using Autofac.Core;
using Microsoft.AspNetCore.Components.Routing;
using Microsoft.AspNetCore.Hosting;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using Quartz;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel.Design;
using System.Diagnostics.CodeAnalysis;
using System.Diagnostics.Eventing.Reader;
using System.Linq;
using System.Reflection.Metadata;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_DTO.Enum;
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;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_Tasks.StackerCraneJob;

namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class SpeStackerCraneJob : IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly IAgvStationService _agvStationService;


        public SpeStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IAgvStationService agvStationService)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _agvStationService = agvStationService;
        }


        public Task Execute(IJobExecutionContext context)
        {
            try
            {
                SpeStackerCrane speStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (speStackerCrane != null)
                {
                    GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);

                    //读取设备完成信息
                    if (getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Completed && getStackerObject.CurrentRgvtaskid != 0)
                    {
                        _taskService.UpdateTaskStatus(getStackerObject.CurrentRgvtaskid,2);
                    }


                    if (getStackerObject.RgvCraneAutoStatusValue == RgvCraneAutoStatus.Automatic &&
                        getStackerObject.StaclerkJobJobStatusValue == RgvJobCraneStatus.Ready && getStackerObject.RgvCraneWorkStatusValue == RGVStepprocess.NoAction)
                    {

                        //下发RGV任务之前，先读取一下安全门状态

                        //查找RGV进行下发任务
                        Dt_Task task = GetTask(speStackerCrane.DeviceCode,getStackerObject);
                        if (task != null)
                        {
                            //调取写入RGV小车任务
                            RgvCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                            bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                            if (sendFlag)
                            {
                                //修改任务状态
                                _taskService.UpdateTaskStatusToNext(task);
                            }
                        }
                        else
                        {
                            if(speStackerCrane.DeviceCode=="RGV101" || speStackerCrane.DeviceCode == "RGV101")
                            {
                                //当没任务的时候，则进行移动
                                Returnposition(speStackerCrane.DeviceCode, getStackerObject.RGVCurrentlocation);
                            }
                                
                        }
                        

                    }
                }
            }
            catch (Exception ex)
            {
                //Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
            }
            return Task.CompletedTask;
        }

        private Dt_Task? GetTask(string DeviceCode, GetStackerObject getStackerObject)
        {
            // 根据设备名称，获取到设备相关数据
            AGVStation RGVTaskdevice = _agvStationService.Corridorequipment(DeviceCode);   //根据设备获取到内容
            return RGVTaskdevice.Station_tasktype switch
            {
                (int)RGVTasktype.Inbound => HandleInboundTask(RGVTaskdevice, getStackerObject),
                (int)RGVTasktype.Outbound => OutboundEquipmentTask(RGVTaskdevice, getStackerObject),
                _ => null
            };


        }

        #region 入库方法
        private Dt_Task? HandleInboundTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            if(RGVTaskdevice.Station_material== (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue== RgvEquipmentStatus.NoCargo)
            {
                return _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 1);
            }
            else if (RGVTaskdevice.Station_material == (int)RGVEquipment.InRGVForklift && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
            {
                return _taskService.GetInkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
            }else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)
            {
                return ZichePickUpAisle(RGVTaskdevice, getStackerObject);
            }else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
            {
                return GoodsPlacedCorridor(RGVTaskdevice, getStackerObject);
            }
            else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Corridorcar && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.NoCargo)
            {
                return ZicheMobile(RGVTaskdevice, getStackerObject);
            }
            else if (RGVTaskdevice.Station_material == (int)RGVEquipment.Mothertrailer && getStackerObject.RgvCraneStatusValue == RgvEquipmentStatus.HasCargo)
            {
                return MotherVehicleMovement(RGVTaskdevice);
            }
            else { return null; }

