using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Comm.LogInfo;
using WIDESEA_Comm;
using WIDESEA_Core.EFDbContext;
using WIDESEA_WCS.IRepositories;
using WIDESEA_WCS.Repositories;
using WIDESEA_WCS.WCSClient;
using WIDESEA_WMS.IRepositories;
using WIDESEA_WMS.Repositories;
using HslCommunication;
using WIDESEA_Entity.DomainModels;
using WIDESEA_Comm.TaskNo;
using WIDESEA_WCS.JobsPart.Common;
using System.Xml.Linq;
using WIDESEA_Common;

namespace WIDESEA_WCS
{
    public class Pipeline
    {

        /// <summary>
        /// 上料区
        /// </summary>
        /// <param name="client"></param>
        public void Loadinglevel(PLCClient client, string number = "上料区")
        {
            try
            {
                VOLContext Context = new VOLContext();
                Idt_plcinfoheadRepository repository = new dt_plcinfoheadRepository(Context);
                Idt_plcinfodetailRepository plcRepository = new dt_plcinfodetailRepository(Context);
                Idt_stationinfoRepository stationinfoRepository = new dt_stationinfoRepository(Context);
                var plc = repository.FindFirst(x => x.plcinfo_name == client.PLCName);
                var Gantry_client = PLCClient.Clients.FirstOrDefault(t => t.PLCName == "桁架");
                if (Gantry_client == null) throw new Exception("桁架调度服务未开启！");
                if (!Gantry_client.IsConnected) throw new Exception("与桁架连接超时！");
                var Gantryplc = repository.FindFirst(x => x.plcinfo_name == Gantry_client.PLCName);


                #region 上料完成

                var AreaNr = Gantry_client.ReadByOrder<Int16>("W_AreaNr", number);//读取货位号信息
                if (AreaNr != 0)
                {
                    var station = stationinfoRepository.Find(x => x.area == area_code(number) && x.stationCode.Substring(x.stationCode.Length - 1, 1) == AreaNr.ToString()).FirstOrDefault();
                    if (station != null)
                    {
                        var bindSNS = station.bindSN.Split(",");
                        var Gantrydetails = plcRepository.Find(x => x.plcdetail_iotype == Gantryplc.plcinfo_iotyep && x.plcdetail_number == number).ToList();

                        #region 信息查询确认
                        var QueryDate = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_QueryDate").First(), Gantry_client);//信息查询
                        if (QueryDate)
                        {
                            var Date_Vaild = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Date_Vaild").First(), Gantry_client);//信息确认
                            if (!Date_Vaild)//信息有误，记录日志
                            {
                                Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
                                station.location_state = LocationStateEnum.Abnormal.ToString();
                                station.remark = $"未查询到SN号：{bindSNS[bindSNS.Length - 1]}的订单";
                                stationinfoRepository.Update(station, true);
                                WriteDBLog.Error("上料区信息查询", $"写入桁架信息：\nW_RequestUnload：false\n\n{station.stationCode}未查询到SN号：{bindSNS[bindSNS.Length - 1]}的订单", "PCS");
                                return;
                            }
                        }
                        #endregion

                        #region 货位状态更新复位
                        var finished = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Unlod_finished").First(), Gantry_client);//夹取完成
                        var updatefinished = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "W_Storage_update").First(), Gantry_client);//货位状态更新
                        if (!finished && updatefinished)
                        {
                            Gantry_client.WriteByOrder("W_Storage_update", false, number);//货位状态更新
                            WriteLog.Write_Log(number + "上料完成", number + "货位状态更新信号复位", "成功！",
                                        $"读取桁架信息：\n上料完成信号：{finished}\n\n写入桁架信息：\n货位状态更新信号：{false}");
                        }
                        #endregion

                        if (finished && !updatefinished)
                        {

                            #region 判断区域号是否一致
                            //var area = Gantry_client.ReadByOrder<Int16>("place_prog", number);//放料完成的区域号

