优化AGV任务部分日志、货位绑定内部方法

kazelee

3 天以前 1b6bf29ff7daa1987de65940af52f452cabd6881

 core/WCSCore.cs

@@ -1,9 +1,12 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading.Tasks;

using HH.WCS.Mobox3.DSZSH.api;
using HH.WCS.Mobox3.DSZSH.device;
using HH.WCS.Mobox3.DSZSH.models;
using HH.WCS.Mobox3.DSZSH.process;
@@ -12,46 +15,27 @@

using Newtonsoft.Json;

using Swashbuckle.Swagger;

using static HH.WCS.Mobox3.DSZSH.api.ApiModel;

namespace HH.WCS.Mobox3.DSZSH.core {
    public class WCSCore {
        public static ReturnResult OperateAgvTaskStatus(AgvTaskState model) {
            var result = new ReturnResult();
            const string preLog = "AGV：任务状态回报：";
            try {
                switch (model.state) {
                    case 1023:
                        break;
                    case 1025:
                        break;
                    case 1012:
                        break;
                    case 1004:
                        break;
                    case 1103:
                        break;
                    default:
                        // AGV 执行任务的逻辑处理
                        if (!AgvTaskProcessOk(model)) {
                            // 执行不OK，说明没有找到任务
                            result.ResultCode = 1;
                            result.ResultMsg = $"根据Model.No未找到对应的任务，{model.task_no}";
                            LogHelper.Info(result.ResultMsg, "API");
                            return result;
                        }
                        break;
                if (model.state > 0) {
                    // AGV 执行任务的逻辑处理
                    if (!AgvTaskProcessOk(model)) {
                        // 执行不OK，说明没有找到任务
                        return NewReturnResult(1, preLog + $"根据任务号'{model.task_no}'未找到对应的任务！");
                    }
                }

                result.ResultCode = 0;
                result.ResultMsg = "success";
                LogHelper.Info(result.ResultMsg, "API");
                return result;
                return NewReturnResult(0, "success"); // 不返回详细成功日志，避免NDC以msg=success作为成功判定（参考国自）
            }
            catch (Exception ex) {
                result.ResultCode = -1;
                result.ResultMsg = $"发生了异常：+{ex.Message}";
                LogHelper.Info(result.ResultMsg, "Error");
                return result;
                return NewReturnResult(-1, $"发生了异常：{ex.Message}\n{ex.StackTrace}");
            }

        }
@@ -83,9 +67,12 @@
                    WCSHelper.UpdateStatus(TN_Task, "取货完成"); // 任务状态改成取货完成
                    TaskProcess.OperateStatus(TN_Task, 4); // 起点容器货位解绑,解锁起点

                    if (TN_Task.S_TYPE == TaskName.成品胶出库) {
                    if (TN_Task.S_TYPE == ETask.C成品胶出库.Name()) {
                        var nextOutboundTask = Task.Run(() => {
                            UpdateOutboundTaskState(3);
                        });
                        var pickUpReturnErpTask = Task.Run(() => {
                            PickUpReturnErp(TN_Task);
                        });
                    }

@@ -106,6 +93,10 @@
                    //    });
                    //}

                    var recordTask = Task.Run(() => {
                        RecordTaskTable(TN_Task);
                    });

                    break;
                case 7: // 异常
                    TaskProcess.OperateStatus(TN_Task, 7); // 异常处理
@@ -120,30 +111,112 @@
            return true;
        }

        public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
        private static void RecordTaskTable(TN_Task task) {
            var db = new SqlHelper<object>().GetInstance();
            var info = "";

            try {
                var cgDetail = new TN_CG_Detail(); // 如果没有信息，默认就是空值，可以直接填入，不需要判断
                
