MingHeZhiNeng/DuiDuoJiLiKu.git

using AutoMapper;
using HslCommunication;
using NetTaste;
using Newtonsoft.Json;
using Quartz;
using SqlSugar;
using System.Reflection;
using System.Text;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_BasicInfoService;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.HttpContextUser;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_SignalR;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using ICacheService = WIDESEAWCS_Core.Caches.ICacheService;
 
namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public partial class CommonConveyorLineJob : JobBase, IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskRepository _taskRepository;
        private readonly ITask_HtyRepository _task_HtyRepository;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly IRouterService _routerService;
        private readonly ISys_ConfigService _sys_ConfigService;
        private readonly IMapper _mapper;
        private readonly IDt_StationManagerService _stationManagerService;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        private readonly ICacheService _cacheService;
        private readonly INoticeService _noticeService;
        private readonly IDeviceInfoRepository _deviceInfoRepository;
 
        private static List<string>? userTokenIds;
        private static List<int>? userIds;
 
        public CommonConveyorLineJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper, ITaskRepository taskRepository,ISys_ConfigService sys_ConfigService, IDt_StationManagerService stationManagerService, IDt_StationManagerRepository stationManagerRepository, ICacheService cacheService, INoticeService noticeService, IDeviceInfoRepository deviceInfoRepository, ITask_HtyRepository task_HtyRepository)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _routerService = routerService;
            _mapper = mapper;
            _taskRepository = taskRepository;
            _sys_ConfigService = sys_ConfigService;
            _stationManagerService = stationManagerService;
            _stationManagerRepository = stationManagerRepository;
            _cacheService = cacheService;
            _noticeService = noticeService;
            _deviceInfoRepository = deviceInfoRepository;
            _task_HtyRepository = task_HtyRepository;
        }
 
        public async Task Execute(IJobExecutionContext context)
        {
            string jobName = context.JobDetail.Key.Name;
            try
            {
                // 从JobDataMap中获取传递的参数
                CommonConveyorLine conveyorLine = (CommonConveyorLine)context.JobDetail.JobDataMap.Get("JobParams");
                if (conveyorLine != null)
                {
                    // 查询所有子设备的位置
                    List<string> childDeviceCodes = _routerService.QueryAllPositions(conveyorLine.DeviceCode);
                    // 获取所有站点管理器
                    List<Dt_StationManager> stationManagers = _stationManagerService.GetAllStationByDeviceCode(conveyorLine.DeviceCode);
 
                    // 并行处理每个子设备
                    var tasks = childDeviceCodes.Select(childDeviceCode => ProcessDeviceAsync(conveyorLine, childDeviceCode)).ToList();
 
                    // 并行处理每个站点管理器
                    tasks = stationManagers.Select(station => Task.Run(async () =>
                    {
                        ConveyorLineTaskCommand command = ReadCommand(conveyorLine, station.stationChildCode);
                        if (command == null )
                        {
                            return;
                        }
 
                        IStationHandler handler = StationHandlerFactory.GetHandler(station.stationType, this);
                        await handler.HandleStationAsync(conveyorLine, station, command);
                    })).ToList();
 
                    await Task.WhenAll(tasks);
                }
            }
            catch (Exception ex)
            {
                // 输出异常信息
                Console.Out.WriteLine(nameof(CommonConveyorLineJob) + ":" + ex.ToString());
            }
            return;
        }
 
        private Task ProcessDeviceAsync(CommonConveyorLine conveyorLine, string childDeviceCode)
        {
            try
            {
                // 读取任务命令和设备命令
                ConveyorLineTaskCommand command = ReadCommand(conveyorLine, childDeviceCode);
                if (command != null)
                {
                    #region 调用事件总线通知前端
 
                    // 获取缓存中的用户信息
                    var tokenInfos = _cacheService.Get<List<UserInfo>>("Cache_UserToken");
                    if (tokenInfos != null && tokenInfos.Any())
                    {
                        userTokenIds = tokenInfos.Select(x => x.Token_ID).ToList();
                        userIds = tokenInfos.Select(x => x.UserId).ToList();
 
                        // 构造通知数据
                        object obj = new
                        {
                            command
                        };
                        // 发送通知
                        _noticeService.LineData(userIds.FirstOrDefault(), userTokenIds, new { conveyorLine.DeviceName, childDeviceCode, data = obj });
                    }
 
