1、添加四向车接口

2、添加下发任务逻辑

WcsMain/ApiClient/DataEntity/AGVEntity/AGVBucketMove.cs

@@ -0,0 +1,83 @@
+using Newtonsoft.Json;
+
+namespace WcsMain.ApiClient.DataEntity.AGVEntity;
+
+/// <summary>
+/// AGV 点对点货架搬运
+/// </summary>
+public class AGVBucketMove
+{
+    /// <summary>
+    /// 起始点
+    /// </summary>
+    [JsonProperty("startPoint")]
+    public string? StartPoint { get; set; }
+
+    /// <summary>
+    /// 起始点简码
+    /// </summary>
+    [JsonProperty("startPointName")]
+    public string? StartPointName { get; set; }
+
+    /// <summary>
+    /// 作业面
+    /// </summary>
+    [JsonProperty("workFaces")]
+    public string? WorkFaces { get; set; }
+
+    /// <summary>
+    /// 目标区域
+    /// </summary>
+    [JsonProperty("endArea")]
+    public string? EndArea { get; set; }
+
+    /// <summary>
+    /// 目标点
+    /// </summary>
+    [JsonProperty("endPoint")]
+    public string? EndPoint { get; set; }
+
+    /// <summary>
+    /// 目标点简码
+    /// </summary>
+    [JsonProperty("endPointName")]
+    public string? EndPointName { get; set; }
+
+    /// <summary>
+    /// 货架类型编码
+    /// </summary>
+    [JsonProperty("buckTypeCode")]
+    public string? BucketTypeCode { get; set; }
+
+    /// <summary>
+    /// 
+    /// </summary>
+    [JsonProperty("letDownFlag")]
+    public int? LetDownFlag { get; set; }
+
+    /// <summary>
+    /// 是否需要检验货架
+    /// </summary>
+    [JsonProperty("checkCode")]
+    public int? CheckCode { get; set; }
+
+    /// <summary>
+    /// 实操反馈后是否需要返库
+    /// </summary>
+    [JsonProperty("needReset")]
+    public bool? NeedReset {  get; set; }
+
+    /// <summary>
+    /// 是否需要货架出厂
+    /// </summary>
+    [JsonProperty("needOut")]
+    public int? NeedOut {  get; set; }
+
+    /// <summary>
+    /// 是否AGV接力模式
+    /// </summary>
+    [JsonProperty("isAgvRelay")]
+    public bool? IsAgvRelay { get; set; }
+
+
+}

WcsMain/ApiClient/DataEntity/AGVEntity/AGVRequestLayout.cs

@@ -0,0 +1,63 @@
+using Newtonsoft.Json;
+
+namespace WcsMain.ApiClient.DataEntity.AGVEntity;
+
+/// <summary>
+/// AGV 接口请求数据格式
+/// </summary>
+/// <typeparam name="T"></typeparam>
+public class AGVRequestLayout<T> where T : class, new()
+{
+    /// <summary>
+    /// 头部
+    /// </summary>
+    [JsonProperty("header")]
+    public AGVRequestHeader? Header { get; set; }
+
+    /// <summary>
+    /// 数据
+    /// </summary>
+    [JsonProperty("body")]
+    public T? Body { get; set; }
+
+
+}
+
+/// <summary>
+/// AGV 报文请求头
+/// </summary>
+public class AGVRequestHeader
+{
+    /// <summary>
+    /// 快仓唯一标识
+    /// </summary>
+    [JsonProperty("appKey")]
+    public string? AppKey {  get; set; }
+
+    /// <summary>
+    /// 应用密钥
+    /// </summary>
+    [JsonProperty("appSecret")]
+    public string? AppSecret { get; set; }
+
+    /// <summary>
+    /// 请求ID
+    /// </summary>
+    [JsonProperty("requestId")]
+    public string? RequestId { get; set; }
+
+    /// <summary>
+    /// 时间戳
+    /// </summary>
+    [JsonProperty("timestamp")]
+    public string? TimeStamp { get; set; }
+
+    /// <summary>
+    /// 版本号
+    /// </summary>
+    [JsonProperty("version")]
+    public string? version { get; set; }
+
+
+
+}

WcsMain/ApiClient/DataEntity/AGVEntity/AGVResponseLayout.cs

@@ -0,0 +1,88 @@
+using Newtonsoft.Json;
+
+namespace WcsMain.ApiClient.DataEntity.AGVEntity;
+
+/// <summary>
+/// AGV 接口响应数据模板类
+/// </summary>
+/// <typeparam name="T"></typeparam>
+public class AGVResponseLayout<T> where T : class, new()
+{
+
+    /// <summary>
+    /// 头部
+    /// </summary>
+    [JsonProperty("header")]
+    public AGVResponseHeader? Header { get; set; }
+
+    /// <summary>
+    /// 数据
+    /// </summary>
+    [JsonProperty("body")]
+    public AGVResponseBody<T>? Body { get; set; }
+
+
+
+}
+
+/// <summary>
+/// AGV 报文响应头
+/// </summary>
+public class AGVResponseHeader
+{
+    /// <summary>
+    /// 请求ID
+    /// </summary>
+    [JsonProperty("requestId")]
+    public string? RequestId { get; set; }
+
+    /// <summary>
+    /// 时间戳
+    /// </summary>
+    [JsonProperty("timestamp")]
+    public string? TimeStamp { get; set; }
+
+    /// <summary>
+    /// 版本号
+    /// </summary>
+    [JsonProperty("version")]
+    public string? version { get; set; }
+
+
+
+}
+
+/// <summary>
+/// AGV 响应体
+/// </summary>
+/// <typeparam name="T"></typeparam>
+public class AGVResponseBody<T> where T : class, new()
+{
+    /// <summary>
+    /// 是否成功
+    /// </summary>
+    [JsonProperty("success")]
+    public bool? Success { get; set; }
+
+    /// <summary>
+    /// 条码
+    /// </summary>
+    [JsonProperty("code")]
+    public string? Code { get; set; }
+
+    /// <summary>
+    /// 响应信息
+    /// </summary>
+    [JsonProperty("message")]
+    public string? Message { get; set; }
+
+    /// <summary>
+    /// 响应数据
+    /// </summary>
+    [JsonProperty("data")]
+    public T? Data { get; set; }
+
+
+
+}
+

