From 71d1dcdf796f08fa01cbc2d3faab86eea28b295b Mon Sep 17 00:00:00 2001
From: zhaowc <526854230@qq.com>
Date: 星期三, 17 十二月 2025 08:59:03 +0800
Subject: [PATCH] 物料管理页面修改

---
 Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs |  484 +++++++++++++++++++++++++++++++++++++++++++----------
 1 files changed, 391 insertions(+), 93 deletions(-)

diff --git a/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs b/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs
index 7975829..351214e 100644
--- a/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs
+++ b/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs
@@ -159,13 +159,14 @@
         /// <param name="palletStatus"></param>
         /// <returns></returns>
         /// <exception cref="Exception"></exception>
-        public List<string> GetSkuByStatus(string palletStatus)
+        public List<DataStockDetail> GetSkuByStatus(string palletStatus)
         {
             try
             {
                 //鑾峰彇鍌ㄤ綅涓婄殑搴撳瓨鐗╂枡
-                var detail = Db.Queryable<DataStockDetail>().Where(m => m.IsDel == "0" && !string.IsNullOrWhiteSpace(m.LocatNo) && m.PalletStatus == palletStatus).Select(m=>m.SkuNo).Distinct().ToList();
-                return detail;
+                var detail = Db.Queryable<DataStockDetail>().Where(m => m.IsDel == "0" && !string.IsNullOrWhiteSpace(m.LocatNo) && m.PalletStatus == palletStatus).ToList();
+                List<DataStockDetail> result = detail.GroupBy(x => x.SkuNo).Select(xx => xx.First()).ToList();
+                return result;
             }
             catch (Exception e)
             {
@@ -191,12 +192,14 @@
             }
         }
 
-        public List<string> GetSku()
+        public List<SysMaterials> GetSku()
         {
             try
             {
                 //鑾峰彇鍌ㄤ綅涓婄殑搴撳瓨鐗╂枡
-                var detail = Db.Queryable<SysMaterials>().Where(m => m.IsDel == "0" ).Select(m => m.SkuNo).Distinct().ToList();
+                //var detail = Db.Queryable<SysMaterials>().Where(m => m.IsDel == "0" ).Select(m => m.SkuNo).Distinct().ToList();
+
+                var detail = Db.Queryable<SysMaterials>().Where(m => m.IsDel == "0").ToList();
                 return detail;
             }
             catch (Exception e)
@@ -237,6 +240,7 @@
                 {
                     throw new Exception("婊℃《璇烽�夋嫨鐗╂枡涓庢壒娆�");
                 }
+                
                 //鍒ゆ柇鐩爣鍙枡鍌ㄤ綅鐘舵��
                 var endLocateInfo = Db.Queryable<SysStorageLocat>().First(m => m.IsDel == "0" && m.LocatNo == endLocate && m.AreaNo == areaNo);
                 if (endLocateInfo == null)
@@ -264,17 +268,31 @@
                     throw new Exception("娌℃湁鏌ヨ鍒颁粨搴撲俊鎭�");
                 }
                 //鏌ユ壘鐘舵�佹槸鏈垎閰嶄笖鍌ㄤ綅涓嶄负绌虹殑搴撳瓨淇℃伅
-                var stockDetail = Db.Queryable<DataStockDetail>().Where(m => m.Status == "0" && m.WareHouseNo == house.WareHouseNo && !string.IsNullOrWhiteSpace(m.LocatNo)).ToList();
+                var stockDetail = Db.Queryable<DataStockDetail>().Where(m => m.Status == "0" && m.WareHouseNo == house.WareHouseNo && !string.IsNullOrWhiteSpace(m.LocatNo) && m.IsDel=="0").ToList();
 
