using Model.InterFaceModel;
using Model.ModelDto.LogDto;
using Model.ModelDto.SysDto;
using Newtonsoft.Json;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
using Utility.Tools;
using WMS.BLL.LogServer;
using WMS.DAL;
using WMS.Entity.BllAsnEntity;
using WMS.Entity.BllSoEntity;
using WMS.Entity.Context;
using WMS.Entity.DataEntity;
using WMS.Entity.LogEntity;
using WMS.Entity.SysEntity;
using WMS.IBLL.IBllTransServer;
using static Model.InterFaceModel.RCSModel;

namespace WMS.BLL.BllTransServer
{
    public class HopperTransportServer: IHopperTransportServer
    {
        private static readonly SqlSugarScope Db = DataContext.Db;

        private readonly object RcsLock = new object();


        /// <summary>
        /// 根据用户角色权限获取当前角色的区域
        /// </summary>
        /// <param name="userId"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public List<SysStorageArea> GetAreaListByUser(int userId)
        {
            try
            {               
                var user = Db.Queryable<SysUserInfor>().First(m=>m.IsDel == "0" && m.Id == userId);
                if (user == null)
                {
                    throw new Exception("没有查询到用户信息");
                }
                var role = Db.Queryable<SysRoles>().First(m => m.IsDel == "0" && m.RoleNo == user.RoleNo);
                if (role == null)
                {
                    throw new Exception("没有查询到角色信息");
                }
                var roleWareStr = Db.Queryable<SysRoleWareHouse>().Where(m => m.IsDel == "0" && m.RoleNo == role.RoleNo).Select(m=>m.WareHouseNo).ToList();

                var area = Db.Queryable<SysStorageArea>().Where(m => m.IsDel == "0" && m.Status == "0" && roleWareStr.Contains(m.WareHouseNo)).ToList();
                //var layer = "3";
                //var areaList = new List<SysStorageArea>();
                //if (layer == "3")
                //{
                //    areaList = area.Where(m => m.AreaName.Contains("3楼")).ToList();
                //}
                //else if (layer == "4")
                //{
                //    areaList = area.Where(m => m.AreaName.Contains("4楼")).ToList();
                //}
                return area;
            }
            catch (Exception e)
            {
                throw new Exception(e.Message);
            }
        }
        /// <summary>
        /// 根据区域获取储位地址
        /// </summary>
        /// <param name="area"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public List<SysStorageLocat> GetLocatByArea(string area)
        {
            try
            {
                var locate = Db.Queryable<SysStorageLocat>().Where(m => m.AreaNo == area && m.IsDel == "0" && m.Flag == "0").ToList();

                return locate;
            }
            catch (Exception e)
            {
                throw new Exception(e.Message);
            }
        }
        /// <summary>
        /// 根据区域或者桶状态
        /// </summary>
        /// <param name="area"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public List<DicModel> GetPlnStatusByArea(string area)
        {
            try
            {
                var areaInfo = Db.Queryable<SysStorageArea>().First(m => m.AreaNo == area && m.IsDel == "0");
                var strList = new List<DicModel>();

                var dev = new string[] {};
                if (areaInfo!=null && !string.IsNullOrWhiteSpace(areaInfo.DeviceCode))
                {
                    dev = areaInfo.DeviceCode.Split(";");
                }
                 
