using LogLibrary.Log;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Logging;
using Newtonsoft.Json;
using System.Net;
using System.Net.Sockets;
using System.Reflection;
using System.Text;
using WIDESEA_Common;
using WIDESEA_Core;
using WIDESEA_Core.Enums;
using WIDESEA_Core.Helper;
using WIDESEA_DTO.AGV;
using WIDESEA_DTO;
using WIDESEA_IStorageBasicRepository;
using WIDESEA_IStorageSocketServices;
using WIDESEA_IStorageTaskRepository;
using WIDESEA_Model.Models.AGV;
using WIDESEA_Model.Models;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_Model.Models;
using WIDESEA_Core.BaseRepository;
using AutoMapper;
using Mapster;
using AngleSharp.Dom;
using Masuit.Tools.Security;
using WIDESEA_IStorageTaskServices;
using System.Threading.Tasks;
using Microsoft.Extensions.DependencyInjection;
using WIDESEA_IBusinessesRepository;
using WIDESEA_Repository;
using static MailKit.Telemetry;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using System.Runtime.InteropServices;

namespace WIDESEA_StorageSocketServices
{
    public class SocketClientService : ISocketClientServices
    {
        System.Net.Sockets.Socket socket;
        const byte STX = 2;
        const byte ETX = 3;
        private readonly ILogger<SocketClientService> _logger;
        private readonly LogFactory LogFactory = new LogFactory();
        private readonly IDt_StationManagerRepository _stationManagerRepository;
        private readonly IDt_TaskRepository BaseDal;
        Connection connection = AppSettings.Configuration.GetSection("Connection").Get<Connection>();
        string url = AppSettings.Configuration["AGVIP"];
        private readonly IDt_TaskService _taskService;
        private readonly IDt_HostLogRepository _hostLogRepository;
        private bool _IsOnline=false;
        public DateTime Time { get; set; } = DateTime.Now;


        public SocketClientService(IDt_TaskService TaskService, IDt_TaskRepository TaskRepository, IDt_StationManagerRepository stationManagerRepository, ILogger<SocketClientService> logger,IDt_HostLogRepository hostLogRepository)
        {
            BaseDal = TaskRepository;
            _stationManagerRepository = stationManagerRepository;
            _logger = logger;
            _taskService = TaskService;
            _hostLogRepository = hostLogRepository;
        }

        /// <summary>
        /// TCPSocket连接
        /// </summary>
        /// <param name="IP"></param>
        /// <param name="Port"></param>
        public void ConnectServer(string IP, int Port)
        {
            try
            {
                // 检查是否已连接，避免重复创建
                if (socket != null && socket.Connected)
                {
                    //ConsoleHelper.WriteErrorLine($"Socket已处于连接状态");
                    return;
                }

                //创建负责通信的socket
                socket = new System.Net.Sockets.Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
                IPAddress ip = IPAddress.Parse(IP);
                IPEndPoint point = new IPEndPoint(ip, Convert.ToInt32(Port));

                //获得要连接的远程服务器应用程序的IP地址和端口号
                socket.Connect(point);

                _logger.LogInformation("Socket连接成功");
                ConsoleHelper.WriteSuccessLine("Socket连接成功");

                DeleteHostLog(910);

                _IsOnline = true;
                RequestCommunication();
                AGVStatusRespone status = GetAGVStatus();

                DeviceStateReport(GetAGVStatus(status.RuntimeStatus));

                //开启一个新的线程不停的接收服务端发来的信息
                Thread th = new Thread(Receive);
                th.IsBackground = true;
                th.Start();
                return;
            }
            catch (Exception ex)
            {
                _IsOnline = false;
                ConsoleHelper.WriteErrorLine($"Socket连接失败{ex.Message}");
                HandleDisconnection();
            }
        }


        public bool Socketonline()
        {
            return _IsOnline;
        }

        /// <summary>
        /// 线程读取数据
        /// </summary>
        void Receive()
        {
            Time = DateTime.Now;
            while (true)
            {
                try
                {
                    byte[] buffer = new byte[1024]; // 接收缓冲区
                    int bytesReceived = socket.Receive(buffer); // 接收数据
                    byte[] receivedData = new byte[bytesReceived];

                    Array.Copy(buffer, receivedData, bytesReceived); // 复制有效数据
                    var Y = Encoding.UTF8.GetString(receivedData);

                    // 检查是否以 STX 开头、ETX 结尾
                    if (receivedData[0] == STX && receivedData[receivedData.Length - 1] == ETX)
                    {
                        int newLength = receivedData.Length - 2;
                        int newCheckSumLength = receivedData.Length - 3;

                        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(receivedData, 1, newArray, 0, newLength);
                        string calculatedChecksum = GetCheckSumone(newArray);

                        var str = Encoding.UTF8.GetString(newArray);
                        string receivedChecksum = str.Substring(str.Length - 2);

                        LogFactory.GetLog("接收Socket数据").Info(true, $"{JsonConvert.SerializeObject(GetParse(str))}{Environment.NewLine}");
                        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),
                            };
                            ProcessCommand(parseMessage.bCmdID, x);
                        }
                        else
                        {
                            CheckSum("3");
                            LogFactory.GetLog("Socket接收数据").Error(true, $"CheckSum校验失败,解析{calculatedChecksum}、读取{receivedChecksum}");
                        }
                    }
                    else
                    {
                        LogFactory.GetLog("Socket接收数据").Error(true, $"无效报文格式:{JsonConvert.SerializeObject(Y)}{Environment.NewLine}");
                    }
                }
                catch
                {
                    _IsOnline = false;
                    HandleDisconnection();
                }
            }
        }


