WcsFramework/YWGC/FJK/WCS.WorkEngineering/Systems/NoInteractionSystems.cs

using Newtonsoft.Json;
using PlcSiemens.Core.Extension;
using ServiceCenter.Extensions;
using ServiceCenter.Logs;
using ServiceCenter.SqlSugars;
using SqlSugar;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol.Station;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Model.WMS;
using WCS.WorkEngineering.WebApi.Controllers;
using WCS.WorkEngineering.WebApi.Models.WMS.Request;
using WCS.WorkEngineering.Worlds;
using static Dm.net.buffer.ByteArrayBuffer;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
using TaskStatus = WCS.Entity.TaskStatus;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    ///  无交互系统
    /// </summary>
    [BelongTo(typeof(NoInteractionWorld))]
    [Description("无交互系统")]
    public class NoInteractionSystems : DeviceSystem<Device<IStation520>>
    {
        protected override bool ParallelDo => true;

        public override void Do(Device<IStation520> obj)
        {
            var taskInfos = new List<int>();
            var sqlSugar = new SqlSugarHelper();

            SqlSugarHelper.Do(db =>
            {
                //获取所有的新建任务，组盘任务不需要
                taskInfos = db.Default.Queryable<WCS_TaskInfo>().NoLock().Where(x => x.Status == 0).ToList()
                    .Where(x => x.Type != TaskType.SetPlate || (x.Type == TaskType.SetPlate && x.AddrFrom != "Robot") && x.BusType!="芯股用空托盘入库" && !x.BarCode.Contains("Error")).Select(x => x.ID).ToList();
                var time = DateTime.Now.AddMinutes(-20);
                var time1 = DateTime.Now.AddMinutes(-40);
                var timeOut = db.Default.Queryable<WCS_TaskInfo>().NoLock().Count(x => x.BusType == "车间叫料" && x.Status < TaskStatus.StackerExecution && x.AddTime < time);
                if (timeOut > 0) World.Log($"共有{timeOut}个车间叫料任务超过二十分钟未执行，请检查相关相关任务对应的堆垛机是否正常、堆垛机放货点是否卡任务等", LogLevelEnum.High);

                var timeOut1 = db.Default.Queryable<WCS_TaskInfo>().NoLock().Count(x => x.BusType == "车间叫料" && x.Status < TaskStatus.StackerExecution && x.AddTime < time1);
                if (timeOut1 > 0) World.Log($"共有{timeOut1}个车间叫料任务超过四十分钟未执行，请检查相关相关任务对应的堆垛机是否正常、堆垛机放货点是否卡任务等", LogLevelEnum.High);

                var timeOut2 = db.Default.Queryable<WCS_TaskInfo>().NoLock().Count(x => x.BusType == "皮盘入库" && x.Status < TaskStatus.StackerExecution && x.AddTime < time);
                if (timeOut2 > 0) World.Log($"共有{timeOut2}个皮盘入库任务超过二十分钟未执行，请检查相关相关任务及对应agv设备", LogLevelEnum.High);

                var timeOut3 = db.Default.Queryable<WCS_TaskInfo>().NoLock().Count(x => x.BusType == "皮盘入库" && x.Status < TaskStatus.StackerExecution && x.AddTime < time1);
                if (timeOut3 > 0) World.Log($"共有{timeOut3}个皮盘入库任务超过四十分钟未执行，请检查相关相关任务及对应agv设备", LogLevelEnum.High);

                var time3 = DateTime.Now.AddHours(-24);
                var timeOut4 = db.Default.Queryable<BillInvnow>().NoLock().Count(x => x.AddTime < time3 && x.ContGrpBarCode.Contains("TPB"));
                if (timeOut4 > 0) World.Log($"共有{timeOut4}个库存信息超过24小时未执行，请检查相关库存信息并处理", LogLevelEnum.High);

                var time4 = DateTime.Now.AddHours(-12);
                var timeOut5 = db.Default.Queryable<WCS_Palletizing>().NoLock().Where(x => x.AddTime < time4 && !x.Finish).ToList();
                if (timeOut5.Count > 0) World.Log($"共有{timeOut5.Count}个桁架码垛信息超过12小时未结束，请检查相关码垛信息并处理,具体在{JsonConvert.SerializeObject(timeOut5.Select(x=>x.PalletizingStation).ToList())}", LogLevelEnum.High);
            });
            if (!taskInfos.Any())
            {
                return;
            }

            var isEnd = false; //每个周期只处理一个任务
            foreach (var item in taskInfos)
            {
                if (isEnd) return;

                try
                {
                    SqlSugarHelper.Do(db =>
                    {
                        var task = db.Default.Queryable<WCS_TaskInfo>().RowLock().Where(t => t.ID == item && t.Status== TaskStatus.NewBuild).First();

