using Hanhe.iWCS.Business;
using Hanhe.iWCS.Common;
using Hanhe.iWCS.DeviceDriver;
using Hanhe.iWCS.MData;
using Hanhe.iWCS.Model;
using Hanhe.iWCS.Model.AMS;
using Hanhe.iWCS.Model.H883;
using MongoDB.Bson;
using MongoDB.Driver;
using MongoDB.Driver.Builders;
using MySql.Data.MySqlClient;
using Newtonsoft.Json;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Configuration;
using System.Text;
using System.Threading.Tasks;
using System.Web.UI.WebControls.WebParts;
using static Hanhe.iWCS.IndonesiaGLMProtocol.AMSHelper;
using static Hanhe.iWCS.IndonesiaGLMProtocol.EnentListen;
using static Hanhe.iWCS.IndonesiaGLMProtocol.MESHelper;
using static Hanhe.iWCS.IndonesiaGLMProtocol.PLCControl;
using static Hanhe.iWCS.IndonesiaGLMProtocol.ProtocolAnalysis;
using static System.Runtime.CompilerServices.RuntimeHelpers;

namespace Hanhe.iWCS.IndonesiaGLMProtocol
{
    public class ProcessHelper
    {
        private static ICallTaskProcessing callTaskProcessing = new ICallTaskProcessing();
        private static WebApiHelper webApiHelper = new WebApiHelper();

        public static bool CheckStartFree(string bit) {
            var result = false;
            var tasks = MongoDBSingleton.Instance.Find<TN_I_TASK_MST>(Query.EQ("CN_S_START_BIT", bit), "TN_I_TASK_MST");
            if (tasks.Count == 0) {
                result = true;
            }
            else {
                for (int i = 0; i < tasks.Count; i++) {
                    if (!WorkFlowAction.ExistsTrackLogs(tasks[i].CN_S_TASK_NO, 1, 4)) {
                        break;
                    }
                }
            }
            return result;
        }

        public static bool PickUpStartFree(string bit)
        {
            var result = false;
            var tasks = MongoDBSingleton.Instance.Find<TN_I_TASK_MST>(Query.EQ("CN_S_START_BIT", bit), "TN_I_TASK_MST");
            if (tasks.Count == 0)
            {
                result = true;
            }
            else
            {
                result = true;
                for (int i = 0; i < tasks.Count; i++)
                {
                    if (!WorkFlowAction.ExistsTrackLogs(tasks[i].CN_S_TASK_NO, 1, 4))
                    {
                        result = false;
                        break;
                    }
                }
            }
            return result;
        }

        public static bool PickUpEndFree(string bit)
        {
            var result = false;
            var tasks = MongoDBSingleton.Instance.Find<TN_I_TASK_MST>(Query.EQ("CN_S_END_BIT", bit), "TN_I_TASK_MST");
            if (tasks.Count == 0)
            {
                result = true;
            }
            else
            {
                result = true;
                for (int i = 0; i < tasks.Count; i++)
                {
                    if (!WorkFlowAction.ExistsTrackLogs(tasks[i].CN_S_TASK_NO, 1, 6))
                    {
                        result = false;
                        break;
                    }
                }
            }
            return result;
        }

        internal static bool CheckEndFree(string bit) {
            var count = MongoDBSingleton.Instance.FindCount<TN_I_TASK_MST>(Query.EQ("CN_S_END_BIT", bit), "TN_I_TASK_MST");
            return count == 0;
        }

        /// <summary>
        /// 发送任务——已增加起点终点层数，特殊AGV站点推送
        /// </summary>
        /// <param name="mst"></param>
        internal static void SendTask(TN_I_TASK_MST mst)
        {
            try
            {
                if (mst.CN_S_STATUS == "未执行" || mst.CN_S_STATUS == "待推送")
                {
                    mst.CN_S_BUSS_TYPE = getTaskType(mst.CN_S_BUSS_TYPE,false);

                    if (mst.CN_S_END_BIT == "CK001_XN-01")
                    {
                        mst = MongoDBSingleton.Instance.FindOne<TN_I_TASK_MST>(Query.EQ("CN_S_TASK_NO", mst.CN_S_TASK_NO), "TN_I_TASK_MST");
                    }
                    StringBuilder sbMsg = new StringBuilder();
                    var start = StockInstance.Instance.GetLocationInfoTwo(mst.CN_S_START_BIT);
                    var end = StockInstance.Instance.GetLocationInfoTwo(mst.CN_S_END_BIT);
                    string FRow = string.IsNullOrEmpty(start.CN_S_FLOOR) ? "1" : start.CN_S_FLOOR;
                    string TRow = string.IsNullOrEmpty(end.CN_S_FLOOR) ? "1" : end.CN_S_FLOOR;
                    int location = -1;
                    CMMLog.Info($"任务推送：货位编码：起点信息:{JsonConvert.SerializeObject(start)},终点信息:{JsonConvert.SerializeObject(end)}；任务信息：{JsonConvert.SerializeObject(mst)}");

                    if (mst.CN_S_BUSS_TYPE.Contains("3楼复称入缓存架"))
                    {
                        //更改任务为已推送
                        MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("CN_S_STATUS", "已推送"), UpdateFlags.None);
                        CMMLog.Info("任务更改成功");
                        return;
                    }
                    if (mst.CN_S_BUSS_TYPE == "包装线补空")
                    {
                        CMMLog.Info($"任务推送特殊任务处理-包装线补空：任务号：{mst.CN_S_TASK_NO},准备获取 AGVLocationList 配置数据。备注：此任务类型仅获取起点。");
                        var agvLoc = Settings.GetDDSiteList().Where(a => a.ddLoc == mst.CN_S_START_BIT).FirstOrDefault();
                        if (agvLoc != null)
                        {
                            var emp = MongoDBSingleton.Instance.FindOne<BZEmptyPoint>(Query.EQ("Bit", mst.CN_S_START_BIT), "BZEmptyPoint");
                            if (emp != null)
                            {
                                location = agvLoc.Site[emp.Quantity - 1];
                            }
                        }
                    }
                    if (mst.CN_S_BUSS_TYPE == "缓存架入立库")
                    {
                        TRow = "1";
                    }
                    if (mst.CN_S_BUSS_TYPE == "3楼成品出库")
                    {
                        FRow = "1";
                    }
                    #region 电梯任务处理
                    if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托" || mst.CN_S_BUSS_TYPE == "3楼包装补空" || mst.CN_S_BUSS_TYPE == "转运" || mst.CN_S_BUSS_TYPE == "1楼辅材入2楼" || mst.CN_S_BUSS_TYPE == "转运到包装机")
                    {
                        CMMLog.Info("电梯任务处理");
                        //电梯任务处理流程
                        #region 根据任务类型判断任务终点楼层
                        int floor = 0;
                        if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托")
                        {
                            floor = 1;
                        }
                        if (mst.CN_S_BUSS_TYPE == "3楼包装补空")
                        {
                            floor = 2;
                        }
                        if (mst.CN_S_BUSS_TYPE == "转运到包装机")
                        {
                            if(mst.CN_S_START_AREA != mst.CN_S_END_AREA)
                            {
                                floor = 2;
                            }
                        }
                        if (mst.CN_S_BUSS_TYPE == "转运")
                        {
                            //判断点到点转运任务是否需要经过电梯，如果需要经过电梯，则判断起点终点的楼层，如果不经过电梯，则直接推送
                            if (mst.CN_S_START_AREA != mst.CN_S_END_AREA)
                            {
                                floor = mst.CN_S_END_AREA.Contains("2") ? 2 : 1;
                            }
                        }
                        if (mst.CN_S_BUSS_TYPE == "1楼辅材入2楼")
                        {
                            floor = 2;
                        }
                        #endregion

