add - 手动创建任务功能，任务生成方式修改

.claude/settings.local.json

@@ -20,7 +20,8 @@
       "Bash(dotnet /Users/wenxiansheng/.nuget/packages/avalonia/11.1.5/lib/netstandard2.0/Avalonia.Base.dll type list)",
       "Bash(dotnet new *)",
       "Bash(dotnet add *)",
-      "Bash(python3 *)"
+      "Bash(python3 *)",
+      "Bash(git restore *)"
     ]
   }
 }

Sln.Wcs.Business/TaskCreateService.cs

@@ -0,0 +1,227 @@
+using Sln.Wcs.Business.Domain.Enum;
+using Sln.Wcs.Model.Domain;
+using Sln.Wcs.Serilog;
+
+namespace Sln.Wcs.Business;
+
+/// <summary>
+/// 接驳位拓扑驱动的任务创建服务
+/// 根据起止楼栋/楼层/位置，自动生成 LiveTaskQueue 及其子任务明细序列
+/// </summary>
+public class TaskCreateService
+{
+    private readonly SerilogHelper _logger;
+
+    public TaskCreateService(SerilogHelper logger) => _logger = logger;
+
+    #region 拓扑配置
+
+    private record TopoNode(int Building, int Floor);
+
+    /// <summary>
+    /// 拓扑邻接表：(栋,层) → 可达的相邻节点
+    /// 所有楼栋 1~5F，本栋提升机可直达任意楼层（全连接）
+    /// 跨栋仅 2F 连通: (13,2)↔(14,2) 廊桥交接, (14,2)↔(15,2) AGV直连
+    /// </summary>
+    private static readonly Dictionary<TopoNode, List<TopoNode>> Topology = BuildTopology();
+
+    private static Dictionary<TopoNode, List<TopoNode>> BuildTopology()
+    {
+        var dict = new Dictionary<TopoNode, List<TopoNode>>();
+
+        // 每个楼栋内全连接（提升机直达任意楼层）
+        foreach (var building in new[] { 13, 14, 15 })
+        {
+            for (int f1 = 1; f1 <= 5; f1++)
+            {
+                var neighbors = new List<TopoNode>();
+                for (int f2 = 1; f2 <= 5; f2++)
+                {
+                    if (f1 != f2)
+                        neighbors.Add(new(building, f2));
+                }
+                dict[new(building, f1)] = neighbors;
+            }
+        }
+
+        // 跨栋: 仅 2F 连通
+        dict[new(13, 2)].Add(new(14, 2));  // 13↔14 廊桥交接
+        dict[new(14, 2)].Add(new(13, 2));
+        dict[new(14, 2)].Add(new(15, 2));  // 14↔15 AGV直连
+        dict[new(15, 2)].Add(new(14, 2));
+
+        return dict;
+    }
+
+    #endregion
+
+    /// <summary>
+    /// 创建任务：输入楼栋/楼层/位置号，自动生成明细序列
+    /// </summary>
+    /// <param name="startBuilding">起始楼栋 (13/14/15)</param>
+    /// <param name="startFloor">起始楼层</param>
+    /// <param name="startLocation">起始位置号，如 "01"</param>
+    /// <param name="endBuilding">目标楼栋 (13/14/15)</param>
+    /// <param name="endFloor">目标楼层</param>
+    /// <param name="endLocation">目标位置号，如 "02"</param>
+    /// <param name="taskType">任务类型: 1-入库, 2-出库</param>
+    /// <param name="taskCategory">任务类别: 1-包材, 2-成品, 3-托盘</param>
+    /// <param name="palletBarcode">托盘条码</param>
+    /// <param name="materialCode">物料编码</param>
+    /// <returns>完整 LiveTaskQueue（含明细列表）</returns>
+    public LiveTaskQueue CreateTask(
+        int startBuilding, int startFloor, string startLocation,
+        int endBuilding, int endFloor, string endLocation,
+        int taskType, int taskCategory,
+        string palletBarcode, string materialCode)
+    {
+        var startPoint = PosCode(startBuilding, startFloor, startLocation);
+        var endPoint = PosCode(endBuilding, endFloor, endLocation);
+
+        _logger.Info($"创建任务 - {startPoint} ({startBuilding}#_{startFloor}F) → {endPoint} ({endBuilding}#_{endFloor}F)");
+
+        // Step 1: BFS 找最短路径（节点序列）
+        var nodes = FindPath(startBuilding, startFloor, endBuilding, endFloor);
+        _logger.Info($"路由节点: {string.Join(" → ", nodes.Select(n => $"({n.Building},{n.Floor})"))}");
+
+        // Step 2: 沿节点路径逐段生成明细
+        // 规则: 同层移动=AGV, 跨层=提升机, 跨栋(13↔14)=廊桥交接两段AGV
+        var details = new List<LiveTaskDetail>();
+        int seq = 1;
+        var taskCode = GenerateTaskCode();
+        string currentPos = startPoint; // 当前货物所在接驳位
+
+        for (int i = 0; i < nodes.Count - 1; i++)
+        {
+            var (b1, f1) = nodes[i];
+            var (b2, f2) = nodes[i + 1];
+
+            if (b1 != b2) // 跨栋
+            {
+                if (IsBridgeRequired(b1, b2))
+                {
+                    // 13↔14: 廊桥交接 — 13# AGV 送到廊桥，等待 14# AGV
+                    details.Add(NewDetail(taskCode, palletBarcode, materialCode,
+                        taskType, taskCategory, seq++, currentPos, "BRIDGE_13_14", deviceType: 1));
+                    currentPos = "BRIDGE_13_14";
+                }
+                // 14↔15: 14# AGV 可直接驶入 15#，不生成过渡段，由下一步直达
+            }
