using Admin.NET.Core.Service;
using COSXML.Network;
using DocumentFormat.OpenXml.Bibliography;
using DocumentFormat.OpenXml.Drawing;
using DocumentFormat.OpenXml.Spreadsheet;
using Furion.Logging;
using IoTClient;
using NewLife.Reflection;
using WCS.Application.Entity;
using WCS.Application.Util;

namespace WCS.Application;
public static class PLCService
{
    private static readonly object OLock = new object();
    public static bool AGVStatus = false;
    private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
    private static readonly WcsTaskService _taskService = App.GetService<WcsTaskService>();
    private static readonly SysCacheService sysCacheService = App.GetRequiredService<SysCacheService>();
    private static readonly SysConfigService _sysConfigService = App.GetRequiredService<SysConfigService>();
    private static Dictionary<string, string> dicTaskNo = new Dictionary<string, string>();
    public static void OnChangeEvent(object sender, EventArgs e)
    {
        try
        {
            var mod = sender as WcsDeviceDto;
            //Console.WriteLine($"{mod.Text}值为" + mod.Value);
            switch (mod.Type)
            {
                case PLCTypeEnum.ConveyorLine:
                    ConveyorLine(mod);                              // 托盘输送线
                    break;
                case PLCTypeEnum.AGV:
                    AGV(mod);                                       // AGV调度
                    break;
                case PLCTypeEnum.ShuttleCar: //穿梭车
                    ShuttleCar(mod);
                    break;
                case PLCTypeEnum.RobotPalletizer:
                    RobotPalletizer(mod);//码垛机器人
                    break;
                case PLCTypeEnum.PalletMachine:
                    PalletMachine(mod);
                    break;
                default:
                    break;
            }
        }
        catch (Exception ex)
        {
            Log.Error(ex.Message, ex);
        }
    }
    /// <summary>
    /// 拆托机
    /// </summary>
    /// <param name="modDevice"></param>
    private static void PalletMachine(WcsDeviceDto modDevice)
    {
        if (modDevice.Value)
        {
            //检测到缺托信号执行这里，如果没有取托任务的话就添加一个（储位-拆托机）
            if (!_db.Queryable<WcsTask>()
                        .Where(s => s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing &&
                        s.EndLocate == AGVStaionEnum.D1.ToString()).Any())
            {
                WcsTask modTask = new WcsTask()
                {
                    TaskNo = _taskService.GetTaskCode(),
                    TaskType = TaskTypeEnum.Move,
                    Type = PLCTypeEnum.AGV,
                    StartLocate = AGVStorageUtil.GetPalletOutStorage(),
                    EndLocate = AGVStaionEnum.D1.ToString(),
                    PalletNo = "",
                    Status = TaskStatusEnum.Wait,
                    Levels = 3,
                    Origin = "WCS"
                };
                if (modTask.StartLocate.IsNullOrEmpty())
                    return;
                _db.Insertable(modTask).ExecuteCommand();
                HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
            }
        }
    }
    /// <summary>
    /// 码垛机器人业务处理
    /// </summary>
    private static void RobotPalletizer(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.modbusUtil;
        string station = "B" + modDevice.StationNum;
        string value = Convert.ToString(modDevice.Value);
        if (value == "1")
        {
            if (modDevice.Level == DeviceLevelEnum.DB)
            {
                //生产工位缺托盘信号，生成任务叫小车去拉空托盘
                if (!_db.Queryable<WcsTask>().Where(s => s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing
                        && s.StartLocate == AGVStaionEnum.D1.ToString() && s.EndLocate == station.ToString()).Any())
                {
                    WcsTask modTask = new WcsTask()
                    {
                        TaskNo = _taskService.GetTaskCode(),
                        TaskType = TaskTypeEnum.Move,
                        Type = PLCTypeEnum.AGV,
                        StartLocate = AGVStaionEnum.D1.ToString(),
                        EndLocate = station,
                        PalletNo = "",
                        Status = TaskStatusEnum.Wait,
                        Levels = 4,
                        Origin = "WCS"
                    };
                    _db.Insertable(modTask).ExecuteCommand();
                    HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                }
            }
            else if (modDevice.Level == DeviceLevelEnum.Station)
            {
                //如果读到信号通知AGV小车拉货(满跺)
                var endLocate = "C" + modDevice.StationNum;
                if (!_db.Queryable<WcsTask>().Where(s => s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing && s.StartLocate == station.ToString()).Any())
                {
                    WcsTask modTask = new WcsTask()
                    {
                        TaskNo = _taskService.GetTaskCode(),
                        TaskType = TaskTypeEnum.Move,
                        Type = PLCTypeEnum.AGV,
                        StartLocate = station.ToString(),
                        EndLocate = endLocate,
                        PalletNo = "",
                        Status = TaskStatusEnum.Wait,
                        Levels = 2,
                        Origin = "WCS"
                    };
                    _db.Insertable(modTask).ExecuteCommand();
                    HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                }
            }
        }
    }
    /// <summary>
    /// 穿梭车业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void ShuttleCar(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.modbusUtil;
        // 四向车状态 0:未空闲,1:空闲,2:异常  3：充电中
        switch (modDevice.Value.ToString())
        {
            case "0":
                sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, -1);
                break;
            case "1":
                {
                    sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, -1);
                    var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
                    var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
                    //判断读取任务状态是否成功 并且任务状态是1 0:无任务,1:任务完成,2:任务取消,3:任务暂停，4：任务异常 5：任务执行中

