using AngleSharp.Dom;
using AutoMapper;
using LogLibrary.Log;
using Newtonsoft.Json;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.NetworkInformation;
using System.Reflection;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common;
using WIDESEA_Core;
using WIDESEA_Core.BaseRepository;
using WIDESEA_Core.Enums;
using WIDESEA_Core.Helper;
using WIDESEA_DTO;
using WIDESEA_DTO.AGV;
using WIDESEA_IStorageBasicRepository;
using WIDESEA_IStorageSocketServices;
using WIDESEA_IStorageTaskRepository;
using WIDESEA_IStorageTaskServices;
using WIDESEA_Model.Models;
using WIDESEA_Model.Models.AGV;
using WIDESEA_StorageTaskRepository;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_Model.Models;
using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;

namespace WIDESEA_StorageSocketServices
{
    public class WorkTaskService:IWorkTaskService
    {
        private readonly IDt_TaskRepository _taskRepository;
        private readonly IDt_Task_HtyRepository _task_HtyRepository;
        private readonly IDt_TaskService _taskService;
        private readonly IMapper _mapper;
        private readonly IStockInfoRepository _stockInfoRepository;
        private readonly IUnitOfWorkManage _unitOfWorkManage;
        private readonly ILocationInfoRepository _locationRepository;
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        private readonly LogFactory LogFactory = new LogFactory();
        private readonly ISocketClientServices _socket;
        string url = AppSettings.Configuration["AGVIP"];
        public WorkTaskService(IDt_TaskRepository dt_TaskRepository, ISocketClientServices socket, IDt_StationManagerRepository stationManagerRepository,IDt_TaskService taskService, IDt_Task_HtyRepository dt_Task_HtyRepository,ILocationInfoRepository locationRepository, IMapper mapper,IUnitOfWorkManage unitOfWorkManage,IStockInfoRepository stockInfoRepository)
        {
            _taskRepository = dt_TaskRepository;
            _socket = socket;
            _stationManagerRepository = stationManagerRepository;
            _taskService = taskService;
            _task_HtyRepository = dt_Task_HtyRepository;
            _locationRepository = locationRepository;
            _mapper = mapper;
            _unitOfWorkManage = unitOfWorkManage;
            _stockInfoRepository = stockInfoRepository;
        }

        #region 常量
        public const byte STX = 2;
        public const byte ETX = 3;

        
        /// <summary>
        /// 作业任务ID  预留
        /// </summary>
        public const string JobOrderID = "0000000000000000";

        /// <summary>
        /// 优先级  预留
        /// </summary>
        public const string priority = "1";

        /// <summary>
        /// 托盘个数  预留
        /// </summary>
        public const string TrayCnt = "1";

        /// <summary>
        /// 设备编号
        /// </summary>
        public const string DeviceID = "0000000001";
        /// <summary>
        /// 发送不需要回复
        /// </summary>
        public const string SendNotReply = "1" + DeviceID + "0";
        /// <summary>
        /// 发送需要回复
        /// </summary>
        public const string SendandReply = "1" + DeviceID + "1";
        /// <summary>
        /// 出库站台启用已分配任务
        /// </summary>
        public const string OutBoundStationEnableDistribution = "1000";
        /// <summary>
        /// 出库站台启用未分配任务
        /// </summary>
        public const string OutBoundStationEnableUndistributed = "1100";
        /// <summary>
        /// 出库站台禁用
        /// </summary>
        public const string OutBoundStationDisabled = "0000";
        /// <summary>
        /// 入库站台个数
        /// </summary>
        public const string InBoundStationCount = "1";

        /// <summary>
        /// 入库站台状态
        /// </summary>
        public const string InBoundStationStatus = "1010001";
        /// <summary>
        /// 预留
        /// </summary>
        public const string Spare1 = "0000000000000000000000000000000000000000000000000000000000000000000000";

        /// <summary>
        /// 出库站台预留
        /// </summary>
        public const string OutStationSpare2 = "000000000000";

        /// <summary>
        /// 预留
        /// </summary>
        public const string Spare3 = "000";