                //var emptyTask = false; // 空托/空箱任务
                if (task.S_TYPE != ETask.K空托上线出库.Name() && task.S_TYPE != ETask.K空托入库.Name() &&
                    task.S_TYPE != ETask.K空箱上线出库.Name() && task.S_TYPE != ETask.K空箱入库.Name()) {
                    // 非空托/空箱任务（空托/空箱任务无法在CGDetail查到物料信息）
                    //emptyTask= true;
                    cgDetail = db.Queryable<TN_CG_Detail>()
                        .Where(d => d.S_CNTR_CODE == task.S_CNTR_CODE)
                        .First();

                    if (cgDetail == null) {
                        info = $"任务{task.S_CODE}完成，记录出入库存在问题：无法在容器货品明细表中找到托盘{task.S_CNTR_CODE}对应的物料";
                        LogHelper.Info(info);
                        //return;
                        cgDetail = new TN_CG_Detail() ;
                        cgDetail.S_ITEM_CODE = "异常";
                    }
                }

                var isInbound = false; // 入库类型的任务（包括移库类任务）
                var inboundTasks = new List<string> {
                    ETask.M满托下线入库.Name(), ETask.M满箱下线入库.Name(), ETask.K空托入库.Name(), ETask.K空箱入库.Name(),
                    ETask.C抽检合格回库.Name(), ETask.C抽检不合格移库.Name(), ETask.Y移库.Name()
                };
                if (inboundTasks.Contains(task.S_TYPE)) {
                    isInbound= true;
                }

                //var needUpdateRecordTable = false;
                var record = db.Queryable<TN_Record_Table>()
                    .Where(r => r.S_TASK_NO == task.S_CODE).First();
                if (record != null) {
                    //needUpdateRecordTable = true;
                    info = $"出入库记录表中已经存在任务号{task.S_CODE}"; // 防止测试时反复调用134562导致重复记录
                    LogHelper.Info(info);
                    return;
                }

                record = new TN_Record_Table {
                    S_ITEM_CODE = cgDetail.S_ITEM_CODE,
                    S_BATCH_NO = cgDetail.S_BATCH_NO,
                    S_ITEM_NAME = cgDetail.S_ITEM_NAME,
                    S_LOC_CODE = isInbound ? task.S_END_LOC : task.S_START_LOC, // 入库记录终点货位，出库记录起点货位
                    S_CNTR_CODE = task.S_CNTR_CODE,
                    S_ITEM_SPEC = cgDetail.S_ITEM_SPEC,
                    S_NET_WEIGHT = cgDetail.S_NET_WEIGHT,
                    S_QUALITY_GRADE = cgDetail.S_QUALITY_GRADE,
                    S_STANDARD = cgDetail.S_STANDARD,
                    S_TASK_NO = task.S_CODE,
                    T_RECORD_TIME = DateTime.Now,
                    S_TYPE = task.S_TYPE,
                    S_BS_CODE = task.S_BS_NO, // ERP单号，默认为空
                    N_QTY = cgDetail.N_ITEM_NUM,
                    S_NO = task.S_OP_CODE, // 出库/抽检/移库单
                };

                // 数据库操作
                if (db.Insertable<TN_Record_Table>(record).ExecuteCommand() <= 0) {
                    info = "插入出入库记录表失败：" + JsonConvert.SerializeObject(record);
                    LogHelper.Info(info);
                    return;
                }

                info = "插入出入库记录表成功";
                LogHelper.Info(info);
            }
            catch (Exception ex) {
                LogHelper.InfoEx(ex);
            }
        }

        /// <summary>
        /// AGV产线安全交互逻辑实现
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
            var db = new SqlHelper<object>().GetInstance();
            const string preLog = "AGV：产线安全交互：";

            try {
                ModbusHelper.Relink();

