using System.Diagnostics;
using System.Dynamic;
using System.Linq.Expressions;
using JNPF;
using JNPF.Common.Contracts;
using JNPF.Common.Core.Manager;
using JNPF.Common.Enums;
using JNPF.Common.Extension;
using JNPF.Common.Manager;
using JNPF.Common.Security;
using JNPF.FriendlyException;
using JNPF.Systems.Interfaces.System;
using Mapster;
using Microsoft.AspNetCore.Mvc;
using Microsoft.CodeAnalysis;
using Newtonsoft.Json;
using SqlSugar;
using Tnb.BasicData.Entities;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.WarehouseMgr.Entities;
using Tnb.WarehouseMgr.Entities.Configs;
using Tnb.WarehouseMgr.Entities.Consts;
using Tnb.WarehouseMgr.Entities.Dto;
using Tnb.WarehouseMgr.Entities.Dto.Inputs;
using Tnb.WarehouseMgr.Entities.Entity;
using Tnb.WarehouseMgr.Entities.Enums;
using Tnb.WarehouseMgr.Interfaces;

namespace Tnb.WarehouseMgr
{
    /// <summary>
    /// 库房业务类(出入库)
    /// </summary>
    public class WareHouseService : ServiceLoggerBase<WareHouseService>, IWareHouseService
    {
        private readonly ISqlSugarClient _db;
        private readonly IDictionaryDataService _dictionaryDataService;
        private readonly IBillRullService _billRullService;
        private readonly IUserManager _userManager;
        private readonly ICacheManager _cacheManager;
        private readonly IElevatorControlService _elevatorControlService;
        private static readonly Dictionary<string, int> _elevatorAgvCtlStatusMap = new(StringComparer.OrdinalIgnoreCase);
        private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
        public Func<string, int, Task> AddUnExecuteTask { get; set; }

        public WareHouseService(ISqlSugarRepository<WmsInstockH> repository, IDictionaryDataService dictionaryDataService,
            IBillRullService billRullService, IUserManager userManager, ICacheManager cacheManager, IElevatorControlService elevatorControlService)
        //: base(repository.AsSugarClient())
        {
            _db = repository.AsSugarClient();
            _dictionaryDataService = dictionaryDataService;
            _billRullService = billRullService;
            _userManager = userManager;
            _cacheManager = cacheManager;
            _elevatorControlService = elevatorControlService;
            _ = InitializationTask;
        }


        /// <summary>
        /// 根据载具Id带出库位、仓库信息
        /// </summary>
        /// <param name="carryId">载具id</param>
        /// <remarks>
        /// returns:
        /// <br/>{
        /// <br/>    carry_id:载具Id
        /// <br/>    carry_name:载具名称
        /// <br/>    location_id:库位Id 
        /// <br/>    location_name:库位名称
        /// <br/>    warehouse_id:库房Id
        /// <br/>    warehouse_name：库房名称
        /// <br/>}
        /// </remarks>
        [HttpGet]
        public async Task<dynamic> GetLocationAndWorkHouseByCarryId([FromRoute] string carryId)
        {
            var items = await _db.Queryable<WmsCarryH>().LeftJoin<BasLocation>((a, b) => a.location_id == b.id)
                                       .LeftJoin<BasWarehouse>((a, b, c) => b.wh_id == c.id)
                                       .Where(a => a.id == carryId)
                                       .Select((a, b, c) => new
                                       {
                                           carry_id = a.id,
                                           a.carry_name,
                                           location_id = b.id,

                                           b.location_name,
                                           warehouse_id = c.id,
                                           warehouse_name = c.whname,
                                       })
                                       .ToListAsync();
            return items ?? Enumerable.Empty<dynamic>();
        }
        /// <summary>
        /// 库房业务，入库、出库申请新增修改功能
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost]
        public async Task ApplyFor(InOutStockApplyforUpInput input)
        {
            if (input == null)
            {
                throw new ArgumentNullException(nameof(input));
            }

            async Task<bool> _updateLocalFunc<TStockD, TStockCode>(InOutStockApplyforUpInput input)
                where TStockD : BaseEntity<string>, new()
                where TStockCode : BaseEntity<string>, IInOutStockCode, new()
            {
                TStockD instockD = input.Adapt<TStockD>();
                global::System.Collections.Generic.List<TStockCode>? stockCodes = input.InstockCodes?.Adapt<List<TStockCode>>();
                if (stockCodes?.Count > 0)
                {
                    stockCodes.ForEach(x =>
                    {
                        if (x.id.IsNullOrWhiteSpace())
                        {
                            x.id = SnowflakeIdHelper.NextId();
                        }
                        x.bill_d_id = instockD.id;
                    });
                }
                return await Update(instockD, stockCodes!);
            }

            bool isOk = input.inoutStockType switch
            {
                EnumInOutStockType.In => await _updateLocalFunc<WmsInstockD, WmsInstockCode>(input),
                EnumInOutStockType.Out => await _updateLocalFunc<WmsOutstockD, WmsOutstockCode>(input),
                _ => throw new ArgumentOutOfRangeException(nameof(input.inoutStockType), $"Not expected EnumInOutStockType value: {input.inoutStockType}"),
            };
            if (!isOk)
            {
                throw Oops.Oh(ErrorCode.COM1001);
            }
        }
        /// <summary>
        /// 根据明细Id获取出入库明细信息
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        public async Task<dynamic?> GetInOutStockCodesById([FromQuery] InOutStockDetailQuery input)
        {
            dynamic? result = input.inoutStockType switch
            {
                EnumInOutStockType.In => await FetchInOutStockCodesById<WmsInstockD, InStockDetailOutput, WmsInstockCode>(input.bill_d_id),
                EnumInOutStockType.Out => await FetchInOutStockCodesById<WmsOutstockD, OutStockDetailOutput, WmsOutstockCode>(input.bill_d_id),
                _ => throw new NotImplementedException(),
            };
            return result ?? Enumerable.Empty<dynamic>();
        }
        /// <summary>
        /// 入库策略
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        public async Task<List<BasLocation>> InStockStrategy([FromQuery] InStockStrategyQuery input)
        {
            List<BasLocation> items = new();
            try
            {
                WmsInstockPolicies policy = await _db.Queryable<WmsInstockPolicies>().Where(it => it.status == 1).FirstAsync();
                if (policy == null)
                {
                    throw new AppFriendlyException("没有可用的策略", 500);
                }