                foreach (var item in dev)
                {
                    if (string.IsNullOrWhiteSpace(item))
                    {
                        continue;
                    }
                    if (strList.Count(m=>m.dic1 == item) == 0)
                    {
                        var v = "";
                        switch (item)
                        {
                            case "0":
                                v = "净桶";
                                break;
                            case "1":
                                v = "预混桶";
                                break;
                            case "2":
                                v = "满桶";
                                break;
                            case "3":
                                v = "脏桶";
                                break;
                        }
                        strList.Add(new DicModel
                        {
                            dic1 = item,
                            dic2 = v
                        });
                    }
                }
                if (strList.Count == 0)
                {
                    strList.Add(new DicModel { dic1 = "0", dic2 = "净桶" });
                    //strList.Add(new DicModel { dic1 = "1", dic2 = "预混桶" });
                    strList.Add(new DicModel { dic1 = "2", dic2 = "满桶" });
                    strList.Add(new DicModel { dic1 = "3", dic2 = "脏桶" });
                }
                return strList;
            }
            catch (Exception e)
            {
                throw new Exception(e.Message);
            }
        }
        /// <summary>
        /// 根据桶状态获取物料编码
        /// </summary>
        /// <param name="palletStatus"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public List<string> GetSkuByStatus(string palletStatus)
        {
            try
            {
                //获取储位上的库存物料
                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;
            }
            catch (Exception e)
            {
                throw new Exception(e.Message);
            }
        }
        /// <summary>
        /// 根据物料编码获取批次号
        /// </summary>
        /// <param name="skuNo"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public List<string> GetLotNoBySku(string skuNo)
        {
            try
            {
                var lotNoStr = Db.Queryable<DataStockDetail>().Where(m => m.IsDel == "0" && m.SkuNo == skuNo).Select(m => m.LotNo).Distinct().ToList();
                return lotNoStr;
            }
            catch (Exception e)
            {
                throw new Exception(e.Message);
            }
        }

        public List<string> GetSku()
        {
            try
            {
                //获取储位上的库存物料
                var detail = Db.Queryable<SysMaterials>().Where(m => m.IsDel == "0" ).Select(m => m.SkuNo).Distinct().ToList();
                return detail;
            }
            catch (Exception e)
            {
                throw new Exception(e.Message);
            }
        }


        /// <summary>
        /// 叫料  分配物料
        /// </summary>
        /// <param name="areaNo">区域</param>
        /// <param name="endLocate">起始位置</param>
        /// <param name="plnStatus">桶类型 0净桶 2满桶 3脏桶 </param>
        /// <param name="standard">桶规格</param>
        /// <param name="skuNo">物料号</param>
        /// <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, string bindUrl, int userId)
        {
            try
            {
                #region 判断

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

                if (plnStatus == "0" && string.IsNullOrWhiteSpace(standard))
                {
                    throw new Exception("净桶请选择规格");
                    
                }
                else if(plnStatus == "2" && (string.IsNullOrWhiteSpace(skuNo) || string.IsNullOrWhiteSpace(lotNo)))
                {
                    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 == endLocate && 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

                //目标楼层
                var layer = endLocateInfo.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");
                }
                //查找状态是未分配且储位不为空的库存信息
                var stockDetail = Db.Queryable<DataStockDetail>().Where(m => m.Status == "0" && m.WareHouseNo == house.WareHouseNo && !string.IsNullOrWhiteSpace(m.LocatNo)).ToList();

                //净桶
                if (plnStatus == "0")
                {
                    stockDetail = stockDetail.Where(m => m.PalletStatus == "0" && m.Standard == standard).OrderBy(m => m.LocatNo).ToList();
                }
                //满桶
                else if (plnStatus == "2") 
                {
                    stockDetail = stockDetail.Where(m => m.PalletStatus == "2" && m.SkuNo == skuNo && m.LotNo == lotNo).OrderBy(m => m.LocatNo).ToList();
                }
                else
                {
                    throw new Exception("桶类型错误");
                }
                if (stockDetail == null || stockDetail.Count <= 0)
                {
                    throw new Exception("没有查询到叫料的库存信息");
                }
                //开启事务
                Db.BeginTran();
                //生产任务号
                var taskNo = new Common().GetMaxNo("TK");

                bool resultYi = false;
                #region#查找合适的 桶号 储位
                //目标仓库所有储位
                var locatList = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.WareHouseNo == house.WareHouseNo).ToList();
                //目标仓库所有不需要移库的储位
                var locatListWai = locatList.Where(w => string.IsNullOrEmpty(w.AisleOne)).Select(s => s.LocatNo);

