修改下发AGV任务接口，修改条码增加功能

zhaowc

2025-05-20 d09a1552e45e6cfc8f83c0249cd296b8706c0dc2

 Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs

@@ -6,10 +6,14 @@
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;
using WMS.Entity.Context;
using WMS.Entity.DataEntity;
using WMS.Entity.LogEntity;
@@ -213,7 +217,7 @@
        /// <param name="lotNo">批次</param>
        /// <param name="userId">操作人</param>
        /// <exception cref="Exception"></exception>
        public void jiaoLiaoHopper(string areaNo,string endLocate,string plnStatus,string standard,string skuNo,string lotNo,string url,int userId)
        public void jiaoLiaoHopper(string areaNo,string endLocate,string plnStatus,string standard,string skuNo,string lotNo,string url, string bindUrl, int userId)
        {
            try
            {
@@ -302,7 +306,7 @@
                    {
                        throw new Exception("未找到对应桶信息");
                    }
                    resultYi = YikuTask(palletModel.PalletNo, taskNo, url);
                    resultYi = YikuTask(palletModel.PalletNo, taskNo, url,bindUrl);
                }
                #endregion
                //起始储位地址信息
@@ -354,29 +358,41 @@
                    string agvMsg = string.Empty;
                    //给下车下发任务
                    logTaskEntry.SendDate = DateTime.Now;//发送时间
                    var agvResult = CreateTaskForAgv(task, url, out agvMsg);
                    if (agvResult)//成功
                    //下发载具类型
                    var bind = RcsHelper.BindPalletAndSite(palletModel.PalletNo, palletModel.LocatNo, url, out string agvBindMsg);
                    if (bind)
                    {
                        //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();
                        var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                        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();
                            startLoction.Status = "3";//出库中
                            Db.Updateable(startLoction).ExecuteCommand();

                        endLocateInfo.Status = "2";//入库中
                        Db.Updateable(endLocateInfo).ExecuteCommand();
                            endLocateInfo.Status = "2";//入库中
                            Db.Updateable(endLocateInfo).ExecuteCommand();
                        }
                        else//失败
                        {
                            logTaskEntry.IsSuccess = 0;
                            logTaskEntry.Information = agvMsg;
                            Db.Insertable(logTaskEntry).ExecuteCommand();
                        }
                    }
                    else//失败
                    else 
                    {
                        logTaskEntry.IsSuccess = 0;
                        logTaskEntry.Information = agvMsg;
                        logTaskEntry.Information = "货架与货位绑定失败，原因："+agvBindMsg;
                        Db.Insertable(logTaskEntry).ExecuteCommand();
                    }
                   
                }
                //提交事务
                Db.CommitTran();
@@ -401,7 +417,7 @@
        /// <param name="lotNo">批次</param>
        /// <param name="userId">操作人</param>
        /// <exception cref="Exception"></exception>
        public void jiaoCheHopper(string areaNo, string StartLocate, string plnNo, string plnStatus, decimal weight,  string skuNo, string lotNo, int userId)
        public void jiaoCheHopper(string areaNo, string StartLocate, string plnNo, string plnStatus, decimal weight,  string skuNo, string lotNo, string url,string bindUrl,int userId)
        {
            try
            {
@@ -409,7 +425,7 @@

                if (string.IsNullOrWhiteSpace(areaNo) || string.IsNullOrWhiteSpace(StartLocate) || string.IsNullOrWhiteSpace(plnStatus))
                {
                    throw new Exception("区域/目标位/桶类型不能为空");
                    throw new Exception("区域/起始位/桶类型不能为空");
                }

                //if (plnStatus == "0" && string.IsNullOrWhiteSpace(standard))
@@ -421,29 +437,24 @@
                {
                    throw new Exception("满桶请选择物料与批次");
                }
                //判断目标叫料储位状态
                var endLocateInfo = Db.Queryable<SysStorageLocat>().First(m => m.IsDel == "0" && m.LocatNo == StartLocate && m.AreaNo == areaNo);
                if (endLocateInfo == null)
                {
                    throw new Exception("没有查询到目标储位信息");
                }
                if (endLocateInfo.Flag != "0")
                {
                    throw new Exception("目标储位标识不是正常可用的");
                }
                if (endLocateInfo.Status != "0")
                {
                    throw new Exception("目标储位状态不是空储位");
                }