                        if(floor != 0)
                        {
                            CMMLog.Info($"任务终点：{floor}，任务类型：{mst.CN_S_BUSS_TYPE}");
                            //1、判断当前电梯是否有任务，无任务则推送
                            var eleInfo = MongoDBSingleton.Instance.FindOne<elevatorTask>(Query.EQ("S_USE", "0"), "elevatorTask");
                            if (eleInfo == null)
                            {
                                var plcInfo = Settings.GetPlcInfo().Where(a => a.deviceType == "22" && a.enable == 1).First();
                                if (plcInfo != null)
                                {
                                    string endLoc = floor == 1 ? plcInfo.location.Split(',')[0] : plcInfo.location.Split(',')[1];
                                    string startLoc = floor == 1 ? plcInfo.location.Split(',')[1] : plcInfo.location.Split(',')[0];
                                    //更改任务的终点为电梯
                                    var updateBuider = Update.Set("CN_S_END_BIT", endLoc);//新目的地
                                    MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("CN_S_TASK_NO", mst.CN_S_TASK_NO), updateBuider, UpdateFlags.None);
                                    CMMLog.Info($"更改任务的终点：{endLoc}");
                                    MongoDBSingleton.Instance.Insert<elevatorTask>(new elevatorTask
                                    {
                                        S_DT_LOC = startLoc,
                                        S_END_LOC = mst.CN_S_END_BIT,
                                        S_END_FLOOR = floor,
                                        S_TASK_TYPE = mst.CN_S_BUSS_TYPE,
                                        task_mst = mst,
                                        wmsInfo = MongoDBSingleton.Instance.FindOne<WMSInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "WMSInfo"),
                                        S_USE = "0",
                                        time = DateTime.Now
                                    });
                                    CMMLog.Info("插入中间表数据");
                                    mst = MongoDBSingleton.Instance.FindOne<TN_I_TASK_MST>(Query.EQ("_id", mst._id), "TN_I_TASK_MST");
                                    start = StockInstance.Instance.GetLocationInfoTwo(mst.CN_S_START_BIT);
                                    end = StockInstance.Instance.GetLocationInfoTwo(mst.CN_S_END_BIT);
                                    FRow = string.IsNullOrEmpty(start.CN_S_FLOOR) ? "1" : start.CN_S_FLOOR;
                                    TRow = string.IsNullOrEmpty(end.CN_S_FLOOR) ? "1" : end.CN_S_FLOOR;
                                }
                                else CMMLog.Info("提升机未配置");
                            }
                            else
                            {
                                CMMLog.Info("电梯正在使用");
                                return;
                            }
                        }
                    }
                    #endregion
                    try
                    {
                        start.CN_N_AGV_LOCATION = location == -1 ? start.CN_N_AGV_LOCATION : location;
                        var req = $"<Req><Order  TS='1'  Pri='{mst.CN_N_PRIORITY}' From='{start.CN_N_AGV_LOCATION}' To='{end.CN_N_AGV_LOCATION}'  No='{mst.CN_S_TASK_NO}_1' Ext1='1' Ext2='CALLADDAGV'  Ext3='' FRow='{1}' TRow='{1}'/></Req>";
                        CMMLog.Info($"任务推送：下发 Hosttoagv 数据：{req}.");
                        HardwareAccessObject AGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
                        if (AGVHao != null)
                        {
                            object[] args = new object[1];
                            args[0] = req;
                            object xmlData = AGVHao._WebServiceInstance.Invoke("AddNewOrder", args);
                            string errMsg = string.Empty;
                            int errCode = -1;
                            if (xmlData != null)
                            {
                                errCode = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)xmlData, out errMsg);
                            }
                            var msg = "WCS To AGV send task; errcode=" + errCode + "！data=" + sbMsg.ToString() + ";url=" + AGVHao.WebUrl;
                            CMMLog.Info($"任务推送：接收 Hosttoagv 数据：{msg}.");
                            if (errCode == Constants.WCS_AGV_ERRCode || errCode == 99999)
                            {
                                MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("CN_S_STATUS", "未执行"), UpdateFlags.None);
                                AMSHelper.TaskTrackLogMessage(mst.CN_S_TASK_NO, "1", "1027", "AGV任务拦截推送失败", errCode.ToString());
                                //Console.WriteLine(mst.CN_S_TASK_NO + ", \"1\", \"1027\", \"AGV任务拦截推送失败\"," + errCode.ToString());
                                CMMLog.Info(mst.CN_S_TASK_NO + ", \"1\", \"1027\", \"AGV任务拦截推送失败\"," + errCode.ToString());
                            }
                            else
                            {
                                if (errCode == 0 || errCode == 50009)
                                {
                                    MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("CN_S_STATUS", "已推送"), UpdateFlags.None);
                                }
                                AMSHelper.TaskTrackLogMessage(mst.CN_S_TASK_NO, "1", "1027", "AGV任务下达成功");
                                //Console.WriteLine(mst.CN_S_TASK_NO + "\"1\", \"1027\", \"AGV任务下达成功\"");
                                CMMLog.Info(mst.CN_S_TASK_NO + "\"1\", \"1027\", \"AGV任务下达成功\"");
                            }
                        }
                        else
                        {
                            //Console.WriteLine("WCS To AGV send task fail; ts1 not set in ams work center");
                            CMMLog.Info("WCS To AGV send task fail; ts1 not set in ams work center");
                        }
                    }
                    catch (Exception ex)
                    {
                        MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("CN_S_STATUS", "未执行"), UpdateFlags.None);
                        CMMLog.Error("WCS To AGV send task fail;param=" + mst.CN_S_TASK_NO + ";err=" + ex.Message);
                        AMSHelper.TaskTrackLogMessage(mst.CN_S_TASK_NO, "1", "1027", "AGV任务拦截推送失败");
                    }
                }
            }
            catch(Exception ex)
            {
                CMMLog.Info($"任务推送报错：err:{ex.Message}");
            }
            
