using HH.WCS.JuShi.api;
using HH.WCS.JuShi.core;
using HH.WCS.JuShi.dispatch;
using HH.WCS.JuShi.LISTA.process;
using HH.WCS.JuShi.util;
using HH.WCS.JuShi.wms;
using HH.WCS.JuShi;
using Newtonsoft.Json;
using NLog.Fluent;
using SqlSugar;
using Swashbuckle.Swagger;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Cryptography;
using static HH.WCS.JuShi.LISTA.process.HttpModel;
using static System.Runtime.CompilerServices.RuntimeHelpers;
using HH.WCS.JuShi.device;
using Org.BouncyCastle.Utilities;
using Opc.Ua;
using System.Collections;
using System.Xml.Linq;
using System.Threading;
using static HH.WCS.JuShi.dispatch.NDC;
using static HH.WCS.JuShi.util.Settings;

namespace HH.WCS.JuShi.process
{
    internal class TaskProcess
    {
        #region 任务相关
        //--------------------------------------------------任务相关--------------------------------------------------
        /// <summary>
        /// 取货卸货完成，缓存位状态更新
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="v"></param>
        internal static void CacheBitUpdate(WCSTask mst, bool load)
        {
            //var trayCarryCount = mst.N_CNTR_COUNT > 0 ? mst.N_CNTR_COUNT : 1;
            if (load)
            {
                Console.WriteLine($"任务{mst.S_CODE} 货位{mst.S_START_LOC}取货完成，起点解绑容器{mst.S_CNTR_CODE}");
                LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_START_LOC}取货完成，起点解绑容器{mst.S_CNTR_CODE}");
                LocationHelper.UnBindingLoc(mst.S_START_LOC, mst.S_CNTR_CODE.Split(',').ToList());
            }
            else
            {
                Console.WriteLine($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，终点绑定容器{mst.S_CNTR_CODE}");
                LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，终点绑定容器{mst.S_CNTR_CODE}");
                LocationHelper.BindingLoc(mst.S_END_LOC, mst.S_CNTR_CODE.Split(',').ToList());
            }

        }

        /// <summary>
        /// 任务取消，缓存位状态更新
        /// </summary>
        /// <param name="mst"></param>
        internal static void CacheBitCancelUpdate(WCSTask mst)
        {
            //任务取消，取货完成前的，起点的loadingCount和终点unLoadingCount都清除，取货完成的只处理终点
            if (WCSHelper.CheckActionRecordExist(mst.S_CODE, 4))
            {
                //根据客户现场要求，如果取货完成任务失败人工拉到终点，我们就当卸货完成处理；如果是人工拉走到其它区域，我们就解锁终点，删除托盘。
                //终点绑定
                CacheBitUpdate(mst, false);
                LocationHelper.UnLockLoc(mst.S_END_LOC);
            }
            else
            {

                //起点终点解锁
                LocationHelper.UnLockLoc(mst.S_START_LOC);
                LocationHelper.UnLockLoc(mst.S_END_LOC);

            }

        }


        /// <summary>
        /// 任务拦截
        /// </summary>
        /// <param name="task"></param>
        /// <returns></returns>
        internal static bool Intercept(WCSTask mst)
        {
            var result = false;
            //  if (mst.S_TYPE == "自动转运") {
            //判断人工卸货区开关
            //     result = true;

            // }
            return result;
        }

        /// <summary>
        /// 任务状态更新处理
        /// </summary>
        /// <param name="mst"></param>
        /// <param name="state"></param>
        internal static void OperateStatus(WCSTask mst, int state)
        {
            if (state == 4)//取货完成
            {
                CacheBitUpdate(mst, true);
                //拆托机安全交互
                ctjSafe(mst);

            }
            if (state == 6)//卸货完成
            {
                CacheBitUpdate(mst, false);
                //rgv安全交互
                rgvSafe(mst);
                //拆托机安全交互
                ctjSafe(mst);

            }
            if (state == 7)
            {
                CacheBitCancelUpdate(mst);
            }
        }
        //rgv安全交互
        private static void rgvSafe(WCSTask mst)
        {
            //rgv安全交互  根据终点货位找到是哪个rgv
            var reservoir = Settings.ReservoirAreas.Where(a => a.areaName == "RGV库区").FirstOrDefault();
            if (mst.S_END_AREA.Equals(reservoir.areaCode))
            {
                var safeInteractions = Settings.SafeInteractions.Where(a => a.location == mst.S_END_LOC).FirstOrDefault();

                var safelists = JsonConvert.DeserializeObject<List<SafeInteraction>>(DeviceProcess.rgvSafeInteraction);

                if (safelists.Any())
                {
                    var safelist = safelists.Where(s => s.ip == safeInteractions.ip).First();
                    LogHelper.Info($"RGV安全交互参数{safelist}");
                    //不等于 2卸货完成确认信号 就接着发
                    if (safelist.data != "2")
                    {
                        string datastr = "3F00102030400D0A";
                        // 返回信号
                        switch (safeInteractions.pointCode)
                        {
                            case "RGV1":
                                datastr = datastr.Replace("10", "11");
                                break;
                            case "RGV2":
                                datastr = datastr.Replace("20", "21");
                                break;
                            case "RGV3":
                                datastr = datastr.Replace("30", "31");
                                break;
                            case "RGV4":
                                datastr = datastr.Replace("40", "41");
                                break;
                        }
                        LogHelper.Info($"RGV安全交互发送信号{safelist.ip},{datastr}");
                        PlcHelper.SendHex(safelist.ip, datastr);
                        //休眠3秒再调
                        Thread.Sleep(3000);
                        rgvSafe(mst);
                    }
                    else
                    {
                        LogHelper.Info($"RGV安全交互发送信号{safelist.ip},3F00102030400D0A");
                        //无状态信号
                        PlcHelper.SendHex(safelist.ip, "3F00102030400D0A");