                            //WriteLog.Write_Log(number + "取料完成出错", bindSNS[bindSNS.Length - 1], "判断区域号是否一致", $"PCS区域号：{AreaNr}；\n桁架区域号：{area}\n错误信息：PCS区域号与桁架区域号不一致！");
                            //if (AreaNr != area)
                            //{
                            //    client.WriteByOrder("W_AlarmSignal", (Int16)2, number);//报警
                            //    //WriteDBLog.Error(name + "报警", $"PCS区域号：{AreaNr}；桁架区域号：{area}错误信息：PCS区域号与桁架区域号不一致！", "PCS");
                            //    WriteLog.Write_Log(number + "取料完成出错", bindSNS[bindSNS.Length - 1], "判断区域号是否一致", $"PCS区域号：{AreaNr}；\n桁架区域号：{area}\n错误信息：PCS区域号与桁架区域号不一致！");
                            //    return;
                            //}
                            #endregion

                            #region 判断车轮数量是否一致
                            //var quantity = Gantry_client.ReadByOrder<Int16>("pos_prog", number);//桁架记录的车轮数量

                            //WriteLog.Write_Log(number + "取料完成出错", bindSNS[bindSNS.Length - 1], "判断车轮数量是否一致", $"区域号：{AreaNr}；\n桁架车轮数：{quantity}\nPCS车轮数：{station.quantity}\n错误信息：PCS区域号与桁架区域号不一致！");
                            //if (quantity != station.quantity)
                            //{
                            //    client.WriteByOrder("W_AlarmSignal", (Int16)2, number);//报警
                            //    WriteLog.Write_Log(number + "取料完成出错", bindSNS[bindSNS.Length - 1], "判断车轮数量是否一致", $"区域号：{AreaNr}；\n桁架车轮数：{quantity}\nPCS车轮数：{station.quantity}\n错误信息：PCS区域号与桁架区域号不一致！");
                            //    return;
                            //}
                            #endregion

                            Updatemes(bindSNS[bindSNS.Length - 1]);
                            station.quantity = station.quantity - 1;
                            station.bindSN = OperStr(bindSNS);
                            if (station.quantity <= 0)
                            {
                                station.stationType = string.Empty;
                                station.Number = string.Empty;
                                station.heatNumber = string.Empty;
                                station.tray_status = "EmptyTray";
                            }
                            var count = stationinfoRepository.Update(station, true);
                            if (count < 1)
                            {
                                WriteDBLog.Error("取料完成", $"上料位信息更新失败！上料位编号：{station.stationCode}", "PCS");
                                return;
                            }

                            Gantry_client.WriteByOrder("W_Storage_update", true, number);//货位状态更新
                            Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入

                            #region 清空信息
                            Gantry_client.WriteByOrder("W_AreaNr", (Int16)0, number);//区域货位号
                            Gantry_client.WriteByOrder("W_IndexNr", (Int16)0, number);//托盘上的第几个车轮
                            Gantry_client.WriteByOrder("W_Storage_Type", (Int16)0, number); //托盘类型1-横放;2-竖放
                            Gantry_client.WriteByOrder("W_Wheel_Type", (Int16)0, number);//车轮类型
                            #endregion

                            #region 日志记录
                            WriteDBLog.Success("取料完成", $"写入桁架信息：\n货位状态更新：{true}\nW_RequestUnload：{false}", "PCS");
                            #endregion
                        }
                    }
                }