                    #endregion 调用事件总线通知前端
 
                    var structs = BitConverter.GetBytes(command.InteractiveSignal).Reverse().ToArray().ToBoolArray();
                    // 获取设备协议详情
                    List<DeviceProtocolDetailDTO>? deviceProtocolDetails = conveyorLine.DeviceProtocolDetailDTOs.Where(x => x.DeviceProParamName == nameof(ConveyorLineTaskCommand.InteractiveSignal)).ToList();
 
                    if (deviceProtocolDetails != null)
                    {
                        foreach (var item in deviceProtocolDetails)
                        {
                            int itemValue = item.ProtocalDetailValue.ObjToInt();
                            if (structs[itemValue] == true)
                            {
                                // 获取处理方法
                                MethodInfo? method = GetType().GetMethod(item.ProtocolDetailType);
                                if (method != null)
                                {
                                    // 调用处理方法
                                    method.Invoke(this, new object[] { conveyorLine, command, childDeviceCode, itemValue });
                                }
                            }
                        }
                    }
 
               }
            }
            catch (Exception ex)
            {
            }
            return Task.CompletedTask;
        }
 
        #region 入库
 
        /// <summary>
        /// 输送线请求入库
        /// </summary>
        /// <param name="conveyorLine">输送线实例对象</param>
        /// <param name="command">读取的请求信息</param>
        /// <param name="childDeviceCode">子设备编号</param>
        /// <param name="ProtocalDetailValue">线体当前bool读取偏移地址</param>
        public async Task RequestInbound(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode, int ProtocalDetailValue)
        {
            try
            {
                // 输出警告信息，表示任务已到达子设备并请求扫码入库
                var log = $"时间：【{DateTime.Now}】【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】请求扫码入库";
                ConsoleHelper.WriteWarningLine(log);
                // 发送通知
                await _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                WriteInfo(conveyorLine.DeviceName, log);
 
                // 查询条码对应的任务
                var task = _taskService.QueryBarCodeConveyorLineTask(command.Barcode.ToString(), childDeviceCode);
                if (task != null)
                {
                    // 如果任务类型是出库或出托盘，则处理出库任务
                    if (task.TaskType == (int)TaskOutboundTypeEnum.OutTray || task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                    {
                        HandleTaskOut(conveyorLine, command, childDeviceCode, ProtocalDetailValue, task);
                    }
                    else
                    {
                        // 获取任务的下一目标地址
                        var next = task.NextAddress;
                        // 将任务映射为命令
                        var taskCommand = MapTaskCommand(task, command);
                        // 恢复任务的下一目标地址
                        task.NextAddress = next;
                        // 发送命令到子设备
                        conveyorLine.SendCommand(taskCommand, childDeviceCode);
 
                        // 输出警告信息，表示任务已到达子设备并请求扫码入库，下一目标地址
                        var logs = $"时间：【{DateTime.Now}】【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】请求扫码入库,下一目标地址【{taskCommand.TargetAddress}】";
                        ConsoleHelper.WriteWarningLine(logs);
 
                        await _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = logs, time = DateTime.Now.ToString("G"), color = "red" });
                        WriteInfo(conveyorLine.DeviceName, logs);
 
                        // 发送任务完成通知
                        ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
                        // 更新任务状态为下一状态
                        _taskService.UpdateTaskStatusToNext(task);
                    }
                }
                else
                {
                    // 如果任务为空且条码不为"NoRead"且条码不为空，则处理新任务
                    if (task == null && command.Barcode.ToString() != "NoRead" && command.Barcode.IsNotEmptyOrNull())
                    {
                        // 查询条码对应的任务
                        task = _taskService.QueryBarcodeTask(command.Barcode.ToString(), childDeviceCode);
                        if (task == null)
                            // 异步处理新任务
                            await HandleNewTaskAsync(conveyorLine, command, childDeviceCode, ProtocalDetailValue);
                    }
                }
            }
            catch (Exception ex)
            {
                // 捕获并输出异常信息
                Console.Out.WriteLine(ex.ToString());
            }
        }
 
        #region 输送线请求入库下一地址
 
        /// <summary>
        /// 输送线请求入库下一地址
        /// </summary>
        /// <param name="conveyorLine">输送线实例对象</param>
        /// <param name="command">读取的请求信息</param>
        /// <param name="childDeviceCode">子设备编号</param>
        public void RequestInNextAddress(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode)
        {
            var log = $"时间：【{DateTime.Now}】【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】请求入库下一地址";
            ConsoleHelper.WriteWarningLine(log);
 
            _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
            WriteInfo(conveyorLine.DeviceName, log);
 