                //var loc = db.Queryable<TN_Location>()
                //    .Where(l => l.S_AGV_SITE == model.station_name && Settings.AreaMap[AreaName.包装区].Contains(l.S_AREA_CODE))
                //    .First();
                var BZQ = Settings.GetTaskInfo(ETask.M满托下线入库).StartAreas;
                var loc = db.Queryable<TN_Location>()
                    .Where(l => BZQ.Contains(l.S_AREA_CODE) && l.S_AGV_SITE == model.station_name).First();

                if (!Settings.AgvSite_ProdLineCodeMap.TryGetValue(model.station_name, out int prodIndex)) {
                    info = $"AGV 站点{model.station_name}不是合法的产线接驳位站点";
                    LogHelper.Info(info);
                    return NewReturnResult(1, info);
                if (loc == null) {
                    return NewReturnResult(1, preLog + $"AGV 站点{model.station_name}不是合法的产线接驳位站点");
                }

                if (!Settings.LocProdIdMap.TryGetValue(loc.S_CODE, out var prodIndex)) {
                    return NewReturnResult(1, preLog + $"AGV 站点{model.station_name}不是合法的产线接驳位站点");
                }

                var prodLineInfo = Settings.ProductionLines[prodIndex];

                var prodLineDevice = new ProductionLineDevice(prodLineInfo);
                if (!prodLineDevice.LoadDeviceStateOk()) {
                    info = "与产线设备通讯失败";
                    LogHelper.Info(info);
                    return NewReturnResult(2, info);
                    return NewReturnResult(2, preLog + "与产线设备通讯失败");
                }

                //var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.task_no);
@@ -160,68 +233,52 @@
                //}

                if (prodLineDevice.SystemState != 1) {
                    info = $"当前产线无法与AGV联动：状态{prodLineDevice.SystemState}";
                    LogHelper.Info(info);
                    return NewReturnResult(3, info);
                    return NewReturnResult(3, preLog + $"当前产线无法与AGV联动：状态{prodLineDevice.SystemState}");
                }

                if (model.apply_code == "5") { // 请求取货
                // 请求取货
                if (model.apply_code == "5") {
                    if (prodLineDevice.FullOffline != 1) {
                        info = $"当前输送线满料下线信号不为1，无法取货";
                        LogHelper.Info(info);
                        return NewReturnResult(4, info);
                        return NewReturnResult(4, preLog + $"当前输送线满料下线信号不为1，无法取货");
                    }
                    
                    if (!prodLineDevice.SetAgvPicking(1)) {
                        info = $"向输送线写入允许取货信号失败";
                        LogHelper.Info(info);
                        return NewReturnResult(5, info);
                        return NewReturnResult(5, preLog + $"向输送线写入允许取货信号失败");
                    }
                    
                    info = $"向输送线写入允许取货信号成功";
                    LogHelper.Info(info);
                    return NewReturnResult(0, info);

                    return NewReturnResult(0, preLog + $"向输送线写入允许取货信号成功");
                }
                else if (model.apply_code == "1") { // 请求卸货
                // 请求卸货
                else if (model.apply_code == "1") {
                    if (prodLineDevice.AllowAgvPlacePallet != 1) {
                        info = $"当前输送线允许放托盘信号不为1，无法放货";
                        LogHelper.Info(info);
                        return NewReturnResult(6, info);
                        return NewReturnResult(6, preLog + $"当前输送线允许放托盘信号不为1，无法放货");
                    }

                    if (!prodLineDevice.SetAgvPlacingPallet(1)) {
                        info = $"向输送线写入允许放货信号失败";
                        LogHelper.Info(info);
                        return NewReturnResult(7, info);
                        return NewReturnResult(7, preLog + $"向输送线写入允许放货信号失败");
                    }

                    info = $"向输送线写入允许放货信号成功";
                    LogHelper.Info(info);
                    return NewReturnResult(0, info);
                    return NewReturnResult(0, preLog + $"向输送线写入允许放货信号成功");
                }
                else {
                    info = $"当前AGV请求码不为 5取货 或 1卸货";
                    LogHelper.Info(info);
                    return NewReturnResult(8, info);
                    return NewReturnResult(8, preLog + $"当前AGV请求码不为 5取货 或 1卸货");
                }