                #endregion

                #region 申请上料

                var Station = stationinfoRepository.Find(x => x.area == area_code(number) && x.enable && x.location_state == LocationStateEnum.Stroge.ToString() && x.quantity > 0).OrderBy(x => x.lastUpdateTime).FirstOrDefault();
                if (Station != null)
                {
                    if (!Gantry_client.ReadByOrder<bool>("W_RequestUnload", number))
                    {
                        var SNS = Station.bindSN.Split(",");
                        List<string> list = new List<string>();
                        foreach (var SN in SNS)
                        {
                            if (!string.IsNullOrEmpty(SN))
                                list.Add(SN);
                        }
                        //缓存架上车轮数量与SN号数量不一致
                        if (list.Count != Station.quantity)
                        {
                            Station.location_state = LocationStateEnum.Abnormal.ToString();
                            Station.remark = "车轮数量与SN号数量不一致";
                            stationinfoRepository.Update(Station, x => new { x.location_state, x.remark }, true);
                            Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
                            #region 日志记录
                            //WriteDBLog.Error("上料区", $"写入桁架信息：\nW_RequestUnload：false\n\n{Station.stationCode}车轮数量与SN号数量不一致", "PCS");
                            #endregion
                            return;
                        }

                        var details = plcRepository.Find(x => x.plcdetail_iotype == plc.plcinfo_iotyep && x.plcdetail_number == Station.stationCode).ToList();
                        var PalletSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_PalletSignal").First(), client);//读取托盘信号:1:有,2无
                        var MaterialSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_MaterialSignal").First(), client);//读取货物信号:1:有,2无

                        if (PalletSignal == 1 && MaterialSignal == 1)
                        {
                            var geometry = QueryMateriel(Station.stationType);
                            if (geometry == null)
                            {
                                Station.remark = "未找到车轮信息";
                                stationinfoRepository.Update(Station, x => new { x.remark }, true);
                                Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
                                return;
                            }
                            Gantry_client.WriteByOrder("W_Wheel_Type", (Int16)Convert.ToInt16(geometry.TypeId), number);//车轮类型
                            var area = Convert.ToInt16(Station.stationCode.Substring(Station.stationCode.Length - 1, 1));
                            Gantry_client.WriteByOrder("W_AreaNr", (Int16)area, number);//区域货位号
                            Gantry_client.WriteByOrder("W_IndexNr", (Int16)SNS.Length, number);//托盘上的第几个车轮
                            Gantry_client.WriteByOrder("W_Storage_Type", (Int16)1, number); //托盘类型1-横放;2-竖放
                            Gantry_client.WriteByOrder("W_Wheel_id", SNS[SNS.Length - 1], number);//车轮SN号
                            Gantry_client.WriteByOrder("W_RequestUnload", true, number);
                            #region 日志记录
                            WriteDBLog.Success("上料区申请", $"读取托盘光电信号：{PalletSignal}\n读取第一个车轮光电信号：{MaterialSignal}\n\n" +
                                $"写入桁架信息：\n区域货位号：{area}\n托盘上的第几个车轮：{SNS.Length}\n托盘类型：{1}\n车轮类型：{geometry.TypeId}" +
                                $"\n车轮SN号：{SNS[SNS.Length - 1]}\nW_RequestUnload：true", "PCS");
                            #endregion
                        }
                        else
                        {
                            Gantry_client.WriteByOrder("W_RequestUnload", false, number);
                        }

                        #region 更新一个检测上料任务
                        //Idt_agvtaskRepository agvtaskService = new dt_agvtaskRepository(Context);
                        //if (!agvtaskService.Find(x => x.agv_toaddress == Station.stationCode).Any())
                        //{
                        //    var task = agvtaskService.Find(x => x.agv_taskstate == "Queue" && (x.agv_tasktype == "TaskType_OutsourceOutbound" || x.agv_tasktype == "TaskType_Outbound") && x.agv_toaddress == "").OrderByDescending(x => x.agv_grade).ThenBy(x => x.agv_createtime).FirstOrDefault();
                        //    if (task != null)
                        //    {
                        //        task.agv_taskstate = "Create";
                        //        task.agv_toaddress = Station.stationCode;
                        //        agvtaskService.Update(task, true);
                        //        WriteDBLog.Success("更新一个检测上料任务", $"任务编号：{task.agv_tasknum}", "PCS");
                        //    }
                        //}
                        #endregion
                    }
                }
                else
                {
                    Gantry_client.WriteByOrder("W_RequestUnload", false, number);
                }