                #endregion
                //开启事务
                Db.BeginTran();

                var pln = Db.Queryable<SysPallets>().First(m => m.IsDel == "0" && m.PalletNo == plnNo);
                var locate = Db.Queryable<SysStorageLocat>().First(m => m.IsDel == "0" && m.AreaNo == areaNo && m.LocatNo == StartLocate);
                var skuName = "";
                var packagNo = "";
                if (plnStatus == "2")
                //桶信息
                var pln = Db.Queryable<SysPallets>().First(w => w.IsDel == "0" && w.PalletNo == plnNo);
                if (pln == null)
                {
                    throw new Exception("未查询到桶信息");
                }

                //起始储位信息
                var startLoction = Db.Queryable<SysStorageLocat>().First(m => m.IsDel == "0" && m.AreaNo == areaNo && m.LocatNo == StartLocate);
                var skuName = "";//物料名称
                var packagNo = "";
                if (plnStatus == "2")//满桶
                {
                    //物料信息
                    var sku = Db.Queryable<SysMaterials>().First(m => m.IsDel == "0" && m.SkuNo == skuNo);
                    if (sku == null)
                    {
@@ -455,7 +466,17 @@
                {

                }
                //目标楼层
                var layer = startLoction.Layer;
                var houseStr = layer == 3 ? "3楼中间站" : layer == 4 ? "4楼中间站" : "";
                //通过仓库名称查询仓库信息
                var house = Db.Queryable<SysWareHouse>().First(m => m.IsDel == "0" && m.WareHouseName == houseStr);
                if (house == null)
                {
                    throw new Exception("没有查询到仓库信息");
                }

                //桶库存明细
                var stockDetail = Db.Queryable<DataStockDetail>().First(m => m.PalletNo == plnNo);
                if (stockDetail == null)
                {
@@ -471,7 +492,7 @@
                        FrozenQty = 0,
                        InspectQty = 0,

                        WareHouseNo = locate.WareHouseNo,
                        WareHouseNo = startLoction.WareHouseNo,
                        AreaNo = areaNo,
                        LocatNo = StartLocate,
                        PalletNo = plnNo,
@@ -497,20 +518,26 @@
                    Db.Updateable(stockDetail).ExecuteCommand();

                }
                //获取储位地址
                //分配储位
                var endLocatInfo = GetLocatModel(house.WareHouseNo, plnStatus, skuNo, pln.Standard);//目标储位
                //没有可用空储位
                if (endLocatInfo == null)
                {
                    throw new Exception("没有找到合适的目标储位");
                }

                var taskNo = new Common().GetMaxNo("TK");
                //添加任务
                var task = new LogTask
                var logTaskEntry = new LogTask
                {
                    TaskNo = taskNo,
                    Sender = "WMS",
                    Receiver = "WCS",
                    IsSuccess = 0, //是否下发成功 0失败 1成功

                    StartLocat = "",//起始位置
                    EndLocat = StartLocate,//目标位置
                    PalletNo = "",//托盘码
                    StartLocat = StartLocate,//起始位置
                    EndLocat = endLocatInfo.LocatNo,//目标位置
                    PalletNo = plnNo,//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
@@ -520,19 +547,390 @@

                    CreateTime = DateTime.Now
                };
                Db.Insertable(task).ExecuteCommand();
                Db.Insertable(logTaskEntry).ExecuteCommand();

                //组织下发小车任务信息
                var task = new TaskDetial
                {
                    Taskno = taskNo,//任务号
                    Startport = StartLocate,//起始位置
                    Endport = endLocatInfo.LocatNo,//目标位置
                    Pallno = plnNo,//桶号
                    Crtype = "1",//叫桶
                };
                //调用AGV接口下发任务
                string agvMsg = string.Empty;
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                //下发载具与货位绑定
                var bind = RcsHelper.BindPalletAndSite(plnNo, StartLocate, bindUrl, out string agvBindMsg);
                if (bind)
                {
                    var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                    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();