                    }
                }
            }
        }
        //拆托机安全交互
        private static void ctjSafe(WCSTask mst)
        {
            PlcDeviceTable plcDeviceTable = null;
            //找到线体 根据线体找内存里的状态
            var rkreservoirs = Settings.ConveyorLinesInfos.Where(s => s.location == mst.S_END_LOC).FirstOrDefault();
            var ckreservoirs = Settings.ConveyorLinesInfos.Where(s => s.location == mst.S_START_LOC).FirstOrDefault();
            if (rkreservoirs != null)
            {
                plcDeviceTable = S7Helper.plcDeviceTables.Find(a => a.DeviceNo == rkreservoirs.code);
            }
            else if (ckreservoirs != null)
            {
                plcDeviceTable = S7Helper.plcDeviceTables.Find(a => a.DeviceNo == ckreservoirs.code);
            }
            LogHelper.Info($"拆托机安全交互写入参数{plcDeviceTable}");
            if (plcDeviceTable != null)
            {
                //s7写入
                double addr = 0;         //偏移量
                string deviceNo = null;//拆托机号
                if (plcDeviceTable.DeviceNo == 1003)
                {
                    addr = 90.1;
                    deviceNo = "1";
                }
                else if (plcDeviceTable.DeviceNo == 1006)
                {
                    addr = 180.1;
                    deviceNo = "2";
                }
                else if (plcDeviceTable.DeviceNo == 1001)
                {
                    addr = 30.0;
                    deviceNo = "1";
                }
                else if (plcDeviceTable.DeviceNo == 1004)
                {
                    addr = 120.0;
                    deviceNo = "2";
                }
                LogHelper.Info($"拆托机安全交互写入{deviceNo}，{addr}");
                S7Helper.WriteDouble(deviceNo, 9, addr, 1);
            }
        }

        private static object locLocker = new object();

        /// <summary>
        /// 堆叠库区出入库任务申请
        /// </summary>
        /// <param name="ls"></param>
        /// <param name="cntrs"></param>
        /// <param name="area"></param>
        /// <param name="itemCode"></param>
        /// <param name="itemBatch"></param>
        /// <param name="taskType"></param>
        /// <param name="insStock"></param>
        /// <returns></returns>
        internal static bool ApplyTN_Task(Location ls, ref List<string> cntrs, string area, string itemCode, string itemBatch, string taskType, bool insStock = true)
        {
            var result = false;
            lock (locLocker)
            {
                try
                {
                    if (insStock)
                    {
                        Console.WriteLine($"MoboxHelperCreateTask: {area}-{itemCode}-{itemBatch}-{taskType}");
                        var endTN_Location = GetLocation4In(area, itemCode, itemBatch, 3);
                        if (endTN_Location != null)
                        {
                            var endLayer = endTN_Location.N_CURRENT_NUM == 0 ? 1 : 2;
                            var taskNo = DateTime.Now.Ticks.ToString();
                            result = TaskProcess.CreateTransport(ls.S_CODE, endTN_Location.S_CODE, taskType, cntrs, 1, endLayer, 3, 70);
                        }
                        else
                        {
                            Console.WriteLine($"MoboxHelperCreateTask: 未找到终点货位");
                        }
                    }
                    else
                    {
                        var startTN_Location = GetLocation4Out(area, itemCode, itemBatch, 3);
                        if (startTN_Location != null)
                        {
                            var startLayer = startTN_Location.N_CURRENT_NUM <= 3 ? 1 : 2;
                            var taskNo = DateTime.Now.Ticks.ToString();
                            var carryCount = startTN_Location.N_CURRENT_NUM > 3 ? startTN_Location.N_CURRENT_NUM - 3 : startTN_Location.N_CURRENT_NUM;
                            //出库要从起点获取托盘
                            var cntrList = LocationHelper.GetLocCntr(startTN_Location.S_CODE);
                            if (cntrList.Count == startTN_Location.N_CURRENT_NUM)
                            {
                                cntrs = cntrList.OrderByDescending(a => a.T_CREATE).Take(carryCount).Select(a => a.S_CNTR_CODE.Trim()).ToList();
                                result = TaskProcess.CreateTransport(startTN_Location.S_CODE, ls.S_CODE, taskType, cntrs, startLayer, 1, carryCount, 65);
                            }
                            else
                            {
                                Console.WriteLine($"起点托盘数量和货位容器表不符合，请检查【货位表】和【货位容器表】");
                            }

                        }
                    }
                }
                catch (Exception ex)
                {

                    Console.WriteLine("MoboxHelperCreateTask:" + ex.Message);
                    LogHelper.Error("MoboxHelperCreateTask:" + ex.Message, ex);
                }
            }
            return result;


        }

        private static Location GetLocation4Out(string area, string itemCode, string itemBatch, int v)
        {
            throw new NotImplementedException();
        }

        private static Location GetLocation4In(string area, string itemCode, string itemBatch, int v)
        {
            throw new NotImplementedException();
        }

        /// <summary>
        /// 普通货架区的出入库申请
        /// </summary>
        /// <param name="ls"></param>
        /// <param name="cntrs"></param>
        /// <param name="area"></param>
        /// <param name="taskType"></param>
        /// <param name="itemCode"></param>
        /// <param name="insStock"></param>
        /// <returns></returns>
        internal static bool ApplyNormalTN_Task(Location ls, ref List<string> cntrs, string area, string taskType, string itemCode, bool insStock = true)
        {
            var result = false;
            lock (locLocker)
            {
                try
                {
                    if (insStock)
                    {
                        Console.WriteLine($"MoboxHelperCreateTask: {area}-{taskType}");
                        var endTN_Location = new Location();
                        if (endTN_Location != null)
                        {
                            var taskNo = DateTime.Now.Ticks.ToString();
                            result = TaskProcess.CreateTransport(ls.S_CODE, endTN_Location.S_CODE, taskType, cntrs, 70);
                        }
                        else
                        {
                            Console.WriteLine($"MoboxHelperCreateTask: 未找到终点货位");
                        }
                    }
                    else
                    {
                        var startTN_Location = new Location();
                        if (startTN_Location != null)
                        {
                            //出库要从起点获取托盘
                            var cntrList = LocationHelper.GetLocCntr(startTN_Location.S_CODE);
                            if (cntrList.Count == startTN_Location.N_CURRENT_NUM)
                            {
                                result = TaskProcess.CreateTransport(startTN_Location.S_CODE, ls.S_CODE, taskType, new List<string> { cntrList[0].S_CNTR_CODE }, 65);
                            }
                            else
                            {
                                Console.WriteLine($"起点托盘数量和货位容器表不符合，请检查【货位表】和【货位容器表】");
                            }