                #endregion


                #region MyRegion

                /////查找上料区的货位
                //var Stations = stationinfoRepository.Find(x => x.area == area_code(number)).OrderBy(x => x.lastUpdateTime);//根据时间先后排序
                //                                                                                                           //需测试一下
                //var Station = Stations?.Where(x => x.enable && x.location_state == LocationStateEnum.Stroge.ToString() && x.quantity > 0).OrderBy(x => x.quantity).FirstOrDefault();

                //if (Station != null)
                //{
                //    var SNS = Station.bindSN.Split(",");
                //    List<string> list = new List<string>();
                //    foreach (var SN in SNS)
                //    {
                //        if (!string.IsNullOrEmpty(SN))
                //            list.Add(SN);
                //    }
                //    //缓存架上车轮数量与SN号数量不一致
                //    if (list.Count != Station.quantity)
                //    {
                //        Station.location_state = LocationStateEnum.Abnormal.ToString();
                //        Station.remark = "车轮数量与SN号数量不一致";
                //        stationinfoRepository.Update(Station, true);
                //        Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
                //        #region 日志记录
                //        WriteDBLog.Error("上料区", $"写入桁架信息：\nW_RequestUnload：false\n\n{Station.stationCode}车轮数量与SN号数量不一致", "PCS");
                //        #endregion
                //        return;
                //    }
                //    var details = plcRepository.Find(x => x.plcdetail_iotype == plc.plcinfo_iotyep && x.plcdetail_number == Station.stationCode).ToList();
                //    var PalletSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_PalletSignal").First(), client);//读取托盘信号:1:有,2无
                //    var MaterialSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_MaterialSignal").First(), client);//读取货物信号:1:有,2无

                //    var AreaNr = Gantry_client.ReadByOrder<Int16>("W_AreaNr", number);//读取货位号信息
                //    if (PalletSignal == 1 && MaterialSignal == 1)
                //    {
                //        if (AreaNr == 0)
                //        {
                //            Gantry_client.WriteByOrder("W_Wheel_Type", (Int16)Convert.ToInt16(QueryMateriel(Station.stationType) == null ? QueryMateriel1(Station.stationType).TypeId : QueryMateriel(Station.stationType).TypeId), number);//车轮类型
                //            var area = Convert.ToInt16(Station.stationCode.Substring(Station.stationCode.Length - 1, 1));
                //            Gantry_client.WriteByOrder("W_AreaNr", (Int16)area, number);//区域货位号
                //            Gantry_client.WriteByOrder("W_IndexNr", (Int16)SNS.Length, number);//托盘上的第几个车轮
                //            Gantry_client.WriteByOrder("W_Storage_Type", (Int16)1, number); //托盘类型1-横放;2-竖放
                //            Gantry_client.WriteByOrder("W_Wheel_id", SNS[SNS.Length - 1], number);//车轮SN号
                //            Gantry_client.WriteByOrder("W_RequestUnload", true, number);
                //            #region 日志记录
                //            WriteDBLog.Success("上料区申请", $"读取托盘光电信号：{PalletSignal}\n读取第一个车轮光电信号：{MaterialSignal}\n\n" +
                //                $"写入桁架信息：\n区域货位号：{area}\n托盘上的第几个车轮：{SNS.Length}\n托盘类型：{1}\n车轮类型：{(QueryMateriel(Station.stationType).TypeId == null ? QueryMateriel1(Station.stationType).TypeId : QueryMateriel(Station.stationType).TypeId)}" +
                //                $"\n车轮SN号：{SNS[SNS.Length - 1]}\nW_RequestUnload：true", "PCS");
                //            #endregion
                //        }
                //    }
                //    else
                //    {
                //        Gantry_client.WriteByOrder("W_RequestUnload", false, number);
                //    }

                //    var Gantrydetails = plcRepository.Find(x => x.plcdetail_iotype == Gantryplc.plcinfo_iotyep && x.plcdetail_number == number).ToList();
                //    var Gantry_Out_of_Area = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Gantry_Out_of_Area").First(), Gantry_client);//桁架是否在区域内