+            else if (f1 != f2) // 同栋跨层 → AGV到提升机入口 + 提升机
+            {
+                var hoistEntry = HoistPoint(b1, f1);
+                var hoistExit = HoistPoint(b2, f2);
+
+                details.Add(NewDetail(taskCode, palletBarcode, materialCode,
+                    taskType, taskCategory, seq++, currentPos, hoistEntry, deviceType: 1));
+                details.Add(NewDetail(taskCode, palletBarcode, materialCode,
+                    taskType, taskCategory, seq++, hoistEntry, hoistExit, deviceType: 2));
+
+                currentPos = hoistExit;
+            }
+        }
+
+        // Step 3: 最终 AGV 送达终点（同栋同层时直接一条 AGV）
+        if (details.Count == 0 || currentPos != endPoint)
+        {
+            details.Add(NewDetail(taskCode, palletBarcode, materialCode,
+                taskType, taskCategory, seq, currentPos, endPoint, deviceType: 1));
+        }
+
+        _logger.Info($"生成 {details.Count} 条明细");
+
+        return new LiveTaskQueue
+        {
+            taskCode = taskCode,
+            taskType = taskType,
+            taskCategory = taskCategory,
+            taskStatus = 1,
+            startPoint = startPoint,
+            endPoint = endPoint,
+            palletBarcode = palletBarcode,
+            materialCode = materialCode,
+            taskSteps = details.Count,
+            taskDetails = details,
+        };
+    }
+
+    #region 内部方法
+
+    /// <summary>BFS 最短路径</summary>
+    private static List<TopoNode> FindPath(int b_s, int f_s, int b_e, int f_e)
+    {
+        var start = new TopoNode(b_s, f_s);
+        var end = new TopoNode(b_e, f_e);
+        if (start == end) return new List<TopoNode> { start };
+
+        // 校验起止节点是否在拓扑中
+        if (!Topology.ContainsKey(start))
+            throw new InvalidOperationException($"起始位置不在拓扑中: {b_s}#_{f_s}F，可用节点: {string.Join(", ", Topology.Keys.Select(n => $"{n.Building}#_{n.Floor}F"))}");
+        if (!Topology.ContainsKey(end))
+            throw new InvalidOperationException($"目标位置不在拓扑中: {b_e}#_{f_e}F，可用节点: {string.Join(", ", Topology.Keys.Select(n => $"{n.Building}#_{n.Floor}F"))}");
+
+        var visited = new HashSet<TopoNode> { start };
+        var queue = new Queue<List<TopoNode>>();
+        queue.Enqueue(new List<TopoNode> { start });
+
+        while (queue.Count > 0)
+        {
+            var path = queue.Dequeue();
+            var current = path[^1];
+
+            if (!Topology.TryGetValue(current, out var neighbors)) continue;
+
+            foreach (var next in neighbors)
+            {
+                if (visited.Contains(next)) continue;
+                var newPath = new List<TopoNode>(path) { next };
+                if (next == end) return newPath;
+                visited.Add(next);
+                queue.Enqueue(newPath);
+            }
+        }
+
+        throw new InvalidOperationException($"无路径: ({b_s},{f_s}) → ({b_e},{f_e})");
+    }
+
+    /// <summary>是否需要廊桥交接</summary>
+    private static bool IsBridgeRequired(int b1, int b2) =>
+        (b1 == 13 && b2 == 14) || (b1 == 14 && b2 == 13);
+
+    /// <summary>拼接位置编码: 楼栋#_L楼层_位置号</summary>
+    private static string PosCode(int building, int floor, string location) =>
+        $"{building}#_L{floor}_{location}";
+
+    /// <summary>提升机接驳位</summary>
+    private static string HoistPoint(int building, int floor) =>
+        $"{building}#_L{floor}_HOIST";
+
+    /// <summary>普通接驳位（非提升机、非廊桥）</summary>
+    private static string DockingPoint(int building, int floor) =>
+        $"{building}#_L{floor}_01";
+
+    /// <summary>生成任务编号</summary>
+    private static string GenerateTaskCode() =>
+        DateTime.Now.ToString("yyyyMMddHHmmss") + new Random().Next(10, 99);
+
+    /// <summary>创建一条 LiveTaskDetail</summary>
+    private static LiveTaskDetail NewDetail(
+        string taskCode, string palletBarcode, string materialCode,
+        int taskType, int taskCategory, int seq,
+        string startPoint, string endPoint, int deviceType) =>
+        new()
+        {
+            taskCode = taskCode,
+            objId = seq,
+            palletBarcode = palletBarcode,
+            materialCode = materialCode,
+            startPoint = startPoint,
+            endPoint = endPoint,
+            deviceType = deviceType,
+            taskType = taskType,
+            taskCategory = taskCategory,
+            taskStatus = 1,
+        };
+
+    #endregion
+}

