修改问题

wxw

2024-12-15 ba48b2f2d203b4c43d6b475abb5993f12ef13f29

修改问题

 HTML/views/HouseWithinSetting/CRLogTask.html

@@ -646,10 +646,7 @@
                        var param = {
                            taskNo: data.TaskNo
                        };
                        var postUrl="/BllCheck/CancelCheckTask"
                        if(data.OrderType=='3'){
                            postUrl='/BllCheck/CancelMoveTask'
                        }
                        var postUrl='/DownApi/CancelAgvTaskWms'
                        sendData(IP + postUrl, param, 'post', function (res) {
                            console.log(res);
                            if (res.code == 0) { //成功
@@ -676,10 +673,7 @@
                        var param = {
                            taskNo: data.TaskNo,
                        };
                        var postUrl="/BllCheck/FinishCheckTask"
                        if(data.OrderType=='3'){
                            postUrl='/BllCheck/FinishMoveTask'
                        }
                        var postUrl='/DownApi/FinshAgvTaskWms'
                        sendData(IP + postUrl, param, 'post', function (res) {
                            console.log(res);
                            if (res.code == 0) { //成功
@@ -706,7 +700,7 @@
                        var param = {
                            taskNo: data.TaskNo
                        };
                        sendData(IP + "/DownApi/AgainSendCheckTask", param, 'get', function (res) {
                        sendData(IP + "/DownApi/SendAgvTaskWms", param, 'post', function (res) {
                            console.log(res);
                            if (res.code == 0) { //成功
                                layer.msg(res.msg, {

 Wms/Model/InterFaceModel/RCSModel.cs

@@ -66,19 +66,12 @@
            public string Endport { get; set; }

            public string Pallno { get; set; }

            public string Type { get; set; }
            /// <summary>
            /// 任务类型 
            /// 0：申请储位
            /// 1：叫桶
            /// </summary>
            public string Crtype { get; set; }
            /// <summary>
            /// 库存单据ID 
            /// </summary>
            public int? Noticedetailno { get; set; }
            public string LotNo { get; set; }
        }
    }
}

 Wms/WMS.BLL/BllTransServer/RcsServer.cs

@@ -1,5 +1,7 @@
using Model.InterFaceModel;
using Model.ModelDto;
using Model.ModelDto.DataDto;
using Model.ModelDto.LogDto;
using Newtonsoft.Json;
using SqlSugar;
using System;
@@ -9,6 +11,7 @@
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;
@@ -18,6 +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
{
@@ -203,7 +207,7 @@
                                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其他
                                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
@@ -215,18 +219,17 @@
                                Startport = item.LocatNo,
                                Endport = model.Location,
                                Pallno = item.PalletNo,
                                Type = model.Type,
                                Crtype = "1",
                                Noticedetailno = int.Parse(noticeNo),
                                Crtype = "1",//叫桶
                            };
                            CreateLotTask(task2, url);
                            //给下车下发任务
                            logTaskEntry2.SendDate = DateTime.Now;//发送时间
                            var agvResult2 = CreateLotTask(task2, url);
                            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();
@@ -277,7 +280,7 @@
                    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其他
                    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
@@ -291,18 +294,18 @@
                    Endport = model.Location,//目标位置
                    Pallno = pallet.PalletNo,//桶号
                    Crtype = "1",//叫桶
                    Noticedetailno = int.Parse(noticeNo),
                    LotNo = model.LotNo,
                };
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                var agvResult = CreateLotTask(task, url);
                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";
                    logTaskEntry.Status = "1";//正在执行
                    Db.Insertable(logTaskEntry).ExecuteCommand();

                    startLoction.Status = "3";//出库中
@@ -340,6 +343,12 @@
            try
            {
                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)
                {
                    throw new Exception($"该桶有正在执行的任务，PalletNo:{model.PalletNo}");
                }
                //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)
@@ -455,7 +464,7 @@
                    IsCancel = 1,//是否可取消
                    IsFinish = 1,//是否可完成
                    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其他
                    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
@@ -466,20 +475,19 @@
                    Startport = model.Location,
                    Endport = loction.LocatNo,
                    Pallno = model.PalletNo,
                    Type = model.Type,
                    Crtype = "0",//入库
                    Noticedetailno = int.Parse(noticeno),
                    LotNo = model.LotNo,
                };
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                var agvResult = CreateLotTask(task, url);
                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";
                    logTaskEntry.Status = "1";//正在执行
                    Db.Insertable(logTaskEntry).ExecuteCommand();

                    deviceLocatInfo.Status = "3";//出库中
@@ -545,12 +553,10 @@
                        Startport = detail.LocatNo,
                        Endport = endLocat.LocatNo,
                        Pallno = PalletNo,
                        Type = "3",
                        Crtype = "2",
                        Noticedetailno = 0,
                    };
                    string taskNo = "";
                    CreateLotTask(ztask, url);
                    CreateTaskForAgv(ztask, url);

                    statrtLocat.Status = "3";//出库中
                    //修改起始储位状态
@@ -589,13 +595,10 @@
                    Startport = detail.LocatNo,
                    Endport = pallnetmsg.Location,
                    Pallno = detail.PalletNo,
                    Type = "3",
                    Crtype = "1",
                    Noticedetailno = 0,
                    LotNo = "",
                };
                string taskNo = "";
                CreateLotTask(task,url);
                CreateTaskForAgv(task,url);
            }
            catch (Exception ex)
            {
@@ -604,128 +607,37 @@
        }