                        }
                    }
                }
                catch (Exception ex)
                {

                    Console.WriteLine("MoboxHelperCreateTask:" + ex.Message);
                    LogHelper.Error("MoboxHelperCreateTask:" + ex.Message, ex);
                }
            }
            return result;


        }

        /// <summary>
        /// 推送任务
        /// </summary>
        /// <param name="mst"></param>
        internal static bool SendTask(WCSTask mst)
        {


            var result = false;
            var start = "0"; var end = "0";
            var taskType = mst.S_TYPE.Trim();
            // if (mst.N_B_STATE == 0) {
            if (mst.N_SCHEDULE_TYPE == 1)
            {
                start = LocationHelper.GetAgvSite(mst.S_START_LOC);
                end = LocationHelper.GetAgvSite(mst.S_END_LOC);


                Console.WriteLine($"SendTask {mst.S_CODE}");
                Console.WriteLine("start=" + start);
                Console.WriteLine("end= " + end);
                var dic = new Dictionary<string, string>();
                dic.Add("Pri", mst.N_PRIORITY.ToString());
                dic.Add("From", start.ToString());
                dic.Add("To", end.ToString());
                dic.Add("No", mst.S_CODE.Trim());// dic.Add("Ext1", "1"); dic.Add("Ext2", "CALLADDAGV"); dic.Add("N_CNTR_COUNT", "");
                var res = NDC.AddNewOrder(5, dic);
                if (res != null && (res.Res.ErrCode == 0 || res.Res.ErrCode == 50009))
                {
                    //推送成功，修改任务优先级
                    mst.N_B_STATE = 1;
                    WCSHelper.UpdateStatus(mst);
                    result = true;
                }
            }

            return result;
        }

        /// <summary>
        /// 国自推送任务
        /// </summary>
        /// <param name="mst"></param>
        internal static bool SendGZTask(WCSTask mst)
        {
            var result = false;
            var taskState = mst.N_B_STATE;
            if (taskState == 0)
            {
                Console.WriteLine($"任务mst {JsonConvert.SerializeObject(mst)}");
                LogHelper.Info($"任务mst {JsonConvert.SerializeObject(mst)}", "任务");
                var startLoc = LocationHelper.GetLoc(mst.S_START_LOC);
                var endLoc = LocationHelper.GetLoc(mst.S_END_LOC);
                if (startLoc != null && endLoc != null)
                {
                    string src = $"\"src\":\"{startLoc.S_AGV_SITE}\",";
                    string dst = $"\"dst\":\"{endLoc.S_AGV_SITE}\"";
                    string parmeS = "{";
                    string parmeD = "}";
                    string parme = parmeS + src + dst + parmeD;
                    int res = 0;
                    LogHelper.Info($"推送任务参数{parme}", "任务");
                    res = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, parme);
                    #region
                    //if (mst.S_TYPE == "呼叫空托" || mst.S_TYPE == "按钮盒调用空托" || mst.S_TYPE == "拆托")
                    //{
                    //    PlcDeviceTable plcDeviceTable = null;
                    //    //找到线体 根据线体找内存里的状态
                    //    var reservoirs1 = Settings.ConveyorLinesInfos.Where(s => s.location == startLoc.S_CODE).FirstOrDefault();
                    //    plcDeviceTable = S7Helper.plcDeviceTables.Find(a => a.DeviceNo == reservoirs1.code);
                    //    if (plcDeviceTable != null)
                    //    {
                    //        if (mst.S_TYPE == "呼叫空托" || mst.S_TYPE == "按钮盒调用空托")
                    //        {
                    //            LogHelper.Info($"呼叫空托状态参数{JsonConvert.SerializeObject(plcDeviceTable)}", "任务");
                    //            //0-脱机状态，1-待机状态，2-运行中    待机且有托盘且请求取框才走
                    //            if (plcDeviceTable.workMode == 1 && plcDeviceTable.lightAction == 1 && plcDeviceTable.requestTake)
                    //            {
                    //                LogHelper.Info($"推送任务参数{parme}", "任务");
                    //                res = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, parme);
                    //            }
                    //        }
                    //        else if (mst.S_TYPE == "拆托")
                    //        {
                    //            LogHelper.Info($"拆托状态参数{JsonConvert.SerializeObject(plcDeviceTable)}", "任务");
                    //            //0-脱机状态，1-待机状态，2-运行中    待机且无托盘且允许放框才走
                    //            if (plcDeviceTable.workMode == 1 && plcDeviceTable.lightAction == 0 && plcDeviceTable.requestPut)
                    //            {
                    //                LogHelper.Info($"推送任务参数{parme}", "任务");
                    //                res = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, parme);
                    //            }
                    //        }
                    //    }
                    //}
                    //else
                    //{
                    //    LogHelper.Info($"推送任务参数{parme}", "任务");
                    //    res = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, parme);
                    //}
                    #endregion
                    if (res > 0)
                    {
                        //更新任务状态
                        mst.N_B_STATE = 1;
                        mst.S_EQ_TASK_CODE = res.ToString();
                        WCSHelper.UpdateStatus(mst);
                        WCSHelper.UpdateEQNo(mst);
                        ////推送成功，修改任务状态
                        //TaskHelper.UpdateStatus(mst, "已推送");
                        ////推送成功，修改国自ID
                        //TaskHelper.UpdateGzId(mst, res);
                        LogHelper.Info($"任务mst {mst.S_CODE}推送成功", "任务");
                        result = true;
                    }

