using Hanhe.iWCS.Business;
using Hanhe.iWCS.Common;
using Hanhe.iWCS.Interface;
using Hanhe.iWCS.MData;
using Hanhe.iWCS.Model;
using Hanhe.iWCS.Model.AMS;
using Microsoft.Owin.Hosting;
using MongoDB.Bson;
using MongoDB.Driver;
using MongoDB.Driver.Builders;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using static Hanhe.iWCS.JingmenGEMNorthProtocol.ApiHelper;
using static Hanhe.iWCS.JingmenGEMNorthProtocol.EnentListen;
using static Hanhe.iWCS.JingmenGEMNorthProtocol.MESHelper;
using static Hanhe.iWCS.JingmenGEMNorthProtocol.PLCControl;
using static Hanhe.iWCS.JingmenGEMNorthProtocol.ProcessHelper;

namespace Hanhe.iWCS.JingmenGEMNorthProtocol
{
    /// <summary>
    /// 设备协议解析类
    /// </summary>
    public class ProtocolAnalysis : IProtocolAnalysis
    {
        private EquipmentCommandEQBLL CommandEQBLL = new EquipmentCommandEQBLL();
        private ICallTaskProcessing iCallTask = new ICallTaskProcessing();
        private Logger AMSLoggerAPI = new Logger();

        public void StringRequestInfo(string protocolMsg, string address, int port) {
        }

        public void StringRequestInfo(string protocolMsg, string address, int port, string sessionID) {
            //16进制接收
            protocolMsg = protocolMsg.Trim();//3f 00 11 20 30 40 50 60 70 80 90 A0 24 24
            if (protocolMsg != "") {
            }
            #region 握手反馈指令
            //UpdateHandshakeFeedbackCode(protocolMsg);
            PLCControl.Analysis(protocolMsg);

            #endregion
        }
        
        public void UpdateHandshakeFeedbackCode(string commandText) {
            var query = Query.And(Query.EQ("CommandText", commandText + "$$"), Query.EQ("Status", Constants.COMMANDEQ_STATUS_SENDED));
            EquipmentCommandEQ eq = MongoDBSingleton.Instance.FindOne<EquipmentCommandEQ>(query, typeof(EquipmentCommandEQ).Name);
            if (eq != null) {
                UpdateBuilder updateBuider = Update.Set("isHandshake", 1).Set("FeedbackCode", commandText);
                MongoDBSingleton.Instance.Update<EquipmentCommandEQ>(query, updateBuider, UpdateFlags.None);
            }
        }

        private static bool api = false;
        public ProtocolAnalysis() {
            if (!api) {
                Startup();
                api = true;
            }
        }
        public static void Startup() {
            Console.WriteLine("Startup ApiController");
            Task.Run(() => {
                var url = "http://+:8801";
                using (WebApp.Start<Startup>(url)) {
                    Console.WriteLine("Running on {0}", url);
                    Console.ReadLine();
                }
            });
        }

        public int workflowToDeviceDriver(TN_I_TASK_DTL_ACTION action) {
            int iResult = 0;
            CMMLog.Info($"任务处理:Action Code:{action.CN_N_ACTION_CODE},TaskNo:{action.CN_S_TASK_NO}");

            switch (action.CN_N_ACTION_CODE)
            {
                case 1012: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "起点申请进入"); break;
                case 1312: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "电梯安全对接"); break;
                case 1112: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车起点到位"); break;
                case 1212: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车取货完成通知PLC"); break;
                case 1013: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "终点申请进入"); break;
                case 1113: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车终点到位"); break;
                case 1213: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "滚筒车卸货完成通知PLC"); break;
                case 1313: AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "拍照扫码"); break;
            }

            if (action.CN_N_ACTION_CODE == 1027) {
                var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null ) {
                    if (ProcessHelper.Intercept(mst)) iResult = 1027;//拦截更改 WCS 任务类型(将 WMS 任务类型更改为 WCS 任务类型，因为 WCS 需要根据任务类型进行对应任务流程处理)
                    else
                    {
                        CMMLog.Info($"推送任务：任务号{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE}");
                        bool IsSendTask = true;
                        // 3楼缓存架入叠托 任务 取货完成才允许推送下一条 
                        if (mst.CN_S_BUSS_TYPE.Contains("缓存架入叠托"))
                        {
                            var taskInfoList = MongoDBSingleton.Instance.Find<TN_I_TASK_MST>(Query.And(Query.NotIn("CN_S_STATUS", new List<MongoDB.Bson.BsonValue>() { "未执行", "待推送" }), Query.EQ("CN_S_END_BIT", mst.CN_S_END_BIT)), "TN_I_TASK_MST");
                            if (taskInfoList.Count > 0)
                            {
                                // 遍历查询执行中的这些任务是否都已经取货完成，如果都取货完成，则可以推送此任务
                                for (int i = 0; i < taskInfoList.Count; i++)
                                {
                                    if (!ProcessHelper.CheckStartFreeTwo(taskInfoList[i].CN_S_START_BIT))
                                    {
                                        IsSendTask = false;
                                        Console.WriteLine($"缓存架入叠托 任务拦截：该任务 ：{taskInfoList[i].CN_S_TASK_NO} 未取货完成，不允许推送当前任务：{mst.CN_S_TASK_NO}");
                                    }
                                }
                            }
                        }
                        if (IsSendTask) ProcessHelper.SendTask(mst);
                    }
                }
                iResult = 1027;
            }