WcsMain/ApiClient/DataEntity/AGVEntity/AGVTaskRequest.cs

@@ -0,0 +1,108 @@
+using Newtonsoft.Json;
+
+namespace WcsMain.ApiClient.DataEntity.AGVEntity;
+
+/// <summary>
+/// 向 AGV 发送任务模板数据
+/// </summary>
+public class AGVTaskRequest<T> where T : class, new()
+{
+    /// <summary>
+    /// 上游任务号，唯一标识
+    /// </summary>
+    [JsonProperty("robotJobId")]
+    public string? RobotJobId { get; set; }
+
+    /// <summary>
+    /// 仓库编号
+    /// </summary>
+    [JsonProperty("warehouseId")]
+    public long? WareHouseId { get; set; }
+
+    /// <summary>
+    /// 任务组号
+    /// </summary>
+    [JsonProperty("robotJobGroupId")]
+    public string? RobotJobGroupId { get; set; }
+
+    /// <summary>
+    /// 任务组序号
+    /// </summary>
+    [JsonProperty("sequence")]
+    public int? Sequence {  get; set; }
+
+    /// <summary>
+    /// 任务组数量
+    /// </summary>
+    [JsonProperty("robotJobGroupNum")]
+    public int? RobotJobGroupNum { get; set; }
+
+    /// <summary>
+    /// 任务优先级
+    /// </summary>
+    [JsonProperty("jobPriority")]
+    public int? JobPriority { get; set; }
+
+    /// <summary>
+    /// 任务优先级类型
+    /// </summary>
+    [JsonProperty("jobProorytyType")]
+    public int? JobProorytyType { get; set; }
+
+    /// <summary>
+    /// 截至时间
+    /// </summary>
+    [JsonProperty("deadline")]
+    public string? Deadline { get; set; }
+
+    /// <summary>
+    /// 任务类型
+    /// </summary>
+    [JsonProperty("agvType")]
+    public string? AGVType { get; set; }
+
+    /// <summary>
+    /// AGV 放下对象后移动的地点
+    /// </summary>
+    [JsonProperty("agvEndPoint")]
+    public string? AGVEndPoint {  get; set; }
+
+    /// <summary>
+    /// 是否需要实操
+    /// </summary>
+    [JsonProperty("needOperation")]
+    public bool? NeedOperation { get; set; }
+
+    /// <summary>
+    /// 机器人编号
+    /// </summary>
+    [JsonProperty("agvCode")]
+    public string? AGVCode { get; set; }
+
+    /// <summary>
+    /// 任务解锁倒计时
+    /// </summary>
+    [JsonProperty("taskCountDown")]
+    public int? TaskCountDown { get; set; }
+
+    /// <summary>
+    /// 业务类型
+    /// </summary>
+    [JsonProperty("businessType")]
+    public string? BusinessType { get; set; }
+
+    /// <summary>
+    /// 任务类型
+    /// </summary>
+    [JsonProperty("jobType")]
+    public string? JobType { get; set; }
+
+    /// <summary>
+    /// 任务数据
+    /// </summary>
+    [JsonProperty("jobData")]
+    public T? JobData { get; set; }
+
+
+
+}

WcsMain/ApiClient/DataEntity/AGVEntity/AGVTaskResponse.cs

@@ -0,0 +1,29 @@
+using Newtonsoft.Json;
+
+namespace WcsMain.ApiClient.DataEntity.AGVEntity;
+
+/// <summary>
+/// 给AGV发送任务的返回类
+/// </summary>
+public class AGVTaskResponse
+{
+    /// <summary>
+    /// 响应码
+    /// </summary>
+    [JsonProperty("code")]
+    public string? Code { get; set; }
+
+    /// <summary>
+    /// 响应信息
+    /// </summary>
+    [JsonProperty("message")]
+    public string? Message { get; set; }
+
+    /// <summary>
+    /// 任务号
+    /// </summary>
+    [JsonProperty("robotJobId")]
+    public string? RobotJobId { get; set; }
+
+
+}

WcsMain/ApiClient/DataEntity/ContainerEntity/ContainerTaskResponse.cs

@@ -0,0 +1,26 @@
+namespace WcsMain.ApiClient.DataEntity.ContainerEntity;
+
+/// <summary>
+/// 四向车库的响应
+/// </summary>
+public class ContainerTaskResponse
+{
+    /// <summary>
+    /// 响应码
+    /// </summary>
+    public string? Code { get; set; }
+
+    /// <summary>
+    /// WMS 任务号
+    /// </summary>
+    public string? WmsTaskId { get; set; }
+
+    /// <summary>
+    /// 信息
+    /// </summary>
+    public string? Message { get; set; }
+
+
+
+
+}

WcsMain/ApiClient/DataEntity/ContainerEntity/ContainerTaskResqust.cs

@@ -0,0 +1,53 @@
+namespace WcsMain.ApiClient.DataEntity.ContainerEntity;
+
+/// <summary>
+/// 四向车库出库移库请求
+/// </summary>
+public class ContainerTaskResqust
+{
+    /// <summary>
+    /// 请求ID
+    /// </summary>
+    public string? RequestId {  get; set; }
+
+    /// <summary>
+    /// 密钥
+    /// </summary>
+    public string? Key { get; set; }
+
+    /// <summary>
+    /// WMS 任务号
+    /// </summary>
+    public string? WmsTaskId { get; set; }
+
+    /// <summary>
+    /// 载具号
+    /// </summary>
+    public string? PalletNo { get; set; }
+
+    /// <summary>
+    /// 起始位置
+    /// </summary>
+    public string? FromCellNo { get; set; }
+
+    /// <summary>
+    /// 目标位置
+    /// </summary>
+    public string? ToCell {  get; set; }
+
+    /// <summary>
+    /// 任务类型
+    /// </summary>
+    /// <remarks>
+    /// 2 - 出库
+    /// 3 - 移库
+    /// </remarks>
+    public string? TaskType { get; set; }
+
+
+
+
+
+
+
+}

WcsMain/ApiServe/Controllers/AGVController/AGVController.cs

@@ -0,0 +1,20 @@
+using Microsoft.AspNetCore.Mvc;
+using WcsMain.ApiServe.ControllerFilter;
+
+namespace WcsMain.ApiServe.Controllers.AGVController;
+
+/// <summary>
+/// AGV接口服务
+/// </summary>
+[Route("api/agv")]
+[ApiController]
+[ServiceFilter<ResponseFilterAttribute>]
+public class AGVController : ControllerBase
+{
+
+
+
+
+
+
+}

WcsMain/ApiServe/Controllers/ContainerController/ContainerController.cs

@@ -0,0 +1,35 @@
+using Microsoft.AspNetCore.Http;
+using Microsoft.AspNetCore.Mvc;
+using WcsMain.ApiServe.ControllerFilter;
+using WcsMain.ApiServe.Controllers.Dto.Container;
+using WcsMain.ApiServe.Service.ContainerService;
+
+namespace WcsMain.ApiServe.Controllers.ContainerController;
+
+
+/// <summary>
+/// 提供给四向车的API接口
+/// </summary>
+[Route("api/container")]
+[ApiController]
+[ServiceFilter<ResponseFilterAttribute>]
+public class ContainerController(ContainerService containerService) : ControllerBase
+{
+
+    /// <summary>
+    /// 四向车请求入库任务
+    /// </summary>
+    /// <param name="request"></param>
+    /// <returns></returns>
+    [HttpPost("CreateInstoreTask")]
+    public CreateInstoreTaskResoponse CreateInstoreTask([FromBody] CreateInstoreTaskRequest request) => containerService.CreateInstoreTask(request);
+
+    /// <summary>
+    /// 四向车上报任务状态
+    /// </summary>
+    /// <param name="request"></param>
+    /// <returns></returns>
+    [HttpPost("TaskStateNotice")]
+    public TaskStateNoticeResponse TaskStateNotice([FromBody] TaskStateNoticeRequest request) => containerService.TaskStateNotice(request);
+
+}