                        switch (task.Type)
                        {
                            case TaskType.SetPlate:
                                if (task.AddrFrom != "Robot")
                                {
                                    //更新任务状态
                                    task.Status = TaskStatus.WaitingToExecute;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化入库任务信息");
                                    isEnd = true;
                                }
                                break;

                            case TaskType.EnterDepot:
                                if (task.LastInteractionPoint == "2")
                                {
                                    var sta = GetAgvStation(task, db);
                                    var agv = new WCS_AgvTaskInfo()
                                    {
                                        ID = db.GetAgvTaskId(),
                                        TaskType = AGVTaskType.EnterDepot,
                                        Status = AGVTaskStatus.NewBuild,
                                        TaskId = task.ID,
                                        Position = task.WorkBench,
                                        Station = sta,
                                        AddWho = "WCS",
                                        AddTime = DateTime.Now
                                    };
                                    db.Default.InsertableRowLock(agv).SplitTable().ExecuteCommand();
                                    task.AgvTaskID = agv.ID;
                                    task.Status = Entity.TaskStatus.WaitingToExecute;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.AgvTaskID }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化单独返皮盘任务");
                                }
                                else if (task.BusType == TaskBusType.芯股用空托盘入库.GetDescription()) return;
                                else if (task.BusType == TaskBusType.人工满托入库.GetDescription())
                                {
                                    var agv = new WCS_AgvTaskInfo()
                                    {
                                        ID = db.GetAgvTaskId(),
                                        TaskType = AGVTaskType.EnterDepot,
                                        Status = AGVTaskStatus.NewBuild,
                                        TaskId = task.ID,
                                        Position = task.WorkBench,
                                        Station = task.WarehouseCode switch
                                        {
                                            "1N" => "2535",
                                            "1S" => "2735",
                                            "2N" => "2935",
                                            "2S" => "3135",
                                            _ => "2535"
                                        },
                                         AddWho = "WCS",
                                        AddTime = DateTime.Now
                                    };
                                    db.Default.InsertableRowLock(agv).SplitTable().ExecuteCommand();
                                    task.AgvTaskID = agv.ID;
                                    task.Device = task.WarehouseCode switch
                                    {
                                        "1N" => "TY1",
                                        "1S" => "TY2",
                                        "2N" => "TY3",
                                        "2S" => "TY4",                                      
                                        _ => "TY1"
                                    };
                                    task.Height = 1;
                                    task.Status = Entity.TaskStatus.WaitingToExecute;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.AgvTaskID, x.Device, x.Height }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化人工满托入库任务");
                                }
                                else if (task.BusType == TaskBusType.UT人工满托入库.GetDescription())
                                {
                                    var agv = new WCS_AgvTaskInfo()
                                    {
                                        ID = db.GetAgvTaskId(),
                                        TaskType = AGVTaskType.EnterDepot,
                                        Status = AGVTaskStatus.NewBuild,
                                        TaskId = task.ID,
                                        Position = task.WorkBench,
                                        Station = task.WarehouseCode switch
                                        {
                                            "1N" => "2533",
                                            "1S" => "2733",
                                            "2N" => "2933",
                                            "2S" => "3133",
                                            _ => "2533"
                                        },
                                        AddWho = "WCS",
                                        AddTime = DateTime.Now
                                    };
                                    db.Default.InsertableRowLock(agv).SplitTable().ExecuteCommand();
                                    task.AgvTaskID = agv.ID;
                                    task.Device = task.WarehouseCode switch
                                    {
                                        "1N" => "TY1",
                                        "1S" => "TY2",
                                        "2N" => "TY3",
                                        "2S" => "TY4",
                                        _ => "TY1"
                                    };
                                    task.Height = 1;
                                    task.Status = Entity.TaskStatus.WaitingToExecute;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.AgvTaskID, x.Device, x.Height }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化UT人工满托入库任务");
                                }
                                else if (task.BusType == TaskBusType.重绕满托入库.GetDescription())
                                {
                                    task.Status = Entity.TaskStatus.WaitingToExecute;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化入库任务信息");
                                }
                                else if (task.BusType == TaskBusType.帘线退料重绕.GetDescription())
                                {                                   
                                    var agv = new WCS_AgvTaskInfo()
                                    {
                                        ID = db.GetAgvTaskId(),
                                        TaskType = AGVTaskType.EnterDepot,
                                        Status = AGVTaskStatus.NewBuild,
                                        TaskId = task.ID,
                                        Position = task.WorkBench,
                                        WorkShop = 222,
                                        Station = "9001",
                                        AddWho = "WCS",
                                        AddTime = DateTime.Now
                                    };                                  
                                    db.Default.InsertableRowLock(agv).SplitTable().ExecuteCommand();
                                    task.Status = Entity.TaskStatus.WaitingToExecute;
                                    task.AgvTaskID = agv.ID;
                                    task.AddrTo = agv.Station;
                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status,x.AgvTaskID,x.AddrTo }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化入库任务信息");
                                }
                                else
                                {
                                    //更新任务状态
                                    task.Status = Entity.TaskStatus.WaitingToExecute;
                                    task.Device = task.WarehouseCode switch
                                    {
                                        "1N" => "SRM1",
                                        "1S" => "SRM2",
                                        "2N" => "SRM3",
                                        "2S" => "SRM4",
                                        "3N" => "SRM5",
                                        "3S" => "SRM6",
                                        _ => task.Device
                                    };