                //先找不需要移库的桶
                var palletModel = stockDetail.Where(w => locatListWai.Contains(w.LocatNo)).OrderByDescending(w => w.UpdateTime).FirstOrDefault();
                if (palletModel == null)
                {
                    //找需要移库的桶
                    palletModel= stockDetail.Where(w => !locatListWai.Contains(w.LocatNo)).OrderByDescending(w => w.UpdateTime).FirstOrDefault();
                    if (palletModel == null)
                    {
                        throw new Exception("未找到对应桶信息");
                    }
                    resultYi = YikuTask(palletModel.PalletNo, taskNo, url,bindUrl);
                }
                palletModel.Status = "2";
                Db.Updateable(palletModel).ExecuteCommand();
                #endregion
                //起始储位地址信息
                var 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}");
                }
                //产生移库任务
                if (resultYi)
                {
                    taskNo = taskNo + "-1";
                }
                //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 = startLoction.LocatNo,//起始位置
                    EndLocat = endLocate,//目标位置
                    PalletNo = palletModel.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();
               
                //没有产生移库任务就直接给小车下发出库任务，若产生移库任务等小车把移库的桶抬起时再下发出库任务
                if (!resultYi)
                {
                    //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 = endLocate,//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
                    //下发载具类型
                    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.Updateable(logTaskEntry).ExecuteCommand();

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

                            endLocateInfo.Status = "2";//入库中
                            Db.Updateable(endLocateInfo).ExecuteCommand();
                        }
                        else//失败
                        {
                            logTaskEntry.IsSuccess = 0;
                            logTaskEntry.Information = agvMsg;
                            Db.Updateable(logTaskEntry).ExecuteCommand();
                        }
                    }
                    else 
                    {
                        logTaskEntry.IsSuccess = 0;
                        logTaskEntry.Information = "货架与货位绑定失败，原因："+agvBindMsg;
                        Db.Updateable(logTaskEntry).ExecuteCommand();
                    }
                   
                }
                //提交事务
                Db.CommitTran();
            }
            catch (Exception e)
            {
                //回滚事务
                Db.RollbackTran();
                throw new Exception(e.Message);
            }
        }

        /// <summary>
        /// 叫车  分配储位
        /// </summary>
        /// <param name="areaNo">区域</param>
        /// <param name="StartLocate">起始位置</param>
        /// <param name="plnNo">桶号</param>
        /// <param name="plnStatus">桶类型 0净桶 2满桶 3脏桶 </param>
        /// <param name="weight">重量</param>
        /// <param name="skuNo">物料号</param>
        /// <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, string url,string bindUrl,int userId)
        {
            try
            {
                #region 判断

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

                //if (plnStatus == "0" && string.IsNullOrWhiteSpace(standard))
                //{
                //    throw new Exception("净桶请选择规格");

                //}else
                if (plnStatus == "2" && (string.IsNullOrWhiteSpace(skuNo) || string.IsNullOrWhiteSpace(lotNo)))
                {
                    throw new Exception("满桶请选择物料与批次");
                }
                #endregion
                //开启事务
                Db.BeginTran();

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

                //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)
                    {
                        throw new Exception("没有查询到物料信息");
                    }
                    skuName = sku.SkuName;
                }
                //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)
                {
                    var stockDetailNew = new DataStockDetail()
                    {
                        LotNo = lotNo,

                        SkuNo = skuNo,
                        SkuName = skuName,
                        Standard = pln.Standard,
                        Qty = weight,
                        LockQty = 0,
                        FrozenQty = 0,
                        InspectQty = 0,

                        WareHouseNo = startLoction.WareHouseNo,
                        AreaNo = areaNo,
                        LocatNo = StartLocate,
                        PalletNo = plnNo,

                        PackagNo = packagNo,
                        PalletTags = "0",
                        CompleteTime = DateTime.Now,

