代码提交

huangxiaoqiang

2025-06-03 73a077d76b715aee6b9f384b087a6792a84989d8

 ÏîÄ¿´úÂë/WMS/WIDESEA_WMSServer/WIDESEA_StorageSocketServices/SocketClientService.cs

@@ -29,6 +29,9 @@
using Microsoft.Extensions.DependencyInjection;
using WIDESEA_IBusinessesRepository;
using WIDESEA_Repository;
using static MailKit.Telemetry;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using System.Runtime.InteropServices;

namespace WIDESEA_StorageSocketServices
{
@@ -39,40 +42,30 @@
        const byte ETX = 3;
        private readonly ILogger<SocketClientService> _logger;
        private readonly LogFactory LogFactory = new LogFactory();
        //private readonly IDt_TaskService _taskService;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        private readonly IDt_TaskRepository BaseDal;
        Connection connection = AppSettings.Configuration.GetSection("Connection").Get<Connection>();
        string url = AppSettings.Configuration["AGVIP"];
        private readonly IUnitOfWorkManage _unitOfWorkManage;
        private readonly IStockInfoRepository _stockInfoRepository;
        private readonly IDt_Task_HtyRepository _task_HtyRepository;
        private readonly IMapper _mapper;
        private readonly ILocationInfoRepository _locationRepository;
        private readonly IDt_TaskService _taskService;
        private readonly IDt_HostLogRepository _hostLogRepository;
        private bool _IsOnline=false;
        public DateTime Time { get; set; } = DateTime.Now;


        public SocketClientService(IDt_TaskService TaskService, IDt_TaskRepository TaskRepository, IDt_StationManagerRepository stationManagerRepository, ILogger<SocketClientService> logger, ILocationInfoRepository locationInfoRepository,IDt_HostLogRepository hostLogRepository)
        public SocketClientService(IDt_TaskService TaskService, IDt_TaskRepository TaskRepository, IDt_StationManagerRepository stationManagerRepository, ILogger<SocketClientService> logger,IDt_HostLogRepository hostLogRepository)
        {
            BaseDal = TaskRepository;
            _stationManagerRepository = stationManagerRepository;
            _logger = logger;
            _taskService = TaskService;
            _locationRepository = locationInfoRepository;
            _hostLogRepository = hostLogRepository;
            #region
            //if (App.RootServices != null)
            //{
            //    IDt_TaskRepository? BaseDal = App.RootServices.CreateScope().ServiceProvider.GetService(typeof(IDt_TaskRepository)) as IDt_TaskRepository;
            //    IDt_TaskService? _taskService = App.RootServices.CreateScope().ServiceProvider.GetService(typeof(IDt_TaskService)) as IDt_TaskService;
            //    ILocationInfoRepository? _locationRepository = App.RootServices.CreateScope().ServiceProvider.GetService(typeof(ILocationInfoRepository)) as ILocationInfoRepository;
            //    IDt_StationManagerRepository? _stationManagerRepository = App.RootServices.CreateScope().ServiceProvider.GetService(typeof(IDt_StationManagerRepository)) as IDt_StationManagerRepository;
            //}
            #endregion
        }

        /// <summary>
        /// TCPSocket连接
        /// </summary>
        /// <param name="IP"></param>
        /// <param name="Port"></param>
        public void ConnectServer(string IP, int Port)
        {
            try
@@ -85,7 +78,7 @@
                }

                //创建负责通信的socket
                socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
                socket = new System.Net.Sockets.Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
                IPAddress ip = IPAddress.Parse(IP);
                IPEndPoint point = new IPEndPoint(ip, Convert.ToInt32(Port));

@@ -94,9 +87,14 @@

                _logger.LogInformation("Socket连接成功");
                ConsoleHelper.WriteSuccessLine("Socket连接成功");

                DeleteHostLog(910);

                _IsOnline = true;
                RequestCommunication();
                DeviceStateReport("I");
                AGVStatusRespone status = GetAGVStatus();

                DeviceStateReport(GetAGVStatus(status.RuntimeStatus));

                //开启一个新的线程不停的接收服务端发来的信息
                Thread th = new Thread(Receive);
@@ -111,12 +109,19 @@
                HandleDisconnection();
            }
        }


        public bool Socketonline()
        {
            return _IsOnline;
        }

        /// <summary>
        /// çº¿ç¨‹è¯»å–数据
        /// </summary>
        void Receive()
        {
            Time = DateTime.Now;
            while (true)
            {
                try
@@ -147,6 +152,7 @@
                        var str = Encoding.UTF8.GetString(newArray);
                        string receivedChecksum = str.Substring(str.Length - 2);

                        LogFactory.GetLog("接收Socket数据").Info(true, $"{JsonConvert.SerializeObject(GetParse(str))}{Environment.NewLine}");
                        if (calculatedChecksum == receivedChecksum)
                        {
                            var x = Encoding.UTF8.GetString(newArray);
@@ -162,23 +168,29 @@
                        }
                        else
                        {
                            LogFactory.GetLog("Socket接收数据").Error(true, "校验失败");
                            CheckSum("3");
                            LogFactory.GetLog("Socket接收数据").Error(true, $"CheckSum校验失败,解析{calculatedChecksum}、读取{receivedChecksum}");
                        }
                    }
                    else
                    {
                        LogFactory.GetLog("Socket接收数据").Error(true, $"无效报文格式:{JsonConvert.SerializeObject(Y)}");
                        LogFactory.GetLog("Socket接收数据").Error(true, $"无效报文格式:{JsonConvert.SerializeObject(Y)}{Environment.NewLine}");
                    }
                }
                catch
                {
                    _IsOnline = false;
                    HandleDisconnection();

                }
            }
        }


        /// <summary>
        /// ä½œä¸šJobType
        /// </summary>
        /// <param name="cmdId"></param>
        /// <param name="x"></param>
        private void ProcessCommand(string cmdId, string x)
        {
            switch (cmdId)
@@ -207,17 +219,58 @@
                case "909":
                    DeviceStatusReportRequest();
                    break;
                case "987":
                    FireAlarm(x.Substring(21, 6), x.Substring(15, 5));
                    break;
                case "301":
                    UpdateLocalTime(x.Substring(30), x.Substring(15, 5));
                    break;
                case "918":
                    break;
                default:
                    CheckSum("1");
                    break;
            }
        }

        private void HandleDisconnection()
        #region
        //private void HandleDisconnection()
        //{
        //    int attempts = 100;
        //    do
        //    {
        //        string message = "连接已断开..." + '\n';
        //        message += "等待5秒后重新连接" + '\n';
        //        Console.WriteLine(message);

