using AutoMapper;
using HslCommunication;
using Newtonsoft.Json;
using Quartz;
using SqlSugar;
using System.Reflection;
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.MOM;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IProcessRepository;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfo_HtyRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
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 IPlatFormRepository _platFormRepository;
        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, IPlatFormRepository platFormRepository, 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;
            _platFormRepository = platFormRepository;
            _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)
                {
                    //ConsoleHelper.WriteColorLine("开始：" + DateTime.Now, ConsoleColor.Cyan);
                    // 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 () =>
                    {
                        var (command, commandWrite) = ReadCommands(station, conveyorLine);
                        if (command == null || commandWrite == null)
                        {
                            return;
                        }

                        IStationHandler handler = StationHandlerFactory.GetHandler(station.stationType, this);
                        await handler.HandleStationAsync(conveyorLine, station, command, commandWrite);
                    })).ToList();

                    #region
                    //foreach (var station in stationManagers)
                    //{
                    //    #region
                    //    //tasks.Add(Task.Run(async () =>
                    //    //{
                    //    //    if (station.stationType == 11)
                    //    //    {
                    //    //        // 读取任务命令和设备命令
                    //    //        ConveyorLineTaskCommand command = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(station.stationChildCode);
                    //    //        ConveyorLineTaskCommandWrite commandWrite = conveyorLine.ReadCustomer<ConveyorLineTaskCommandWrite>(station.stationChildCode, "DeviceCommand");
                    //    //        if (command != null && commandWrite != null)
                    //    //        {
                    //    //            // 将交互信号转换为布尔数组
                    //    //            var structs = BitConverter.GetBytes(commandWrite.WriteInteractiveSignal).Reverse().ToArray().ToBoolArray();
                    //    //            if (structs[0] == true)
                    //    //            {
                    //    //                // 输出警告信息
                    //    //                var log = $"【{conveyorLine.DeviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{station.stationChildCode}】空托盘请求扫码入库";
                    //    //                ConsoleHelper.WriteWarningLine(log);

                    //    //                await _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                    //    //                WriteInfo(conveyorLine.DeviceName, log);

                    //    //                // 处理入库请求
                    //    //                NGRequestTaskInbound(conveyorLine, command, station, 0);
                    //    //            }
                    //    //            else
                    //    //            {
                    //    //                // 发送完成信号
                    //    //                ConveyorLineSendFinish(conveyorLine, station.stationChildCode, 0, false);
                    //    //            }
                    //    //        }
                    //    //    }
                    //    //    else if (station.stationType == 5)
                    //    //    {
                    //    //        // 读取任务命令和设备命令
                    //    //        ConveyorLineTaskCommand command = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(station.stationChildCode);
                    //    //        ConveyorLineTaskCommandWrite commandWrite = conveyorLine.ReadCustomer<ConveyorLineTaskCommandWrite>(station.stationChildCode, "DeviceCommand");
                    //    //        if (command != null && commandWrite != null)
                    //    //        {
                    //    //            // 将交互信号转换为布尔数组
                    //    //            var structs = BitConverter.GetBytes(commandWrite.WriteInteractiveSignal).Reverse().ToArray().ToBoolArray();
                    //    //            if (structs[0] == true)
                    //    //            {
                    //    //                // 检查是否存在任务
                    //    //                if (_taskRepository.QueryData(x => x.SourceAddress == station.stationChildCode).Count() > 0)
                    //    //                {
                    //    //                    return;
                    //    //                }
                    //    //                // 输出警告信息
                    //    //                var log = $"【{conveyorLine.DeviceName}】任务号：【{command.TaskNum}】,托盘条码：【{command.Barcode}】已到达【{station.stationChildCode}】异常口请求扫码入库";
                    //    //                ConsoleHelper.WriteWarningLine(log);

                    //    //                await _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                    //    //                WriteInfo(conveyorLine.DeviceName, log);

                    //    //                // 处理新任务
                    //    //                await HandleNewTaskAsync(conveyorLine, command, station.stationChildCode, 0);
                    //    //            }
                    //    //            else
                    //    //            {
                    //    //                // 发送完成信号
                    //    //                ConveyorLineSendFinish(conveyorLine, station.stationChildCode, 0, false);
                    //    //            }
                    //    //        }
                    //    //    }
                    //    //}));
                    //    #endregion