                        PalletStatus = plnStatus,
                        Status = "2",
                        InspectMark = "0",
                        BitPalletMark = "0",
                        InspectStatus = "1",
                    };
                    Db.Insertable(stockDetailNew).ExecuteCommand();
                }
                else
                {
                    stockDetail.PalletStatus = plnStatus;
                    stockDetail.SkuNo = skuNo;
                    stockDetail.SkuName = skuName;
                    stockDetail.LotNo = lotNo;
                    stockDetail.Qty = weight;
                    stockDetail.Status = "2";
                    Db.Updateable(stockDetail).ExecuteCommand();

                }
                //分配储位
                var endLocatInfo = GetLocatModel(house.WareHouseNo, plnStatus, startLoction.WareHouseNo, skuNo, pln.Standard,lotNo);//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 logTaskEntry = new LogTask
                {
                    TaskNo = taskNo,
                    Sender = "WMS",
                    Receiver = "WCS",
                    IsSuccess = 0, //是否下发成功 0失败 1成功

                    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
                    Type = "2",//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 = 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.Updateable(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);
            }
        }

        /// <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($"任务号为:{taskNo}的任务不存在!");
                }
                //if (taskInfo.Status != "0" && comeFrom != "WMS")
                //{
                //    throw new Exception($"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
                endLocatInfo.UpdateTime = DateTime.Now;//更新时间
                //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 = "2";
                    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");
                }
                switch (deviceStation)
                {
                    case "input"://叫脏桶
                        switch (deviceID)
                        {
                            case "2001":
                                deviceID = "1001";
                                break;
                            case "2002":
                                deviceID = "1003";
                                break;
                            default:
                                throw new Exception("叫脏桶点位异常");
                        } 
                        break;
                    case "output"://叫车拉净桶
                        switch (deviceID)
                        {
                            case "2001":
                                deviceID = "1002";
                                break;
                            case "2002":
                                deviceID = "1004";
                                break;
                            default:
                                throw new Exception("叫净桶点位异常");
                        }
                        break;
                    default:
                        throw new Exception("叫料类型异常");

                }
                //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
                string type = "";//叫料类型

                //开启事务
                Db.BeginTran();

                //叫料点位
                switch (deviceStation)
                {
                    case "input"://叫脏桶
                        if (deviceID == "1001" || deviceID == "1003")
                        {
                            type = "3";
                            //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").OrderByDescending(w => w.UpdateTime).ToList();

                            //判断当前清洗机设备上有几个脏桶，status：2 正在清洗的脏桶（状态触发变更为AGV叫第2个脏桶时触发）
                            int ztQty = Db.Queryable<DataStockDetail>().Count(w => w.IsDel == "0" && w.Status == "2" && w.LocatNo == deviceID);
                            if (ztQty == 1)
                            {
                                throw new Exception((deviceID == "1001"?"1":"2") + "号清洗机脏桶已满，重复叫料！");
                            }

                            //先查看叫料设备位是否有脏桶
                            if (endLoction.Status == "1")
                            {
                                //有脏桶的话，将更改此桶状态(代表此桶正在清洗中)
                                var qxStock = Db.Queryable<DataStockDetail>().Where(w => w.LocatNo == endLoction.LocatNo).First();
                                qxStock.Status = "2"; 
                                qxStock.UpdateTime = DateTime.Now;//清洗时间
                                Db.Updateable(qxStock).ExecuteCommand();
                                //更改设备储位状态为空储位
                                endLoction.Status = "0";
                                Db.Updateable(endLoction).ExecuteCommand();
                            }
                            //优先查找脏桶缓存车间
                            palletModel = stockDetail.Where(w => w.AreaNo == "C54").FirstOrDefault();
                            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").FirstOrDefault();
                            }
                            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").FirstOrDefault();
                            }
                            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}");
                            }
                        }
                        else
                        {
                            throw new Exception("起始目标储位信息不存在");
                        }