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

                }
                else
                {
                    logTaskEntry.IsSuccess = 0;
                    logTaskEntry.Information = "货架与货位绑定失败，原因："+agvBindMsg;
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                }
                

                //提交事务
                Db.CommitTran();
            }
            catch (Exception e)
            {
                //回滚事务
                Db.RollbackTran();
                throw new Exception(e.Message);
            }
        }

        private bool YikuTask(string palletNo, string taskNo, string url)
        /// <summary>
        /// 小车反馈任务完成
        /// </summary>
        /// <param name="taskNo"></param>
        /// <param name="status"></param>
        /// <param name="comeFrom"></param>
        /// <param name="userId"></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
                stockDetail.UpdateTime = DateTime.Now;//更新时间
                if (endAreaInfo.Type == "0")//净桶区
                {
                    stockDetail.PalletStatus = "0";
                    stockDetail.Status = "0";//待分配
                }
                else if (endAreaInfo.Type == "1")//满桶区
                {
                    stockDetail.PalletStatus = "1";
                    stockDetail.Status = "0";//待分配
                }
                else if (endAreaInfo.Type == "2")//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
                }
                else if (endAreaInfo.Type == "4")//设备区
                { 
                    
                }
                //修改库存明细
                Db.Updateable(stockDetail).ExecuteCommand();
                
                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>
        /// 清洗机叫料状态
        /// </summary>
        /// <param name="deviceID">清洗机编号</param>
        /// <param name="deviceStation">叫料点位：”input”-入口（叫脏桶），”output”-出口（净桶申请储位）</param>
        /// <param name="status"></param>
        /// <exception cref="Exception"></exception>
        public void RCSCleanRequest(string deviceID,string deviceStation,string status,string url,string bindUrl)
        {
            try
            {
                if (string.IsNullOrEmpty(deviceID))
                {
                    throw new Exception("清洗机编号不能为空");
                }
                if (status != "1")
                {
                    throw new Exception("非叫料状态");
                }
                //通过设备号查找到所属设备（区域）
                var deviceInfo = Db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.DeviceCode == deviceID);
                if (deviceInfo == null)
                {
                    throw new Exception("设备信息不存在");
                }
                var houseNo = deviceInfo.WareHouseNo;//叫桶设备所属车间编号

                var startLoction = new SysStorageLocat();//起始储位信息
                var endLoction = new SysStorageLocat();//目标储位信息
                var palletModel = new DataStockDetail();//分配桶信息

                //开启事务
                Db.BeginTran();

                //叫料点位
                switch (deviceStation)
                {
                    case "input"://叫脏桶
                        //叫桶设备所在储位信息（目标储位）
                        endLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.AreaNo == deviceInfo.AreaNo);

                        // 所有待分配的脏桶
                        var stockDetail = Db.Queryable<DataStockDetail>().Where(w => w.Status == "0" && w.PalletStatus == "3");
                       
                        //优先查找脏桶缓存车间
                        palletModel = stockDetail.Where(w => w.AreaNo == "C43").OrderByDescending(o => o.UpdateTime).First();
                        if (palletModel == null)//脏桶缓存车间没有脏桶，再从三楼中间站脏桶区查找
                        {
                            palletModel = stockDetail.Where(w =>w.WareHouseNo=="M16" && w.AreaNo == "C26").OrderByDescending(o => o.UpdateTime).First();
                        }
                        if (palletModel == null)//三楼中间站脏桶区没有脏桶，再从四楼中间站脏桶区查找
                        {
                            palletModel = stockDetail.Where(w => w.WareHouseNo == "M01" && w.AreaNo == "C03").OrderByDescending(o => o.UpdateTime).First();
                        }
                        if (palletModel == null)
                        {
                            throw new Exception("无脏桶可分配");
                        }
                        //起始储位地址信息
                        startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.Status == "1" && w.LocatNo == palletModel.LocatNo);
                        if (startLoction == null)
                        {
                            throw new Exception($"起始目标储位信息不存在，桶号：{palletModel.LocatNo}");
                        }