        /// <summary>
        /// 作业JobType
        /// </summary>
        /// <param name="cmdId"></param>
        /// <param name="x"></param>
        private void ProcessCommand(string cmdId, string x)
        {
            switch (cmdId)
            {
                case "102":
                    ReceiveCommandResponse(x);
                    break;
                case "906":
                    AGVJobStartOrEndResponse(x.Substring(20, 1), x.Substring(21, 1));
                    break;
                case "902":
                    DataReportResponse(x.Substring(20, 1));
                    break;
                case "935":
                    DeviceStationStatusInvite(x.Substring(15, 5));
                    break;
                case "103":
                    HOSTOutBoundTask(x);
                    break;
                case "106":
                    RecreateGetLocation(x);
                    break;
                case "108":
                    EmptyOutBoundResponse(x.Substring(20, 1));
                    break;
                case "909":
                    DeviceStatusReportRequest();
                    break;
                case "987":
                    FireAlarm(x.Substring(21, 6), x.Substring(15, 5));
                    break;
                case "301":
                    UpdateLocalTime(x.Substring(30), x.Substring(15, 5));
                    break;
                case "918":
                    break;
                default:
                    CheckSum("1");
                    break;
            }
        }

        #region
        //private void HandleDisconnection()
        //{
        //    int attempts = 100;
        //    do
        //    {
        //        string message = "连接已断开..." + '\n';
        //        message += "等待5秒后重新连接" + '\n';
        //        Console.WriteLine(message);

        //        // 关闭当前连接
        //        try
        //        {
        //            socket?.Close();
        //        }
        //        catch { }

        //        // 等待5秒
        //        Thread.Sleep(5000);

        //        // 尝试重新连接
        //        ConnectServer(connection.IP, connection.Port);
        //        attempts--;
        //    } while (!socket.Connected && attempts > 0);
        //}
        #endregion

        /// <summary>
        /// 重连
        /// </summary>
        public void HandleDisconnection()
        {
            int maxAttempts = 10; // 最大尝试次数
            int currentAttempts = 0;

            while (currentAttempts < maxAttempts)
            {
                string message = "与Host系统连接已断开..." + '\n';
                message += "等待5秒后重新连接" + '\n';
                Console.WriteLine(message);

                // 关闭当前连接
                try
                {
                    socket?.Close();
                }
                catch { }

                // 等待5秒
                Thread.Sleep(5000);

                // 尝试重新连接
                ConnectServer(connection.IP, connection.Port);
                currentAttempts++;

                // 检查是否已连接
                if (socket?.Connected ?? false)
                {
                    break; // 连接成功，退出循环
                }
            }

            if (currentAttempts >= maxAttempts)
            {
                Console.WriteLine("已达到最大重连次数，停止重连。");
                // 可以在这里进行其他处理，例如通知用户或记录日志
            }
        }

        /// <summary>
        /// 下发
        /// </summary>
        /// <param name="buffer"></param>
        public void clientSend(byte[] buffer)
        {
            socket.Send(buffer);


            int newLength = buffer.Length - 2;
            byte[] newArray = new byte[newLength];

            Array.Copy(buffer, 1, newArray, 0, newLength);
            string calculatedChecksum = GetCheckSumone(newArray);

            var str = Encoding.UTF8.GetString(newArray);
            string receivedChecksum = str.Substring(str.Length - 2);

            var x = Encoding.UTF8.GetString(newArray);

            LogFactory.GetLog("Socket发送数据").Info(true, $"{JsonConvert.SerializeObject(GetParse(x))}{Environment.NewLine}");
        }

        /// <summary>
        /// CheckSum解析
        /// </summary>
        /// <param name="x"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public string GetCheckSumone(byte[] x)
        {
            int sum = 0;
            try
            {
                for (int i = 0; i < x.Length - 2; i++)
                {
                    sum += x[i];
                }
                string str = sum.ToString();
                return str.Substring(str.Length - 2);
            }
            catch (Exception ex)
            {
                throw new Exception(ex.Message);
            }
        }


        #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";

        public const string JobOrderIDPDA = "PDA0000000000000";

        public const string JobOrderIDF   = "FIRE000000000000";

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

        /// <summary>
        /// 重入库
        /// </summary>
        public const string Restocking = "2100";


        public const string EmptyOutBoundconst = "2101";

