using Autofac.Core;
using HslCommunication;
using Microsoft.AspNetCore.Components.Routing;
using Microsoft.AspNetCore.Hosting;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Quartz;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Diagnostics.Eventing.Reader;
using System.DirectoryServices.Protocols;
using System.IO.Ports;
using System.Linq;
using System.Net;
using System.Reflection.Metadata;
using System.Security.Cryptography.Xml;
using System.Text;
using System.Threading.Tasks;
using System.Transactions;
using WIDESEA_Comm.Http;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Model.Models.System;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.StackerCraneJob;
using static WIDESEAWCS_Model.Models.System.JobError;

namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class CommonStackerCraneJob : IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly IDt_PlatformStationService _DtPlatformStationService;

        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IDt_PlatformStationService dt_PlatformStationService)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _DtPlatformStationService = dt_PlatformStationService;
        }
        private static readonly Dictionary<string, bool> _deviceLastStatus = new Dictionary<string, bool>();
        public string urlWMSdeverror = WIDESEAWCS_Core.Helper.AppSettings.Configuration["urlWMSdeverror"];
        private static readonly Dictionary<string, string> _stackerFaultMap = new Dictionary<string, string>
        {
            { "DB107.26.0", "载货台货物超宽" },{ "DB107.26.1", "载货台货物超长" },{ "DB107.26.2", "载货台货物超高" },
            { "DB107.26.3", "载货台货物检测传感器异常" },{ "DB107.26.4", "货叉编码器值错误" },{ "DB107.26.5", "货叉动作超时" },
            { "DB107.26.6", "货叉编码器值与中位信号不一致" },{ "DB107.26.7", "无效的任务类型" },{ "DB107.27.0", "无效的作业地址" },
            { "DB107.27.1", "重入库" },{ "DB107.27.2", "空出库" },{ "DB107.27.3", "货物高度与货位不匹配" },
            { "DB107.27.4", "取货通道堵塞" },{ "DB107.27.5", "放货通道堵塞" },{ "DB107.27.6", "放货完成后载货台仍然有货" },
            { "DB107.27.7", "任务未完成超时报警" },{ "DB107.28.0", "就地柜急停触发" },{ "DB107.28.1", "机载柜急停触发" },
            { "DB107.28.2", "远程急停触发" },{ "DB107.28.3", "安全门被打开" },{ "DB107.28.4", "安全继电器断开" },
            { "DB107.28.5", "松绳检测" },{ "DB107.28.6", "超速保护" },{ "DB107.28.7", "行走变频器故障" },
            { "DB107.29.0", "升降变频器故障" },{ "DB107.29.1", "货叉1变频器故障" },{ "DB107.29.2", "货叉2变频器故障" },
            { "DB107.29.3", "升降行走定位超时" },{ "DB107.29.4", "货叉1编码器值与中位信号不一致" },{ "DB107.29.5", "货叉2编码器值与中位信号不一致" },
            { "DB107.29.6", "行走激光值错误" },{ "DB107.29.7", "升降激光值错误" },{ "DB107.30.0", "前进极限行程" },
            { "DB107.30.1", "后退极限行程" },{ "DB107.30.2", "上升极限行程" },{ "DB107.30.3", "下降极限行程" },
            { "DB107.30.4", "货叉1左极限行程" },{ "DB107.30.5", "货叉1右极限行程" },{ "DB107.30.6", "货叉2左极限行程" },
            { "DB107.30.7", "货叉2右极限行程" },{ "DB107.31.0", "前进激光极限保护" },{ "DB107.31.1", "后退激光极限保护" },
            { "DB107.31.2", "上升激光极限保护" },{ "DB107.31.3", "下降激光极限保护" },{ "DB107.31.4", "货叉1左软极限" },
            { "DB107.31.5", "货叉1右软极限" },{ "DB107.31.6", "货叉2左软极限" },{ "DB107.31.7", "货叉2右软极限" },
            { "DB107.32.0", "与地面站网络断开" },{ "DB107.32.1", "与输送线网络断开" },{ "DB107.32.2", "与WCS网络断开" },
            { "DB107.32.3", "无效命令:堆垛机有货" },{ "DB107.32.4", "无效命令:堆垛机无货" },{ "DB107.32.5", "消防误报" },
            { "DB107.32.6", "前进雷达报警" },{ "DB107.32.7", "后退雷达报警" },{ "DB107.33.0", "左防火门超时" },
            { "DB107.33.1", "右防火门超时" },{ "DB107.33.2", "替罪羊检测报警" },{ "DB107.33.3", "近叉运行异常" },
            { "DB107.33.4", "远叉运行异常" },{ "DB107.33.5", "水平运行异常" },{ "DB107.33.6", "升降运行异常" },
            { "DB107.34.0", "升降刹车异常" },{ "DB107.34.1", "行走刹车异常" },{ "DB107.34.2", "近叉刹车异常" },
            { "DB107.34.3", "远叉刹车异常" },{ "DB107.34.4", "左侧过载" },{ "DB107.34.5", "右侧过载" }
        };