                        break;

                    case "output"://净桶申请储位
                        if (deviceID == "1002" || deviceID == "1004")
                        {
                            type = "4";
                            //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);
                            //获取清洗机上第一次叫的脏桶
                            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();
                            if (palletModel == null)
                            {
                                throw new Exception("未找到库存中正在清洗的脏桶");
                            }
                            if (!string.IsNullOrEmpty(palletModel.LocatNo))
                            {
                                palletModel.LocatNo = startLoction.LocatNo;
                                palletModel.PalletStatus = "0";
                                palletModel.Status = "0";
                                Db.Updateable(palletModel).ExecuteCommand();
                            }
                            //分配储位
                            //查找所有净桶储位
                            var jtLocate = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0")
                                                .OrderBy(w => w.Row).OrderByDescending(w => w.Column).ToList();
                            if (jtLocate.Count == 0)
                            {
                                throw new Exception("没有空余的净桶储位");
                            }
                            //优先分配四楼中间站净桶区
                            //endLoction = jtLocate.Where(w => w.WareHouseNo == "M01" && w.AreaNo == "C01")
                            //                    .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
                            //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 = jtLocate.Where(w => w.WareHouseNo == "M16" && w.AreaNo == "C24")
                                                .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
                            //}
                            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             PS：小车现在还不支持清洗机直接送往4楼净桶区
                            {
                                endLoction = jtLocate.Where(w => w.WareHouseNo == "M44" && w.AreaNo == "C55")
                                                .OrderBy(w => w.Row).OrderByDescending(w => w.Column).FirstOrDefault();
                            }
                            if (endLoction == null)
                            {
                                throw new Exception("未查询到合适储位");
                            }
                            //string startlono = startLoction.LocatNo == "1001" ? "1002" : "1004";//清洗完成点位
                            //startLoction = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == startlono);
                            //if (startLoction == null)
                            //{
                            //    throw new Exception("未找到清洗起始点位");
                            //}
                        }
                        else
                        {
                            throw new Exception("起始目标储位信息不存在");
                        }
                        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 = startLoction.LocatNo,//起始位置
                    EndLocat = endLoction.LocatNo,//目标位置
                    PalletNo = palletModel.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 = type,//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.Updateable(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.Updateable(logTaskEntry).ExecuteCommand();
                    }
                }
                else
                {
                    logTaskEntry.IsSuccess = 0;
                    logTaskEntry.Information = agvBindMsg;
                    Db.Updateable(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
            {
                bool t = false;
                //分配桶的库存信息
                var palletInfo = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.PalletNo == palletNo);
                if (palletInfo == null)
                {
                    throw new Exception("未查询到分配桶的库存信息");
                }
                //判断分配的桶有没有正在执行的任务（移库中）
                var taskIng = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && (w.Status == "0" || w.Status == "1") && w.PalletNo == palletNo);
                if (taskIng != null)
                {
                    throw new Exception("分配的桶有正在执行的任务，请稍后再试");
                }
                //分配桶的储位信息
                var locatInfo = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == palletInfo.LocatNo);
                if (locatInfo == null)
                {
                    throw new Exception("未查询到分配桶所在的储位信息");
                }
                string WareHouseNo = locatInfo.WareHouseNo;//所属仓库编号
                //判断该储位是否是内侧储位
                if (!string.IsNullOrEmpty(locatInfo.AisleOne))
                {
                    //判断外侧储位是否有桶
                    var palletInfoYi = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.LocatNo == locatInfo.AisleOne);
                    if (palletInfoYi != null)
                    {
                        //判断要移库的桶是否被分配
                        if (palletInfoYi.Status != "0")
                        {
                            throw new Exception("要移库的桶已被分配，请稍后再试");
                        }
                        //判断要移库的桶是否有正在执行的任务
                        var taskInfo = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && (w.Status == "0" || w.Status == "1") && w.PalletNo == palletInfoYi.PalletNo);
                        if (taskInfo != null)
                        {
                            throw new Exception("要移库的桶有正在执行的任务，请稍后再试");
                        }
                        #region#给要移库的桶先移到中转储位
                        //找到中转储位所在区域
                        var transfeArea = Db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.WareHouseNo == WareHouseNo && w.AreaName.Contains("转运区"));
                        if (transfeArea == null)
                        {
                            throw new Exception("未找到转运区域");
                        }
                        //找到中转储位
                        var transferLocat = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.WareHouseNo == WareHouseNo && w.AreaNo == transfeArea.AreaNo);                       
                        if (transferLocat == null)
                        {
                            throw new Exception("没有空闲中转储位，请稍后再试");
                        }
                        #endregion