                Expression<Func<BasLocation, bool>> whereExp = Expressionable.Create<BasLocation>()
                                       .And(it => it.wh_id == input.warehouse_id)
                                       .And(it => it.is_lock == 0)
                                       .And(it => it.is_type == ((int)EnumLocationType.存储库位).ToString())
                                       .And(it => it.is_use == ((int)EnumCarryStatus.空闲).ToString())
                                       .ToExpression();
                items = await _db.Queryable<BasLocation>().Where(whereExp).OrderBy(policy.policy).ToListAsync();
            }
            catch (Exception)
            {
                throw;
            }
            return items.Take(input.Size).ToList();
        }
        /// <summary>
        /// 出库策略
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        public async Task<List<WmsCarryH>> OutStockStrategy([FromQuery] OutStockStrategyQuery input)
        {
            Expressionable<WmsCarryH, WmsCarryCode, BasLocation> whereExprable = Expressionable.Create<WmsCarryH, WmsCarryCode, BasLocation>()
                                             .And((a, b, c) => a.is_lock == 0)
                                             .And((a, b, c) => !string.IsNullOrEmpty(a.location_id))
                                             .And((a, b, c) => c.is_type == ((int)EnumLocationType.存储库位).ToString())
                                             .And((a, b, c) => a.out_status == "0")
                                             .And((a, b, c) => c.wh_id == input.warehouse_id)
                                             .AndIF(!string.IsNullOrEmpty(input.material_id), (a, b, c) => b.material_id == input.material_id)
                                             .AndIF(!string.IsNullOrEmpty(input.code_batch), (a, b, c) => b.code_batch == input.code_batch)
                                             .AndIF(!string.IsNullOrEmpty(input.material_specification), (a, b, c) => b.material_specification == input.material_specification)
                                             .AndIF(!string.IsNullOrEmpty(input.container_no), (a, b, c) => b.container_no == input.container_no)
                                             .AndIF(!string.IsNullOrEmpty(input.carrystd_id), (a, b, c) => a.carrystd_id == input.carrystd_id);
            Expression<Func<WmsCarryH, WmsCarryCode, BasLocation, bool>> carryStatusFilterExp = !input.material_id.IsNullOrWhiteSpace()
                                                                                                ? (a, b, c) => a.carry_status == ((int)EnumCarryStatus.占用).ToString()
                                                                                                : (a, b, c) => a.carry_status == ((int)EnumCarryStatus.空闲).ToString();
            _ = whereExprable.And(carryStatusFilterExp);
            Expression<Func<WmsCarryH, WmsCarryCode, BasLocation, bool>> whereExpr = whereExprable.ToExpression();

            SqlSugarClient cyDb = _db.CopyNew();
            WmsInstockPolicies policy = await cyDb.Queryable<WmsInstockPolicies>().Where(it => it.status == 1).FirstAsync();
            if (policy == null)
            {
                throw new AppFriendlyException("没有可用策略", 500);
            }

            List<WmsCarryH> items = await cyDb.Queryable<WmsCarryH>().LeftJoin<WmsCarryCode>((a, b) => a.id == b.carry_id)
                                       .LeftJoin<BasLocation>((a, b, c) => a.location_id == c.id)
                                       .Where(whereExpr)
                                       .OrderBy(policy.policy)
                                       .Select<WmsCarryH>()
                                       .ToListAsync();
            return input.Size > 0 ? items.Take(input.Size).ToList() : items;
        }
        /// <summary>
        /// 生成任务执行
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        public async Task GenTaskExecute()
        {

            await s_taskExecuteSemaphore.WaitAsync();

            Stopwatch sw = Stopwatch.StartNew();
            CancellationTokenSource agvCts = new();

            SqlSugarClient db = _db.CopyNew();
            try
            {
                //获取电梯数据
                List<WmsElevatorH> elevatorList = await db.Queryable<WmsElevatorH>().InnerJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
                                           .Select((a, b) => new WmsElevatorH
                                           {

                                               bill_id = b.bill_id,
                                               location_id = b.location_id,
                                               location_code = b.location_code,
                                               point_id = b.point_id,
                                               point_code = b.point_code,
                                               floor = b.floor

                                           }, true).ToListAsync();


                //获取所有未下发的预任务申请
                List<WmsPretaskH> preTasks = await db.Queryable<WmsPretaskH>().InnerJoin<WmsCarryH>((a, b) => a.startlocation_id == b.location_id && a.carry_id == b.id)
                                    .InnerJoin<WmsAreaH>((a, b, c) => a.area_id == c.id)
                                    .InnerJoin<BasLocation>((a, b, c, d) => a.endlocation_id == d.id && d.is_use == "0")
                                    .Where(a => a.status == WmsWareHouseConst.PRETASK_BILL_STATUS_DXF_ID && !string.IsNullOrWhiteSpace(a.startlocation_id))
                                    .OrderBy(a => new { priority = SqlFunc.Desc(a.priority), a.bill_code })
                                    .Select((a, b, c, d) => new WmsPretaskH
                                    {
                                        move_num = c.move_num,
                                        third_eqp_type = c.third_eqp_type,
                                    }, true)
                                    .ToListAsync();
                List<WmsPretaskH> agvElevatorTasks = preTasks
                                        .Where(it => it.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase) &&
                                        !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase))
                                        .ToList();

                //it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)
                var elePreTasks = preTasks.Where(it => it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
                var normalPreTasks = preTasks.Where(it => !agvElevatorTasks.Concat(elePreTasks).Select(x => x.endlocation_code).Contains(it.endlocation_code)).ToList();

                IEnumerable<WmsPretaskH?> firstEleGrp = agvElevatorTasks.GroupBy(g => g.endlocation_code).Select(t => t.OrderBy(o => o.bill_code).FirstOrDefault());
                //agvElevatorTasks = agvElevatorTasks.FindAll(x => firstEleGrp.Select(y => y.endlocation_code).Contains(x.endlocation_code)).DistinctBy(x=>x.endlocation_code).ToList();
                agvElevatorTasks = firstEleGrp?.ToList() ?? Enumerable.Empty<WmsPretaskH>().ToList()!;

                //如果电梯任务，预Agv任务存在相同目标库位，删除Agv任务保证电梯任务先行
                var equalEndLocPreTasks = elePreTasks.Select(x => x.endlocation_code).Intersect(agvElevatorTasks.Select(x => x.endlocation_code));
                if (equalEndLocPreTasks.Any())
                {
                    agvElevatorTasks = agvElevatorTasks.Where(x => !equalEndLocPreTasks.Contains(x.endlocation_code)).ToList();
                }
                preTasks = normalPreTasks.Concat(agvElevatorTasks).Concat(elePreTasks).ToList();


                List<string> ids = preTasks.Select(x => x.id).Distinct().ToList();
                List<WmsPretaskCode>? preTaskCodes = await db.Queryable<WmsPretaskCode>().Where(it => ids.Contains(it.bill_id)).ToListAsync();
                if (preTasks.Count > 0)
                {
                    //根据预任务管理区分组，获取到所有分组后的预任务，遍历每个预任务 是否为任务链，通过管理区ID
                    List<IGrouping<string, WmsPretaskH>> preTaskGroups = preTasks.GroupBy(g => g.area_code).ToList();
                    List<WmsDistaskH> disTasks = new();
                    List<WmsDistaskCode> distaskCodes = new();
                    foreach (IGrouping<string, WmsPretaskH>? itGroup in preTaskGroups)
                    {
                        List<WmsDistaskH> items = itGroup.Adapt<List<WmsDistaskH>>();
                        for (int i = 0, cnt = items.Count; i < cnt; i++)
                        {
                            items[i].id = SnowflakeIdHelper.NextId();
                            items[i].status = WmsWareHouseConst.TASK_BILL_STATUS_DZX_ID;
                        }
                        int moveNum = itGroup.First().move_num;
                        int itemsCount = items.Count;
                        int mod = itemsCount % moveNum > 0 ? (itemsCount / moveNum) + 1 : itemsCount / moveNum;
                        WmsDistaskH[] arrary = items.ToArray();
                        //for (int i = 1; i <= mod; i++)
                        {