            #region 取消
            if (action.CN_N_ACTION_CODE == 7) {
                TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                string agvNo = action.CN_S_DEVICE_CODE;
                if (mst != null) {
                    //请求前
                    if (action.CN_N_ORDER == 0)
                    {
                        WorkFlowAction.TrackLog(action.CN_S_TASK_NO, 0, 7, "收到ams取消请求");
                    }

                    if (action.CN_N_ORDER == 1 || action.CN_N_ORDER == 0) {
                        ProcessHelper.TaskCancel(mst);
                        iCallTask.CancelTask(mst.CN_S_TASK_NO, "1");
                        AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "7", "0", true);
                        if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && !mst.CN_S_BUSS_TYPE.Contains("包装取料")) 
                            WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
                        iCallTask.DeleteTask(mst.CN_S_TASK_NO);
                    }
                    if (mst.CN_S_BUSS_TYPE == "电梯取货" || mst.CN_S_BUSS_TYPE == "电梯卸货" || mst.CN_S_BUSS_TYPE == "满托转运" || mst.CN_S_BUSS_TYPE == "空托出库")
                    {
                        ProcessHelper.ForceCancel(mst, action);
                        MongoDBSingleton.Instance.Remove<TimeCuoInfoCom>(Query.EQ("timeStamp", mst.CN_S_BATCH_NO), "TimeCuoInfoCom", RemoveFlags.None);
                    }
                    if (mst.CN_S_BUSS_TYPE.Contains("包装补空")) PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT);
                }
            }

            #endregion

            #region 强制完成
            if (action.CN_N_ACTION_CODE == 1022) {
                TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null) {
                    ProcessHelper.ForceComplete(mst, action);
                    if (mst.CN_S_BUSS_TYPE.Contains("缓存架入叠托"))
                    {
                        var plc = Settings.GetPlcInfo().Where(a => a.deviceType == "3").FirstOrDefault();
                        if (plc != null)
                        {
                            var machine = MongoDBSingleton.Instance.FindOne<WMSInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "WMSInfo");
                            if (machine != null)
                            {
                                #region   写多个MODBUS数据
                                if (Settings.cacheStackWrite == "0")
                                {
                                    int[] num = DiePan(machine);

                                    CMMLog.Info($"send num:" + JsonConvert.SerializeObject(num));
                                    var wirteall01 = OITcpHelper.RegisterWriteOutPutMulti(new OITcpHelper.RegisterWriteOutPutModelMulti
                                    {
                                        addr = plc.writeAddr + 10,
                                        host = plc.ip,
                                        port = plc.port,
                                        data = num
                                    });
                                }
                                else WriteCacheStackingData(plc, mst, machine);
                                #endregion
                                MongoDBSingleton.Instance.Remove<WMSInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "WMSInfo", RemoveFlags.Single);
                            }
                        }
                    }
                    MongoDBSingleton.Instance.Remove<Mongo_AGV_TASK_STATE>(Query.EQ("TaskNo", mst.CN_S_TASK_NO), RemoveFlags.Single);
                    WorkFlowAction.TrackLog(mst.CN_S_TASK_NO, 1, 1022, "收到ams强制完成请求");
                    AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, "1022", "0", true);
                    iCallTask.CancelTask(mst.CN_S_TASK_NO, "1");
                    if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && !mst.CN_S_BUSS_TYPE.Contains("包装取料")) 
                        WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
                    //if (mst.CN_S_BUSS_TYPE == "电梯取货" && mst.CN_S_BUSS_TYPE == "电梯卸货") 
                    //    MongoDBSingleton.Instance.ReomveAll<TimeCuoInfoCom>();
                    if (mst.CN_S_BUSS_TYPE == "包装线补空") PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT);

                    if (ERPService.SendERPTaskType.Contains(mst.CN_S_BUSS_TYPE) && ERPService.ERPSwitch01 == "1") ERPService.SendERPTaskInfo(mst);

                    iCallTask.DeleteTask(mst.CN_S_TASK_NO);
                }
            }
            #endregion

            if (action.CN_N_ACTION_CODE == 13) {
                var task = iCallTask.FindTask(action.CN_S_TASK_NO);
                AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), "", "AGV调整任务优先级成功" + action.Ext1);
            }