WcsMain/ApiServe/Controllers/Dto/Container/CreateInstoreTaskRequest.cs

@@ -0,0 +1,36 @@
+using Newtonsoft.Json;
+using System.Text.Json.Serialization;
+
+namespace WcsMain.ApiServe.Controllers.Dto.Container;
+
+/// <summary>
+/// 四向车请求入库任务的请求类
+/// </summary>
+public class CreateInstoreTaskRequest
+{
+    /// <summary>
+    /// 请求ID
+    /// </summary>
+    [JsonPropertyName("requestId")]
+    public string? RequestId {  get; set; }
+
+    /// <summary>
+    /// 密钥
+    /// </summary>
+    [JsonPropertyName("key")]
+    public string? Key { get; set; }
+
+    /// <summary>
+    /// 载具号
+    /// </summary>
+    [JsonPropertyName("palletno")]
+    public string? PalleetNo { get; set; }
+
+    /// <summary>
+    /// 请求位置
+    /// </summary>
+    [JsonPropertyName("fromcellno")]
+    public string? FormCellNo { get; set; }
+
+
+}

WcsMain/ApiServe/Controllers/Dto/Container/CreateInstoreTaskResoponse.cs

@@ -0,0 +1,50 @@
+using Newtonsoft.Json;
+using System.Text.Json.Serialization;
+
+namespace WcsMain.ApiServe.Controllers.Dto.Container;
+
+/// <summary>
+/// 四向车请求任务的返回类
+/// </summary>
+public class CreateInstoreTaskResoponse
+{
+    /// <summary>
+    /// 响应码
+    /// </summary>
+    [JsonPropertyName("code")]
+    public string? Code {  get; set; }
+
+    /// <summary>
+    /// 任务号
+    /// </summary>
+    [JsonPropertyName("wmstaskid")]
+    public string? WmsTaskId { get; set; }
+
+    /// <summary>
+    /// 载具号
+    /// </summary>
+    [JsonPropertyName("palletno")]
+    public string? PalletNo { get; set; }
+
+    /// <summary>
+    /// 起点位置
+    /// </summary>
+    [JsonPropertyName("fromcellno")]
+    public string? FromCellNo { get; set; }
+
+    /// <summary>
+    /// 终点位置
+    /// </summary>
+    [JsonPropertyName("tocellno")]
+    public string? ToCellNo { get;set; }
+
+    /// <summary>
+    /// 响应信息
+    /// </summary>
+    [JsonPropertyName("message")]
+    public string? Message { get; set; }
+
+
+
+
+}

WcsMain/ApiServe/Controllers/Dto/Container/TaskStateNoticeRequest.cs

@@ -0,0 +1,52 @@
+using Newtonsoft.Json;
+using System.Text.Json.Serialization;
+
+namespace WcsMain.ApiServe.Controllers.Dto.Container;
+
+/// <summary>
+/// 四向车任务回告请求类
+/// </summary>
+public class TaskStateNoticeRequest
+{
+    /// <summary>
+    /// 请求ID
+    /// </summary>
+    [JsonPropertyName("requestid")]
+    public string? RequestId { get; set; }
+
+    /// <summary>
+    /// 密钥
+    /// </summary>
+    [JsonPropertyName("key")]
+    public string? Key { get; set; }
+
+    /// <summary>
+    /// WMS任务号
+    /// </summary>
+    [JsonPropertyName("wmstaskid")]
+    public string? WmsTaskId { get; set; }
+
+    /// <summary>
+    /// 最终到达位置
+    /// </summary>
+    [JsonPropertyName("factendcell")]
+    public string? FactendCell { get; set; }
+
+    /// <summary>
+    /// 任务状态
+    /// </summary>
+    /// <remarks>
+    /// 20 - 完成
+    /// 21 - 取消
+    /// </remarks>
+    [JsonPropertyName("taskstate")]
+    public string? TaskState { get; set; }
+
+
+
+
+
+
+
+
+}

WcsMain/ApiServe/Controllers/Dto/Container/TaskStateNoticeResponse.cs

@@ -0,0 +1,30 @@
+using System.Text.Json.Serialization;
+
+namespace WcsMain.ApiServe.Controllers.Dto.Container;
+
+/// <summary>
+/// 四向车反馈任务状态的响应类
+/// </summary>
+public class TaskStateNoticeResponse
+{
+    /// <summary>
+    /// 响应码
+    /// </summary>
+    [JsonPropertyName("code")]
+    public string? Code { get; set; }
+
+    /// <summary>
+    /// WMS 任务号
+    /// </summary>
+    [JsonPropertyName("wmstaskid")]
+    public string? WmsTaskId { get; set; }
+
+    /// <summary>
+    /// 响应信息
+    /// </summary>
+    [JsonPropertyName("message")]
+    public string? Message { get; set; }
+
+
+
+}