                            if (moveNum >= 1)
                            {
                                List<WmsPretaskH> areaPreTasks = itGroup.ToList();

                                if (areaPreTasks.Any(x => x.third_eqp_type.ToEnum<EnumTaskChainType>() != EnumTaskChainType.CTU))
                                {
                                    foreach (var x in items)
                                    {
                                        string groupCode = _billRullService.GetBillNumber(WmsWareHouseConst.WMS_TASK_EXECUTE_ENCODE).Result;
                                        x.is_chain = 0;
                                        x.groups = groupCode;
                                        x.bill_code = $"{groupCode}-1";
                                    }
                                }
                                else if ((moveNum >= areaPreTasks.Count && areaPreTasks.Count > 1) || moveNum <= areaPreTasks.Count)
                                {
                                    string groupCode = await _billRullService.GetBillNumber(WmsWareHouseConst.WMS_TASK_EXECUTE_ENCODE);
                                    items.ForEach(x => x.is_chain = 1);

                                    int start = 0;
                                    int end = Math.Min(itemsCount, moveNum);
                                    List<WmsDistaskH[]> arrList = new(mod);

                                    while (start < itemsCount)
                                    {
                                        WmsDistaskH[] subArray = arrary[start..end];
                                        arrList.Add(subArray);
                                        start = end;
                                        end = Math.Min(end + moveNum, arrary.Length);
                                    }
                                    foreach (WmsDistaskH[] arr in arrList)
                                    {
                                        for (int j = 1, len = arr.Length; j <= len; j++)
                                        {
                                            arr[j - 1].groups = groupCode;
                                            arr[j - 1].bill_code = $"{groupCode}-{j}";
                                        }
                                    }
                                }
                            }
                        }

                        if (preTaskCodes?.Count > 0)
                        {
                            foreach (WmsDistaskH disTask in items)
                            {
                                List<WmsPretaskCode> curPreTaskCodes = preTaskCodes.FindAll(x => x.bill_id == disTask.pretask_id);
                                List<WmsDistaskCode> curDisTaskCodes = curPreTaskCodes.Adapt<List<WmsDistaskCode>>();
                                curDisTaskCodes.ForEach(x =>
                                {
                                    x.id = SnowflakeIdHelper.NextId();
                                    x.bill_id = disTask.id;
                                    x.create_time = DateTime.Now;
                                });
                                distaskCodes.AddRange(curDisTaskCodes);
                            }
                        }

                        disTasks.AddRange(items);
                    }
                    await db.Ado.BeginTranAsync();

                    List<string> endPointIds = disTasks.Where(t => t.area_code.StartsWith("ELE", StringComparison.OrdinalIgnoreCase)).Select(t => t.endpoint_id).ToList();
                    Logger.Information($"endPointIds:{string.Join(",", endPointIds)}");
                    if (endPointIds?.Count > 0)
                    {
                        elevatorList = elevatorList.FindAll(x => endPointIds.Contains(x.point_id));

                        Logger.Information($"过滤后的elevatorList：{JsonConvert.SerializeObject(elevatorList)}");

                        if (elevatorList?.Count > 0)
                        {
                            foreach (WmsElevatorH? e in elevatorList)
                            {
                                WmsDistaskH? disTask = disTasks.Find(x => x.endpoint_id == e.point_id);
                                if (disTask != null)
                                {
                                    disTask.device_id = e.elevator_id;
                                }
                            }
                        }
                    }
                    //disTasks.ForEach(x => x.id = SnowflakeIdHelper.NextId());


                    int row = await db.Insertable(disTasks).ExecuteCommandAsync();
                    if (preTaskCodes?.Count > 0)
                    {
                        row = await db.Insertable(distaskCodes).ExecuteCommandAsync();
                    }
                    if (row > 0)
                    {
                        List<string> preTaskIds = preTasks.Select(x => x.id).ToList();
                        row = await db.Updateable<WmsPretaskH>().SetColumns(it => new WmsPretaskH { status = WmsWareHouseConst.PRETASK_BILL_STATUS_YXF_ID }).Where(it => preTaskIds.Contains(it.id)).ExecuteCommandAsync();
                    }

                    await db.Ado.CommitTranAsync();

                    if (string.Equals(_eleCtlCfg.Environment, ElevatorConsts.EnvironmentName, StringComparison.OrdinalIgnoreCase))
                    {
                        //呼梯操作
                        //获取目标库位为电梯库位的任务

                        var agvDTTasks = disTasks.Where(it => it.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase) &&
                                              !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
                        foreach (var at in agvDTTasks)
                        {
                            var ele = elevatorList.Find(x => x.location_code == at.endlocation_code);
                            Logger.Information($"ele.elevator_id={ele?.elevator_id}");
                            if (ele != null)
                            {
                                at.device_id = ele.elevator_id;
                            }
                        }

                        List<(string endlocation_code, string device_id, string id, string? start_floor)> endLocCodes = agvDTTasks
                                            .Select(it => (it.endlocation_code, it.device_id, it.id, it.start_floor)).ToList();
                        if (endLocCodes?.Count > 0)
                        {
                            await CallingLanding(endLocCodes);
                        }
                        //执行电梯任务
                        List<WmsDistaskH>? elevatorTasks = disTasks.Where(it => it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();

                        if (elevatorTasks?.Count > 0)
                        {
                            Logger.Information($"当前电梯任务数:{elevatorTasks?.Count ?? 0}");
                            Logger.Information("准备执行电梯任务");
                            Logger.Information("执行电梯任务");

                            foreach (WmsDistaskH? elevatorTask in elevatorTasks)
                            {
                                await ExecuteTargetFloorTask(elevatorTask);
                            }

                        }
                        ////调用AGV创建任务链接口
                        List<WmsDistaskH> agvTasks = disTasks.Where(it => !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
                        if (agvTasks?.Count > 0)
                        {
                            await AgvDispatch(agvTasks, agvCts.Token);
                        }
                    }

                }
            }
            catch (Exception ex) when (ex is HttpRequestException hReqEx)
            {
                agvCts.Cancel();
            }
            catch (Exception ex)
            {
                Logger.Error("生成预任务执行时出现错误", ex);
                await db.Ado.RollbackTranAsync();
                throw;
            }
            finally
            {
                _ = s_taskExecuteSemaphore.Release();
                agvCts.Dispose();
            }
        }
        /// <summary>
        /// 呼梯操作
        /// </summary>
        /// <param name="endLocCodes"></param>
        /// <returns></returns>
        private async Task CallingLanding(List<(string endlocation_code, string device_id, string id, string floorNO)> endLocCodes)
        {
            Logger.Information($" 开始呼梯操作.............");
            Logger.Information($"电梯信息:{JsonConvert.SerializeObject(s_elevatorMap)}");
            try
            {
                foreach ((_, string devId, string disTaskId, string floorNO) in endLocCodes)
                {
                    Logger.Information($"devId:{devId}");
                    if (!s_elevatorMap.TryGetValue(devId, out object? elevatorCode))
                    {
                        continue;
                    }

                    string? devName = elevatorCode.ToString();
                    Logger.Information($"电梯编号:{devName}");
                    Logger.Information($"当前:{devName.Match(@"\d+")}#梯");

                    await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
                    (int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = (-1, -1, -1, -1, -1);
                    if (!_elevatorAgvCtlStatusMap.TryGetValue(devId, out int agvCtlStatus) || agvCtlStatus != (int)EnumAgvStatus.AGV运行状态)
                    {
                        Logger.Information("获取电梯状态");
                        Logger.Information($"_elevatorControlService ==null{_elevatorControlService == null}");
                        var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
                        do
                        {
                            eleStatusMulti = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
                            await Task.Delay(1000);
                        } while (eleStatusMulti.agvStatus != (int)EnumAgvStatus.AGV运行状态);
                        Logger.Information($"{devName.Match(@"\d+")}#, 当前Agv状态:{eleStatusMulti.agvStatus.ToEnum<EnumAgvStatus>()}");
                        _elevatorAgvCtlStatusMap[devId] = eleStatusMulti.agvStatus;
                    }

