using Microsoft.AspNetCore.Components.Routing;
using Microsoft.AspNetCore.Hosting;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Quartz;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common.Log;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_Tasks.StackerCraneJob;

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

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

        public Task Execute(IJobExecutionContext context)
        {
            try
            {
                CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (commonStackerCrane != null)
                {
                    //Signalinteraction(commonStackerCrane);  //出库信号交互
                    Siganlinteraction2(commonStackerCrane); //入库信号交互
                    if (!commonStackerCrane.IsEventSubscribed)
                    {
                        commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }

                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次

                        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.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                    }
                                }
                            }
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                //Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
            }
            return Task.CompletedTask;
        }

        /// <summary>
        /// 任务完成事件订阅的方法
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
        {
            CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
            if (commonStackerCrane != null)
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
            }
        }

        /// <summary>
        /// 获取任务
        /// </summary>
        /// <param name="commonStackerCrane">堆垛机对象</param>
        /// <returns></returns>
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        {
            Dt_Task task;
            if (commonStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
            }
            else
            {
                if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    }
                }
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                }
            }

            if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
                string[] targetCodes = task.SourceAddress.Split("-");
                if (targetCodes[4] == "02")
                {

                    task = OutTaskMovelibrary(task);
                    if (task != null)
                    {
                        return task;
                    }
                }
                if (OutTaskStationIsOccupied(task) != null)
                {
                    return task;
                }
                else
                {
                    List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
                    List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
                    foreach (var item in tasks)
                    {
                        if (OutTaskStationIsOccupied(task) != null)
                        {
                            return task;
                        }
                    }
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                }
            }

            return task;
        }

        /// <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 Dt_Task? OutTaskStationIsOccupied([NotNull] Dt_Task task)
        {
            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Exists(x => x.DeviceChildCode == task.TargetAddress));
            if (device != null)
            {
                CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                DeviceProDTO? deviceProDTO = GetDeviceProDTO(conveyorLine, task.TargetAddress, "R_Event");    //根据堆垛机地址，地址名称找协议
                if (deviceProDTO != null)
                {
                    int B_Event_Test = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //判断输送线是否允许放货信号
                    if (B_Event_Test == 0)
                    {
                        return task;
                    }
                }
            }
            else
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{task.TargetAddress}】对应的通讯对象，无法判断出库站台是否被占用");
            }
            return null;
        }

        /// <summary>
        /// 出库任务判断是否需要进行移库Move the library
        /// </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 Dt_Task? OutTaskMovelibrary([NotNull] Dt_Task task)
        {
            try
            {
                string[] targetCodes = task.SourceAddress.Split("-");
                if (targetCodes[1] == "001")
                {
                    targetCodes[1] = "002";

                }
                else if (targetCodes[1] == "004")
                {
                    targetCodes[1] = "003";
                }
                targetCodes[4] = "01";
                string SourceAddress = string.Join("-", targetCodes); //组装浅库位地址
                Dt_Task? tasks = _taskService.QueryStationIsOccupiedOutTasks(task.Roadway, SourceAddress).FirstOrDefault();
                if (tasks != null)
                {
                    return task;
                }
                else
                {
                    //向wms申请判断浅库位是否有货，是否需要进行移库
                    Dt_Task? taskst = _taskService.RequestWMSTaskMovelibrary(task);
                    if (taskst != null)
                    {
                        return taskst;
                    }
                }
            }
            catch (Exception ex)
            {

                throw;
            }
            return null;
        }

        public void Signalinteraction(CommonStackerCrane commonStackerCrane)
        {
            if (Applyrelease(commonStackerCrane)) //读取堆垛机放货申请
            {
                Dt_Task task = _taskService.IngStackerCraneTask(commonStackerCrane.DeviceCode);
                if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Exists(x => x.DeviceChildCode == task.TargetAddress));
                    if (device != null)
                    {
                        CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                        DeviceProDTO? deviceProDTO = GetDeviceProDTO(conveyorLine, task.TargetAddress, "R_Event");    //根据堆垛机地址，地址名称找协议
                        if (deviceProDTO != null)
                        {
                            int B_Event_Test = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //判断输送线是否允许放货信号
                            if (B_Event_Test == 0)
                            {
                                if (Releasespermitted(commonStackerCrane, task.TargetAddress))  //写入堆垛机允许放货信
                                {
                                    LogSignalStatus("写入堆垛机允许放货信号失败", task.TargetAddress);
                                }
                            }
                            else
                            {
                                LogSignalStatus("未读取到输送线允许放货信号", task.TargetAddress);
                            }
                        }