                }

            }

            else { result = true; }
            return result;
        }


        /// <summary>
        /// 创建搬运任务
        /// </summary>
        /// <param name="start"></param>
        /// <param name="end"></param>
        /// <param name="taskType"></param>
        /// <param name="cntrs"></param>
        /// <param name="startLayer"></param>
        /// <param name="endLayer"></param>
        /// <param name="trayCarryCount"></param>
        /// <param name="priority"></param>
        /// <returns></returns>
        public static bool CreateTransport(string start, string end, string taskType, string cntrs, int startLayer, int endLayer, int trayCarryCount = 1, int priority = 1)
        {
            var result = false;
            var trayCodes = cntrs;
            var taskNo = DateTime.Now.Ticks.ToString();


            var res = WCSHelper.CreateTask(taskNo, start.Trim(), end.Trim(), taskType, priority, trayCodes, trayCarryCount, startLayer, endLayer);
            if (res)
            {
                result = true;
                //任务创建成功，起点货位出库锁定，终点货位入库锁定
                LocationHelper.LockLoc(start, 2);
                LocationHelper.LockLoc(end, 1);
            }
            return result;
        }

        /// <summary>
        /// 创建搬运任务
        /// </summary>
        /// <param name="start"></param>
        /// <param name="end"></param>
        /// <param name="taskType"></param>
        /// <param name="cntrs"></param>
        /// <param name="startLayer"></param>
        /// <param name="endLayer"></param>
        /// <param name="trayCarryCount"></param>
        /// <param name="priority"></param>
        /// <returns></returns>
        public static bool CreateTransport(string start, string end, string taskType, List<string> cntrs, int startLayer, int endLayer, int trayCarryCount = 1, int priority = 1)
        {
            var result = false;
            var trayCodes = string.Join(",", cntrs);
            var taskNo = DateTime.Now.Ticks.ToString();


            var res = WCSHelper.CreateTask(taskNo, start.Trim(), end.Trim(), taskType, priority, trayCodes, trayCarryCount, startLayer, endLayer);
            if (res)
            {
                result = true;
                //任务创建成功，起点货位出库锁定，终点货位入库锁定
                LocationHelper.LockLoc(start, 2);
                LocationHelper.LockLoc(end, 1);
            }
            return result;
        }

        public static bool CreateTransport(string start, string end, string taskType, List<string> cntrs, int priority = 1)
        {
            var result = false;
            //批次号存托盘号，1~3个托盘
            var trayCodes = string.Join(",", cntrs);
            var taskNo = DateTime.Now.Ticks.ToString();


            var res = WCSHelper.CreateTask(taskNo, start.Trim(), end.Trim(), taskType, priority, trayCodes, 1, 1, 1);
            if (res)
            {
                result = true;
                LocationHelper.LockLoc(start, 2);
                LocationHelper.LockLoc(end, 1);

            }
            return result;
        }

        internal static Result cancelTask1(cancleTaskParme model)
        {
            var result = new Result();
            LogHelper.Info("cancelTask1取消任务信息：" + JsonConvert.SerializeObject(model), "API");
            if (model == null)
            {

                result.success = false;
                result.errMsg = "参数为null";
                result.errCode = 1;
                return result;
            }
            var task = WCSHelper.GetTask(model.taskNo);
            if (task != null)
            {
                if (task.S_B_STATE.Trim() == "未执行")
                {
                    //未执行直接修改状态为取消
                    TaskProcess.OperateStatus(task, 7);
                    WCSHelper.UpdateStatus(task, "取消");
                    result.success = true;
                    result.errMsg = "取消任务成功";
                    result.errCode = 0;
                }
                else if (task.S_B_STATE.Trim() != "取消" && task.S_B_STATE.Trim() != "完成")
                {

                    if (GZRobot.CancelOrder(int.Parse(task.S_EQ_TASK_CODE)))
                    {
                        TaskProcess.OperateStatus(task, 7);
                        WCSHelper.Fail(task);
                        result.success = true;
                        result.errMsg = "国自取消任务成功";
                        result.errCode = 0;
                    }
                    else
                    {
                        result.success = false;
                        result.errMsg = "国自取消任务失败";
                        result.errCode = 1;
                    }

                }
                else
                {
                    result.success = false;
                    result.errMsg = "任务已经结束";
                    result.errCode = 1;
                }
            }
            else
            {
                result.success = false;
                result.errMsg = "任务不存在";
                result.errCode = 1;
            }
            LogHelper.Info("cancelTask1取消任务返回结果：" + JsonConvert.SerializeObject(result), "API");
            return result;
        }

        /// <summary>
        /// 创建入库任务
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        internal static Result CreateInWork(moboxParam model)
        {

            var result = new Result() { success = true, errMsg = "入库任务生成成功！" };
            var db = new SqlHelper<Location>().GetInstance();
            var loc = db.Queryable<Location>().Where(a => a.S_CODE == model.S_LOC_CODE).First();
            if (loc == null || loc.S_LOCK_STATE.Trim() != "无")
            {
                return new Result { success = false, errMsg = $"{model.S_LOC_CODE}库位已被锁定!" };
            }
            if (string.IsNullOrEmpty(model.S_LOC_CODE))
            {
                return new Result { success = false, errMsg = "入库未传起点货位!" };
            }
            var end = Settings.LocAreas.Where(s => s.startBit.Split(',').ToList().Contains(model.S_LOC_CODE)).FirstOrDefault();
            if (end == null)
            {
                return new Result { success = false, errMsg = "起点未找到对应的终点库区!" };
            }
            Location InLoc = TaskProcess.InWorkTransport(end.endArea);
            if (InLoc == null)
            {
                return new Result { success = false, errMsg = $"终点库区{end.endArea}未找到空货位!" };
            }
            //if (model.S_TASK_TYPE == "成品入库")
            //{
            //    var locs = db.Queryable<Location>().Where(a => a.S_CODE == "KZB-A").First();
            //    if (locs == null || locs.S_LOCK_STATE.Trim() != "无")
            //    {
            //        return new Result { success = false, errMsg = $"KZB-A货位在锁定中!" };
            //    }