                 //鍑�妗�
-                if (plnStatus == "0")
+                if (plnStatus == "0")  //4L鍙噣妗朵笉鍒嗘ゼ灞�
                 {
-                    stockDetail = stockDetail.Where(m => m.PalletStatus == "0" && m.Standard == standard).OrderBy(m => m.LocatNo).ToList();
+                    if (house.WareHouseNo == "M01")
+                    {
+                        stockDetail = Db.Queryable<DataStockDetail>().Where(m => m.IsDel == "0" && m.Status == "0" && m.PalletStatus == "0" && m.WareHouseNo == "M01" && m.Standard == standard && !string.IsNullOrWhiteSpace(m.LocatNo)).OrderBy(m => m.LocatNo).ToList();
+                        if (stockDetail.Count() == 0)
+                        {
+                            stockDetail = Db.Queryable<DataStockDetail>().Where(m => m.IsDel == "0" && m.Status == "0" && m.PalletStatus == "0" && m.Standard == standard && !string.IsNullOrWhiteSpace(m.LocatNo)).OrderBy(m => m.LocatNo).ToList();
+                        }
+                        
+                    }
+                    else
+                    {
+                        stockDetail = stockDetail.Where(m => m.IsDel == "0" && m.Status == "0" && m.PalletStatus == "0" && m.Standard == standard && !string.IsNullOrWhiteSpace(m.LocatNo)).OrderBy(m => m.LocatNo).ToList();
+                    }
+                    
                 }
                 //婊℃《
                 else if (plnStatus == "2") 
                 {
-                    stockDetail = stockDetail.Where(m => m.PalletStatus == "2" && m.SkuNo == skuNo && m.LotNo == lotNo).OrderBy(m => m.LocatNo).ToList();
+                    stockDetail = stockDetail.Where(m => m.PalletStatus == "2" && m.SkuNo == skuNo && m.LotNo == lotNo && m.InspectStatus == "1").OrderBy(m => m.LocatNo).ToList();
+                   
                 }
                 else
                 {
@@ -292,27 +310,47 @@
                 bool resultYi = false;
                 #region#鏌ユ壘鍚堥�傜殑 妗跺彿 鍌ㄤ綅
                 //鐩爣浠撳簱鎵�鏈夊偍浣�
-                var locatList = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.WareHouseNo == house.WareHouseNo).ToList();
-                //鐩爣浠撳簱鎵�鏈変笉闇�瑕佺Щ搴撶殑鍌ㄤ綅
-                var locatListWai = locatList.Where(w => string.IsNullOrEmpty(w.AisleOne)).Select(s => s.LocatNo);
-
-                //鍏堟壘涓嶉渶瑕佺Щ搴撶殑妗�
-                var palletModel = stockDetail.Where(w => locatListWai.Contains(w.LocatNo)).OrderByDescending(w => w.UpdateTime).FirstOrDefault();
-                if (palletModel == null)
+                var locatList = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Flag=="0" && w.WareHouseNo == house.WareHouseNo).OrderBy(w=>w.Column).ToList();
+                //鐩爣浠撳簱鎵�鏈夋渶澶栦晶鐨勫偍浣�
+                var locatListWai = locatList.Where(w => string.IsNullOrEmpty(w.AisleOne) && w.Flag == "0").Select(s => s.LocatNo);
+                var locatListNei = locatList.Where(w => !string.IsNullOrEmpty(w.AisleOne) && w.Flag == "0").Select(s => s.LocatNo);
+                var palletModel = new DataStockDetail();
+                if (plnStatus == "0") //鍑�妗惰幏鍙栧簱浣�
                 {
-                    //鎵鹃渶瑕佺Щ搴撶殑妗�
-                    palletModel= stockDetail.Where(w => !locatListWai.Contains(w.LocatNo)).OrderByDescending(w => w.UpdateTime).FirstOrDefault();
+                    //鍏堟壘涓嶉渶瑕佺Щ搴撶殑妗�
+                    palletModel = stockDetail.Where(w => locatListWai.Contains(w.LocatNo) && w.Status == "0" && w.Standard == standard).OrderByDescending(w => w.UpdateTime).FirstOrDefault();
                     if (palletModel == null)
                     {
-                        throw new Exception("鏈壘鍒板搴旀《淇℃伅");
+                        //鎵鹃渶瑕佺Щ搴撶殑妗�
+                        palletModel = stockDetail.Where(w => locatListNei.Contains(w.LocatNo) && w.Standard == standard).OrderByDescending(w => w.UpdateTime).FirstOrDefault();
+                        if (palletModel == null)
+                        {
+                            throw new Exception("鏈壘鍒板搴旀《淇℃伅");
+                        }
+                        resultYi = YikuTask(palletModel.PalletNo, taskNo, url, bindUrl);
                     }
-                    resultYi = YikuTask(palletModel.PalletNo, taskNo, url,bindUrl);
                 }
+                else   //婊℃《鑾峰彇搴撲綅
+                {
+                    //鍏堟壘涓嶉渶瑕佺Щ搴撶殑妗�
+                    palletModel = stockDetail.Where(w => locatListWai.Contains(w.LocatNo) && w.Status == "0").OrderByDescending(w => w.UpdateTime).FirstOrDefault();
+                    if (palletModel == null)
+                    {
+                        //鎵鹃渶瑕佺Щ搴撶殑妗�
+                        palletModel = stockDetail.Where(w => locatListNei.Contains(w.LocatNo)).OrderByDescending(w => w.UpdateTime).FirstOrDefault();
+                        if (palletModel == null)
+                        {
+                            throw new Exception("鏈壘鍒板搴旀《淇℃伅");
+                        }
+                        resultYi = YikuTask(palletModel.PalletNo, taskNo, url, bindUrl);
+                    }
+                }
+                
                 palletModel.Status = "2";
                 Db.Updateable(palletModel).ExecuteCommand();
                 #endregion
                 //璧峰鍌ㄤ綅鍦板潃淇℃伅
-                var startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.Status == "1" && w.LocatNo == palletModel.LocatNo);
+                var startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == palletModel.LocatNo);
                 if (startLoction == null)
                 {
                     throw new Exception($"璧峰鐩爣鍌ㄤ綅淇℃伅涓嶅瓨鍦紝妗跺彿锛歿palletModel.LocatNo}");
@@ -321,6 +359,12 @@
                 if (resultYi)
                 {
                     taskNo = taskNo + "-1";
+                }
+                //妫�楠屽綋鍓嶆墭鐩樻槸鍚︽湁浠诲姟鏈畬鎴�
+                var checkTask = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && (w.Status == "1" || w.Status == "0") && w.PalletNo == palletModel.PalletNo);
+                if (checkTask != null)
+                {
+                    throw new Exception("褰撳墠鎵樼洏鏈夋鍦ㄦ墽琛岀殑浠诲姟锛�");
                 }
                 //娣诲姞浠诲姟
                 var logTaskEntry = new LogTask
@@ -383,16 +427,12 @@
                         }
                         else//澶辫触
                         {
-                            logTaskEntry.IsSuccess = 0;
-                            logTaskEntry.Information = agvMsg;
-                            Db.Updateable(logTaskEntry).ExecuteCommand();
+                            throw new Exception("妗跺彿锛�"+ task.Pallno + ",璋冨害灏忚溅澶辫触");
                         }
                     }
                     else 
                     {
-                        logTaskEntry.IsSuccess = 0;
-                        logTaskEntry.Information = "璐ф灦涓庤揣浣嶇粦瀹氬け璐ワ紝鍘熷洜锛�"+agvBindMsg;
-                        Db.Updateable(logTaskEntry).ExecuteCommand();
+                        throw new Exception("妗跺彿锛�" + task.Pallno + ",缁戝畾璐т綅澶辫触");
                     }
                    
                 }
@@ -423,11 +463,16 @@
         {
             try
             {
+                string type = "2";//鍙枡妯℃澘
                 #region 鍒ゆ柇
-
                 if (string.IsNullOrWhiteSpace(areaNo) || string.IsNullOrWhiteSpace(StartLocate) || string.IsNullOrWhiteSpace(plnStatus))
                 {
                     throw new Exception("鍖哄煙/璧峰浣�/妗剁被鍨嬩笉鑳戒负绌�");
+                }
+
+                if (weight < 0)
+                {
+                    throw new Exception("閲嶉噺搴斾笉灏忎簬0");
                 }
 