        /// <summary>
        /// 托盘号
        /// </summary>
        public const string Spare4 = "0000000000";

        #endregion

        #region WMS下发HOST方法

        /// <summary>
        /// 设备请求入库  工序101
        /// </summary>
        /// <param name="PallteCode">托盘号</param>
        /// <param name="InStation">入库站台</param>
        public void DeviceRequestInbound(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, InStationStatus inStation)
        {
            try
            {
                string str = SendandReply + "101" + _taskRepository.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) +"1" + GetFieldsAsString(inStation);
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }

        /// <summary>
        /// 请求通讯  工序925
        /// </summary>
        /// <param name="PallteCode">托盘号</param>
        /// <param name="InStation">入库站台</param>
        public void RequestCommunication()
        {
            try
            {
                string str = SendandReply + "925" + _taskRepository.GetSeqNo().Result.ToString();
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }

        /// <summary>
        /// 不允许下发任务  工序915
        /// </summary>
        /// <param name="Command">命令</param>
        /// <returns></returns>
        public void JobReady(string Command)
        {
            try
            {
                string str = SendNotReply + "915" + _taskRepository.GetSeqNo().Result.ToString() + Command;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// <summary>
        /// 设备状态上报 工序913
        /// </summary>
        /// <param name="state">状态\、R运行</param>
        /// <returns></returns>
        public void DeviceStateReport(string Status)
        {
            try
            {
                string str = SendNotReply + "913" + _taskRepository.GetSeqNo().Result.ToString() + Status;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// <summary>
        /// 设备状态上报 工序917
        /// </summary>
        /// <param name="state">状态\、R运行</param>
        /// <returns></returns>
        public void DeviceAutoStatusReport(string Status)
        {
            try
            {
                string str = SendNotReply + "917" + _taskRepository.GetSeqNo().Result.ToString() + Status;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }

        }

        /// /// <summary>
        /// 作业开始或结束 工序905
        /// </summary>
        /// <param name="Status">状态 L指AGV将托盘叉到货叉上、U指AGV将托盘放到库位上</param>
        /// <param name="FormLocation">起点</param>
        /// <param name="ToLocation">终点</param>
        /// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
        /// <param name="PallteCode">托盘号</param>
        public void JobStartOrEnd(string Status, string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendandReply + "905" + _taskRepository.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
           
        }

        /// <summary>
        /// 托盘动作上报 工序907
        /// </summary>
        /// <param name="Status">状态 L指AGV将托盘叉到货叉上、U指AGV将托盘放到库位上</param>
        /// <param name="FormLocation">起点</param>
        /// <param name="ToLocation">终点</param>
        /// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
        /// <param name="PallteCode">托盘号</param>
        /// <returns></returns>
        public void PalletActionReport(string Status, string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendNotReply + "907" + _taskRepository.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// <summary>
        /// 作业完成上报 工序901
        /// </summary>
        /// <param name="FormLocation">起点</param>
        /// <param name="ToLocation">终点</param>
        /// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
        /// <param name="PallteCode">托盘号</param>
        /// <returns></returns>
        public void PalletActionReport(string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendandReply + "901" + _taskRepository.GetSeqNo().Result.ToString() + "0" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// <summary>
        /// 设备站台状态上报 工序936
        /// </summary>
        /// <param name="FormLocation">起点</param>
        /// <param name="ToLocation">终点</param>
        /// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
        /// <param name="PallteCode">托盘号</param>
        /// <returns></returns>
        public void DeviceStationStatusReport(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, List<InStationStatus> inStation)
        {
            try
            {
                string str = SendNotReply + "936" + _taskRepository.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + GetListStringInStation(inStation);
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// /// <summary>
        /// 重新获取货位信息 工序105
        /// </summary>
        /// <param name="FormLocation">起点</param>
        /// <param name="ToLocation">终点</param>
        /// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
        /// <param name="PallteCode">托盘号</param>
        public void RecreateGetLocation(string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendandReply + "105" + _taskRepository.GetSeqNo().Result.ToString() + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// /// <summary>
        ///  异常上报  工序985
        /// </summary>
        /// <param name="FormLocation">起点</param>
        /// <param name="ToLocation">终点</param>
        /// <param name="Location">00表示AGV错误、01-08表示站台错误、99表示作业接收前数据错误</param>
        public void ErrorReport(string Trouble, string Level, string Location)
        {
            try
            {
                string str = SendNotReply + "985" + _taskRepository.GetSeqNo().Result.ToString() + Trouble + Level + Location;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// <summary>
        /// 接收HOST工序103回馈响应  工序104
        /// </summary>
        /// <param name="Statues">0表示OK接收作业、1表示拒绝、9表示作业任务验证有误</param>
        /// <returns></returns>
        public void DeviceReceiveJobResponse(string Statues)
        {
            try
            {
                string str = SendNotReply + "104" + _taskRepository.GetSeqNo().Result.ToString() + Statues;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// /// <summary>
        /// 空出库 工序107
        /// </summary>
        /// <param name="FormLocation">起点</param>
        /// <param name="ToLocation">终点</param>
        /// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
        /// <param name="PallteCode">托盘号</param>
        public void EmptyOutBound( string FormLocation, string ToLocation, string PallteCode)
        {
            try
            {
                string str = SendandReply + "107" + _taskRepository.GetSeqNo().Result.ToString() + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
                _socket.clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
            