        }

        #region   3楼设备任务

        /// <summary>
        /// 终点安全对接：1013安全请求进入；6安全请求退出
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="code"></param>
        internal static void EndPickUpDoorSafe(TN_I_TASK_MST mst, int code)
        {
            //3楼包装补空：包装机补空托流程——3楼包装机安全门交互
            var plc = Settings.GetPlcInfo().Where(a => a.location.Contains(mst.CN_S_END_BIT)).FirstOrDefault();
            //if (plc != null || mst.CN_S_BUSS_TYPE == "3楼复称入缓存架")
            CMMLog.Info($"{mst.CN_S_END_BIT}");
            CMMLog.Info($"{plc}");
            if (plc != null || mst.CN_S_BUSS_TYPE == "3楼打包下线")
            {
                CMMLog.Info($"进入{mst.CN_S_BUSS_TYPE}流程{code}的处理");
                if (code == 1013)
                {
                    //卸货申请，先判断设备是否允许进料，如果是直接改参数，并通知设备
                    if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.SecondWeightSafe(plc.ip, mst.CN_S_TASK_NO, plc.port);
                    //if (mst.CN_S_BUSS_TYPE == "3楼复称入缓存架") PLCControl.SecondWeightInCache1013(mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托") PLCControl.CacheStackingMouth1013(plc.deviceType, mst.CN_S_TASK_NO, mst.CN_S_END_BIT);
                    if (mst.CN_S_BUSS_TYPE == "3楼拆盘补空") PLCControl.DiscRemoverReqUnload(plc.deviceType, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "包装线补空" || mst.CN_S_BUSS_TYPE == "转运到包装机") PLCControl.PackingLine(plc.ip, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼打包下线") PLCControl.outWare(mst.CN_S_TASK_NO, true);
                    if (mst.CN_S_BUSS_TYPE == "3楼成品出库") PLCControl.productOutWare(mst.CN_S_END_BIT, mst.CN_S_TASK_NO, true);
                    if (mst.CN_S_BUSS_TYPE == "3楼包装补空" || mst.CN_S_BUSS_TYPE == "1楼辅材入2楼") PLCControl.machineEmpty1013(plc.deviceType, mst.CN_S_TASK_NO,true);
                    if (mst.CN_S_BUSS_TYPE.Contains("提升机")) PLCControl.CacheStackingMouth1013Two(plc.deviceType, mst.CN_S_TASK_NO);
                }
                if (code == 6)
                {
                    //卸货完成申请，判断设备那边进料完成，改参数通知agv离开
                    if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.CheckUpUnloadComplete(plc.ip, mst.CN_S_TASK_NO, mst.CN_S_START_BIT, plc.port);
                    //if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.SecondWeightSafeComplete(plc.ip, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼拆盘补空") PLCControl.DiscRemoverUnloadComplete(plc.deviceType, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼打包下线") PLCControl.outWare(mst.CN_S_TASK_NO, false);
                    if (mst.CN_S_BUSS_TYPE == "包装线补空" || mst.CN_S_BUSS_TYPE == "转运到包装机") PLCControl.PackingLineComplete(plc.ip);
                    if (mst.CN_S_BUSS_TYPE == "3楼成品出库") PLCControl.productOutWare(mst.CN_S_END_BIT, mst.CN_S_TASK_NO, false);
                    if (mst.CN_S_BUSS_TYPE == "叠包提升机") PLCControl.CacheStackingMouth6Two(mst.CN_S_END_BIT);
                    if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托" || mst.CN_S_BUSS_TYPE == "3楼包装补空") PLCControl.SecondWeightInCache6(plc.deviceType, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼包装补空" || mst.CN_S_BUSS_TYPE == "1楼辅材入2楼") PLCControl.machineEmpty1013(plc.deviceType, mst.CN_S_TASK_NO,false);
                }
            }
            else CMMLog.Info($"PlcInfo中未找到该点位，点位：{mst.CN_S_END_BIT}");
        }

        /// <summary>
        /// 滚筒车终点到位信号：4     取货完成：1213
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="code"></param>
        internal static void DiscRemoverEmptySupport(TN_I_TASK_MST mst, int code)
        {
            var plc = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_END_BIT).FirstOrDefault();
            if (plc != null)
            {
                if (code == 4)
                {
                    //卸货申请，先判断设备是否允许进料，如果是直接改参数，并通知设备
                    if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.CheckUpReqUnload(plc, mst.CN_S_TASK_NO);
                }
                if (code == 1213)
                {
                    //卸货完成申请，判断设备那边进料完成，改参数通知agv离开
                    if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.CheckUpUnloadComplete(plc.ip, mst.CN_S_TASK_NO,mst.CN_S_START_BIT,plc.port);
                }
            }
            else CMMLog.Info($"设备未配置：{mst.CN_S_END_BIT}");
        }