                 //if (plnStatus == "0" && string.IsNullOrWhiteSpace(standard))
@@ -468,6 +513,10 @@
                 //鐩爣妤煎眰
                 var layer = startLoction.Layer;
                 var houseStr = layer == 3 ? "3妤间腑闂寸珯" : layer == 4 ? "4妤间腑闂寸珯" : "";
+                if (layer == 3 && plnStatus == "2")
+                {
+                    type = "1"; 
+                }
                 //閫氳繃浠撳簱鍚嶇О鏌ヨ浠撳簱淇℃伅
                 var house = Db.Queryable<SysWareHouse>().First(m => m.IsDel == "0" && m.WareHouseName == houseStr);
                 if (house == null)
@@ -504,9 +553,9 @@
                         Status = "2",
                         InspectMark = "0",
                         BitPalletMark = "0",
-                        InspectStatus = "1",
+                        InspectStatus = "0",
                     };
-                    Db.Insertable(stockDetailNew).ExecuteCommand();
+                    Db.Updateable(stockDetailNew).ExecuteCommand();
                 }
                 else
                 {
@@ -526,7 +575,12 @@
                 {
                     throw new Exception("娌℃湁鎵惧埌鍚堥�傜殑鐩爣鍌ㄤ綅");
                 }
-
+                //妫�楠屽綋鍓嶆墭鐩樻槸鍚︽湁浠诲姟鏈畬鎴�
+                var checkTask = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && (w.Status == "1" || w.Status == "0") && w.PalletNo == plnNo);
+                if (checkTask != null)
+                {
+                    throw new Exception("褰撳墠鎵樼洏鏈夋鍦ㄦ墽琛岀殑浠诲姟锛�");
+                }
                 var taskNo = new Common().GetMaxNo("TK");
                 //娣诲姞浠诲姟
                 var logTaskEntry = new LogTask
@@ -557,7 +611,7 @@
                     Startport = StartLocate,//璧峰浣嶇疆
                     Endport = endLocatInfo.LocatNo,//鐩爣浣嶇疆
                     Pallno = plnNo,//妗跺彿
-                    Crtype = "1",//鍙《
+                    Crtype = type,//鍙溅妯℃澘
                 };
                 //璋冪敤AGV鎺ュ彛涓嬪彂浠诲姟
                 string agvMsg = string.Empty;
@@ -586,17 +640,13 @@
                     }
                     else//澶辫触
                     {
-                        logTaskEntry.IsSuccess = 0;
-                        logTaskEntry.Information = agvMsg;
-                        Db.Insertable(logTaskEntry).ExecuteCommand();
+                        throw new Exception("妗跺彿锛�" + task.Pallno + ",璋冨害灏忚溅澶辫触");
                     }
 
                 }
                 else
                 {
-                    logTaskEntry.IsSuccess = 0;
-                    logTaskEntry.Information = "璐ф灦涓庤揣浣嶇粦瀹氬け璐ワ紝鍘熷洜锛�"+agvBindMsg;
-                    Db.Insertable(logTaskEntry).ExecuteCommand();
+                    throw new Exception("妗跺彿锛�" + task.Pallno + ",缁戝畾璐т綅澶辫触");
                 }
                 
 
@@ -619,7 +669,7 @@
         /// <param name="comeFrom"></param>
         /// <param name="userId"></param>
         /// <exception cref="Exception"></exception>
-        public void RCSFinishTask(string taskNo, string status, string comeFrom, int userId = 0)
+        public void RCSFinishTask(string taskNo, string locateNo, string status, string comeFrom, int userId = 0)
         {
             try
             {
@@ -659,7 +709,7 @@
                     return;
                 }
                 //搴撳瓨鏄庣粏
-                var stockDetail = Db.Queryable<DataStockDetail>().First(w => w.PalletNo == taskInfo.PalletNo);
+                var stockDetail = Db.Queryable<DataStockDetail>().First(w => w.PalletNo == taskInfo.PalletNo && w.IsDel=="0");
                 if (stockDetail == null)
                 {
                     throw new Exception($"妗跺簱瀛樹俊鎭笉瀛樺湪");
@@ -670,19 +720,37 @@
                 {
                     throw new Exception($"璧峰鍌ㄤ綅淇℃伅涓嶅瓨鍦�");
                 }
-                startLocatInfo.Status = "0";//绌哄偍浣�
-                //淇敼璧峰鍌ㄤ綅鐘舵��
-                Db.Updateable(startLocatInfo).ExecuteCommand();
+                //startLocatInfo.Status = "0";//绌哄偍浣�
+                ////淇敼璧峰鍌ㄤ綅鐘舵��
+                //Db.Updateable(startLocatInfo).ExecuteCommand();
 
-                //鐩爣鍌ㄤ綅淇℃伅
+                //浠诲姟琛ㄤ腑鐩爣鍌ㄤ綅淇℃伅
                 var endLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.LocatNo == taskInfo.EndLocat && w.IsDel == "0");
                 if (endLocatInfo == null)
                 {
                     throw new Exception($"鐩爣鍌ㄤ綅淇℃伅涓嶅瓨鍦�");
                 }
+                //AGV灏忚溅杩斿洖瀹為檯瀛樻斁鐩爣鍌ㄤ綅
+                var trueLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.LocatNo == locateNo && w.IsDel == "0");
+                if (trueLocatInfo == null)
+                {
+                    throw new Exception($"灏忚溅鏀捐揣鍌ㄤ綅淇℃伅涓嶅瓨鍦�");
+                }
+                if (endLocatInfo.LocatNo != trueLocatInfo.LocatNo)
+                {
+                    //涓嶄竴鑷存椂浠ュ皬杞︽斁璐у偍浣嶄负鍑�
+                    endLocatInfo = trueLocatInfo;
+                    //var tasklocat = Db.Queryable<LogTask>().First(w => w.EndLocat == trueLocatInfo.LocatNo && (w.Status == "0" || w.Status == "1") && w.IsDel == "0");
+                    //if (tasklocat == null) 
+                    //{
+                    //    trueLocatInfo.Status = "0";
+                    //    Db.Updateable(trueLocatInfo).ExecuteCommand();
+                    //}
+
+                }
+                //淇敼鐩爣鍌ㄤ綅鐘舵��
                 endLocatInfo.Status = "1";//鏈夌墿鍝�
                 endLocatInfo.UpdateTime = DateTime.Now;//鏇存柊鏃堕棿
-                //淇敼鐩爣鍌ㄤ綅鐘舵��
                 Db.Updateable(endLocatInfo).ExecuteCommand();
 