        }


        #region 过道子车进行取货
        public Dt_Task? ZichePickUpAisle(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            //获取子车取货任务
            Dt_Task dt_Task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode,1);
            if(dt_Task.CurrentAddress== getStackerObject.RGVCurrentlocation.ToString())
            {
                return dt_Task;
            }
            else
            {
                //如果不等于，则进行判断子车在哪个位置
                if (RGVTaskdevice.Station_Area == 1)
                {
                    // 根据子车位置处理不同情况
                    switch (getStackerObject.RGVCurrentlocation)
                    {
                        case int Waddress when Waddress == RGVTaskdevice.MotherCarDeviceCode:
                            return dt_Task;
                        case int Naddress when Naddress == RGVTaskdevice.MotherCardeputy:
                            return HandleMedialCase(dt_Task, RGVTaskdevice.MotherCarDeviceCode);
                        case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress:
                            return HandleMedialCase2(dt_Task, RGVTaskdevice);
                        default: return null;
                    }
                }
                else
                {
                    //取HCJ位的料判断
                    switch (getStackerObject.RGVCurrentlocation)
                    {
                        case int Waddress when Waddress == RGVTaskdevice.MotherCarDeviceCode:
                            return dt_Task;
                        case int Naddress when Naddress == RGVTaskdevice.MotherCardeputy:
                            return HandleMedialCase(dt_Task, RGVTaskdevice.MotherCarDeviceCode);
                        default: return null;
                    }
                }

            }
        }
        /// <summary>
        /// 判断外侧母车是否在入口口
        /// </summary>
        /// <param name="task"></param>
        /// <param name="currentStation"></param>
        /// <returns></returns>
        private Dt_Task? HandleMedialCase(Dt_Task task, int currentStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(currentStation);
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            if (motherCarAddress == Muche.Motherinlaw) return task;
            RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            return null;
        }
        /// <summary>
        /// 判断内外侧母车是否在入库口
        /// </summary>
        /// <param name="task"></param>
        /// <param name="currentStation"></param>
        /// <returns></returns>
        private Dt_Task? HandleMedialCase2(Dt_Task task, AGVStation currentStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(currentStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(currentStation.MotherCardeputy);    //内侧母车

            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            if (motherCarAddress == 0 || motherCarAddress2 == 0) return null;
            // 如果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.Motherinlaw)
            {
                RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.Motherinlaw) return task;
            // 母车已在正确位置
            return null;
        }


        #endregion

        #region 过道子车进行放货
        public Dt_Task? GoodsPlacedCorridor(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            Dt_Task task = _taskService.GetInzicheTask(RGVTaskdevice.ChildPosiDeviceCode, 2);
            int nexaddres = int.Parse(task.NextAddress);
            switch (nexaddres)
            {
                case int Whcjaddress when Whcjaddress == RGVTaskdevice.MotherCarDeviceCode:    //放货点在第一个过道点
                    return MotherCarMoves(task, RGVTaskdevice);
                case int Waddress when Waddress == RGVTaskdevice.MotherCardeputy:              //放货点在第二个过道点
                    return MotherCarMovesinside(task, RGVTaskdevice);
                case int HCJaddress when HCJaddress == RGVTaskdevice.HCJStorageaddress:        //放货点在HCJ上
                    return HCJMotherCarMovesinside(task, RGVTaskdevice);
                default: return null;
            }
        }


        //区域一判断母车是否到位，可立即放货
        private Dt_Task? MotherCarMoves(Dt_Task _Task, AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.ZicheMotherinlaw);
            
            int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
            if (motherCarAddress == Muche.ZicheMotherinlaw) return _Task;
            if(motherCarAddress!=0) RGVMovetask(Muche.ZicheMotherinlaw, aGVStation.ChildPosiDeviceCode);

            return null;
        }

        /// <summary>
        /// 判断放第二个母车位置
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private Dt_Task? MotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车