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

        /// <summary>
        /// 设备编号
        /// </summary>
        public const string DeviceID = "0013130010";
        /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + OutStationSpare2 + "1" + GetFieldsAsString(inStation);
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("DeviceRequestInbound").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// <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" + BaseDal.GetSeqNo().Result.ToString("D5");
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("RequestCommunication").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + Command;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("JobReady").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("DeviceStateReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <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 = SendandReply + "917" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("DeviceAutoStatusReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("JobStartOrEnd").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("PalletActionReport工序907").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + "0" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                Dt_HostLog hostLog = new Dt_HostLog()
                {
                    CommandID = 901,
                    Count=0,
                    Messgae=str,
                };
                _hostLogRepository.AddData(hostLog);
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("PalletActionReport工序901").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        public void PalletActionReportPDA(string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString("D5") + "0" + JobOrderIDPDA + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("PalletActionReportPDA工序901").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        public void PalletActionReportFrie(string FormLocation, string ToLocation, string TaskType, string PallteCode)
        {
            try
            {
                string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString("D5") + "0" + JobOrderIDF + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("PalletActionReportPDA工序901").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <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, string sGetSeqNo)
        {
            try
            {
                var agvstatus = GetFieldsAsString(Agvstatus);
                var outstation = GetListStringOutStation(outStations);
                var instation = GetListStringInStation(inStation);
                string str = SendNotReply + "936" + sGetSeqNo + agvstatus + outstation + OutStationSpare2 + "2" + instation;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("DeviceStationStatusReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// /// <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
            {
                ErrorReport(Restocking, "A", "00");
                string str = SendandReply + "105" + BaseDal.GetSeqNo().Result.ToString("D5") + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                Dt_HostLog hostLog = new Dt_HostLog()
                {
                    CommandID = 105,
                    Count = 0,
                    Messgae = str,
                };
                _hostLogRepository.AddData(hostLog);
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("RecreateGetLocation").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <summary>
        /// CheckSum校验 工序981
        /// </summary>
        /// <param name="message"></param>
        public void CheckSum(string message)
        {
            try
            {
                string str = SendNotReply + "981" + BaseDal.GetSeqNo().Result.ToString("D5") + message;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("CheckSum").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + Trouble + Level + Location;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("ErrorReport").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// <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" + BaseDal.GetSeqNo().Result.ToString("D5") + Statues;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("DeviceReceiveJobResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// /// <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
            {
                ErrorReport(EmptyOutBoundconst, "A", "00");
                string str = SendandReply + "107" + BaseDal.GetSeqNo().Result.ToString("D5") + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
                Dt_HostLog hostLog = new Dt_HostLog()
                {
                    CommandID = 107,
                    Count = 0,
                    Messgae = str,
                };
                _hostLogRepository.AddData(hostLog);
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("EmptyOutBound").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        /// <summary>
        /// 回复HOST909工序  工序910
        /// </summary>
        /// <param name="AgvStatus"></param>
        public void DeviceStatusReportResponse(HOSTAGVStatus AgvStatus, string X, string Y)
        {
            try
            {
                string str = SendNotReply + "910" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(AgvStatus) + X + Y;
                clientSend(MakeStringToByteMsg(str));
                Dt_HostLog hostLog = new Dt_HostLog()
                {
                    CommandID = 910,
                    Count = 0,
                    Messgae = str,
                };
                _hostLogRepository.AddData(hostLog);
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("DeviceStatusReportResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// <summary>
        /// 回复HOST987工序  工序988
        /// </summary>
        /// <param name="AgvStatus"></param>
        /// <param name="X"></param>
        /// <param name="Y"></param>
        public void FireAlarmReportResponse(string SeqNo,string IsOK,string Location)
        {
            try
            {
                string str = SendNotReply + "988" + SeqNo + IsOK + Location;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("FireAlarmReportResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
            
        }


        /// <summary>
        /// 回复HOST301工序  工序302
        /// </summary>
        /// <param name="AgvStatus"></param>
        /// <param name="X"></param>
        /// <param name="Y"></param>
        public void UpdateLocalTimeResponse(string message,string SeqNo)
        {
            try
            {
                string str = SendNotReply + "302" + SeqNo + message;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
            {
                LogFactory.GetLog("UpdateLocalTimeResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }

        #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)
        {
            try
            {
                ParseMessage parseMessage = GetParse(message);
                var lcationEnd = parseMessage.body.ToLocation;
                switch (parseMessage.body.ret)
                {
                    //OK
                    case "0":
                        GetLocation(parseMessage);
                        break;
                    //NG
                    case "1":
                        AddErrorMessage("2013", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //无库位分配
                    case "2":
                        AddErrorMessage("2014", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //站台到站台，出库站台未准备好
                    case "3":
                        AddErrorMessage("2015", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //非常温工程
                    case "4":
                        AddErrorMessage("2016", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    case "9":
                        AddErrorMessage("2017", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host102回复WMS101ReceiveCommandResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }         
        }

        /// <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)
        {
            try
            {
                switch (message)
                {
                    //OK
                    case "0":
                        if (status == "E")
                        {
                            AGVStatusRespone Agvstatus = GetAGVStatus();

                            DeviceStateReport(GetAGVStatus(Agvstatus.RuntimeStatus));
                            Thread.Sleep(3000);
                            JobReady("1");
                        }
                        break;
                    //NG
                    case "1":
                        //调用AGV暂停接口
                        AddErrorMessage("2004", "Host", "");
                        break;
                    case "9":
                        AddErrorMessage("2005", "Host", "");
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host906回复WMS905AGVJobStartOrEndResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
           

            
        }

        /// <summary>
        /// 数据报告响应 工序902 回复工序901
        /// </summary>
        public void DataReportResponse(string message)
        {
            try
            {
                DeleteHostLog(901);
                #region 
                switch (message)
                {
                    case "0":

                        break;
                    case "1":
                        AddErrorMessage("2001", "Host", "");
                        break;
                    case "9":
                        AddErrorMessage("2002", "Host", "");
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host902回复WMS901DataReportResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
            
            #endregion
        }
        /// <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":
                        GetLocation(parseMessage);
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host103HOSTOutBoundTask").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
        /// <summary>
        /// HOST设备状态获取  工序935
        /// </summary>
        /// <param name="message"></param>
        public void DeviceStationStatusInvite(string sSeqNo)
        {
            try
            {
                //回复936

                StationStatus stationIn = GetStationStatus("B002");
                StationStatus stationOut = GetStationStatus("B001");

                if(stationIn == null || stationOut == null)
                {
                    ErrorReport("2103", "A", "00");
                }