Sln.Wcs.UI/App.axaml.cs

@@ -58,6 +58,7 @@ public partial class App : Application
                 Assembly.LoadFrom(Path.Combine(basePath, "Sln.Wcs.Common.dll")),
                 Assembly.LoadFrom(Path.Combine(basePath, "Sln.Wcs.Cache.dll")),
                 Assembly.LoadFrom(Path.Combine(basePath, "Sln.Wcs.Repository.dll")),
+                Assembly.LoadFrom(Path.Combine(basePath, "Sln.Wcs.Business.dll")),
             };
 
             services.Scan(scan => scan.FromAssemblies(assemblies)
@@ -92,6 +93,7 @@ public partial class App : Application
             services.AddTransient<ViewModels.Path.PathDetailsViewModel>();
             services.AddTransient<ViewModels.Task.TaskQueueViewModel>();
             services.AddTransient<ViewModels.Task.TaskDetailViewModel>();
+            services.AddTransient<ViewModels.Task.CreateTaskViewModel>();
             services.AddTransient<ViewModels.HMI.PalletizerHMIViewModel>();
 
             // 引擎进程管理

Sln.Wcs.UI/Sln.Wcs.UI.csproj

@@ -36,6 +36,7 @@
     <ProjectReference Include="..\Sln.Wcs.Common\Sln.Wcs.Common.csproj" />
     <ProjectReference Include="..\Sln.Wcs.Model\Sln.Wcs.Model.csproj" />
     <ProjectReference Include="..\Sln.Wcs.Repository\Sln.Wcs.Repository.csproj" />
+    <ProjectReference Include="..\Sln.Wcs.Business\Sln.Wcs.Business.csproj" />
     <ProjectReference Include="..\Sln.Wcs.Serilog\Sln.Wcs.Serilog.csproj" />
     <ProjectReference Include="..\Sln.Wcs.HoistServer\Sln.Wcs.HoistServer.csproj" ReferenceOutputAssembly="false" />
   </ItemGroup>

Sln.Wcs.UI/ViewModels/NavigationViewModel.cs

@@ -59,6 +59,7 @@ public partial class NavigationViewModel : ObservableObject
         }));
         TopMenuItems.Add(new TopMenuItem("任务管理", new List<SubMenuItem>
         {
+            new("创建任务", () => NavigateTo<CreateTaskViewModel>("任务管理")),
             new("任务队列", () => NavigateTo<TaskQueueViewModel>("任务管理")),
             new("任务明细", () => NavigateTo<TaskDetailViewModel>("任务管理")),
         }));

Sln.Wcs.UI/ViewModels/Task/CreateTaskViewModel.cs

@@ -0,0 +1,82 @@
+using Avalonia.Controls;
+using CommunityToolkit.Mvvm.ComponentModel;
+using CommunityToolkit.Mvvm.Input;
+using Sln.Wcs.Business;
+using Sln.Wcs.Repository.service;
+
+namespace Sln.Wcs.UI.ViewModels.Task;
+
+public partial class CreateTaskViewModel : ObservableObject
+{
+    private readonly TaskCreateService _taskCreateService;
+    private readonly ILiveTaskQueueService _taskQueueService;
+
+    public string PageTitle => "手动创建任务";
+
+    // ---- 起点 ----
+    [ObservableProperty] private int _startBuilding = 13;
+    [ObservableProperty] private int _startFloor = 1;
+    [ObservableProperty] private string _startLocation = "01";
+
+    // ---- 终点 ----
+    [ObservableProperty] private int _endBuilding = 15;
+    [ObservableProperty] private int _endFloor = 5;
+    [ObservableProperty] private string _endLocation = "01";
+
+    // ---- 任务属性 ----
+    [ObservableProperty] private int _taskType = 1;        // 1-入库 2-出库
+    [ObservableProperty] private int _taskCategory = 1;    // 1-包材 2-成品 3-托盘
+    [ObservableProperty] private string _palletBarcode = string.Empty;
+    [ObservableProperty] private string _materialCode = string.Empty;
+
+    // ---- 状态 ----
+    [ObservableProperty] private string _statusText = string.Empty;
+    [ObservableProperty] private bool _isBusy;
+
+    public CreateTaskViewModel(TaskCreateService taskCreateService, ILiveTaskQueueService taskQueueService)
+    {
+        _taskCreateService = taskCreateService;
+        _taskQueueService = taskQueueService;
+    }
+
+    public Avalonia.Controls.Control CreateView() => new Views.Task.CreateTaskView();
+
+    [RelayCommand]
+    private async System.Threading.Tasks.Task CreateAsync()
+    {
+        if (string.IsNullOrWhiteSpace(PalletBarcode) || string.IsNullOrWhiteSpace(MaterialCode))
+        {
+            StatusText = "托盘条码和物料编码不能为空";
+            return;
+        }
+
+        IsBusy = true;
+        StatusText = "正在生成任务...";
+
+        try
+        {
+            var taskQueue = await System.Threading.Tasks.Task.Run(() =>
+                _taskCreateService.CreateTask(
+                    StartBuilding, StartFloor, StartLocation,
+                    EndBuilding, EndFloor, EndLocation,
+                    TaskType, TaskCategory,
+                    PalletBarcode, MaterialCode));
+
+            StatusText = $"路由生成完成，共 {taskQueue.taskSteps} 条明细，正在保存...";
+
+            var saved = await System.Threading.Tasks.Task.Run(() => _taskQueueService.InsertTaskQueue(taskQueue));
+
+            StatusText = saved
+                ? $"✓ 任务创建成功: {taskQueue.taskCode}，共 {taskQueue.taskSteps} 条明细"
+                : "✗ 保存失败";
+        }
+        catch (Exception ex)
+        {
+            StatusText = $"✗ 创建失败: {ex.Message}";
+        }
+        finally
+        {
+            IsBusy = false;
+        }
+    }
+}