                        if (Completesignal(commonStackerCrane, task.TargetAddress))        //读取到放货完成信号
                        {
                            if(PLCSignal(conveyorLine, task.TargetAddress, task.PalletCode, (byte)task.PalletCodequantity)) //写入输送线 堆垛机放货 托盘条码，层数，类型
                            {
                                //读取输送线反馈  堆垛机放下信号
                                DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, task.SourceAddress, "R_StackerCraneLowered");    //输送线协议找读取信号
                                if (deviceProDTO != null)
                                {
                                    int B_TAKE = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //读取输送线的  堆垛机放下 信号
                                    if (B_TAKE == 1)
                                    {
                                        //写入给堆垛机，输送线的  堆垛机放下确认 信号
                                        if (Releasespermitted4(commonStackerCrane, task.SourceAddress))
                                        {
                                            LogSignalStatus("写入堆垛机放下信号成功", task.SourceAddress);
                                        }
                                        else
                                        {
                                            LogSignalStatus("写入堆垛机放下信号失败", task.SourceAddress);
                                        }
                                    }
                                    else
                                    {
                                        LogSignalStatus("未读取输送线的堆垛机放下信号", task.SourceAddress);
                                    }
                                }


                            }
                            else
                            {
                                LogSignalStatus("写入输送线堆垛机放货 托盘条码，层数，类型失败", task.TargetAddress);
                            }
                        }
                        else
                        {
                            LogSignalStatus("未读取到堆垛机放货完成信号", task.TargetAddress);
                        }
                    }
                }
            }
        }

        public void Siganlinteraction2(CommonStackerCrane commonStackerCrane)
        {
            Dt_Task task = _taskService.IngStackerCraneTask(commonStackerCrane.DeviceCode);
            if (task != null && task.TaskType == (int)TaskInboundTypeEnum.Inbound)
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Exists(x => x.DeviceChildCode == task.SourceAddress));
                if (device != null)
                {
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    DeviceProDTO? deviceProDTO = GetDeviceProDTO(conveyorLine, task.SourceAddress, "R_Event");    //根据堆垛机地址，地址名称找协议
                    if (deviceProDTO != null)
                    {
                        int B_Event_Test = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //判断输送线是否允许取货信号
                        if (B_Event_Test == 1)
                        {
                            if (Releasespermitted2(commonStackerCrane, task.SourceAddress))  //写入堆垛机允许取货信号
                            {
                                LogSignalStatus("写入堆垛机允许取货信号失败", task.SourceAddress);
                            }
                        }
                        else
                        {
                            LogSignalStatus("未读取到输送线允许取货信号", task.SourceAddress);
                        }
                    }

                    if (Completesignal2(commonStackerCrane, task.SourceAddress))    //读取堆垛机取货完成信号
                    {
                        if(PLCSignal2(conveyorLine, task.SourceAddress, "W_StackerCranePicked"))    //写入输送线取货完成信号
                        {
                            DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, task.SourceAddress, "R_StackerCranePicked");    //输送线协议找读取信号
                            if (deviceProDTO != null)
                            {
                                int B_TAKE = GetLine(conveyorLine, deviceProDTO.DeviceProDataBlock);        //读取输送线的  堆垛机取走 信号
                                if (B_TAKE == 1)
                                {
                                    //写入给堆垛机，输送线的  堆垛机取走 信号
                                    if(Releasespermitted3(commonStackerCrane, task.SourceAddress))
                                    {
                                        LogSignalStatus("写入堆垛机取走信号成功", task.SourceAddress);
                                    }
                                    else
                                    {
                                        LogSignalStatus("写入堆垛机取走信号失败", task.SourceAddress);
                                    }
                                }
                                else
                                {
                                    LogSignalStatus("未读取输送线的堆垛机取走信号", task.SourceAddress);
                                }
                            }
                        }
                    }
                    else
                    {
                        LogSignalStatus("未读取到堆垛机放货完成信号", task.SourceAddress);

                    }
                }
            } 

        }

        //获取输送线实例
        public DeviceProDTO? GetDeviceProDTO(CommonConveyorLine conveyorLine,string SCAddress,string Interactivet)
        {
            return conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == Interactivet);
        }

        //获取堆垛机例
        public DeviceProDTO? GetDeviceProDTO2(CommonStackerCrane commonStackerCrane, string DeviceName, string Interactivet)
        {
            return commonStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == DeviceName && x.DeviceProParamName == Interactivet);
        }