                        break;

                    case "output"://净桶申请储位
                        //叫桶设备所在储位信息（起始储位）
                        startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.AreaNo == deviceInfo.AreaNo);
                        //桶信息
                        palletModel = Db.Queryable<DataStockDetail>().Where(w => w.WareHouseNo==houseNo && w.AreaNo==deviceInfo.AreaNo && w.LocatNo==startLoction.LocatNo).First();
                        if (palletModel == null)
                        {
                            throw new Exception("未查询到净桶信息");
                        }
                        //分配储位
                        //优先分配四楼中间站净桶区
                        endLoction= Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                            && w.WareHouseNo == "M01" && w.AreaNo == "C01")
                                            .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();
                        if (endLoction == null)//四楼中间站净桶区没有空储位，再从三楼中间站净桶区查找
                        {
                            endLoction = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                            && w.WareHouseNo == "M16" && w.AreaNo == "C24")
                                            .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();
                        }
                        if (endLoction == null)//三楼中间站净桶区没有空储位，再从三楼清洗间缓存区查找
                        {
                            endLoction = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                            && w.WareHouseNo == "M44" && w.AreaNo == "C55")
                                            .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();
                        }
                        if (endLoction == null)
                        {
                            throw new Exception("未查询到合适储位");
                        }
                        break;

                    default:
                        throw new Exception("叫料点位异常");
     
                }
                var taskNo = new Common().GetMaxNo("TK");
                //添加任务
                var logTaskEntry = new LogTask
                {
                    TaskNo = taskNo,
                    Sender = "WMS",
                    Receiver = "RCS",
                    IsSuccess = 0, //是否下发成功 0失败 1成功

                    StartLocat = "",//起始位置
                    EndLocat = endLoction.LocatNo,//目标位置
                    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
                    Status = "0",//任务状态0：等待执行1正在执行2执行完成
                    OrderType = "3",//0 入库单 1 出库单  2 盘点单  3 移库单

                    CreateTime = DateTime.Now
                };
                Db.Insertable(logTaskEntry).ExecuteCommand();

                //组织下发小车任务信息
                var task = new TaskDetial
                {
                    Taskno = taskNo,//任务号
                    Startport = palletModel.LocatNo,//起始位置
                    Endport = endLoction.LocatNo,//目标位置
                    Pallno = palletModel.PalletNo,//桶号
                    Crtype = "1",//叫桶
                };

                string agvMsg = string.Empty;
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                //下发载具与货位绑定
                var bind = RcsHelper.BindPalletAndSite(palletModel.PalletNo, palletModel.LocatNo, bindUrl, out string agvBindMsg);
                if (bind)
                {
                    var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                    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;
                        logTaskEntry.Information = agvMsg;
                        Db.Insertable(logTaskEntry).ExecuteCommand();
                    }
                }
                else
                {
                    logTaskEntry.IsSuccess = 0;
                    logTaskEntry.Information = agvBindMsg;
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                }
                
                //提交事务
                Db.CommitTran();
            }
            catch (Exception e)
            {
                //回滚事务
                Db.RollbackTran();
                throw new Exception(e.Message);
            }
        }

        private bool YikuTask(string palletNo, string taskNo, string url,string bindUrl)
        {
            try
            {
@@ -624,33 +1022,47 @@
                        string agvMsg = string.Empty;
                        //给下车下发任务
                        logTaskEntry.SendDate = DateTime.Now;//发送时间
                        var agvResult = CreateTaskForAgv(task, url, out agvMsg, "70");
                        if (agvResult)//成功
                                                             //下发载具与货位绑定
                        var bind = RcsHelper.BindPalletAndSite(palletInfoYi.LocatNo, palletInfoYi.PalletNo, bindUrl, out string agvBindMsg);
                        if (bind)
                        {
                            //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();
                            var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
                            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();

                            //修改移出储位状态
                            locatInfo.Status = "5";//移出中
                            Db.Updateable(locatInfo).ExecuteCommand();
                                //修改移出储位状态
                                locatInfo.Status = "5";//移出中
                                Db.Updateable(locatInfo).ExecuteCommand();

                            //修改移入储位状态
                            transferLocat.Status = "4";//移入中
                            Db.Updateable(transferLocat).ExecuteCommand();
                                //修改移入储位状态
                                transferLocat.Status = "4";//移入中
                                Db.Updateable(transferLocat).ExecuteCommand();
                            }
                            else//失败
                            {
                                logTaskEntry.IsSuccess = 0;
                                logTaskEntry.Information = agvMsg;
                                Db.Insertable(logTaskEntry).ExecuteCommand();