Sln.Wcs.UI/Views/Task/CreateTaskView.axaml

@@ -0,0 +1,110 @@
+<UserControl x:CompileBindings="False" xmlns="https://github.com/avaloniaui"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             x:Class="Sln.Wcs.UI.Views.Task.CreateTaskView">
+    <ScrollViewer Margin="20,14,20,14">
+        <StackPanel Spacing="14" MaxWidth="600">
+
+            <!-- 起点 -->
+            <Border CornerRadius="8" Padding="18" Background="{DynamicResource CardBgBrush}"
+                    BorderBrush="{DynamicResource BorderBrush}" BorderThickness="1">
+                <StackPanel Spacing="10">
+                    <StackPanel Orientation="Horizontal" Spacing="8">
+                        <Rectangle Width="3" Height="18" Fill="#4FC3F7" RadiusX="2" RadiusY="2" />
+                        <TextBlock Text="起点" FontSize="14" FontWeight="SemiBold" Foreground="{DynamicResource PrimaryTextBrush}" />
+                    </StackPanel>
+                    <WrapPanel>
+                        <StackPanel Spacing="4" Width="140" Margin="0,0,12,8">
+                            <TextBlock Text="楼栋 (13/14/15)" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding StartBuilding}" />
+                        </StackPanel>
+                        <StackPanel Spacing="4" Width="140" Margin="0,0,12,8">
+                            <TextBlock Text="楼层 (1~5)" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding StartFloor}" />
+                        </StackPanel>
+                        <StackPanel Spacing="4" Width="140" Margin="0,0,12,8">
+                            <TextBlock Text="位置号" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding StartLocation}" Watermark="01" />
+                        </StackPanel>
+                    </WrapPanel>
+                </StackPanel>
+            </Border>
+
+            <!-- 终点 -->
+            <Border CornerRadius="8" Padding="18" Background="{DynamicResource CardBgBrush}"
+                    BorderBrush="{DynamicResource BorderBrush}" BorderThickness="1">
+                <StackPanel Spacing="10">
+                    <StackPanel Orientation="Horizontal" Spacing="8">
+                        <Rectangle Width="3" Height="18" Fill="#4FC3F7" RadiusX="2" RadiusY="2" />
+                        <TextBlock Text="终点" FontSize="14" FontWeight="SemiBold" Foreground="{DynamicResource PrimaryTextBrush}" />
+                    </StackPanel>
+                    <WrapPanel>
+                        <StackPanel Spacing="4" Width="140" Margin="0,0,12,8">
+                            <TextBlock Text="楼栋 (13/14/15)" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding EndBuilding}" />
+                        </StackPanel>
+                        <StackPanel Spacing="4" Width="140" Margin="0,0,12,8">
+                            <TextBlock Text="楼层 (1~5)" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding EndFloor}" />
+                        </StackPanel>
+                        <StackPanel Spacing="4" Width="140" Margin="0,0,12,8">
+                            <TextBlock Text="位置号" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding EndLocation}" Watermark="01" />
+                        </StackPanel>
+                    </WrapPanel>
+                </StackPanel>
+            </Border>
+
+            <!-- 任务属性 -->
+            <Border CornerRadius="8" Padding="18" Background="{DynamicResource CardBgBrush}"
+                    BorderBrush="{DynamicResource BorderBrush}" BorderThickness="1">
+                <StackPanel Spacing="10">
+                    <StackPanel Orientation="Horizontal" Spacing="8">
+                        <Rectangle Width="3" Height="18" Fill="#4FC3F7" RadiusX="2" RadiusY="2" />
+                        <TextBlock Text="任务属性" FontSize="14" FontWeight="SemiBold" Foreground="{DynamicResource PrimaryTextBrush}" />
+                    </StackPanel>
+                    <!-- 任务类型 / 任务类别 -->
+                    <WrapPanel>
+                        <StackPanel Spacing="4" Margin="0,0,20,8">
+                            <TextBlock Text="任务类型" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBlock Text="1-入库  2-出库" FontSize="9" Foreground="{DynamicResource MutedTextBrush}" Margin="0,2,0,4" />
+                            <TextBox Text="{Binding TaskType}" Width="200" />
+                        </StackPanel>
+                        <StackPanel Spacing="4" Margin="0,0,20,8">
+                            <TextBlock Text="任务类别" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBlock Text="1-包材  2-成品  3-托盘" FontSize="9" Foreground="{DynamicResource MutedTextBrush}" Margin="0,2,0,4" />
+                            <TextBox Text="{Binding TaskCategory}" Width="200" />
+                        </StackPanel>
+                    </WrapPanel>
+                    <!-- 托盘条码 / 物料编码 -->
+                    <WrapPanel>
+                        <StackPanel Spacing="4" Margin="0,0,20,8">
+                            <TextBlock Text="托盘条码 (RFID)" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding PalletBarcode}" Watermark="PALLET001" Width="200" />
+                        </StackPanel>
+                        <StackPanel Spacing="4" Margin="0,0,20,8">
+                            <TextBlock Text="物料编码" FontSize="11" Foreground="{DynamicResource SecondaryTextBrush}" />
+                            <TextBox Text="{Binding MaterialCode}" Watermark="M001" Width="200" />
+                        </StackPanel>
+                    </WrapPanel>
+                </StackPanel>
+            </Border>
+
+            <!-- 操作 -->
+            <Border CornerRadius="8" Padding="18" Background="{DynamicResource CardBgBrush}"
+                    BorderBrush="{DynamicResource BorderBrush}" BorderThickness="1">
+                <StackPanel Spacing="10">
+                    <StackPanel Orientation="Horizontal" Spacing="12">
+                        <Button Content="创建任务" Command="{Binding CreateCommand}"
+                                IsEnabled="{Binding !IsBusy}"
+                                Background="{DynamicResource PrimaryBtnBrush}"
+                                Foreground="White" FontSize="13" Padding="20,10" />
+                        <TextBlock Text="{Binding StatusText}" FontSize="12"
+                                   Foreground="{DynamicResource AccentTextBrush}"
+                                   VerticalAlignment="Center" TextWrapping="Wrap" />
+                    </StackPanel>
+                </StackPanel>
+            </Border>
+
+        </StackPanel>
+    </ScrollViewer>
+</UserControl>