            int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(Muche2.ChildPosiDeviceCode);
            // 如果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.ZicheMotherinlaw && motherCarAddress2 != 0)
            {
                RGVMovetask(Muche2.ZicheMotherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.ZicheMotherinlaw) return _Task;
            // 母车已在正确位置
            return null;
        }
        /// <summary>
        /// 判断放在HCJ上面
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private Dt_Task? HCJMotherCarMovesinside(Dt_Task _Task, AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车
            AGVStation Ziche3 = _agvStationService.GetZicheDeep(aGVStation.HCJStorageaddress);    //内侧子车

            int motherCarAddress = GetDeviceAddress.GetEquipmentInMuche(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(Muche2.ChildPosiDeviceCode);
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentInMuche(Ziche3.ChildPosiDeviceCode);
            // 如果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw && motherCarAddress != 0)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.Motherinlaw && motherCarAddress2 != 0)
            {
                RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
            }
            if (ZiCarAddress3 == Ziche3.HCJStorageaddress && ZiCarAddress3!=0)
            {
                //判断目标站台是入库到几号堆垛机
                if (_Task.TargetAddress == "3")     //入库至3号堆垛机
                {
                    //判断外侧母车位置（2区域）
                    AGVStation MucheN = _agvStationService.GetMothervehicle(Ziche3.MotherCarDeviceCode);  //外侧母车
                    int motNCarAddress = GetDeviceAddress.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if (motNCarAddress!=0)
                    {
                        if (MucheN.ZicheMotherinlaw == motNCarAddress)
                        {
                            RGVMovetask(Ziche3.MotherCarDeviceCode, Ziche3.ChildPosiDeviceCode);
                        }
                        else
                        {
                            RGVMovetask(MucheN.ZicheMotherinlaw, MucheN.ChildPosiDeviceCode);
                        }
                    }
                }
                else if (_Task.TargetAddress == "4")    //入库至4号堆垛机
                {
                    //判断外侧母车位置（2区域）
                    AGVStation MucheN = _agvStationService.GetMothervehicle(Ziche3.MotherCarDeviceCode);  //外侧母车
                    int motNCarAddress = GetDeviceAddress.GetEquipmentInMuche(MucheN.ChildPosiDeviceCode); //获取到母车当前位置
                    if (MucheN.Motherinlaw != motNCarAddress && motNCarAddress!=0)
                    {
                        RGVMovetask(MucheN.Motherinlaw, MucheN.ChildPosiDeviceCode);
                    }
                    AGVStation MucheN2 = _agvStationService.GetMothervehicle(Ziche3.MotherCardeputy);  //外侧母车
                    int motNCarAddress2 = GetDeviceAddress.GetEquipmentInMuche(MucheN2.ChildPosiDeviceCode); //获取到母车当前位置
                    if (MucheN2.ZicheMotherinlaw != motNCarAddress2 && motNCarAddress2!=0)
                    {
                        RGVMovetask(MucheN2.ZicheMotherinlaw, MucheN2.ChildPosiDeviceCode);
                    }

                    if (MucheN.Motherinlaw == motNCarAddress && MucheN2.ZicheMotherinlaw == motNCarAddress2)
                    {
                        RGVMovetask(Ziche3.MotherCardeputy, Ziche3.ChildPosiDeviceCode);
                    }
                }
            }

            if (motherCarAddress == Muche.Motherinlaw && motherCarAddress2 == Muche2.Motherinlaw && ZiCarAddress3 != Ziche3.HCJStorageaddress) return _Task;
            // 母车已在正确位置
            return null;
        }
        #endregion

        #region 子车移动任务(后续可能需要优化一下)
        public Dt_Task? ZicheMobile(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            Dt_Task task = _taskService.GetInzicheTaskMobile(RGVTaskdevice.ChildPosiDeviceCode, 1);
            return task;
        }
        #endregion