        }

        /// <summary>
        /// 回复HOST909工序  工序910
        /// </summary>
        /// <param name="AgvStatus"></param>
        public void DeviceStatusReportResponse(HOSTAGVStatus AgvStatus,string X,string Y)
        {
            string str = SendNotReply + "910" + _taskRepository.GetSeqNo().Result.ToString() + "1" + GetFieldsAsString(AgvStatus)+X+Y;
        }

        #endregion

        #region WMS接收HOST回传方法 

        /// <summary>
        /// 接收HOST 响应请求  工序102 回复工序101
        /// </summary>
        /// <param name="message"></param>
        public void ReceiveCommandResponse(string message)
        {
            var parseMessage = GetParse(message);
            switch (parseMessage.body.ret)
            {
                //OK
                case "0":
                    //UpdateTaskLocation(parseMessage);
                    InsertWMSTask(parseMessage);
                    Thread.Sleep(500);
                    //915
                    JobReady("0");
                    break;
                //NG
                case "1":
                    break;
                //无库位分配
                case "2":
                    break;
                //站台到站台，出库站台未准备好
                case "3":
                    break;
                //非常温工程
                case "4":
                    break;

                case "9":
                    break;
                default:
                    break;
            }
        }

        /// <summary>
        /// 接收HOST响应AGV作业开始或启动 工序906 回复工序905
        /// </summary>
        public void AGVJobStartOrEndResponse(string status, string message)
        {
            switch (message)
            {
                //OK
                case "0":
                    if (status == "E")
                    {
                        DeviceStateReport("I");
                        Thread.Sleep(3000);
                        JobReady("1");
                    } 
                    break;
                //NG
                case "1":
                    //调用AGV暂停接口
                    break;
                case "9":
                    break;
                default:
                    break;
            }
        }

        /// <summary>
        /// 数据报告响应 工序902 回复工序901
        /// </summary>
        public void DataReportResponse(string message)
        {
            Dt_Task task = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskOutStatusEnum.AGV_OutFinish || x.TaskState == (int)TaskRelocationStatusEnum.AGV_RelocationFinish || x.TaskState == (int)TaskInStatusEnum.AGV_InFinish);
            if (task != null)
            {
                switch (task.TaskType)
                {
                    case (int)TaskInboundTypeEnum.Inbound:
                        //入库
                        task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
                        if (message == "0")
                        {
                            JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                        }
                        _taskService.CompleteInboundTask(task);
                        break;
                    case (int)TaskOutboundTypeEnum.Outbound:
                        //出库
                        if (message == "0")
                        {
                            JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                        }
                        task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
                        _taskService.CompleteOutboundTask(task);
                        break;
                    case (int)TaskRelocationTypeEnum.Relocation:
                        if (message == "0")
                        {
                            JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                        }
                        task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
                        _taskService.CompleteRelocationboundTask(task);
                        break;
                    case (int)TaskStationTypeEnum.StationToStation:
                        if (message == "0")
                        {
                            JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                        }
                        task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
                        _taskService.TaskMoveHty(task);
                        break;
                    default:
                        break;
                }
                