Sln.Wcs.UI/Views/Task/CreateTaskView.axaml.cs

@@ -0,0 +1,11 @@
+using Avalonia.Controls;
+
+namespace Sln.Wcs.UI.Views.Task;
+
+public partial class CreateTaskView : UserControl
+{
+    public CreateTaskView()
+    {
+        InitializeComponent();
+    }
+}

接驳位驱动调度方案.md

@@ -0,0 +1,390 @@
+# 接驳位驱动的任务调度方案
+
+## 一、核心概念
+
+| 概念 | 物理含义 | 数据对应 |
+|------|---------|---------|
+| 接驳位 | 货物放置/取走的物理位置 | `LiveTaskDetail.startPoint / endPoint`，设备参数中 `接驳位状态`（0空闲/1占用） |
+| RFID 条码 | 托盘上的电子标签 | `LiveTaskDetail.palletBarcode` |
+| 任务 | 一个完整的搬运工单 | `LiveTaskQueue` |
+| 子任务步骤 | 任务中的一段搬运步骤 | `LiveTaskDetail`（`objId` 决定先后顺序） |
+
+### 任务与子任务的关系
+
+一个 `LiveTaskQueue` 包含多个 `LiveTaskDetail`，按 `objId` 从小到大串行执行。前一步的 `endPoint` 等于下一步的 `startPoint`，通过接驳位串联：
+
+```
+LiveTaskQueue (任务, taskCode = "T001")
+  │
+  ├─ LiveTaskDetail objId=1: AGV    13#_L1_01 → BRIDGE_13_14     (子任务步骤1)
+  ├─ LiveTaskDetail objId=2: AGV    BRIDGE_13_14 → 14#_L1_HOIST  (子任务步骤2)
+  ├─ LiveTaskDetail objId=3: 提升机  14#_L1_HOIST → 14#_L2_HOIST  (子任务步骤3)
+  ├─ LiveTaskDetail objId=4: AGV    14#_L2_HOIST → 15#_L2_HOIST  (子任务步骤4)
+  ├─ LiveTaskDetail objId=5: 提升机  15#_L2_HOIST → 15#_L4_HOIST  (子任务步骤5)
+  └─ LiveTaskDetail objId=6: AGV    15#_L4_HOIST → 15#_L4_03     (子任务步骤6)
+```
+
+### 数据库关键字段
+
+- **LiveTaskQueue**: `taskCode`, `taskType`(1入库/2出库), `taskCategory`(1包材/2成品/3托盘), `taskStatus`(1待执行/2执行中/3已完成), `startPoint`, `endPoint`
+- **LiveTaskDetail**: `taskCode`, `objId`, `palletBarcode`, `startPoint`, `endPoint`, `deviceType`(0输送线/1AGV/2提升机), `taskStatus`
+- **BaseDeviceParam**: `deviceCode`, `paramName`(如"接驳位状态"), `paramValue`(0空闲/1占用)
+
+---
+
+## 二、现场拓扑
+
+### 楼栋与设备
+
+```
+                            廊桥(2F)
+                         ┌───────────┐
+                         │  AGV交接   │
+                         └─────┬─────┘
+                               │
+ 13#(1F) ──13#提升机── 13#(2F)─┘       14#(2F) ──AGV── 15#(2F) ──15#提升机── 15#(1F~5F)
+        (1F↔2F)                             │
+                                      14#提升机(1F↔2F)
+                                            │
+                                         14#(1F)
+```
+
+### AGV 运行区域
+
+| 区域 | 行驶范围 | 说明 |
+|------|---------|------|
+| 13# AGV | 13# 栋 1F~2F | 不能驶入 14# |
+| 14# AGV | 14# 栋 1F~2F + 至 15# 2F | 负责中间段搬运 |
+| 15# AGV | 仅在 15# 栋内 | 不能驶入 14# |
+
+### 核心约束
+
+- **AGV 不能跨栋**：13# 和 14# 之间在 2F 有廊桥交接点，两边 AGV 在此完成货物交换
+- **所有楼栋均为 1~5F**，各栋有 1 台提升机连通所有楼层
+- **跨栋必须经 2F**：不管起点在几楼，跨栋必须经 2F 的廊桥(13↔14)或 AGV 通道(14↔15)
+
+### 接驳位点表
+
+| 接驳位 | 编码 | 所属 AGV |
+|--------|------|---------|
+| 13# 各层普通点 | `13#_L{f}_{n}` | 13# AGV |
+| 13# 提升机入口/出口 | `13#_L{f}_HOIST` | 13# AGV |
+| 廊桥交接点(2F) | `BRIDGE_13_14` | 13# AGV ↔ 14# AGV 交接 |
+| 14# 各层普通点 | `14#_L{f}_{n}` | 14# AGV |