                //    var QueryDate = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_QueryDate").First(), Gantry_client);//信息查询
                //    if (QueryDate)
                //    {
                //        var Date_Vaild = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Date_Vaild").First(), Gantry_client);//信息确认
                //        if (!Date_Vaild)//信息有误，记录日志
                //        {
                //            Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
                //            Station.location_state = LocationStateEnum.Abnormal.ToString();
                //            Station.remark = $"未查询到SN号：{SNS[SNS.Length - 1]}的订单";
                //            stationinfoRepository.Update(Station, true);
                //            WriteDBLog.Error("上料区信息查询", $"写入桁架信息：\nW_RequestUnload：false\n\n{Station.stationCode}未查询到SN号：{SNS[SNS.Length - 1]}的订单", "PCS");
                //            return;
                //        }
                //    }
                //    var finished = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Unlod_finished").First(), Gantry_client);//夹取完成
                //    var updatefinished = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "W_Storage_update").First(), Gantry_client);//货位状态更新
                //    if (!finished && updatefinished)
                //        Gantry_client.WriteByOrder("W_Storage_update", false, number);//货位状态更新
                //    if (finished && !updatefinished)
                //    {
                //        Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
                //        Updatemes(SNS[SNS.Length - 1]);
                //        Station.quantity = Station.quantity - 1;
                //        Station.bindSN = OperStr(SNS);
                //        if (Station.quantity <= 0)
                //        {
                //            Station.stationType = string.Empty;
                //            Station.Number = string.Empty;
                //            Station.heatNumber = string.Empty;
                //            Station.tray_status = "EmptyTray";
                //        }
                //        var count = stationinfoRepository.Update(Station, true);
                //        if (count < 1)
                //        {
                //            WriteDBLog.Error("取料完成", $"上料位信息更新失败！上料位编号：{Station.stationCode}", "PCS");
                //            return;
                //        }

                //        #region 清空信息
                //        Gantry_client.WriteByOrder("W_AreaNr", (Int16)0, number);//区域货位号
                //        Gantry_client.WriteByOrder("W_IndexNr", (Int16)0, number);//托盘上的第几个车轮
                //        Gantry_client.WriteByOrder("W_Storage_Type", (Int16)0, number); //托盘类型1-横放;2-竖放
                //        Gantry_client.WriteByOrder("W_Wheel_Type", (Int16)0, number);//车轮类型
                //        #endregion

                //        Gantry_client.WriteByOrder("W_Storage_update", true, number);//货位状态更新
                //        #region 日志记录
                //        WriteDBLog.Success("取料完成", $"写入桁架信息：\n货位状态更新：{true}\nW_RequestUnload：{false}", "PCS");
                //        #endregion

                //        #region 报警
                //        PalletSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_PalletSignal").First(), client);//读取托盘信号:1:有,2无
                //        MaterialSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_MaterialSignal").First(), client);//读取货物信号:1:有,2无
                //        if (Station.quantity > 0 && (PalletSignal != 1 || MaterialSignal != 1))
                //        {
                //            Station.location_state = LocationStateEnum.Abnormal.ToString();
                //            Station.remark = "车轮数量大于0，光电检测无托盘或无车轮";
                //            stationinfoRepository.Update(Station, true);
                //            client.WriteByOrder("W_AlarmSignal", (Int16)2, number);//报警
                //            WriteDBLog.Error(number + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
                //        }
                //        else if (Station.quantity < 1 && MaterialSignal == 1)
                //        {
                //            Station.location_state = LocationStateEnum.Abnormal.ToString();
                //            Station.remark = "车轮数量小于0，光电检测有车轮";
                //            stationinfoRepository.Update(Station, true);
                //            client.WriteByOrder("W_AlarmSignal", (Int16)2, number);//报警
                //            WriteDBLog.Error(number + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
                //        }
                //        #endregion