        //        // å…³é—­å½“前连接
        //        try
        //        {
        //            socket?.Close();
        //        }
        //        catch { }

        //        // ç­‰å¾…5秒
        //        Thread.Sleep(5000);

        //        // å°è¯•é‡æ–°è¿žæŽ¥
        //        ConnectServer(connection.IP, connection.Port);
        //        attempts--;
        //    } while (!socket.Connected && attempts > 0);
        //}
        #endregion

        /// <summary>
        /// é‡è¿ž
        /// </summary>
        public void HandleDisconnection()
        {
            int attempts = 5;
            do
            int maxAttempts = 10; // æœ€å¤§å°è¯•æ¬¡æ•°
            int currentAttempts = 0;

            while (currentAttempts < maxAttempts)
            {
                string message = "连接已断开..." + '\n';
                string message = "与Host系统连接已断开..." + '\n';
                message += "等待5秒后重新连接" + '\n';
                Console.WriteLine(message);

@@ -233,16 +286,51 @@

                // å°è¯•é‡æ–°è¿žæŽ¥
                ConnectServer(connection.IP, connection.Port);
                attempts--;
            } while (!socket.Connected && attempts > 0);
        }
        public void clientSend(byte[] buffer)
        {
            var Y = Encoding.UTF8.GetString(buffer);
            LogFactory.GetLog("Socket发送数据").Info(true, Y);
            socket.Send(buffer);
                currentAttempts++;

                // æ£€æŸ¥æ˜¯å¦å·²è¿žæŽ¥
                if (socket?.Connected ?? false)
                {
                    break; // è¿žæŽ¥æˆåŠŸï¼Œé€€å‡ºå¾ªçŽ¯
                }
            }

            if (currentAttempts >= maxAttempts)
            {
                Console.WriteLine("已达到最大重连次数，停止重连。");
                // å¯ä»¥åœ¨è¿™é‡Œè¿›è¡Œå…¶ä»–处理，例如通知用户或记录日志
            }
        }

        /// <summary>
        /// ä¸‹å‘
        /// </summary>
        /// <param name="buffer"></param>
        public void clientSend(byte[] buffer)
        {
            socket.Send(buffer);


            int newLength = buffer.Length - 2;
            byte[] newArray = new byte[newLength];

            Array.Copy(buffer, 1, newArray, 0, newLength);
            string calculatedChecksum = GetCheckSumone(newArray);

            var str = Encoding.UTF8.GetString(newArray);
            string receivedChecksum = str.Substring(str.Length - 2);

            var x = Encoding.UTF8.GetString(newArray);

            LogFactory.GetLog("Socket发送数据").Info(true, $"{JsonConvert.SerializeObject(GetParse(x))}{Environment.NewLine}");
        }

        /// <summary>
        /// CheckSum解析
        /// </summary>
        /// <param name="x"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public string GetCheckSumone(byte[] x)
        {
            int sum = 0;
@@ -270,6 +358,10 @@
        /// ä½œä¸šä»»åŠ¡ID  é¢„ç•™
        /// </summary>
        public const string JobOrderID = "0000000000000000";

        public const string JobOrderIDPDA = "PDA0000000000000";

        public const string JobOrderIDF   = "FIRE000000000000";

        /// <summary>
        /// ä¼˜å…ˆçº§  é¢„ç•™
@@ -360,7 +452,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("DeviceRequestInbound").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

@@ -378,7 +470,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("RequestCommunication").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

@@ -396,7 +488,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("JobReady").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -415,7 +507,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("DeviceStateReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -429,14 +521,13 @@
        {
            try
            {
                string str = SendNotReply + "917" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
                string str = SendandReply + "917" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("DeviceAutoStatusReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// /// <summary>
@@ -456,7 +547,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("JobStartOrEnd").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -479,7 +570,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("PalletActionReport工序907").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -508,7 +599,35 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("PalletActionReport工序901").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        public void PalletActionReportPDA(string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString("D5") + "0" + JobOrderIDPDA + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("PalletActionReportPDA工序901").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        public void PalletActionReportFrie(string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString("D5") + "0" + JobOrderIDF + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("PalletActionReportPDA工序901").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -533,7 +652,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("DeviceStationStatusReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -549,6 +668,7 @@
        {
            try
            {
                ErrorReport(Restocking, "A", "00");
                string str = SendandReply + "105" + BaseDal.GetSeqNo().Result.ToString("D5") + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                Dt_HostLog hostLog = new Dt_HostLog()
                {
@@ -561,9 +681,26 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("RecreateGetLocation").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <summary>
        /// CheckSum校验 å·¥åº981
        /// </summary>
        /// <param name="message"></param>
        public void CheckSum(string message)
        {
            try
            {
                string str = SendNotReply + "981" + BaseDal.GetSeqNo().Result.ToString("D5") + message;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("CheckSum").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// /// <summary>
@@ -581,9 +718,8 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("ErrorReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <summary>
@@ -600,7 +736,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("DeviceReceiveJobResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -616,6 +752,7 @@
        {
            try
            {
                ErrorReport(EmptyOutBoundconst, "A", "00");
                string str = SendandReply + "107" + BaseDal.GetSeqNo().Result.ToString("D5") + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
                Dt_HostLog hostLog = new Dt_HostLog()
                {
@@ -628,7 +765,7 @@
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
                LogFactory.GetLog("EmptyOutBound").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
@@ -639,8 +776,63 @@
        /// <param name="AgvStatus"></param>
        public void DeviceStatusReportResponse(HOSTAGVStatus AgvStatus, string X, string Y)
        {
            string str = SendNotReply + "910" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(AgvStatus) + X + Y;
            clientSend(MakeStringToByteMsg(str));
            try
            {
                string str = SendNotReply + "910" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(AgvStatus) + X + Y;
                clientSend(MakeStringToByteMsg(str));
                Dt_HostLog hostLog = new Dt_HostLog()
                {
                    CommandID = 910,
                    Count = 0,
                    Messgae = str,
                };
                _hostLogRepository.AddData(hostLog);
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("DeviceStatusReportResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// <summary>
        /// å›žå¤HOST987工序  å·¥åº988
        /// </summary>
        /// <param name="AgvStatus"></param>
        /// <param name="X"></param>
        /// <param name="Y"></param>
        public void FireAlarmReportResponse(string SeqNo,string IsOK,string Location)
        {
            try
            {
                string str = SendNotReply + "988" + SeqNo + IsOK + Location;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("FireAlarmReportResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
            