                 //鐩爣鍌ㄤ綅鎵�灞炲尯鍩�
@@ -789,7 +857,7 @@
                                 break;
                             case "2002":
                                 deviceID = "1004";
-                                break;
+                                break;                               
                             default:
                                 throw new Exception("鍙噣妗剁偣浣嶅紓甯�");
                         }
@@ -809,6 +877,7 @@
                 var startLoction = new SysStorageLocat();//璧峰鍌ㄤ綅淇℃伅
                 var endLoction = new SysStorageLocat();//鐩爣鍌ㄤ綅淇℃伅
                 var palletModel = new DataStockDetail();//鍒嗛厤妗朵俊鎭�
+                string locatno = "";
                 string type = "";//鍙枡绫诲瀷
 
                 //寮�鍚簨鍔�
@@ -829,7 +898,7 @@
 
                             //鍒ゆ柇褰撳墠娓呮礂鏈鸿澶囦笂鏈夊嚑涓剰妗讹紝status锛�2 姝e湪娓呮礂鐨勮剰妗讹紙鐘舵�佽Е鍙戝彉鏇翠负AGV鍙2涓剰妗舵椂瑙﹀彂锛�
                             int ztQty = Db.Queryable<DataStockDetail>().Count(w => w.IsDel == "0" && w.Status == "2" && w.LocatNo == deviceID);
-                            if (ztQty == 1)
+                            if (ztQty == 2)
                             {
                                 throw new Exception((deviceID == "1001"?"1":"2") + "鍙锋竻娲楁満鑴忔《宸叉弧锛岄噸澶嶅彨鏂欙紒");
                             }
@@ -839,22 +908,26 @@
                             {
                                 //鏈夎剰妗剁殑璇濓紝灏嗘洿鏀规妗剁姸鎬�(浠h〃姝ゆ《姝e湪娓呮礂涓�)
                                 var qxStock = Db.Queryable<DataStockDetail>().Where(w => w.LocatNo == endLoction.LocatNo).First();
+                                if (qxStock == null)
+                                {
+                                    throw new Exception("鍙枡浣嶇疆鐘舵�侀敊璇�");
+                                }
                                 qxStock.Status = "2"; 
-                                qxStock.UpdateTime = DateTime.Now;//娓呮礂鏃堕棿
+                                //qxStock.UpdateTime = DateTime.Now;//娓呮礂鏃堕棿
                                 Db.Updateable(qxStock).ExecuteCommand();
                                 //鏇存敼璁惧鍌ㄤ綅鐘舵�佷负绌哄偍浣�
                                 endLoction.Status = "0";
                                 Db.Updateable(endLoction).ExecuteCommand();
                             }
                             //浼樺厛鏌ユ壘鑴忔《缂撳瓨杞﹂棿
-                            palletModel = stockDetail.Where(w => w.AreaNo == "C54").FirstOrDefault();
+                            palletModel = stockDetail.Where(w => w.AreaNo == "C54").OrderByDescending(w => w.UpdateTime).FirstOrDefault();
                             if (palletModel == null)//鑴忔《缂撳瓨杞﹂棿娌℃湁鑴忔《锛屽啀浠庝笁妤间腑闂寸珯鑴忔《鍖烘煡鎵�
                             {
-                                palletModel = stockDetail.Where(w => w.WareHouseNo == "M16" && w.AreaNo == "C26").FirstOrDefault();
+                                palletModel = stockDetail.Where(w => w.WareHouseNo == "M16" && w.AreaNo == "C26").OrderByDescending(w => w.UpdateTime).FirstOrDefault();
                             }
                             if (palletModel == null)//涓夋ゼ涓棿绔欒剰妗跺尯娌℃湁鑴忔《锛屽啀浠庡洓妤间腑闂寸珯鑴忔《鍖烘煡鎵�
                             {
-                                palletModel = stockDetail.Where(w => w.WareHouseNo == "M01" && w.AreaNo == "C03").FirstOrDefault();
+                                palletModel = stockDetail.Where(w => w.WareHouseNo == "M01" && w.AreaNo == "C03").OrderByDescending(w => w.UpdateTime).FirstOrDefault();
                             }
                             if (palletModel == null)
                             {
@@ -866,6 +939,14 @@
                             {
                                 throw new Exception($"璧峰鐩爣鍌ㄤ綅淇℃伅涓嶅瓨鍦紝妗跺彿锛歿palletModel.LocatNo}");
                             }
+                            //璧峰妗朵俊鎭�
+                            var startDataDetil = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.Status == "0" && w.PalletStatus == "3" && w.PalletNo == palletModel.PalletNo);
+                            if (startDataDetil == null)
+                            {
+                                throw new Exception($"娓呮礂鏈烘墍鍙殑妗剁姸鎬侀敊璇紝妗跺彿锛歿palletModel.LocatNo}");
+                            }
+                            startDataDetil.Status = "4";
+                            Db.Updateable(startDataDetil).ExecuteCommand();
                         }
                         else
                         {
@@ -882,7 +963,7 @@
                             startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.AreaNo == deviceInfo.AreaNo);
                             //鑾峰彇娓呮礂鏈轰笂绗竴娆″彨鐨勮剰妗�
                             string locate = deviceID == "1002"?"1001":"1003";
-                            palletModel = Db.Queryable<DataStockDetail>().Where(w => w.LocatNo == locate && (w.Status == "2" || w.Status == "0")).OrderBy(o => o.CreateTime).First();
+                            palletModel = Db.Queryable<DataStockDetail>().Where(w => w.LocatNo == locate).OrderBy(o => o.UpdateTime).First();
                             if (palletModel == null)
                             {
                                 throw new Exception("鏈壘鍒板簱瀛樹腑姝e湪娓呮礂鐨勮剰妗�");
@@ -891,7 +972,7 @@
                             {
                                 palletModel.LocatNo = startLoction.LocatNo;
                                 palletModel.PalletStatus = "0";
-                                palletModel.Status = "0";
+                                palletModel.Status = "4";
                                 Db.Updateable(palletModel).ExecuteCommand();
                             }
                             //鍒嗛厤鍌ㄤ綅
@@ -902,20 +983,55 @@
                             {
                                 throw new Exception("娌℃湁绌轰綑鐨勫噣妗跺偍浣�");
                             }
-                            //浼樺厛鍒嗛厤鍥涙ゼ涓棿绔欏噣妗跺尯
-                            //endLoction = jtLocate.Where(w => w.WareHouseNo == "M01" && w.AreaNo == "C01")
-                            //                    .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
-                            //if (endLoction == null)//鍥涙ゼ涓棿绔欏噣妗跺尯娌℃湁绌哄偍浣嶏紝鍐嶄粠涓夋ゼ涓棿绔欏噣妗跺尯鏌ユ壘
-                            //{
-                            endLoction = jtLocate.Where(w => w.WareHouseNo == "M16" && w.AreaNo == "C24")
-                                                .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
-                            //}
-                            if (endLoction == null)//涓夋ゼ涓棿绔欏噣妗跺尯娌℃湁绌哄偍浣嶏紝鍐嶄粠涓夋ゼ娓呮礂闂寸紦瀛樺尯鏌ユ壘             PS锛氬皬杞︾幇鍦ㄨ繕涓嶆敮鎸佹竻娲楁満鐩存帴閫佸線4妤煎噣妗跺尯
+                            //棣栧厛鏌ユ壘鏄惁宸叉湁鍚岃鏍煎悓宸烽亾鐨勭┖浣�
+                            var pallnoStorage = Db.Queryable<DataStockDetail>().Where(w => w.Standard == palletModel.Standard && w.PalletStatus == "0" && w.Status == "0").OrderBy(o => o.UpdateTime).ToList();
+                            if (pallnoStorage.Count()>0)
+                            {
+                                foreach (var item in pallnoStorage)
+                                {
+                                    //鑾峰彇宸烽亾鍒楋紝鏌ユ壘鍒椾腑绌哄偍浣�
+                                    var pallnoRow = Db.Queryable<SysStorageLocat>().Where(w => w.LocatNo == item.LocatNo).First();
+                                    endLoction = jtLocate.Where(w => w.AreaNo == pallnoRow.AreaNo && w.Row == pallnoRow.Row && w.Status == "0" && w.Flag == "0" && w.Column<pallnoRow.Column).FirstOrDefault();
+                                    if (endLoction == null)
+                                    {
+                                        continue;
+                                    }
+                                    else
+                                    {
+                                        locatno = endLoction.LocatNo;
+                                        break;
+                                    }
+                                }
+                            }
+                            if (palletModel.Standard != "400L" && string.IsNullOrEmpty(locatno))
+                            {
+                                //浼樺厛鍒嗛厤鍥涙ゼ涓棿绔欏噣妗跺尯
+                                endLoction = jtLocate.Where(w => w.WareHouseNo == "M01" && w.AreaNo == "C01")
+                                                    .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
+                                if (endLoction != null)
+                                {
+                                    locatno = endLoction.LocatNo;
+                                }
+                            }
+                            if (string.IsNullOrEmpty(locatno))
+                            { 
+                                endLoction = jtLocate.Where(w => w.WareHouseNo == "M16" && w.AreaNo == "C24")
+                                                    .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
+                                if (endLoction != null)
+                                {
+                                    locatno = endLoction.LocatNo;
+                                }
+                            }
+                            if (string.IsNullOrEmpty(locatno))//涓夋ゼ涓棿绔欏噣妗跺尯娌℃湁绌哄偍浣嶏紝鍐嶄粠涓夋ゼ娓呮礂闂寸紦瀛樺尯鏌ユ壘
                             {
                                 endLoction = jtLocate.Where(w => w.WareHouseNo == "M44" && w.AreaNo == "C55")
                                                 .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
+                                if (endLoction != null)
+                                {
+                                    locatno = endLoction.LocatNo;
+                                }
                             }
-                            if (endLoction == null)
+                            if (string.IsNullOrEmpty(locatno))
                             {
                                 throw new Exception("鏈煡璇㈠埌鍚堥�傚偍浣�");
                             }
@@ -936,7 +1052,12 @@
                         throw new Exception("鍙枡鐐逛綅寮傚父");
      