        /// <summary>
        /// 生成任务单到LogTask
        /// </summary>
        /// <param name="req"></param>
        /// <returns></returns>
        public bool CreateLotTask(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
        }

        /// <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)
        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))
                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);
                var taskInfo = Db.Queryable<LogTask>().First(w => w.TaskNo == taskNo);
                if (taskInfo == null)
                {
                    throw new Exception($"任务号为:{TaskNo}的任务不存在!");
                    throw new Exception($"任务号为:{taskNo}的任务不存在!");
                }
                if (taskInfo.Status != "1")
                if (taskInfo.Status != "1" && comeFrom != "WMS")
                {
                    throw new Exception($"任务号为:{TaskNo}的任务状态异常");
                    throw new Exception($"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")
                if (status == "0")
                {
                    taskInfo.Status = "3";//异常结束
                    //修改任务状态
@@ -776,7 +688,7 @@
                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
                if (endAreaInfo.Type == "0")//洁净区
                {
                    stockDetail.PalletStatus = "0";
                    stockDetail.Status = "0";//待分配
@@ -803,7 +715,7 @@
                //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)
                if (taskInfo.Type == "0" && taskInfo.NoticeDetailNo != 0)
                {
                    var notice = Db.Queryable<BllArrivalNotice>().First(w => w.IsDel == "0" && w.Status == "1");
                    if (notice != null)
@@ -842,6 +754,11 @@
                //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();
            }
@@ -852,5 +769,259 @@
                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 && a.Status == "3");//出库中
                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 && a.Status == "2");//入库中
                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
        }
    }
}

 Wms/WMS.IBLL/IBllTransServer/IRcsServer.cs

@@ -41,6 +41,22 @@
        /// </summary>
        /// <param name="TaskNo"></param>
        /// <param name="Status"></param>
        void RCSFinishTask(string TaskNo, string Status);
        void RCSFinishTask(string taskNo, string status, string comeFrom, int userId = 0);

        /// <summary>
        /// 手动取消任务
        /// </summary>
        /// <param name="taskNo"></param>
        /// <param name="userId"></param>
        /// <exception cref="Exception"></exception>
        void CancelTask(string taskNo, int userId);

        /// <summary>
        /// 手动下发任务
        /// </summary>
        /// <param name="taskNo"></param>
        /// <param name="userId"></param>
        /// <exception cref="Exception"></exception>
        void DownTask(string taskNo, int userId, string url);
    }
}

 Wms/Wms/Controllers/BllCheckController.cs

@@ -16,6 +16,7 @@
using Model.ModelVm.BllSoVm;
using Wms.Tools;
using System.Collections;
using WMS.IBLL.IBllTransServer;

namespace Wms.Controllers
{
@@ -34,6 +35,8 @@
        private readonly IWarehouseOutsidePalletsServer _stockPallet; //库外托盘
        private readonly IStockFreectSetve _freect; //解冻\冻结

        private readonly IRcsServer _rcsserver;//RCS相关任务

        /// <summary>
        /// 构造函数
        /// </summary>
@@ -43,7 +46,7 @@
        /// <param name="logSvc">库内操作日志Svc</param>
        /// <param name="stockPallet">库外托盘</param>
        /// <param name="freect">解冻\冻结</param>
        public BllCheckController(IOptions<ApiUrlConfig> setting, IStockCheckServer stockCheckSvc, IStockCheckLogServer stockCheckLogSvc, ITaskServer taskSvc, IOperationCRServer logSvc, IWarehouseOutsidePalletsServer stockPallet, IStockFreectSetve freect)
        public BllCheckController(IOptions<ApiUrlConfig> setting, IStockCheckServer stockCheckSvc, IStockCheckLogServer stockCheckLogSvc, ITaskServer taskSvc, IOperationCRServer logSvc, IWarehouseOutsidePalletsServer stockPallet, IStockFreectSetve freect, IRcsServer rcsserver)
        {
            _config = setting.Value;
            _stockCheckSvc = stockCheckSvc;
@@ -52,6 +55,7 @@
            _logSvc = logSvc;
            _stockPallet = stockPallet;
            _freect = freect;
            _rcsserver = rcsserver;
        }