                    //    tasks.Add(Task.Run(async () =>
                    //    {
                    //        var (command, commandWrite) = ReadCommands(station, conveyorLine);
                    //        if (command == null || commandWrite == null)
                    //        {
                    //            return;
                    //        }

                    //        IStationHandler handler = StationHandlerFactory.GetHandler(station.stationType, this);
                    //        await handler.HandleStationAsync(conveyorLine, station, command, commandWrite);
                    //    }));
                    //}
                    #endregion

                    await Task.WhenAll(tasks);

                    //ConsoleHelper.WriteColorLine("结束：" + DateTime.Now, ConsoleColor.Cyan);
                }
            }
            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 = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(childDeviceCode);
                ConveyorLineTaskCommandWrite commandWrite = conveyorLine.ReadCustomer<ConveyorLineTaskCommandWrite>(childDeviceCode, "DeviceCommand");
                if (command != null && commandWrite != 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,
                            commandWrite
                        };
                        // 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

                    // 将交互信号转换为布尔数组
                    var writeInteractiveSignal = commandWrite.WriteInteractiveSignal;
                    var structs = BitConverter.GetBytes(writeInteractiveSignal).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)
                                {
                                    command.InteractiveSignal = writeInteractiveSignal;
                                    // 调用处理方法
                                    method.Invoke(this, new object[] { conveyorLine, command, childDeviceCode, itemValue });
                                }
                            }
                            else
                            {
                                // 发送完成信号
                                ConveyorLineSendFinish(conveyorLine, childDeviceCode, itemValue, false);
                            }
                        }
                    }

                    // 查询平台信息
                    Platform platform = _platFormRepository.QueryFirst(x => x.DeviceCode == conveyorLine.DeviceCode && x.PlatCode == childDeviceCode && x.Status == "Active");
                    if (platform != null && !string.IsNullOrEmpty(platform.Location))
                    {
                        if (platform.PlatCode == "1299" || platform.PlatCode == "1295" || platform.PlatCode == "1291" || platform.PlatCode == "1287" || platform.PlatCode == "1283")
                        {
                            Platform platformJZ = _platFormRepository.QueryFirst(x => x.PlatCode == "10086" && x.Status == "Active");
                            if (platformJZ != null)
                            {
                                var strings = platform.Location.Split(',').ToList();
                                foreach (var ite in strings)
                                {
                                    // 读取任务命令
                                    ConveyorLineTaskCommand command1 = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(ite);
                                    if (command1.InteractiveSignal != 2)
                                    {
                                        command.InteractiveSignal = writeInteractiveSignal;
                                        int count = strings.Count;
                                        // 获取处理方法
                                        MethodInfo? method = GetType().GetMethod(platform.ExecutionMethod);
                                        if (method != null)
                                        {
                                            command.InteractiveSignal = commandWrite.WriteInteractiveSignal;
                                            // 调用处理方法
                                            method.Invoke(this, new object[] { conveyorLine, command, childDeviceCode, count, platform });
                                        }
                                        
                                    }
                                }
                            }
                            //else
                            //{
                            //    //ConsoleHelper.WriteErrorLine("静置空托不允许出料");
                            //}
                        }
                        else
                        {
                            var strings = platform.Location.Split(',').ToList();
                            foreach (var ite in strings)
                            {
                                // 读取任务命令
                                ConveyorLineTaskCommand command1 = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(ite);
                                if (command1.InteractiveSignal != 2)
                                {
                                    command.InteractiveSignal = writeInteractiveSignal;
                                    int count = strings.Count;
                                    // 获取处理方法
                                    MethodInfo? method = GetType().GetMethod(platform.ExecutionMethod);
                                    if (method != null)
                                    {
                                        command.InteractiveSignal = commandWrite.WriteInteractiveSignal;
                                        // 调用处理方法
                                        method.Invoke(this, new object[] { conveyorLine, command, childDeviceCode, count, platform });
                                    }
                                    