                 }
-                
+                //妫�楠屽綋鍓嶆墭鐩樻槸鍚︽湁浠诲姟鏈畬鎴�
+                var checkTask = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && (w.Status == "1" || w.Status == "0") && w.PalletNo == palletModel.PalletNo);
+                if (checkTask != null)
+                {
+                    throw new Exception("褰撳墠鎵樼洏鏈夋鍦ㄦ墽琛岀殑浠诲姟锛�");
+                }
                 var taskNo = new Common().GetMaxNo("TK");
                 //娣诲姞浠诲姟
                 var logTaskEntry = new LogTask
@@ -993,19 +1114,34 @@
 
                         endLoction.Status = "2";//鍏ュ簱涓�
                         Db.Updateable(endLoction).ExecuteCommand();
+
+                        //鍑�妗剁敵璇锋垚鍔熷悗鍒ゆ柇褰撳墠娓呮礂鏈轰笂鏄惁杩樻湁妗讹紝娌℃湁妗跺垯娓呯┖娓呮礂鏈哄叆鍙e伐浣嶇姸鎬�
+                        if (deviceStation == "output") 
+                        {
+                            var rlocat = palletModel.LocatNo == "1002" ? "1001" : "1003";
+                            //鍒ゆ柇鏈夋病鏈夋鍦ㄦ墽琛岀殑鍒版竻娲楁満鍏ュ彛鐨勪换鍔�
+                            var tasklist = Db.Queryable<LogTask>().First(w => w.EndLocat == rlocat && (w.Status == "0" && w.Status == "1"));
+                            if (tasklist == null)
+                            {
+                                var stocklist = Db.Queryable<DataStockDetail>().First(w => w.LocatNo == rlocat);
+                                if (stocklist == null)
+                                {
+                                    var rdecive = Db.Queryable<SysStorageLocat>().First(w => w.LocatNo == rlocat);
+                                    rdecive.Status = "0";
+                                    Db.Updateable(rdecive).ExecuteCommand();
+                                }
+                            }
+                        }
+
                     }
                     else//澶辫触
                     {
-                        logTaskEntry.IsSuccess = 0;
-                        logTaskEntry.Information = agvMsg;
-                        Db.Updateable(logTaskEntry).ExecuteCommand();
+                        throw new Exception("妗跺彿锛�" + task.Pallno + ",璋冨害灏忚溅澶辫触");
                     }
                 }
                 else
                 {
-                    logTaskEntry.IsSuccess = 0;
-                    logTaskEntry.Information = agvBindMsg;
-                    Db.Updateable(logTaskEntry).ExecuteCommand();
+                    throw new Exception("妗跺彿锛�" + task.Pallno + ",缁戝畾璐т綅澶辫触");
                 }
                 