        //读取堆垛机申请放货信号
        public bool Applyrelease(CommonStackerCrane commonStackerCrane)
        {
            if (commonStackerCrane.DeviceCode == "SC02")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Bout");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
                DeviceProDTO? deviceProDTO2 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Dout");
                if (deviceProDTO2 != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO2.DeviceProAddress);
                }
            }

            if (commonStackerCrane.DeviceCode == "SC01")
            {
                DeviceProDTO? deviceProDTO3 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Dout");
                if (deviceProDTO3 != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO3.DeviceProAddress);
                }
                DeviceProDTO? deviceProDTO4 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Cout");
                if (deviceProDTO4 != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO4.DeviceProAddress);
                }
                DeviceProDTO? deviceProDTO5 = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryRequest_Aout");
                if (deviceProDTO5 != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO5.DeviceProAddress);
                }
            }
            return false;

        }
        
        //写入堆垛机允许放货信号
        public bool Releasespermitted(CommonStackerCrane commonStackerCrane, string Destinationaddress)
        {
            if (Destinationaddress == "R02-002-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Bout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R02-002-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Dout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            //1号
            if (Destinationaddress == "R01-002-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Cout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R01-003-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Dout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }

            if (Destinationaddress == "R01-002-044-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryPermission_Aout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }

            return false;
        }
        
        //读取堆垛机的放货完成信号
        public bool Completesignal(CommonStackerCrane commonStackerCrane,string Destinationaddress)
        {
            if (Destinationaddress == "R02-002-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Bout");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }
            if (Destinationaddress == "R02-002-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Dout");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }
            //1号
            if (Destinationaddress == "R01-002-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Cout");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }
            if (Destinationaddress == "R01-002-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Dout");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }

            if (Destinationaddress == "R01-002-044-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompleted_Aout");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }

            return false;

        }
        
        //写入堆垛机放货确认信号
        public bool Releasespermitted4(CommonStackerCrane commonStackerCrane, string Destinationaddress)
        {
            if (Destinationaddress == "R02-002-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Bout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R02-002-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Din");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            //1号
            if (Destinationaddress == "R01-002-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Cout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R01-002-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Dout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "DeliveryCompletion_Aout");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }

            return false;
        }


        //写入堆垛机允许取货信号
        public bool Releasespermitted2(CommonStackerCrane commonStackerCrane, string Destinationaddress)
        {
            if (Destinationaddress == "R02-003-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Bin");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R02-003-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Din");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            //1号
            if (Destinationaddress == "R01-003-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Cin");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R01-003-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Din");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }

            if (Destinationaddress == "R01-002-042-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_Ain");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupRequest_A2in");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }

            return false;
        }
        
        //读取堆垛机取货完成信号
        public bool Completesignal2(CommonStackerCrane commonStackerCrane, string Destinationaddress)
        {
            if (Destinationaddress == "R02-003-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Bin");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }
            if (Destinationaddress == "R02-003-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Din");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }
            //1号
            if (Destinationaddress == "R01-003-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Cin");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }
            if (Destinationaddress == "R01-003-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Din");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }

            if (Destinationaddress == "R01-002-042-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_Ain");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }

            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompleted_A2in");
                if (deviceProDTO != null)
                {
                    return GetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress);
                }
            }

            return false;

        }

        //写入堆垛机取货确认信号
        public bool Releasespermitted3(CommonStackerCrane commonStackerCrane, string Destinationaddress)
        {
            if (Destinationaddress == "R02-003-027-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Bin");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R02-003-027-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Din");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            //1号
            if (Destinationaddress == "R01-003-041-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Cin");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R01-003-041-011-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Din");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }

            if (Destinationaddress == "R01-002-042-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_Ain");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }
            if (Destinationaddress == "R01-002-043-001-01")
            {
                DeviceProDTO? deviceProDTO = GetDeviceProDTO2(commonStackerCrane, commonStackerCrane.DeviceCode, "PickupCompletion_A2in");
                if (deviceProDTO != null)
                {
                    return SetStacker(commonStackerCrane, deviceProDTO.DeviceProAddress, true);
                }
            }

            return false;
        }
        

        //写入输送线放货完成信号，条码，层数，类型
        public bool PLCSignal(CommonConveyorLine conveyorLine,string TargetAddress,string PalletCode,byte PalletLayers)
        {
            byte PalletType = 2;
            if (TargetAddress == "R02-002-027-001-01" || TargetAddress == "R01-002-041-001-01")
            {
                 PalletType = 1;
            }