                //    }
                //}
                //else
                //    Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入 
                #endregion
            }
            catch (Exception ex)
            {
                //WriteDBLog.Error("上料区", $"错误信息：{ex.Message}", "PCS");
                WriteLog.Write_Log("报错日志", number, "错误信息！", $"错误信息：{ex.Message}");
            }
        }
        /// <summary>
        /// 自动取空托
        /// </summary>
        /// <param name="client"></param>
        public void AutoEmptyTray(PLCClient client)
        {
            try
            {
                VOLContext Context = new VOLContext();
                Idt_plcinfoheadRepository repository = new dt_plcinfoheadRepository(Context);
                Idt_plcinfodetailRepository plcRepository = new dt_plcinfodetailRepository(Context);
                Idt_agvtaskRepository agvtaskService = new dt_agvtaskRepository(Context);
                Idt_stationinfoRepository stationinfoRepository = new dt_stationinfoRepository(Context);
                var plc = repository.FindFirst(x => x.plcinfo_name == client.PLCName);
                List<string> stationCodes = new List<string>() { "S01001001", "S01001002", "W01001001", "W01001002", "W01001003" };
                dt_stationinfo EmptyStation = null;
                string remark = "";
                foreach (var stationCode in stationCodes)
                {
                    try
                    {
                        remark = "查询站台";
                        var station = stationinfoRepository.Find(x => x.stationCode == stationCode && x.enable).FirstOrDefault();
                        if (station == null) continue;
                        remark = "查询起点是否存在任务";
                        if (stationCode.Contains("W") && agvtaskService.Find(x => x.agv_fromaddress == stationCode || x.agv_toaddress == stationCode).Any()) continue;
                        else
                        {
                            if (agvtaskService.Find(x => x.agv_fromaddress == stationCode).Any()) continue;
                        }
                        remark = "读取光电信号";
                        var details = plcRepository.Find(x => x.plcdetail_iotype == plc.plcinfo_iotyep && x.plcdetail_number == stationCode).ToList();
                        var PalletSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_PalletSignal").First(), client);//读取托盘信号:1:有,2无
                        var MaterialSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_MaterialSignal").First(), client);//读取货物信号:1:有,2无
                        if (PalletSignal == 1 && MaterialSignal == 2 && (station.stationCode.Contains("S0100100") ? station.tray_status == "EmptyTray" : true))
                        {
                            #region 查询是否存在补空托队列任务
                            //var area = station.tray_type == "SmallTray" ? "11" : "10";
                            //remark = "查询是否存在补空托队列任务";
                            //var task = agvtaskService.Find(x => (x.agv_toaddress.Contains("W") || x.agv_toaddress.Contains("X")) && x.agv_taskstate == "Queue" && x.agv_tasktype == "TaskType_EmptyPallet" && x.agv_Traytype == station.tray_type).OrderByDescending(x => x.agv_grade).ThenBy(x => x.agv_createtime).FirstOrDefault();
                            //if (task != null)
                            //{
                            //    task.agv_fromaddress = station.stationCode;
                            //    task.StarQuantity = 0;
                            //    task.agv_taskstate = "Create";
                            //    if (station.stationCode.Contains("S0100100"))
                            //        task.agv_grade = 3;
                            //    agvtaskService.Update(task, true);
                            //    station.location_state = LocationStateEnum.Busy.ToString();
                            //    stationinfoRepository.Update(station, true);
                            //    WriteDBLog.Success("更新补空托队列任务", $"任务编号：{task.agv_tasknum}，托盘信号:{PalletSignal},货物信号:{MaterialSignal}", "PCS");
                            //    continue;
                            //} 
                            #endregion