                                }
                            }
                        } 
                    }
                    //if (conveyorLine.DeviceCode == "1001")
                    //{
                    //    ConsoleHelper.WriteSuccessLine("ProcessDeviceAsync方法结束时间：" + DateTime.Now.ToString("G") + $"点位：{childDeviceCode}");
                    //}
                }
            }
            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 = $"【{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, 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
                    {
                        if (task.Roadway.Contains("JZ"))
                        {
                            if (StaticVariable.isStackerRun)
                            {
                                StaticVariable.isLineRun = false;
                                ExecuteConveyorLineTask(conveyorLine, command, ProtocalDetailValue, childDeviceCode);
                            }
                        }
                        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 = $"【{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
                {
                    var taskInTray = _taskService.QueryExecutingConveyorLineTask(command.TaskNum, childDeviceCode);
                    if (taskInTray != null && taskInTray.TaskType == (int)TaskInboundTypeEnum.InTray)
                    {
                        RequestInNextAddress(conveyorLine, command, childDeviceCode, ProtocalDetailValue);
                    }
                    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 != "NoRead" && command.Barcode.IsNotEmptyOrNull())
                        {
                            // 查询条码对应的任务
                            task = _taskService.QueryBarcodeTask(command.Barcode, 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());
            }
            finally
            {
                StaticVariable.isLineRun = true;
            }
        }

        public string RequestInboundPlatform(string childDeviceCode, string productLine, bool IsTrayBarcode)
        {
            try
            {
                Platform platform = _platFormRepository.QueryFirst(x => x.PlatCode == childDeviceCode && x.ProductionLine == productLine && x.Status == "Active");

                if (platform != null && !string.IsNullOrEmpty(platform.Location))
                {
                    var Location = platform.Location.Split(',').ToList();
                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == platform.DeviceCode);
                    if (device != null)
                    {
                        CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                        foreach (var item in Location)
                        {
                            ConveyorLineTaskCommand command1 = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(item);
                            if (command1.InteractiveSignal != 2)
                            {
                                var tasks = _taskRepository.QueryData(x => x.TargetAddress == childDeviceCode);

                                // 如果已有任务数量小于指定索引
                                if (tasks.Count < Location.Count)
                                {
                                    return childDeviceCode;
                                }
                                else
                                {
                                    //var Hastask = _taskRepository.QueryData(x => x.TaskType == (int)TaskOutboundTypeEnum.OutTray && x.TargetAddress == childDeviceCode && x.Roadway.Contains("CH") && x.TaskState == (int)TaskOutStatusEnum.OutNew);
                                    //if (Hastask != null && Hastask.Count > 0)
                                    //{
                                    //    //doto处理陈化未执行的空托出库任务
                                    //}
                                    return null;
                                }
                            }
                        }
                        return null;
                    }
                    else
                    {
                        ConsoleHelper.WriteErrorLine($"未找到节点{childDeviceCode}协议");
                        throw new InvalidOperationException($"未找到节点{childDeviceCode}协议");
                    }
                }
            }
            catch (Exception ex)
            {
                ConsoleHelper.WriteErrorLine($"方法RequestInboundPlatform：{ex.Message}");
            }

            return null;
        }

        #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, int ProtocalDetailValue)
        {
            var log = $"【{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);
            if (task != null)
            {
                if (command.Barcode == 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);

                        ConveyorLineSendFinish(conveyorLine, childDeviceCode, ProtocalDetailValue, true);
                    }
                }
            }
        }

        #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 = $"【{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);
                if (task != null && task.TaskState != (int)TaskInStatusEnum.Line_InFinish)
                {
                    if (command.Barcode == task.PalletCode && childDeviceCode == task.NextAddress)
                    {
                        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);

                        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);
                        }
                        else
                        {
                            WebResponseContent content = _taskService.UpdateTaskStatusToNext(task);
                            Console.Out.WriteLine(content.ToJsonString());
                        }
                    }
                }
            }
            catch (Exception ex)
            {
            }
        }

        #endregion 入库

        #region 出库

        /// <summary>
        /// 输送线请求出库信息
        /// </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 = $"【{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")
                    {
                        _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);

            // 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 == 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);
                    }
                }
            }
        }

        /// <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);

                // 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 == 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 || task.Remark == "NG")
                        {
                            // 查询目标地址的容量
                            var NGAddress = _platFormRepository.QueryFirst(x => x.PlatCode == task.TargetAddress).Capacity;
                            // 设置命令的目标地址为NG地址
                            taskCommand.TargetAddress = NGAddress;
                        }
                        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
                    {
                        // 查询目标地址的容量
                        var NGAddress = _platFormRepository.QueryFirst(x => x.PlatCode == task.TargetAddress).Capacity;
                        // 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【{NGAddress}】";
                        ConsoleHelper.WriteSuccessLine(log);