            //    var locTray = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE == "KZB-A").OrderByDescending(s=>s.T_CREATE).First();
            //    if (locTray != null)
            //    {
            //        var resl = TaskProcess.CreateTransport("KZB-A", "CP", "基坑空托转运", locTray.S_CNTR_CODE.Split(',').ToList(), locs.N_CURRENT_NUM, 1,1,15);
            //        if (!resl)
            //        {
            //            return new Result { success = false, errMsg = "空托出库任务生成失败!" };

            //        }
            //    }

            //}

            string trayCode = ContainerHelper.GenerateCntrNo();

            var res = TaskProcess.CreateTransport(model.S_LOC_CODE, InLoc.S_CODE, model.S_TASK_TYPE, trayCode.Split(',').ToList(), 1, 1);
            if (!res)
            {
                return new Result { success = false, errMsg = "入库任务生成失败!" };

            }
            ContainerHelper.BindLocCntrs(model.S_LOC_CODE, trayCode, model.S_ITEM_CODE, model.S_ITEM_NAME, model.S_CK == "是" ? 1 : 0);


            return result;
        }

        /// <summary>
        /// 创建出库任务
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        internal static Result CreateOutWork(moboxParam model)
        {
            var result = new Result() { success = true, errMsg = "出库任务生成成功！" };
            var db = new SqlHelper<Location>().GetInstance();
            var loc = db.Queryable<Location>().Where(a => a.S_CODE == model.S_LOC_CODE).First();
            if (loc == null || loc.S_LOCK_STATE.Trim() != "无")
            {
                return new Result { success = false, errMsg = $"{model.S_LOC_CODE}库位已被锁定!" };
            }
            if (string.IsNullOrEmpty(model.S_LOC_CODE))
            {
                return new Result { success = false, errMsg = "出库未传终点货位!" };
            }
            var start = Settings.LocAreas.Where(s => s.endBit != null && s.endBit.Split(',').ToList().Contains(model.S_LOC_CODE)).FirstOrDefault();
            if (start == null)
            {
                return new Result { success = false, errMsg = "终点未找到对应的起点库区!" };
            }
            Location OutLoc = TaskProcess.OutWorkTransport(start.startArea, model.S_ITEM_CODE);
            if (OutLoc == null)
            {
                return new Result { success = false, errMsg = $"起点库区{start.startArea}未找到对应的满货位!" };
            }
            var locCntrRel = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE == OutLoc.S_CODE).First();

            var res = TaskProcess.CreateTransport(OutLoc.S_CODE, model.S_LOC_CODE, model.S_TASK_TYPE, locCntrRel.S_CNTR_CODE.Split(',').ToList(), 1, 1);
            if (!res)
            {
                return new Result { success = false, errMsg = "出库任务生成失败!" };

            }



            return result;
        }

        /// <summary>
        /// 创建空托转运任务
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        internal static Result EmptyTrayTransport(moboxParam model)
        {
            var result = new Result() { success = true, errMsg = "空托转运任务生成成功！" };
            var db = new SqlHelper<Location>().GetInstance();
            var loc = db.Queryable<Location>().Where(a => a.S_CODE == model.S_START_LOC).First();
            if (loc == null || loc.S_LOCK_STATE.Trim() != "无")
            {
                return new Result { success = false, errMsg = $"{model.S_START_LOC}库位已被锁定!" };
            }
            if (string.IsNullOrEmpty(model.S_START_LOC))
            {
                return new Result { success = false, errMsg = "空托转运未传起点货位!" };
            }

            Location InLoc = TaskProcess.InWorkTransport(model.S_END_AREA);
            if (InLoc == null)
            {
                return new Result { success = false, errMsg = $"终点库区{model.S_END_AREA}未找到空货位!" };
            }
            //string trayCode = ContainerHelper.GenerateCntrNo();
            var locCntr = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE == model.S_START_LOC).ToList();
            if (!locCntr.Any())
            {
                return new Result { success = false, errMsg = $"{model.S_START_LOC}货位未找到托盘!" };
            }
            var res = TaskProcess.CreateTransport(model.S_START_LOC, InLoc.S_CODE, model.S_TASK_TYPE, locCntr.Select(s => s.S_CNTR_CODE).ToList(), loc.N_CURRENT_NUM, InLoc.N_CURRENT_NUM + 1);
            if (!res)
            {
                return new Result { success = false, errMsg = "空托转运任务生成失败!" };

            }
            //ContainerHelper.BindLocCntrs(model.S_LOC_CODE, trayCode, model.S_ITEM_CODE, model.S_ITEM_NAME);


            return result;





            return result;
        }

        #endregion


        /// <summary>
        /// 入库货位
        /// </summary>
        /// <param name="area">库区</param>
        /// <returns></returns>
        public static Location InWorkTransport(string area)
        {
            Location result = null;
            var db = new SqlHelper<object>().GetInstance();
            try
            {
                //查询这个库区的空托盘与满托盘
                var list = db.Queryable<Location>().Where(a => a.S_AREA_CODE.Trim() == area).OrderByDescending(a => a.N_ROW).ToList();
                //LogHelper.Info($"查询这个库区的空托盘与满托盘：{JsonConvert.SerializeObject(list)}");
                if (list.Count > 0)
                {
                    List<string> loca = new List<string>();
                    for (int i = 0; i < list.Count; i++)
                    {
                        //如果锁了或者容量满了                   当前数量                 容器容量
                        if (list[i].N_LOCK_STATE != 0 || list[i].N_CURRENT_NUM >= list[i].N_CAPACITY)
                        {
                            loca.Add(list[i].S_CODE);
                        }
                    }
                    //移除
                    if (loca.Any())
                    {
                        list.RemoveAll(s => loca.Contains(s.S_CODE));
                    }

                    //符合条件的排序选第一个  先找第一个
                    if (list.Count > 0)
                    {
                        result = list.OrderBy(s => s.N_ROW).ThenBy(x => x.N_COL).FirstOrDefault();
                    }
                }