        /// <summary>
        /// 起点安全对接：1012安全请求进入；4安全请求退出
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="code"></param>
        internal static void StartPickUpDoorSafe(TN_I_TASK_MST mst, int code)
        {
            //3楼包装补空：包装机补空托流程——3楼包装机安全门交互
            var plc = Settings.GetPlcInfo().Where(a => a.location.Contains(mst.CN_S_START_BIT)).FirstOrDefault();
            if (plc != null)
            {
                CMMLog.Info($"进入任务{mst.CN_S_BUSS_TYPE}的流程{code}");
                if (code == 1012)
                {
                    //卸货申请，先判断设备是否允许进料，如果是直接改参数，并通知设备
                    if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.PickUpFullDoorUnload(plc.ip, mst.CN_S_TASK_NO,plc.deviceType);//进入3楼包装取料流程1012,ip:{plc.ip},task:{mst.CN_S_TASK_NO}
                    //if (mst.CN_S_BUSS_TYPE == "3楼复称入缓存架" || mst.CN_S_BUSS_TYPE == "3楼复称入缓存架NG") PLCControl.SecondWeightInCache1012(plc.ip, mst.CN_S_TASK_NO);//二期：直接改参数
                    if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托") TSHelper.GoToAGV(mst.CN_S_TASK_NO, 10, 1);
                    if (mst.CN_S_BUSS_TYPE == "3楼叠盘下线") PLCControl.StackingReqUnload(plc.deviceType, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼打包下线") PLCControl.PackingLineUnload1012(plc.ip, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE.Contains("提升机")) PLCControl.ElevatorStart(plc.ip, mst.CN_S_TASK_NO, mst.CN_S_BUSS_TYPE,plc.port);
                }
                if (code == 4)
                {
                    //卸货完成申请，判断设备那边进料完成，改参数通知agv离开
                    if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.PickUpFullDoorComplete(plc.ip, mst.CN_S_TASK_NO, plc.deviceType);
                    //if (mst.CN_S_BUSS_TYPE == "3楼复称入缓存架" || mst.CN_S_BUSS_TYPE == "3楼复称入缓存架NG") PLCControl.SecondWeightInCache4(plc.deviceType, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼叠盘下线") PLCControl.StackingComplete(plc.deviceType, mst.CN_S_TASK_NO);
                    if (mst.CN_S_BUSS_TYPE == "3楼打包下线") PLCControl.PackingLineComplete4(plc.ip, mst.CN_S_SOURCE_NO);
                    if (mst.CN_S_BUSS_TYPE != "3楼包装取料") WMSHelper.ExecuteState(mst.CN_S_SOURCE_NO, 4);
                    if (mst.CN_S_BUSS_TYPE.Contains("提升机")) PLCControl.ElevatorEnd(plc.ip, mst.CN_S_TASK_NO, mst.CN_S_BUSS_TYPE);
                }
            }
            else CMMLog.Info($"点位{mst.CN_S_START_BIT}未配置");
        }

        /// <summary>
        /// 滚筒车起点到位信号：1112     取货完成：1212
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="code"></param>
        internal static void PickupAndUnload(TN_I_TASK_MST mst,int code)
        {
            //3楼包装补空：包装机补空托流程——空托输送线交互（取空托，取空托完成）
            //3楼包装取料：3楼包装机取料去复称平台流程——进入包装机安全门后取料
            var plc = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_START_BIT).FirstOrDefault();
            if (plc != null)
            {
                if (code == 1112)
                {
                    //三楼包装机进安全门内对接
                    if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.PickUpFullUnload(plc.ip, mst.CN_S_TASK_NO, plc.port);
                }
                if (code == 1212)
                {
                    //三楼包装机安全门内对接   二期没有滚筒车，因此无需向 包装机 写入 滚筒停止指令
                    //if (mst.CN_S_BUSS_TYPE == "3楼包装取料") PLCControl.PickUpFullComplete(plc.ip, mst.CN_S_TASK_NO);
                }
            }
        }

        #endregion

        #region   任务处理——拦截任务-电梯任务-取消任务

        /// <summary>
        /// 拦截WMS发送的任务，因为WCS需要对任务类型进行分类处理
        /// </summary>
        /// <param name="mst"></param>
        /// <returns></returns>
        internal static bool Intercept(TN_I_TASK_MST mst)
        {
            bool result = false;// false:直接推送 true:拦截不推送
            try
            {
                //对WMS下发的任务进行拦截，因为AMS需要对任务类型进行区分处理（调试通过后，可以考虑封装为方法）

                CMMLog.Info($"任务拦截处理：执行开始！任务号：{mst.CN_S_TASK_NO},ext1:{mst.Ext1}");

                //if (!string.IsNullOrEmpty(mst.CN_S_BUSS_TYPE) && mst.CN_S_BUSS_TYPE != "转运")
                //{
                //    CMMLog.Info($"bussType:{mst.CN_S_BUSS_TYPE}");
                //    mst.CN_S_BUSS_TYPE = getTaskType(mst.CN_S_BUSS_TYPE, false);
                //    if (string.IsNullOrEmpty(mst.CN_S_BUSS_TYPE))
                //    {
                //        return true;
                //    }
                //}

                #region
                if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托")
                {
                    //寻找所有正在执行中的  3楼缓存架入叠托  任务
                    //var taskInfoList = MongoDBSingleton.Instance.Find<TN_I_TASK_MST>(Query.And(Query.EQ("CN_S_BUSS_TYPE", "3楼缓存架入叠托"), Query.NotIn("CN_S_STATUS", new List<MongoDB.Bson.BsonValue>() { "未执行", "待推送" })), "TN_I_TASK_MST");
                    //if (taskInfoList.Count > 0)
                    //{
                    //    //找到了有正在执行中的任务，通过是否卸货完成判断是否可推送任务
                    //    try
                    //    {
                    //        for (int i = taskInfoList.Count - 1; i >= 0; i--)
                    //        {
                    //            //查询所有的已推送的任务，判断是否卸货完成，卸货完成从列表中掉
                    //            var taskNo = taskInfoList[i].CN_S_TASK_NO;
                    //            var trackInfo = MongoDBSingleton.Instance.FindOne<TN_I_TASK_DTL_ACTION_TrackLog>(Query.And(Query.EQ("CN_S_TASK_NO", taskNo), Query.EQ("CN_S_ACTION_CODE", 6)), "TN_I_TASK_DTL_ACTION_TrackLog");
                    //            if (trackInfo != null) taskInfoList.Remove(taskInfoList[i]);
                    //        }
                    //
                    //        if(taskInfoList.Count > 0) 
                    //        {
                    //            int a = 0;
                    //            int b = 0;
                    //            foreach (var c in taskInfoList)
                    //            {
                    //                //查询所有未推送的任务
                    //                if (c.CN_S_START_BIT.Substring(0,1) == mst.CN_S_START_BIT.Substring(0, 1)) a = a + 1;
                    //                else b = b + 1;
                    //            }
                    //            if (a > b) return true;
                    //        }
                    //
                    //        //判断是否还有没有取货完成的任务，若还有，不推送
                    //        if (taskInfoList.Count > 0)
                    //        {
                    //            return true;
                    //        }
                    //    }
                    //    catch (Exception ex)
                    //    {
                    //        Console.WriteLine("3楼缓存架入叠托:" + ex.Message);
                    //    }
                    //}
                }
                #endregion