            #region 任务状态委托(1-开始;3-开始取货;4-取货完成;5-开始卸货;6-卸货完成;2-完成)
            if (action.CN_N_ACTION_CODE == 1 || action.CN_N_ACTION_CODE == 4 || action.CN_N_ACTION_CODE == 5 || action.CN_N_ACTION_CODE == 6 || action.CN_N_ACTION_CODE == 2)
            {
                WorkFlowAction.TrackLog(action.CN_S_TASK_NO, 1, action.CN_N_ACTION_CODE, "");
                AMSHelper.SetStatus(action.CN_S_TASK_NO, 1, action.CN_N_ACTION_CODE.ToString(), action.CN_S_DEVICE_CODE, true);
                if (action.CN_N_ACTION_CODE == 2) AMSHelper.SetStatusTwo(action.CN_S_TASK_NO);

                TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null) 
                {
                    if (!string.IsNullOrEmpty(action.CN_S_DEVICE_CODE))
                    {
                        // 因调用AMSAPI无法在开始取货时更新车号，因此此处直接连接AMS数据库进行更新
                        MoboxHelper.UpdateEndBit(mst.CN_S_TASK_NO, action.CN_S_DEVICE_CODE);
                        if (action.CN_N_ACTION_CODE != 1 && action.CN_N_ACTION_CODE != 2) MoboxHelper.UpdateTaskState(mst.CN_S_TASK_NO, action.CN_N_ACTION_CODE);
                    }

                    #region 写入小车状态
                    writeAGVState(action);
                    #endregion

                    if (action.CN_N_ACTION_CODE == 1)
                    {
                        if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && !mst.CN_S_BUSS_TYPE.Contains("包装取料")) 
                            WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
                    }
                    if (action.CN_N_ACTION_CODE == 4)
                    {
                        CMMLog.Info($"SetStatus:收到任务号 4:{action.CN_S_TASK_NO}");
                        CMMLog.Info($"收到信号：{action.CN_N_ACTION_CODE},任务号：{action.CN_S_TASK_NO}，开始根据任务号查询主表中对应数据！");
                        if (mst.CN_S_BUSS_TYPE == "包装线补空") PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT, mst.CN_S_START_BIT);
                        if (mst.CN_S_BUSS_TYPE.Contains("包装取料")) PLCControl.CheckUpReqUnload(mst.CN_S_END_BIT, mst.CN_S_TASK_NO);
                        if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托") WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
                    }
                    if (action.CN_N_ACTION_CODE == 5)
                    {
                        
                    }
                    if (action.CN_N_ACTION_CODE == 6)
                    {
                        if (mst.CN_S_BUSS_TYPE.Contains("缓存架入叠托")) 
                        {
                            CMMLog.Info($"缓存架入叠托:收到信号6，开始准备写入叠盘机数据。");
                            PLCControl.writeStackingMouth6(mst.CN_S_END_BIT, mst.CN_S_TASK_NO);
                        }
                        if (mst.CN_S_BUSS_TYPE.Contains("包装取料"))
                        {
                            //卸货完成，中间表SecondWeighState  full改为1
                            string x = mst.CN_S_END_BIT.Contains("2") ? "23" : "2";