            }
            catch (Exception ex)
            {
                Console.WriteLine("InWorkTransport:" + ex.Message + ex.StackTrace);
                LogHelper.Error("InWorkTransport:" + ex.Message, ex);
            }
            return result;
        }
        /// <summary>
        /// 出库算法
        /// </summary>
        /// <param name="area">库区</param>
        /// <returns></returns>
        public static Location OutWorkTransport(string area)
        {
            Location result = null;
            try
            {
                var db = new SqlHelper<Location>().GetInstance();

                var list = db.Queryable<Location>().Where(a => a.N_CURRENT_NUM > 0 && a.S_AREA_CODE == area).ToList();
                //list = list.OrderByDescending(s => s.N_ROW).OrderByDescending(s => s.N_COL).OrderByDescending(s => s.N_LAYER).ToList();
                list = list.OrderBy(s => s.T_CREATE).ToList();//先进先出

                for (int i = 0; i < list.Count; i++)
                {
                    //判断货位是否被锁住了 与 是否有托盘
                    if (list[i].N_LOCK_STATE == 0)
                    {
                        var locCntrRel = db.Queryable<LocCntrRel>().Where(s => s.S_LOC_CODE == list[i].S_CODE).First();

                        if (locCntrRel != null)
                        {
                            result = list[i];
                        }
                        if (result != null)
                        {
                            break;
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine("OutWorkTransport:" + ex.Message + ex.StackTrace);
                LogHelper.Error("OutWorkTransport:" + ex.Message, ex);
            }
            return result;
        }

        /// <summary>
        /// 常规送检缓存区货位 abc三个区 两层
        /// </summary>
        /// <param name="startloc">起点货位</param>
        /// <param name="area">库区</param>
        /// <returns></returns>
        public static Location InCgWorkTransport(string startloc, string area)
        {
            Location result = null;
            var db = new SqlHelper<object>().GetInstance();
            try
            {
                //A,B,C3个货架上，这个要有优先级了,CX03,04优先送到A区货架，CX01,CX02优先送到B,C货架
                var reservoirs = Settings.ReservoirAreas.Where(s => s.areaName == "送检缓存区").FirstOrDefault();

                var alllist = db.Queryable<Location>().Where(a => a.S_AREA_CODE.Trim() == reservoirs.areaCode).ToList();
                // 从配置获取优先级规则
                var mapping = Settings.PriorityLocs.FirstOrDefault(m => m.Location == startloc);
                LogHelper.Info($"配置的优先级规则{JsonConvert.SerializeObject(mapping)}");
                if (mapping == null)
                {
                    LogHelper.Info($"未找到产线{startloc}的优先级配置");
                    return null;
                }
                var primaryAreas = mapping.PrimaryArea.Split(',');
                var secondaryAreas = mapping.SecondaryArea.Split(',');
                LogHelper.Info($"优先：{JsonConvert.SerializeObject(primaryAreas)}次选：{JsonConvert.SerializeObject(secondaryAreas)}");
                // 筛选未锁且有空的货位
                var availablePrimaryLocations = FilterAvailableLocations(alllist, primaryAreas);
                //优先
                result = availablePrimaryLocations.OrderBy(l => l.N_COL).ThenBy(l => l.N_LAYER).FirstOrDefault();

                // 次选
                if (result == null)
                {
                    var availableSecondaryLocations = FilterAvailableLocations(alllist, secondaryAreas);
                    result = availableSecondaryLocations.OrderBy(l => l.N_COL).ThenBy(l => l.N_LAYER).FirstOrDefault();
                }

                return result;

            }
            catch (Exception ex)
            {
                Console.WriteLine("InWorkTransport:" + ex.Message + ex.StackTrace);
                LogHelper.Error("InWorkTransport:" + ex.Message, ex);
            }
            return result;
        }
        //筛选可用位置
        private static List<Location> FilterAvailableLocations(List<Location> locations, string[] targetAreas)
        {
            return locations
                .Where(l => targetAreas.Any(area => l.S_CODE.Contains(area)))
                .Where(l => l.N_LOCK_STATE == 0 && l.N_CURRENT_NUM < l.N_CAPACITY)
                .ToList();
        }

        /// <summary>
        /// 紧凑型入库货位  紧急送检区 空托缓存一、二区
        /// </summary>
        /// <param name="area">库区</param>
        /// <returns></returns>
        public static Location CompactWorkTransport(string area)
        {
            Location result = null;
            var db = new SqlHelper<object>().GetInstance();
            try
            {
                //查询每排最后一列有托盘的货位  根据行分区 再找每一行的最后一列有货的货位
                var list = db.Queryable<Location>().
                    Where(a => a.N_CURRENT_NUM > 0 && a.S_AREA_CODE.Trim() == area).PartitionBy(a => a.N_ROW)
                    .OrderByDescending(a => a.N_COL).Take(1).ToList();
                if (list.Count > 0)
                {
                    for (int i = 0; i < list.Count; i++)
                    {
                        LogHelper.Info($"有托盘排号{list[i].N_ROW}，库区{area}");

                        //入货位后一位货位
                        result = db.Queryable<Location>().OrderBy(a => a.N_COL)
                            .Where(a => a.S_AREA_CODE.Trim() == area && a.N_ROW == list[i].N_ROW
                            && a.N_COL > list[i].N_COL).First();
                        if (result != null && result.N_LOCK_STATE == 0)
                        {
                            return result;
                        }
                    }
                }
                //没找到说明库区是空的 入里面
                else
                {
                    result = db.Queryable<Location>().
                    Where(a => a.S_AREA_CODE.Trim() == area && a.N_LOCK_STATE == 0 && a.N_CURRENT_NUM == 0)
                    .OrderBy(a => a.N_COL).OrderBy(a => a.N_ROW).First();
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine("InWorkTransport:" + ex.Message + ex.StackTrace);
                LogHelper.Error("InWorkTransport:" + ex.Message, ex);
            }
            return result;
        }