                        _noticeService.Logs(userTokenIds, new { conveyorLine.DeviceName, log = log, time = DateTime.Now.ToString("G"), color = "red" });
                        WriteInfo(conveyorLine.DeviceName, log);

                        // 设置输送线的目标地址为NG地址
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, NGAddress, 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
                        _taskService.UpdateTaskStatusToNext(task);
                    }
                }
            }
            catch (Exception ex)
            {
            }
        }

        #endregion 出库

        #region 输送线交互完成

        /// <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);
            }
        }

        #endregion

        #region 检测空盘实盘任务

        /// <summary>
        /// 监测空托盘实盘出库
        /// </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="index">线体当前bool读取偏移地址</param>
        // 定义一个异步方法，用于处理空托盘返回任务
        public async void EmptyTrayReturn(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, string childDeviceCode, int index, Platform platform)
        {
            try
            {
                // 定义任务类型枚举变量
                TaskOutboundTypeEnum taskOutboundTypeEnum;
                // 根据平台类型设置任务类型枚举
                if (platform.PlatformType.Contains("OutTray"))
                    taskOutboundTypeEnum = TaskOutboundTypeEnum.OutTray;
                else
                    taskOutboundTypeEnum = TaskOutboundTypeEnum.Outbound;
                // 调用检查并创建任务的方法
                await CheckAndCreateTask(taskOutboundTypeEnum, childDeviceCode, index, platform);
            }
            catch (Exception)
            {
                // 捕获并忽略异常
            }
        }

        /// <summary>
        /// 检查任务并创建新任务
        /// </summary>
        private async Task CheckAndCreateTask(TaskOutboundTypeEnum taskType, string childDeviceCode, int index, Platform platform)
        {
            // 查询数据库中已有的任务
            var tasks = _taskRepository.QueryData(x => x.TaskType == (int)taskType && x.TargetAddress == childDeviceCode);
            // 如果已有任务数量小于指定索引
            if (tasks.Count < index)
            {
                // 调用WMS获取出库任务

                #region 调用WMS获取出库任务

                // 定义WMS任务数据传输对象
                WMSTaskDTO taskDTO = new WMSTaskDTO();

                // 获取WMS IP地址配置
                var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE)?.ConfigValue;
                var requestTrayOutTask = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.RequestTrayOutTask)?.ConfigValue;
                // 如果WMS IP地址未配置，抛出异常
                if (wmsBase == null || requestTrayOutTask == null)
                {
                    throw new InvalidOperationException("WMS IP 未配置");
                }
                var wmsIpAddress = wmsBase + requestTrayOutTask;

                var device = _deviceInfoRepository.QueryData(x => x.DeviceStatus == "1");
                var deviceCode = device.Select(x => x.DeviceCode).ToList();

                // 发送HTTP POST请求获取任务数据
                var result = await HttpHelper.PostAsync(wmsIpAddress, new { position = childDeviceCode, tag = (int)taskType, areaCdoe = platform.Stacker, AreaCdoes = deviceCode, platform.ProductionLine }.ToJsonString());
                // 解析返回的JSON数据
                WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result);

                // 检查返回状态，如果失败则返回
                if (!content.Status)
                    return;

                // 解析任务数据
                taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(content.Data.ToString());

                #endregion 调用WMS获取出库任务

                // 创建并发送任务
                CreateAndSendTask(taskDTO);
            }
        }

        /// <summary>
        /// 创建任务
        /// </summary>
        public WebResponseContent CreateAndSendTask(WMSTaskDTO taskDTO)
        {
            var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            if (content.Status)
            {
                Console.WriteLine($"{taskDTO.TargetAddress}呼叫成功");
            }
            return content;
        }