            Dt_Task task = _taskService.QueryExecutingConveyorLineTask(command.TaskNum, childDeviceCode, command.Barcode.ToString());
            if (task != null)
            {
                if (command.Barcode.ToString() == task.PalletCode)
                {
                    Dt_Task? newTask = _taskService.UpdatePosition(task.TaskNum, task.CurrentAddress);
                    if (newTask != null)
                    {
                        //ConveyorLineTaskCommand taskCommand = _mapper.Map<ConveyorLineTaskCommand>(newTask);
                        //taskCommand.InteractiveSignal = command.InteractiveSignal;
                        var next = newTask.NextAddress;
                        var taskCommand = MapTaskCommand(newTask, command);
                        newTask.NextAddress = next;
 
                        var logs = $"【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】请求入库下一地址,下一目标地址【{taskCommand.TargetAddress}】";
                        ConsoleHelper.WriteWarningLine(logs);
 
                        _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = logs, time = DateTime.Now.ToString("G"), color = "red" });
                        WriteInfo(conveyorLine.DeviceName, logs);
 
                        conveyorLine.SendCommand(taskCommand, childDeviceCode);
                        _taskService.UpdateData(newTask);
                    }
                }
            }
        }
 
        #endregion 输送线请求入库下一地址
 
        /// <summary>
        /// 输送线入库完成
        /// </summary>
        /// <param name="conveyorLine">输送线实例对象</param>
        /// <param name="command">读取的请求信息</param>
        /// <param name="childDeviceCode">子设备编号</param>
        /// <param name="ProtocalDetailValue">线体当前bool读取偏移地址</param>
        public void ConveyorLineInFinish(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode, int ProtocalDetailValue)
        {
            try
            {
                var log = $"时间：【{DateTime.Now}】【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线入库完成";
                ConsoleHelper.WriteWarningLine(log);
 
                _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                WriteInfo(conveyorLine.DeviceName, log);
 
                var task = _taskService.QueryExecutingConveyorLineTask(command.TaskNum, childDeviceCode, command.Barcode.ToString());
                if (task != null && task.TaskState != (int)TaskInStatusEnum.Line_InFinish)
                {
                    if (command.Barcode.ToString() == task.PalletCode && childDeviceCode == task.NextAddress)
                    {
                        if (task.TaskType == (int)TaskInboundTypeEnum.InNG)
                        {
                            int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
 
                            var station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
                            task.CurrentAddress = station.stationLocation;
                            task.NextAddress = station.stationNGLocation;
                            task.TargetAddress = task.NextAddress;
                            task.TaskState = nextStatus;
                            task.ModifyDate = DateTime.Now;
                            task.Modifier = "System";
                            _taskRepository.UpdateData(task);
 
                            conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, "1000", childDeviceCode);
 
                            var logs = $"【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线入库完成,下一目标地址【等待分配货位,并写入1000】";
                            ConsoleHelper.WriteWarningLine(logs);
 
                            _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = logs, time = DateTime.Now.ToString("G"), color = "red" });
                            WriteInfo(conveyorLine.DeviceName, logs);
 
                            ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
                        }
                        else
                        {
                            WebResponseContent content = _taskService.UpdateTaskStatusToNext(task);
                            WriteInfo(conveyorLine.DeviceName, content.ToJsonString());
                            if (!content.Status)
                            {
                                ConsoleHelper.WriteWarningLine($"【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线入库完成,任务执行失败{JsonConvert.SerializeObject(content)}");
                                return;
                            }
 
                            conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, "1000", childDeviceCode);
 
                            var logs = $"【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线入库完成,下一目标地址【等待分配货位,并写入1000】";
                            ConsoleHelper.WriteWarningLine(logs);
 
                            _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = logs, time = DateTime.Now.ToString("G"), color = "red" });
                            WriteInfo(conveyorLine.DeviceName, logs);
 
                            ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
                            Console.Out.WriteLine(content.ToJsonString());
                        }
                    }
                }
            }
            catch (Exception ex)
            {
            }
        }
 
        #endregion 入库
 
        #region 出库
 
        /// <summary>
        /// 输送线请求出信息
        /// </summary>
        /// <param name="conveyorLine">输送线实例对象</param>
        /// <param name="command">读取的请求信息</param>
        /// <param name="childDeviceCode">子设备编号</param>
        /// <param name="ProtocalDetailValue">线体当前bool读取偏移地址</param>
        public void RequestOutbound(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode, int ProtocalDetailValue)
        {
            try
            {
                // 查询输送线任务，根据输送线设备和子设备代码获取任务信息
                var task = _taskService.QueryConveyorLineTask(conveyorLine.DeviceCode, childDeviceCode);
 
                // 输出成功信息，包括输送线名称、任务号、托盘条码和子设备代码，以及任务信息
                var logs = $"时间：【{DateTime.Now}】【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线请求出库,task{task.ToJsonString()}";
                ConsoleHelper.WriteSuccessLine(logs);
 