        /// <summary>
        /// 托盘入库算法 
        /// </summary>
        /// <param name="itemcode"></param>
        /// <param name="areacode"></param>
        /// <returns></returns>
        internal static Location StorageCompute(string itemcode, string areacode)
        {
            var db = new SqlHelper<object>().GetInstance();
            Location result = null;
            //查询所有有托盘的排
            var list = db.Queryable<Location>()
                .Where(a => a.N_CURRENT_NUM > 0 && a.S_AREA_CODE.Trim() == areacode)
                .OrderByDescending(a => a.N_COL).Take(1).PartitionBy(a => a.N_ROW).ToList();
            if (list.Count > 0)
            {
                for (int i = 0; i < list.Count; i++)
                {
                    LogHelper.Info($"有托盘排号{list[i].N_ROW}，物料编码{itemcode},库区{areacode}");
                    //判断托盘物料是否相同物料信息相同
                    var cntr = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE.Trim() == list[i].S_CODE).First();
                    if (cntr != null)
                    {
                        if (string.IsNullOrEmpty(itemcode))//空托入库
                        {
                            var iteminfo = ContainerHelper.GetCntrItemRel(cntr.S_CNTR_CODE).FirstOrDefault();
                            if (iteminfo == null)
                            {
                                //物料相同入货位后一位货位
                                result = db.Queryable<Location>().OrderBy(a => a.N_COL)
                                    .Where(a => a.S_AREA_CODE.Trim() == areacode && a.N_ROW == list[i].N_ROW
                                    && a.N_COL > (list[i].N_COL + 1)).First();

                            }
                        }
                        else//满拖入库
                        {
                            var iteminfo = ContainerHelper.GetCntrItemRel(cntr.S_CNTR_CODE).FirstOrDefault();
                            if (iteminfo != null)
                            {
                                if (iteminfo.S_ITEM_CODE == itemcode)
                                {
                                    //物料相同入货位后一位货位
                                    result = db.Queryable<Location>().OrderBy(a => a.N_COL).Where(a => a.S_AREA_CODE.Trim() == areacode && a.N_ROW == list[i].N_ROW && a.N_COL > (list[i].N_COL + 1)).First();

                                }
                            }
                        }
                        if (result != null)
                        {
                            return result;
                        }
                    }
                    else
                    {
                        LogHelper.Info($"根据货物编码{list[i].S_CODE}未找到托盘货位绑定关系");
                    }
                }
            }
            return result;
        }
        /// <summary>
        /// WMS出库转运
        /// </summary>
        /// <param name="area">库区</param>
        /// <param name="itemCode">物料编码</param>
        /// <returns></returns>
        public static Location OutWorkTransport(string area, string itemCode)
        {
            Location result = null;
            try
            {
                var db = new SqlHelper<Location>().GetInstance();

                var list = db.Queryable<Location>().Where(a => a.N_CURRENT_NUM > 0 && a.N_LOCK_STATE == 0 && a.S_AREA_CODE == area).OrderBy(a => a.N_ROW).ToList();
                list = list.OrderBy(s => s.N_ROW).ThenBy(s => s.N_COL).ToList();

                for (int i = 0; i < list.Count; i++)
                {
                    //判断货位是否被锁住了 与 是否有托盘
                    if (list[i].N_LOCK_STATE == 0)
                    {
                        var locCntrRel = db.Queryable<LocCntrRel>().Where(s => s.S_LOC_CODE == list[i].S_CODE).First();

                        //判断是否传了物料
                        if (!string.IsNullOrEmpty(itemCode))
                        {
                            #region 满托盘出库
                            if (locCntrRel != null)
                            {
                                var cntrItemRels = db.Queryable<CntrItemDetail>().Where(s => s.S_CNTR_CODE == locCntrRel.S_CNTR_CODE).First();
                                if (cntrItemRels != null)
                                {
                                    LogHelper.Info($"货位有托盘：{JsonConvert.SerializeObject(cntrItemRels)}");

                                    if (cntrItemRels.S_ITEM_CODE.Equals(itemCode))
                                    {
                                        result = list[i];
                                    }
                                }

                            }
                            #endregion
                        }
                        else
                        {
                            if (locCntrRel != null)
                            {
                                result = list[i];
                            }
                        }
                        if (result != null)
                        {
                            break;
                        }
                    }
                }
                //if (result == null)
                //{
                //    for (int i = 0; i < list.Count; i++)
                //    {
                //        //判断货位是否被锁住了与是否有托盘
                //        if (list[i].S_LOCK_STATE.Trim() == "无")
                //        {
                //            var locCntrRel = db.Queryable<LocCntrRel>().Where(s => s.S_LOC_CODE == list[i].S_CODE).First();

                //            //判断是否传了物料
                //            if (!string.IsNullOrEmpty(itemCode))
                //            {
                //                #region 满托盘出库
                //                if (locCntrRel != null)
                //                {
                //                    var cntrItemRels = db.Queryable<CntrItemDetail>().Where(s => s.S_CNTR_CODE == locCntrRel.S_CNTR_CODE).First();
                //                    if (cntrItemRels != null)
                //                    {
                //                        LogHelper.Info($"货位有托盘：{JsonConvert.SerializeObject(cntrItemRels)}");

                //                        if (cntrItemRels.S_ITEM_CODE.Equals(itemCode))
                //                        {
                //                            result = list[i];
                //                        }
                //                    }

                //                }
                //                #endregion
                //            }
                //            else
                //            {
                //                if (locCntrRel != null)
                //                {
                //                    result = list[i];
                //                }
                //            }
                //            if (result != null)
                //            {
                //                break;
                //            }
                //        }
                //    }
                //}
            }
            catch (Exception ex)
            {
                Console.WriteLine("OutWorkTransport:" + ex.Message + ex.StackTrace);
                LogHelper.Error("OutWorkTransport:" + ex.Message, ex);
            }
            return result;
        }