                                    task.Device = task.AddrFrom switch
                                    {
                                        "1666" or "1661" => "SRM1",
                                        "1681" or "1676" => "SRM2",
                                        "1696" or "1691" => "SRM3",
                                        "1711" or "1706" => "SRM4",
                                        "1726" or "1721" => "SRM5",
                                        "1741" or "1736" => "SRM6",
                                        _ => task.Device
                                    };

                                    //计算下一个地址
                                    var path1 = DevicePath.GetPath(task.AddrFrom, task.Device);
                                    task.AddrNext = path1.Points[1].Code;

                                    #region 二次码垛出库口改入库口

                                    var des1 = task.AddrNext;
                                    var des2 = "1606";
                                    //分拣一
                                    if (task.AddrNext == "1604")
                                    {
                                        des2 = "1606";
                                    }
                                    else if (task.AddrNext == "1614")
                                    {
                                        des2 = "1616";
                                    }
                                    //分拣二
                                    else if (task.AddrNext == "1624")
                                    {
                                        des2 = "1626";
                                    }
                                    else if (task.AddrNext == "1634")
                                    {
                                        des2 = "1636";
                                    }
                                    //分拣三
                                    else if (task.AddrNext == "1644")
                                    {
                                        des2 = "1646";
                                    }
                                    else if (task.AddrNext == "1654")
                                    {
                                        des2 = "1656";
                                    }
                                    var sys = db.Default.Queryable<fjSysConfig>().NoLock().First(x => x.Code == des2);
                                    if (sys == null) return;
                                    var isForced = sys.SContent == "1" ? true : false;

                                    var num1 = db.Default.Queryable<WCS_TaskInfo>().RowLock().Where(t => t.WorkBench == des1 && t.Status < TaskStatus.Finish && t.Type == TaskType.EnterDepot).Count();
                                    var num2 = db.Default.Queryable<WCS_TaskInfo>().RowLock().Where(t => t.WorkBench == des2 && t.Status < TaskStatus.Finish && t.Type == TaskType.EnterDepot).Count();
                                    if (task.AddrNext == "1604" || task.AddrNext == "1624" || task.AddrNext == "1644"
                                        || task.AddrNext == "1614" || task.AddrNext == "1634" || task.AddrNext == "1654")
                                    {
                                        task.AddrNext = isForced == false ? task.AddrNext : (num1 >= num2 ? des2 : des1);
                                    }
                                    task.WorkBench = task.AddrNext;
                                    #endregion
                                    task.SrmStation = task.BarCode.Contains("TPA") || task.BarCode.Contains("TPB") ? task.AddrFrom : path1.Points[2].Code;

                                    db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.Device, x.AddrNext, x.SrmStation, x.WorkBench }).ExecuteCommand();
                                    task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化入库任务信息");
                                }

                                isEnd = true;
                                break;