                                throw new Exception($"给小车下发移库任务失败，桶号：{palletInfoYi.PalletNo}");
                            }
                        }
                        else//失败
                        else
                        {
                            logTaskEntry.IsSuccess = 0;
                            logTaskEntry.Information = agvMsg;
                            logTaskEntry.Information = agvBindMsg;
                            Db.Insertable(logTaskEntry).ExecuteCommand();

                            throw new Exception($"给小车下发移库任务失败，桶号：{palletInfoYi.PalletNo}");
                        }
                        
                    }
                }
                return true;
@@ -666,7 +1078,7 @@
        /// <param name="taskNo"></param>
        /// <param name="url"></param>
        /// <exception cref="Exception"></exception>
        public void OutBinAgv(string taskNo,string url)
        public void OutBinAgv(string taskNo,string url, string bindUrl)
        {
            try
            {
@@ -719,33 +1131,47 @@
                    string agvMsg = string.Empty;
                    //给下车下发任务
                    logTaskInfoZ.SendDate = DateTime.Now;//发送时间
                    var agvResult = CreateTaskForAgv(task, url, out agvMsg, "70");
                    if (agvResult)//成功
                    //下发载具与货们绑定
                    var bind = RcsHelper.BindPalletAndSite(logTaskInfoZ.PalletNo, logTaskInfoZ.StartLocat, bindUrl, out string agvBindMsg);
                    if (bind)
                    {
                        //请求成功修改任务表相应字段状态
                        logTaskInfoZ.IsSuccess = 1;
                        logTaskInfoZ.IsSend = 0;
                        //logTaskEntry.IsCancel = 0;
                        logTaskInfoZ.BackDate = DateTime.Now;
                        logTaskInfoZ.Status = "1";//正在执行
                        Db.Insertable(logTaskInfoZ).ExecuteCommand();
                        var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
                        if (agvResult)//成功
                        {
                            //请求成功修改任务表相应字段状态
                            logTaskInfoZ.IsSuccess = 1;
                            logTaskInfoZ.IsSend = 0;
                            //logTaskEntry.IsCancel = 0;
                            logTaskInfoZ.BackDate = DateTime.Now;
                            logTaskInfoZ.Status = "1";//正在执行
                            Db.Insertable(logTaskInfoZ).ExecuteCommand();

                        //修改移出储位状态
                        startLocatInfoZ.Status = "5";//移出中
                        Db.Updateable(startLocatInfoZ).ExecuteCommand();
                            //修改移出储位状态
                            startLocatInfoZ.Status = "5";//移出中
                            Db.Updateable(startLocatInfoZ).ExecuteCommand();

                        //修改移入储位状态
                        endLocatInfoZ.Status = "4";//移入中
                        Db.Updateable(endLocatInfoZ).ExecuteCommand();
                            //修改移入储位状态
                            endLocatInfoZ.Status = "4";//移入中
                            Db.Updateable(endLocatInfoZ).ExecuteCommand();
                        }
                        else//失败
                        {
                            logTaskInfoZ.IsSuccess = 0;
                            logTaskInfoZ.Information = agvMsg;
                            Db.Insertable(logTaskInfoZ).ExecuteCommand();

                            throw new Exception($"给小车下发移库任务失败，桶号：{logTaskInfoZ.PalletNo}");
                        }
                    }
                    else//失败
                    else
                    {
                        logTaskInfoZ.IsSuccess = 0;
                        logTaskInfoZ.Information = agvMsg;
                        logTaskInfoZ.Information = agvBindMsg;
                        Db.Insertable(logTaskInfoZ).ExecuteCommand();

                        throw new Exception($"给小车下发移库任务失败，桶号：{logTaskInfoZ.PalletNo}");
                    }
                    