WcsMain/ApiServe/Service/ContainerService/ContainerService.cs

@@ -0,0 +1,88 @@
+using WcsMain.ApiClient.DataEntity.WmsEntity;
+using WcsMain.ApiServe.Controllers.Dto.Container;
+using WcsMain.Business.CommonAction;
+using WcsMain.Common;
+using WcsMain.DataBase.Dao;
+using WcsMain.DataBase.TableEntity;
+using WcsMain.Enum;
+using WcsMain.Enum.Stacker;
+using WcsMain.Plugins;
+using WcsMain.WcsAttribute.AutoFacAttribute;
+
+namespace WcsMain.ApiServe.Service.ContainerService;
+
+[Service]
+public class ContainerService(AppWmsTaskDao wmsTaskDao, WCSTaskExecuteEvent taskExecuteEvent)
+{
+    /// <summary>
+    /// 请求四向车任务
+    /// </summary>
+    /// <param name="request"></param>
+    /// <returns></returns>
+    public CreateInstoreTaskResoponse CreateInstoreTask(CreateInstoreTaskRequest request)
+    {
+        ConsoleLog.Info($"四向车请求载具入库：{request.PalleetNo}，入库点位：{request.FormCellNo}");
+        if (string.IsNullOrEmpty(request.FormCellNo) || string.IsNullOrEmpty(request.PalleetNo))
+        {
+            return new() { Code = "400", Message = "缺少必须参数" };
+        }
+        List<AppWmsTask>? wmsTasks = wmsTaskDao.Select(new() { VehicleNo = request.PalleetNo, TaskStatus = (int)WmsTaskStatusEnum.arriveMid })?.OrderByDescending(o => o.CreateTime).ToList();
+        if(wmsTasks == null)
+        {
+            return new() { Code = "400", Message = "数据连接失败，请重试" };
+        }
+        if(wmsTasks.Count == 0)
+        {
+            return new() { Code = "400", Message = "该载具暂无待执行的任务" };
+        }
+        AppWmsTask wmsTask = wmsTasks.First();
+        /* 更新状态为前往终点 */
+        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.toMid, ModifyTime = DateTime.Now });
+        ConsoleLog.Success($"API更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
+        return new()
+        {
+            Code = "200",
+            Message = "操作成功",
+            WmsTaskId = wmsTask.TaskId,
+            PalletNo = wmsTask.VehicleNo,
+            FromCellNo = request.FormCellNo,
+            ToCellNo = wmsTask.Destination,
+        };
+    }
+
+    /// <summary>
+    /// 四向车任务反馈
+    /// </summary>
+    /// <param name="request"></param>
+    /// <returns></returns>
+    public TaskStateNoticeResponse TaskStateNotice(TaskStateNoticeRequest request)
+    {
+        if(string.IsNullOrEmpty(request.TaskState) || string.IsNullOrEmpty(request.WmsTaskId) || string.IsNullOrEmpty(request.FactendCell))
+        {
+            return new() { Code = "400", Message = "缺少必须的参数" };
+        }
+        List<AppWmsTask>? appWmsTasks = wmsTaskDao.Select(new() { TaskId = request.WmsTaskId });
+        if(appWmsTasks == null)
+        {
+            return new() { Code = "400", Message = "数据连接异常，请稍后再试" };
+        }
+        if (appWmsTasks.Count < 1) 
+        {
+            return new() { Code = "400", Message = $"该任务号不存在：{request.WmsTaskId}" };
+        }
+        AppWmsTask wmsTask = appWmsTasks.First();
+        if (wmsTask.TaskType == (int)WmsTaskTypeEnum.inTask || wmsTask.TaskType == (int)WmsTaskTypeEnum.moveTask)
+        {
+            /* 入库/移库 完成需要反馈WMS任务完成，更新任务状态为完成 */
+            string? errText = taskExecuteEvent.CompleteTaskEvent(wmsTask, "四向车上报完成", request.FactendCell);
+            return new() { Code = string.IsNullOrEmpty(errText) ? "200" : "400", Message = string.IsNullOrEmpty(errText) ? "成功" : errText, WmsTaskId = request.WmsTaskId };
+        }
+        if(wmsTask.TaskType == (int)WmsTaskTypeEnum.outTask)
+        {
+            /* 更新任务状态为到达中间点 */
+            int updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.arriveMid, ModifyTime = DateTime.Now });
+            return new() { Code = updateResult > 0 ? "200" : "400", Message = updateResult > 0 ? "成功" : "数据异常", WmsTaskId = request.WmsTaskId };
+        }
+        return new() { Code = "400", Message = $"该任务不支持的类型：{request.WmsTaskId}" };
+    }
+}

WcsMain/Business/AGV/AGVAction.cs

@@ -0,0 +1,135 @@
+using WcsMain.ApiClient.DataEntity.AGVEntity;
+using WcsMain.Common;
+using WcsMain.Constant;
+using WcsMain.DataBase.TableEntity;
+using WcsMain.Plugins;
+using WcsMain.ExtendMethod;
+using WcsMain.WcsAttribute.AutoFacAttribute;
+
+namespace WcsMain.Business.AGV;
+
+/// <summary>
+/// AGV 动作
+/// </summary>
+[Component]
+public class AGVAction(AGVWebApiPost webApiPost)
+{
+
+    /// <summary>
+    /// 发送点对点搬运的任务
+    /// </summary>
+    /// <param name="wmsTask"></param>
+    /// <returns></returns>
+    public string Send_NO_VERIFY_BUCKET_MOVE(AppWmsTask wmsTask)
+    {
+        AGVRequestLayout<AGVTaskRequest<AGVBucketMove>> request = new()
+        {
+            Header = new()
+            {
+                AppKey = ApplicationBaseConfig.APP_KEY,
+                AppSecret = ApplicationBaseConfig.APP_SECRET,
+                RequestId = wmsTask.TaskId,
+                TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+                version = "2.9"
+            },
+            Body = new()
+            {
+                RobotJobId = wmsTask.TaskId,
+                WareHouseId = 100,
+                RobotJobGroupId = wmsTask.TaskId,
+                Sequence = 1,
+                RobotJobGroupNum = 1,
+                JobPriority = 1,
+                JobProorytyType = 0,
+                JobType = "NO_VERIFY_BUCKET_MOVE",
+                JobData = new()
+                {
+                    StartPoint = wmsTask.Origin,
+                    StartPointName = null,
+                    WorkFaces = "0",
+                    EndArea = wmsTask.Destination,
+                    EndPoint = wmsTask.Destination,
+                    EndPointName = null,
+                    BucketTypeCode = "00",
+                    LetDownFlag = 2,
+                }
+            }
+        };
+        var response = webApiPost.HttpPost<AGVRequestLayout<AGVTaskRequest<AGVBucketMove>>, AGVResponseLayout<AGVTaskResponse>>(request, CommonData.AppApiBaseInfos.GetAddress("AGV_NO_VERIFY_BUCKET_MOVE") ?? "");
+        var responseData = response.ResponseEntity;
+        if (!response.IsSend || responseData == null)
+        {
+            return "请求失败，网络故障";
+        }
+        
+        if (responseData.Body!.Success == true && responseData.Body!.Code?.ToLower() == "success")
+        {
+            // 发送成功
+            return string.Empty;
+        }
+        return responseData.Body.Message ?? "请求失败，未知原因";
+    }
+
+    /// <summary>
+    /// 发送AGV任务
+    /// </summary>
+    /// <param name="taskId"></param>
+    /// <param name="origin"></param>
+    /// <param name="destination"></param>
+    /// <returns></returns>
+    public string Send_AGV_TASK(string? taskId, string? origin, string? destination)
+    {
+        AGVRequestLayout<AGVTaskRequest<AGVBucketMove>> request = new()
+        {
+            Header = new()
+            {
+                AppKey = ApplicationBaseConfig.APP_KEY,
+                AppSecret = ApplicationBaseConfig.APP_SECRET,
+                RequestId = taskId,
+                TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+                version = "2.9"
+            },
+            Body = new()
+            {
+                RobotJobId = taskId,
+                WareHouseId = 100,
+                RobotJobGroupId = taskId,
+                Sequence = 1,
+                RobotJobGroupNum = 1,
+                JobPriority = 1,
+                JobProorytyType = 0,
+                JobType = "NO_VERIFY_BUCKET_MOVE",
+                JobData = new()
+                {
+                    StartPoint = origin,
+                    StartPointName = null,
+                    WorkFaces = "0",
+                    EndArea = destination,
+                    EndPoint = destination,
+                    EndPointName = null,
+                    BucketTypeCode = "00",
+                    LetDownFlag = 2,
+                }
+            }
+        };
+        var response = webApiPost.HttpPost<AGVRequestLayout<AGVTaskRequest<AGVBucketMove>>, AGVResponseLayout<AGVTaskResponse>>(request, CommonData.AppApiBaseInfos.GetAddress("AGV_NO_VERIFY_BUCKET_MOVE") ?? "");
+        var responseData = response.ResponseEntity;
+        if (!response.IsSend || responseData == null)
+        {
+            return "请求失败，网络故障";
+        }
+
+        if (responseData.Body!.Success == true && responseData.Body!.Code?.ToLower() == "success")
+        {
+            // 发送成功
+            return string.Empty;
+        }
+        return responseData.Body.Message ?? "请求失败，未知原因";
+    }
+
+
+
+
+
+
+}