                #region 点到点转运到包装机
                var plcInfo = Settings.GetPlcInfo().Where(a => a.location == mst.CN_S_END_BIT && a.enable == 1).FirstOrDefault();
                if(plcInfo != null && plcInfo.deviceType == "1")
                {
                    CMMLog.Info($"ext1:{mst.Ext1},{string.IsNullOrEmpty(mst.Ext1)}");
                    CMMLog.Info($"CN_S_BUSS_TYPE:{mst.CN_S_BUSS_TYPE},{string.IsNullOrEmpty(mst.CN_S_BUSS_TYPE)}");
                    if (string.IsNullOrEmpty(mst.Ext1) && (string.IsNullOrEmpty(mst.CN_S_BUSS_TYPE) || mst.CN_S_BUSS_TYPE == "转运"))
                    {
                        //确定是上包装机的任务
                        mst.Ext1 = "DDD_BZJ";
                    }
                }
                #endregion

                var bussTypeInfo = Settings.GetHouWeiCodeo().Where(a => a.location == mst.Ext1).FirstOrDefault();
                if (bussTypeInfo != null)
                {
                    CMMLog.Info($"type:{bussTypeInfo.taskType}");
                    string taskType = getTaskType(bussTypeInfo.taskType, true);
                    if (!string.IsNullOrEmpty(taskType))
                    {
                        if (bussTypeInfo.task != "5" && bussTypeInfo.task != "15")
                            MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("CN_S_BUSS_TYPE", taskType).Set("Ext1", mst.Ext1 + taskType), "TN_I_TASK_MST", UpdateFlags.None);
                        else
                        {
                            var wmsinfo = MongoDBSingleton.Instance.FindOne<WMSInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "WMSInfo");
                            if (wmsinfo == null)
                            {
                                MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("CN_S_BUSS_TYPE", taskType).Set("Ext1", mst.Ext1 + taskType), "TN_I_TASK_MST", UpdateFlags.None);
                                var transInfo = mst.transportInfo.First();
                                List<string> list = new List<string>(transInfo.itemWeight.Split(','));
                                MongoDBSingleton.Instance.Insert<WMSInfo>(new WMSInfo
                                {
                                    trayCode = mst.CN_S_BATCH_NO,
                                    itemCode = transInfo.itemCode,
                                    itemPCode = transInfo.itemPCode,
                                    location = transInfo.itemName,
                                    productWeight = list[0],
                                    trayCodeWeight = list[1],
                                    oneTrayWeight = list[2],
                                    palletLayers = list[3],
                                    addState = int.Parse(transInfo.itemFeatures),
                                    packageCode = transInfo.trayCode,
                                    TaskNo = mst.CN_S_TASK_NO,
                                    dateTime = DateTime.Now
                                });
                            }
                            else
                            {
                                //Console.WriteLine("任务拦截处理：WMSINFO中间表目前正在有缓存架入叠托的任务在执行！");
                                CMMLog.Info("任务拦截处理：WMSINFO中间表目前正在有缓存架入叠托的任务在执行！");
                            }
                        }
                        result = true;

                        if (bussTypeInfo.task == "21")
                        {
                            //立库入库的优先级要高于出库的优先级
                            var taskInfo = MongoDBSingleton.Instance.FindOne<TN_I_TASK_MST>(Query.And(Query.EQ("CN_S_BUSS_TYPE", "缓存架入立库"), Query.EQ("CN_S_STATUS", "未执行")), "TN_I_TASK_MST");
                            if (taskInfo == null)
                            {
                                //3楼成品出库任务拦截
                                if (OutWareTask(mst))
                                {
                                    CMMLog.Info("成品出库流程，任务更改为false");
                                    result = false;
                                }
                                else
                                {
                                    CMMLog.Info("成品出库流程，任务更改为true");
                                    result = true;
                                }
                            }
                            else
                            {
                                result = true;
                            }
                        }
                    }
                    else
                    {
                        MongoDBSingleton.Instance.Insert(new taskTypeConversion
                        {
                            ChineseType = bussTypeInfo.taskType
                        }, "taskTypeConversion"); 

                        CMMLog.Info($"任务类型转换表未配置该任务的英文任务类型，任务类型：{bussTypeInfo.taskType}");
                    }
                }
                MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("_id", mst._id), Update.Set("CN_S_STATUS", "未执行"), "TN_I_TASK_MST", UpdateFlags.None);
                CMMLog.Info("任务拦截处理：执行完毕！");
            }
            catch(Exception ex)
            {
                Console.WriteLine($"taskNo:{mst.CN_S_TASK_NO},Intercept ex:{ex}");
                return true;
            }
            CMMLog.Info($"RESULT:{result}");
            return result;
        }

        /// <summary>
        /// 任务中英文转换
        /// </summary>
        /// <param name="taskType"></param>
        /// <param name="result">true 中-英</param>
        /// <returns></returns>
        internal static string getTaskType(string taskType,bool result)
        {
            string type = "";

            try
            {
                if (result)
                {
                    //根据中文查询英文
                    type = MongoDBSingleton.Instance.FindOne<taskTypeConversion>(Query.EQ("ChineseType", taskType), "taskTypeConversion").EnglishType;
                }
                else
                {
                    //根据英文查询中文
                    type = MongoDBSingleton.Instance.FindOne<taskTypeConversion>(Query.EQ("EnglishType", taskType), "taskTypeConversion").ChineseType;
                }
            }
            catch (Exception ex)
            {
                CMMLog.Info("getTaskType err:"+ex.Message);
                return "";
            }
            
            return type;
        }

        public class taskTypeConversion
        {
            public ObjectId _id { get; set; }
            public string EnglishType { get; set; }
            public string ChineseType { get; set; }
        }


        internal static bool OutWareTask(TN_I_TASK_MST mst)
        {
            bool result = false;
            CMMLog.Info("成品出库任务流程处理开始");
            string endMachLoc = "";
            string endLoc = "";
            //1、判断上料平台是否空闲，若空闲更改终点到上料平台
            var plc = Settings.GetPlcInfo().Where(a => a.deviceType == "18" && a.enable == 1).ToList();
            if (plc.Count > 0)
            {
                foreach(var a in plc)
                {
                    CMMLog.Info($"查询输送线当前点位：{a.location}");
                    if (CheckEndFree(a.location))
                    {
                        CMMLog.Info($"当前输送线无任务");
                        //var num = a.device == "26" ? 1 : 2;