                    Logger.Information($"任务开始目标楼层为:{floorNO}");

                    int floorN = await GetRealFloor(floorNO.ParseToInt());
                    //如果电梯在当前楼层则不呼梯
                    if (floorN == eleStatusMulti.curFloorNo)
                    {
                        Logger.Information($"{devName.Match(@"\d+")}#,在当前楼层,无需呼梯");
                        continue;
                    }

                    Logger.Information($"实际目标楼层为:{floorN}");

                    WmsElevatorUnexecute elevatorQueueItem = new()
                    {
                        distask_id = disTaskId,
                        elevator_id = devId,
                        elevator_code = devName,
                        floor = floorN, //5代表4楼
                        task_status = "待执行",
                        create_id = _userManager.UserId,
                        create_time = DateTime.Now
                    };
                    List<WmsElevatorUnexecute> elevatorQueue = await _db.Queryable<WmsElevatorUnexecute>().Where(it => it.distask_id == disTaskId && it.task_status == "执行中").ToListAsync();
                    if ((elevatorQueue.IsNull() || elevatorQueue.Count < 1) && floorN != eleStatusMulti.curFloorNo)
                    {

                        elevatorQueueItem.task_status = "执行中";
                        bool callLiftRes = await _elevatorControlService.CallLift(devName, floorN, CancellationToken.None);
                        string successful = "成功", fail = "失败";
                        string callLiftResult = callLiftRes ? successful : fail;
                        Logger.Information($"{devName.Match(@"\d+")}#, 呼梯结果:{callLiftResult}");
                    }

                    //如果当前电梯有任务在做，将当前呼梯任务放入待执行队列
                    _ = await _db.Insertable(elevatorQueueItem).ExecuteCommandAsync();
                }
            }
            catch (Exception ex)
            {
                Logger.Error("呼梯操作错误", ex);
                Logger.Error($"呼梯操作错误堆栈跟踪:{Environment.NewLine}{ex.StackTrace}");
                throw;
            }
        }

        /// <summary>
        /// 执行到目标楼层电梯任务
        /// </summary>
        /// <param name="disTask"></param>
        /// <returns></returns>
        private async Task ExecuteTargetFloorTask(WmsDistaskH disTask)
        {
            //收到放货确认通知，向电梯发送到3楼的指令
            Logger.Information($"开始执行电梯任务，任务ID:{disTask.id}");
            try
            {
                if (!s_elevatorMap.TryGetValue(disTask.device_id, out object? elevatorCode))
                {
                    return;
                }
                string devName = s_elevatorMap[disTask.device_id]?.ToString() ?? _eleCtlCfg.DevName3;

                Logger.Information($"当前:{devName.Match(@"\d+")}#梯");

                _ = await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
                (int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = (-1, -1, -1, -1, -1);
                var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
                if (!_elevatorAgvCtlStatusMap.TryGetValue(disTask.id, out int agvCtlStatus) || agvCtlStatus != (int)EnumAgvStatus.AGV运行状态)
                {
                    do
                    {
                        eleStatusMulti = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
                        await Task.Delay(1000);
                    } while (eleStatusMulti.agvStatus != (int)EnumAgvStatus.AGV运行状态);
                    Logger.Information($"{devName.Match(@"\d+")}#, 当前Agv状态:{eleStatusMulti.agvStatus.ToEnum<EnumAgvStatus>()}");
                    _elevatorAgvCtlStatusMap[disTask.id] = eleStatusMulti.agvStatus;
                }

                int doorStatus = -1;
                bool closeDoorRes = await _elevatorControlService.SendOpenCloseCmd(devName, 4); //向电梯发送前门关门指令
                Logger.Information($"关门结果:{closeDoorRes}");
                do
                {
                    doorStatus = await _elevatorControlService.GetTagAsync(devName, ElevatorConsts.DoorStatus);
                    await Task.Delay(1000);
                } while (doorStatus != 4);
                Logger.Information($"当前门状态:{doorStatus}");

                int floor = await GetRealFloor(disTask.end_floor.ParseToInt());

                Logger.Information($"目标楼层:{floor}");

                //发送到目标楼的指令
                dynamic reuslt = await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor);
                //电梯任务手动执行任务状态上报
                (int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) tuple = (-1, -1, -1, -1, -1);

                do
                {
                    tuple = await _elevatorControlService.GetElevatorStatus(devName,tags, CancellationToken.None);
                    await Task.Delay(1000);
                } while (tuple.sysStatus != 3 && tuple.runStatus != 0);

                Logger.Information($"sysStatus:{tuple.sysStatus},runStatus:{tuple.runStatus},floorNo:{tuple.floorNo},disTask.end_floor={disTask.end_floor}");

                if (tuple.sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && tuple.runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯)
                {
                    Logger.Information($"disTask.require_id={disTask.require_id}");
                    List<string> disTaskIds = new() { disTask.id };
                    var upInput = new { disTaskIds = disTask.id };
                    TaskExecuteAfterUpInput teaUpInput = new()
                    {
                        disTaskIds = disTaskIds,
                    };
                    await TaskExecuteAfter(teaUpInput);
                    TaskCompleUpInput tcUpInput = new()
                    {
                        disTaskIds = disTaskIds,
                    };
                    await TaskComplate(tcUpInput);
                }

            }
            catch (Exception ex)
            {
                Logger.Error("执行到目标楼层电梯任务失败", ex);
                throw;
            }
        }
        /// <summary>
        /// Agv调度
        /// </summary>
        /// <param name="disTasks"></param>
        /// <param name="token"></param>
        /// <returns></returns>
        private async Task AgvDispatch(List<WmsDistaskH> disTasks, CancellationToken token)
        {
            //调用AGV创建任务链接口
            try
            {
                AgvRequestConfig requestCfg = App.Configuration.Build<AgvRequestConfig>();
                string url = requestCfg.AgvRequestUrls.CreateTaskChainUrl;
                var taskChainCodeDic = disTasks.Where(t => !t.groups.IsNullOrWhiteSpace()).GroupBy(g => g.groups!)
                    .ToDictionary(x => x.Key, x => x.Select(it => new
                    {
                        taskCode = it.bill_code,
                        sourceName = it.startpoint_code,
                        targetName = it.endpoint_code,
                        containerCode = it.carry_code,
                    }));
                Logger.Information($"请求地址：{url}");
                foreach ((string k, object v) in taskChainCodeDic)
                {
                    dynamic reqBody = new ExpandoObject();
                    reqBody.taskChainCode = k;
                    reqBody.type = (int)EnumTaskChainType.AGV;
                    reqBody.sequential = false;
                    reqBody.taskChainPriority = 0;
                    reqBody.taskList = v;
                    Logger.Information($"请求参数：{JsonConvert.SerializeObject(reqBody)}");
                    dynamic respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
                    Logger.Information($"调用Agv接口响应结果:{respBody}");
                }
            }
            catch (Exception ex)
            {
                Logger.Error("agv调度失败异常", ex);
                throw;
            }
        }