                            case TaskType.OutDepot:
                                {
                                    if (task.Device.Contains("Robot")) //机器人任务
                                    {
                                        var lastTask = db.Default.Queryable<WCS_TaskInfo>().NoLock().First(x => x.Type == TaskType.OutDepot && x.AddrTo == task.AddrTo && x.Status > TaskStatus.WaitingToExecute && x.Status < TaskStatus.Finish);
                                        if (lastTask != null)
                                        {
                                            World.Log($"等待任务结束:{task.AddrTo}上一组码垛任务未结束，等待{lastTask.ID}任务完成后开始初始化当前任务{task.ID}");
                                            return;
                                        }
                                        var pos = task.AddrFrom.Split("-");
                                        task.Status = Entity.TaskStatus.WaitingToExecute;
                                        task.Line = pos[0].ToShort();
                                        task.Col = pos[1].ToShort();
                                        task.Layer = pos[2].ToShort();
                                        task.Depth = pos[3].ToShort();
                                        db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.Line, x.Col, x.Layer, x.Depth }).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化出库任务信息,放货站台:{task.SrmStation}");
                                        isEnd = true;
                                    }
                                    else if (task.Device == "FJXG") //芯股仓库的任务
                                    {
                                        if (task.LastInteractionPoint != "3") //车间叫料任务，此值为3时是单独取满任务
                                        {
                                            var sta = GetAgvStation(task, db); //芯股任务，取货站台就是芯股站台
                                            var agv = new WCS_AgvTaskInfo()
                                            {
                                                ID = db.GetAgvTaskId(),
                                                TaskType = AGVTaskType.EnterDepot,
                                                Status = AGVTaskStatus.NewBuild,
                                                TaskId = task.ID,
                                                Position = task.WorkBench,
                                                Station = sta,
                                                AddWho = "WCS",
                                                AddTime = DateTime.Now
                                            };
                                            db.Default.InsertableRowLock(agv).SplitTable().ExecuteCommand();
                                        }
                                        var agvId = DateTime.Now.GetFormat(GetFormatterEnum.only) + task.ID;
                                        var agvTask = new WCS_AgvTaskInfo()
                                        {
                                            ID = db.GetAgvTaskId(),
                                            TaskType = AGVTaskType.CallMaterial,
                                            Status = AGVTaskStatus.NewBuild,
                                            TaskId = task.ID,
                                            Position = task.WorkBench,
                                            Station = task.AddrFrom,
                                            AddWho = "WCS",
                                            AddTime = DateTime.Now,
                                            AgvID = agvId
                                        };
                                        //开始处理车间叫料AGV任务任务
                                        db.Default.InsertableRowLock(agvTask).SplitTable().ExecuteCommand();
                                        agvTask = db.Default.Queryable<WCS_AgvTaskInfo>().RowLock().SplitTable(x => x.Take(2)).Single(x => x.TaskId == task.ID && x.TaskType == AGVTaskType.CallMaterial);
                                        if (agvTask.Status != AGVTaskStatus.NewBuild)
                                        {
                                            World.Log($"AGV任务{agvTask.ID}状态不是新建", LogLevelEnum.High);
                                            return;
                                        }
                                        agvId = agvTask.AgvID;
                                        agvTask.Status = AGVTaskStatus.Confirm;
                                        agvTask.AgvStatus = AGVTaskStatus.Confirm;
                                        db.Default.UpdateableRowLock(agvTask).UpdateColumns(x => new { x.AgvID, x.Status, x.AgvStatus }).SplitTable(x => x.Take(2)).ExecuteCommand();
                                        task.Status = TaskStatus.AGVExecution;
                                        task.AgvTaskID = agvTask.ID;
                                        task.EditTime = DateTime.Now;
                                        task.EditWho = "WCS";
                                        db.Default.Updateable(task).UpdateColumns(x => new { x.Status, x.AgvTaskID, x.EditTime, x.EditWho }).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db.Default, task.AddrFrom, "AGV", $"任务下发至AGV{agvId}");
                                        var res = AgvApi.机台叫料(task.AddrFrom, task.WorkBench, agvId);

                                        isEnd = true;
                                    }
                                    else if (task.BusType == TaskBusType.芯股站台送空托.GetDescription())
                                    {
                                        if (task.SrmStation == "1")
                                        {
                                            var srmStation = new string[2];
                                            switch (task.Device)
                                            {
                                                case "SRM1":
                                                    srmStation[0] = "2534";
                                                    srmStation[1] = "2533";
                                                    break;

                                                case "SRM2":
                                                    srmStation[0] = "2734";
                                                    srmStation[1] = "2733";
                                                    break;