        }


        /// <summary>
        /// å›žå¤HOST301工序  å·¥åº302
        /// </summary>
        /// <param name="AgvStatus"></param>
        /// <param name="X"></param>
        /// <param name="Y"></param>
        public void UpdateLocalTimeResponse(string message,string SeqNo)
        {
            try
            {
                string str = SendNotReply + "302" + SeqNo + message;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("UpdateLocalTimeResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        #endregion
@@ -653,59 +845,44 @@
        /// <param name="message"></param>
        public void ReceiveCommandResponse(string message)
        {
            var parseMessage = GetParse(message);
            var lcationEnd = parseMessage.body.ToLocation;
            switch (parseMessage.body.ret)
            try
            {
                //OK
                case "0":
                    //var location = _locationRepository.QueryFirst(x => x.LocationCode == lcationEnd);
                    var location = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.ToLocation).First();
                    if (location == null)
                    {
                        return;
                    }
                    if (location.LocationStatus == (int)LocationEnum.Free)
                    {
                        var task = InsertWMSTask(parseMessage);
                        Thread.Sleep(500);
                        InsertAGVTask(task);
                        location.LocationStatus = 1;
                        //SqlSugarHelper.DbWMS.Insertable(task).ExecuteCommand();
                        SqlSugarHelper.DbWMS.Updateable(location).ExecuteCommand();
                        BaseDal.AddData(task);
                        //915
                        JobReady("0");
                        return;
                    }
                    else
                    {
                        ErrorReport(Restocking, "A", "00");
                        Thread.Sleep(500);
                        RecreateGetLocation(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.JobType, parseMessage.body.TrayIdList.Substring(0, 10));
                        //todo货位有货重复入库
                        return;
                    }
                //NG
                case "1":
                    break;
                //无库位分配
                case "2":
                    break;
                //站台到站台，出库站台未准备好
                case "3":
                    break;
                //非常温工程
                case "4":
                    break;

                case "9":
                    break;
                default:
                    break;
                ParseMessage parseMessage = GetParse(message);
                var lcationEnd = parseMessage.body.ToLocation;
                switch (parseMessage.body.ret)
                {
                    //OK
                    case "0":
                        GetLocation(parseMessage);
                        break;
                    //NG
                    case "1":
                        AddErrorMessage("2013", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //无库位分配
                    case "2":
                        AddErrorMessage("2014", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //站台到站台，出库站台未准备好
                    case "3":
                        AddErrorMessage("2015", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //非常温工程
                    case "4":
                        AddErrorMessage("2016", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    case "9":
                        AddErrorMessage("2017", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    default:
                        break;
                }
            }

            LogFactory.GetLog("Host102回复WMS101").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(parseMessage)}{Environment.NewLine}", "");
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host102回复WMS101ReceiveCommandResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }         
        }

        /// <summary>
@@ -713,28 +890,41 @@
        /// </summary>
        public void AGVJobStartOrEndResponse(string status, string message)
        {
            switch (message)
            try
            {
                //OK
                case "0":
                    if (status == "E")
                    {
                        DeviceStateReport("I");
                        Thread.Sleep(3000);
                        JobReady("1");
                    }
                    break;
                //NG
                case "1":
                    //调用AGV暂停接口
                    break;
                case "9":
                    break;
                default:
                    break;
            }
                switch (message)
                {
                    //OK
                    case "0":
                        if (status == "E")
                        {
                            AGVStatusRespone Agvstatus = GetAGVStatus();

            LogFactory.GetLog("Host906回复WMS905").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(status)}{Environment.NewLine}{JsonConvert.SerializeObject(message)}{Environment.NewLine}", "");
                            DeviceStateReport(GetAGVStatus(Agvstatus.RuntimeStatus));
                            Thread.Sleep(3000);
                            JobReady("1");
                        }
                        break;
                    //NG
                    case "1":
                        //调用AGV暂停接口
                        AddErrorMessage("2004", "Host", "");
                        break;
                    case "9":
                        AddErrorMessage("2005", "Host", "");
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host906回复WMS905AGVJobStartOrEndResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
           

            
        }

        /// <summary>
@@ -742,44 +932,31 @@
        /// </summary>
        public void DataReportResponse(string message)
        {
            LogFactory.GetLog("Host902回复WMS901").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(message)}{Environment.NewLine}", "");
            #region 
            //Dt_Task task = BaseDal.QueryFirst(x => (x.TaskState == (int)TaskOutStatusEnum.AGV_OutFinish || x.TaskState == (int)TaskRelocationStatusEnum.AGV_RelocationFinish || x.TaskState == (int)TaskInStatusEnum.AGV_InFinish) && x.Roadway != "PDA");
            //if (task != null)
            //{
            //    switch (task.TaskType)
            //    {
            //        case 200:
            //            //入库
            //            if (message == "0")
            //            {
            //                JobStartOrEnd("E", task.Remark, task.TargetAddress, "O", task.PalletCode);
            //            }
            //            break;
            //        case 100:
            //            //出库
            //            if (message == "0")
            //            {
            //                JobStartOrEnd("E", task.SourceAddress, task.Remark, "O", task.PalletCode);
            //            }
            //            break;
            //        case 300:
            //            if (message == "0")
            //            {
            //                JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
            //            }
            //            _taskService.CompleteRelocationboundTask(task);
            //            break;
            //        case 400:
            //            if (message == "0")
            //            {
            //                JobStartOrEnd("E", task.Remark, task.HostName, "O", task.PalletCode);
            //            }
            //            break;
            //        default:
            //            break;
            //    }
            //}
            try
            {
                DeleteHostLog(901);
                #region 
                switch (message)
                {
                    case "0":