                            #region 创建取空托队列任务
                            dt_agvtask agvtask = new dt_agvtask()
                            {
                                agv_fromaddress = station.stationCode,
                                agv_id = Guid.NewGuid(),
                                agv_tasknum = IdenxManager.GetTaskNo("KH-", "WMS"),
                                agv_grade = station.stationCode.Contains("S0100100") ? 3 : 1,
                                agv_createtime = DateTime.Now,
                                agv_taskstate = AGVTaskStateEnum.Queue.ToString(),
                                agv_qty = 1,
                                StarQuantity = 0,
                                EndQuantity = 0,
                                agv_tasktype = AGVTaskTypeEnum.TaskType_EmptyPallet.ToString(),
                                agv_toaddress = "",
                                agv_userid = "系统",
                                agv_TrayStatus = "EmptyTray",
                                agv_Traytype = station.tray_type,
                            };
                            agvtaskService.Add(agvtask, true);
                            station.location_state = LocationStateEnum.Busy.ToString();
                            stationinfoRepository.Update(station, true);
                            WriteDBLog.Success("创建自动取空托队列任务", $"任务编号：{agvtask.agv_tasknum}，托盘信号:{PalletSignal},货物信号:{MaterialSignal}", "PCS");
                            #endregion
                        }
                    }
                    catch (Exception ex)
                    {
                        WriteLog.Write_Log("报错日志", "创建自动取空托队列任务", "错误信息！", $"{stationCode}：{remark}错误信息：{ex.Message}");
                    }
                }
            }
            catch (Exception ex)
            {
                WriteLog.Write_Log("报错日志", "创建自动取空托队列任务", "错误信息！", $"错误信息：{ex.Message}");
            }
        }

        /// <summary>
        /// 检测光电状态与系统货位状态是否一致
        /// </summary>
        /// <param name="client"></param>
        public void StationState(PLCClient client)
        {

            List<string> names = new List<string>() { "1单元下料区", "2单元下料区", "3单元下料区" };/*, "上料区"*/
            foreach (var name in names)
            {
                VOLContext Context = new VOLContext();
                Idt_stationinfoRepository stationinfoRepository = new dt_stationinfoRepository(Context);
                var Stations = stationinfoRepository.Find(x => x.area == area_code(name) && x.enable && !x.location_state.Contains("Busy") && x.location_state != LocationStateEnum.Abnormal.ToString());
                foreach (var Station in Stations)
                {
                    try
                    {
                        var PalletSignal = client.ReadByOrder<Int16>("R_PalletSignal", Station.stationCode);//读取托盘信号:1:有,2无
                        var MaterialSignal = client.ReadByOrder<Int16>("R_MaterialSignal", Station.stationCode);//读取货物信号:1:有,2无
                        if (Station.quantity > 0 && (PalletSignal != 1 || MaterialSignal != 1))//系统货位有车轮，光电检测无车轮
                        {
                            Station.location_state = LocationStateEnum.Abnormal.ToString();
                            Station.remark = $"车轮数量大于0，托盘光电信号为：{PalletSignal}，货物光电信号为：{MaterialSignal}";
                            stationinfoRepository.Update(Station, true);
                            client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
                            WriteDBLog.Error(name + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
                            continue;
                        }
                        if (Station.location_state == LocationStateEnum.Stroge.ToString() && PalletSignal != 1)
                        {
                            Station.location_state = LocationStateEnum.Abnormal.ToString();
                            Station.remark = $"货位状态为有货，托盘光电信号为：{PalletSignal}，货物光电信号为：{MaterialSignal}";
                            stationinfoRepository.Update(Station, true);
                            client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
                            WriteDBLog.Error(name + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
                            continue;
                        }
                        if (Station.location_state == LocationStateEnum.Empty.ToString() && (PalletSignal == 1 || MaterialSignal == 1))//系统货位为空，光电检测有料
                        {
                            Station.location_state = LocationStateEnum.Abnormal.ToString();
                            Station.remark = $"货位状态为空货位，托盘光电信号为：{PalletSignal}，货物光电信号为：{MaterialSignal}";
                            stationinfoRepository.Update(Station, true);
                            client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
                            WriteDBLog.Error(name + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
                            continue;
                        }
                        //if (Station.quantity < 1 && MaterialSignal == 1)//系统货位无车轮，光电检测有车轮
                        //{
                        //    Station.location_state = LocationStateEnum.Abnormal.ToString();
                        //    Station.remark = "货位无车轮，光电检测有车轮";
                        //    stationinfoRepository.Update(Station, true);
                        //    client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
                        //    continue;
                        //}
                    }
                    catch (Exception ex)
                    {
                        WriteLog.Write_Log("报错日志", name + "检测光电报错", "错误信息！", $"{Station.stationCode}：错误信息：{ex.Message}");
                    }
                }
            }
        }
        public static string area_code(string area_name)
        {
            VOLContext Context = new VOLContext();
            Idt_areainfoRepository areainfoRepository = new dt_areainfoRepository(Context);
            var areainfo = areainfoRepository.Find(x => x.area_name == area_name).FirstOrDefault();
            return areainfo.area_code.ToString();
        }