+| 14# 提升机入口/出口 | `14#_L{f}_HOIST` | 14# AGV |
+| 15# 提升机 2F 入口 | `15#_L2_HOIST` | 14# AGV ↔ 15# AGV |
+| 15# 提升机各层出口 | `15#_L{f}_HOIST` | 15# AGV |
+| 15# 各层普通点 | `15#_L{f}_{n}` | 15# AGV |
+
+### 拓扑连通图
+
+```
+节点: (building, floor)
+
+边 (提升机, 同栋跨层):
+  (13,1) ←→ (13,2)
+  (14,1) ←→ (14,2)
+  (15,2) ←→ (15,1)
+  (15,2) ←→ (15,3)
+  (15,2) ←→ (15,4)
+  (15,2) ←→ (15,5)
+
+边 (AGV, 同层跨栋):
+  (13,2) ←→ (14,2)    (廊桥交接)
+  (14,2) ←→ (15,2)    (AGV直连)
+```
+
+---
+
+## 三、任务创建方案 —— 路径分解与明细生成
+
+### 输入
+
+```
+起始楼栋:  startBuilding   (13/14/15)
+起始楼层:  startFloor      (1~5)
+起始位置:  startLocation    (位置号，如 "01")
+结束楼栋:  endBuilding      (13/14/15)
+结束楼层:  endFloor         (1~5)
+结束位置:  endLocation      (位置号，如 "02")
+```
+
+系统自动拼接为 `{building}#_L{floor}_{location}` 格式。
+
+### 输出
+
+返回一个完整的 `LiveTaskQueue`，包含按 `objId` 排序的 `List<LiveTaskDetail>`。
+
+### 生成算法
+
+```
+输入: (b_s, f_s, loc_s), (b_e, f_e, loc_e)
+
+Step 1 — BFS 最短路径
+  在拓扑图中找 (b_s, f_s) → ... → (b_e, f_e) 的节点序列
+
+Step 2 — 沿节点路径逐段生成明细
+  currentPos = 实际起点
+
+  for each 相邻节点 (b1,f1) → (b2,f2):
+
+    跨栋 (b1 != b2):
+      if 13↔14 (廊桥交接):
+        生成 [AGV] currentPos → BRIDGE_13_14
+        生成 [AGV] BRIDGE_13_14 → 接驳位(b2,f2)
+        注: 廊桥在 2F，两边都须先经提升机到达 2F
+      else (14↔15, AGV直连):
+        生成 [AGV] currentPos → 接驳位(b2,f2)
+      currentPos = 接驳位(b2,f2)
+
+    同栋跨层 (b1 == b2, f1 != f2):
+      生成 [AGV] currentPos → 提升机入口(b,f1)
+      生成 [提升机] 提升机入口(b,f1) → 提升机出口(b,f2)
+      currentPos = 提升机出口(b,f2)
+
+Step 3 — 最终送达
+  if currentPos != 实际终点:
+    生成 [AGV] currentPos → 实际终点
+```
+
+    ┌─ 同栋同层 (b1 == b2 && f1 == f2) ──────────────┐
+    │
+    │  跳过（不会出现在最短路径中）
+    │
+    └────────────────────────────────────────────────┘
+
+Step 3 — 替换首尾实际坐标
+
+  首条 Detail.startPoint → pt_s
+  尾条 Detail.endPoint   → pt_e
+  中间节点起点/终点 → 使用对应的接驳位编码
+```
+
+### 各场景示例（修正后——廊桥在 2F）
+
+| 场景 | 输入 | 生成 Detail 序列 |
+|------|------|-----------------|
+| **同栋同层** | 14,1,"01" → 14,1,"05" | `[1] AGV: 14#_L1_01 → 14#_L1_05` |
+| **同栋跨层** | 14,1,"01" → 14,2,"03" | `[1] AGV: 14#_L1_01 → 14#_L1_HOIST` `[2] 提升机: 14#_L1_HOIST → 14#_L2_HOIST` `[3] AGV: 14#_L2_HOIST → 14#_L2_03` |
+| **13→14 (均为1F)** | 13,1,"01" → 14,1,"03" | `[1] AGV: 13#_L1_01 → 13#_L1_HOIST` `[2] 提升机: 13#_L1_HOIST → 13#_L2_HOIST` `[3] AGV: 13#_L2_HOIST → BRIDGE_13_14` `[4] AGV: BRIDGE_13_14 → 14#_L2_01` `[5] AGV: 14#_L2_01 → 14#_L2_HOIST` `[6] 提升机: 14#_L2_HOIST → 14#_L1_HOIST` `[7] AGV: 14#_L1_HOIST → 14#_L1_03` |
+| **13→14 (目标2F)** | 13,1,"01" → 14,2,"05" | `[1] AGV: 13#_L1_01 → 13#_L1_HOIST` `[2] 提升机: 13#_L1_HOIST → 13#_L2_HOIST` `[3] AGV: 13#_L2_HOIST → BRIDGE_13_14` `[4] AGV: BRIDGE_13_14 → 14#_L2_01` `[5] AGV: 14#_L2_01 → 14#_L2_05` |