            }
            catch (Exception ex) {
                info = $"发生了异常：{ex.Message}";
                LogHelper.InfoEx(ex);
                return NewReturnResult(1, info);
                return NewReturnResult(1, preLog + $"发生了异常：{ex.Message}\n{ex.StackTrace}");
            }
        }

        public static void UpdateOutboundTaskState(int spotStateCode) {
            var taskName = ETask.C成品胶出库.Name();
            var db = new SqlHelper<object>().GetInstance();

            var detail = db.Queryable<TN_Outbound_Detail>()
                .First(d => d.N_B_STATE == 2);

            if (detail == null) {
                LogHelper.Info("出库--AGV取货--查询Detail：当前没有 执行中 的Detail表！");
                LogHelper.Info($"{taskName}：AGV取货：查询明细单：当前没有执行中的明细单");
                return;
            }

@@ -229,14 +286,14 @@
                detail.N_B_STATE = spotStateCode;
                if (db.Updateable<TN_Outbound_Detail>(detail).UpdateColumns(it => it.N_B_STATE).ExecuteCommand() <= 0) {
                    tran.RollbackTran();
                    LogHelper.Info("出库--AGV取货：修改Detail状态 N_B_STATE 为 3任务执行完成 失败！");
                    LogHelper.Info($"{taskName}：AGV取货：修改明细单状态为【3任务执行完成】失败！");
                    return;
                }

                var finishedCount = db.Queryable<TN_Outbound_Detail>().Count(d => d.S_OO_NO == detail.S_OO_NO && d.N_B_STATE == 3);
                var allCount = db.Queryable<TN_Outbound_Detail>().Count(d => d.S_OO_NO == detail.S_OO_NO);

                LogHelper.Info($"出库--AGV取货--统计任务已完成：{finishedCount} / {allCount}");
                LogHelper.Info($"{taskName}：AGV取货：统计任务已完成：{finishedCount}/{allCount}");

                if (finishedCount == allCount) { // 当前出库单下的所有明细单，任务都已经完成

@@ -245,7 +302,7 @@
                        .ExecuteCommand() <= 0) {

                        tran.RollbackTran();
                        LogHelper.Info("出库--AGV取货--所有任务完成时：修改Order状态 N_B_STATE 为 3任务执行完成 失败！");
                        LogHelper.Info($"{taskName}：AGV取货：所有任务完成时：修改单据状态为3任务执行完成--失败！");
                        return;
                    }
                }
@@ -254,83 +311,102 @@
            }
        }

        public static void UpdateCheckTaskState(int spotStateCode) {
        public static void PickUpReturnErp(TN_Task task) {
            var db = new SqlHelper<object>().GetInstance();
            var info = "";
            var httpH = new HttpHelper();
            
            try {
                var plan = db.Queryable<TN_Outbound_Plan>()
                    .Where(p => p.JHDH == task.S_BS_NO)
                    .First();

            var detail = db.Queryable<TN_Check_Detail>()
                .First(d => d.N_B_STATE == 2);
                if (plan == null) {
                    info = $"计划单号{task.S_BS_NO}不存在！";
                    LogHelper.Info(info);
                }

            if (detail == null) {
                LogHelper.Info("抽检--AGV任务完成--查询Detail：当前没有 执行中 的Detail表！");
                return;
                var cgDetail = db.Queryable<TN_CG_Detail>()
                    .Where(d => d.S_CNTR_CODE == task.S_CNTR_CODE)
                    .First();

                if (cgDetail == null) {
                    info = $"物料编码不存在！";
                    LogHelper.Info(info);
                }