                            string PlcBit02 = Settings.GetPlcInfo().Where(a => a.deviceType == x).FirstOrDefault().location;
                            UpdateBuilder update = Update.Set("full", 1);
                            MongoDBSingleton.Instance.Update<SecondWeighState>(Query.EQ("location", PlcBit02), update, "SecondWeighState", UpdateFlags.None);
                        }
                        if (mst.CN_S_BUSS_TYPE.Contains("包装补空"))
                        {
                            //将数据记录到中间表
                            var agvloc = Settings.GetAGVLocationList().Where(a => a.location == mst.CN_S_END_BIT).First();
                            if (agvloc != null)
                            {
                                var quantity = agvloc.quantity;
                                CMMLog.Info($"包装补空，终点{mst.CN_S_END_BIT}站点个数：{quantity}");
                                var emptyInfo = MongoDBSingleton.Instance.FindOne<BZEmptyPoint>(Query.EQ("Bit", mst.CN_S_END_BIT), "BZEmptyPoint");
                                if (emptyInfo != null)
                                {
                                    MongoDBSingleton.Instance.Update<BZEmptyPoint>(Query.EQ("Bit", mst.CN_S_END_BIT), Update.Set("Quantity", quantity), UpdateFlags.None);
                                }
                                else
                                {
                                    MongoDBSingleton.Instance.Insert(new BZEmptyPoint { Bit = mst.CN_S_END_BIT, Quantity = quantity });
                                }
                            }
                        }
                        if (mst.CN_S_BUSS_TYPE.Contains("打包下线"))
                        {
                            var connInfo = MongoDBSingleton.Instance.FindOne<ConnectingBits>(Query.EQ("Bit", mst.CN_S_START_BIT), "ConnectingBits");
                            if (connInfo != null)
                            {
                                CMMLog.Info($"connInfo:{connInfo.timeCuo}");
                                var time = MongoDBSingleton.Instance.FindOne<TimeCuoInfoCom>(Query.EQ("timeStamp", int.Parse(connInfo.timeCuo)), "TimeCuoInfoCom");
                                //var db = new SqlHelper<object>().GetInstance(false);
                                if(time != null)
                                {
                                    string date = time.BusinessDate.Substring(0, 4) + "-" + time.BusinessDate.Substring(4, 2) + "-" + time.BusinessDate.Substring(6);
                                    //double qty = time.totalWeight
                                    CMMLog.Info($"date:{date}");
                                    string fStockNumber = "CK004";
                                    //物料编码GEM-6A-5、GEM-4A-5入CK007，其余的入CK004
                                    if (time.batchNumber == "GEM-6A-5" || time.batchNumber == "GEM-4A-5")
                                    {
                                        fStockNumber = "CK007";
                                    }
                                    string FDept = "G02000501";
                                    if(mst.CN_S_BUSS_TYPE .Contains("一号厂房")) FDept = "G02001106";
                                    CMMLog.Info($"INSERT INTO T_JY_BARCODESync (FBarCode, FBarCodeRule,FMaterialNumber,FCreateOrgNumber,FLot,FUnit,FQty,FStockNumber,FDept,FBillDate,F_JY_CZZ,FOpStatus) VALUES ('{time.barcode}','01','{time.materialCode}','02','{time.batchNumber}','{time.measurementUnit}','{time.totalWeight / 100}','{fStockNumber}','{FDept}','{date}','{time.employeeId}','0')");
                                    new SqlHelper<object>().ExecuteSql($" INSERT INTO T_JY_BARCODESync (FBarCode, FBarCodeRule,FMaterialNumber,FCreateOrgNumber,FLot,FUnit,FQty,FStockNumber,FDept,FBillDate,F_JY_CZZ,FOpStatus) VALUES ('{time.barcode}','01','{time.materialCode}','02','{time.batchNumber}','{time.measurementUnit}','{time.totalWeight / 100}','{fStockNumber}','{FDept}','{date}','{time.employeeId}','0')", false);
                                    MongoDBSingleton.Instance.Remove<TimeCuoInfoCom>(Query.EQ("_id", time._id), RemoveFlags.Single);
                                    MongoDBSingleton.Instance.Update<ConnectingBits>(Query.EQ("_id", connInfo._id), Update.Set("timeStamp", ""), UpdateFlags.None);

                                }
                            }
                        }

                        WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
                    }
                    if (action.CN_N_ACTION_CODE == 2) {
                        CMMLog.Info($"完成任务处理：收到2信号之后特殊任务类型处理：任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE}");
                        if (mst.CN_S_BUSS_TYPE == "电梯取货")
                        {
                            var ele = MongoDBSingleton.Instance.FindOne<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), "ElevatorTask");
                            if (ele != null)
                            {
                                AMSHelper.SetStatus(ele.wmsTaskNo, 1, "2", action.CN_S_DEVICE_CODE, true);
                                WMSHelper.ExecuteState(ele.wmsSourceNo, action.CN_N_ACTION_CODE);
                                MongoDBSingleton.Instance.Remove<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), RemoveFlags.Single);
                            }
                        }
                        if (mst.CN_S_BUSS_TYPE != "电梯取货" && mst.CN_S_BUSS_TYPE != "电梯卸货" && !mst.CN_S_BUSS_TYPE.Contains("包装取料")) 
                            WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, action.CN_N_ACTION_CODE);
                        if (mst.CN_S_BUSS_TYPE.Contains("包装补空")) PLCControl.PickUpBlankComplete(mst.CN_S_END_BIT);