                    WcsCarTasks carTaskNext = null;//null 新任务  not null 当前小车&&当前任务 下一节任务

                    if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
                    {
                        var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                        var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
                        //读取任务号
                        int valueTaskStr = Convert.ToInt32(valueTask);
                        //获取任务信息 根据  任务号、小车编号
                        var carTask = _db.Queryable<WcsCarTasks>().First(m=>m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.CarTaskNo == valueTaskStr && m.CarNo == modDevice.PlcIdIP);
                        if (carTask == null)
                        {
                            var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
                            plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//没有找到任务  复位
                            return;
                        }
                         
                        var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
                        if (modFinshTask == null)
                        {
                            break;//没有查询到总任务
                        }
                        //获取路径2的任务 下发
                        carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m=>m.CreateTime).First();
                        
                        if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
                        {
                            carTask.Status = TaskStatusEnum.Complete;
                            carTask.UpdateTime = DateTime.Now;
                            _db.Updateable(carTask).ExecuteCommand();
                            //添加任务明细
                            var taskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = carTask.TaskNo,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"穿梭车反馈任务完成"
                            };
                            _db.Insertable(taskMonitor).ExecuteCommand();
                            //下发任务日志
                            
                            HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                        //总任务下没有其他未执行小车的任务 变更总任务信息
                        if (carTaskNext == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
                        {
                            modFinshTask.Status = TaskStatusEnum.Complete;
                            modFinshTask.FinishDate = DateTime.Now;
                            _db.Updateable(modFinshTask).ExecuteCommand();
                            
                            //反馈WMS系统 任务完成
                            //HttpService httpService = new HttpService();
                            //var requestMode = new TaskRequestWMS()
                            //{
                            //    TaskNo = modFinshTask.TaskNo,
                            //    PalletNo = modFinshTask.PalletNo,
                            //    TaskType = ((int)modFinshTask.TaskType).ToString(),
                            //    TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
                            //};
                            //var modResponseTask = httpService.RequestTask(requestMode).Result;
                            //modFinshTask.IsSuccess = TaskSuccessEnum.Success;
                            //_db.Updateable(modFinshTask).ExecuteCommand();
                            HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
                            
                        }
                        
                    }
                    
                    var modStationX = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(X)");
                    var (resultx, valuex) = plcConn.GetDBValue(modStationX.PosType, modStationX.PlcPos);
                    var modStationY = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Y)");
                    var (resulty, valuey) = plcConn.GetDBValue(modStationY.PosType, modStationY.PlcPos);
                    var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
                    var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);

                    
                    WcsTask modTask;
                    //要下发路径2任务
                    if (carTaskNext != null)
                    {
                        modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTaskNext.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar);

                        carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
                    }
                    else
                    {
                        // 获取任务信息
                        modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(m => m.Levels).OrderBy(m => m.CreateTime).First();
                        if (modTask == null)
                        {
                            return;
                        }
                        carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
                    }