                var model = new OtherModel.PickUpReturnErpInfo {
                    jhdh = plan.JHDH, // 计划单号（唯一标识）
                    ckzt = plan.CKZT, // 出库状态（需要返回）
                    jhlb = plan.JHLB, // 计划类别
                    ckdh = plan.CKDH, // 参考单号
                    cph = plan.CPH, // 车牌号
                    ysfs = plan.YSFS, // 运输方式
                    cpzt = plan.CPZT, // 产品状态
                    mddw = plan.MDDW, // 买断单位
                    cpdm = plan.CPDM, // 产品代码
                    cplb = plan.CPLB, // 产品类别
                    cplbmx = plan.CPLBMX, // 产品类别明细
                    pp = plan.PP, // 品牌
                    dj = plan.DJ, // 等级（需要返回）
                    gh = plan.GH, // 罐号
                    ph = plan.PH, // 批号（需要返回）
                    bzlx = plan.BZLX, // 包装类型
                    pzdh = plan.PZDH, // 派装单号
                    pzd_dw = plan.PZD_DW, // 派装单单位
                    pzd_dybh = plan.PZD_DYBH, // 派装单调运编号
                    pzjs = plan.PZJS, // 派装件数
                    pzsl = plan.PZSL, // 派装数量
                    pz_rq = plan.PZ_RQ, // 派装日期(yyyy-mm-dd)
                    pz_czrq = plan.PZ_CZRQ, // 派装操作日期
                    pz_zfbj = plan.PZ_ZFBJ, // 派装作废标记
                    pz_zfrq = plan.PZ_ZFRQ, // 派装作废日期
                    pz_bz = plan.PZ_BZ, // 派装备注
                    ckdbh = plan.CKDBH, // 出库单编号
                    sfjs = plan.SFJS, // 实发件数（需要返回）--更新
                    sfsl = plan.SFSL, // 实发数量（需要返回）--更新
                    //sfcs = plan.SFCS , // 实发车数（需要返回）
                    //zcsj = plan.ZCSJ , // 装车时间（需要返回）
                    //jldw = plan.JLDW , // 计量单位（需要返回）
                    //fhrq = plan.FHRQ , // 发货日期（需要返回）
                    //ckdm = plan.CKDM , // 仓库代码（需要返回）
                    //fhr = plan.FHR , // 发货人（需要返回）
                    //czydm = plan.CZYDM , // 操作员（需要返回）
                    shr_username = plan.SHR_USERNAME, // 审核人
                    shrq = plan.SHRQ, // 审核日期
                    zfbj = plan.ZFBJ, // 作废标记
                    zfrq = plan.ZFRQ, // 作废日期
                    jsdw = plan.JSDW, // 结算单位
                    shdw = plan.SHDW, // 收货单位
                    ysdw = plan.YSDW, // 运输单位
                    lxr = plan.LXR, // 联系人
                    //ry_zxg = plan.RY_ZXG , // 装卸工（需要返回）
                    //ry_ccsj = plan.RY_CCSJ , // 叉车司机（需要返回）
                    erphx_jhdh = plan.ERPHX_JHDH, // erp交货单号
                    erphx_wlbm = plan.ERPHX_WLBM, // erp物料编码
                    erphx_wlmc = plan.ERPHX_WLMC, // erp物料名称
                    erphx_cjrq = plan.ERPHX_CJRQ, // erp创建日期
                    hw = plan.HW, // 货位（需要返回）
                    hwzt = plan.HWZT // 货位状态（需要返回）
                };
                model.sfjs = cgDetail.N_ITEM_NUM;
                model.sfsl = (decimal) cgDetail.F_QTY; // TEMP
                model.hwzt = "已出库";

                var jsonInfo = JsonConvert.SerializeObject(model);
                var result = httpH.WebPost(Settings.ErpApiUrl + Settings.ErpRoute.PickUpReturn, jsonInfo);

                LogHelper.InfoApi($"取货完成反馈ERP接口，结果={result}，调用参数：", model);

                plan.SFJS = model.sfjs;
                plan.SFSL = model.sfsl;
                plan.HWZT = model.hwzt;
                var success = db.Updateable<TN_Outbound_Plan>(plan).UpdateColumns(p => new { p.SFJS, p.SFSL, p.HWZT }).ExecuteCommand() > 0;
                info = "更新出库计划单记录表" + (success ? "成功" : "失败");
                LogHelper.Info(info);
            }

            using (var tran = db.Ado.UseTran()) {
                detail.N_B_STATE = spotStateCode;
                if (db.Updateable<TN_Check_Detail>(detail).UpdateColumns(it => it.N_B_STATE).ExecuteCommand() <= 0) {
                    tran.RollbackTran();
                    LogHelper.Info("抽检--AGV任务完成：修改Detail状态 N_B_STATE 为 3任务执行完成 失败！");
                    return;
                }

                var finishedCount = db.Queryable<TN_Check_Detail>().Count(d => d.S_NO == detail.S_NO && d.N_B_STATE == 3);
                var allCount = db.Queryable<TN_Check_Detail>().Count(d => d.S_NO == detail.S_NO);