                        var result1 = OITcpHelper.RegisterReadOutPut(new OITcpHelper.RegisterReadOutPutModel
                        {
                            dataNum = 1,
                            addr = a.readAddr + 1,
                            host = a.ip,
                            port = a.port
                        });
                        CMMLog.Debug($"成品出库流程：读取输送线{a.device},ip:{a.ip},port:{a.port},通道号为：{a.readAddr + 1}的值为：{result1.result[0]}");
                        if (result1 != null && result1.errCode == 0)
                        {
                            if (result1.result[0] == 1)
                            {
                                endMachLoc = a.location;
                                break;
                            }
                        }
                    }
                }

                if (string.IsNullOrEmpty(endMachLoc))
                {
                    CMMLog.Info("输送线不可用，生成任务到缓存货架");
                    //设备非空闲，计算终点到货架
                    var locInfo = MongoDBSingleton.Instance.FindOne<location>(Query.And(Query.EQ("N_CURRENT_NUM",0),Query.EQ("S_LOC_STATE", "无")), "location");
                    if (locInfo != null)
                    {
                        endLoc = locInfo.S_LOC_CODE;
                    }
                    if (!string.IsNullOrEmpty(endLoc))
                    {
                        //改任务的终点
                        MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("CN_S_TASK_NO", mst.CN_S_TASK_NO), Update.Set("CN_S_END_BIT", endLoc), UpdateFlags.None);

                        //终点上锁
                        var trayCode = mst.transportInfo[0].trayCode;
                        MongoDBSingleton.Instance.Update<location>(Query.EQ("S_LOC_CODE", endLoc), Update.Set("S_LOC_STATE", "入库锁").Set("S_TRAY_CODE", trayCode), UpdateFlags.None);

                        new SqlHelper<object>().ExecuteSql($"update dbo.tn_am_task_mst set CN_S_END_BIE='{endLoc}',CN_S_END_AGVBIT = '{StockInstance.Instance.GetAGVCodeForBitCode(endLoc)}' where CN_S_TASK_NO = '{mst.CN_S_TASK_NO}'");
                        result = true;
                    }
                }
                else
                {
                    CMMLog.Info($"生成任务到输送线，更改任务终点，货位号：{endMachLoc}");
                    //改任务的终点
                    MongoDBSingleton.Instance.Update<TN_I_TASK_MST>(Query.EQ("CN_S_TASK_NO", mst.CN_S_TASK_NO), Update.Set("CN_S_END_BIT", endMachLoc), UpdateFlags.None);

                    endBitModel bit = new endBitModel
                    {
                        CN_S_TASK_NO = mst.CN_S_TASK_NO,
                        CN_S_END_BIT = endMachLoc,
                    };
                    string json = JsonConvert.SerializeObject(bit);

                    new SqlHelper<object>().ExecuteSql($"update dbo.tn_am_task_mst set CN_S_END_BIE='{endMachLoc}',CN_S_END_AGVBIT = '{StockInstance.Instance.GetAGVCodeForBitCode(endMachLoc)}' where CN_S_TASK_NO = '{mst.CN_S_TASK_NO}'");
                    result = true;
                }
            }
            else
            {
                CMMLog.Info("上料平台设备未配置");
            }
            CMMLog.Info($"OutWareTask result:{result}");
            return result;
        }

        public class endBitModel
        {
            public string CN_S_TASK_NO { get; set; }
            public string CN_S_END_BIT { get; set; }
        }

        /// <summary>
        /// 成品出库任务中间表
        /// </summary>
        public class OutWareTable
        {
            public ObjectId _id { get; set; }
            public string itemCode { get; set; }
            public string batchNo { get; set; }
        }

        public class location
        {
            public ObjectId _id { get; set; }
            public string S_LOC_CODE { get; set; }
            //public string S_ITEM_CODE { get; set; }
            //public string S_BATCH_NO { get; set; }
            public string S_LOC_STATE { get; set; } = "无";
            public int N_CURRENT_NUM { get; set; }
            public string S_TRAY_CODE { get; set; }
        }

        /// <summary>
        /// 电梯任务
        /// </summary>
        public class elevatorTask
        {
            public ObjectId _id { get; set; }
            /// <summary>
            /// 电梯点位
            /// </summary>
            public string S_DT_LOC { get; set; }
            /// <summary>
            /// 任务终点
            /// </summary>
            public string S_END_LOC { get; set; }
            /// <summary>
            /// 终点楼层
            /// </summary>
            public int S_END_FLOOR { get; set; }
            /// <summary>
            /// 任务类型
            /// </summary>
            public string S_TASK_TYPE { get; set; }
            /// <summary>
            /// 取货完成 0-未完成 1-已完成
            /// </summary>
            public string S_USE { get; set; }
            public TN_I_TASK_MST task_mst {get;set;}
            public WMSInfo wmsInfo { get; set; }
            /// <summary>
            /// 任务创建时间
            /// </summary>
            public DateTime time { get; set; }
        }

        /// <summary>
        /// 取消任务处理
        /// </summary>
        /// <param name="mst"></param>
        public static void TaskCancel(TN_I_TASK_MST mst)
        {
            CMMLog.Info($"进入取消任务流程！任务类型：{mst.CN_S_BUSS_TYPE}");
            if (mst.CN_S_BUSS_TYPE == "3楼包装取料")
            {
                CMMLog.Info($"任务类型：{mst.CN_S_BUSS_TYPE},任务操作：查询<MachineInfo>表中已当前起点为包装机号的数据machineNo，不为空，删除！任务号：{mst.CN_S_TASK_NO},任务起点：{mst.CN_S_START_BIT},任务终点：{mst.CN_S_END_BIT}");
                var tray = MongoDBSingleton.Instance.FindOne<MachineInfo>(Query.EQ("machineNo", mst.CN_S_START_BIT), "MachineInfo");
                if(tray != null)
                {
                    MongoDBSingleton.Instance.Remove<MachineInfo>(Query.EQ("machineNo", mst.CN_S_START_BIT), RemoveFlags.Single);
                    if (ERPService.ERPSwitch01 == "0") MongoDBSingleton.Instance.Remove<MachineInfoTwo>(Query.EQ("machineNo", mst.CN_S_START_BIT), "MachineInfoTwo", RemoveFlags.Single);
                }
            }
            if (mst.CN_S_BUSS_TYPE == "3楼缓存架入叠托")
            {
                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
                        int[] num = DiePan(machine);