                        //任务信息
                        var logTaskEntry = new LogTask
                        {
                            TaskNo = taskNo,
                            Sender = "WMS",
                            Receiver = "RCS",
                            //IsSuccess = 1, //是否下发成功 0失败 1成功
                            SendDate = DateTime.Now,  //发送时间
                            //BackDate = DateTime.Now,  //返回时间
                            StartLocat = palletInfoYi.LocatNo,//起始位置
                            EndLocat = transferLocat.LocatNo,//目标位置
                            PalletNo = palletInfoYi.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 = "2",//任务类型 0 入库任务 1 出库任务  2 移库任务
                            OrderType = "3",//单据类型 0 入库 1 出库 3移库
                            Status = "0",//任务状态0：等待执行1正在执行2执行完成
                            NoticeDetailNo = 0,
                            Msg = $"将桶{palletInfoYi.PalletNo}从{palletInfoYi.LocatNo}移到{transferLocat.LocatNo}", //关键信息
                            LotNo = ""//批次号
                        };

                        //组织下发小车任务信息
                        var task = new TaskDetial
                        {
                            Taskno = taskNo,//任务号
                            Startport = palletInfoYi.LocatNo,//起始位置
                            Endport = transferLocat.LocatNo,//目标位置
                            Pallno = palletInfoYi.PalletNo,//桶号
                            Crtype = "1",//叫桶
                            WareHouseNo = palletInfoYi.WareHouseNo//车间编码
                        };
                        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(palletInfoYi.LocatNo, palletInfoYi.PalletNo, bindUrl, out string agvBindMsg);
                        if (bind)
                        {
                            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
                        {
                            logTaskEntry.IsSuccess = 0;
                            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}");
                        }
                        t = true;

                    }
                    else
                    {
                        return t;
                    }
                }
                return t;
            }
            catch (Exception e)
            {
                throw new Exception(e.Message);
            }
        }
        /// <summary>
        /// 小车走出储位回传事件
        /// </summary>
        /// <param name="taskNo"></param>
        /// <param name="url"></param>
        /// <exception cref="Exception"></exception>
        public void OutBinAgv(string taskNo,string url, string bindUrl)
        {
            try
            {
                //开启事务
                Db.BeginTran();

                //查找任务信息
                var logTaskInfo = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && w.Status == "0" && w.TaskNo == taskNo);
                if (logTaskInfo == null)
                {
                    throw new Exception("未查询到该任务");
                }
                //起始储位地址
                var startLocatInfo = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == logTaskInfo.StartLocat);
                if (startLocatInfo == null)
                {
                    throw new Exception("未查询到起始储位地址信息");
                }
                startLocatInfo.Status = "0";//空储位
                //修改起始储位状态为空储位
                Db.Updateable(startLocatInfo).ExecuteCommand();

                //判断有无子任务
                string taskNoZ = logTaskInfo.TaskNo + "-1";
                var logTaskInfoZ = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && w.Status == "0" && w.TaskNo == taskNoZ);
                if (logTaskInfoZ != null)
                {
                    //子任务起始储位信息
                    var startLocatInfoZ= Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == logTaskInfoZ.StartLocat);
                    if (startLocatInfoZ == null)
                    {
                        throw new Exception("未查询到子任务起始储位地址信息");
                    }
                    //子任务目标储位信息
                    var endLocatInfoZ = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == logTaskInfoZ.EndLocat);
                    if (endLocatInfoZ == null)
                    {
                        throw new Exception("未查询到子任务目标储位地址信息");
                    }