        public string OperStr(string[] strArrty)
        {
            string[] newstr = strArrty.RemoveLast(1);
            string Newsn = string.Join(",", newstr);

            return Newsn;
        }
        public static dt_geometry_data QueryMateriel(string type)
        {
            VOLContext Context = new VOLContext();
            Idt_geometry_dataRepository dataRepository = new dt_geometry_dataRepository(Context);
            var materielinfo = dataRepository.Find(x => x.Description == type).OrderBy(x => x.TypeId).FirstOrDefault();
            return materielinfo;
        }
        public static dt_geometry_data_detectionline QueryMateriel1(string type)
        {
            VOLContext Context = new VOLContext();
            Idt_geometry_data_detectionlineRepository detectionlineRepository = new dt_geometry_data_detectionlineRepository(Context);
            var materielinfo1 = detectionlineRepository.Find(x => x.Description == type).OrderBy(x => x.TypeId).FirstOrDefault();
            return materielinfo1;
        }
        public static string QueryMateriel(int typeId)
        {
            VOLContext Context = new VOLContext();
            Idt_geometry_dataRepository dataRepository = new dt_geometry_dataRepository(Context);
            var materielinfo = dataRepository.FindFirst(x => x.TypeId == typeId);
            return materielinfo.Description;
        }
        /// <summary>
        /// 更改工单状态
        /// </summary>
        /// <param name="SN"></param>
        public static void Updatemes(string SN)
        {
            VOLContext Context = new VOLContext();
            Idt_mes_detailRepository mes_DetailRepository = new dt_mes_detailRepository(Context);
            Idt_mes_headRepository mes_HeadRepository = new dt_mes_headRepository(Context);
            IVV_Mes_WorkinfoRepository workinfoRepository = new VV_Mes_WorkinfoRepository(Context);
            //var mes_Detail = freeDB.Select<dt_mes_detail>().Where(x => x.SN == SN).First();
            var Mes_Work = workinfoRepository.Find(x => x.SN == SN && x.processCode == "28").FirstOrDefault();
            var mes_Detail = mes_DetailRepository.Find(x => x.SN == SN && x.jobID == Mes_Work.jobID).FirstOrDefault();
            if (mes_Detail != null)
            {
                mes_Detail.Status = "上线";
                mes_Detail.FinishTime = DateTime.Now;
                //freeDB.DataBase.Update<dt_mes_detail>().SetSource(mes_Detail).UpdateColumns(x => new { x.Status, x.FinishTime }).ExecuteAffrows();
                mes_DetailRepository.Update(mes_Detail, true);
                //var mes_Head = freeDB.Select<dt_mes_head>().Where(x => x.jobID == mes_Detail.jobID).First();
                var mes_Head = mes_HeadRepository.Find(x => x.jobID == mes_Detail.jobID).FirstOrDefault();
                if (mes_Head != null)
                {
                    mes_Head.finishNum = mes_Head.finishNum + 1;
                    if (mes_Head.finishNum == mes_Head.quantity) mes_Head.FinishTime = DateTime.Now;
                    mes_HeadRepository.Update(mes_Head, true);
                }
            }
        }
    }
}