                        break;
                    case "1":
                        AddErrorMessage("2001", "Host", "");
                        break;
                    case "9":
                        AddErrorMessage("2002", "Host", "");
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host902回复WMS901DataReportResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
            
            #endregion
        }
        /// <summary>
@@ -795,48 +972,19 @@
                {
                    //OK
                    case "0":
                        var location = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.FromLocation).First();
                        if (location == null)
                        {
                            return;
                        }
                        if (location.LocationStatus == (int)LocationEnum.InStock)
                        {
                            Dt_Task task = InsertWMSTask(parseMessage);
                            //BaseDal.AddData(task);
                            location.LocationStatus = 1;
                            SqlSugarHelper.DbWMS.Insertable(task).ExecuteCommand();
                            SqlSugarHelper.DbWMS.Updateable(location).ExecuteCommand();
                            InsertAGVTask(task);
                            //Thread.Sleep(500);
                            //915
                            JobReady("0");
                            Thread.Sleep(500);
                            //104
                            DeviceReceiveJobResponse("0");
                        }
                        else
                        {
                            ErrorReport(EmptyOutBoundconst, "A", "00");
                            Thread.Sleep(500);
                            EmptyOutBound(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.TrayIdList.Substring(0, 10));
                            return;
                        }

                        GetLocation(parseMessage);
                        break;
                    default:
                        break;
                }
                LogFactory.GetLog("Host103").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(parseMessage)}{Environment.NewLine}", "");

            }
            catch (Exception ex)
            {
                DeviceReceiveJobResponse("1");
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host103HOSTOutBoundTask").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <summary>
        /// HOST设备状态获取  å·¥åº935
        /// </summary>
@@ -849,6 +997,12 @@

                StationStatus stationIn = GetStationStatus("B002");
                StationStatus stationOut = GetStationStatus("B001");

                if(stationIn == null || stationOut == null)
                {
                    ErrorReport("2103", "A", "00");
                }

                List<OutStationStatus> outStationStatus = GetOutStationStatus(stationOut);
                List<InStationStatus> inStationStatus = GetInStationStatus(stationIn);

@@ -889,7 +1043,6 @@
                {
                    RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
                    AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
                    //Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
                };
                if (status.RuntimeStatus == "Idle" && status.AutoStatus == "ControlMode")
                {
@@ -901,12 +1054,13 @@
                }
                DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus, sSeqNo);
            }
            catch (Exception)
            catch (Exception ex)
            {
                DeviceReceiveJobResponse("1");
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host935DeviceStationStatusInvite").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
                JobReady("1");
            }

            LogFactory.GetLog("Host935").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(sSeqNo)}{Environment.NewLine}", "");
        }

        /// <summary>
@@ -917,73 +1071,35 @@
        {
            try
            {
                DeleteHostLog(105);
                var parseMessage = GetParse(message);
                var lcationEnd = parseMessage.body.ToLocation;
                switch (parseMessage.body.ret)
                {
                    //OK
                    case "0":
                        var location = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.ToLocation).First();
                        if (location == null)
                        {
                            ErrorReport("2102", "A", "00");
                            Thread.Sleep(500);
                            RecreateGetLocation(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.JobType, parseMessage.body.TrayIdList.Substring(0, 10));
                            return;
                        }
                        if (location.LocationStatus == (int)LocationEnum.Free)
                        {
                            var task = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                            if (task == null)
                            {
                                location.LocationStatus = (int)LocationEnum.Lock;
                                var tasknew = InsertWMSTask(parseMessage);
                                InsertAGVTask(tasknew);
                                BaseDal.AddData(tasknew);
                                SqlSugarHelper.DbWMS.Updateable(location);
                                Thread.Sleep(500);
                                //915
                                JobReady("0");
                            }
                            else
                            {
                                var Agvtask = SqlSugarHelper.DbAGV.Queryable<task_call>().Where(x => x.d_involed5 == task.TaskNum.ToString()).First();
                                location.LocationStatus = (int)LocationEnum.Lock;
                                task.TargetAddress = lcationEnd;
                                Agvtask.d_involed2 = lcationEnd;
                                SqlSugarHelper.DbWMS.Updateable(task);
                                SqlSugarHelper.DbWMS.Updateable(location);
                                SqlSugarHelper.DbAGV.Updateable(Agvtask);
                                Thread.Sleep(500);
                                //915
                                JobReady("0");
                            }
                            return;
                        }
                        else
                        {
                            ErrorReport(Restocking, "A", "00");
                            Thread.Sleep(500);
                            RecreateGetLocation(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.JobType, parseMessage.body.TrayIdList.Substring(0, 10));
                            return;
                        }
                        GetLocation(parseMessage,true);
                        break;
                    //NG
                    case "1":
                        AddErrorMessage("2019", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //无库位分配
                    case "2":
                        AddErrorMessage("2020", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    case "9":
                        AddErrorMessage("2021", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    default:
                        break;
                }

                LogFactory.GetLog("Host106重新分配库位").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(parseMessage)}{Environment.NewLine}", "");
            }
            catch (Exception)
            catch (Exception ex)
            {
                DeviceReceiveJobResponse("1");
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host106重新分配库位RecreateGetLocation").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
                JobReady("1");
            }
        }

@@ -993,41 +1109,196 @@
        /// <param name="message"></param>
        public void EmptyOutBoundResponse(string message)
        {
            if (message != null && message == "0")
            try
            {
                DeviceStateReport("I");
                Thread.Sleep(2000);
                JobReady("1");
                DeleteHostLog(107);
                if (message != null)
                {
                    switch (message)
                    {
                        case "0":
                            AGVStatusRespone Agvstatus = GetAGVStatus();
                            DeviceStateReport(GetAGVStatus(Agvstatus.RuntimeStatus));
                            Thread.Sleep(2000);
                            JobReady("1");
                            break;
                        case "1":
                            AddErrorMessage("2023", "Host", "");
                            break;
                        case "9":
                            AddErrorMessage("2024", "Host", "");
                            break;
                        default:
                            break;
                    }
                }
            }
            LogFactory.GetLog("Host108空出库响应").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(message)}{Environment.NewLine}", "");
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host108空出库响应EmptyOutBoundResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// <summary>
        /// Host下发火警任务  987
        /// </summary>
        public void FireAlarm(string Location, string SeqNo)
        {
            try
            {
                Dt_Task taskNew = new Dt_Task();
                var stock = SqlSugarHelper.DbWMS.Queryable<DtStockInfo>().Where(x => x.LocationCode == Location).First();