                _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = logs, time = DateTime.Now.ToString("G"), color = "red" });
                WriteInfo(conveyorLine.DeviceName, logs);
 
                // 如果任务不为空，则执行以下操作
                if (task != null)
                {
                    // 获取任务的下一目标地址
                    var next = task.NextAddress;
 
                    // 将任务命令映射到当前任务
                    var taskCommand = MapTaskCommand(task, command);
 
                    // 恢复任务的下一目标地址
                    task.NextAddress = next;
 
                    // 输出成功信息，包括输送线名称、任务号、托盘条码、子设备代码和下一目标地址
                    var log = $"【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线请求出库,下一目标地址【{taskCommand.TargetAddress}】";
                    ConsoleHelper.WriteSuccessLine(log);
 
                    _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                    WriteInfo(conveyorLine.DeviceName, log);
 
                    // 向输送线发送命令
                    conveyorLine.SendCommand(taskCommand, childDeviceCode);
 
                    // 完成输送线发送任务，并更新任务状态
                    ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
 
                    // 更新任务状态到下一个状态
                    _taskService.UpdateTaskStatusToNext(task);
 
                    // 如果任务的目标地址是"1020-1"，则再次更新任务状态到下一个状态
                    if (task.TargetAddress == "1020-1"|| task.TargetAddress == "1049-8")
                    {
                        _taskService.UpdateTaskStatusToNext(task);
                    }
                }
            }
            catch (Exception ex)
            {
            }
        }
 
        /// <summary>
        /// 输送线请求出库下一地址
        /// </summary>
        /// <param name="conveyorLine">输送线实例对象</param>
        /// <param name="command">读取的请求信息</param>
        /// <param name="childDeviceCode">子设备编号</param>
        public void RequestOutNextAddress(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode, int ProtocalDetailValue)
        {
            // 打印成功日志，显示当前设备名称、任务号、托盘条码以及请求出库下一地址的子设备代码
            var log = $"【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线请求出库下一地址";
            ConsoleHelper.WriteSuccessLine(log);
 
            _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
            WriteInfo(conveyorLine.DeviceName, log);
 
            // 查询正在执行的输送线任务，根据任务号和子设备代码获取任务信息
            Dt_Task task = _taskService.QueryExecutingConveyorLineTask(command.TaskNum, childDeviceCode, command.Barcode.ToString());
 
            // 如果任务存在
            if (task != null)
            {
                // 检查任务中的托盘条码是否与命令中的托盘条码一致
                if (command.Barcode.ToString() == task.PalletCode)
                {
                    // 更新任务的位置信息，并获取更新后的任务对象
                    Dt_Task? newTask = _taskService.UpdatePosition(task.TaskNum, task.CurrentAddress);
 
                    // 如果更新后的任务对象不为空
                    if (newTask != null)
                    {
                        // 获取下一目标地址
                        var next = newTask.NextAddress;
 
                        // 将新任务对象映射为任务命令对象
                        var taskCommand = MapTaskCommand(newTask, command);
 
                        // 恢复新任务对象的下一目标地址
                        newTask.NextAddress = next;
 
                        // 打印成功日志，显示当前设备名称、任务号、托盘条码、子设备代码以及下一目标地址
                        var logs = $"【{conveyorLine._deviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线请求出库下一地址,下一目标地址【{taskCommand.TargetAddress}】";
                        ConsoleHelper.WriteSuccessLine(logs);
 
                        _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = logs, time = DateTime.Now.ToString("G"), color = "red" });
                        WriteInfo(conveyorLine.DeviceName, logs);
 
                        // 发送任务命令到子设备
                        conveyorLine.SendCommand(taskCommand, childDeviceCode);
 
                        // 标记输送线发送任务完成
                        ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
 
                        _taskService.UpdateData(newTask);
                    }
                }
            }
        }
 
        /// <summary>
        /// 输送线出库完成
        /// </summary>
        /// <param name="conveyorLine">输送线实例对象</param>
        /// <param name="command">读取的请求信息</param>
        /// <param name="childDeviceCode">子设备编号</param>
        public void ConveyorLineOutFinish(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode, int ProtocalDetailValue)
        {
            try
            {
                // 打印成功信息，表示托盘已到达指定输送线并完成出库
                var logs = $"【{conveyorLine.DeviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线出库完成";
                ConsoleHelper.WriteSuccessLine(logs);
 
                _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = logs, time = DateTime.Now.ToString("G"), color = "red" });
                WriteInfo(conveyorLine.DeviceName, logs);
 