WcsMain/Business/CirculationTask/Stacker/ExecuteWmsTask.cs

@@ -1,9 +1,254 @@
-namespace WcsMain.Business.CirculationTask.Stacker;
+using CirculateTool.Attribute;
+using WcsMain.ApiClient.DataEntity.AGVEntity;
+using WcsMain.Business.AGV;
+using WcsMain.Business.CommonAction;
+using WcsMain.Business.Container;
+using WcsMain.Constant;
+using WcsMain.DataBase.Dao;
+using WcsMain.DataBase.TableEntity;
+using WcsMain.Enum.General;
+using WcsMain.Enum.Stacker;
+using WcsMain.EquipOperation.StackerConvey;
+
+namespace WcsMain.Business.CirculationTask.Stacker;
 
 /// <summary>
-/// 执行立体仓库任务
+/// 执行仓库任务
 /// </summary>
-public class ExecuteWmsTask
+[Circulation]
+public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation stackerConveyOperation, AGVAction agvAction, ContainerAction containerAction, AppLiftInfoDao liftInfoDao)
 {
+    /// <summary>
+    /// 开始执行任务
+    /// </summary>
+    /// <returns></returns>
+    [Circulation("执行任务", 1000)]
+    public bool ExecuteWmsTaskStarter()
+    {
+        /* 执行任务列表任务 */
+        List<AppWmsTask>? wmsTasks = wmsTaskDao.Select(new AppWmsTask() { TaskStatus = (int)WmsTaskStatusEnum.create });
+        if(wmsTasks == default)
+        {
+            ConsoleLog.Error("【异常】解析Wms任务时拉取任务列表失败，与数据库连接中断");
+            Thread.Sleep(5000);
+            return true;
+        }
+        wmsTasks.ForEach(ExecuteTask);
+        /* 出库站台发送AGV接续任务 */
+        ExecuteAGVOutTask();
+        return true;
+    }
+
+    /// <summary>
+    /// 执行对应的任务
+    /// </summary>
+    /// <param name="wmsTask"></param>
+    private void ExecuteTask(AppWmsTask wmsTask)
+    {
+        switch (wmsTask.TaskType)
+        {
+            case (int)WmsTaskTypeEnum.agv: // AGV 点对点搬运
+                ExecuteAGVTask(wmsTask);
+                break;
+            case (int)WmsTaskTypeEnum.outTask:
+                ExecuteOutTask(wmsTask);
+                break;
+            case (int)WmsTaskTypeEnum.inTask:
+                ExecuteInTask(wmsTask);
+                break;
+            case (int)WmsTaskTypeEnum.moveTask:
+                ExecuteMoveTask(wmsTask);
+                break;
+            default:
+                break;
+        }
+    }
+
+    /// <summary>
+    /// 执行 AGV 任务
+    /// </summary>
+    /// <param name="wmsTask"></param>
+    private void ExecuteAGVTask(AppWmsTask wmsTask)
+    {
+        string errText = agvAction.Send_NO_VERIFY_BUCKET_MOVE(wmsTask);
+        if(!string.IsNullOrEmpty(errText))
+        {
+            ConsoleLog.Warning($"【警告】AGV点对点搬运请求AGV服务失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
+            return;
+        }
+        ConsoleLog.Success($"AGV点对点搬运请求AGV服务成功，任务号：{wmsTask.TaskId}");
+        /* 更新任务状态为执行中 */
+        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.running, ModifyTime = DateTime.Now });
+        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
+    }
+
+
+    /// <summary>
+    /// 执行入库任务
+    /// </summary>
+    /// <param name="wmsTask"></param>
+    private void ExecuteInTask(AppWmsTask wmsTask)
+    {
+        string? midPoint = GetEmptyInLift(wmsTask.Destination);
+        if (string.IsNullOrEmpty(midPoint)) return; // 没有可用的站台
+        /* 发送AGV 搬运任务 */
+        string errText = agvAction.Send_AGV_TASK(wmsTask.TaskId, wmsTask.Origin, midPoint);
+        if (!string.IsNullOrEmpty(errText)) 
+        { 
+            ConsoleLog.Warning($"【警告】入库请求AGV搬运失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
+            return;
+        }
+        ConsoleLog.Success($"入库搬运请求AGV成功，任务号：{wmsTask.TaskId}");
+        /* 更新任务状态为前往中间点，更新中间点 */
+        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, MidPoint = midPoint, TaskStatus = (int)WmsTaskStatusEnum.toMid, ModifyTime = DateTime.Now });
+        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
+        /* 四向车任务有接口返回给四向车 */
+    }
+
+    /// <summary>
+    /// 执行出库任务
+    /// </summary>
+    /// <param name="wmsTask"></param>
+    private void ExecuteOutTask(AppWmsTask wmsTask) 
+    {
+        string? midPoint = GetEmptyOutLift(wmsTask.Origin);
+        if(string.IsNullOrEmpty(midPoint)) return; // 没有可用站台
+        /* 发送四向车搬运任务 */
+        string? errText = containerAction.ExecuteOutTask(wmsTask.TaskId, wmsTask.Origin, midPoint, wmsTask.VehicleNo);
+        if (!string.IsNullOrEmpty(errText))
+        {
+            ConsoleLog.Warning($"【警告】入库请求四向车搬运失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
+            return;
+        }
+        ConsoleLog.Success($"入库搬运请求四向车成功，任务号：{wmsTask.TaskId}");
+        /* 更新任务状态为前往中间点，更新中间点 */
+        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, MidPoint = midPoint, TaskStatus = (int)WmsTaskStatusEnum.toMid, ModifyTime = DateTime.Now });
+        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
+        /* AGV接续任务由定时器触发 */
+    }
+
+
+    /// <summary>
+    /// 执行 四向车库移库任务
+    /// </summary>
+    /// <param name="wmsTask"></param>
+    private void ExecuteMoveTask(AppWmsTask wmsTask)
+    {
+        string errText = containerAction.ExecuteMoveTask(wmsTask);
+        if (!string.IsNullOrEmpty(errText))
+        {
+            ConsoleLog.Warning($"四向车移库任务请求四向车服务失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
+            return;
+        }
+        ConsoleLog.Success($"四向车移库任务请求四向车服务成功，任务号：{wmsTask.TaskId}");
+        /* 更新任务状态为执行中 */
+        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.running, ModifyTime = DateTime.Now });
+        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
+    }
+
+
+    /// <summary>
+    /// 执行AGV出库任务
+    /// </summary>
+    private void ExecuteAGVOutTask()
+    {
+        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
+        if (liftInfos == default || liftInfos.Count < 1) return;
+        foreach (var liftInfo in liftInfos)
+        {
+            (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
+            if (!string.IsNullOrEmpty(errText))
+            {
+                ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
+                continue;
+            }
+            if (model != 2 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue; // 不满足执行条件
+            /* 查找出库任务 */
+            List<AppWmsTask>? tasks = wmsTaskDao.Select(new() { VehicleNo = code, TaskStatus = (int)WmsTaskStatusEnum.arriveMid })?.OrderByDescending(o => o.CreateTime).ToList();
+            if(tasks == null || tasks.Count == 0) continue;
+            var task = tasks.First();
+            /* 下发任务 */
+            string agvErrText = agvAction.Send_AGV_TASK(task.TaskId, task.MidPoint, task.Destination);
+            if (!string.IsNullOrEmpty(agvErrText))
+            {
+                ConsoleLog.Warning($"【警告】AGV出库任务请求AGV服务失败，任务号：{task.TaskId}，异常信息：{agvErrText}");
+                return;
+            }
+            /* 更新任务状态为前往终点 */
+            var updateResult = wmsTaskDao.Update(new() { TaskId = task.TaskId, TaskStatus = (int)WmsTaskStatusEnum.toDestination, ModifyTime = DateTime.Now });
+            ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{task.TaskId}");
+        }
+    }
+
+
+
+
+    /// <summary>
+    /// 获取一个空闲的入库站台
+    /// </summary>
+    /// <param name="destination"></param>
+    /// <returns></returns>
+    private string? GetEmptyInLift(string? destination)
+    {
+        if (string.IsNullOrEmpty(destination)) return default;
+        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
+        if (liftInfos == default || liftInfos.Count < 1) return default;
+        foreach (var liftInfo in liftInfos)
+        {
+            (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
+            if(!string.IsNullOrEmpty(errText))
+            {
+                ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
+                continue;
+            }
+            if (model != 1 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue;
+            /* 检验任务是否是第一层，若是不是第一层不能分配第一层出入口 */
+            if (destination.StartsWith("1")) // [TODO]
+            {
+                if (liftInfo.LiftMode != 2) continue;
+            }
+            /* 获取这个站台的任务.没有占用任务即可重新使用 */
+            List<AppWmsTask>? tasks = wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag, TaskStatus = (int)WmsTaskStatusEnum.toMid });
+            if (tasks == default || tasks.Count > 0) continue;
+            return liftInfo.Tag;
+        }
+        return default;
+    }
+
+    /// <summary>
+    /// 获取一个空闲的出库站台
+    /// </summary>
+    /// <param name="origin"></param>
+    /// <returns></returns>
+    private string? GetEmptyOutLift(string? origin)
+    {
+        if (string.IsNullOrEmpty(origin)) return default;
+        Dictionary<string, int> liftTaskCount = [];
+        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
+        if (liftInfos == default || liftInfos.Count < 1) return default;
+        foreach (var liftInfo in liftInfos)
+        {
+            (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
+            if (!string.IsNullOrEmpty(errText))
+            {
+                ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
+                continue;
+            }
+            if (model != 2 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue;
+            /* 检验任务是否是第一层，若是不是第一层不能分配第一层出入口 */
+            if (origin.StartsWith("1")) // [TODO]
+            {
+                if (liftInfo.LiftMode != 2) continue;
+            }
+            /* 获取这个站台的任务.并计数 */
+            List<AppWmsTask>? tasks = wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag, TaskStatus = (int)WmsTaskStatusEnum.toMid });
+            if (tasks == default) continue;
+            liftTaskCount.TryAdd(liftInfo.Tag ?? "", tasks.Count);
+        }
+        var sortLiftInfos = liftTaskCount.OrderBy(o => o.Value).ToDictionary();
+        if(sortLiftInfos.Count > 0) return sortLiftInfos.First().Key;
+        return default;
+    }
+
 