                var location = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.SourceAddress == Location).First();
                if (location != null)
                {
                    FireAlarmReportResponse(SeqNo, "0", Location);
                    return;
                }
                var stationOne = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.TargetAddress == "B001::1").ToList();
                var stationTwo = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.TargetAddress == "B001::2").ToList();

                if (stationOne.Count > 0 && stationTwo.Count > 0)
                {
                    if (stationOne.Count > stationTwo.Count)
                    {
                        taskNew = GetFireAlarm(Location, "B001::2", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    else
                    {
                        taskNew = GetFireAlarm(Location, "B001::1", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    FireAlarmReportResponse(SeqNo, "0", Location);
                }
                else
                {
                    StationStatus stationOut = GetStationStatus("B001");

                    if (stationOut != null && stationOut.WorkstationO == "0" && stationOne.Count == 0)
                    {
                        taskNew = GetFireAlarm(Location, "B001::1", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    else if (stationOut != null && stationOut.WorkstationT == "0" && stationTwo.Count == 0)
                    {
                        taskNew = GetFireAlarm(Location, "B001::2", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    else
                    {
                        taskNew = GetFireAlarm(Location, "B001::2", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    FireAlarmReportResponse(SeqNo, "0", Location);
                }
                BaseDal.AddData(taskNew);
                InsertAGVTask(taskNew);
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("火警987FireAlarm").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }


        /// <summary>
        /// èŽ·å–消防任务
        /// </summary>
        /// <param name="SourceAddress">起始地址</param>
        /// <param name="TargetAddress">终点地址</param>
        /// <param name="PalletCode">托盘号</param>
        /// <param name="SeqNo">Host序列号</param>
        /// <returns></returns>
        public Dt_Task GetFireAlarm(string SourceAddress, string TargetAddress, string PalletCode, string SeqNo)
        {
            return new Dt_Task()
            {
                SourceAddress = SourceAddress,
                TargetAddress = TargetAddress,
                CurrentAddress = SourceAddress,
                NextAddress = TargetAddress,
                TaskType = (int)TaskFireAlarmTypeEnum.FireAlarmOut,
                TaskState = (int)TaskFireAlarmStatusEnum.FireAlarmNew,
                Remark = TargetAddress,
                TaskNum = BaseDal.GetTaskNo().Result,
                PalletCode = PalletCode == null ? "" : PalletCode,
                Dispatchertime = DateTime.Now,
                Grade = 1,
                SeqNo = Convert.ToInt32(SeqNo),
                CommandID = Convert.ToInt32(987),
            };
        }
       
        /// <summary>
        /// HOST获取设备状态  å·¥åº909
        /// </summary>
        public void DeviceStatusReportRequest()
        {
            AGVStatusRespone status = GetAGVStatus();

            HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
            try
            {
                RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
                AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
                DeleteHostLog(910);
                AGVStatusRespone status = GetAGVStatus();

            };
            if (status.RuntimeStatus == "Idle" && status.AutoStatus == "ControlMode")
            {
                AgvStatus.Ready = "1";
                HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
                {
                    RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
                    AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",

                };
                if (status.RuntimeStatus == "Idle" && status.AutoStatus == "ControlMode")
                {
                    AgvStatus.Ready = "1";
                }
                else
                {
                    AgvStatus.Ready = "0";
                }
                string axis = "000000";

                DeviceStatusReportResponse(AgvStatus, axis, axis);
            }
            else
            catch (Exception ex)
            {
                AgvStatus.Ready = "0";
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host心跳").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
            string axis = "000000";
            
        }

            DeviceStatusReportResponse(AgvStatus, axis, axis);

            LogFactory.GetLog("Host心跳").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(AgvStatus)}{Environment.NewLine}{JsonConvert.SerializeObject(status)}{Environment.NewLine}", "");
        /// <summary>
        /// WMS同步Host时间  å·¥åº301
        /// </summary>
        public void UpdateLocalTime(string Time,string SeqNo)
        {
            try
            {
                SYSTEMTIME newTime = new SYSTEMTIME
                {
                    Year = Convert.ToUInt16(Time.Substring(0,4)),
                    Month = Convert.ToUInt16(Time.Substring(4, 2)),
                    Day = Convert.ToUInt16(Time.Substring(6, 2)),
                    Hour = Convert.ToUInt16(Time.Substring(8, 2)),
                    Minute = Convert.ToUInt16(Time.Substring(10, 2)),
                    Second = Convert.ToUInt16(Time.Substring(12, 2)),
                    Milliseconds = 0
                };
                if (SetLocalTime(ref newTime))
                {
                    UpdateLocalTimeResponse("0", SeqNo);
                    Console.WriteLine("系统时间已成功修改。");
                }
                else
                {
                    UpdateLocalTimeResponse("1", SeqNo);
                    Console.WriteLine("修改系统时间失败。请确保以管理员权限运行此程序。");
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("UpdateLocalTime时间同步").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
        #endregion

@@ -1065,8 +1336,6 @@
                // å¤åˆ¶åŽŸå§‹æ•°ç»„的所有数据到新数组的中间部分
                Array.Copy(buffer, 0, newArray, 1, buffer.Length);

                //var parseMessage = GetParse(str);
                LogFactory.GetLog("Socket发送报文").Info(true, str);
                return newArray;
            }
            catch (Exception ex)
@@ -1177,66 +1446,15 @@
            });
            return inStationStatus;
        }
        public ParseMessage SubString(string Y)
        {

            const string STX = "0x02";
            const string ETX = "0x03";