                 //鎻愪氦浜嬪姟
@@ -1046,6 +1182,8 @@
                 //鍒ゆ柇璇ュ偍浣嶆槸鍚︽槸鍐呬晶鍌ㄤ綅
                 if (!string.IsNullOrEmpty(locatInfo.AisleOne))
                 {
+                    ////鑾峰彇褰撳墠搴撲綅鐨勫渚у偍浣嶄俊鎭�
+                    //var waiLocatInfo = Db.Queryable<SysStorageLocat>().First(w=>w.IsDel == "0" && w.Row == locatInfo.Row && w.Column == locatInfo.Column - 1);
                     //鍒ゆ柇澶栦晶鍌ㄤ綅鏄惁鏈夋《
                     var palletInfoYi = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.LocatNo == locatInfo.AisleOne);
                     if (palletInfoYi != null)
@@ -1061,6 +1199,18 @@
                         {
                             throw new Exception("瑕佺Щ搴撶殑妗舵湁姝e湪鎵ц鐨勪换鍔★紝璇风◢鍚庡啀璇�");
                         }
+                        //鍒ゆ柇瑕佺Щ搴撶殑妗跺渚ф槸鍚︽湁妗�
+                        var locatInfoYi = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == palletInfoYi.LocatNo);
+                        if (locatInfo == null)
+                        {
+                            throw new Exception("鏈煡璇㈠埌瑕佺Щ搴撶殑妗舵墍鍦ㄧ殑鍌ㄤ綅淇℃伅");
+                        }
+                        var palletInfoYi2 = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.LocatNo == locatInfoYi.AisleOne);
+                        if (palletInfoYi2 != null)
+                        {
+                            throw new Exception("鎵�瑕佸彨鏂欑殑妗舵棤娉曡繘琛岀Щ搴擄紝璇疯仈绯荤鐞嗗憳杩涜鎵嬪姩绉绘《");
+                        }
+
                         #region#缁欒绉诲簱鐨勬《鍏堢Щ鍒颁腑杞偍浣�
                         //鎵惧埌涓浆鍌ㄤ綅鎵�鍦ㄥ尯鍩�
                         var transfeArea = Db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.WareHouseNo == WareHouseNo && w.AreaName.Contains("杞繍鍖�"));
@@ -1098,6 +1248,7 @@
                             Msg = $"灏嗘《{palletInfoYi.PalletNo}浠巤palletInfoYi.LocatNo}绉诲埌{transferLocat.LocatNo}", //鍏抽敭淇℃伅
                             LotNo = ""//鎵规鍙�
                         };
+                        Db.Insertable(logTaskEntry).ExecuteCommand();
 
                         //缁勭粐涓嬪彂灏忚溅浠诲姟淇℃伅
                         var task = new TaskDetial
@@ -1125,7 +1276,7 @@
                                 //logTaskEntry.IsCancel = 0;
                                 logTaskEntry.BackDate = DateTime.Now;
                                 logTaskEntry.Status = "1";//姝e湪鎵ц
-                                Db.Insertable(logTaskEntry).ExecuteCommand();
+                                Db.Updateable(logTaskEntry).ExecuteCommand();
 
                                 //淇敼绉诲嚭鍌ㄤ綅鐘舵��
                                 locatInfo.Status = "5";//绉诲嚭涓�
@@ -1139,7 +1290,7 @@
                             {
                                 logTaskEntry.IsSuccess = 0;
                                 logTaskEntry.Information = agvMsg;
-                                Db.Insertable(logTaskEntry).ExecuteCommand();
+                                Db.Updateable(logTaskEntry).ExecuteCommand();
 
                                 throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿palletInfoYi.PalletNo}");
                             }
@@ -1148,7 +1299,7 @@
                         {
                             logTaskEntry.IsSuccess = 0;
                             logTaskEntry.Information = agvBindMsg;
-                            Db.Insertable(logTaskEntry).ExecuteCommand();
+                            Db.Updateable(logTaskEntry).ExecuteCommand();
 
                             throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿palletInfoYi.PalletNo}");
                         }
@@ -1239,7 +1390,7 @@
                             //logTaskEntry.IsCancel = 0;
                             logTaskInfoZ.BackDate = DateTime.Now;
                             logTaskInfoZ.Status = "1";//姝e湪鎵ц
-                            Db.Insertable(logTaskInfoZ).ExecuteCommand();
+                            Db.Updateable(logTaskInfoZ).ExecuteCommand();
 
                             //淇敼绉诲嚭鍌ㄤ綅鐘舵��
                             startLocatInfoZ.Status = "5";//绉诲嚭涓�
@@ -1253,7 +1404,7 @@
                         {
                             logTaskInfoZ.IsSuccess = 0;
                             logTaskInfoZ.Information = agvMsg;
-                            Db.Insertable(logTaskInfoZ).ExecuteCommand();
+                            Db.Updateable(logTaskInfoZ).ExecuteCommand();
 
                             throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿logTaskInfoZ.PalletNo}");
                         }
@@ -1262,7 +1413,7 @@
                     {
                         logTaskInfoZ.IsSuccess = 0;
                         logTaskInfoZ.Information = agvBindMsg;
-                        Db.Insertable(logTaskInfoZ).ExecuteCommand();
+                        Db.Updateable(logTaskInfoZ).ExecuteCommand();
 
                         throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿logTaskInfoZ.PalletNo}");
                     }
@@ -1371,7 +1522,7 @@
                                 //logTaskEntry.IsCancel = 0;
                                 logTaskEntry.BackDate = DateTime.Now;
                                 logTaskEntry.Status = "1";//姝e湪鎵ц
-                                Db.Insertable(logTaskEntry).ExecuteCommand();
+                                Db.Updateable(logTaskEntry).ExecuteCommand();
 
                                 //淇敼绉诲嚭鍌ㄤ綅鐘舵��
                                 locatModel.Status = "5";//绉诲嚭涓�
@@ -1385,7 +1536,7 @@
                             {
                                 logTaskEntry.IsSuccess = 0;
                                 logTaskEntry.Information = agvMsg;
-                                Db.Insertable(logTaskEntry).ExecuteCommand();
+                                Db.Updateable(logTaskEntry).ExecuteCommand();
 