 }

WcsMain/Business/CommonAction/ApiResponseAction.cs

@@ -8,17 +8,17 @@ using WcsMain.WcsAttribute.AutoFacAttribute;
 namespace WcsMain.Business.CommonAction;
 
 /// <summary>
-/// WMS 接口响应触发事件
+/// 接口响应触发事件
 /// </summary>
 [Component]
-public class WMSApiResponseAction(DataBaseData dataBaseData, AppApiRequestDao apiRequestDao)
+public class ApiResponseAction(DataBaseData dataBaseData, AppApiRequestDao apiRequestDao)
 {
 
     /// <summary>
     /// 当请求其他系统时触发本方法
     /// </summary>
     /// <param name="responseInfo"></param>
-    public void WMSApiResponse(ApiResponseInfo responseInfo)
+    public void ApiResponse(ApiResponseInfo responseInfo)
     {
         try
         {

WcsMain/Business/CommonAction/SendWmsTaskStatus.cs

@@ -255,7 +255,8 @@ public class SendWmsTaskStatus(AppWmsTaskDao wmsTaskDao, WmsWebApiPost wmsWebApi
     /// </summary>
     /// <param name="taskId"></param>
     /// <param name="count"></param>
-    public void SendTaskComplete(string? taskId, ushort count = 5)
+    /// <param name="destination"></param>
+    public void SendTaskComplete(string? taskId, ushort count = 5, string? destination = default)
     {
         Task.Factory.StartNew(() => {
             AppWmsTask? wmsTask = default;
@@ -280,7 +281,7 @@ public class SendWmsTaskStatus(AppWmsTaskDao wmsTaskDao, WmsWebApiPost wmsWebApi
             {
                 TaskId = wmsTask.TaskId,
                 TaskStatus = (int)SendWmsTaskStatusEnum.complete,
-                Destination = wmsTask.Destination,
+                Destination = destination ?? wmsTask.Destination,
                 VehicleNo = wmsTask.VehicleNo,
                 Message = "任务完成"
             };

WcsMain/Business/CommonAction/WCSTaskExecuteEvent.cs

@@ -108,6 +108,9 @@ public class WCSTaskExecuteEvent(TaskDao taskDao, SendWmsTaskStatus sendWmsTaskS
         }
     }
 
+
+   
+
     private void HandleTaskData(AppWcsTask task, string msg)
     {
         string errMsg = taskDao.ComlpeteTask(task, msg);
@@ -143,5 +146,29 @@ public class WCSTaskExecuteEvent(TaskDao taskDao, SendWmsTaskStatus sendWmsTaskS
     #endregion
 
 
+    #region WMS 任务完成时触发
+
+    /// <summary>
+    /// WMS任务完成时触发
+    /// </summary>
+    /// <param name="task"></param>
+    /// <param name="msg"></param>
+    /// <param name="destination"></param>
+    public string? CompleteTaskEvent(AppWmsTask task, string msg, string? destination)
+    {
+        /* 更新任务信息，任务完成 */
+        string? errText = taskDao.ComlpeteTask(task, msg);
+        if (!string.IsNullOrEmpty(errText))
+        {
+            ConsoleLog.Warning($"【异常】任务完成更新WMS任务状态失败，异常信息：{errText}");
+        }
+        /* 上报WMS */
+        sendWmsTaskStatus.SendTaskComplete(task.TaskId, destination: destination);
+        return errText;
+    }
+
+
+    #endregion
+
 