                                                case "SRM3":
                                                    srmStation[0] = "2934";
                                                    srmStation[1] = "2933";
                                                    break;

                                                case "SRM4":
                                                    srmStation[0] = "3134";
                                                    srmStation[1] = "3133";

                                                    break;

                                                case "SRM5":
                                                    srmStation[0] = "3334";
                                                    srmStation[1] = "3333";
                                                    break;

                                                case "SRM6":
                                                    srmStation[0] = "3534";
                                                    srmStation[1] = "3533";
                                                    break;
                                            }

                                            //开始计算当前这个任务要从哪个站台出
                                            //计算两个站台小于取货完成数量的AGV任务
                                            var agv1 = db.Default.Queryable<WCS_TaskInfo>().NoLock().Where(x => x.Status <= TaskStatus.StackerExecution && x.AddrTo == srmStation[0]).Count();
                                            var agv2 = db.Default.Queryable<WCS_TaskInfo>().NoLock().Where(x => x.Status <= TaskStatus.StackerExecution && x.AddrTo == srmStation[1]).Count();
                                            task.SrmStation = "";
                                            //if (srmStation[0] == "2534"/* || srmStation[0] == "2934"*/)
                                            //{
                                            //    task.AddrTo = srmStation[0];
                                            //}
                                            //else
                                            {
                                                task.AddrTo = agv1 > agv2 ? srmStation[1] : srmStation[0];
                                            }

                                        }
                                        if (task.SrmStation.IsNullOrEmpty()) //如果没有指定放货站台
                                        {
                                            if (task.Device.IsNullOrEmpty())
                                            {
                                                task.Device = "SRM" + task.Tunnel.GetLastDigit();
                                            }
                                            //获取堆垛机到目标地址的路径信息
                                            var path = DevicePath.GetPath(task.Device, task.AddrTo);
                                            task.SrmStation = path.Points[1].Code;
                                        }

                                        //更新任务状态
                                        task.Status = Entity.TaskStatus.WaitingToExecute;
                                        db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.SrmStation, x.AddrTo, x.Status }).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化出库任务信息,放货站台:{task.SrmStation}");
                                        isEnd = true;
                                    }
                                    else if (task.Device == "CR")
                                    {
                                        if (task.LastInteractionPoint != "3") //车间叫料任务，此值为3时是单独取满任务
                                        {
                                            //var sta = GetAgvStation(task, db);
                                            var agv = new WCS_AgvTaskInfo()
                                            {
                                                ID = db.GetAgvTaskId(),
                                                TaskType = AGVTaskType.EnterDepot,
                                                Status = AGVTaskStatus.NewBuild,
                                                TaskId = task.ID,
                                                Position = task.WorkBench,
                                                Station = "2501",//默认去分拣一
                                                AddWho = "WCS",
                                                AddTime = DateTime.Now
                                            };
                                            db.Default.InsertableRowLock(agv).SplitTable().ExecuteCommand();
                                        }
                                        //更新任务状态
                                        task.Status = Entity.TaskStatus.WaitingToExecute;
                                        task.AddrTo = task.WorkBench;
                                        db.Default.UpdateableRowLock(task).UpdateColumns(x => new {x.Status , x.AddrTo }).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化出库任务信息,重绕组盘区{task.AddrFrom}");
                                        isEnd = true;
                                        break;
                                    }
                                    else //立库出库任务
                                    {
                                        if (task.SrmStation == "1")
                                        {
                                            var srmStation = new string[2];
                                            switch (task.Device)
                                            {
                                                case "SRM1":
                                                    srmStation[0] = "2534";
                                                    srmStation[1] = "2533";
                                                    break;

                                                case "SRM2":
                                                    srmStation[0] = "2734";
                                                    srmStation[1] = "2733";
                                                    break;

                                                case "SRM3":
                                                    srmStation[0] = "2934";
                                                    srmStation[1] = "2933";
                                                    break;

                                                case "SRM4":
                                                    srmStation[0] = "3134";
                                                    srmStation[1] = "3133";

                                                    break;

                                                case "SRM5":
                                                    srmStation[0] = "3334";
                                                    srmStation[1] = "3333";
                                                    break;

                                                case "SRM6":
                                                    srmStation[0] = "3534";
                                                    srmStation[1] = "3533";
                                                    break;
                                            }