        /// <summary>
        /// 任务执行
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost]
        public async Task TaskExecute(TaskExecuteUpInput input)
        {
            try
            {
                await _db.Ado.BeginTranAsync();

                //更任务执行
                for (int i = 0, cnt = input.disTaskIds.Count; i < cnt; i++)
                {
                    _ = input.EqpIds?.Count > 0
                        ? await _db.Updateable<WmsDistaskH>().SetColumns(it => new WmsDistaskH { status = WmsWareHouseConst.TASK_BILL_STATUS_YXD_ID, device_id = input.EqpIds[i] }).Where(it => input.disTaskIds.Contains(it.id)).ExecuteCommandAsync()
                        : await _db.Updateable<WmsDistaskH>().SetColumns(it => new WmsDistaskH { status = WmsWareHouseConst.TASK_BILL_STATUS_YXD_ID }).Where(it => input.disTaskIds.Contains(it.id)).ExecuteCommandAsync();
                    //await _db.Updateable<WmsDistaskH>().SetColumns(it => setColVal).Where(it => input.disTaskIds.Contains(it.id)).ExecuteCommandAsync();
                }
                List<string> preTaskIds = await _db.Queryable<WmsDistaskH>().Where(it => input.disTaskIds.Contains(it.id)).Select(it => it.pretask_id).ToListAsync();
                if (preTaskIds.Count > 0)
                {
                    //更预任务申请表状态
                    _ = await _db.Updateable<WmsPretaskH>().SetColumns(it => new WmsPretaskH { status = WmsWareHouseConst.PRETASK_BILL_STATUS_START_ID }).Where(it => preTaskIds.Contains(it.id)).ExecuteCommandAsync();
                }

                await _db.Ado.CommitTranAsync();
            }
            catch (Exception ex)
            {
                Logger.Error("任务执行失败", ex);
                await _db.Ado.RollbackTranAsync();
                throw;
            }
        }
        /// <summary>
        /// 任务执行取操作返回(后续操作)
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        public async Task TaskExecuteAfter(TaskExecuteAfterUpInput input)
        {
            //更新任务执行表单据状态
            try
            {
                await _db.Ado.BeginTranAsync();

                _ = await _db.Updateable<WmsDistaskH>().SetColumns(it => new WmsDistaskH { status = WmsWareHouseConst.TASK_BILL_STATUS_RUNING_ID, act_start_date = DateTime.Now }).Where(it => input.disTaskIds.Contains(it.id)).ExecuteCommandAsync();
                //清空载具库位数据
                var carryAndLocIds = await _db.Queryable<WmsDistaskH>().Where(it => input.disTaskIds.Contains(it.id)).Select(it => new { it.carry_id, it.startlocation_id }).ToListAsync();
                if (carryAndLocIds?.Count > 0)
                {
                    List<string> carryIds = carryAndLocIds.Select(x => x.carry_id).ToList();
                    _ = await _db.Updateable<WmsCarryH>().SetColumns(it => new WmsCarryH { location_id = null, location_code = null }).Where(it => carryIds.Contains(it.id)).ExecuteCommandAsync();
                }
                //更新起始库位，状态改为空闲、锁定状态，未锁定
                if (carryAndLocIds?.Count > 0)
                {
                    List<string> startLocationIds = carryAndLocIds.Select(x => x.startlocation_id).ToList();
                    _ = await _db.Updateable<BasLocation>().SetColumns(it => new BasLocation { is_use = ((int)EnumCarryStatus.空闲).ToString(), is_lock = 0 }).Where(it => startLocationIds.Contains(it.id)).ExecuteCommandAsync();
                }

                await _db.Ado.CommitTranAsync();
            }
            catch (Exception ex)
            {
                Logger.Error("设备取返回操作失败", ex);
                await _db.Ado.RollbackTranAsync();
            }
        }
        /// <summary>
        /// 任务完成
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        public async Task TaskComplate(TaskCompleUpInput input)
        {
            try
            {
                await _db.Ado.BeginTranAsync();

                //更新任务执行表，单据状态为 完成
                _ = await _db.Updateable<WmsDistaskH>().SetColumns(it => new WmsDistaskH { status = WmsWareHouseConst.TASK_BILL_STATUS_COMPLE_ID, act_end_date = DateTime.Now }).Where(it => input.disTaskIds.Contains(it.id)).ExecuteCommandAsync();
                List<WmsDistaskH> disTasks = await _db.Queryable<WmsDistaskH>().InnerJoin<WmsCarryH>((a, b) => a.carry_id == b.id).Where(a => input.disTaskIds.Contains(a.id)).Select((a, b) => new WmsDistaskH { carry_status = b.carry_status }, true).ToListAsync();
                if (disTasks?.Count > 0)
                {
                    // 更新预任务申请表，单据状态为 已完成
                    List<string> preTaskIds = disTasks.Select(x => x.pretask_id).ToList();
                    _ = await _db.Updateable<WmsPretaskH>().SetColumns(it => new WmsPretaskH { status = WmsWareHouseConst.PRETASK_BILL_STATUS_COMPLE_ID }).Where(it => preTaskIds.Contains(it.id)).ExecuteCommandAsync();

                    //更新电梯任务数量
                    var eles = await _db.Queryable<WmsElevatorH>().Where(it => disTasks.Select(x => x.area_code).Contains(it.area_code)).ToListAsync();
                    if (eles?.Count > 0)
                        await _db.Updateable(eles).ReSetValue(it => it.task_nums--).ExecuteCommandAsync();

                    //更新载具，锁定状态为未锁定，更新载具的库位当前任务的目标库位
                    Logger.Information("更新载具及库位准备中.....");

                    List<(string carry_id, string carry_status, string endlocation_id, string endlocation_code)> multiList = disTasks.Select(it => (it.carry_id, it.carry_status, it.endlocation_id, it.endlocation_code)).ToList();
                    Dictionary<string, object> locWhIdMap = await _db.Queryable<BasLocation>().Where(it => multiList.Select(x => x.endlocation_id).Contains(it.id)).ToDictionaryAsync(it => it.id, it => it.wh_id);
                    List<WmsCarryH> carryIts = new();
                    List<WmsCarryCode> carryCodeIts = new();
                    List<BasLocation> locIts = new();
                    for (int i = 0, cnt = multiList.Count; i < cnt; i++)
                    {
                        WmsCarryH carry = new()
                        {
                            id = multiList[i].carry_id,
                            is_lock = 0,
                            location_id = multiList[i].endlocation_id,
                            location_code = multiList[i].endlocation_code
                        };
                        string endLocId = multiList[i].endlocation_id;
                        WmsCarryCode carryCode = new()
                        {
                            warehouse_id = locWhIdMap.ContainsKey(endLocId) ? locWhIdMap[endLocId].ToString() : "",
                            location_id = multiList[i].endlocation_id,
                            location_code = multiList[i].endlocation_code
                        };
                        carryIts.Add(carry);
                        carryCodeIts.Add(carryCode);