        #region 母车移动任务
        public Dt_Task? MotherVehicleMovement(AGVStation RGVTaskdevice)
        {
            Dt_Task task = _taskService.GetInzicheTaskMobile(RGVTaskdevice.ChildPosiDeviceCode, 2);
            int curradder = int.Parse(task.CurrentAddress);
            AGVStation GdZiche = _agvStationService.GetMotheaisle(curradder);
            int motherCarAddress = GetDeviceAddress.GetEquipmentInformation(GdZiche.ChildPosiDeviceCode);
            if (motherCarAddress != curradder && motherCarAddress!=0) return task;
            RGVMovetask(GdZiche.Motherinlaw, GdZiche.ChildPosiDeviceCode);
            return null;
        }
        #endregion

        #endregion

        #region 出库方法
        public Dt_Task? OutboundEquipmentTask(AGVStation RGVTaskdevice, GetStackerObject getStackerObject)
        {
            return (RGVTaskdevice.Station_material, getStackerObject.RgvCraneStatusValue) switch
            {
                ((int)RGVEquipment.Mothertrailer, RgvEquipmentStatus.HasCargo)
                    => Mothertaskdistribution(RGVTaskdevice),

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.NoCargo)
                    => ChildPickupAddres(RGVTaskdevice),

                ((int)RGVEquipment.Corridorcar, RgvEquipmentStatus.HasCargo)
                    => Findshippingtask(RGVTaskdevice),

                ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.NoCargo)
                    => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
                       RGVTaskdevice.HCJStorageaddress.ToString(), 1),

                ((int)RGVEquipment.OutRGVForklift, RgvEquipmentStatus.HasCargo)
                    => _taskService.GetOutkouFinhuoTask(RGVTaskdevice.ChildPosiDeviceCode,
                       RGVTaskdevice.HCJStorageaddress.ToString(), 2),

                _ => null
            };
        }

        #region 下发母车任务，需要判断当前行小车在哪个位子

        private Dt_Task? Mothertaskdistribution(AGVStation GdZiche)
        {
            // 提前检查无效的Area值
            if (GdZiche.Station_Area < 1 || GdZiche.Station_Area > 4)
                return null;

            AGVStation ZicheinnerSide = _agvStationService.GetMotheaisle(GdZiche.ZicheMotherinlaw);
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentInformation(ZicheinnerSide.ChildPosiDeviceCode);

            // 使用switch语句提高可读性
            return GdZiche.Station_Area switch
            {
                4 when ZiCarAddress3 != GdZiche.ZicheMotherinlaw
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

                3 when ZiCarAddress3 == ZicheinnerSide.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

                2 when ZiCarAddress3 != GdZiche.MotherCardeputy && ZiCarAddress3 != GdZiche.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

                1 when ZiCarAddress3 == ZicheinnerSide.HCJStorageaddress
                    => _taskService.QueryStackerCraneTask(GdZiche.ChildPosiDeviceCode),

                _ => null
            };
        }
        #endregion

        #region 判断已移动出来的母车，再判断小车位置
        public Dt_Task? ChildPickupAddres(AGVStation GdZiche)
        {
            if (GdZiche.Station_Area == 5)
                return _taskService.ChildVehicleMission(GdZiche);

            var task = _taskService.ChildVehicleMission(GdZiche);

            // 快速返回条件检查
            if (task.CurrentAddress != GdZiche.HCJStorageaddress.ToString())
                return task;

            var innerStation = _agvStationService.GetZicheDeep(GdZiche.HCJStorageaddress);
            if (GetDeviceAddress.GetEquipmentInformation(innerStation.ChildPosiDeviceCode) != innerStation.HCJStorageaddress)
                return task;

            var motherStation = _agvStationService.GetMothervehicle(innerStation.MotherCarDeviceCode);
            if (GetDeviceAddress.ReturnCurrentStatus(motherStation.ChildPosiDeviceCode))
                RGVMovetask(innerStation.MotherCarDeviceCode, innerStation.ChildPosiDeviceCode);

            return null;
        }
        #endregion

        #region 查找子车放货任务
        public Dt_Task? Findshippingtask(AGVStation GdZiche)
        {
            Dt_Task task = _taskService.GetFinhuoTask(GdZiche.ChildPosiDeviceCode);
            if (GetDeviceAddress.HCJIsstock(task.NextAddress)) return task;
            return null;
        }
        #endregion