                                            //开始计算当前这个任务要从哪个站台出
                                            //计算两个站台小于取货完成数量的AGV任务
                                            var agv1 = db.Default.Queryable<WCS_TaskInfo>().NoLock().Where(x => x.Status <= TaskStatus.StackerExecution && x.AddrTo == srmStation[0]).Count();
                                            var agv2 = db.Default.Queryable<WCS_TaskInfo>().NoLock().Where(x => x.Status <= TaskStatus.StackerExecution && x.AddrTo == srmStation[1]).Count();
                                            task.SrmStation = "";
                                            //if (srmStation[0] == "2534"/* || srmStation[0] == "2934"*/)
                                            //{
                                            //    task.AddrTo = srmStation[0];
                                            //}
                                            //else
                                            {
                                                task.AddrTo = agv1 > agv2 ? srmStation[1] : srmStation[0];
                                            }

                                        }
                                        if (task.SrmStation.IsNullOrEmpty()) //如果没有指定放货站台
                                        {
                                            if (task.Device.IsNullOrEmpty())
                                            {
                                                task.Device = "SRM" + task.Tunnel.GetLastDigit();
                                            }
                                            //获取堆垛机到目标地址的路径信息
                                            var path = DevicePath.GetPath(task.Device, task.AddrTo);
                                            task.SrmStation = path.Points[1].Code;
                                        }

                                        var devs = Device.All.Where(x => x.HasFlag(DeviceFlags.AGV取货站台口)).Select(x => x.Code);
                                        if (devs.Contains(task.SrmStation) && task.LastInteractionPoint != "3") //车间叫料任务，此值为3时是单独取满任务
                                        {
                                            var sta = GetAgvStation(task, db);

                                            var agv = new WCS_AgvTaskInfo()
                                            {
                                                ID = db.GetAgvTaskId(),
                                                TaskType = AGVTaskType.EnterDepot,
                                                Status = AGVTaskStatus.NewBuild,
                                                TaskId = task.ID,
                                                Position = task.WorkBench,
                                                Station = sta,
                                                AddWho = "WCS",
                                                AddTime = DateTime.Now
                                            };
                                            db.Default.InsertableRowLock(agv).SplitTable().ExecuteCommand();
                                        }
                                        //更新任务状态
                                        task.Status = Entity.TaskStatus.WaitingToExecute;
                                        db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.SrmStation, x.AddrTo, x.Status }).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db.Default, task.Device, $"初始化出库任务信息,放货站台:{task.SrmStation}");
                                        isEnd = true;
                                    }
                                    break;
                                }
                            case TaskType.Delivery:
                                break;

                            case TaskType.EmptyInit:
                                break;
                        }
                    });
                }
                catch (Exception ex)
                {
                    if (ex.Message.Contains("Index")) World.Log($"{ex.Message}:{ex.StackTrace}");
                    if (ex.Message.Contains("SqlTransaction")) World.Log($"{ex.Message}:{ex.StackTrace}");
                    World.Log(ex.Message, LogLevelEnum.Mid);
                }
            }
        }

        public override bool Select(Device dev)
        {
            return dev.Code == nameof(NoInteractionSystems);
        }


        /// <summary>
        ///     获取AGV的目标站台
        /// </summary>
        /// <param name="task">任务信息</param>
        /// <param name="db">数据库操作对象</param>
        /// <returns>目标站台</returns>
        private string GetAgvStation(WCS_TaskInfo task, SqlSugarHelper db)
        {
            // 默认站台
            var defaultStation = "2701";
            var sta = defaultStation;

            // 定义仓库与站台的映射关系
            var stationMap = new Dictionary<string, (string N, string S)>
            {
                ["1"] = ("2501", "2701"),
                ["2"] = ("2901", "3101"),
                ["3"] = ("3301", "3501")
            };

            var oldWarehouseCode = task.WarehouseCode;
            // 检查是否需要更新 warehouseCode
            if (task.BusType == TaskBusType.皮盘入库.GetDescription() || task.BusType == TaskBusType.车间叫料.GetDescription())
            {
                task.WarehouseCode = task.MaterialCode switch
                {
                    "分拣库1北" => "1N",
                    "分拣库1南" => "1S",
                    "分拣库2北" => "2N",
                    "分拣库2南" => "2S",
                    "分拣库3北" => "3N",
                    "分拣库3南" => "3S",
                    _ => task.WarehouseCode
                };
            }

            // 确定站台初始值
            if (stationMap.TryGetValue(task.WarehouseCode[0].ToString(), out var stationPair))
                sta = task.WarehouseCode.Contains("N") ? stationPair.N : stationPair.S;