                        BasLocation loc = new()
                        {
                            id = multiList[i].endlocation_id,
                            is_lock = 0,
                            is_use = multiList[i].carry_status
                        };
                        if (multiList[i].carry_status.ToEnum<EnumCarryStatus>() == EnumCarryStatus.空闲)
                        {
                            loc.is_use = ((int)EnumCarryStatus.占用).ToString();
                        }

                        locIts.Add(loc);
                    }
                    Logger.Information("更新载具及库位开始.....");
                    _ = await _db.Updateable(carryIts).UpdateColumns(it => new { it.is_lock, it.location_id, it.location_code }).ExecuteCommandAsync();
                    //更新条码的库位和仓库信息
                    _ = await _db.Updateable(carryCodeIts).UpdateColumns(it => new { it.warehouse_id, it.location_id, it.location_code }).Where(it => multiList.Select(x => x.carry_id).Contains(it.carry_id)).ExecuteCommandAsync();
                    //更新库位信息，使用状态为 使用，锁定状态为未锁定
                    _ = await _db.Updateable(locIts).UpdateColumns(it => new { it.is_use, it.is_lock }).ExecuteCommandAsync();
                    /*                    var loginType= _userManager?.LoginType ?? "web";
                                        Log.Information($"_userManager.LoginType={loginType}");
                    */                    //更新业务主表的单据状态
                    foreach (WmsDistaskH? dt in disTasks)
                    {
                        Logger.Information("开始业务回更");
                        List<WmsDistaskCode> disTaskCodes = await _db.Queryable<WmsDistaskCode>().Where(it => it.bill_id == dt.id).ToListAsync();
                        WareHouseUpInput upInput = new() { bizTypeId = dt.biz_type, requireId = dt.require_id!, distaskCodes = disTaskCodes, carryIds = disTasks.Select(x => x.carry_id).ToList() };

                        /*if (!_userManager?.LoginType.IsNullOrEmpty() ?? false)
                        {
                            upInput.loginType = "app";
                        }
                        else
                        {
                            upInput.loginType = "web";
                        }*/
                        Logger.Information("loginType赋值前");
                        upInput.loginType = "web";//(!string.IsNullOrEmpty(_userManager?.LoginType) ? "app" : "web") ?? "web";
                        Logger.Information($"upInput.loginType={upInput.loginType}");
                        if (dt.is_sign == 1 && dt.chain_type == "3")
                        {
                            Logger.Information("执行业务回更操作.....");
                            await DoUpdate(upInput);
                        }
                    }
                }
                await _db.Ado.CommitTranAsync();
            }
            catch (Exception ex)
            {
                Logger.Error($"任务结束失败", ex);
                Logger.Error($"任务结束失败堆栈异常", ex);
                await _db.Ado.RollbackTranAsync();
                throw;
            }
            finally
            {
                _ = GenTaskExecute();
            }
        }
        /// <summary>
        /// 出入库策略启用、禁用状态修改
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost]
        public async Task ModifyPoliciesStatus(ModifyEnabledInput input)
        {
            async Task _updateStatus<T>(ModifyEnabledInput input) where T : BaseEntity<string>, IUpdatePoliciesStatus, new()
            {
                T obj = new() { status = input.status };
                _ = await _db.Updateable(obj).UpdateColumns(it => it.status).Where(it => input.ids.Contains(it.id)).ExecuteCommandAsync();
            }

            switch (input.strategyType)
            {
                case EnumInOutStockType.In:
                    await _updateStatus<WmsInstockPolicies>(input);
                    break;
                case EnumInOutStockType.Out:
                    await _updateStatus<WmsOutstockPolicies>(input);
                    break;
            }
        }

        /// <summary>
        /// 生成预任务
        /// </summary>
        /// <param name="preTasks">预任务集合</param>
        /// <param name="preTaskCodes">预任务编码集合</param>
        /// <returns></returns>
        public async Task<bool> GenPreTask(List<WmsPretaskH> preTasks, List<WmsPretaskCode> preTaskCodes)
        {
            //如果预任务出现起终库位相同，则删除对应预任务 
            //modifiy by ly on 20230922 将当前预任务操作者设为四场管理员
            preTasks.ForEach(pt =>
            {
                pt.org_id = WmsWareHouseConst.AdministratorOrgId;
                pt.create_id = WmsWareHouseConst.AdministratorUserId;
            });
            if (preTasks.FindAll(it => it.startlocation_id == it.endlocation_id)?.Count > 0)
            {
                _ = preTasks.RemoveAll(it => it.startlocation_id == it.endlocation_id);
            }
            List<IGrouping<string, WmsPretaskH>> grpList = preTasks.OrderBy(o => o.bill_code).GroupBy(g => g.carry_id).ToList();
            if (grpList?.Count > 0)
            {
                foreach (IGrouping<string, WmsPretaskH>? grp in grpList)
                {
                    WmsPretaskH[] arr = grp.ToArray();
                    if (arr.Length > 1)
                    {
                        WmsPretaskH[] subArr = arr[..^1];
                        System.Array.ForEach(subArr, a => a.chain_type = "1");
                    }
                }
            }
            int row = await _db.Insertable(preTasks).ExecuteCommandAsync();
            if (preTaskCodes?.Count > 0)
            {
                row = await _db.Insertable(preTaskCodes).ExecuteCommandAsync();
            }
            var eleP = preTasks.Find(x => x.area_code.Contains("ELE"));
            if (eleP != null)
            {
                row = await _db.Updateable<WmsElevatorH>().SetColumns(it => it.task_nums == it.task_nums + 1).Where(it => it.area_code == eleP.area_code).ExecuteCommandAsync();
            }

            return row > 0;
        }
        /// <summary>
        /// 生成预任务后续处理
        /// </summary>
        /// <returns></returns>
        [NonAction]
        public async Task GenInStockTaskHandleAfter(GenPreTaskUpInput input, Expression<Func<WmsCarryH, WmsCarryH>> setCarryColumnsExp, Expression<Func<BasLocation, BasLocation>> setLocaionColumbExp)
        {
            try
            {
                await _db.Ado.BeginTranAsync();
                //根据生成的预任务，插入预任务操作记录
                if (input.PreTaskRecord != null)
                {
                    _ = await _db.Insertable(input.PreTaskRecord).ExecuteCommandAsync();
                }
                if (input.PreTaskHandleCodes.Count > 0)
                {
                    _ = await _db.Insertable(input.PreTaskHandleCodes).ExecuteCommandAsync();
                }
                //根据载具ID，更新是否锁定和赋值起始库位
                if (setCarryColumnsExp != null)
                {
                    Expression<Func<WmsCarryH, bool>> whereExp = input.CarryIds?.Count > 0 ? it => input.CarryIds.Contains(it.id) : it => it.id == input.CarryId;
                    _ = await _db.Updateable<WmsCarryH>().SetColumns(setCarryColumnsExp).Where(whereExp).ExecuteCommandAsync();
                }
                if (input.CarryStartLocationId.IsNullOrWhiteSpace() == false)
                {
                    _ = await _db.Updateable<BasLocation>().SetColumns(setLocaionColumbExp).Where(it => input.LocationIds.Contains(it.id)).ExecuteCommandAsync();
                }
                //根据所有库位更新库位的锁定状态为“锁定”
                if (setLocaionColumbExp != null && input.LocationIds?.Count > 0)
                {
                    _ = await _db.Updateable<BasLocation>().SetColumns(setLocaionColumbExp).Where(it => input.LocationIds.Contains(it.id)).ExecuteCommandAsync();
                }
                await _db.Ado.CommitTranAsync();
            }
            catch (Exception)
            {
                await _db.Ado.RollbackTranAsync();
                throw;
            }
        }