            }
        }
        /// <summary>
        /// HOST下发出库任务  工序103
        /// </summary>
        /// <param name="message"></param>
        public void HOSTOutBoundTask(string message)
        {
            try
            {
                var parseMessage = GetParse(message);
                switch (parseMessage.body.ret)
                {
                    //OK
                    case "0":
                        var task=InsertWMSTask(parseMessage);
                        _taskRepository.AddData(task);
                        InsertAGVTask(task);
                        Thread.Sleep(500);
                        //915
                        JobReady("0");
                        Thread.Sleep(500);
                        //104
                        DeviceReceiveJobResponse("0");
                        break;
                    default:
                        break;
                }
            }
            catch (Exception)
            {
                DeviceReceiveJobResponse("1");
            }
            
        }

        /// <summary>
        /// HOST设备状态获取  工序935
        /// </summary>
        /// <param name="message"></param>
        public void DeviceStationStatusInvite()
        {
            try
            {
                //回复936
                List<Dt_StationManager> Instation = _stationManagerRepository.QueryData(x => x.stationType == 1).ToList();
                List<Dt_StationManager> Outstation = _stationManagerRepository.QueryData(x => x.stationType == 2).ToList();
                List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
                List<InStationStatus> inStationStatus = new List<InStationStatus>();
                foreach (var item in Instation)
                {
                    inStationStatus.Add(new InStationStatus()
                    {
                        StationName = item.stationName,
                        StationEnable = item.stationStatus,
                        IsDistributionTask = item.stationHasTask,
                        PallteCode = "0000000000",
                    });
                }
                foreach (var item in Outstation)
                {
                    StationStatus station = GetStationStatus(item.stationName);
                    var taskStation = _taskRepository.QueryFirst(x => x.SourceAddress == item.stationName || x.TargetAddress == item.stationName);
                    outStationStatus.Add(new OutStationStatus()
                    {
                        StationName = item.stationName,
                        StationEnable = station.StationEnable == "1" ? "0" : "1",
                        IsDistributionTask = taskStation == null ? "0" : "1",
                        Spare1 = "00"
                    });
                    //outStationStatus.Add(new OutStationStatus()
                    //{
                    //    StationName = item.stationName,
                    //    StationEnable = item.stationStatus,
                    //    IsDistributionTask = item.stationHasTask,
                    //    Spare1 = "00"
                    //});
                }
                AGVStatusRespone status = GetAGVStatus();
                HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
                {
                    RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
                    AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
                    Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
                };
                DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus);
            }
            catch (Exception)
            {
                DeviceReceiveJobResponse("1");
            }

        }

        /// <summary>
        /// 接收HOST重新分配货位  工序106
        /// </summary>
        /// <param name="message"></param>
        public void RecreateGetLocation(string message)
        {
            try
            {
                var parseMessage = GetParse(message);
                switch (parseMessage.body.ret)
                {
                    //OK
                    case "0":
                        UpdateTaskLocation(parseMessage);
                        break;
                    //NG
                    case "1":
                        break;
                    //无库位分配
                    case "2":
                        break;
                    case "9":
                        break;
                    default:
                        break;
                }
            }
            catch (Exception)
            {
                DeviceReceiveJobResponse("1");
            }

        }

        /// <summary>
        ///  HOST空出库响应 工序108
        /// </summary>
        /// <param name="message"></param>
        public void EmptyOutBoundResponse(string message)
        {
            if (message != null && message == "0")
            {
                DeviceStateReport("I");
                Thread.Sleep(500);
                JobReady("1");