            // 配置值获取
            var num = db.Default.Queryable<fjSysConfig>()
                .NoLock()
                .First(x => x.Code == "SameSideTaskNum")?.SContent.ToInt() ?? 5;

            // 判断当前侧任务数量是否超出限制
            var currentTaskCount = GetStationTaskCount(db, sta);
            if (currentTaskCount > num)
            {
                // 同一分拣库的两侧均分任务
                if (task.WarehouseCode.StartsWith("1") || task.WarehouseCode.StartsWith("2") ||
                    task.WarehouseCode.StartsWith("3"))
                {
                    var (northCount, southCount) = GetNorthAndSouthTaskCounts(db, stationPair);
                    sta = southCount > northCount ? stationPair.N : stationPair.S;
                }
                else
                {
                    return defaultStation;
                }
            }

            // 配置值获取
            num = db.Default.Queryable<fjSysConfig>()
                .NoLock()
                .First(x => x.Code == "TasksInSameWarehouse")?.SContent.ToInt() ?? 10;

            // 判断是否需要在三个分拣中心中选取任务数量较少的一侧进行分配
            currentTaskCount = GetStationTaskCount(db, sta);
            var otherSide = stationMap.First(x => x.Value.N == sta || x.Value.S == sta);
            currentTaskCount += GetStationTaskCount(db, otherSide.Value.N==sta ? otherSide.Value.S : otherSide.Value.N);
            if (currentTaskCount > num)
            {
                sta = db.Default.Queryable<WCS_AgvTaskInfo>()
                    .NoLock()
                    .Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 &&
                                v.TaskType == AGVTaskType.EnterDepot &&
                                (v.Station != "2535" && v.Station != "2735" && v.Station != "2935"  && v.Station != "3135" && !v.Station.StartsWith("9")))
                    .SplitTable(v => v.Take(2))
                    .ToList()
                    .GroupBy(x => x.Station)
                    .Select(g => new { Station = g.Key, Count = g.Count() })
                    .OrderBy(x => x.Count)
                    .FirstOrDefault()?.Station ?? defaultStation;
            }

            task.WarehouseCode = oldWarehouseCode;
            return sta;
        }

        /// <summary>
        ///     获取指定站台的任务数量
        /// </summary>
        private int GetStationTaskCount(SqlSugarHelper db, string station)
        {
            return db.Default.Queryable<WCS_AgvTaskInfo>()
                .NoLock()
                .Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 &&
                            v.TaskType == AGVTaskType.EnterDepot && v.Station == station)
                .SplitTable(v => v.Take(2))
                .Count();
        }

        /// <summary>
        ///     获取北侧和南侧的任务数量
        /// </summary>
        private (int NorthCount, int SouthCount) GetNorthAndSouthTaskCounts(SqlSugarHelper db,
            (string N, string S) stationPair)
        {
            var northCount = GetStationTaskCount(db, stationPair.N);
            var southCount = GetStationTaskCount(db, stationPair.S);
            return (northCount, southCount);
        }

        /// <summary>
        ///  获取AGV的目标站台
        /// </summary>
        /// <param name="task"></param>
        /// <param name="db"></param>
        /// <returns></returns>
        private string GetAgvStation1(WCS_TaskInfo task, SqlSugarHelper db)
        {
            string sta = "";
            var n = 0;
            var s = 0;
            var warehouseCode = task.WarehouseCode;
            if (task.BusType == TaskBusType.皮盘入库.GetDescription() || task.BusType == TaskBusType.车间叫料.GetDescription())
            {
                warehouseCode = task.MaterialCode switch
                {
                    "分拣库1北" => "1N",
                    "分拣库1南" => "1S",
                    "分拣库2北" => "2N",
                    "分拣库2南" => "2S",
                    "分拣库3北" => "3N",
                    "分拣库3南" => "3S",
                    _ => task.WarehouseCode
                };
            }

            #region 判断是否需要在同一分拣库的两侧进行均分
            //获取配置值
            var num = 5;
            var config = db.Default.Queryable<fjSysConfig>().NoLock().First(x => x.Code == "SameSideTaskNum");
            if (config != null)
            {
                num = config.SContent.ToInt();
            }

            sta = warehouseCode switch
            {
                "1N" => "2501",
                "1S" => "2701",
                "2N" => "2901",
                "2S" => "3101",
                "3N" => "3301",
                "3S" => "3501",
                _ => "2501",
            };