 }

WcsMain/Business/Container/ContainerAction.cs

@@ -0,0 +1,80 @@
+using WcsMain.ApiClient.DataEntity.ContainerEntity;
+using WcsMain.Common;
+using WcsMain.DataBase.TableEntity;
+using WcsMain.Plugins;
+using WcsMain.ExtendMethod;
+using WcsMain.WcsAttribute.AutoFacAttribute;
+
+namespace WcsMain.Business.Container;
+
+/// <summary>
+/// 四向车库
+/// </summary>
+[Component]
+public class ContainerAction(ContainerWebApiPost webApiPost)
+{
+    /// <summary>
+    /// 四向车库执行移库任务
+    /// </summary>
+    /// <param name="wmsTask"></param>
+    /// <returns></returns>
+    public string ExecuteMoveTask(AppWmsTask wmsTask)
+    {
+        ContainerTaskResqust containerTaskResqust = new()
+        {
+            RequestId = Guid.NewGuid().ToString(),
+            Key = "",
+            WmsTaskId = wmsTask.TaskId,
+            FromCellNo = wmsTask.Origin,
+            TaskType = "3",
+            ToCell = wmsTask.Destination,
+            PalletNo = wmsTask.VehicleNo
+        };
+        var response = webApiPost.HttpPost<ContainerTaskResqust, ContainerTaskResponse>(containerTaskResqust, CommonData.AppApiBaseInfos.GetAddress("ContainerOutMoveApiAddress") ?? "");
+        var responseData = response.ResponseEntity;
+        if(!response.IsSend || responseData == null)
+        {
+            return "请求失败，网络故障";
+        }
+        if(responseData.Code == "200")
+        {
+            return string.Empty;
+        }
+        return responseData.Message ?? "请求失败，未知异常";
+    }
+
+    /// <summary>
+    /// 发送出库任务
+    /// </summary>
+    /// <param name="taskId"></param>
+    /// <param name="origin"></param>
+    /// <param name="destination"></param>
+    /// <param name="vehicleNo"></param>
+    /// <returns></returns>
+    public string ExecuteOutTask(string? taskId, string? origin, string? destination, string? vehicleNo)
+    {
+        ContainerTaskResqust containerTaskResqust = new()
+        {
+            RequestId = Guid.NewGuid().ToString(),
+            Key = "",
+            WmsTaskId = taskId,
+            FromCellNo = origin,
+            TaskType = "2",
+            ToCell = destination,
+            PalletNo = vehicleNo
+        };
+        var response = webApiPost.HttpPost<ContainerTaskResqust, ContainerTaskResponse>(containerTaskResqust, CommonData.AppApiBaseInfos.GetAddress("ContainerOutMoveApiAddress") ?? "");
+        var responseData = response.ResponseEntity;
+        if (!response.IsSend || responseData == null)
+        {
+            return "请求失败，网络故障";
+        }
+        if (responseData.Code == "200")
+        {
+            return string.Empty;
+        }
+        return responseData.Message ?? "请求失败，未知异常";
+    }
+
+
+}

WcsMain/Constant/ApplicationBaseConfig.cs

@@ -0,0 +1,14 @@
+namespace WcsMain.Constant;
+
+public class ApplicationBaseConfig
+{
+    /// <summary>
+    /// AGV
+    /// </summary>
+    public const string APP_KEY = "app";
+
+    /// <summary>
+    /// AGV
+    /// </summary>
+    public const string APP_SECRET = "";
+}

WcsMain/DataBase/Dao/AppLiftInfoDao.cs

@@ -0,0 +1,39 @@
+using WcsMain.Common;
+using WcsMain.DataBase.TableEntity;
+using WcsMain.WcsAttribute.AutoFacAttribute;
+
+namespace WcsMain.DataBase.Dao;
+
+[Component]
+public class AppLiftInfoDao
+{
+    /// <summary>
+    /// 查询
+    /// </summary>
+    /// <param name="liftInfo"></param>
+    /// <returns></returns>
+    public List<AppLiftInfo>? Query(AppLiftInfo liftInfo)
+    {
+        try
+        {
+            var sqlFunc = CommonTool.DbServe.Queryable<AppLiftInfo>()
+                .WhereIF(liftInfo.LiftId != default, w => w.LiftId == liftInfo.LiftId)
+                .WhereIF(liftInfo.LiftName != default, w => w.LiftName == liftInfo.LiftName)
+                .WhereIF(liftInfo.LiftType != default, w => w.LiftType == liftInfo.LiftType)
+                .WhereIF(liftInfo.Tag != default, w => w.Tag == liftInfo.Tag)
+                .WhereIF(liftInfo.Status != default, w => w.Status == liftInfo.Status)
+                .WhereIF(liftInfo.LiftMode != default, w => w.LiftMode == liftInfo.LiftMode)
+                .WhereIF(liftInfo.Remark != default, w => w.Remark == liftInfo.Remark)
+                .OrderBy(o => o.LiftId);
+            return sqlFunc.ToList();
+        }
+        catch (Exception ex)
+        {
+            _ = ex;
+            return null;
+        }
+    }
+
+
+
+}

WcsMain/DataBase/MixDao/TaskDao.cs

@@ -208,5 +208,29 @@ public class TaskDao
         return result.Data ? string.Empty : result.ErrorException.Message;
     }
 
+    /// <summary>
+    /// 完成任务
+    /// </summary>
+    /// <param name="wcsTask"></param>
+    /// <param name="msg"></param>
+    /// <returns></returns>
+    public string? ComlpeteTask(AppWmsTask wmsTask, string msg)
+    {
+        try
+        {
+            var updateResult = CommonTool.DbServe
+                           .Updateable(new AppWmsTask()
+                           { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.complete, EndTime = DateTime.Now, TaskMsg = msg })
+                               .IgnoreColumns(ignoreAllNullColumns: true)
+                               .ExecuteCommand();
+            return updateResult > 0 ? null : "失败";
+        }
+        catch (Exception ex)
+        {
+            return ex.Message;
+        }
+       
+    }
+
 
 }

WcsMain/DataBase/TableEntity/AppLiftInfo.cs

@@ -0,0 +1,46 @@
+namespace WcsMain.DataBase.TableEntity;
+
+/// <summary>
+/// 提升机信息
+/// </summary>
+public class AppLiftInfo
+{
+    /// <summary>
+    /// 提升机ID
+    /// </summary>
+    public string? LiftId { get; set; }
+
+    /// <summary>
+    /// 提升机名称
+    /// </summary>
+    public string? LiftName { get; set; }
+
+    /// <summary>
+    /// 提升机类型
+    /// </summary>
+    public string? LiftType { get; set; }
+
+    /// <summary>
+    /// 标记
+    /// </summary>
+    public string? Tag { get; set; }
+
+    /// <summary>
+    /// 状态
+    /// </summary>
+    public int? Status { get; set; }
+
+    /// <summary>
+    /// 提升机模式
+    /// </summary>
+    public int? LiftMode { get; set; }
+
+    /// <summary>
+    /// 备注
+    /// </summary>
+    public string? Remark { get; set; }
+
+
+
+
+}