            // æ£€æŸ¥æ˜¯å¦ä»¥ STX å¼€å¤´ã€ETX ç»“å°¾
            if (Y.Substring(0, 4) == STX && Y.Substring(Y.Length - 4) == ETX)
            {
                string str = Y.Substring(4, Y.Length - 8);
                byte[] message = Encoding.UTF8.GetBytes(str);
                int newLength = message.Length - 2;

                if (newLength < 0)
                {
                    throw new ArgumentException("数组长度不足，无法去掉最后两位。");
                }

                byte[] newArray = new byte[newLength];
                Array.Copy(message, 0, newArray, 0, newLength);
                string calculatedChecksum = GetCheckSum(newArray);

                string receivedChecksum = str.Substring(str.Length - 2);

                if (calculatedChecksum == receivedChecksum)
                {
                    var x = Encoding.UTF8.GetString(newArray);
                    ParseMessage parseMessage = new ParseMessage()
                    {
                        bDir = x.Substring(0, 1),
                        bObjID = x.Substring(2, 10),
                        bReply = x.Substring(11, 1),
                        bCmdID = x.Substring(12, 3),
                        nSeqNo = x.Substring(15, 5),
                        //Body = x.Substring(21),
                    };
                    return parseMessage;
                }
                else
                {
                    Console.WriteLine("校验失败！");
                    return null;
                }
            }
            else
            {
                Console.WriteLine("无效报文格式！");
                return null;
            }
        }
        #endregion

        #region å®šä¹‰å¯¹è±¡


        #endregion

        #region ç§æœ‰æ–¹æ³•

        private Dt_Task InsertWMSTask(ParseMessage parseMessage)
        /// <summary>
        /// æ·»åŠ WMS任务
        /// </summary>
        /// <param name="parseMessage"></param>
        /// <exception cref="Exception"></exception>
        private void InsertWMSTask(ParseMessage parseMessage)
        {
            int taskType = 0;
            int taskState = 0;
@@ -1244,9 +1462,9 @@
            if (parseMessage.body.JobType == "I")
            {
                Dt_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.HostName == parseMessage.body.FromLocation.Substring(4, 2));
                task.SourceAddress = Instation.stationName;
                task.SourceAddress = StationParse(parseMessage.body.FromLocation);
                task.TargetAddress = parseMessage.body.ToLocation;
                task.CurrentAddress = Instation.stationName;
                task.CurrentAddress = StationParse(parseMessage.body.FromLocation);
                task.NextAddress = parseMessage.body.ToLocation;
                taskType = (int)TaskInboundTypeEnum.Inbound;
                taskState = (int)TaskInStatusEnum.InNew;
@@ -1256,33 +1474,38 @@
            else if (parseMessage.body.JobType == "O")
            {
                task.SourceAddress = parseMessage.body.FromLocation;
                Dt_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.HostName == parseMessage.body.ToLocation.Substring(4, 2));
                task.TargetAddress = Instation.stationName;
                task.TargetAddress = StationParse(parseMessage.body.ToLocation);
                task.CurrentAddress = parseMessage.body.FromLocation;
                task.NextAddress = Instation.stationName;
                task.NextAddress = StationParse(parseMessage.body.ToLocation);
                taskType = (int)TaskOutboundTypeEnum.Outbound;
                taskState = (int)TaskOutStatusEnum.OutNew;
                task.Remark = parseMessage.body.ToLocation;
            }
            else if (parseMessage.body.JobType == "C")
            {
                task.SourceAddress = parseMessage.body.FromLocation;
                task.TargetAddress = StationParse(parseMessage.body.ToLocation);
                task.CurrentAddress = parseMessage.body.FromLocation;
                task.NextAddress = StationParse(parseMessage.body.ToLocation);
                taskType = (int)TaskOutboundTypeEnum.OutQuality;
                taskState = (int)TaskOutStatusEnum.OutNew;
                task.Remark = parseMessage.body.ToLocation;
            }
            else if (parseMessage.body.JobType == "S")
            {
                Dt_StationManager stationone = _stationManagerRepository.QueryFirst(x => x.HostName == parseMessage.body.FromLocation.Substring(4, 2));
                Dt_StationManager stationtwo = _stationManagerRepository.QueryFirst(x => x.HostName == parseMessage.body.ToLocation.Substring(4, 2));
                taskType = (int)TaskStationTypeEnum.StationToStation;
                taskState = (int)TaskOutStatusEnum.OutNew;
                task.SourceAddress = stationone.stationName;
                task.TargetAddress = stationtwo.stationName;
                task.CurrentAddress = stationone.stationName;
                task.NextAddress = stationtwo.stationName;
                task.SourceAddress = StationParse(parseMessage.body.FromLocation)  ;
                task.TargetAddress = StationParse(parseMessage.body.ToLocation);
                task.CurrentAddress = StationParse(parseMessage.body.FromLocation);
                task.NextAddress = StationParse(parseMessage.body.ToLocation);
                task.Remark = parseMessage.body.FromLocation;
                task.HostName = parseMessage.body.ToLocation;
                task.HostName = parseMessage.body.ToLocation;
            }
            else if (parseMessage.body.JobType == "R")
            {
                taskType = (int)TaskRelocationTypeEnum.Relocation;
                taskState = (int)TaskRelocationStatusEnum.RelocationNew;

                task.SourceAddress = parseMessage.body.FromLocation;
                task.TargetAddress = parseMessage.body.ToLocation;
                task.CurrentAddress = parseMessage.body.FromLocation;
@@ -1302,8 +1525,118 @@
            task.Grade = 1;
            task.SeqNo = Convert.ToInt32(parseMessage.nSeqNo);
            task.CommandID = Convert.ToInt32(parseMessage.bCmdID);
            return task;
            BaseDal.AddData(task);
            InsertAGVTask(task);
        }