                LogHelper.Info($"抽检--AGV任务完成：统计任务已完成：{finishedCount} / {allCount}");

                if (finishedCount == allCount) { // 当前order下的detail，任务都已经完成

                    if (db.Updateable<TN_Check_Order>().SetColumns(it => it.N_B_STATE == 3)
                        .Where(it => it.S_NO == detail.S_NO)
                        .ExecuteCommand() <= 0) {

                        tran.RollbackTran();
                        LogHelper.Info("抽检--AGV任务完成--所有任务完成时：修改Order状态 N_B_STATE 为 3任务执行完成 失败！");
                        return;
                    }
                }

                tran.CommitTran();
            }
        }

        public static void UpdateShiftTaskState(int spotStateCode) {
            var db = new SqlHelper<object>().GetInstance();

            var detail = db.Queryable<TN_Shift_Detail>()
                .First(d => d.N_B_STATE == 2);

            if (detail == null) {
                LogHelper.Info("移库--AGV任务完成--查询Detail：当前没有 执行中 的Detail表！");
                return;
            }

            detail.N_B_STATE = spotStateCode;

            var finishedCount = db.Queryable<TN_Shift_Detail>().Count(d => d.S_NO == detail.S_NO && d.N_B_STATE == 3);
            var allCount = db.Queryable<TN_Shift_Detail>().Count(d => d.S_NO == detail.S_NO);

            LogHelper.Info($"移库--AGV任务完成：统计任务已完成：{finishedCount} / {allCount}");

            using (var tran = db.Ado.UseTran()) {
                if (db.Updateable<TN_Shift_Detail>(detail).UpdateColumns(it => it.N_B_STATE).ExecuteCommand() <= 0) {
                    tran.RollbackTran();
                    LogHelper.Info("移库--AGV任务完成：修改Detail状态 N_B_STATE 为 3任务执行完成 失败！");
                    return;
                }

                if (finishedCount == allCount) { // 当前order下的detail，任务都已经完成
                    if (db.Updateable<TN_Shift_Order>().SetColumns(it => it.N_B_STATE == 3)
                        .Where(it => it.S_NO == detail.S_NO)
                        .ExecuteCommand() <= 0) {

                        tran.RollbackTran();
                        LogHelper.Info("移库--AGV任务完成--所有任务完成时：修改Order状态 N_B_STATE 为 3任务执行完成 失败！");
                        return;
                    }
                }

                tran.CommitTran();
            catch (Exception ex) {
                LogHelper.InfoEx(ex);
            }
        }

@@ -345,14 +421,217 @@
            if (list.Count > 0) {
                list.ForEach(task => {
                    //使用自定义任务推送
                    TaskProcess.SendTask(task);//调度NDC或杭奥或国自设备
                    //TaskProcess.SendGZTask(task);///调度国自设备

                    //TaskProcess.SendTask(task);//调度NDC或杭奥或国自设备
                    TaskProcess.SendNDCTask(task);
                });
            }
            else {
                LogHelper.Info("暂无任务");
            }
        }

        // TCP 非轮询方式 模拟产线下线的尝试

        public static void StartServer() {
            var ListenPort = Settings.TcpServerPort;
            TcpListener listener = new TcpListener(IPAddress.Any, ListenPort);
            listener.Start();
            Console.WriteLine($"后台服务已启动，监听端口 {ListenPort}...");

            while (true) {
                try {
                    // 接受产线连接
                    System.Net.Sockets.TcpClient client = listener.AcceptTcpClient();
                    Console.WriteLine($"产线客户端已连接: {client.Client.RemoteEndPoint}");