+| **14→15** | 14,1,"01" → 15,4,"02" | `[1] AGV: 14#_L1_01 → 14#_L1_HOIST` `[2] 提升机: 14#_L1_HOIST → 14#_L2_HOIST` `[3] AGV: 14#_L2_HOIST → 15#_L2_01` `[4] AGV: 15#_L2_01 → 15#_L2_HOIST` `[5] 提升机: 15#_L2_HOIST → 15#_L4_HOIST` `[6] AGV: 15#_L4_HOIST → 15#_L4_02` |
+| **13→15 完整链路** | 13,1,"01" → 15,4,"02" | `[1] AGV: 13#_L1_01 → 13#_L1_HOIST` `[2] 提升机: 13#_L1_HOIST → 13#_L2_HOIST` `[3] AGV: 13#_L2_HOIST → BRIDGE_13_14` `[4] AGV: BRIDGE_13_14 → 14#_L2_01` `[5] AGV: 14#_L2_01 → 15#_L2_01` `[6] AGV: 15#_L2_01 → 15#_L2_HOIST` `[7] 提升机: 15#_L2_HOIST → 15#_L4_HOIST` `[8] AGV: 15#_L4_HOIST → 15#_L4_02` |
+| **14→15 2F直连** | 14,2,"01" → 15,2,"03" | `[1] AGV: 14#_L2_01 → 15#_L2_03` |
+
+### 伪代码
+
+```
+LiveTaskQueue CreateTask(
+    int b_s, int f_s, string loc_s,
+    int b_e, int f_e, string loc_e,
+    int taskType, int taskCategory, string palletBarcode, string materialCode)
+{
+    var startPoint = $"{b_s}#_L{f_s}_{loc_s}";
+    var endPoint   = $"{b_e}#_L{f_e}_{loc_e}";
+    var nodes = BFS(b_s, f_s, b_e, f_e);   // 拓扑最短路径
+    string currentPos = startPoint;
+
+    for (int i = 0; i < nodes.Count - 1; i++)
+    {
+        var (b1, f1) = nodes[i];
+        var (b2, f2) = nodes[i + 1];
+
+        if (b1 != b2)  // 跨栋
+        {
+            if (13↔14)
+            {
+                Add [AGV] currentPos → BRIDGE_13_14;
+                Add [AGV] BRIDGE_13_14 → DockingPoint(b2,f2);
+            }
+            else  // 14↔15
+            {
+                Add [AGV] currentPos → DockingPoint(b2,f2);
+            }
+            currentPos = DockingPoint(b2,f2);
+        }
+        else if (f1 != f2)  // 同栋跨层
+        {
+            var entry = $"{b1}#_L{f1}_HOIST";
+            var exit  = $"{b2}#_L{f2}_HOIST";
+            Add [AGV]   currentPos → entry;
+            Add [提升机] entry → exit;
+            currentPos = exit;
+        }
+    }
+
+    if (details.Count == 0 || currentPos != endPoint)
+        Add [AGV] currentPos → endPoint;
+
+    return new LiveTaskQueue { ... };
+}
+### 拓扑路由表
+
+```
+FindPath(b_s, f_s, b_e, f_e):
+
+  以 BFS 在拓扑图中搜索，典型路径:
+
+  (13,1) → (13,2):  [(13,1), (13,2)]
+  (13,1) → (14,1):  [(13,1), (13,2), (14,2), (14,1)]
+  (13,1) → (14,2):  [(13,1), (13,2), (14,2)]
+  (13,1) → (15,2):  [(13,1), (13,2), (14,2), (15,2)]
+  (13,1) → (15,4):  [(13,1), (13,2), (14,2), (15,2), (15,4)]
+  (14,1) → (15,4):  [(14,1), (14,2), (15,2), (15,4)]
+  (15,4) → (13,1):  [(15,4), (15,2), (14,2), (13,2), (13,1)]
+  反向: 路径取反
+```
+
+---
+
+## 四、调度触发链路
+
+```
+人工放货到接驳位
+  → PLC 传感器检测到货物 → 接驳位状态 = 1
+  → PLC 读 RFID → 得到托盘条码
+  → WCS 收到事件: (positionCode, rfidBarcode)
+  → 进入匹配调度逻辑
+```
+
+## 五、匹配调度逻辑
+
+```
+输入: positionCode (接驳位编码), rfidBarcode (RFID条码)
+
+Step 1 ─ 匹配明细
+  查 LiveTaskDetail WHERE
+    palletBarcode == rfidBarcode
+    AND startPoint == positionCode