                        CMMLog.Info($"send num:");
                        CMMLog.Info(JsonConvert.SerializeObject(num));
                        var wirteall01 = OITcpHelper.RegisterWriteOutPutMulti(new OITcpHelper.RegisterWriteOutPutModelMulti
                        {
                            addr = plc.writeAddr + 10,
                            host = plc.ip,
                            port = plc.port,
                            data = num
                        });
                        #endregion
                        MongoDBSingleton.Instance.Remove<WMSInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), RemoveFlags.Single);
                    }
                }
            }
            MongoDBSingleton.Instance.Remove<Mongo_AGV_TASK_STATE>(Query.EQ("TaskNo", mst.CN_S_TASK_NO), RemoveFlags.None);
            CMMLog.Info($"取消任务流程结束！");
        }
        /// <summary>
        /// 强制完成任务处理
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="action"></param>
        public static void ForceComplete(TN_I_TASK_MST mst, TN_I_TASK_DTL_ACTION action)
        {
            CMMLog.Info($"强制完成任务处理：收到2信号之后特殊任务类型处理：任务号：{mst.CN_S_TASK_NO},任务类型：{mst.CN_S_BUSS_TYPE}");
            if(mst.CN_S_BUSS_TYPE == "3楼包装取料")
            {
                MongoDBSingleton.Instance.Remove<MachineInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), RemoveFlags.Single);
                if (ERPService.ERPSwitch01 == "0") MongoDBSingleton.Instance.Remove<MachineInfoTwo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "MachineInfoTwo", RemoveFlags.Single);
            }
        }
        /// <summary>
        /// 电梯取消删除任务
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="action"></param>
        public static void ForceCancel(TN_I_TASK_MST mst, TN_I_TASK_DTL_ACTION action)
        {
            CMMLog.Info($"取消任务处理：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 == "3楼包装取料")
            {
                MongoDBSingleton.Instance.Remove<MachineInfo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), RemoveFlags.Single);
                if (ERPService.ERPSwitch01 == "0") MongoDBSingleton.Instance.Remove<MachineInfoTwo>(Query.EQ("trayCode", mst.CN_S_BATCH_NO), "MachineInfoTwo", RemoveFlags.Single);
            }
        }
        #endregion

        #region   充电任务
        public static string battery = Settings.BatteryTime;
        internal static void AGVBatteryTime()
        {
            CMMLog.Info("进入充电任务流程判断：执行开始！");
            var now = DateTime.Today;
            string date = now.Year.ToString() + "-" + now.Month.ToString() + "-" + now.Day.ToString() + " " + battery;
            DateTime dt = Convert.ToDateTime(date);
            //十分钟以内判断当前充电桩是否有小车在充电，没有则推送当前充电桩电量最低的一辆小车去充电，并写入充电桩状态
            CMMLog.Info("进入充电任务流程:获取配置文件时间，并判断当前时间减去配置文件时间是否在20分钟以内！");
            if (DateTime.Now.Subtract(dt).TotalMinutes <= 20 && DateTime.Now.Subtract(dt).TotalMinutes > 0)
            {
                //先判断中间表是否有当前充电桩的状态，有则不操作，反之进入小车电量查询
                CMMLog.Info("进入充电任务流程:当前时间满足生成充电任务基本要求，开始判断ChargingPile配置项中当前充电桩状态是否开启");//ChargingPile
                var list = Settings.GetChargingPile().Where(a => a.enable == "1").ToList();
                if (list.Count > 0)
                {
                    //CMMLog.Info("04");
                    list.ForEach(a => {
                        //CMMLog.Info("05");
                        var margin = MongoDBSingleton.Instance.FindOne<MarginAGV>(Query.EQ("marginGroup", int.Parse(a.charginGroup)), "MarginAGV");
                        int agvBattery = 1000, agvNo = 0, marginGroup = 0;
                        if (margin == null)
                        {
                            CMMLog.Info($"进入充电任务流程：判断当前充电桩分组{a.charginGroup}能否在ChargingPile配置项中查找到且enable为开启状态！");
                            var list2 = Settings.GetChargingPile().Where(b => b.charginGroup == a.charginGroup && b.enable == "1").ToList();
                            list2.ForEach(b =>
                            {
                                CMMLog.Info($"进入充电任务流程：判断当前车号能否在<HangChaAGV>小车车身状态表中查询到数据，车号agvNo:{b.agvNo}");
                                var battery = MongoDBSingleton.Instance.FindOne<HangChaAGV>(Query.EQ("agvNo", b.agvNo), "HangChaAGV");
                                if(battery != null)
                                {
                                    if (int.Parse(battery.agvBattery) < agvBattery)
                                    {
                                        //CMMLog.Info($"进入充电任务流程：06 ");
                                        agvBattery = int.Parse(battery.agvBattery);
                                        agvNo = int.Parse(b.agvNo);
                                        marginGroup = int.Parse(b.charginGroup);
                                    }
                                }
                                else CMMLog.Info($"进入充电任务流程：error:当前车号在HangChaAgv中间表中查询不到数据！车号：{b.agvNo},所属充电桩：{b.charginGroup}");
                            });
                            //推送小车前往指定充电桩，并插入中间表状态
                            var agv = MongoDBSingleton.Instance.FindOne<MarginAGV>(Query.And(Query.EQ("agvNo", agvNo),Query.EQ("marginGroup", marginGroup)), "MarginAGV");
                            if(agv == null && agvNo != 0)
                            {
                                TSHelper.SendChargeTask(agvNo.ToString(), true);
                                //增加时间
                                MongoDBSingleton.Instance.Insert<MarginAGV>(new MarginAGV { agvNo = agvNo, marginGroup = marginGroup ,dateTime = DateTime.Now});
                            }
                        }
                    });
                }
            }
            else
            {
                CMMLog.Info("进入充电任务流程：超过十分钟，删除中间表");
                //超过十分钟，删除中间表
                MongoDBSingleton.Instance.ReomveAll<MarginAGV>();
            }
            CMMLog.Info("进入充电任务流程判断：执行结束！");
        }
        #endregion