                    // 处理客户端请求（使用Task避免阻塞主线程）
                    Task.Run(() => HandleClientRequest(client));
                }
                catch (Exception ex) {
                    Console.WriteLine($"服务端异常: {ex.Message}");
                }
            }
        }

        public static void HandleClientRequest(System.Net.Sockets.TcpClient client) {
            var db = new SqlHelper<object>().GetInstance();
            using (client)
            using (NetworkStream stream = client.GetStream()) {
                try {
                    // 读取产线消息
                    byte[] buffer = new byte[1024];
                    int bytesRead = stream.Read(buffer, 0, buffer.Length);
                    string jsonMessage = Encoding.UTF8.GetString(buffer, 0, bytesRead);

                    // 解析消息
                    var message = JsonConvert.DeserializeObject<ProductCompletedMessage>(jsonMessage);
                    //Console.WriteLine($"收到产品完成通知 - 物料：{message.ItemCode}；批次号：{message.BatchNo}；容器号：{message.CntrCode}");
                    LogHelper.Info($"收到产品下线通知："+message);

                    string startLocCode = "";

                    // A. 如果是单个产线PLC，通过TCP传播，需要传递产线ID，根据ID计算起点货位
                    //startLocCode = Settings.ProductionLines[message.Id].OffLoc[0]; // 理论上应该只有1个OffLoc，否则应该注明是哪一个
                    
                    // B. 如果是每条产线各一个客户端，更简单，直接根据IP地址确定终点货位
                    // TODO 具体逻辑待后续确定时补完

                    var success = CreateInboundTask(startLocCode, message.CntrCode).Value;

                    // 发送响应
                    string response = success ? "ACK: 机器人已调度" : "NAK: 调度失败";
                    byte[] responseData = Encoding.UTF8.GetBytes(response);
                    stream.Write(responseData, 0, responseData.Length);
                }
                catch (Exception ex) {
                    Console.WriteLine($"处理客户端请求异常: {ex.Message}");
                }
            }
        }

        /// <summary>
        /// 入库作业创建只接收起点货位和容器号（物料信息待定、通过产线号计算起点的逻辑放在方法外）
        /// </summary>
        /// <param name="startLocCode"></param>
        /// <param name="cntrCode"></param>
        /// <returns></returns>
        public static Result<bool> CreateInboundTask(string startLocCode, string cntrCode) {
            var db = new SqlHelper<object>().GetInstance();
            var info = "";

            var taskInfo = Settings.GetTaskInfo(ETask.M满托下线入库);
            var taskName = taskInfo.TaskName;
            var startAreas = taskInfo.StartAreas;
            var endAreas = taskInfo.EndAreas;
            const string cntrType = "托盘";

            try {
                var startLoc = db.Queryable<TN_Location>()
                .Where(l => l.S_CODE == startLocCode)
                .Where(l => startAreas.Contains(l.S_AREA_CODE))
                .Where(l => l.N_LOCK_STATE == 0 && l.S_LOCK_STATE == "无" && l.C_ENABLE == "Y")
                //.Where(l => l.N_CURRENT_NUM == 0) // 绑定前
                .First();

                if (startLoc == null) {
                    info = $"没有找到起点货位'{startLocCode}'，或不满足要求：未上锁、当前容器数量=0";
                    LogHelper.Info(info);
                    return new Result<bool>(false, info);
                }

                var locCntrRelOld = db.Queryable<TN_Loc_Container>()
                    .Where(c => c.S_CNTR_CODE == cntrCode).First();