        public Task Execute(IJobExecutionContext context)
        {
            try
            {
                CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (commonStackerCrane != null)
                {
                    WriteLog.Write_Log("堆垛机当前状态信息", $"{commonStackerCrane.DeviceCode}库堆垛机当前状态",
                                                $"堆垛机设备状态地址:【DB105.2.0】,读取的数据：【{commonStackerCrane.StackerCraneAutoStatusDes}】\n" +
                                               $"堆垛机工作模式地址:【DB105.3.0】,读取的数据：【{commonStackerCrane.StackerCraneStatusDes}】\n" +
                                               $"堆垛机作业状态地址:【DB105.22.0】,读取的数据：【{commonStackerCrane.StackerCraneWorkStatusDes}】\n" +
                                               $"堆垛机当前任务执行中地址:【DB105.18.0】,读取的数据：【{commonStackerCrane.CurrentTaskNum}】\n");
                    // 获取当前状态
                    bool isFaultNow = commonStackerCrane.StackerCraneStatusDes.Equals("故障");
                    string deviceCode = commonStackerCrane.DeviceCode;

                    if (!_deviceLastStatus.ContainsKey(deviceCode))
                    {
                        _deviceLastStatus[deviceCode] = isFaultNow;
                        if (isFaultNow)
                        {
                            SendDevError(commonStackerCrane, "66", "start", ReadStackerFaults(commonStackerCrane));
                        }
                    }
                    else
                    {
                        bool lastStatus = _deviceLastStatus[deviceCode];
                        if (!lastStatus && isFaultNow)
                        {
                            SendDevError(commonStackerCrane, "66", "start", ReadStackerFaults(commonStackerCrane));
                            _deviceLastStatus[deviceCode] = true;
                        }
                        else if (lastStatus && !isFaultNow)
                        {
                            SendDevError(commonStackerCrane, "99", "stop", "堆垛机恢复正常");
                            _deviceLastStatus[deviceCode] = false;
                        }
                    }

                    UpdateHandShake(commonStackerCrane.CurrentTaskNum, commonStackerCrane.StackerCraneWorkStatusDes);
                    //任务完成StackerCraneWorkStatus
                    if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.WorkCompleted)
                    {
                        //判断当前任务是否是盘点
                        Dt_Task? currtask = _taskService.CurrtaskInfo(commonStackerCrane.CurrentTaskNum);
                        if(currtask != null)
                        {
                            string PalletCode = "";
                            //判断任务类型
                            if (currtask.TaskType==  (int)TaskTypeEnum.Inventorybound)
                            {
                                //读取条码，进行配对
                                
                                DeviceProDTO? deviceProDTO = commonStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == "SCBarcode");
                                byte[] bytes = commonStackerCrane.Communicator.Read(deviceProDTO.DeviceProAddress, 64);
                                //读取的托盘条码
                                PalletCode = Encoding.ASCII.GetString(bytes).Replace(" ", "");
                            }

                            WebResponseContent webResponse = _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum, PalletCode);
                            if (webResponse.Status)
                            {
                                WriteLog.Write_Log("堆垛机任务上报完成信息", "堆垛机任务上报完成信息", $"【{commonStackerCrane.DeviceCode}】库堆垛机上报任务号:【{commonStackerCrane.CurrentTaskNum}】完成信号！");

                                bool ddjfk = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                            }
                        }
                    }


                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                       
                        if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {


                            Dt_Task? task = GetTask(commonStackerCrane);
                            if (task != null)
                            {
                                StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
                                {
                                    bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        commonStackerCrane.Communicator.Write("DB105.52", 1);

                                        WebResponseContent webResponseContent=_taskService.UpdateTaskStatusToNext(task.TaskNum);
                                    }
                                }
                            }
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
                WriteLog.Write_Log("堆垛机报错信息", "堆垛机报错信息", $"堆垛机报错信息：【{ex.ToString()}】");

            }
            return Task.CompletedTask;
        }

        /// <summary>
        /// 故障上报（改为await调用，修复异步BUG）
        /// </summary>
        private async Task SendDevError(CommonStackerCrane crane, string errorcode, string dealType, string errorInfo = "")
        {
            CommandResult commandResult = new CommandResult();
            try
            {
                DeviceErrorRequest deviceErrorRequest = new DeviceErrorRequest
                {
                    devErrorJsons = new List<DeviceErrorInfo>
                    {
                        new DeviceErrorInfo
                        {
                            devuuid = crane.DeviceCode,
                            id = "",
                            errorcode = errorcode,
                            errorinfo = errorInfo,
                            erroraddress = "DB107",
                            warehouse = crane.DeviceCode == "B" ? "ZR17":(crane.DeviceCode == "G"?"ZR18":"ZR16"),
                            remark = dealType == "start" ? "设备异常" : "设备恢复",
                            devname =  $"{crane.DeviceCode}库堆垛机",
                        }
                    },
                    dealType = dealType,
                    psd = "akjfapjfpadaoif",
                };
                
                // 同步HTTP改为异步（推荐），保持你原有代码也可以
                commandResult =  await Task.Run(() => HttpHelper.Post<CommandResult>(urlWMSdeverror, deviceErrorRequest, "设备故障回调"));
                WriteLog.Write_Log("同步给上游设备故障信息", "设备故障信息", $"设备id：【{crane.DeviceCode}】，成功", $"设备回调状态：【{dealType}】，异常信息：【{errorInfo}】\n" +
                    $"调用上游返回结果信息：【{commandResult?.ToJsonString() ?? "返回结果为null"}】");
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("故障上报失败", "错误", ex.ToString());
            }
        }


        /// <summary>
        /// 获取任务
        /// </summary>
        /// <param name="commonStackerCrane">堆垛机对象</param>
        /// <returns></returns>
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        {
            try 
            {
                //判断当前堆垛机是否有在执行的任务
                if (_taskService.CutStackerCraneTask(commonStackerCrane.DeviceCode) != null) return null;


                List<Dt_Task> task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
                if (task.Count > 0)
                {
                    foreach (Dt_Task taskItem in task)
                    {
                        if (taskItem.TaskType == (int)TaskTypeEnum.Outbound)
                        {
                            if (OutTaskStationIsOccupied(taskItem.NextAddress,taskItem.Roadway))
                            {
                                return taskItem;
                            }
                        }
                        else if (taskItem.TaskType == (int)TaskTypeEnum.Inbound || taskItem.TaskType == (int)TaskTypeEnum.Inventorybound)
                        {
                            InTaskStationIsOccupied(taskItem.SourceAddress, taskItem.Roadway);
                            return taskItem;
                        }
                    }
                }

                return null;
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("任务查找", "任务查错误", "错误原因", new { 信息 = ex.Message });
                return null;
            } 
        }

        /// <summary>
        /// 出库任务判断出库站台是否被占用
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns>如果未被占用，返回传入的任务信息，否则，返回null</returns>
        private bool OutTaskStationIsOccupied(string NextAddress,string Roadway)
        {
            try
            {
                CommonConveyorLine? conveyorLine = null;
                lock (Storage.Devices)
                {
                    string deviceCode = Roadway == "C" ? "1004" : "1003";
                    conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == deviceCode) as CommonConveyorLine;
                }
                if (conveyorLine == null) return false;

                DeviceProDTO? deviceProDTO = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == NextAddress && x.DeviceProParamName == "StationNum");
                DeviceProDTO? HandShakeprodto = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == NextAddress && x.DeviceProParamName == "HandShake");
                if (deviceProDTO == null || HandShakeprodto == null) return false;

                int StationNum = conveyorLine.Communicator.Read<ushort>(deviceProDTO.DeviceProAddress);
                int HandShake = conveyorLine.Communicator.Read<ushort>(HandShakeprodto.DeviceProAddress);