        /// <summary>
        /// 路径算法
        /// </summary>
        /// <param name="pStartId"></param>
        /// <param name="pEndId"></param>
        /// <returns></returns>
        [NonAction]
        public async Task<List<WmsPointH>> PathAlgorithms(string pStartId, string pEndId)
        {
            List<WmsRoad> roads = await _db.Queryable<WmsRoad>().Where(it => it.status == 1).ToListAsync();
            List<WmsPointH> points = await LocPathCalcAlgorithms(pStartId, pEndId, roads);
            try
            {
                if (points.FindAll(x => x.location_code != null && x.location_code.Contains("dt", StringComparison.OrdinalIgnoreCase))?.Count > 0)
                {
                    //查询当前电梯点
                    List<WmsElevatorD> curEleDs = await _db.Queryable<WmsElevatorD>().Where(it => points.Select(x => x.id).Contains(it.point_id)).ToListAsync();
                    //如果有电梯点，则会进行电梯的均匀分配
                    if (curEleDs?.Count > 0)
                    {
                        //当前电梯
                        WmsElevatorH curEle = await _db.Queryable<WmsElevatorH>().SingleAsync(it => it.id == curEleDs.First().bill_id && it.enabled == 1);
                        //同电梯组电梯
                        List<WmsElevatorH> sGpEle = await _db.Queryable<WmsElevatorH>().Where(it => it.elevator_group == curEle.elevator_group && it.id != curEle.id && it.enabled == 1).ToListAsync();

                        if (curEle == null && sGpEle?.Count > 0)
                        {
                            throw new AppFriendlyException("电梯被禁用或未配置", 500);
                        }

                        //判断电梯组中各电梯任务数
                        if (curEle == null || sGpEle.FindAll(x => Math.Abs(x.task_nums - curEle.task_nums) % 2 == 1)?.Count > 0)
                        {
                            List<WmsElevatorD> sGpDs = await _db.Queryable<WmsElevatorD>().Where(it => it.bill_id == sGpEle.First().id).ToListAsync();
                            if (sGpDs?.Count > 0)
                            {
                                List<WmsPointH> sGpPoints = await _db.Queryable<WmsPointH>().Where(it => sGpDs.Select(x => x.point_id).Contains(it.id)).ToListAsync();
                                string sFEndId = sGpDs.Single(x => x.floor == curEleDs.First().floor).point_id;
                                string eFStartId = sGpDs.Single(x => x.floor == curEleDs.Last().floor).point_id;
                                List<WmsPointH> sFPoints = await LocPathCalcAlgorithms(pStartId, sFEndId, roads);
                                List<WmsPointH> elePoints = new();
                                foreach (WmsElevatorD pt in curEleDs)
                                {
                                    WmsPointH? elePoint = sGpPoints.Find(x => x.floor == pt.floor);
                                    if (elePoint != null)
                                    {
                                        elePoints.Add(elePoint);
                                    }
                                }
                                List<WmsPointH> eFPoints = await LocPathCalcAlgorithms(eFStartId, pEndId, roads);
                                _ = elePoints.Remove(elePoints.First());
                                _ = elePoints.Remove(elePoints.Last());
                                points.Clear();
                                points.AddRange(sFPoints);
                                points.AddRange(elePoints);
                                points.AddRange(eFPoints);
                            }
                        }

                    }
                }
            }
            catch (Exception ex)
            {
                Logger.Error("路径算法异常", ex);
                throw;
            }

            return points;
        }
        /// <summary>
        /// 路径算法 当出现多个载具同时出库，可能需要进入电梯时
        /// </summary>
        /// <param name="pStartId"></param>
        /// <param name="pEndId"></param>
        /// <param name="ele"></param>
        /// <returns></returns>
        [NonAction]
        public async Task<List<WmsPointH>> PathAlgorithmsEle(string pStartId, string pEndId, int ele)
        {
            List<WmsRoad> roads = await _db.Queryable<WmsRoad>().Where(it => it.status == 1).ToListAsync();
            List<WmsPointH> points = await LocPathCalcAlgorithms(pStartId, pEndId, roads);
            try
            {
                if (points.FindAll(x => x.location_code != null && x.location_code.Contains("dt", StringComparison.OrdinalIgnoreCase))?.Count > 0)
                {
                    //查询当前电梯点
                    List<WmsElevatorD> curEleDs = await _db.Queryable<WmsElevatorD>().Where(it => points.Select(x => x.id).Contains(it.point_id)).ToListAsync();
                    //如果有电梯点，则会进行电梯的均匀分配
                    if (curEleDs?.Count > 0)
                    {
                        //当前电梯
                        WmsElevatorH curEle = await _db.Queryable<WmsElevatorH>().SingleAsync(it => it.id == curEleDs.First().bill_id && it.enabled == 1);


                        //同电梯组电梯
                        List<WmsElevatorH> sGpEle = await _db.Queryable<WmsElevatorH>().Where(it => it.elevator_group == curEle.elevator_group && it.id != curEle.id && it.enabled == 1).ToListAsync();


                        if (curEle == null && sGpEle?.Count > 0)
                        {
                            throw new AppFriendlyException("电梯被禁用或未配置", 500);
                        }
                        if (ele % 2 == 1)
                        {
                            //判断电梯组中各电梯任务数
                            if (curEle == null || sGpEle.FindAll(x => Math.Abs(x.task_nums - curEle.task_nums) % 2 == 1)?.Count > 0)
                            {
                                List<WmsElevatorD> sGpDs = await _db.Queryable<WmsElevatorD>().Where(it => it.bill_id == sGpEle.First().id).ToListAsync();
                                if (sGpDs?.Count > 0)
                                {
                                    List<WmsPointH> sGpPoints = await _db.Queryable<WmsPointH>().Where(it => sGpDs.Select(x => x.point_id).Contains(it.id)).ToListAsync();
                                    string sFEndId = sGpDs.Single(x => x.floor == curEleDs.First().floor).point_id;
                                    string eFStartId = sGpDs.Single(x => x.floor == curEleDs.Last().floor).point_id;
                                    List<WmsPointH> sFPoints = await LocPathCalcAlgorithms(pStartId, sFEndId, roads);
                                    List<WmsPointH> elePoints = new();
                                    foreach (WmsElevatorD pt in curEleDs)
                                    {
                                        WmsPointH? elePoint = sGpPoints.Find(x => x.floor == pt.floor);
                                        if (elePoint != null)
                                        {
                                            elePoints.Add(elePoint);
                                        }
                                    }
                                    List<WmsPointH> eFPoints = await LocPathCalcAlgorithms(eFStartId, pEndId, roads);
                                    _ = elePoints.Remove(elePoints.First());
                                    _ = elePoints.Remove(elePoints.Last());
                                    points.Clear();
                                    points.AddRange(sFPoints);
                                    points.AddRange(elePoints);
                                    points.AddRange(eFPoints);
                                }
                            }
                        }