        #endregion 检测空盘实盘任务

        #region 设备NG口入库

        public void NGRequestTaskInbound(CommonConveyorLine conveyorLine, ConveyorLineTaskCommand command, Dt_StationManager stationManager, int ProtocalDetailValue)
        {
            var config = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
            var wmsBase = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.MOMIP_BASE)?.ConfigValue;
            var ipAddress = config.FirstOrDefault(x => x.ConfigKey == SysConfigKeyConst.TrayCellsStatus)?.ConfigValue;
            if (wmsBase == null || ipAddress == null)
            {
                throw new InvalidOperationException("MOM IP 未配置");
            }
            TrayCellsStatusDto trayCells = new TrayCellsStatusDto()
            {
                Software = "WMS",
                TrayBarcode = command.Barcode,
                EquipmentCode = stationManager.stationEquipMOM,
                SessionId = Guid.NewGuid().ToString(),
                EmployeeNo = "MITest",
                SceneType = "4",
                RequestTime = TimeZoneInfo.ConvertTimeToUtc(DateTime.Now).ToString("yyyy-MM-ddTHH:mm:ss.fffZ")
            };

            var MOMIpAddress = wmsBase + ipAddress;

            var result = HttpHelper.PostAsync(MOMIpAddress, trayCells.ToJsonString()).Result;
            WriteInfo("入站校验", $"【{stationManager.stationChildCode}】入站校验请求参数【{trayCells.ToJsonString()}】");
            WriteInfo("入站校验", "");
            WriteInfo("入站校验", $"【{stationManager.stationChildCode}】入站校验返回参数【{result}】");
            ResultTrayCellsStatus result1 = JsonConvert.DeserializeObject<ResultTrayCellsStatus>(result);

            if (result1.Success)
            {
                var serialNosError = result1.SerialNos.Where(x => x.SerialNoStatus != 1 && x.SerialNoStatus != 4).ToList();
                if (serialNosError.Count > 0)
                {
                    conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, 100, stationManager.stationChildCode);
                    ConveyorLineSendFinish(conveyorLine, stationManager.stationChildCode, ProtocalDetailValue, true);
                    return;
                }
                //设备NG处理
                if (stationManager.remark == "DeviceNG")
                {
                    ConsoleHelper.WriteWarningLine($"【{stationManager.stationChildCode}NG站台实托入库】");
                    if (result1.SerialNos.Count <= 0)
                    {
                        ConsoleHelper.WriteWarningLine("1000");
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTaskNum, 5, stationManager.stationChildCode);
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, 1000, stationManager.stationChildCode);
                    }
                    else
                    {
                        ConsoleHelper.WriteWarningLine($"【{stationManager.stationChildCode}NG站台空托入设备】");
                        ConsoleHelper.WriteWarningLine(stationManager.stationLocation);
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTaskNum, 5, stationManager.stationChildCode);
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, stationManager.stationLocation, stationManager.stationChildCode);
                    }
                    ConveyorLineSendFinish(conveyorLine, stationManager.stationChildCode, ProtocalDetailValue, true);
                }
                else
                {
                    if (result1.SerialNos.Count <= 0)
                    {
                        ConsoleHelper.WriteWarningLine($"【{stationManager.stationChildCode}NG站台空托入库】");
                        ConsoleHelper.WriteWarningLine(stationManager.stationLocation);
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTaskNum, 5, stationManager.stationChildCode);
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, stationManager.stationLocation, stationManager.stationChildCode);
                    }
                    else
                    {
                        ConsoleHelper.WriteWarningLine($"【{stationManager.stationChildCode}NG站台实托入设备】");
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTaskNum, 5, stationManager.stationChildCode);
                        conveyorLine.SetValue(ConveyorLineDBName.WriteConveyorLineTargetAddress, 1000, stationManager.stationChildCode);
                    }
                    ConveyorLineSendFinish(conveyorLine, stationManager.stationChildCode, ProtocalDetailValue, true);
                }
            }
            else
            {
                ConsoleHelper.WriteErrorLine(result1.MOMMessage);
            }
        }

        #endregion 设备NG口入库

        #region 输出日志

        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);
        }

        #endregion

        private (ConveyorLineTaskCommand, ConveyorLineTaskCommandWrite) ReadCommands(Dt_StationManager station, CommonConveyorLine conveyorLine)
        {
            ConveyorLineTaskCommand command = conveyorLine.ReadCustomer<ConveyorLineTaskCommand>(station.stationChildCode);
            ConveyorLineTaskCommandWrite commandWrite = conveyorLine.ReadCustomer<ConveyorLineTaskCommandWrite>(station.stationChildCode, "DeviceCommand");
            return (command, commandWrite);
        }
    }
}