        /// <summary>
        /// 获取杭叉AGV<HangChaAGV>表里小车电量，并将其写入MODBUS中
        /// </summary>
        public static int[] GetBatteryHang() 
        {
            int[] num = new int[5];
            var bits = Settings.GetChargingAgvNo();
            CMMLog.Info($"获取小车车号信息：{JsonConvert.SerializeObject(bits)}");//6723
            for (int i = 0; i < num.Length; i++)
            {
                var battery = MongoDBSingleton.Instance.FindOne<HangChaAGV>(Query.EQ("agvNo", bits[i]), "HangChaAGV");
                num[i] = battery == null ? 0 : int.Parse(battery.agvBattery);
            }
            CMMLog.Info($"获取小车电量：{JsonConvert.SerializeObject(num)}");
            return num;
        }

        /// <summary>
        /// WMS叠盘机任务中存储信息
        /// </summary>
        public class WMSInfo
        {
            public ObjectId _id { get; set; }
            /// <summary>
            /// 产品型号 11 60
            /// </summary>
            public string itemCode { get; set; }
            /// <summary>
            /// 批次号  30 30
            /// </summary>
            public string itemPCode { get; set; }
            /// <summary>
            /// 设备通道数据3——托盘码          
            /// </summary>
            public string trayCode { get; set; }
            /// <summary>
            /// 设备通道数据1——包装机号        
            /// </summary>
            public string location { get; set; }
            /// <summary>
            /// 设备通道数据2——产品需求重量：32位整数
            /// </summary>
            public string productWeight { get; set; }
            /// <summary>
            /// 设备通道数据2——托盘重量：32位整数
            /// </summary>
            public string trayCodeWeight { get; set; }
            /// <summary>
            /// 设备通道数据2——单托实际重量：32位整数
            /// </summary>
            public string oneTrayWeight { get; set; }
            /// <summary>
            /// 是否叠底托（1-不叠底托，2-叠底托）
            /// </summary>
            public string palletLayers { get; set; }
            /// <summary>
            /// 设备通道数据1——是否需要叠包：1：叠包，2：不叠包
            /// </summary>
            public int addState { get; set; }
            /// <summary>
            /// 设备通道数据1——袋号(001,002,003…999)
            /// </summary>
            public string packageCode { get; set; }
            public DateTime dateTime { get; set; }
            public string TaskNo { get; set; }
        }
        /// <summary>
        /// 充电任务中间表
        /// </summary>
        public class MarginAGV
        {
            public ObjectId id { get; set; }
            public int agvNo { get; set; }
            public int marginGroup { get; set; }
            public DateTime dateTime { get; set; }
        }
        /// <summary>
        /// 去除字符串中NULL字符串
        /// </summary>
        internal static string RemoveNull(string str)
        {
            CMMLog.Info($"remove:{str}");
            string result = "";
            string empty = null;
            for(int i = 0; i <= str.Length-1; i++)
            {
                if(str.Substring(i,1) != empty && str.Substring(i, 1) != "" && str.Substring(i, 1) != " " && str.Substring(i,1) != "\0")
                {
                    //CMMLog.Debug($"str.substring:{i},{str.Substring(i, 1)}");
                    result = result + str.Substring(i, 1);
                }
                else
                {
                    return result;
                }
            }
            return result;
        }

        /// <summary>
        /// 获取时间戳
        /// </summary>
        /// <param name="DataBitType">数据位数：值：32|64  含义：32位|64位</param>
        /// <param name="TimeType">获取时间类型：值：1|2   含义：1-秒级   2-毫秒级</param>
        /// <param name="TimeUtcType">获取时间Utc类型：值：1|2   含义：1-本地时间   2-Utc时间</param>
        /// <returns></returns>
        public static string GetTimeStamp(int DataBitType, int TimeType, int TimeUtcType)
        {
            string timeStamp = "";

            //时间戳打印
            DateTime dateTime = TimeUtcType == 1 ? DateTime.Now : DateTime.UtcNow;//本地时间|Utc时间获取
            TimeSpan ts = dateTime - new DateTime(1970, 1, 1, 0, 0, 0, 0);//时间戳获取
            double tsTime = TimeType == 1 ? ts.TotalSeconds : ts.TotalMilliseconds;//秒级|毫秒级时间获取

            string TimeTypeInfo = TimeType == 1 ? "秒级" : "毫秒级";
            string TimeUtcTypeInfo = TimeUtcType == 1 ? "本地时间" : "Utc时间";
            timeStamp = DataBitType == 32 ? Convert.ToInt32(tsTime).ToString() : Convert.ToInt64(tsTime).ToString();

            //Console.WriteLine($"时间戳打印：{DataBitType}位，{TimeTypeInfo}，{TimeUtcTypeInfo}，时间戳：{timeStamp}");

            return timeStamp;
        }

        public static int GetWeekOfMonth(DateTime daytime)
        {
            int dayInMonth = daytime.Day;
            //本月第一天
            DateTime firstDay = daytime.AddDays(1 - daytime.Day);
            //本月第一天是周几
            int weekday = (int)firstDay.DayOfWeek == 0 ? 7 : (int)firstDay.DayOfWeek;
            //本月第一周有几天
            int firstWeekEndDay = 7 - (weekday - 1);
            //当前日期和第一周之差
            int diffday = dayInMonth - firstWeekEndDay;

            diffday = diffday > 0 ? diffday : 1;
            //当前是第几周,如果整除7就减一天 
            int WeekNumInMonth = ((diffday % 7) == 0 ? (diffday / 7 - 1) : (diffday / 7)) + 1 + (dayInMonth > firstWeekEndDay ? 1 : 0);

            return WeekNumInMonth;
        }

        internal static void createDTTask()
        {
            var ele = MongoDBSingleton.Instance.FindOne<elevatorTask>(Query.EQ("S_USE", "0"),"elevatorTask");
            if(ele != null)
            {
                CMMLog.Info("提升机在指定楼层，并且是开门状态，生成二段任务");
                string taskType = getTaskType(ele.S_TASK_TYPE, true) + "-ELETwo";
                HHAmsExecuteResult req = AMSHelper.CreateTask(DateTime.Now.Ticks.ToString(), ele.S_DT_LOC, ele.S_END_LOC, taskType, 0);
                if (req.success)
                {
                    CMMLog.Info($"【{taskType}】任务生成成功");
                }
            }
            else
            {
                CMMLog.Info("电梯二段任务生成异常，中间表无数据");
            }

        }
    }
}