        #endregion

        #region 出库小车移动任务下发
        public void Returnposition(string DeviceCode, int RGVCurrentlocation)
        {
            int HCJGoodsplatform = 1170;    //定义的放货站台
                                            //判断母车是否需要进行移动
            AGVStation GdZiche = _agvStationService.Corridorequipment(DeviceCode);
            if (GdZiche.Station_Area == 1)
            {
                switch (RGVCurrentlocation)
                {
                    case int Whcjaddress when Whcjaddress == GdZiche.MotherCarDeviceCode:    //在第一个母车上
                        RGVMovetask(HCJGoodsplatform, GdZiche.ChildPosiDeviceCode);
                        break;
                    case int Waddress when Waddress == GdZiche.MotherCardeputy:              //在第二个母车上
                        OutNMotherCar(GdZiche.MotherCarDeviceCode);
                        break;
                    case int HCJaddress when HCJaddress == GdZiche.HCJStorageaddress:        //在HCJ站台上
                        OutHCJMotherCar(GdZiche);
                        break;
                    default: break;
                }
            }
            else
            {
                switch (RGVCurrentlocation)
                {
                    case int Whcjaddress when Whcjaddress == GdZiche.MotherCarDeviceCode:    //在第一个母车上，需要判断外侧子车是否在HCJ上
                        OutinnerSideNMotherCar(GdZiche);
                        break;
                    case int Waddress when Waddress == GdZiche.MotherCardeputy:              //在第二个母车上，需要判断子车与外侧母车是否在过道上
                        OutinnerSideMotherCar(GdZiche);
                        break;
                    default: break;
                }
            }
        }

        #region 外侧小车回归到起始点位
        /// <summary>
        /// 判断放第二个母车位置
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private void OutNMotherCar(int MotherCarDeviceCode)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(MotherCarDeviceCode);  //外侧母车
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            if (motherCarAddress != Muche.Motherinlaw)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
        }
        private void OutHCJMotherCar(AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            AGVStation Muche2 = _agvStationService.GetMothervehicle(aGVStation.MotherCardeputy);    //内侧母车
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            int motherCarAddress2 = GetDeviceAddress.GetEquipmentlocation(Muche2.ChildPosiDeviceCode);
            // 如果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            if (motherCarAddress2 != Muche2.Motherinlaw)
            {
                RGVMovetask(Muche2.Motherinlaw, Muche2.ChildPosiDeviceCode);
            }
        }
        #endregion

        #region 外侧小车回归到起始点位
        /// <summary>
        /// 在第一个位置，则判断外侧子车是否在HCJ站台下面
        /// </summary>
        /// <param name="_Task"></param>
        /// <param name="aGVStation"></param>
        /// <returns></returns>
        private void OutinnerSideNMotherCar(AGVStation aGVStation)
        {
            AGVStation Ziche3 = _agvStationService.GetZicheOuterSide(aGVStation.HCJStorageaddress);    //外侧子车
            int ZiCarAddress3 = GetDeviceAddress.GetEquipmentlocation(Ziche3.ChildPosiDeviceCode);
            if (ZiCarAddress3 == Ziche3.HCJStorageaddress)
            {
                OutHCJMotherCar(Ziche3);
            }
            else
            {
                RGVMovetask(aGVStation.HCJStorageaddress, aGVStation.ChildPosiDeviceCode);
            }
        }
        private void OutinnerSideMotherCar(AGVStation aGVStation)
        {
            AGVStation Muche = _agvStationService.GetMothervehicle(aGVStation.MotherCarDeviceCode);  //外侧母车
            int motherCarAddress = GetDeviceAddress.GetEquipmentlocation(Muche.ChildPosiDeviceCode);
            // 如果母车不在预期位置，下发移动任务
            if (motherCarAddress != Muche.Motherinlaw)
            {
                RGVMovetask(Muche.Motherinlaw, Muche.ChildPosiDeviceCode);
            }
            OutinnerSideNMotherCar(aGVStation);