            }
        }

        /// <summary>
        /// HOST获取设备状态  工序909
        /// </summary>
        public void DeviceStatusReportRequest()
        {
            HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
            {
                RuntimeStatus = "R",
                AutoStatus = "1",
                Ready="1"
            };
            string axis = "000000";
            DeviceStatusReportResponse(AgvStatus,axis,axis);
        }
        #endregion

        #region 全局方法
        /// <summary>
        /// 拼接报文
        /// </summary>
        /// <param name="Message"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public byte[] MakeStringToByteMsg(string Message)
        {
            try
            {
                byte[] byt = Encoding.UTF8.GetBytes(Message);  // 使用 UTF-8 避免编码问题

                LogFactory.GetLog("请求托盘任务").Error(true, BitConverter.ToString(byt));
                string checksum = GetCheckSum(byt);

                string str = Message + checksum;

                byte[] buffer = Encoding.UTF8.GetBytes(str);

                byte newFirstByte = 2; // 新的第一位数据
                byte newLastByte = 3;  // 新的最后一位数据

                // 创建一个新数组，长度比原始数组多2
                byte[] newArray = new byte[buffer.Length + 2];

                // 将新的数据插入到新数组的第一位
                newArray[0] = newFirstByte;

                // 将新的数据插入到新数组的最后一位
                newArray[newArray.Length - 1] = newLastByte;

                // 复制原始数组的所有数据到新数组的中间部分
                Array.Copy(buffer, 0, newArray, 1, buffer.Length);

                return newArray;
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }
        //public bool IsOnline()
        //{
           
        //}
        public string GetListStringOutStation(List<OutStationStatus> outStationStatus)
        {
            return string.Join("", outStationStatus.Select(status =>$"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
        }
        public string GetListStringInStation(List<InStationStatus> inStationStatus)
        {
            return string.Join("", inStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
        }
        /// <summary>
        /// 将对象值凭拼接
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public static string GetFieldsAsString(object obj)
        {
            if (obj == null)
            {
                return "Object is null";
            }

            StringBuilder builder = new StringBuilder();
            Type type = obj.GetType();

            foreach (PropertyInfo property in type.GetProperties())
            {
                if (property.CanRead)
                {
                    object value = property.GetValue(obj);
                    if (value != null)
                    {
                        builder.Append(value);
                    }
                }
            }
            return builder.ToString();
        }
        /// <summary>
        /// 获取CheckSum值
        /// </summary>
        /// <param name="data"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public string GetCheckSum(byte[] data)
        {
            int sum = 0;
            try
            {
                for (int i = 0; i < data.Length; i++)
                {
                    sum += data[i];
                }
                string str = sum.ToString();
                return str.Substring(str.Length - 2);
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }

        public ParseMessage SubString(string Y)
        {

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

            // 检查是否以 STX 开头、ETX 结尾
            if (Y.Substring(0, 4) == STX && Y.Substring(Y.Length - 4) == ETX)
            {
                string str = Y.Substring(4, Y.Length - 8);
                byte[] message = Encoding.UTF8.GetBytes(str);
                int newLength = message.Length - 2;

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

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

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

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

        #region 定义对象
        

        #endregion

        #region 私有方法
        private void UpdateTaskLocation(ParseMessage parseMessage)
        {
            var task = _taskRepository.QueryFirst(x => x.SeqNo == Convert.ToInt32(parseMessage.nSeqNo) && x.PalletCode.Contains(parseMessage.body.TrayIdList));
            if (task != null)
            {
                task.TargetAddress = parseMessage.body.ToLocation;
                task_call agvtask = SqlSugarHelper.DbAGV.Queryable<task_call>().Where(it => it.d_involed5 == task.TaskNum).First();
                _taskRepository.Update(task);
                SqlSugarHelper.DbAGV.Updateable(agvtask).ExecuteCommand();
            }