                        if (ERPService.SendERPTaskType.Contains(mst.CN_S_BUSS_TYPE) && ERPService.ERPSwitch01 == "1") ERPService.SendERPTaskInfo(mst);

                        iCallTask.DeleteTask(mst.CN_S_TASK_NO);
                    }
                }
            }
            #endregion

            #region 小车状态写入通道 (1-开始;2-完成 4-取货完成 6-卸货完成)
            if (action.CN_N_ACTION_CODE == 1 || action.CN_N_ACTION_CODE == 2 || action.CN_N_ACTION_CODE == 4 || action.CN_N_ACTION_CODE == 6)
            {
                WorkFlowAction.TrackLog(action.CN_S_TASK_NO, 1, action.CN_N_ACTION_CODE, "");
                TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                CMMLog.Info($"小车状态写入通道处理开始");
                if (mst != null)
                {
                    CMMLog.Info($"车号：{mst.CN_S_ForkliftNo}");
                    var stateInfo = Settings.GetAGVStateList().Where(a => a.AgvNo == mst.CN_S_ForkliftNo && a.enable == 1).FirstOrDefault();
                    if (stateInfo != null)
                    {
                        if (action.CN_N_ACTION_CODE == 1)
                        {
                            //开始，往通道写入1
                            var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
                            {
                                host = stateInfo.ip,
                                port = stateInfo.port,
                                addr = stateInfo.writeAddr + 5,
                                data = 1
                            });
                            CMMLog.Info($"在通道{stateInfo.writeAddr + 5}中写入1，ip：{stateInfo.ip}，端口：{stateInfo.port}");
                        }
                        if (action.CN_N_ACTION_CODE == 2)
                        {
                            //完成，往通道写入0
                            var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
                            {
                                host = stateInfo.ip,
                                port = stateInfo.port,
                                addr = stateInfo.writeAddr + 5,
                                data = 0
                            });
                            CMMLog.Info($"在通道{stateInfo.writeAddr + 5}中写入0，ip：{stateInfo.ip}，端口：{stateInfo.port}");
                        }
                        if (action.CN_N_ACTION_CODE == 4)
                        {
                            //取货完成，往通道写入1
                            var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
                            {
                                host = stateInfo.ip,
                                port = stateInfo.port,
                                addr = stateInfo.writeAddr + 6,
                                data = 1
                            });
                            CMMLog.Info($"在通道{stateInfo.writeAddr + 6}中写入1，ip：{stateInfo.ip}，端口：{stateInfo.port}");
                        }
                        if (action.CN_N_ACTION_CODE == 6)
                        {
                            //卸货完成，往通道写入0
                            var writeRes = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
                            {
                                host = stateInfo.ip,
                                port = stateInfo.port,
                                addr = stateInfo.writeAddr + 6,
                                data = 0
                            });
                            CMMLog.Info($"在通道{stateInfo.writeAddr + 6}中写入1，ip：{stateInfo.ip}，端口：{stateInfo.port}");
                        }
                    }
                    else CMMLog.Info($"小车{mst.CN_S_ForkliftNo}信号未配置");
                }

            }
            #endregion

            #region   3楼设备任务

            //起点安全对接      1012：安全请求进入     4：安全请求退出
            if (action.CN_N_ACTION_CODE == 1012 || action.CN_N_ACTION_CODE == 4 || action.CN_N_ACTION_CODE == 1312 )
            {
                CMMLog.Info($"起点安全对接:收到信号：{action.CN_N_ACTION_CODE},任务号：{action.CN_S_TASK_NO}，开始根据任务号查询主表中对应数据！");
                var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null)
                {
                    CMMLog.Info($"起点安全对接：收到任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE},任务信号：{action.CN_N_ACTION_CODE}");
                    //3楼拆盘补空：拆盘机补空托盘            3楼包装补空：包装机补空托
                    if (mst.CN_S_BUSS_TYPE.Contains("包装取料") || mst.CN_S_BUSS_TYPE.Contains("复称入缓存架") || mst.CN_S_BUSS_TYPE.Contains("复称入缓存架NG") || mst.CN_S_BUSS_TYPE.Contains("缓存架入叠托") || mst.CN_S_BUSS_TYPE.Contains("叠盘下线") || mst.CN_S_BUSS_TYPE.Contains("打包下线"))
                    {
                        CMMLog.Info($"起点安全对接：即将进入任务流程：{mst.CN_S_BUSS_TYPE},状态号为:{action.CN_N_ACTION_CODE}");
                        ProcessHelper.StartPickUpDoorSafe(mst, action.CN_N_ACTION_CODE);
                    }
                    else if (mst.CN_S_BUSS_TYPE == "电梯卸货" || mst.CN_S_BUSS_TYPE == "电梯取货" || mst.CN_S_BUSS_TYPE == "满托转运") 
                    {
                        if(mst.CN_S_BUSS_TYPE == "电梯取货" && action.CN_N_ACTION_CODE != 1012)
                        {
                            ProcessHelper.OperateDoor(mst, action.CN_N_ACTION_CODE == 1312 ? 1012 : 4);
                        }
                    }
                }
            }