        }
        #endregion

        #endregion


        /// <summary>
        /// 子母车移动任务
        /// </summary>
        /// <param name="RGVAdders">目标地址</param>
        /// <param name="ChildPosiDeviceCode">设备编号</param>
        /// <returns></returns>
        private bool RGVMovetask(int RGVAdders, string ChildPosiDeviceCode)
        {
            RgvCraneTaskCommand standardCommands = ConvertMotherCarTaskCommand(RGVAdders);
            bool sendFlag = SendCommand2(standardCommands, ChildPosiDeviceCode);
            return sendFlag;
        }
        /// <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 RgvCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
            short locaticurr = task.RGVTaskType switch
            {
                _ when task.RGVTaskType == (short)RGVTaskTypeEnum.PickingUp ||
                       (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType != (int)TaskInStatusEnum.RGV_InZichemoveFinish)
                    => short.Parse(task.CurrentAddress),
                _ when task.RGVTaskType == (short)RGVTaskTypeEnum.Placing || (task.RGVTaskType == (short)RGVTaskTypeEnum.TravelingOnly && task.TaskType== (int)TaskInStatusEnum.RGV_InZichemoveFinish)
                    => short.Parse(task.NextAddress),
                _ => (short)0
            };
            stackerCraneTaskCommand.RGV_RGVTasklocation = locaticurr;
            stackerCraneTaskCommand.RGV_RGVtasktype = (short)task.RGVTaskType;
            stackerCraneTaskCommand.RGV_Rgvtaskid = (short)task.TaskNum;
            stackerCraneTaskCommand.RGV_Lanjiantaskid = (short)task.TaskNum;
            return stackerCraneTaskCommand;
        }


        /// <summary>
        /// 下发移动任务
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public RgvCraneTaskCommand? ConvertMotherCarTaskCommand(int RGVAddress)
        {
            RgvCraneTaskCommand stackerCraneTaskCommand = new RgvCraneTaskCommand();
            stackerCraneTaskCommand.RGV_RGVTasklocation = (short)RGVAddress;
            stackerCraneTaskCommand.RGV_RGVtasktype = 3;
            stackerCraneTaskCommand.RGV_Rgvtaskid = 999;          //rgv任务号
            stackerCraneTaskCommand.RGV_Lanjiantaskid = 999;      //兰剑任务id
            return stackerCraneTaskCommand;
        }
        public bool SendCommand2(RgvCraneTaskCommand command, string DeviceCode)
        {
            try
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
                SpeStackerCrane Commonstacker = (SpeStackerCrane)device;

                DeviceProDTO? deviceProDTO = GetDeviceAddress.GetRGVDeviceProDTO(Commonstacker, DeviceCode, "RGV_Rgvtaskstutas");
                int MCGStatus = GetDeviceAddress.RGVGetLine(Commonstacker, deviceProDTO.DeviceProAddress);


                if (Commonstacker.IsConnected)
                {
                    if (MCGStatus == (int)RgvJobCraneStatus.Ready)
                    {
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVTasklocation, command.RGV_RGVTasklocation);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_RGVtasktype, command.RGV_RGVtasktype);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Rgvtaskid, command.RGV_Rgvtaskid);
                        Commonstacker.SetValue(RgvCraneDBName.RGV_Lanjiantaskid, command.RGV_Lanjiantaskid);
                        return true;
                    }
                }
                return false;

            }
            catch (Exception ex)
            {
                return false;
            }
        }
    }
}