                List<OutStationStatus> outStationStatus = GetOutStationStatus(stationOut);
                List<InStationStatus> inStationStatus = GetInStationStatus(stationIn);

                #region
                //inStationStatus.Add(new InStationStatus()
                //{
                //    StationName = "02",
                //    StationEnable = stationIn.WorkstationO == "1" ? "0" : "1",
                //    IsDistributionTask = "0",
                //    PallteCode = "0000000000",
                //});
                //inStationStatus.Add(new InStationStatus()
                //{
                //    StationName = "01",
                //    StationEnable = stationIn.WorkstationT == "1" ? "0" : "1",
                //    IsDistributionTask = "0",
                //    PallteCode = "0000000000",
                //});
                //var taskOutStationO = BaseDal.QueryFirst(x => x.SourceAddress == "B001::1" || x.TargetAddress == "B001::1");
                //var taskOutStationT = BaseDal.QueryFirst(x => x.SourceAddress == "B001::2" || x.TargetAddress == "B001::2");
                //outStationStatus.Add(new OutStationStatus()
                //{
                //    StationName = "04",
                //    StationEnable = stationOut.WorkstationO == "1" ? "0" : "1",
                //    IsDistributionTask = taskOutStationO == null ? "0" : "1",
                //    Spare1 = "00"
                //});
                //outStationStatus.Add(new OutStationStatus()
                //{
                //    StationName = "03",
                //    StationEnable = stationOut.WorkstationT == "1" ? "0" : "1",
                //    IsDistributionTask = taskOutStationT == null ? "0" : "1",
                //    Spare1 = "00"
                //});
                #endregion
                AGVStatusRespone status = GetAGVStatus();
                HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
                {
                    RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
                    AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
                };
                if (status.RuntimeStatus == "Idle" && status.AutoStatus == "ControlMode")
                {
                    AgvStatus.Ready = "1";
                }
                else
                {
                    AgvStatus.Ready = "0";
                }
                DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus, sSeqNo);
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host935DeviceStationStatusInvite").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
                JobReady("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
            {
                DeleteHostLog(105);
                var parseMessage = GetParse(message);
                var lcationEnd = parseMessage.body.ToLocation;
                switch (parseMessage.body.ret)
                {
                    //OK
                    case "0":
                        GetLocation(parseMessage,true);
                        break;
                    //NG
                    case "1":
                        AddErrorMessage("2019", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    //无库位分配
                    case "2":
                        AddErrorMessage("2020", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    case "9":
                        AddErrorMessage("2021", "Host", StationParse(parseMessage.body.FromLocation));
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host106重新分配库位RecreateGetLocation").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
                JobReady("1");
            }
        }

        /// <summary>
        ///  HOST空出库响应 工序108
        /// </summary>
        /// <param name="message"></param>
        public void EmptyOutBoundResponse(string message)
        {
            try
            {
                DeleteHostLog(107);
                if (message != null)
                {
                    switch (message)
                    {
                        case "0":
                            AGVStatusRespone Agvstatus = GetAGVStatus();
                            DeviceStateReport(GetAGVStatus(Agvstatus.RuntimeStatus));
                            Thread.Sleep(2000);
                            JobReady("1");
                            break;
                        case "1":
                            AddErrorMessage("2023", "Host", "");
                            break;
                        case "9":
                            AddErrorMessage("2024", "Host", "");
                            break;
                        default:
                            break;
                    }
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host108空出库响应EmptyOutBoundResponse").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }

        /// <summary>
        /// Host下发火警任务  987
        /// </summary>
        public void FireAlarm(string Location, string SeqNo)
        {
            try
            {
                Dt_Task taskNew = new Dt_Task();
                var stock = SqlSugarHelper.DbWMS.Queryable<DtStockInfo>().Where(x => x.LocationCode == Location).First();

                var location = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.SourceAddress == Location).First();
                if (location != null)
                {
                    FireAlarmReportResponse(SeqNo, "0", Location);
                    return;
                }
                var stationOne = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.TargetAddress == "B001::1").ToList();
                var stationTwo = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.TargetAddress == "B001::2").ToList();

                if (stationOne.Count > 0 && stationTwo.Count > 0)
                {
                    if (stationOne.Count > stationTwo.Count)
                    {
                        taskNew = GetFireAlarm(Location, "B001::2", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    else
                    {
                        taskNew = GetFireAlarm(Location, "B001::1", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    FireAlarmReportResponse(SeqNo, "0", Location);
                }
                else
                {
                    StationStatus stationOut = GetStationStatus("B001");

                    if (stationOut != null && stationOut.WorkstationO == "0" && stationOne.Count == 0)
                    {
                        taskNew = GetFireAlarm(Location, "B001::1", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    else if (stationOut != null && stationOut.WorkstationT == "0" && stationTwo.Count == 0)
                    {
                        taskNew = GetFireAlarm(Location, "B001::2", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    else
                    {
                        taskNew = GetFireAlarm(Location, "B001::2", stock == null ? "F" + DateTime.Now.ToString("HHmmss") + new Random().Next(100, 1000) : stock.PalletCode, SeqNo);
                    }
                    FireAlarmReportResponse(SeqNo, "0", Location);
                }
                BaseDal.AddData(taskNew);
                InsertAGVTask(taskNew);
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("火警987FireAlarm").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
        }