        #region 盘点单据
@@ -493,7 +497,7 @@
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                _stockCheckSvc.CancelMoveTask(model.taskNo, int.Parse(userId));
                _rcsserver.CancelTask(model.taskNo, int.Parse(userId));

                return Ok(new { code = 0, msg = "成功取消任务", data = "" });
            }

 Wms/Wms/Controllers/DownApiController.cs

@@ -20,6 +20,7 @@
using WMS.IBLL.IBllTransServer;
using Microsoft.Extensions.Logging;
using ZXing.QrCode.Internal;
using Model.ModelVm.BllCheckVm;

namespace Wms.Controllers
{
@@ -939,7 +940,7 @@
                LogFile.SaveLogToFile($"AGV任务执行通知-任务结束-请求报文：( {jsonData} ),", logStr);

                //具体处理方法
                _rcsserver.RCSFinishTask(model.taskCode, "1");
                _rcsserver.RCSFinishTask(model.taskCode, "1", "AGV");


                resultModel = new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode };
@@ -994,56 +995,6 @@
        }        

        #endregion
        /// <summary>
        /// Agv任务完成反馈
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [HttpPost]
        public IActionResult agvCallBack(AgvTaskDto model)
        {
            //记录log
            var logStr = $@".\log\AGV\任务执行通知" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            AgvResultModel resultModel = null;
            try
            {                
                var jsonData = JsonConvert.SerializeObject(model);
                LogFile.SaveLogToFile($"任务执行通知-请求报文：( {jsonData} ),", logStr);

                if (string.IsNullOrEmpty(model.taskCode))
                {
                    resultModel = new AgvResultModel { code = "-1", message = "请求失败，taskCode参数异常", reqCode = model.reqCode };
                    var jsonData2 = JsonConvert.SerializeObject(resultModel);
                    LogFile.SaveLogToFile($"任务执行通知-返回报文：( {jsonData2} ),", logStr);
                    return Ok(resultModel);
                }
                switch (model.method)
                {
                    case "start"://任务开始
                        return Ok(new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode });

                    case "outbin"://走出储位
                        return Ok(new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode });

                    case "end"://任务结束
                        _rcsserver.RCSFinishTask(model.taskCode, "1");
                        return Ok(new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode });
                    case "cancel"://任务单取消
                        return Ok(new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode });

                    case "apply"://CTU料箱取放申请
                        return Ok(new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode });

                    default:
                        return Ok(new AgvResultModel { code = "-1", message = "请求失败，method任务类型错误", reqCode = model.reqCode });
                }
            }
            catch (Exception ex)
            {
                LogFile.SaveLogToFile($"AGV任务执行通知异常：( {ex.Message} ),", logStr);
                return Ok(new AgvResultModel { code = "-1", message = ex.Message, reqCode = model.reqCode });
            }
        }

        /// <summary>
        /// 出库单据下发
@@ -1076,6 +1027,100 @@
                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
        }

        /// <summary>
        /// 手动下发小车任务
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [HttpPost]
        public IActionResult SendAgvTaskWms(CheckTaskVm model)
        {
            try
            {
                //获取当前登录的用户ID
                var claimsIdentity = this.User.Identity as ClaimsIdentity;
                if (claimsIdentity == null)
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                var userId = claimsIdentity.FindFirst(ClaimTypes.Name)?.Value;
                if (string.IsNullOrWhiteSpace(userId))
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                _rcsserver.DownTask(model.taskNo, int.Parse(userId), _config.AgvHost + _config.GenAgvSchedulingTask);

                return Ok(new { code = 0, msg = "重新下发已完成", data = "" });
            }
            catch (Exception e)
            {
                return Ok(new { code = 1, msg = e.Message });
            }
        }

        /// <summary>
        /// 手动完成小车任务
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [HttpPost]
        public IActionResult FinshAgvTaskWms(CheckTaskVm model)
        {
            try
            {
                //获取当前登录的用户ID
                var claimsIdentity = this.User.Identity as ClaimsIdentity;
                if (claimsIdentity == null)
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                var userId = claimsIdentity.FindFirst(ClaimTypes.Name)?.Value;
                if (string.IsNullOrWhiteSpace(userId))
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                //具体处理方法
                _rcsserver.RCSFinishTask(model.taskNo, "1", "WMS");

                return Ok(new { code = 0, msg = "重新下发已完成", data = "" });
            }
            catch (Exception e)
            {
                return Ok(new { code = 1, msg = e.Message });
            }
        }

        /// <summary>
        /// 手动取消AGV移库任务
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [HttpPost]
        public IActionResult CancelAgvTaskWms(CheckTaskVm model)
        {
            try
            {
                //获取当前登录的用户ID
                var claimsIdentity = this.User.Identity as ClaimsIdentity;
                if (claimsIdentity == null)
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                var userId = claimsIdentity.FindFirst(ClaimTypes.Name)?.Value;
                if (string.IsNullOrWhiteSpace(userId))
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                _rcsserver.CancelTask(model.taskNo, int.Parse(userId));

                return Ok(new { code = 0, msg = "成功取消任务", data = "" });
            }
            catch (Exception e)
            {
                return Ok(new { code = 1, msg = e.Message });
            }
        }
        #endregion
    }
}