WcsMain/Enum/Stacker/WmsTaskStatusEnum.cs

@@ -9,5 +9,9 @@ public enum WmsTaskStatusEnum
     queuing = 1, // 排队中
     running = 2, // 执行中
     complete = 3, // 执行完成
+    toMid = 4, // 前往中间点
+    toDestination = 5, // 前往终点
+    arriveMid = 6, // 到达中间点
+    arriveDestination = 7, // 到达终点
     err = 9, // 执行异常
 }

WcsMain/Enum/Stacker/WmsTaskTypeEnum.cs

@@ -8,6 +8,7 @@ public enum WmsTaskTypeEnum
     inTask = 1, // 入库任务
     outTask = 2, // 出库任务
     pick = 4, // 拣选任务
-    check = 10, // 盘点任务
+    //check = 10, // 盘点任务
     moveTask = 9, // 移库任务
+    agv = 10, // 移动机器人
 }

WcsMain/EquipOperation/StackerConvey/StackerConveyOperation.cs

@@ -1,8 +1,12 @@
-using WcsMain.Common;
+using System.Text.RegularExpressions;
+using System.Text;
+using WcsMain.AppEntity.LED;
+using WcsMain.Common;
 using WcsMain.Enum.Plc;
 using WcsMain.EquipOperation.Entity;
 using WcsMain.EquipOperation.Entity.StackerConvey;
 using WcsMain.WcsAttribute.AutoFacAttribute;
+using static System.Runtime.InteropServices.JavaScript.JSType;
 
 namespace WcsMain.EquipOperation.StackerConvey;
 
@@ -46,6 +50,31 @@ public class StackerConveyOperation
         return (string.Empty, stackerConveyInfo);
     }
 
+    /// <summary>
+    /// 获取提升机信息 ---- 上汽项目专用
+    /// </summary>
+    /// <param name="stackerConveyName"></param>
+    /// <returns></returns>
+    public (string errText, short model, short allowAction, short errCode, string code) GetLiftInfo(string stackerConveyName)
+    {
+        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
+        {
+            return ("设备尚未连接", 0, 0, 999, ""); // 未连接PLC
+        }
+        var readResult = CommonTool.Siemens.ReadByteWithName($"提升机信息{stackerConveyName}", 36);
+        if (!readResult.Success || readResult.Value == default)
+        {
+            return (readResult.Message ?? "读取失败", 0, 0, 999, ""); // 读取失败
+        }
+        var data = readResult.Value;
+        short model = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 0));
+        short allowAction = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 2));
+        short errCode = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 4));
+        var str = Encoding.ASCII.GetString(data, 6, 20);
+        string code = Regex.Replace(str, "\\W", "");
+        return (string.Empty, model, allowAction, errCode, code);
+    }
+
 
     /// <summary>
     /// 获取输送机任务号

WcsMain/Plugins/AGVWebApiPost.cs

@@ -0,0 +1,22 @@
+using ApiTool;
+using WcsMain.Business.CommonAction;
+using WcsMain.Common;
+using WcsMain.ExtendMethod;
+using WcsMain.WcsAttribute.AutoFacAttribute;
+
+namespace WcsMain.Plugins;
+
+
+/// <summary>
+/// AGV 接口工具
+/// </summary>
+[Component]
+public class AGVWebApiPost : WebApiPost
+{
+    public AGVWebApiPost(ApiResponseAction apiResponseAction)
+    {
+        SetResponseAction(apiResponseAction.ApiResponse);
+        SetBaseUrl(CommonData.AppApiBaseInfos.GetAddress("AGVBaseApiAddress") ?? "");
+    }
+
+}

WcsMain/Plugins/ContainerWebApiPost.cs

@@ -0,0 +1,20 @@
+using ApiTool;
+using WcsMain.Business.CommonAction;
+using WcsMain.Common;
+using WcsMain.ExtendMethod;
+using WcsMain.WcsAttribute.AutoFacAttribute;
+
+namespace WcsMain.Plugins;
+
+/// <summary>
+/// 四向车库接口请求
+/// </summary>
+[Component]
+public class ContainerWebApiPost : WebApiPost
+{
+    public ContainerWebApiPost(ApiResponseAction apiResponseAction)
+    {
+        SetResponseAction(apiResponseAction.ApiResponse);
+        SetBaseUrl(CommonData.AppApiBaseInfos.GetAddress("ContainerBaseApiAddress") ?? "");
+    }
+}

WcsMain/Plugins/WmsWebApiPost.cs

@@ -14,9 +14,9 @@ namespace WcsMain.Plugins;
 [Component]
 public class WmsWebApiPost : WebApiPost
 {
-    public WmsWebApiPost(WMSApiResponseAction wmsApiResponseAction)
+    public WmsWebApiPost(ApiResponseAction wmsApiResponseAction)
     {
-        SetResponseAction(wmsApiResponseAction.WMSApiResponse);
+        SetResponseAction(wmsApiResponseAction.ApiResponse);
         SetBaseUrl(CommonData.AppApiBaseInfos.GetAddress("WmsBaseApiAddress") ?? "");
     }
 

WcsMain/WcsMain.csproj

@@ -38,12 +38,12 @@
 
   <ItemGroup>
     <Folder Include="ApiServe\Controllers\Dto\CommonEntity\" />
+    <Folder Include="ApiServe\Controllers\AGVController\" />
     <Folder Include="ApiServe\Service\TestService\" />
     <Folder Include="Business\CirculationTask\Container\" />
     <Folder Include="Business\CirculationTask\Shuttle\" />
     <Folder Include="Business\Stacker\" />
     <Folder Include="Business\StackerConvey\" />
-    <Folder Include="Business\Container\" />
     <Folder Include="Language\Entity\" />
     <Folder Include="Language\zh-CN\" />
     <Folder Include="Language\en-US\" />

WcsMain/appsettings.json

@@ -8,7 +8,7 @@
   "AllowedHosts": "*",
   "Settings": {
     "DBMysql": "server=10.90.36.71;port=3306;user=developer;password=developer;database=wcs_kate_suzhou;",
-    "DBMysqlLocal": "server=192.168.234.134;port=3306;user=developer;password=developer;database=wcs_kate_suzhou;",
+    "DBMysqlLocal": "server=192.168.234.134;port=3306;user=developer;password=developer;database=app_wcs_shangqi;",
 
     "DBMssql": "Data Source=192.168.142.131;Initial Catalog=wcs;User Id=sa;Password=Sa123;",
     "DBMssqlLocal": "Data Source=192.168.142.131;Initial Catalog=wcs_stacker;User Id=sa;Password=Sa123;",