            //滚筒车起点到位信号、取货完成信号    1112        1212     3、4          只对滚筒车对接
            if (action.CN_N_ACTION_CODE == 1112 || action.CN_N_ACTION_CODE == 1212)
            {
                var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null)
                {
                    if (mst.CN_S_BUSS_TYPE.Contains("包装取料"))
                    {
                        ProcessHelper.PickupAndUnload(mst, action.CN_N_ACTION_CODE);
                    }
                }
            }

            if (action.CN_N_ACTION_CODE == 8)
            {
                var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null)
                {
                    var plc = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_START_BIT).FirstOrDefault();

                    if (mst.CN_S_BUSS_TYPE.Contains("缓存架入叠托"))
                    {
                        CMMLog.Debug($"缓存架入叠托NG：TaskNo:{action.CN_S_TASK_NO},叠包NG写入值4。");
                        PLCControl.CacheStackingMouth8(plc);
                    }
                }
            }

            //终点安全对接      1013：安全请求进入     6：安全请求退出
            if (action.CN_N_ACTION_CODE == 1013 || action.CN_N_ACTION_CODE == 6 || action.CN_N_ACTION_CODE == 1312)
            {
                CMMLog.Info($"终点安全对接:收到信号：{action.CN_N_ACTION_CODE},任务号：{action.CN_S_TASK_NO}，开始根据任务号查询主表中对应数据！");
                TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null)
                {
                    CMMLog.Info($"终点安全对接：收到任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE},任务信号：{action.CN_N_ACTION_CODE}");
                    //3楼拆盘补空：拆盘机补空托盘            3楼包装补空：包装机补空托
                    if (mst.CN_S_BUSS_TYPE.Contains("包装取料") || mst.CN_S_BUSS_TYPE.Contains("复称入缓存架") || mst.CN_S_BUSS_TYPE.Contains("缓存架入叠托") || mst.CN_S_BUSS_TYPE == "包装线补空" || mst.CN_S_BUSS_TYPE.Contains("拆盘补空") )
                    {
                        ProcessHelper.EndPickUpDoorSafe(mst, action.CN_N_ACTION_CODE);
                    }
                    if (mst.CN_S_BUSS_TYPE == "电梯取货" || mst.CN_S_BUSS_TYPE == "电梯卸货" || mst.CN_S_BUSS_TYPE == "满托转运")
                    {
                        //二段电梯任务终点交互
                        if (mst.CN_S_BUSS_TYPE == "电梯取货" && action.CN_N_ACTION_CODE != 1312)
                        {
                            //电梯取货任务 终点不需要进行安全交互
                        }
                        else if (mst.CN_S_BUSS_TYPE == "电梯卸货")
                        {
                            //小车到达等待点之后发送信号，判断哪部电梯可以使用，然后创建电梯生成任务
                            //异常情况需要打印：1.两部电梯都不可以使用，2.两部电梯都可以使用，默认使用第一台电梯设备
                            CMMLog.Info($"终点安全对接:电梯卸货:收到信号{action.CN_N_ACTION_CODE}");
                            if (action.CN_N_ACTION_CODE == 1312 || action.CN_N_ACTION_CODE == 6)
                            {
                                var taskBit = MongoDBSingleton.Instance.FindOne<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), "ElevatorTask");
                                CMMLog.Info($"终点安全对接:电梯卸货:taskno:{mst.CN_S_TASK_NO}，occupy:{taskBit.occupy}");
                                if (taskBit.occupy == "")
                                {
                                    string eleBit = PLCControl.ElevatorTaskBit(mst.CN_S_START_BIT);
                                    CMMLog.Info("终点安全对接:电梯卸货:获取电梯点位elebit" + eleBit);
                                    if (eleBit == "0")
                                    {
                                        CMMLog.Info("终点安全对接:电梯卸货:当前无电梯可以使用！");
                                        Console.WriteLine("终点安全对接:电梯卸货:当前无电梯可以使用！");
                                    }
                                    else
                                    {
                                        //改终点为开启的电梯
                                        //TSHelper.GoToAGV(mst.CN_S_TASK_NO, 1, StockInstance.Instance.GetAGVCodeForBitCode(eleBit));