                Task.Run(() => WriteLog.Write_Log("出库库口状态信息", "出库库口状态信息", $"库口是【{NextAddress}】，申请状态地址：【{HandShakeprodto.DeviceProAddress}】,读取的数据：【{HandShake}】\n库口是否有货状态地址：【{deviceProDTO.DeviceProAddress}】，读取的数据【{StationNum}】"));

                if (Roadway == "C") return StationNum == 0 && HandShake == 0;
                return (StationNum == 1 && HandShake == 0 && Roadway == "B") || (StationNum == 0 && HandShake == 0);
            }
            catch (Exception ex)
            {
                Task.Run(() => Console.WriteLine("读取站台信息错误：" + ex.Message));
                return false;
            }
        }
        /// <summary>
        /// 入库任务库口有货无货状态
        /// </summary>
        private void InTaskStationIsOccupied(string SourceAddress, string Roadway)
        {
            try
            {
                CommonConveyorLine? conveyorLine = null;
                lock (Storage.Devices)
                {
                    string deviceCode = Roadway == "C" ? "1004" : "1003";
                    conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == deviceCode) as CommonConveyorLine;
                }
                if (conveyorLine == null) return;

                DeviceProDTO? deviceProDTO = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SourceAddress && x.DeviceProParamName == "StationNum");
                DeviceProDTO? HandShakeprodto = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SourceAddress && x.DeviceProParamName == "HandShake");
                if (deviceProDTO == null || HandShakeprodto == null) return;

                int StationNum = conveyorLine.Communicator.Read<ushort>(deviceProDTO.DeviceProAddress);
                int HandShake = conveyorLine.Communicator.Read<ushort>(HandShakeprodto.DeviceProAddress);

                Task.Run(() => WriteLog.Write_Log("入库库口状态信息", "入库库口状态信息", $"库口是【{SourceAddress}】，申请状态地址：【{HandShakeprodto.DeviceProAddress}】,读取的数据：【{HandShake}】\n库口是否有货状态地址：【{deviceProDTO.DeviceProAddress}】，读取的数据【{StationNum}】"));
            }
            catch (Exception ex)
            {
                Task.Run(() => Console.WriteLine("读取站台信息错误：" + ex.Message));
            }
        }

        /// <summary>
        /// 任务实体转换成命令Model
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();

            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            stackerCraneTaskCommand.TrayType = 0;
            if (task.Roadway == "B" || task.Roadway == "C")
            {
                //判断 task.PalletCode 是不是一个有效的 GUID
                stackerCraneTaskCommand.Barcode = stackerCraneTaskCommand.Barcode = Guid.TryParse(task.PalletCode, out var guid) ? guid.ToString("N")[0..6] : task.PalletCode;
            }
            else if (task.Roadway == "G" )
            {
                if (Guid.TryParse(task.PalletCode, out var palletGuid))
                {
                    stackerCraneTaskCommand.Barcode = palletGuid.ToString("N")[0..6];

                    // 标准GUID就是36位，所以直接判断长度即可
                    stackerCraneTaskCommand.TrayType = (short)(task.PalletCode.Length == 36 ? 1 : 2);
                }
                else
                {
                    stackerCraneTaskCommand.Barcode = task.PalletCode;
                    stackerCraneTaskCommand.TrayType = 2;
                }
            }

            if (task.TaskType == (int)TaskTypeEnum.Inbound)//判断是否是入库任务
            {
                //获取站台编号
                Dt_PlatformStation dt_Platform = _DtPlatformStationService.getStatiomInfo(task.SourceAddress);
                string[] targetCodest = dt_Platform.Station_storey.Split("-");
                if (targetCodest.Length == 3)
                {
                    string StartRow = targetCodest[0].Substring(1);
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(StartRow);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(targetCodest[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(targetCodest[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库起点错误，起点：【{task.SourceAddress}】");
                    return null;
                }
                string[] EndCodest = task.NextAddress.Split("-");
                if (EndCodest.Length == 3)
                {
                    string EndRow = EndCodest[0].Substring(1);
                    string SCEndRow = LaneModification(task.Roadway, int.Parse(EndRow));