                    //return;
                    if (modTask == null || carTaskNext == null)
                    {
                        //判断小车是否有空闲时间记录 没有：添加  有：判断当前时间与记录时间是否满足5分钟 满足：添加让小车去充电任务
                        return;
                    }
                    
                    if (carTaskNext.Status == TaskStatusEnum.Doing)
                    {
                        Thread.Sleep(3000);
                        return;
                    }
                    //判断当前任务是否还有前置任务未完成
                    var preStrs = carTaskNext.PreId.Split(';');
                    foreach (var preStr in preStrs)
                    {
                        if (string.IsNullOrWhiteSpace(preStr))
                        {
                            continue;
                        }
                        var preId = long.Parse(preStr);
                        var CarTaskPre = _db.Queryable<WcsCarTasks>().First(m => m.Id == preId);
                        if (CarTaskPre.Status <= TaskStatusEnum.Doing)
                        {
                            return;//前置任务未完成
                        }
                    }
                    //先复位
                    var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
                    plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");

                    List<Result> listResult = new List<Result>();
                    //获取小车任务号
                    var carTaskNo = FourWayCarUtil.GetTaskNo();
                    
                    var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "写入任务号");
                    listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));

                    var modNodeX = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标X");
                    var modNodeY = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Y");
                    var modNodeZ = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Z");
                    var modNodeStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "节点举升状态");
                    int posX = Convert.ToInt32(modNodeX.PlcPos);
                    int posY = Convert.ToInt32(modNodeY.PlcPos);
                    int posZ = Convert.ToInt32(modNodeZ.PlcPos);
                    int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);

                    //交互路径
                    var execuPath = carTaskNext.ExecutionPath.Split(';');
                    if (Convert.ToInt32(valuex) != Convert.ToInt32(execuPath[0].Substring(0, 2)) || Convert.ToInt32(valuey) != Convert.ToInt32(execuPath[0].Substring(2, 2)) || Convert.ToInt32(valuez) != Convert.ToInt32(execuPath[0].Substring(4, 2)))
                    {
                        return; //小车位置与路径起始位置不同
                        ////写入小车当前位置
                        //listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), Convert.ToString(valuex)));
                        //listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), Convert.ToString(valuey)));
                        //listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), Convert.ToString(valuez)));
                        //listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
                    }
                    
                    foreach (var ePath in execuPath)
                    {
                        if (string.IsNullOrWhiteSpace(ePath))
                        {
                            continue;
                        }
                        var epathx = ePath.Substring(0, 2);
                        var epathy = ePath.Substring(2, 2);
                        var epathz = ePath.Substring(4, 2);
                        var epathn = ePath.Substring(6, 1);
                        //写入交互位置
                        listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), epathx));
                        listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), epathy));
                        listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), epathz));
                        listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), epathn));
                    }
                    
                    //这里是把后面的坐标全写0（为了防止上次任务坐标没被覆盖）
                    while (posX <= 43097)
                    {
                        listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), "0"));
                        listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), "0"));
                        listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), "0"));
                        listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "0"));
                    }
                    if (listResult.All(s => s.IsSucceed))
                    {
                        var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "启动命令");
                        var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
                        if (result.IsSucceed)
                        {
                            carTaskNext.Status = TaskStatusEnum.Doing;
                            carTaskNext.CarTaskNo = carTaskNo;
                            _db.Updateable(carTaskNext).ExecuteCommand();
                            //清除小车空闲时间
                            var taskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = carTaskNext.TaskNo,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"向穿梭车下发任务{carTaskNext.TaskNo}"
                            };
                            _db.Insertable(taskMonitor).ExecuteCommand();
                            //下发任务日志
                            HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                    }
                }
                break;
            case "2":
                {
                    //小车状态异常
                    var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
                    var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
                    
                    if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
                    {
                        var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                        var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
                        string valueTaskStr = Convert.ToString(valueTask);
                        string strNo = "";
                        var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
                        if (valueTaskStr != "0" && strNo != valueTaskStr)
                        {
                            var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
                            if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
                            {
                                HttpService httpService = new HttpService();
                                var requestMode = new TaskRequestWMS()
                                {
                                    TaskNo = modFinshTask.TaskNo,
                                    PalletNo = modFinshTask.PalletNo,
                                    TaskType = ((int)modFinshTask.TaskType).ToString(),
                                    TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
                                };
                                var modResponseTask = httpService.RequestTask(requestMode).Result;
                                modFinshTask.IsSuccess = TaskSuccessEnum.Success;
                                _db.Updateable(modFinshTask).ExecuteCommand();
                                //下发任务日志
                                //HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
                                //HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());