        public void GetLocation(ParseMessage parseMessage,bool repeat=false)
        {

            switch (parseMessage.body.JobType)
            {
                case "I":
                    var locationIn = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.ToLocation).First();
                    if (locationIn == null)
                    {
                        ErrorReport("2102", "A", "00");
                        return;
                    }
                    if (locationIn.LocationStatus == (int)LocationEnum.Free)
                    {
                        var taskIn = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                        if (taskIn != null)
                        {
                            _taskService.UpdateTask(StationParse(parseMessage.body.FromLocation), parseMessage.body.ToLocation, parseMessage.body.TrayIdList.Substring(0, 10));
                        }
                        else
                        {
                            InsertWMSTask(parseMessage);
                        }
                        Thread.Sleep(500);
                        JobReady("0");
                    }
                    else
                    {
                        RecreateGetLocation(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.JobType, parseMessage.body.TrayIdList.Substring(0, 10));
                    }
                    break;
                case "O":
                case "C":
                    var locationOut = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.FromLocation).First();
                    if (locationOut == null)
                    {
                        ErrorReport("2102", "A", "00");
                        return;
                    }
                    if (locationOut.LocationStatus == (int)LocationEnum.InStock)
                    {
                        var taskOut = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                        if (taskOut != null)
                        {
                            _taskService.UpdateTask(locationOut.LocationCode, StationParse(parseMessage.body.ToLocation), parseMessage.body.TrayIdList.Substring(0, 10));
                        }
                        else
                        {
                            InsertWMSTask(parseMessage);
                        }
                        Thread.Sleep(500);
                        JobReady("0");
                        Thread.Sleep(500);
                        //104
                        DeviceReceiveJobResponse("0");
                    }
                    else
                    {
                        EmptyOutBound(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.TrayIdList.Substring(0, 10));
                        _taskService.AddStcokHty(parseMessage.body.TrayIdList.Substring(0, 10), parseMessage.body.FromLocation);
                    }
                    break;
                case "S":
                    var taskS = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                    if (taskS != null)
                    {
                        _taskService.UpdateTask(StationParse(parseMessage.body.FromLocation), StationParse(parseMessage.body.ToLocation), parseMessage.body.TrayIdList.Substring(0, 10));
                    }
                    else
                    {
                        InsertWMSTask(parseMessage);
                    }
                    Thread.Sleep(500);
                    JobReady("0");

                    break;
                case "R":
                    var locationA = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.FromLocation).First();
                    var locationB = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.ToLocation).First();
                    if (locationA == null || locationB == null)
                    {
                        ErrorReport("2102", "A", "00");
                        return;
                    }
                    if (locationA.LocationStatus == (int)LocationEnum.InStock && locationB.LocationStatus == (int)LocationEnum.Free)
                    {
                        var taskR = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                        if (taskR != null)
                        {

                            _taskService.UpdateTask(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.TrayIdList.Substring(0, 10));
                        }
                        else
                        {
                            InsertWMSTask(parseMessage);
                        }
                        Thread.Sleep(500);
                        JobReady("0");
                    }
                    else
                    {
                        RecreateGetLocation(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.JobType, parseMessage.body.TrayIdList.Substring(0, 10));
                    }
                    break;
                default:
                    break;
            }  
        }
        /// <summary>
        /// æ·»åŠ AGV任务
@@ -1314,59 +1647,137 @@
        {
            string SourceAddress = string.Empty;
            string TargetAddress = string.Empty;
            string AGVType = string.Empty;
            if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
            {
                SourceAddress = task.SourceAddress;
                AGVType = "2";
                TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
            }
            else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
            {
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                TargetAddress = task.TargetAddress;
                AGVType = "4";
            }
            else if (task.TaskType == (int)TaskOutboundTypeEnum.OutQuality)
            {
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                TargetAddress = task.TargetAddress;
                AGVType = "128";
            }
            else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
            {
                TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                AGVType = "16";
            }
            else if (task.TaskType == (int)TaskStationTypeEnum.StationToStation)
            {
                TargetAddress = task.TargetAddress;
                SourceAddress = task.SourceAddress;
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                AGVType = "8";
            }
            else if (task.TaskType == (int)TaskFireAlarmTypeEnum.FireAlarmOut)
            {
                TargetAddress = task.TargetAddress;
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                AGVType = "1";
            }
            task_call task_Call = new task_call()
            {
                d_task_type = task.TaskType == (int)TaskTypeEnum.Inbound ? "1" : "2",
                d_task_type = AGVType,
                d_floor = "1",
                d_involed1 = SourceAddress,
                d_involed2 = TargetAddress,
                d_involed5 = task.TaskNum.ToString(),
            };

            return SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
            var x = SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
            LogFactory.GetLog("插入数据到AGV").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(x)}", "");
            return x;
        }
        public ParseMessage GetParse(string x)
        {
            return new ParseMessage()
            
            if (string.IsNullOrEmpty(x))
            {
                bDir = x.Substring(0, 1),
                bObjID = x.Substring(2, 10),
                bReply = x.Substring(11, 1),
                bCmdID = x.Substring(12, 3),
                nSeqNo = x.Substring(15, 5),
                body = new ReceiveBody
                {
                    ret = x.Substring(20, 1),
                    JobOrderID = x.Substring(21, 16),
                    priority = x.Substring(37, 1),
                    FromLocation = x.Substring(38, 6),
                    ToLocation = x.Substring(44, 6),
                    JobType = x.Substring(50, 1),
                    TrayCnt = x.Substring(51, 1),
                    TrayIdList = x.Substring(52)
                },
                throw new ArgumentNullException(nameof(x), "Input string cannot be null or empty");
            }

            // å®šä¹‰æ‰€æœ‰éœ€è¦çš„字段长度和位置
            var fieldDefinitions = new (int Start, int Length, string Name)[]
            {
                (0, 1, "bDir"),
                (1, 10, "bObjID"),
                (11, 1, "bReply"),
                (12, 3, "bCmdID"),
                (15, 5, "nSeqNo"),
                (20, 1, "ret"),
                (21, 16, "JobOrderID"),
                (37, 1, "priority"),
                (38, 6, "FromLocation"),
                (44, 6, "ToLocation"),
                (50, 1, "JobType"),
                (51, 1, "TrayCnt"),
                (52, x.Length - 52, "TrayIdList") // å¯å˜é•¿åº¦å­—段
            };

            // è®¡ç®—所需最小长度
            int minLength = fieldDefinitions.Max(f => f.Start + f.Length);

            if (x.Length < minLength)
            {
                // å¦‚果字符串长度不足，可以选择记录警告或日志
                // è¿™é‡Œæˆ‘们继续处理，尽可能多地解析字段
            }

            // è¾…助方法：安全的子字符串截取，长度不足时返回空字符串
            string SafeSubstringOrDefault(string source, int start, int length, string fieldName)
            {
                if (start < 0 || start >= source.Length)
                {
                    return ""; // è¿”回空字符串
                }

                if (length < 0)
                {
                    return ""; // è¿”回空字符串
                }

                if (start + length > source.Length)
                {
                    length = source.Length - start; // è°ƒæ•´é•¿åº¦ä»¥é¿å…è¶Šç•Œ
                }

                return source.Substring(start, length);
            }

            // æž„建结果对象
            var result = new ParseMessage();