                                 throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿detailInfo.PalletNo}");
                             }
@@ -1394,7 +1545,7 @@
                         {
                             logTaskEntry.IsSuccess = 0;
                             logTaskEntry.Information = agvBindMsg;
-                            Db.Insertable(logTaskEntry).ExecuteCommand();
+                            Db.Updateable(logTaskEntry).ExecuteCommand();
 
                             throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿detailInfo.PalletNo}");
                         }
@@ -1429,6 +1580,7 @@
                 string areaNo = string.Empty;
                 switch (palletStatus)
                 {
+
                     case "0"://鍑�妗�
                              //鏌ュ埌鍒板噣妗跺尯鍩熺紪鍙�
                         areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.Type == "0").Select(s => s.AreaNo).First();
@@ -1442,20 +1594,26 @@
                         if (zonghong == "M12" || zonghong == "M13")
                         {
                             //鍏堟煡鍒板悓鐗╂枡鐨勭粍
-                            string sql = $@"select Row from SysStorageLocat where LocatNo in(
+                            string sql = $@"select Row,AreaNo from SysStorageLocat where LocatNo in(
 	                                                select LocatNo from DataStockDetail where SkuNo='{skuNo}' and LotNo = '{lotNo}' and Standard='{standard}' 
                                                     and AreaNo in ('C02','C25')
-                                                ) group by Row";
+                                                ) group by Row,AreaNo";
+                            var RowList = Db.Ado.SqlQuery<TableMan>(sql).ToList();
 
-                            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.Row == rowItem)
+                                endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0" && w.Row == rowItem.Row && w.AreaNo == rowItem.AreaNo  && (w.WareHouseNo == "M01"||w.WareHouseNo == "M16"))
                                                .OrderByDescending(o => o.Column).First();
-                                if (endLocatInfo.LocatNo != null)
+                                if (endLocatInfo != null)
                                 {
                                     break;
                                 }
+                            }
+                            if (endLocatInfo == null)
+                            {
+                                endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
+                                            && (w.AreaNo == "C02" || w.AreaNo == "C25"))
+                                           .OrderBy(o => o.Layer).OrderByDescending(o => o.Column).OrderBy(o => o.Row).First();
                             }
                             //娌℃湁鎵惧埌鐩稿悓鐗╂枡鍚岀粍鐨勭┖鍌ㄤ綅
                             if (endLocatInfo.LocatNo == null)
@@ -1468,28 +1626,35 @@
 
                         }
                         else {//鍏朵粬鍖哄煙 
+                            areaNo = houseNo == "M01" ? "C02" : "C25";
                             //鏌ュ埌鍒版弧妗跺尯鍩熺紪鍙�
                             areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.Type == "1").Select(s => s.AreaNo).First();
                             //鍒嗛厤鍌ㄤ綅
                             //鍏堟煡鍒板悓鐗╂枡鐨勭粍
-                            string sql = $@"select Row from SysStorageLocat where WareHouseNo='{houseNo}' and AreaNo='{areaNo}' and Status = '0' and LocatNo in(
+                            string sql = $@"select Row,AreaNo from SysStorageLocat where WareHouseNo='{houseNo}' and AreaNo='{areaNo}' and Status = '1' and LocatNo in(
 	                                                select LocatNo from DataStockDetail where SkuNo='{skuNo}' and LotNo = '{lotNo}' and Standard='{standard}' and WareHouseNo='{houseNo}' and AreaNo='{areaNo}' 
-                                                ) group by Row";
+                                                ) group by Row,AreaNo";
 
-                            List<int> RowList = Db.Ado.SqlQuery<int>(sql).ToList();
+                            var RowList = Db.Ado.SqlQuery<TableMan>(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)
+                                               && w.WareHouseNo == houseNo && w.AreaNo == areaNo && w.Row == rowItem.Row && w.AreaNo == rowItem.AreaNo && (w.WareHouseNo == "M01" || w.WareHouseNo == "M16"))
                                                .OrderByDescending(o => o.Column).First();
 
-                                if (endLocatInfo.LocatNo != null)
+                                if (endLocatInfo != null)
                                 {
                                     break;
                                 }
                             }
+                            if (endLocatInfo == null)
+                            {
+                                endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
+                                              && w.WareHouseNo == houseNo && w.AreaNo == areaNo)
+                                              .OrderByDescending(o => o.Column).OrderBy(o => o.Row).First();
+                            }
                             //娌℃湁鎵惧埌鐩稿悓鐗╂枡鍚岀粍鐨勭┖鍌ㄤ綅
-                            if (endLocatInfo.LocatNo == null)
+                            if (endLocatInfo.LocatNo == null )
                             {
                             