        /// <summary>
        /// 获取消防任务
        /// </summary>
        /// <param name="SourceAddress">起始地址</param>
        /// <param name="TargetAddress">终点地址</param>
        /// <param name="PalletCode">托盘号</param>
        /// <param name="SeqNo">Host序列号</param>
        /// <returns></returns>
        public Dt_Task GetFireAlarm(string SourceAddress, string TargetAddress, string PalletCode, string SeqNo)
        {
            return new Dt_Task()
            {
                SourceAddress = SourceAddress,
                TargetAddress = TargetAddress,
                CurrentAddress = SourceAddress,
                NextAddress = TargetAddress,
                TaskType = (int)TaskFireAlarmTypeEnum.FireAlarmOut,
                TaskState = (int)TaskFireAlarmStatusEnum.FireAlarmNew,
                Remark = TargetAddress,
                TaskNum = BaseDal.GetTaskNo().Result,
                PalletCode = PalletCode == null ? "" : PalletCode,
                Dispatchertime = DateTime.Now,
                Grade = 1,
                SeqNo = Convert.ToInt32(SeqNo),
                CommandID = Convert.ToInt32(987),
            };
        }
       
        /// <summary>
        /// HOST获取设备状态  工序909
        /// </summary>
        public void DeviceStatusReportRequest()
        {
            try
            {
                DeleteHostLog(910);
                AGVStatusRespone status = GetAGVStatus();

                HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
                {
                    RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
                    AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",

                };
                if (status.RuntimeStatus == "Idle" && status.AutoStatus == "ControlMode")
                {
                    AgvStatus.Ready = "1";
                }
                else
                {
                    AgvStatus.Ready = "0";
                }
                string axis = "000000";

                DeviceStatusReportResponse(AgvStatus, axis, axis);
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("Host心跳").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }
            
        }


        /// <summary>
        /// WMS同步Host时间  工序301
        /// </summary>
        public void UpdateLocalTime(string Time,string SeqNo)
        {
            try
            {
                SYSTEMTIME newTime = new SYSTEMTIME
                {
                    Year = Convert.ToUInt16(Time.Substring(0,4)),
                    Month = Convert.ToUInt16(Time.Substring(4, 2)),
                    Day = Convert.ToUInt16(Time.Substring(6, 2)),
                    Hour = Convert.ToUInt16(Time.Substring(8, 2)),
                    Minute = Convert.ToUInt16(Time.Substring(10, 2)),
                    Second = Convert.ToUInt16(Time.Substring(12, 2)),
                    Milliseconds = 0
                };
                if (SetLocalTime(ref newTime))
                {
                    UpdateLocalTimeResponse("0", SeqNo);
                    Console.WriteLine("系统时间已成功修改。");
                }
                else
                {
                    UpdateLocalTimeResponse("1", SeqNo);
                    Console.WriteLine("修改系统时间失败。请确保以管理员权限运行此程序。");
                }
            }
            catch (Exception ex)
            {
                ErrorReport("2199", "A", "00");
                LogFactory.GetLog("UpdateLocalTime时间同步").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(ex.Message)}{Environment.NewLine}{ex.StackTrace}", "");
            }

        }
        #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

                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 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.IsHasPallte}{status.Spare1}{status.StationPallteCount}{status.PallteCode}{status.Spare2}"));
        }
        /// <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 List<OutStationStatus> GetOutStationStatus(StationStatus stationOut)
        {
            List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
            var taskOutStationO = BaseDal.QueryFirst(x => x.SourceAddress == "B001::1" || x.TargetAddress == "B001::1");
            var taskOutStationT = BaseDal.QueryFirst(x => x.SourceAddress == "B001::2" || x.TargetAddress == "B001::2");
            outStationStatus.Add(new OutStationStatus()
            {
                StationName = "04",
                StationEnable = stationOut.WorkstationO == "1" ? "0" : "1",
                IsDistributionTask = taskOutStationO == null ? "0" : "1",
                Spare1 = "00"
            });
            outStationStatus.Add(new OutStationStatus()
            {
                StationName = "03",
                StationEnable = stationOut.WorkstationT == "1" ? "0" : "1",
                IsDistributionTask = taskOutStationT == null ? "0" : "1",
                Spare1 = "00"
            });
            return outStationStatus;
        }

        public List<InStationStatus> GetInStationStatus(StationStatus stationIn)
        {
            List<InStationStatus> inStationStatus = new List<InStationStatus>();
            var taskOutStationO = BaseDal.QueryFirst(x => x.SourceAddress == "B002::1" || x.TargetAddress == "B002::1");
            var taskOutStationT = BaseDal.QueryFirst(x => x.SourceAddress == "B002::2" || x.TargetAddress == "B002::2");
            inStationStatus.Add(new InStationStatus()
            {
                StationName = "02",
                StationEnable = stationIn.WorkstationO == "1" ? "0" : "1",
                IsDistributionTask = taskOutStationO == null ? "0" : "1",
                PallteCode = "0000000000",
            });
            inStationStatus.Add(new InStationStatus()
            {
                StationName = "01",
                StationEnable = stationIn.WorkstationT == "1" ? "0" : "1",
                IsDistributionTask = taskOutStationT == null ? "0" : "1",
                PallteCode = "0000000000",
            });
            return inStationStatus;
        }
        #endregion