                    //组织下发小车任务信息
                    var task = new TaskDetial
                    {
                        Taskno = taskNo,//任务号
                        Startport = logTaskInfoZ.StartLocat,//起始位置
                        Endport = logTaskInfoZ.EndLocat,//目标位置
                        Pallno = logTaskInfoZ.PalletNo,//桶号
                        Crtype = "1",//叫桶
                    };
                    string agvMsg = string.Empty;
                    //给下车下发任务
                    logTaskInfoZ.SendDate = DateTime.Now;//发送时间
                    //下发载具与货们绑定
                    var bind = RcsHelper.BindPalletAndSite(logTaskInfoZ.PalletNo, logTaskInfoZ.StartLocat, bindUrl, out string agvBindMsg);
                    if (bind)
                    {
                        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
                    {
                        logTaskInfoZ.IsSuccess = 0;
                        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}");
                    }
                    
                }
                Db.CommitTran();
            }
            catch (Exception e)
            {
                //回滚事务
                Db.RollbackTran();
                throw new Exception(e.Message);
            }
        }

        /// <summary>
        /// 定时将中转储位上的桶移走
        /// </summary>
        /// <param name="url"></param>
        /// <exception cref="Exception"></exception>
        public void TransferBackTimer(string url,string bindUrl)
        {
            try
            {
                //开启事务
                Db.BeginTran();

                //中间站仓库
                var transferWareHouseList = new List<string>() { "M01", "M16" };
                foreach (var itemHouseNo in transferWareHouseList)
                {
                    //找到中转储位所在区域
                    var transfeArea = Db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.WareHouseNo == itemHouseNo && w.AreaName.Contains("转运区"));
                    if (transfeArea == null)
                    {
                        throw new Exception("未找到转运区域");
                    }
                    //找到中转储位
                    var transferLocatList = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.WareHouseNo == itemHouseNo && w.AreaNo == transfeArea.AreaNo).ToList();
                    foreach (var locatModel in transferLocatList)
                    {
                        //储位信息
                        if (locatModel.Status != "1")
                        {
                            continue;
                        }
                        //储位上库存信息
                        var detailInfo = Db.Queryable<DataStockDetail>().First(w => w.IsDel == "0" && w.LocatNo == locatModel.LocatNo);
                        if (detailInfo == null)
                        {
                            continue;
                        }
                        //分配储位
                        var endLocatInfo = GetLocatModel(itemHouseNo,detailInfo.PalletStatus,"",detailInfo.SkuNo,detailInfo.Standard,detailInfo.LotNo);//目标储位
                        //没有可用空储位
                        if (endLocatInfo == null)
                        {
                            continue;
                        }
                        var taskNo = new Common().GetMaxNo("TK");
                        //任务信息
                        var logTaskEntry = new LogTask
                        {
                            TaskNo = taskNo,
                            Sender = "WMS",
                            Receiver = "RCS",
                            //IsSuccess = 1, //是否下发成功 0失败 1成功
                            SendDate = DateTime.Now,  //发送时间
                            //BackDate = DateTime.Now,  //返回时间
                            StartLocat = detailInfo.LocatNo,//起始位置
                            EndLocat = endLocatInfo.LocatNo,//目标位置
                            PalletNo = detailInfo.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 = "2",//任务类型 0 入库任务 1 出库任务  2 移库任务
                            OrderType = "3",//单据类型 0 入库 1 出库 3移库
                            Status = "0",//任务状态0：等待执行1正在执行2执行完成
                            NoticeDetailNo = 0,
                            Msg = $"将桶{detailInfo.PalletNo}从{detailInfo.LocatNo}移到{endLocatInfo.LocatNo}", //关键信息
                            LotNo = ""//批次号
                        };