                // 绑定货位和容器号
                var locCntrRel = new TN_Loc_Container {
                    S_LOC_CODE = startLocCode,
                    S_CNTR_CODE = cntrCode,
                    S_CNTR_TYPE = cntrType,
                };

                startLoc.N_CURRENT_NUM = 1; // 绑定后

                var endLoc = db.Queryable<TN_Location>()
                    .Where(a => endAreas.Contains(a.S_AREA_CODE))
                    .Where(a => a.N_LOCK_STATE == 0 && a.S_LOCK_STATE == "无" && a.C_ENABLE == "Y") // 筛选：未上锁
                    .Where(a => a.N_CURRENT_NUM == 0) // 筛选：空货位
                    .OrderBy(l => l.N_LAYER)
                    .First();

                if (endLoc == null) {
                    info = $"没有找到合适的【终点货位】，需要满足要求：未上锁、当前容器数量=0";
                    LogHelper.Info(info);
                    return new Result<bool>(false, info);
                }

                var cntId = locCntrRel.S_CNTR_CODE;
                var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName);

                WCSHelper.LockStartLoc(ref startLoc); // 起点出库锁
                WCSHelper.LockEndLoc(ref endLoc); // 终点入库锁

                using (var tran = db.Ado.UseTran()) {
                    if (locCntrRelOld != null) {
                        if (db.Deleteable<TN_Loc_Container>(locCntrRelOld).ExecuteCommand() <= 0 &&
                            db.Updateable<TN_Location>().SetColumns(l => l.N_CURRENT_NUM == 0).Where(l => l.S_CODE == locCntrRelOld.S_LOC_CODE).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"删除旧货位容器关系表失败：货位编码{locCntrRelOld.S_LOC_CODE}，容器编码{locCntrRelOld.S_CNTR_CODE}";
                            LogHelper.Info(info);
                            return new Result<bool>(false, info);
                        }
                    }

                    if (db.Insertable<TN_Loc_Container>(locCntrRel).ExecuteCommand() <= 0) {
                        tran.RollbackTran();
                        info = $"插入货位容器关系表失败：货位编码{locCntrRel.S_LOC_CODE}，容器编码{locCntrRel.S_CNTR_CODE}";
                        LogHelper.Info(info);
                        return new Result<bool>(false, info);
                    }

                    if (db.Updateable<TN_Location>(startLoc).UpdateColumns(it => new {
                        it.N_LOCK_STATE,
                        it.S_LOCK_STATE,
                        it.S_LOCK_OP,
                        it.T_MODIFY,
                        it.N_CURRENT_NUM, // 起点货位绑定后，将货位状态更新
                    }).ExecuteCommand() <= 0) {
                        tran.RollbackTran();
                        info = $"生成任务'{taskName}'失败：更新起点货位{startLoc.S_CODE}锁状态失败";
                        LogHelper.Info(info);
                        return new Result<bool>(false, info);
                    }

                    if (db.Updateable<TN_Location>(endLoc).UpdateColumns(it => new {
                        it.N_LOCK_STATE,
                        it.S_LOCK_STATE,
                        it.S_LOCK_OP,
                        it.T_MODIFY,
                    }).ExecuteCommand() <= 0) {
                        tran.RollbackTran();
                        info = $"生成任务'{taskName}'失败：更新终点货位{endLoc.S_CODE}锁状态失败";
                        LogHelper.Info(info);
                        return new Result<bool>(false, info);
                    }

                    if (db.Insertable<TN_Task>(task).ExecuteCommand() <= 0) {
                        tran.RollbackTran();
                        info = $"生成任务'{taskName}'失败，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                        LogHelper.Info(info);
                        return new Result<bool>(false, info);
                    }

                    tran.CommitTran();
                    info = $"生成任务'{taskName}'成功，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                    LogHelper.Info(info);
                    return new Result<bool>(true, info);
                }
            }
            catch (Exception ex) {
                return NewResult(false, ex.Message);
            }
        }

        private static Result<bool> NewResult(bool res, string msg, bool log = true) {
            if (log) { LogHelper.Info(msg); }
            return new Result<bool>(res, msg);
        }

    }

    public class ProductCompletedMessage {
        public int Id { get; set; }
        //public string ItemCode { get; set; }
        //public string BatchNo { get; set; }
        public string CntrCode { get; set; }
    }

    public class Result<T> {
        public T Value { get; set; }
        public string Content { get; set; }

        public Result(T value, string content) { 
            Value = value;
            Content = content;
        }
    }
}