        #region 私有方法
        /// <summary>
        /// 添加WMS任务
        /// </summary>
        /// <param name="parseMessage"></param>
        /// <exception cref="Exception"></exception>
        private void InsertWMSTask(ParseMessage parseMessage)
        {
            int taskType = 0;
            int taskState = 0;
            Dt_Task task = new Dt_Task();
            if (parseMessage.body.JobType == "I")
            {
                Dt_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.HostName == parseMessage.body.FromLocation.Substring(4, 2));
                task.SourceAddress = StationParse(parseMessage.body.FromLocation);
                task.TargetAddress = parseMessage.body.ToLocation;
                task.CurrentAddress = StationParse(parseMessage.body.FromLocation);
                task.NextAddress = parseMessage.body.ToLocation;
                taskType = (int)TaskInboundTypeEnum.Inbound;
                taskState = (int)TaskInStatusEnum.InNew;
                task.Remark = parseMessage.body.FromLocation;

            }
            else if (parseMessage.body.JobType == "O")
            {
                task.SourceAddress = parseMessage.body.FromLocation;
                task.TargetAddress = StationParse(parseMessage.body.ToLocation);
                task.CurrentAddress = parseMessage.body.FromLocation;
                task.NextAddress = StationParse(parseMessage.body.ToLocation);
                taskType = (int)TaskOutboundTypeEnum.Outbound;
                taskState = (int)TaskOutStatusEnum.OutNew;
                task.Remark = parseMessage.body.ToLocation;
            }
            else if (parseMessage.body.JobType == "C")
            {
                task.SourceAddress = parseMessage.body.FromLocation;
                task.TargetAddress = StationParse(parseMessage.body.ToLocation);
                task.CurrentAddress = parseMessage.body.FromLocation;
                task.NextAddress = StationParse(parseMessage.body.ToLocation);
                taskType = (int)TaskOutboundTypeEnum.OutQuality;
                taskState = (int)TaskOutStatusEnum.OutNew;
                task.Remark = parseMessage.body.ToLocation;
            }
            else if (parseMessage.body.JobType == "S")
            {
                taskType = (int)TaskStationTypeEnum.StationToStation;
                taskState = (int)TaskOutStatusEnum.OutNew;
                task.SourceAddress = StationParse(parseMessage.body.FromLocation)  ;
                task.TargetAddress = StationParse(parseMessage.body.ToLocation);
                task.CurrentAddress = StationParse(parseMessage.body.FromLocation);
                task.NextAddress = StationParse(parseMessage.body.ToLocation);
                task.Remark = parseMessage.body.FromLocation;
                task.HostName = parseMessage.body.ToLocation;
            }
            else if (parseMessage.body.JobType == "R")
            {
                taskType = (int)TaskRelocationTypeEnum.Relocation;
                taskState = (int)TaskRelocationStatusEnum.RelocationNew;
                task.SourceAddress = parseMessage.body.FromLocation;
                task.TargetAddress = parseMessage.body.ToLocation;
                task.CurrentAddress = parseMessage.body.FromLocation;
                task.NextAddress = parseMessage.body.ToLocation;
            }
            else
            {
                throw new Exception("未知库位");
            }


            task.TaskNum = BaseDal.GetTaskNo().Result;
            task.PalletCode = parseMessage.body.TrayIdList.Substring(0, 10);
            task.TaskType = taskType;
            task.TaskState = taskState;
            task.Dispatchertime = DateTime.Now;
            task.Grade = 1;
            task.SeqNo = Convert.ToInt32(parseMessage.nSeqNo);
            task.CommandID = Convert.ToInt32(parseMessage.bCmdID);
            BaseDal.AddData(task);
            InsertAGVTask(task);
        }


        public void GetLocation(ParseMessage parseMessage,bool repeat=false)
        {

            switch (parseMessage.body.JobType)
            {
                case "I":
                    var locationIn = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.ToLocation).First();
                    if (locationIn == null)
                    {
                        ErrorReport("2102", "A", "00");
                        return;
                    }
                    if (locationIn.LocationStatus == (int)LocationEnum.Free)
                    {
                        var taskIn = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                        if (taskIn != null)
                        {
                            _taskService.UpdateTask(StationParse(parseMessage.body.FromLocation), parseMessage.body.ToLocation, parseMessage.body.TrayIdList.Substring(0, 10));
                        }
                        else
                        {
                            InsertWMSTask(parseMessage);
                        }
                        Thread.Sleep(500);
                        JobReady("0");
                    }
                    else
                    {
                        RecreateGetLocation(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.JobType, parseMessage.body.TrayIdList.Substring(0, 10));
                    }
                    break;
                case "O":
                case "C":
                    var locationOut = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.FromLocation).First();
                    if (locationOut == null)
                    {
                        ErrorReport("2102", "A", "00");
                        return;
                    }
                    if (locationOut.LocationStatus == (int)LocationEnum.InStock)
                    {
                        var taskOut = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                        if (taskOut != null)
                        {
                            _taskService.UpdateTask(locationOut.LocationCode, StationParse(parseMessage.body.ToLocation), parseMessage.body.TrayIdList.Substring(0, 10));
                        }
                        else
                        {
                            InsertWMSTask(parseMessage);
                        }
                        Thread.Sleep(500);
                        JobReady("0");
                        Thread.Sleep(500);
                        //104
                        DeviceReceiveJobResponse("0");
                    }
                    else
                    {
                        EmptyOutBound(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.TrayIdList.Substring(0, 10));
                        _taskService.AddStcokHty(parseMessage.body.TrayIdList.Substring(0, 10), parseMessage.body.FromLocation);
                    }
                    break;
                case "S":
                    var taskS = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                    if (taskS != null)
                    {
                        _taskService.UpdateTask(StationParse(parseMessage.body.FromLocation), StationParse(parseMessage.body.ToLocation), parseMessage.body.TrayIdList.Substring(0, 10));
                    }
                    else
                    {
                        InsertWMSTask(parseMessage);
                    }
                    Thread.Sleep(500);
                    JobReady("0");