                }
            }
            catch (Exception e)
@@ -761,7 +1187,7 @@
        /// </summary>
        /// <param name="url"></param>
        /// <exception cref="Exception"></exception>
        public void TransferBackTimer(string url)
        public void TransferBackTimer(string url,string bindUrl)
        {
            try
            {
@@ -794,59 +1220,7 @@
                            continue;
                        }
                        //分配储位
                        var endLocatInfo = new SysStorageLocat();//目标储位
                        string areaNo = string.Empty;
                        switch (detailInfo.PalletStatus)
                        {
                            case "0"://净桶
                                //查到到净桶区域编号
                                areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == itemHouseNo && w.Type == "0").Select(s => s.AreaNo).First();
                                //分配储位
                                endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                                    && w.WareHouseNo == detailInfo.WareHouseNo && w.AreaNo == areaNo)
                                                    .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();
                                break;
                            case "2"://满桶
                                //查到到满桶区域编号
                                areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == itemHouseNo && w.Type == "1").Select(s => s.AreaNo).First();
                                //分配储位
                                //先查到同物料的组
                                string sql = $@"select Row from SysStorageLocat where WareHouseNo='{itemHouseNo}' and AreaNo='{areaNo}' and LocatNo in(
                                               select LocatNo from DataStockDetail where SkuNo='{detailInfo.SkuNo}' and SkuName='{detailInfo.SkuName}' and Standard='{detailInfo.Standard}' and WareHouseNo='{itemHouseNo}' and AreaNo='{areaNo}' 
                                            ) group by Row";

                                List<int> RowList = Db.Ado.SqlQuery<int>(sql).ToList();
                                foreach (var rowItem in RowList)
                                {
                                    endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                                   && w.WareHouseNo == detailInfo.WareHouseNo && w.AreaNo == areaNo && w.Row == rowItem)
                                                   .OrderByDescending(o => o.Column).First();

                                    if (endLocatInfo != null)
                                    {
                                        break;
                                    }
                                }
                                //没有找到相同物料同组的空储位
                                if (endLocatInfo == null)
                                {
                                    endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                                   && w.WareHouseNo == detailInfo.WareHouseNo && w.AreaNo == areaNo)
                                                   .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();
                                }

                                break;
                            case "3"://脏桶
                               //查到到脏桶区域编号
                                areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == itemHouseNo && w.Type == "2").Select(s => s.AreaNo).First();
                                //分配储位
                                endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                                    && w.WareHouseNo == detailInfo.WareHouseNo && w.AreaNo == areaNo)
                                                    .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();


                                break;
                        }
                        var endLocatInfo = GetLocatModel(itemHouseNo,detailInfo.PalletStatus,detailInfo.SkuNo,detailInfo.Standard);//目标储位
                        //没有可用空储位
                        if (endLocatInfo == null)
                        {
@@ -888,34 +1262,47 @@
                        string agvMsg = string.Empty;
                        //给下车下发任务
                        logTaskEntry.SendDate = DateTime.Now;//发送时间
                        var agvResult = CreateTaskForAgv(task, url, out agvMsg);
                        if (agvResult)//成功
                        //下发载具与货位绑定
                        var bind = RcsHelper.BindPalletAndSite(detailInfo.PalletNo, detailInfo.LocatNo, bindUrl, out string agvBindMsg);
                        if (bind)
                        {
                            //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();
                            var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                            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();

                            //修改移出储位状态
                            locatModel.Status = "5";//移出中
                            Db.Updateable(locatModel).ExecuteCommand();
                                //修改移出储位状态
                                locatModel.Status = "5";//移出中
                                Db.Updateable(locatModel).ExecuteCommand();

                            //修改移入储位状态
                            endLocatInfo.Status = "4";//移入中
                            Db.Updateable(endLocatInfo).ExecuteCommand();
                                //修改移入储位状态
                                endLocatInfo.Status = "4";//移入中
                                Db.Updateable(endLocatInfo).ExecuteCommand();
                            }
                            else//失败
                            {
                                logTaskEntry.IsSuccess = 0;
                                logTaskEntry.Information = agvMsg;
                                Db.Insertable(logTaskEntry).ExecuteCommand();

                                throw new Exception($"给小车下发移库任务失败，桶号：{detailInfo.PalletNo}");
                            }
                        }
                        else//失败
                        else
                        {
                            logTaskEntry.IsSuccess = 0;
                            logTaskEntry.Information = agvMsg;
                            logTaskEntry.Information = agvBindMsg;
                            Db.Insertable(logTaskEntry).ExecuteCommand();