                                if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
                                    dicTaskNo.Remove(modDevice.Id.ToString());
                                dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
                            }
                        }

                    }
                    
                    Console.WriteLine($"穿梭车{modDevice.PlcIdIP}异常");
                    var modPosError = modDevice.listStation.FirstOrDefault(s => s.Text == "错误码");
                    var (result, valueError) = plcConn.GetDBValue(modPosError.PosType, modPosError.PlcPos);
                    if (result.IsSucceed)
                    {
                        sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, Convert.ToInt32(valueError));
                    }
                }
                break;
            default:
                break;
        }
    }
    /// <summary>
    /// 输送线业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void ConveyorLine(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;

        switch (modDevice.Value.ToString())
        {
            case "20":
                {
                    //小车请求开卷帘门 这里改成海康直接调用模块 这里不需要了
                    string Devicelndex = "";
                    if (modDevice.Text == "2号卷帘门")
                        Devicelndex = "222";
                    else if (modDevice.Text == "3号卷帘门")
                        Devicelndex = "111";
                    var modCallBack = sysCacheService.Get<AGVApplyLockInput>("OpenDoor" + Devicelndex);
                    if (modCallBack != null)
                    {
                        var modAgvDevice = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == "AGV");
                        AgvNotifyInput input = new AgvNotifyInput()
                        {
                            ActionStatus = "1",
                            DeviceIndex = Devicelndex,
                            UUID = modCallBack.UUID,
                        };
                        var response = new HttpService().NotifyExcuteResultInfo(input).Result;
                        if (response.code == 0)
                        {
                            sysCacheService.Remove("OpenDoor" + Devicelndex);
                        }
                    }
                }
                break;
            case "100":
                {
                    //工位对应 1=A 4=B 10=C
                    string stationNum = "";
                    if (modDevice.StationNum == "1" || modDevice.StationNum == "4")
                    {
                        stationNum = "10";
                        //判断有没有小车到C口的任务，如果有就写120
                        var countTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV && s.EndLocate == "A1").Count();
                        if (countTask != 0)
                        {
                            var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
                            Log.Information($"向plc{modDevice.PlcIdIP}写入120，结果：{ret.ToJson()}");
                            return;
                        }
                    }
                    string strPalletNo = "";
                    if (modDevice.StationNum == "10" || modDevice.StationNum == "4")
                    {
                        var modPosPallet = modDevice.listStation.First(s => s.Text == "托盘条码");
                        //todo:这里读码器老读不到条码信息 先写死 读码器问题解决了可以注释掉
                        //plcConn.SetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, "T2400001");
                        var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
                        if (!res.IsSucceed || palletNo == "")
                        {
                            var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
                            Log.Information($"向plc{modDevice.PlcIdIP}写入120，结果：{ret.ToJson()}");
                            return;
                        }
                        strPalletNo = Convert.ToString(palletNo);
                    }
                    if (modDevice.StationNum == "10")
                    {
                        if (strPalletNo.Substring(0, 1) == "T")
                            stationNum = "4";
                        else
                            stationNum = "1";
                    }

                    // 写入托盘输送线码垛工位
                    var listResult = new List<Result>();
                    // 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功
                    var posModel = modDevice.listStation.First(m => m.Text == "起始工位");
                    listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos, modDevice.StationNum));
                    var posModel2 = modDevice.listStation.First(m => m.Text == "目标工位");
                    listResult.Add(plcConn.SetPlcDBValue(posModel2.PosType, modDevice.DbNumber, posModel2.PlcPos, stationNum));
                    string taskNo = _taskService.GetTaskCode("WCS");
                    var modPosTask = modDevice.listStation.First(s => s.Text == "任务号");
                    listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo));

                    if (listResult.All(s => s.IsSucceed))
                    {
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "130");
                        Log.Information($"向plc{modDevice.PlcIdIP}写入130，结果：{ret.ToJson()}");
                        if (ret.IsSucceed)
                        {
                            AddWcsTaskInput modTask = new AddWcsTaskInput()
                            {
                                TaskNo = taskNo,
                                TaskType = TaskTypeEnum.In,
                                PalletNo = strPalletNo,
                                Status = TaskStatusEnum.Doing,
                                IsSuccess = TaskSuccessEnum.Fail,
                                StartLocate = modDevice.StationNum,
                                EndLocate = stationNum,
                                Type = PLCTypeEnum.ConveyorLine,
                            };
                            _taskService.Add(modTask);
                            WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.PlcId,
                                PlcName = modDevice.Text,
                                StartLocat = modDevice.StationNum,
                                EndLocat = stationNum,
                                Status = TaskStatusEnum.Doing,
                                InteractiveMsg = $"向{modDevice.Text}写入指令130，结果{ret.IsSucceed}",
                            };
                            _db.Insertable(modTaskMonitor).ExecuteCommand();