            //处理出库放料完成后逻辑
            try
            {
                DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, TargetAddress, "W_StackerCraneLowered");    //放货完成信号
                DeviceProDTO? deviceProDTO3 = GetDeviceProDTO(conveyorLine, TargetAddress, "W_PalletBarcode");          //写入条码
                DeviceProDTO? deviceProDTO4 = GetDeviceProDTO(conveyorLine, TargetAddress, "W_PalletLayers");           //层数
                DeviceProDTO? deviceProDTO5 = GetDeviceProDTO(conveyorLine, TargetAddress, "W_PalletType");           //类型
                if(deviceProDTO2 !=null && deviceProDTO3 != null && deviceProDTO4 != null && deviceProDTO5 != null)
                {
                    if(SetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock, 1) && SetLinestring(conveyorLine, deviceProDTO3.DeviceProDataBlock,PalletCode) && SetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock, PalletLayers) && SetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock, PalletType))
                    {
                        
                        LogSignalStatus($"写入放货完成信息，托盘条码，层数，类型信息成功", TargetAddress);
                        return true;

                    }
                    else
                    {
                        LogSignalStatus($"写入放货完成信息，托盘条码，层数，类型信息失败", TargetAddress);
                        
                    }
                }
                else
                {
                    LogSignalStatus($"未找到输送线协议信息", TargetAddress);
                    
                }
            }
            catch (Exception ex)
            {
                LogSignalStatus($"写入失败，错误信息：{ex.Message}", TargetAddress);
                throw;
            }
            return false;
        }

        //写入输送线 堆垛机取货完成信号
        public bool PLCSignal2(CommonConveyorLine conveyorLine, string SourceAddress,string DeviceProParamName)
        {
            DeviceProDTO? deviceProDTO2 = GetDeviceProDTO(conveyorLine, SourceAddress, DeviceProParamName);    //取货完成信号
            if (deviceProDTO2 != null)
            {
                return SetLine(conveyorLine, deviceProDTO2.DeviceProDataBlock, 1);
            }
            else
            {
                LogSignalStatus($"未找到输送线协议信息", SourceAddress);
                
            }
            return false;
        }

        
        /// <summary>
        /// 根据协议，地址，值，写入输送线信息,
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <param name="Pali"></param>
        /// <returns></returns>
        public bool SetLine(CommonConveyorLine conveyorLine,string DeviceProDataBlock,byte Pali)
        {
            return conveyorLine.Communicator.Write(DeviceProDataBlock, Pali);
        }
        public bool SetLinestring(CommonConveyorLine conveyorLine, string DeviceProDataBlock, string Pali)
        {
            return conveyorLine.Communicator.Write(DeviceProDataBlock, Pali);
        }
        /// <summary>
        /// 根地址读取输送线信息
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public int GetLine(CommonConveyorLine conveyorLine, string DeviceProDataBlock)
        {
            return conveyorLine.Communicator.Read<byte>(DeviceProDataBlock);
        }

        /// <summary>
        /// 读取堆垛机地址
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public bool GetStacker(CommonStackerCrane commonStackerCrane,string DeviceProDataBlock)
        {
            return commonStackerCrane.Communicator.Read<bool>(DeviceProDataBlock);
        }

        /// <summary>
        /// 写入堆垛机信号
        /// </summary>
        /// <param name="conveyorLine"></param>
        /// <param name="DeviceProDataBlock"></param>
        /// <returns></returns>
        public bool SetStacker(CommonStackerCrane commonStackerCrane, string DeviceProDataBlock,bool Pali)
        {
            return commonStackerCrane.Communicator.Write(DeviceProDataBlock, Pali);
        }

        /// <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.Barcode = task.PalletCode;
            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            stackerCraneTaskCommand.TrayType = 0;
            if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
            {
                string[] targetCodest = task.SourceAddress.Split("-");
                if (targetCodest.Length == 5)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(targetCodest[1]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(targetCodest[2]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(targetCodest[3]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库起点错误，起点：【{task.SourceAddress}】");
                    return null;
                }
                string[] targetCodes = task.NextAddress.Split("-");
                if (targetCodes.Length == 5)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
                }
                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.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
                string[] sourceCodes = task.CurrentAddress.Split("-");
                if (sourceCodes.Length == 5)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]);
                }
                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;
                }
                string[] sourceCodest = task.TargetAddress.Split("-");
                if (sourceCodest.Length == 5)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(sourceCodest[1]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(sourceCodest[2]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(sourceCodest[3]);
                }
                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.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
            {
                string[] targetCodes = task.NextAddress.Split("-");
                if (targetCodes.Length == 5)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，起点：【{task.NextAddress}】");
                    return null;
                }
                string[] sourceCodes = task.CurrentAddress.Split("-");
                if (sourceCodes.Length == 5)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
                    return null;
                }
            }
            return stackerCraneTaskCommand;
        }
        private void LogSignalStatus(string message, string sourceAddress)
        {
            WriteLog.GetLog("堆垛机与plc交互信号").Write($"站台编号：{sourceAddress},信息：{message}", $"{sourceAddress}");
        }
    }
}