                        //组织下发小车任务信息
                        var task = new TaskDetial
                        {
                            Taskno = taskNo,//任务号
                            Startport = detailInfo.LocatNo,//起始位置
                            Endport = endLocatInfo.LocatNo,//目标位置
                            Pallno = detailInfo.PalletNo,//桶号
                            Crtype = "2"//叫桶
                        };
                        string agvMsg = string.Empty;
                        //给下车下发任务            s
                        logTaskEntry.SendDate = DateTime.Now;//发送时间
                        //下发载具与货位绑定
                        var bind = RcsHelper.BindPalletAndSite(detailInfo.PalletNo, detailInfo.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();

                                //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();
                            }
                            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
                        {
                            logTaskEntry.IsSuccess = 0;
                            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
                Db.CommitTran();
            }
            catch (Exception e)
            {
                //回滚事务
                Db.RollbackTran();
                throw new Exception(e.Message);
            }
        }

        /// <summary>
        /// 分配储位
        /// </summary>
        /// <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>
        /// <exception cref="Exception"></exception>
        private SysStorageLocat GetLocatModel(string houseNo, string palletStatus,string zonghong,string skuNo="",string standard="",string lotNo = "")
        {
            try
            {
                var endLocatInfo = new SysStorageLocat();//目标储位
                string areaNo = string.Empty;
                switch (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 == 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
                        //总混分配储位 （仓库编码M12,M13），分配逻辑：优先分配同物料的组，再分配到3楼中间站，最后分配到4楼中间站
                        if (zonghong == "M12" || zonghong == "M13")
                        {
                            //先查到同物料的组
                            string sql = $@"select Row 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";

                            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)
                                               .OrderByDescending(o => o.Column).First();
                                if (endLocatInfo.LocatNo != null)
                                {
                                    break;
                                }
                            }
                            //没有找到相同物料同组的空储位
                            if (endLocatInfo.LocatNo == 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();
                            }

                        }
                        else {//其他区域 
                            //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 Status = '0' 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";

                            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.LocatNo != null)
                                {
                                    break;
                                }
                            }
                            //没有找到相同物料同组的空储位
                            if (endLocatInfo.LocatNo == 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();
                            }
                        }
                        break;
                    case "3"://脏桶
                        //查到到脏桶区域编号，存放顺序，C54 料斗清洗暂存间，C26 3楼中间站脏桶区，C03 4楼中间站脏桶区
                        var ztAreaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.Type == "2").Select(w => w.AreaNo).ToList();
                        //查找所有可用脏桶库位
                        var ztLocat = Db.Queryable<SysStorageLocat>().Where(w => w.IsDel == "0" && w.Status == "0" && w.Flag == "0" && ztAreaNo.Contains(w.AreaNo))
                            .OrderBy(o => o.Row).OrderByDescending(o => o.Column).ToList();
                        //areaNo = Db.Queryable<SysStorageArea>().Where(w => w.IsDel == "0" && w.WareHouseNo == houseNo && w.Type == "2").Select(s => s.AreaNo).First();
                        //分配储位
                        //料斗清洗暂存间
                        endLocatInfo = ztLocat.Where(w => w.AreaNo == "C54").FirstOrDefault();
                        if (string.IsNullOrEmpty(endLocatInfo.LocatNo))
                        {
                            endLocatInfo = ztLocat.Where(w => w.AreaNo == "C26").FirstOrDefault();
                            if (string.IsNullOrEmpty(endLocatInfo.LocatNo))
                            {
                                endLocatInfo = ztLocat.Where(w => w.AreaNo == "C03").FirstOrDefault();
                                if (string.IsNullOrEmpty(endLocatInfo.LocatNo))
                                {
                                    throw new Exception("无可用脏桶库位");
                                }
                            }
                        }
                        break;
                }
                return endLocatInfo;
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }
    }
}