                    }
                }
            }
            catch (Exception ex)
            {
                Logger.Error("路径算法异常", ex);
                throw;
            }

            return points;
        }
        #region PrivateMethods

        private async Task<List<WmsPointH>> LocPathCalcAlgorithms(string pStartId, string pEndId, List<WmsRoad> roads)
        {
            #region dp
            //List<WmsPointH> results = new();
            //var points = await _db.Queryable<WmsPointH>().ToListAsync();
            //Dictionary<string, bool> isVisited = roads.Select(x => x.startpoint_id).Distinct().ToDictionary(x => x, x => false);

            //List<string> pointIds = new();
            //List<string> codes = new();
            //Dp dp = new();
            //dynamic obj = new ExpandoObject();
            //obj.isArrivedEpoint = false;
            //dp.DpFunc(roads, pointIds, isVisited, pStartId, pEndId, obj);
            //foreach (var pid in pointIds)
            //{
            //    var point = points.Find(x => x.id == pid);
            //    if (point != null)
            //    {
            //        results.Add(point);
            //    }
            //}
            //return results; 
            #endregion

            #region dijkstra
            List<WmsPointH>? points = await _db.Queryable<WmsPointH>().ToListAsync();
            WmsPointH? startObj = points.Find(x => x.id == pStartId);
            WmsPointH? endObj = points.Find(x => x.id == pEndId);
            int sIndex = points.IndexOf(startObj);
            int eIndex = points.IndexOf(endObj);
            if (eIndex < sIndex)
            {
                (eIndex, sIndex) = (sIndex, eIndex);
                (points[eIndex], points[sIndex]) = (points[sIndex], points[eIndex]);
            }

            string[] vexs = points.Select(p => p.id).ToArray();
            EData[] edges = new EData[roads.Count];
            for (int i = 0; i < edges.Length; i++)
            {
                string start = roads[i].startpoint_id;
                string end = roads[i].endpoint_id;
                int weight = roads[i].distance;
                edges[i] = new EData(start, end, weight);
            }

            Dijkstra pG = new(vexs, edges);
            int[] prev = new int[pG.mVexs.Length];
            int[] dist = new int[pG.mVexs.Length];
            List<WmsPointH> vertexs = new() { startObj };
            pG.CalcDijkstra(sIndex, prev, dist);
            List<string> pointIds = points.Select(p => p.id).ToList();
            Stack<string> result = new();
            GetPoints(pointIds, prev, result, eIndex);

            List<WmsPointH> results = new() { startObj };
            if (points?.Count > 0)
            {
                //points.Where(it => result.Contains(it.id));
                foreach (string i in result)
                {
                    WmsPointH? point = points?.Find(x => x.id == i);
                    if (point != null)
                    {
                        results.Add(point);
                    }
                }
            }

            return results;
            #endregion

        }
        /// <summary>
        /// 获取匹配的最短路径节点
        /// </summary>
        /// <param name="results"></param>
        /// <param name="roads"></param>
        /// <param name="shortestPathPoints"></param>
        /// <param name="isVisited"></param>
        /// <param name="pStartId"></param>
        /// <param name="pEndId"></param>
        private void MatchPoint(List<WmsPointH> results, List<WmsRoad> roads, List<WmsPointH> shortestPathPoints, Dictionary<string, bool> isVisited, string pStartId, string pEndId)
        {
            List<WmsRoad> sRoads = roads.Where(x => x.startpoint_id == pStartId).ToList();
            for (int j = 0; j < sRoads.Count; j++)
            {
                WmsPointH? sPoint = shortestPathPoints.Find(x => x.id == sRoads[j].endpoint_id);
                if (sPoint != null && isVisited.ContainsKey(sPoint.id) && !isVisited[sPoint.id] && sPoint.id != pEndId)
                {
                    string code = sPoint.point_code;
                    results.Add(sPoint);
                    isVisited[sPoint.id] = true;
                    MatchPoint(results, roads, shortestPathPoints, isVisited, sPoint.id, pEndId);
                }
            }
        }
        /// <summary>
        /// 根据终止节点获取最短路径顶点
        /// </summary>
        /// <param name="pointIds"></param>
        /// <param name="prev"></param>
        /// <param name="result"></param>
        /// <param name="eIdx"></param>
        private static void GetPoints(List<string> pointIds, int[] prev, Stack<string> result, int eIdx)
        {
            int index = eIdx;
            while (index != 0)
            {
                result.Push(pointIds[index]);
                index = prev[index];
            }
        }

        private async Task<bool> Update<T1, T2>(T1 entity, List<T2> entities) where T1 : BaseEntity<string>, new() where T2 : BaseEntity<string>, new()
        {
            bool isOk = false;
            try
            {
                await _db.Ado.BeginTranAsync();
                isOk = await _db.Updateable(entity).ExecuteCommandHasChangeAsync();
                if (entities?.Count > 0)
                {
                    int row = await _db.Storageable(entities).ExecuteCommandAsync();
                    isOk = row > 0;
                }
                await _db.Ado.CommitTranAsync();
            }
            catch (Exception)
            {
                await _db.Ado.RollbackTranAsync();
            }
            return isOk;
        }

        /// <summary>
        /// 根据明细Id获取出入库明细信息
        /// </summary>
        /// <typeparam name="TStockD">出入库明细</typeparam>
        /// <typeparam name="TOutput">明细输出类</typeparam>
        /// <typeparam name="TStockCode">出入库条码</typeparam>
        /// <param name="billDId">明细Id</param>
        /// <returns></returns>
        private async Task<dynamic?> FetchInOutStockCodesById<TStockD, TOutput, TStockCode>(string billDId)
                where TStockD : BaseEntity<string>, new()
                where TOutput : IInOutStockDetail<TStockCode>, new()
                where TStockCode : BaseEntity<string>, IInOutStockCode, new()
        {
            Dictionary<string, object> dic = await _dictionaryDataService.GetDictionaryByTypeId(WmsWareHouseConst.WMS_INSTOCK_D_BILL_STATUS_TYPEID);
            List<TOutput> data = await _db.Queryable<TStockD>()
                    .Where(a => a.id == billDId)
                    .Select(a => new TOutput
                    {
                        CodeDetails = SqlFunc.Subqueryable<TStockCode>().Where(it => it.bill_d_id == a.id).ToList(),
                    }, true)
                    .Mapper(it =>
                    {
                        it.line_status = it.line_status != null && dic.ContainsKey(key: it.line_status) ? dic[it.line_status]?.ToString() : "";
                        it.warehouse_id = _db.Queryable<BasWarehouse>().Single(y => y.id == it.warehouse_id)?.whname ?? "";
                    })
                    .ToListAsync();

            return data;
        }
        #endregion
    }
}