                    break;
                case "R":
                    var locationA = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.FromLocation).First();
                    var locationB = SqlSugarHelper.DbWMS.Queryable<DtLocationInfo>().Where(x => x.LocationCode == parseMessage.body.ToLocation).First();
                    if (locationA == null || locationB == null)
                    {
                        ErrorReport("2102", "A", "00");
                        return;
                    }
                    if (locationA.LocationStatus == (int)LocationEnum.InStock && locationB.LocationStatus == (int)LocationEnum.Free)
                    {
                        var taskR = SqlSugarHelper.DbWMS.Queryable<Dt_Task>().Where(x => x.PalletCode == parseMessage.body.TrayIdList.Substring(0, 10)).First();
                        if (taskR != null)
                        {

                            _taskService.UpdateTask(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.TrayIdList.Substring(0, 10));
                        }
                        else
                        {
                            InsertWMSTask(parseMessage);
                        }
                        Thread.Sleep(500);
                        JobReady("0");
                    }
                    else
                    {
                        RecreateGetLocation(parseMessage.body.FromLocation, parseMessage.body.ToLocation, parseMessage.body.JobType, parseMessage.body.TrayIdList.Substring(0, 10));
                    }
                    break;
                default:
                    break;
            }  
        }
        /// <summary>
        /// 添加AGV任务
        /// </summary>
        /// <param name="task">任务对象</param>
        /// <returns></returns>
        private int InsertAGVTask(Dt_Task task)
        {
            string SourceAddress = string.Empty;
            string TargetAddress = string.Empty;
            string AGVType = string.Empty;
            if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
            {
                SourceAddress = task.SourceAddress;
                AGVType = "2";
                TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
            }
            else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
            {
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                TargetAddress = task.TargetAddress;
                AGVType = "4";
            }
            else if (task.TaskType == (int)TaskOutboundTypeEnum.OutQuality)
            {
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                TargetAddress = task.TargetAddress;
                AGVType = "128";
            }
            else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
            {
                TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                AGVType = "16";
            }
            else if (task.TaskType == (int)TaskStationTypeEnum.StationToStation)
            {
                TargetAddress = task.TargetAddress;
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                AGVType = "8";
            }
            else if (task.TaskType == (int)TaskFireAlarmTypeEnum.FireAlarmOut)
            {
                TargetAddress = task.TargetAddress;
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
                AGVType = "1";
            }
            task_call task_Call = new task_call()
            {
                d_task_type = AGVType,
                d_floor = "1",
                d_involed1 = SourceAddress,
                d_involed2 = TargetAddress,
                d_involed5 = task.TaskNum.ToString(),
            };
            var x = SqlSugarHelper.DbAGV.Insertable(task_Call).ExecuteCommand();
            LogFactory.GetLog("插入数据到AGV").InfoFormat(true, $"请求参数：{JsonConvert.SerializeObject(x)}", "");
            return x;
        }
        public ParseMessage GetParse(string x)
        {
            
            if (string.IsNullOrEmpty(x))
            {
                throw new ArgumentNullException(nameof(x), "Input string cannot be null or empty");
            }

            // 定义所有需要的字段长度和位置
            var fieldDefinitions = new (int Start, int Length, string Name)[]
            {
                (0, 1, "bDir"),
                (1, 10, "bObjID"),
                (11, 1, "bReply"),
                (12, 3, "bCmdID"),
                (15, 5, "nSeqNo"),
                (20, 1, "ret"),
                (21, 16, "JobOrderID"),
                (37, 1, "priority"),
                (38, 6, "FromLocation"),
                (44, 6, "ToLocation"),
                (50, 1, "JobType"),
                (51, 1, "TrayCnt"),
                (52, x.Length - 52, "TrayIdList") // 可变长度字段
            };

            // 计算所需最小长度
            int minLength = fieldDefinitions.Max(f => f.Start + f.Length);

            if (x.Length < minLength)
            {
                // 如果字符串长度不足，可以选择记录警告或日志
                // 这里我们继续处理，尽可能多地解析字段
            }

            // 辅助方法：安全的子字符串截取，长度不足时返回空字符串
            string SafeSubstringOrDefault(string source, int start, int length, string fieldName)
            {
                if (start < 0 || start >= source.Length)
                {
                    return ""; // 返回空字符串
                }

                if (length < 0)
                {
                    return ""; // 返回空字符串
                }

                if (start + length > source.Length)
                {
                    length = source.Length - start; // 调整长度以避免越界
                }

                return source.Substring(start, length);
            }

            // 构建结果对象
            var result = new ParseMessage();

            // 设置基本字段
            result.bDir = SafeSubstringOrDefault(x, fieldDefinitions[0].Start, fieldDefinitions[0].Length, fieldDefinitions[0].Name);
            result.bObjID = SafeSubstringOrDefault(x, fieldDefinitions[1].Start, fieldDefinitions[1].Length, fieldDefinitions[1].Name);
            result.bReply = SafeSubstringOrDefault(x, fieldDefinitions[2].Start, fieldDefinitions[2].Length, fieldDefinitions[2].Name);
            result.bCmdID = SafeSubstringOrDefault(x, fieldDefinitions[3].Start, fieldDefinitions[3].Length, fieldDefinitions[3].Name);
            result.nSeqNo = SafeSubstringOrDefault(x, fieldDefinitions[4].Start, fieldDefinitions[4].Length, fieldDefinitions[4].Name);