                            throw new Exception($"给小车下发移库任务失败，桶号：{detailInfo.PalletNo}");
                        }

                        
                    }
                }
                //提交事务
@@ -928,110 +1315,79 @@
                throw new Exception(e.Message);
            }
        }

        /// <summary>
        /// 给小车下发任务
        /// 分配储位
        /// </summary>
        /// <param name="req"></param>
        /// <param name="houseNo">仓库编号</param>
        /// <param name="palletStatus">桶状态</param>
        /// <param name="skuNo">物料编码</param>
        /// <param name="standard">桶规格</param>
        /// <returns></returns>
        public bool CreateTaskForAgv(TaskDetial taskDetial, string url, out string agvMsg, string priority = null)
        /// <exception cref="Exception"></exception>
        private SysStorageLocat GetLocatModel(string houseNo, string palletStatus,string skuNo="",string standard="")
        {
            bool result = false;

            #region 呼叫小车代码
            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）
            try
            {
                path1.type = "05";
            }
            else if (taskDetial.Crtype == "0")//申请储位（桶入库）
            {
                path1.type = "00";
            }
            else//同车间平层搬运
            {
                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 = "00";
            }
            else if (taskDetial.Crtype == "1")//申请储位（桶入库）
            {
                path2.type = "05";
            }
            else //同车间平层搬运
            {
                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.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
            agvTask.priority = priority;//优先级
            //判断容器类型
            agvTask.ctnrTyp = "1";// 1：桶 2：桶（小） 3：托盘

            //判断任务类型
            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 if (taskDetial.Crtype == "0")//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
            }
            else//同车间平层搬运
            {
                agvTask.taskTyp = "Z5";
            }

            // 正式运行程序放开
            var jsonData = JsonConvert.SerializeObject(agvTask);
            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

                agvMsg = "";
            }
            else
            {
                string logMsg = "";
                if (taskDetial.Crtype == "1")//叫桶（桶出库）
                var endLocatInfo = new SysStorageLocat();//目标储位
                string areaNo = string.Empty;
                switch (palletStatus)
                {
                    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);
                    case "0"://净桶
                             //查到到净桶区域编号
                        areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.Type == "0").Select(s => s.AreaNo).First();
                        //分配储位
                        endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                            && w.WareHouseNo == houseNo && w.AreaNo == areaNo)
                                            .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();
                        break;
                    case "2"://满桶
                             //查到到满桶区域编号
                        areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.Type == "1").Select(s => s.AreaNo).First();
                        //分配储位
                        //先查到同物料的组
                        string sql = $@"select Row from SysStorageLocat where WareHouseNo='{houseNo}' and AreaNo='{areaNo}' and LocatNo in(
                                               select LocatNo from DataStockDetail where SkuNo='{skuNo}' and Standard='{standard}' and WareHouseNo='{houseNo}' and AreaNo='{areaNo}' 
                                            ) group by Row";

                agvMsg = agvModel.Message;
                        List<int> RowList = Db.Ado.SqlQuery<int>(sql).ToList();
                        foreach (var rowItem in RowList)
                        {
                            endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                           && w.WareHouseNo == houseNo && w.AreaNo == areaNo && w.Row == rowItem)
                                           .OrderByDescending(o => o.Column).First();

                            if (endLocatInfo != null)
                            {
                                break;
                            }
                        }
                        //没有找到相同物料同组的空储位
                        if (endLocatInfo == null)
                        {
                            endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                           && w.WareHouseNo == houseNo && w.AreaNo == areaNo)
                                           .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();
                        }

                        break;
                    case "3"://脏桶
                             //查到到脏桶区域编号
                        areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.Type == "2").Select(s => s.AreaNo).First();
                        //分配储位
                        endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
                                            && w.WareHouseNo == houseNo && w.AreaNo == areaNo)
                                            .OrderBy(o => o.Row).OrderByDescending(o => o.Column).First();


                        break;
                }
                return endLocatInfo;
            }
            return result;
            #endregion
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }


    }
}