                // 查询正在执行的输送线任务
                var task = _taskService.QueryExecutingConveyorLineTask(command.TaskNum, childDeviceCode, command.Barcode.ToString());
 
                // 如果任务存在
                if (task != null)
                {
                    // 如果任务中的托盘条码与命令中的托盘条码一致
                    if (command.Barcode.ToString() == task.PalletCode)
                    {
                        // 创建一个空的WebResponseContent对象
                        WebResponseContent content = new WebResponseContent();
 
                        // 保存任务的下一目标地址
                        var next = task.NextAddress;
                        // 将任务映射为命令
                        var taskCommand = MapTaskCommand(task, command);
                        // 恢复任务的下一目标地址
                        task.NextAddress = next;
 
                        // 如果任务的托盘条码与命令中的托盘条码不一致或者任务备注为"NG"
                        if (task.PalletCode != command.Barcode.ToString() || task.Remark == "NG")
                        {
                            // 设置命令的目标地址为NG地址
                            taskCommand.TargetAddress = 1;
                        }
                        else
                        {
                            // 设置命令的目标地址为1000
                            taskCommand.TargetAddress = 1000;
                        }
 
                        // 打印成功信息，表示托盘已到达指定输送线并完成出库，下一目标地址已确定
                        var log = $"【{conveyorLine.DeviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{childDeviceCode}】输送线出库完成,下一目标地址【{taskCommand.TargetAddress}】";
                        ConsoleHelper.WriteSuccessLine(log);
 
                        _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                        WriteInfo(conveyorLine.DeviceName, log);
 
                        // 发送命令到输送线
                        conveyorLine.SendCommand(taskCommand, childDeviceCode);
                        // 完成输送线发送
                        ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
                        // 更新任务状态到下一个状态
                        content = _taskService.UpdateTaskStatusToNext(task);
                    }
                    else
                    {
                     
                        // 完成输送线发送
                        ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
                        // 更新任务状态到下一个状态
                        _taskService.UpdateTaskStatusToNext(task);
                    }
                }
            }
            catch (Exception ex)
            {
            }
        }
 
        #endregion 出库
 
        /// <summary>
        /// 输送线交互完成
        /// </summary>
        /// <param name="conveyorLine">输送线实例对象</param>
        /// <param name="childDeviceCode">子设备编号</param>
        /// <param name="ProtocalDetailValue">线体当前bool读取偏移地址</param>
        /// <param name="value">值</param>
        public void ConveyorLineSendFinish(CommonConveyorLine conveyorLine, string childDeviceCode, int ProtocalDetailValue, bool value)
        {
            // 从conveyorLine中的DeviceProDTOs列表中查找第一个符合条件的DeviceProDTO对象
            // 条件是DeviceProParamType等于DeviceCommand，且DeviceChildCode等于childDeviceCode
            // 查找结果按DeviceProOffset升序排列
            DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.Where(x => x.DeviceProParamType == nameof(DeviceCommand) && x.DeviceChildCode == childDeviceCode).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
 
            // 将devicePro的DeviceProAddress按'.'分割成字符串数组x
            string[] x = devicePro.DeviceProAddress.Split('.');
 
            // 将数组x的最后一个元素替换为ProtocalDetailValue加1后的字符串形式
            x[x.Length - 1] = (ProtocalDetailValue + 1).ToString();
 
            // 将修改后的数组x重新拼接成字符串，作为新的DeviceProAddress
            string DeviceProAddress = string.Join(".", x);
 
            var writeBool = conveyorLine.Communicator.Read<bool>(DeviceProAddress);
            if (writeBool != value)
            {
                // 使用conveyorLine的Communicator对象的Write方法，将value写入新的DeviceProAddress地址
                conveyorLine.Communicator.Write(DeviceProAddress, value);
            }
        }
 
        public async Task LogAndWarn(string deviceName, string log, string color = "red")
        {
            ConsoleHelper.WriteWarningLine(log);
            await _noticeService.Logs(userTokenIds, new { deviceName, log = log, time = DateTime.Now.ToString("G"), color = color });
            WriteInfo(deviceName, log);
        }
 
        private ConveyorLineTaskCommand ReadCommand(CommonConveyorLine conveyorLine,string childDeviceCode)
        {
            ConveyorLineTaskCommand command = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(childDeviceCode);
 
            DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.Where(x => x.DeviceChildCode == childDeviceCode && x.DeviceProParamName == "ConveyorLineBarcode").FirstOrDefault();
            byte[] Barcode = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 10);
 
            command.Barcode = Encoding.ASCII.GetString(Barcode);
            return command;
        }
 
    }
}