式运行程序放开
            var list2 = agvTaskList.Select(m => m.reqCode).ToList();
            var jsonData = JsonConvert.SerializeObject(agvTaskList);
            jsonData = jsonData.Substring(1);
            jsonData = jsonData.Substring(0, jsonData.Length - 1);

            string response = HttpHelper.DoPost(url, jsonData, "下发给AGV转运命令", "AGV");
            //解析返回数据 
            var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
            if (agvModel.Code == "0")
            {
                result = true;//给下车下发任务成功
            }
            else
            {
                string logMsg = "";
                if (taskDetial.Crtype == "1")//叫桶（桶出库）
                {
                    logMsg = "申请叫桶";
                }
                else if (taskDetial.Crtype == "0")//申请储位（桶入库）
                {
                    logMsg = "申请储位";
                }
                var logStr = $@".\log\AGV\AGV{logMsg}" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
                LogFile.SaveLogToFile($"AGV{logMsg}异常：( {agvModel.Message} ),", logStr);
            }
            return result;
            #endregion
        }
    }
}