                                 endLocatInfo = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0"
@@ -1508,13 +1673,13 @@
                         //鍒嗛厤鍌ㄤ綅
                         //鏂欐枟娓呮礂鏆傚瓨闂�
                         endLocatInfo = ztLocat.Where(w => w.AreaNo == "C54").FirstOrDefault();
-                        if (string.IsNullOrEmpty(endLocatInfo.LocatNo))
+                        if (endLocatInfo == null)
                         {
                             endLocatInfo = ztLocat.Where(w => w.AreaNo == "C26").FirstOrDefault();
-                            if (string.IsNullOrEmpty(endLocatInfo.LocatNo))
+                            if (endLocatInfo == null)
                             {
                                 endLocatInfo = ztLocat.Where(w => w.AreaNo == "C03").FirstOrDefault();
-                                if (string.IsNullOrEmpty(endLocatInfo.LocatNo))
+                                if (endLocatInfo == null)
                                 {
                                     throw new Exception("鏃犲彲鐢ㄨ剰妗跺簱浣�");
                                 }
@@ -1529,5 +1694,138 @@
                 throw new Exception(ex.Message);
             }
         }
+
+        /// <summary>
+        /// 鐐瑰鐐逛换鍔′笅鍙�
+        /// </summary>
+        /// <param name="beginLocate">璧峰浣�</param>
+        /// <param name="endLocate">缁堢偣浣�</param>
+        /// <exception cref="Exception"></exception>
+        public void PointToPointRequest(string id,string beginPoint, string endPoint, string url, string bindUrl)
+        {
+            try
+            {
+                //鏉冮檺鏍¢獙
+                var user = Db.Queryable<SysUserInfor>().First(m => m.IsDel == "0" && m.UserName == id);
+                if (user == null)
+                {
+                    throw new Exception("娌℃湁鏌ヨ鍒扮敤鎴蜂俊鎭�");
+                }
+                if (user.RoleNo != "01")
+                {
+                    throw new Exception("褰撳墠鐢ㄦ埛娌℃湁鏉冮檺浣跨敤姝ゅ姛鑳�");
+                }
+                //璧峰鍌ㄤ綅淇℃伅
+                var startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == beginPoint);
+                if (startLoction == null)
+                {
+                    throw new Exception("鏈壘鍒拌緭鍏ョ殑璧峰鍌ㄤ綅");
+                }
+                if (startLoction.Status != "1") 
+                { 
+                      throw new Exception("璧峰鍌ㄤ綅锛�"+beginPoint+"鐨勫偍浣嶇姸鎬侀敊璇紝鍌ㄤ綅鐘舵�佸簲涓猴細鈥樻湁鐗╁搧鈥�");
+                }
+                //鐩爣鍌ㄤ綅淇℃伅
+                var endLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == endPoint);
+                if (endLoction == null)
+                {
+                    throw new Exception("鏈壘鍒拌緭鍏ョ殑鐩爣鍌ㄤ綅");
+                }
+                if (endLoction.Status != "0")
+                {
+                    throw new Exception("鐩爣鍌ㄤ綅锛�" + endPoint  + "鐨勫偍浣嶇姸鎬侀敊璇紝鍌ㄤ綅鐘舵�佸簲涓猴細'绌哄偍浣�'");
+                }
+                //鎵樼洏淇℃伅
+                var palletModel = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.LocatNo == beginPoint);
+                if (palletModel == null)
+                {
+                    throw new Exception("鏈壘鍒板偍浣嶅搴旀墭鐩樹俊鎭紒");
+                }
+                //妫�楠屽綋鍓嶆墭鐩樻槸鍚︽湁浠诲姟鏈畬鎴�
+                var checkTask = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && (w.Status == "1" || w.Status == "0") && w.PalletNo == palletModel.PalletNo);
+                if (checkTask != null)
+                {
+                    throw new Exception("褰撳墠鎵樼洏鏈夋鍦ㄦ墽琛岀殑浠诲姟锛�");
+                }
+
+                Db.BeginTran();
+                var taskNo = new Common().GetMaxNo("TK");
+                //娣诲姞浠诲姟
+                var logTaskEntry = new LogTask
+                {
+                    TaskNo = taskNo,
+                    Sender = "WMS",
+                    Receiver = "RCS",
+                    IsSuccess = 0, //鏄惁涓嬪彂鎴愬姛 0澶辫触 1鎴愬姛
+
+                    StartLocat = beginPoint,//璧峰浣嶇疆
+                    EndLocat = endPoint,//鐩爣浣嶇疆
+                    PalletNo = palletModel.PalletNo,//鎵樼洏鐮�
+                    IsSend = 1,//鏄惁鍙啀娆′笅鍙�
+                    IsCancel = 1,//鏄惁鍙彇娑�
+                    IsFinish = 1,//鏄惁鍙畬鎴�
+                    Type = "1",//浠诲姟绫诲瀷 0 鍏ュ簱浠诲姟 1 鍑哄簱浠诲姟  2 绉诲簱浠诲姟
+                    Status = "0",//浠诲姟鐘舵��0锛氱瓑寰呮墽琛�1姝e湪鎵ц2鎵ц瀹屾垚
+                    OrderType = "3",//0 鍏ュ簱鍗� 1 鍑哄簱鍗�  2 鐩樼偣鍗�  3 绉诲簱鍗�
+
+                    CreateTime = DateTime.Now
+                };
+                Db.Insertable(logTaskEntry).ExecuteCommand();
+
+                //缁勭粐涓嬪彂灏忚溅浠诲姟淇℃伅
+                var task = new TaskDetial
+                {
+                    Taskno = taskNo,//浠诲姟鍙�
+                    Startport = beginPoint,//璧峰浣嶇疆
+                    Endport = endPoint,//鐩爣浣嶇疆
+                    Pallno = palletModel.PalletNo,//妗跺彿
+                    Crtype = "1",//鍙《
+                };
+
+                string agvMsg = string.Empty;
+                //缁欎笅杞︿笅鍙戜换鍔�
+                logTaskEntry.SendDate = DateTime.Now;//鍙戦�佹椂闂�
+                //涓嬪彂杞藉叿涓庤揣浣嶇粦瀹�
+                var bind = RcsHelper.BindPalletAndSite(palletModel.PalletNo, beginPoint, bindUrl, out string agvBindMsg);
+                if (bind)
+                {
+                    var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
+                    if (agvResult)//鎴愬姛
+                    {
+                        //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
+                        logTaskEntry.IsSuccess = 1;
+                        logTaskEntry.IsSend = 0;
+                        //logTaskEntry.IsCancel = 0;
+                        logTaskEntry.BackDate = DateTime.Now;
+                        logTaskEntry.Status = "1";//姝e湪鎵ц
+                        Db.Updateable(logTaskEntry).ExecuteCommand();
+
+                        startLoction.Status = "3";//鍑哄簱涓�
+                        Db.Updateable(startLoction).ExecuteCommand();
+
+                        endLoction.Status = "2";//鍏ュ簱涓�
+                        Db.Updateable(endLoction).ExecuteCommand();
+                    }
+                    else//澶辫触
+                    {
+                        throw new Exception("妗跺彿锛�" + task.Pallno + ",璋冨害灏忚溅澶辫触");
+                    }
+                }
+                else
+                {
+                    throw new Exception("妗跺彿锛�" + task.Pallno + ",缁戝畾璐т綅澶辫触");
+                }
+
+                //鎻愪氦浜嬪姟
+                Db.CommitTran();
+            }
+            catch (Exception e)
+            {
+                //鍥炴粴浜嬪姟
+                Db.RollbackTran();
+                throw new Exception(e.Message);
+            }
+        }
+
     }
 }

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