                                        //TSHelper.GoToAGV(mst.CN_S_TASK_NO, 2, StockInstance.Instance.GetAGVCodeForBitCode(eleBit));
                                        //AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "修改终点");
                                        var taskInfo = MongoDBSingleton.Instance.FindOne<ElevatorTask>(Query.EQ("taskNo", mst.CN_S_SOURCE_NO), "ElevatorTask");
                                        //赋值 二段电梯点位
                                        MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("Ext3",eleBit), UpdateFlags.None);
                                        string endBit02 = PLCControl.ElevatorTaskBit02(eleBit);
                                        MongoDBSingleton.Instance.Update<ElevatorTask>(Query.EQ("taskNo", taskInfo.taskNo), Update.Set("taskNo", taskInfo.wmsTaskNo + "_1").Set("endBit02", endBit02).Set("occupy", eleBit).Set("endBit",eleBit), UpdateFlags.None);
                                        CMMLog.Info("终点安全对接:电梯卸货:elebit:" + eleBit);
                                        //写入当前楼层--呼叫电梯
                                        PLCControl.ElevatorTaskFloor(taskInfo.startFloor, eleBit);
                                    }
                                }
                                else
                                {
                                    CMMLog.Info("终点安全对接:电梯卸货:电梯occupy占用字段不为空，进入电梯开门关门服务！");
                                    ProcessHelper.OperateDoor(mst, action.CN_N_ACTION_CODE);
                                }
                            }
                        }
                    }
                }
            }

            //滚筒车终点到位信号、卸货完成信号     1113        1213        5、6      只对滚筒车对接
            if (action.CN_N_ACTION_CODE == 1113 || action.CN_N_ACTION_CODE == 1213)
            {
                var mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null)
                {
                    //3楼拆盘补空：拆盘机补空托盘            3楼包装补空：包装机补空托
                    if (mst.CN_S_BUSS_TYPE.Contains("包装取料")) ProcessHelper.DiscRemoverEmptySupport(mst, action.CN_N_ACTION_CODE);
                }
            }

            //缓存架入叠托，小车扫码
            if(action.CN_N_ACTION_CODE == 1313)
            {
                TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                var plc = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_END_BIT).FirstOrDefault();
                if(plc != null)
                {
                    PLCControl.CacheStackingMouth1313(plc.deviceType, mst.CN_S_TASK_NO);
                    //AMSHelper.TaskTrackLogMessage(action.CN_S_TASK_NO, action.CN_N_ORDER.ToString(), action.CN_N_ACTION_CODE.ToString(), "小车扫码");
                }
            }

            //电动安全门对接
            if(action.CN_N_ACTION_CODE == 1023 || action.CN_N_ACTION_CODE == 1025)
            {
                CMMLog.Info($"收到信号{action.CN_N_ACTION_CODE},门号：{action.Ext2}");
                var plc = Settings.GetPlcInfo().Where(a => a.Extend == action.Ext2 && a.enable == 1).FirstOrDefault();
                if (plc != null)
                {
                    try
                    {
                        if (action.CN_N_ACTION_CODE == 1023)
                        {
                            var wirte = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
                            {
                                addr = plc.writeAddr,
                                host = plc.ip,
                                port = plc.port,
                                data = 1
                            });

                            CMMLog.Debug($"DoorSafe：写入ip:{plc.ip},端口：{plc.port}，通道：{plc.writeAddr}里面数据为:1.");

                            var result = OITcpHelper.RegisterReadOutPut(new OITcpHelper.RegisterReadOutPutModel
                            {
                                dataNum = 2,
                                addr = plc.readAddr,
                                host = plc.ip,
                                port = plc.port
                            });

                            CMMLog.Debug($"DoorSafe：读取ip:{plc.ip},端口：{plc.port}，通道{plc.readAddr + 1}里面数据为{JsonConvert.SerializeObject(result)}.");
                            if (result != null && result.errCode == 0)
                            {
                                if (result.result[0] == 1 && result.result[1] == 1)
                                {
                                    //推送小车进去
                                    CMMLog.Info($"电动门已经打开，门号：{action.Ext2}");