        }

        private Dt_Task InsertWMSTask(ParseMessage parseMessage)
        {
            //var task = _taskRepository.QueryFirst(x => x.PalletCode.Contains(parseMessage.body.TrayIdList));
            int taskType = 0;
            int taskState = 0;
            if (parseMessage.body.JobType == "I")
            {
                taskType = (int)TaskInboundTypeEnum.Inbound;
                taskState = (int)TaskInStatusEnum.InNew;
            }
            else if (parseMessage.body.JobType == "O")
            {
                taskType = (int)TaskOutboundTypeEnum.Outbound;
                taskState = (int)TaskOutStatusEnum.OutNew;
            }
            else if (parseMessage.body.JobType == "S")
            {
                taskType = (int)TaskStationTypeEnum.StationToStation;
                taskState = (int)TaskOutStatusEnum.OutNew;
            }
            else if (parseMessage.body.JobType == "R")
            {
                taskType = (int)TaskRelocationTypeEnum.Relocation;
                taskState = (int)TaskRelocationStatusEnum.RelocationNew;
            }
            else
            {
                throw new Exception("未知库位");
            }
            return new Dt_Task()
            {
                TaskNum = _taskRepository.GetTaskNo().Result,
                SourceAddress = parseMessage.body.FromLocation,
                TargetAddress = parseMessage.body.ToLocation,
                PalletCode = parseMessage.body.TrayIdList.Substring(0, 10),
                TaskType = taskType,
                TaskState = taskState,
                Dispatchertime = DateTime.Now,
                SeqNo = Convert.ToInt32(parseMessage.nSeqNo),
                CommandID = Convert.ToInt32(parseMessage.bCmdID)
            };
            
        }
        /// <summary>
        /// 添加AGV任务
        /// </summary>
        /// <param name="task">任务对象</param>
        /// <returns></returns>
        private int InsertAGVTask(Dt_Task task)
        {
            task_call task_Call = new task_call()
            {
                d_task_type = task.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
                d_floor = 1,
                d_involed1 = task.SourceAddress,
                d_involed2 = task.TargetAddress,
                d_involed5 = task.TaskNum,
            };

            return SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
        }
        public ParseMessage GetParse(string x)
        {
            return new ParseMessage()
            {
                bDir = x.Substring(0, 1),
                bObjID = x.Substring(2, 10),
                bReply = x.Substring(11, 1),
                bCmdID = x.Substring(12, 3),
                nSeqNo = x.Substring(15, 5),
                body = new ReceiveBody
                {
                    ret = x.Substring(21, 1),
                    JobOrderID = x.Substring(22, 16),
                    priority = x.Substring(39, 1),
                    FromLocation = x.Substring(40, 6),
                    ToLocation = x.Substring(47, 6),
                    JobType = x.Substring(54, 1),
                    TrayCnt = x.Substring(55, 1),
                    TrayIdList = x.Substring(56)
                },
            };
        }
        public AGVStatusRespone GetAGVStatus()
        {
            string urlnew = url + "/ilns/AGV/getAgvState";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { getStatus = "1" }.ToJson())).Result;

            return JsonConvert.DeserializeObject<AGVStatusRespone>(result.ToString());
        }

        public StationStatus GetStationStatus(string stationName)
        {
            string urlnew = url + "/ilns/strl/getStat";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { strlName = stationName }.ToJson())).Result;
            return JsonConvert.DeserializeObject<StationStatus>(result.ToString());
        }


        //public string GetFirstUpper(string Status)
        //{
        //    switch (Status)
        //    {
        //        case "Run":
        //            //运行
        //            return "R";
        //        case "Idle":
        //            //关机
        //            return "I";
        //        case "Trouble":
        //            //故障
        //            return "T";
        //        case "Pause":
        //            //暂停
        //            return "S";
        //        case "Charge":
        //            //充电
        //            return "C";
        //        case "PowerOn":
        //            //开机
        //            return "P";
        //        case "PowerOFF":
        //            //关机
        //            return "O";
        //        case "MaintenanceMode":
        //            //关机
        //            return "1";
        //        case "ControlMode":
        //            //关机
        //            return "0";
        //        default: break;
        //    }
        //}
        public string CapitalizeFirstLetter(string s)
        {
            if (string.IsNullOrEmpty(s))
            {
                return "";
            }

            char firstChar = s[0];
            return char.ToUpper(firstChar).ToString();
        }
        #endregion
    }
}