                            //下发任务日志
                            HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                            HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                    }
                }
                break;
            case "140":
                {
                    var modPosTask = modDevice.listStation.First(m => m.Text == "任务号");
                    var (result, taskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modPosTask.StringLength);
                    var modPosPallet = modDevice.listStation.First(m => m.Text == "托盘条码");
                    var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
                    WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor();
                    WcsTask modTask = new WcsTask();
                    if (!result.IsSucceed)
                    {
                        Log.Error($"{plcConn.PlcIP}读取任务号失败");
                        return;
                    }
                    if (modDevice.StationNum == "10")
                    {
                        var posModel = modDevice.listStation.First(m => m.Text == "起始工位");
                        var (resultS, station) = plcConn.GetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos);
                        if (resultS.IsSucceed)
                        {
                            if (station == 1)
                            {
                                WcsTask modInsertTask = new WcsTask()
                                {
                                    TaskNo = _taskService.GetTaskCode(),
                                    TaskType = TaskTypeEnum.Move,
                                    Type = PLCTypeEnum.AGV,
                                    StartLocate = AGVStaionEnum.A1.ToString(),
                                    EndLocate = AGVStaionEnum.F1.ToString(),
                                    PalletNo = modTask.PalletNo,
                                    Status = TaskStatusEnum.Wait,
                                    Levels = 5,
                                    Origin = "WCS"
                                };
                                _db.Insertable(modInsertTask).ExecuteCommand();
                                HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
                            }
                            else if (station == 4)
                            {
                                WcsTask modInsertTask = new WcsTask()
                                {
                                    TaskNo = _taskService.GetTaskCode(),
                                    TaskType = TaskTypeEnum.Move,
                                    Type = PLCTypeEnum.AGV,
                                    StartLocate = AGVStaionEnum.A1.ToString(),
                                    EndLocate = AGVStorageUtil.GetPalletInStorage(),
                                    PalletNo = modTask.PalletNo,
                                    Status = TaskStatusEnum.Wait,
                                    Levels = 5,
                                    Origin = "WCS"
                                };
                                _db.Insertable(modInsertTask).ExecuteCommand();
                                HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
                            }
                        }
                        else
                        {
                            Log.Error("获取起始工位失败，失败原因" + resultS.Err);
                            return;
                        }
                    }
                    var ledText = "";
                    if (modDevice.StationNum == "4")
                    {
                        //todo:led
                        ledText += "任务类型:入库\n\n";
                        ledText += $"任务号:{taskNo}\n";
                        ledText += $"托盘号:{palletNo}\n\n";
                        //ledText += $"起始位:10\n";
                        //ledText += $"目标位:4";
                        LedDisplay(modDevice.LedIP, ledText);
                    }
                    var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "150");
                    Log.Information($"向plc{modDevice.PlcIdIP}写入150，结果：{ret.ToJson()}");
                    if (ret.IsSucceed)
                    {
                        string strTaskNo = taskNo;
                        modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == strTaskNo);
                        if (modTask != null)
                        {
                            modTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.PlcId,
                                PlcName = modDevice.Text,
                                StartLocat = modTask.StationNum,
                                EndLocat = modTask.EndLocate,
                                InteractiveMsg = $"向{modDevice.Text}写入指令150，结果{ret.IsSucceed}",
                            };
                            modTaskMonitor.Status = TaskStatusEnum.Complete;
                            _db.Insertable(modTaskMonitor).ExecuteCommand();
                            modTask.FinishDate = DateTime.Now;
                            modTask.Status = TaskStatusEnum.Complete;
                            _db.Updateable(modTask).ExecuteCommand();

                            //下发任务日志
                            HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                            HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                    }
                }
                break;

            default: break;
        }

    }

    /// <summary>
    /// AGV业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void AGV(WcsDeviceDto modDevice)
    {
        