            // è®¾ç½®åŸºæœ¬å­—段
            result.bDir = SafeSubstringOrDefault(x, fieldDefinitions[0].Start, fieldDefinitions[0].Length, fieldDefinitions[0].Name);
            result.bObjID = SafeSubstringOrDefault(x, fieldDefinitions[1].Start, fieldDefinitions[1].Length, fieldDefinitions[1].Name);
            result.bReply = SafeSubstringOrDefault(x, fieldDefinitions[2].Start, fieldDefinitions[2].Length, fieldDefinitions[2].Name);
            result.bCmdID = SafeSubstringOrDefault(x, fieldDefinitions[3].Start, fieldDefinitions[3].Length, fieldDefinitions[3].Name);
            result.nSeqNo = SafeSubstringOrDefault(x, fieldDefinitions[4].Start, fieldDefinitions[4].Length, fieldDefinitions[4].Name);

            // è®¾ç½®body字段
            result.body = new ReceiveBody
            {
                ret = SafeSubstringOrDefault(x, fieldDefinitions[5].Start, fieldDefinitions[5].Length, fieldDefinitions[5].Name),
                JobOrderID = SafeSubstringOrDefault(x, fieldDefinitions[6].Start, fieldDefinitions[6].Length, fieldDefinitions[6].Name),
                priority = SafeSubstringOrDefault(x, fieldDefinitions[7].Start, fieldDefinitions[7].Length, fieldDefinitions[7].Name),
                FromLocation = SafeSubstringOrDefault(x, fieldDefinitions[8].Start, fieldDefinitions[8].Length, fieldDefinitions[8].Name),
                ToLocation = SafeSubstringOrDefault(x, fieldDefinitions[9].Start, fieldDefinitions[9].Length, fieldDefinitions[9].Name),
                JobType = SafeSubstringOrDefault(x, fieldDefinitions[10].Start, fieldDefinitions[10].Length, fieldDefinitions[10].Name),
                TrayCnt = SafeSubstringOrDefault(x, fieldDefinitions[11].Start, fieldDefinitions[11].Length, fieldDefinitions[11].Name),
                TrayIdList = SafeSubstringOrDefault(x, fieldDefinitions[12].Start, fieldDefinitions[12].Length, fieldDefinitions[12].Name)
            };

            return result;
        }
        
        public AGVStatusRespone GetAGVStatus()
        {
            string urlnew = url + "/ilns/AGV/getState";
@@ -1378,9 +1789,73 @@
        public StationStatus GetStationStatus(string stationName)
        {
            string urlnew = url + "/ilns/ctrl/getState";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { ctrlName = "B001" }.ToJson())).Result;
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { ctrlName = stationName }.ToJson())).Result;
            return JsonConvert.DeserializeObject<StationStatus>(result.ToString());
        }
        public void ReportStationErrorMeaage(string StationName)
        {
            string urlnew = url + "/ilns/setctrlerr";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { ctrlName = StationName }.ToJson())).Result;
        }
        public void ReportAgvErrorMeaage(string ErrorCode)
        {
            string urlnew = url + "/ilns/rpterr";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { code = ErrorCode }.ToJson())).Result;
        }
        public void AddErrorMessage(string Code, string ReportName, string Location = "")
        {
            var errorDescription = SqlSugarHelper.DbWMS.Queryable<Dt_ErrorDescription>().Where(x => x.ErrorCode == Code).First();
            if (errorDescription != null)
            {
                Dt_HostErrorMessage hostErrorMessage = new Dt_HostErrorMessage()
                {
                    ErrorCode = Code,
                    ErrorMessage = errorDescription.ErrorMessgae,
                    AlarmSource = errorDescription.AlarmSource,
                    Grade = errorDescription.Grade,
                    ReportName = ReportName,
                    Creater = "System",
                    Location = Location == "" ? "" : Location,
                    CreateDate = DateTime.Now,
                };
                SqlSugarHelper.DbWMS.Insertable(hostErrorMessage).ExecuteCommand();
                if (Location == "")
                {
                    ReportAgvErrorMeaage(Code);
                }
                else
                {
                    ReportStationErrorMeaage(Location);
                }

            }
            else
            {
                //tode不存在异常Code
            }
        }
        public void DeleteHostLog(int CommandID)
        {
            var hostLog = SqlSugarHelper.DbWMS.Queryable<Dt_HostLog>().Where(x => x.CommandID == CommandID).First();
            if (hostLog != null)
            {
                SqlSugarHelper.DbWMS.Deleteable(hostLog).ExecuteCommand();
            }
        }

        public string StationParse(string station)
        {
            var Station = SqlSugarHelper.DbWMS.Queryable<Dt_StationManager>().Where(x => x.HostName == station.Substring(4, 2)).First();
            if(Station != null)
            {
                return Station.stationName;
            }
            else
            {
                return "";
            }
        }

        public string CapitalizeFirstLetter(string s)
        {
            if (string.IsNullOrEmpty(s))
@@ -1390,6 +1865,31 @@
            char firstChar = s[0];
            return char.ToUpper(firstChar).ToString();
        }

        public string GetAGVStatus(string Status)
        {
            switch (Status)
            {
                case "Run":
                    return "R";
                case "Idle":
                    return "I";
                case "Trouble":
                    //故障
                    return "T";
                case "Pause":
                    return "S";
                case "Charge":
                    return "C";
                case "PowerOn":
                    return "P";
                case "PowerOFF":
                    return "O";
                default: break;
            }
            return "T";
        }

        public string InsertHyphenEveryTwoChars(string input)
        {
            if (string.IsNullOrEmpty(input))
@@ -1415,5 +1915,25 @@
        }

        #endregion

        #region ä¿®æ”¹æœ¬åœ°è®¡ç®—机时间
        // å®šä¹‰ System ç»“构体
        [StructLayout(LayoutKind.Sequential)]
        public struct SYSTEMTIME
        {
            public ushort Year;
            public ushort Month;
            public ushort DayOfWeek;
            public ushort Day;
            public ushort Hour;
            public ushort Minute;
            public ushort Second;
            public ushort Milliseconds;
        }

        // å¯¼å…¥ SetLocalTime å‡½æ•°
        [DllImport("kernel32.dll", SetLastError = true)]
        public static extern bool SetLocalTime(ref SYSTEMTIME st);
        #endregion
    }
}