            //获取当前侧的已有任务数量
            var staNumber = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v =>
                    v.Status >= AGVTaskStatus.Confirm &&
                    v.Status < AGVTaskStatus.Complete1 &&
                    v.TaskType == AGVTaskType.EnterDepot && v.Station == sta)
                .SplitTable(v => v.Take(2)).Count();
            //当前侧任务数量已大于配置任务数量
            if (staNumber > num) 
            {
                //同侧之间均分
                if (warehouseCode.Contains("1"))
                {
                    n = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 && v.TaskType == AGVTaskType.EnterDepot && v.Station=="2501")
                        .SplitTable(v => v.Take(2)).Count();
                    s = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 && v.TaskType == AGVTaskType.EnterDepot && v.Station=="2701")
                        .SplitTable(v => v.Take(2)).Count();
                    sta = n > s ? "2701" : "2501";
                }
                else if (warehouseCode.Contains("2"))
                {
                    n = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 && v.TaskType == AGVTaskType.EnterDepot && v.Station=="2901")
                        .SplitTable(v => v.Take(2)).Count();
                    s = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 && v.TaskType == AGVTaskType.EnterDepot && v.Station=="3101")
                        .SplitTable(v => v.Take(2)).Count();
                    sta = n > s ? "3101" : "2901";
                }
                else if (warehouseCode.Contains("3"))
                {
                    n = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 && v.TaskType == AGVTaskType.EnterDepot && v.Station=="3301")
                        .SplitTable(v => v.Take(2)).Count();
                    s = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 && v.TaskType == AGVTaskType.EnterDepot && v.Station=="3501")
                        .SplitTable(v => v.Take(2)).Count();
                    sta = n > s ? "3501" : "3301";
                }
                else
                {
                    return default;
                }
            }

            #endregion

            #region 判断是否需要在三个分拣中心中选取任务数量较少的一侧进行分配

            staNumber = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v =>
                    v.Status >= AGVTaskStatus.Confirm &&
                    v.Status < AGVTaskStatus.Complete1 &&
                    v.TaskType == AGVTaskType.EnterDepot && v.Station == sta)
                .SplitTable(v => v.Take(2)).Count();
            num = 10; 
            config = db.Default.Queryable<fjSysConfig>().NoLock().First(x => x.Code == "TasksInSameWarehouse");
            if (config != null)
            {
                num = config.SContent.ToInt();
            }
            if (staNumber > num)
            {
                sta = db.Default.Queryable<WCS_AgvTaskInfo>().NoLock().Where(v => v.Status >= AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.Complete1 && v.TaskType == AGVTaskType.EnterDepot
                        && (v.Station != "2535" && v.Station != "2735" && v.Station != "2935"  && v.Station != "3135" && !v.Station.StartsWith("9")))//过滤掉人工满托入库和重绕区任务
                    .SplitTable(v => v.Take(2)).ToList().GroupBy(x => x.Station).Select(x => new { x.Key, Count = x.Count() }).MinBy(x => x.Count).Key;
            }

            #endregion

            return sta;
        }


        /// <summary>
        /// 获取AGV返空可用目标站台
        /// </summary>
        /// <param name="warehouseCode">仓库</param>
        /// <param name="direction">需要获取的方向</param>
        /// <returns>目标站台列表</returns>
        public List<string> GetAgvStation(string warehouseCode, string direction)
        {
            // 定义方向和仓库与站台的映射关系
            var stationMap = new Dictionary<string, Dictionary<string, List<string>>>
            {
                ["N"] = new()
                {
                    ["1"] = new List<string> { "2501", "2505", "2509", "2513" },
                    ["2"] = new List<string> { "2901", "2905", "2909", "2913" },
                    ["3"] = new List<string> { "3301", "3305", "3309", "3313" }
                },
                ["S"] = new()
                {
                    ["1"] = new List<string> { "2701", "2705", "2709", "2713" },
                    ["2"] = new List<string> { "3101", "3105", "3109", "3113" },
                    ["3"] = new List<string> { "3501", "3505", "3509", "3513" }
                }
            };

            // 查找方向和仓库对应的站台
            if (stationMap.TryGetValue(direction, out var warehouseStations))
            {
                var warehouseKey = warehouseStations.Keys.FirstOrDefault(warehouseCode.Contains);
                if (warehouseKey != null) return warehouseStations[warehouseKey];
            }

            // 如果没有找到匹配的站台，则返回空列表
            return new List<string>();
        }
    }
}