+    AND taskStatus == 1 (待执行)
+
+  未匹配 → 告警，返回
+
+  匹配到 detail
+
+Step 2 ─ 前序依赖校验
+  查同 taskCode 下 objId < detail.objId 的所有明细
+  全部 taskStatus == 3 (已完成) ?
+
+  否 → 等待（不应发生，正常前序完成才会到这一步），返回
+
+Step 3 ─ 接驳位加锁
+  获取该接驳位的锁（信号量）
+  二次确认 detail.taskStatus 仍为 1（防并发）
+
+Step 4 ─ 标记执行中
+  detail.taskStatus = 2
+  若 LiveTaskQueue.taskStatus == 1 → 也改为 2
+
+Step 5 ─ 下发设备
+  detail.deviceType:
+    1 → AGV
+    2 → 提升机
+    0 → 输送线
+
+Step 6 ─ 结果处理
+  成功:
+    detail.taskStatus = 3
+    释放接驳位 (status = 0)
+    检查整个 task 是否全部完成 → taskStatus = 3
+
+  失败:
+    detail.taskStatus 回退为 1
+    下次重试
+```
+
+## 六、链条式执行（以 13#_1F → 15#_4F 为例）
+
+```
+Task: P001, 13#_L1_01 → 15#_L4_02
+  路径节点: (13,1) → (13,2) → (14,2) → (15,2) → (15,4)
+
+  Detail 1: AGV    13#_L1_01 → 13#_L1_HOIST
+  Detail 2: 提升机  13#_L1_HOIST → 13#_L2_HOIST
+  Detail 3: AGV    13#_L2_HOIST → BRIDGE_13_14
+  Detail 4: AGV    BRIDGE_13_14 → 14#_L2_01
+  Detail 5: AGV    14#_L2_01 → 15#_L2_01
+  Detail 6: AGV    15#_L2_01 → 15#_L2_HOIST
+  Detail 7: 提升机  15#_L2_HOIST → 15#_L4_HOIST
+  Detail 8: AGV    15#_L4_HOIST → 15#_L4_02
+
+════════════════════ 时间线 ════════════════════
+
+  T0: 人工放货到 13#_L1_01，读 RFID
+      → 匹配 Detail 1，无前序 ✓ → 13# AGV 取走
+      → 13#_L1_01 释放
+
+  T1: 13# AGV 运到 13#_L1_HOIST，放下
+      → 匹配 Detail 2，前序 1 ✓
+      → 13# 提升机启动，13#_L1_HOIST 释放
+
+  T2: 提升机运到 2F，到达 13#_L2_HOIST
+      → 匹配 Detail 3，前序 1,2 ✓
+      → 13# AGV 取走，运往廊桥
+
+  T3: 13# AGV 到达 BRIDGE_13_14 (2F廊桥)
+      → 匹配 Detail 4，前序 1~3 ✓
+      → 14# AGV 取走，BRIDGE_13_14 释放
+
+  T4: 14# AGV 运到 14#_L2_01，放下
+      → 匹配 Detail 5，前序 1~4 ✓
+      → 14# AGV 运往 15# (同层2F，直连)
+
+  T5: 14# AGV 到达 15#_L2_01，放下
+      → 匹配 Detail 6，前序 1~5 ✓
+      → 15# AGV 转运到提升机入口
+
+  T6: 15# AGV 到达 15#_L2_HOIST，放下
+      → 匹配 Detail 7，前序 1~6 ✓
+      → 15# 提升机启动
+
+  T7: 提升机运到 4F，到达 15#_L4_HOIST
+      → 匹配 Detail 8，前序 1~7 ✓
+      → 15# AGV 取走，运到 15#_L4_02
+
+  任务 P001 全部完成 ✓
+```
+
+## 七、并发模型
+
+```
+接驳位 A ─┐
+接驳位 B ─┤ 各自独立并行（不同锁保护）
+接驳位 C ─┘
+
+同一接驳位内 → 串行（同一把锁保护）
+```
+
+不同任务在不同接驳位上可以同时执行，互不干扰。
+
+## 八、异常场景
+
+| 场景 | 处理 |
+|------|------|
+| RFID + 位置匹配不到待执行明细 | 货物放错位置或任务未创建 → 告警 |
+| 前序明细未完成但货物已到 | 等待 |
+| 设备下发失败 | detail 状态回退为 1，下次循环重试 |
+| 同一明细被并发处理 | Step 3 二次确认防御 |
+| 接驳位长时间占用不释放 | 需超时告警机制（后续） |
+| 全部明细完成 | task 标记为已完成（status = 3） |
+
+## 九、依赖设备信息
+
+### 设备类型 (deviceType)
+
+| 值 | 类型 | 对应服务 |
+|----|------|---------|
+| 0 | 输送线 | PLC 直接控制 |
+| 1 | AGV | HikRoBotServer (端口 5200) |
+| 2 | 提升机 | HoistServer (端口 5100) |
+
+### 客户端 API
+
+**HoistServer** (端口 5100):
+- `/api/hoist/receive-pallet` - 接收托盘
+- `/api/hoist/task-run` - 提升机启动
+- `/api/task/dispatch` - 下发调度任务
+- `/api/hoist/free` - 获取空闲提升机
+
+**HikRoBotServer** (端口 5200):
+- `/api/task/receive` - 下发 AGV 任务