        //这里找出来AGV待执行的任务、按照优先级下发一个任务给AGV
        var listTask = _db.Queryable<WcsTask>().Where(s => (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.Type == PLCTypeEnum.AGV).OrderBy(s => s.Levels).ToList();
        if (listTask.Count == 0)
        {
            return;
        }
        
        foreach (var modTask in listTask)
        {
            if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
            {
                continue; // 有目的位置一致且正在执行的任务
            }
            
            //下发AGV任务
            AgvTaskInput input = new AgvTaskInput()
            {
                ReqCode = modTask.Id.ToString(),
                TaskCode = modTask.TaskNo,
                CtnrCode = modTask.PalletNo,
                PositionCodePath = new List<PositionCodePathItem>()
            {
                new PositionCodePathItem(){ PositionCode = modTask.StartLocate },
                new PositionCodePathItem(){ PositionCode = modTask.EndLocate }
            }
            };
            input.TaskTyp = "1" + modTask.StartLocate.Substring(0, 1) + modTask.EndLocate.Substring(0, 1);
            var response = new HttpService().GenAgvSchedulingTask(input).Result;
            if (response.code == "0")
            {
                AGVStatus = true;
                modTask.Status = TaskStatusEnum.Doing;
                _db.Updateable(modTask).ExecuteCommand();
                var modTaskMonitor = new WcsTaskMonitor()
                {
                    TaskNo = modTask.TaskNo,
                    PlcId = modDevice.modPlc.Id,
                    PlcName = modDevice.modPlc.IP,
                    InteractiveMsg = "向AGV小车下发任务"
                };
                _db.Insertable(modTaskMonitor).ExecuteCommand();

                //下发任务日志
                HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
            }
            Console.WriteLine(response.ToJson());
            return;
        }
        Thread.Sleep(3000);
    }

    /// <summary>
    /// Led屏展示信息
    /// </summary>
    /// <param name="ip">地址</param>
    /// <param name="top">上方区域</param>
    /// <param name="content">中间区域</param>
    /// <param name="foot">底部区域</param>
    private static void LedDisplay(string ip, string top, string content, string foot)
    {
        try
        {
            LedDll Led = new LedDll();
            Led.LEDstr(ip, top, content, foot);
        }
        catch (Exception ex)
        {
            Log.Error(ex.Message);
        }
    }
    /// <summary>
    /// LED信息展示
    /// </summary>
    /// <param name="ip"></param>
    /// <param name="text"></param>
    private static void LedDisplay(string ip, string text)
    {
        try
        {
            LedDll Led = new LedDll();
            Led.ConsoleLeds(ip, text);
            // 设置实例
            //Led.ConsoleLeds("10.18.51.238", $"任务类型:{TaskTypeEnum.Move.GetDescription()}\n\n任务号:TK2024102100001\n托盘号:LN000145\n\n起始位:033\n目标位:R01-02010102");
        }
        catch (Exception ex)
        {
            Log.Error(ex.Message);
        }
    }


    private static void Test(WcsDeviceDto modDevice)
    {
        //卷帘门2申请打开
        //var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1152", "10");
        //卷帘门2申请关闭
        //var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1152", "30");

        //卷帘门3申请打开
        //var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1154", "10");
        //卷帘门3申请关闭
        //var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1154", "30");

        //C口AGV放托盘完成申请入库
        var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1156", "100");

        ////写死测试读string
        //var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
        //Console.WriteLine("DB100.64----" + val);
        ////测试批量读取
        //Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
        //foreach (var modStation in modDevice.listStation)
        //{
        //    listaddress.Add(modStation.PlcPos, modStation.PosType);
        //}
        //var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
        //if (result.Value.Count > 0)
        //{
        //    foreach (var value in result.Value)
        //    {
        //        Console.WriteLine("地址" + value.Key + "----值" + value, value);
        //    }
        //}
        //if (!result.IsSucceed)
        //{
        //    foreach (var err in result.ErrList)
        //    {
        //        Console.WriteLine(err);
        //    }
        //    if (result.Value.Count > 0)//有错误的也有成功的
        //    {

        //    }
        //}
        //if (modDevice.Value == 820)
        //{
        //    //测试写入830
        //    //var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
        //    ////写入是否成功
        //    //if (result.IsSucceed)
        //    //{

        //    //}
        //}
        //else if (modDevice.Value == 840)
        //{

        //}
        //else if (modDevice.Value == 860)
        //{

        //}
    }



}