                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(SCEndRow);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(EndCodest[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(EndCodest[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，起点：【{task.NextAddress}】");
                    return null;
                }
            }
            else if (task.TaskType == (int)TaskTypeEnum.Outbound)
            {
                string[] sourceCodes = task.CurrentAddress.Split("-");
                if (sourceCodes.Length == 3)
                {
                    string StartRow = sourceCodes[0].Substring(1);
                    string SCStartRow = LaneModification(task.Roadway, int.Parse(StartRow));
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(SCStartRow);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
                    return null;
                }

                //获取站台编号
                Dt_PlatformStation dt_Platform = _DtPlatformStationService.getStatiomInfo(task.NextAddress);
                string[] EndCodest = dt_Platform.Station_storey.Split("-");
                if (EndCodest.Length == 3)
                {
                    string EndRow = EndCodest[0].Substring(1);
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(EndRow);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(EndCodest[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(EndCodest[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务终点错误，起点：【{task.TargetAddress}】");
                    return null;
                }
            }
            else if (task.TaskType == (int)TaskTypeEnum.Inventorybound)
            {
                stackerCraneTaskCommand.WorkType = 6;

                stackerCraneTaskCommand.StartRow = Convert.ToInt16(0);
                stackerCraneTaskCommand.StartColumn = Convert.ToInt16(0);
                stackerCraneTaskCommand.StartLayer = Convert.ToInt16(0);

                string[] EndCodest = task.NextAddress.Split("-");
                if (EndCodest.Length == 3)
                {
                    string EndRow = EndCodest[0].Substring(1);
                    string SCEnRow = LaneModification(task.Roadway, int.Parse(EndRow));

                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(SCEnRow);
                    stackerCraneTaskCommand.EndColumn = (short)(Convert.ToInt16(EndCodest[1]) + 1);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(EndCodest[2]);
                }
                else
                {

                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"盘点任务起点错误，起点：【{task.CurrentAddress}】");
                    return null;
                }


            }
            return stackerCraneTaskCommand;
        }

        public string LaneModification(string Roadway,int SCRow)
        {
            if (Roadway == "G")
            {
                return SCRow == 1 ? "3" : "4";
            }else if(Roadway == "C")
            {
                return SCRow == 1 ? "5" : "6";
            }
            else
            {
                return SCRow.ToString();
            }
        }
        /// <summary>
        /// 监测G库、C库出库放货时屏蔽光栅
        /// </summary>
        /// <param name="taskNum"></param>
        /// <param name="stackerCraneWorkStatusDes"></param>
        public void UpdateHandShake(int taskNum, string stackerCraneWorkStatusDes)
        {
                try
                {
                    var dtTask = _taskRepository.QueryFirst(x => x.TaskNum == taskNum);
                    if (dtTask == null) return;

                    string[] targets = { "G02", "G03", "G04", "C02", "C01" };
                    if (dtTask.TaskType != 100 || !targets.Contains(dtTask.TargetAddress)) return;

                    short writeValue = stackerCraneWorkStatusDes switch
                    {
                        "放货中" => 1,
                        "任务完成" => 0,
                        _ => -1
                    };
                    if (writeValue == -1) return;

                    CommonConveyorLine? conveyorLine = null;
                    lock (Storage.Devices)
                    {
                        string deviceCode = dtTask.CurrentAddress.StartsWith("C") ? "1004" : "1003";
                        conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == deviceCode) as CommonConveyorLine;
                    }
                    if (conveyorLine == null) return;

                    var handShake = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == dtTask.TargetAddress && x.DeviceProParamName == "HandShake");
                    if (handShake == null) return;

                    conveyorLine.Communicator.Write<short>(handShake.DeviceProAddress, writeValue);
                }
                catch
                { }
        }

        /// <summary>
        /// 读取故障（优化GC）
        /// </summary>
        public string ReadStackerFaults(CommonStackerCrane crane)
        {

            string activeFaults = "";
            try
            {
                foreach (var fault in _stackerFaultMap)
                {
                    try { bool isFault = crane.Communicator.Read<bool>(fault.Key); if (isFault) { activeFaults = fault.Value; break; } } catch { }
                }
            }
            catch (Exception ex) { WriteLog.Write_Log("DB107故障读取异常", "错误", ex.ToString()); }
            return activeFaults;
        }
    }
}