                                    TSHelper.Traffic(action.Ext2);
                                }
                            }
                        }
                        else if (action.CN_N_ACTION_CODE == 1025)
                        {
                            var wirte = OITcpHelper.RegisterWriteOutPut(new OITcpHelper.RegisterWriteOutPutModel
                            {
                                addr = plc.writeAddr,
                                host = plc.ip,
                                port = plc.port,
                                data = 2
                            });
                            CMMLog.Debug($"DoorSafe：写入ip:{plc.ip},端口：{plc.port}，通道：{plc.writeAddr}里面数据为:2.");
                        }
                    }
                    catch (Exception ex)
                    {
                        CMMLog.Info($"DoorSafe err：" + ex.Message);
                    }
                }
                else CMMLog.Info($"门号为【{action.Ext2}】的门为在配置文件配置或者未启用");
                //CMMLog.Info($"电动门安全请求对接：收到任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE},任务信号：{action.CN_N_ACTION_CODE}");
                //    if(mst.CN_S_BUSS_TYPE == "成品入发货架")
                //    {
                //        PLCControl.DoorSafe(mst, action.CN_N_ACTION_CODE);
                //    }
            }

            if(action.CN_N_ACTION_CODE == 1024)
            {
                CMMLog.Info($"安全对接:收到信号：{action.CN_N_ACTION_CODE},任务号：{action.CN_S_TASK_NO}，开始根据任务号查询主表中对应数据！");
                TN_I_TASK_MST mst = MongoDBSingleton.Instance.FindOne<TN_I_TASK_MST>(Query.EQ("CN_S_BUSS_TYPE", "一号厂房叠盘下线"), "TN_I_TASK_MST");
                //TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                if (mst != null)
                {
                    if (mst.CN_S_BUSS_TYPE == "一号厂房叠盘下线")
                    {
                        var plc = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_START_BIT).FirstOrDefault();
                        if (plc != null)
                        {
                            PLCControl.PalletStacker1024(plc,mst.CN_S_TASK_NO);
                        }
                    }
                }
            }

            #endregion

            return iResult;
        }


        internal void writeAGVState(TN_I_TASK_DTL_ACTION action)
        {
            #region 小车状态写入通道 (1-开始;2-完成 4-取货完成 6-卸货完成)
            if (action.CN_N_ACTION_CODE == 1 || action.CN_N_ACTION_CODE == 2 || action.CN_N_ACTION_CODE == 4 || action.CN_N_ACTION_CODE == 6)
            {
                TN_I_TASK_MST mst = iCallTask.FindTask(action.CN_S_TASK_NO);
                CMMLog.Info($"小车状态写入通道处理开始");
                if (mst != null)
                {
                    CMMLog.Info($"车号：{action.CN_S_DEVICE_CODE}");
                    var agvInfo = MongoDBSingleton.Instance.FindOne<AGV_STATE>(Query.EQ("forkliftNo", action.CN_S_DEVICE_CODE), "AGV_STATE");
                    if (agvInfo != null)
                    {
                        if (action.CN_N_ACTION_CODE == 1)
                        {
                            MongoDBSingleton.Instance.Update<AGV_STATE>(Query.EQ("forkliftNo", action.CN_S_DEVICE_CODE), Update.Set("agvState", 1), UpdateFlags.None);
                        }
                        if (action.CN_N_ACTION_CODE == 2)
                        {
                            MongoDBSingleton.Instance.Update<AGV_STATE>(Query.EQ("forkliftNo", action.CN_S_DEVICE_CODE), Update.Set("agvState", 0), UpdateFlags.None);
                        }
                        if (action.CN_N_ACTION_CODE == 4)
                        {
                            MongoDBSingleton.Instance.Update<AGV_STATE>(Query.EQ("forkliftNo", action.CN_S_DEVICE_CODE), Update.Set("haveItem", 1), UpdateFlags.None);
                        }
                        if (action.CN_N_ACTION_CODE == 6)
                        {
                            MongoDBSingleton.Instance.Update<AGV_STATE>(Query.EQ("forkliftNo", action.CN_S_DEVICE_CODE), Update.Set("haveItem", 0), UpdateFlags.None);
                        }
                    }
                    else CMMLog.Info($"未在中间表查询到该车号的数据，车号：{action.CN_S_DEVICE_CODE}");
                }

                writeAGVInfo(action.CN_S_DEVICE_CODE);
            }
            #endregion
        }

        #region AGV车体状态信息
        public void HangChaAGVEvent(HangChaAGV _hangChaAGV) {
        }
        public void HangChaAGVEvent(List<HangChaAGV> agvs) {

        }

        #endregion

       public class ConnectingBits
        {
            public ObjectId _id { get; set; }
            /// <summary>
            /// 货位编码
            /// </summary>
            public string Bit { get; set; }
            /// <summary>
            /// 时间戳
            /// </summary>
            public string timeCuo { get; set; }
        }
    }
}