            // 设置body字段
            result.body = new ReceiveBody
            {
                ret = SafeSubstringOrDefault(x, fieldDefinitions[5].Start, fieldDefinitions[5].Length, fieldDefinitions[5].Name),
                JobOrderID = SafeSubstringOrDefault(x, fieldDefinitions[6].Start, fieldDefinitions[6].Length, fieldDefinitions[6].Name),
                priority = SafeSubstringOrDefault(x, fieldDefinitions[7].Start, fieldDefinitions[7].Length, fieldDefinitions[7].Name),
                FromLocation = SafeSubstringOrDefault(x, fieldDefinitions[8].Start, fieldDefinitions[8].Length, fieldDefinitions[8].Name),
                ToLocation = SafeSubstringOrDefault(x, fieldDefinitions[9].Start, fieldDefinitions[9].Length, fieldDefinitions[9].Name),
                JobType = SafeSubstringOrDefault(x, fieldDefinitions[10].Start, fieldDefinitions[10].Length, fieldDefinitions[10].Name),
                TrayCnt = SafeSubstringOrDefault(x, fieldDefinitions[11].Start, fieldDefinitions[11].Length, fieldDefinitions[11].Name),
                TrayIdList = SafeSubstringOrDefault(x, fieldDefinitions[12].Start, fieldDefinitions[12].Length, fieldDefinitions[12].Name)
            };

            return result;
        }
        
        public AGVStatusRespone GetAGVStatus()
        {
            string urlnew = url + "/ilns/AGV/getState";
            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/ctrl/getState";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { ctrlName = stationName }.ToJson())).Result;
            return JsonConvert.DeserializeObject<StationStatus>(result.ToString());
        }
        public void ReportStationErrorMeaage(string StationName)
        {
            string urlnew = url + "/ilns/setctrlerr";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { ctrlName = StationName }.ToJson())).Result;
        }
        public void ReportAgvErrorMeaage(string ErrorCode)
        {
            string urlnew = url + "/ilns/rpterr";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { code = ErrorCode }.ToJson())).Result;
        }
        public void AddErrorMessage(string Code, string ReportName, string Location = "")
        {
            var errorDescription = SqlSugarHelper.DbWMS.Queryable<Dt_ErrorDescription>().Where(x => x.ErrorCode == Code).First();
            if (errorDescription != null)
            {
                Dt_HostErrorMessage hostErrorMessage = new Dt_HostErrorMessage()
                {
                    ErrorCode = Code,
                    ErrorMessage = errorDescription.ErrorMessgae,
                    AlarmSource = errorDescription.AlarmSource,
                    Grade = errorDescription.Grade,
                    ReportName = ReportName,
                    Creater = "System",
                    Location = Location == "" ? "" : Location,
                    CreateDate = DateTime.Now,
                };
                SqlSugarHelper.DbWMS.Insertable(hostErrorMessage).ExecuteCommand();
                if (Location == "")
                {
                    ReportAgvErrorMeaage(Code);
                }
                else
                {
                    ReportStationErrorMeaage(Location);
                }

            }
            else
            {
                //tode不存在异常Code
            }
        }
        public void DeleteHostLog(int CommandID)
        {
            var hostLog = SqlSugarHelper.DbWMS.Queryable<Dt_HostLog>().Where(x => x.CommandID == CommandID).First();
            if (hostLog != null)
            {
                SqlSugarHelper.DbWMS.Deleteable(hostLog).ExecuteCommand();
            }
        }

        public string StationParse(string station)
        {
            var Station = SqlSugarHelper.DbWMS.Queryable<Dt_StationManager>().Where(x => x.HostName == station.Substring(4, 2)).First();
            if(Station != null)
            {
                return Station.stationName;
            }
            else
            {
                return "";
            }
        }

        public string CapitalizeFirstLetter(string s)
        {
            if (string.IsNullOrEmpty(s))
            {
                return "";
            }
            char firstChar = s[0];
            return char.ToUpper(firstChar).ToString();
        }

        public string GetAGVStatus(string Status)
        {
            switch (Status)
            {
                case "Run":
                    return "R";
                case "Idle":
                    return "I";
                case "Trouble":
                    //故障
                    return "T";
                case "Pause":
                    return "S";
                case "Charge":
                    return "C";
                case "PowerOn":
                    return "P";
                case "PowerOFF":
                    return "O";
                default: break;
            }
            return "T";
        }

        public string InsertHyphenEveryTwoChars(string input)
        {
            if (string.IsNullOrEmpty(input))
            {
                return input;
            }

            StringBuilder result = new StringBuilder();

            for (int i = 0; i < input.Length; i += 2)
            {
                // 添加两个字符
                result.Append(input.Substring(i, 2));

                // 如果不是最后两个字符，添加一个连字符
                if (i + 2 < input.Length)
                {
                    result.Append('-');
                }
            }

            return result.ToString();
        }

        #endregion

        #region 修改本地计算机时间
        // 定义 System 结构体
        [StructLayout(LayoutKind.Sequential)]
        public struct SYSTEMTIME
        {
            public ushort Year;
            public ushort Month;
            public ushort DayOfWeek;
            public ushort Day;
            public ushort Hour;
            public ushort Minute;
            public ushort Second;
            public ushort Milliseconds;
        }

        // 导入 SetLocalTime 函数
        [DllImport("kernel32.dll", SetLastError = true)]
        public static extern bool SetLocalTime(ref SYSTEMTIME st);
        #endregion
    }
}