        /// <summary>
        /// 物料下线/送检缓存区->常规送检区
        /// </summary>
        /// <param name="model.START_LOC">起点货位</param>
        /// <param name="model.END_AREA">终点货区</param>
        /// <param name="model.S_ITEM_CODE">物料（选填）</param>
        /// <returns></returns>
        internal static Results materialOffline(GetSubmitCheck model)
        {
            var result = new Results() { Code = "0", Message = "下线任务生成成功！", Data = null };
            var db = new SqlHelper<Location>().GetInstance();
            try
            {
                //校验起点货位是否存在/锁住
                var loc = db.Queryable<Location>().Where(a => a.S_CODE == model.START_LOC).First();
                if (loc == null || loc.N_LOCK_STATE != 0)
                {
                    return new Results { Code = "1", Message = $"{model.START_LOC}库位已被锁定!", Data = null };
                }
                //计算终点货位
                if (string.IsNullOrEmpty(model.END_AREA))
                {
                    return new Results { Code = "1", Message = "出库未传终点库区!", Data = null };
                }
                //如果是紧急送检区 紧凑型
                var reservoirs = Settings.ReservoirAreas.Where(s => s.areaName == "紧急送检区").FirstOrDefault();
                //如果是送检缓存区
                var reservoirs2 = Settings.ReservoirAreas.Where(s => s.areaName == "送检缓存区").FirstOrDefault();
                Location OutLoc = null;
                if (model.END_AREA.Equals(reservoirs.areaCode))
                {
                    LogHelper.Info($"紧急送检区==================");
                    OutLoc = CompactWorkTransport(model.END_AREA);
                }
                else if (model.END_AREA.Equals(reservoirs2.areaCode))
                {
                    LogHelper.Info($"送检缓存区==================");
                    OutLoc = InCgWorkTransport(model.START_LOC, model.END_AREA);
                }
                else
                {
                    LogHelper.Info($"其他==================");
                    OutLoc = InWorkTransport(model.END_AREA);
                }

                //没传物料的话默认一个
                string itemCode = null;
                string wlName = null;
                if (!string.IsNullOrEmpty(model.S_ITEM_CODE))
                {
                    itemCode = model.S_ITEM_CODE;
                    wlName = "布卷";
                    //wlName = db.Queryable<TN_Material>().Where(b => b.S_ITEM_CODE == model.S_ITEM_CODE).First().S_ITEM_NAME;
                }
                //创建托盘货位绑定关系
                string trayCode = ContainerHelper.GenerateCntrNo();
                //绑定起点货位(产线)和物料      不传的话这里没有绑物料托盘表 只绑了托盘货位表
                ContainerHelper.BindLocCntrs(model.START_LOC, trayCode, itemCode, wlName);

                var reservoirs1 = Settings.ReservoirAreas.Where(s => s.areaName == "常规送检区").FirstOrDefault();
                //创建任务
                LogHelper.Info($"创建任务 起点:{model.START_LOC}终点:{OutLoc.S_CODE}", OutLoc.S_CODE == reservoirs1.areaCode ? "常规送检" : "物料下线");
                var res = TaskProcess.CreateTransport(model.START_LOC, OutLoc.S_CODE, OutLoc.S_CODE == reservoirs1.areaCode ? "常规送检" : "物料下线", trayCode, 1, 1);

                if (!res)
                {
                    return new Results { Code = "1", Message = "下线任务生成失败!", Data = null };

                }
                return result;
            }
            catch (Exception ex)
            {
                Console.WriteLine("materialOffline:" + ex.Message + ex.StackTrace);
                LogHelper.Error("materialOffline:" + ex.Message, ex);
                throw;
            }
        }
        /// <summary>
        /// 呼叫空托
        /// </summary>
        /// <param name="model.START_LOC">起点类型(拆托机)</param>
        /// <param name="model.END_LOC">终点货位(产线)</param>
        /// <returns></returns>
        internal static Results CallEmptyTray(GetSubmitCheck model)
        {
            var result = new Results() { Code = "0", Message = "呼叫空托任务生成成功！", Data = null };
            var db = new SqlHelper<Location>().GetInstance();
            try
            {
                //必填参数校验
                if (string.IsNullOrEmpty(model.START_LOC))
                {
                    return new Results { Code = "1", Message = "呼叫空托未传起点库位!", Data = null };
                }
                if (string.IsNullOrEmpty(model.END_LOC))
                {
                    return new Results { Code = "1", Message = "呼叫空托未传终点库位!", Data = null };
                }
                //校验终点货位是否存在/锁定
                var loc = db.Queryable<Location>().Where(a => a.S_CODE == model.END_LOC).First();
                if (loc == null || loc.N_LOCK_STATE != 0)
                {
                    return new Results { Code = "1", Message = $"{model.END_LOC}库位已被锁定!", Data = null };
                }
                ////从配置根据拆托机类型找到出口货位
                //var reservoirs = Settings.linePlcInfos.Where(s => s.code == model.S_TYPE).FirstOrDefault();
                //string OutLocStr = reservoirs.outLoca;

                //如果终点和产线下线是同一个货位 终点也不绑托盘
                string trayCode = ContainerHelper.GenerateCntrNo();
                //创建任务
                LogHelper.Info($"创建任务 起点:{model.START_LOC}终点:{model.END_LOC}", "呼叫空托");
                var res = TaskProcess.CreateTransport(model.START_LOC, model.END_LOC, "呼叫空托", trayCode, 1, 1);
                if (!res)
                {
                    return new Results { Code = "1", Message = "呼叫空托任务生成失败!", Data = null };

                }
                return result;
            }
            catch (Exception ex)
            {
                Console.WriteLine("CallEmptyTray:" + ex.Message + ex.StackTrace);
                LogHelper.Error("CallEmptyTray:" + ex.Message, ex);
                throw;
            }
        }
        /// <summary>
        /// 送检  常规送检区-->紧急送检区
        /// </summary>
        /// <param name="model.START_LOC">起点货位（选填）</param>
        /// <param name="model.S_ITEM_CODE">物料（选填）</param>
        /// <returns></returns>
        internal static Results submitCheck(GetSubmitCheck model)
        {
            var result = new Results() { Code = "0", Message = "送检任务生成成功！", Data = null };
            var db = new SqlHelper<Location>().GetInstance();
            try
            {
                string startloc = "";
                //物料不为空则根据物料找起点货位
                if (!string.IsNullOrEmpty(model.S_ITEM_CODE))
                {
                    //根据物料找货位
                    var cgreservoirs = Settings.ReservoirAreas.Where(s => s.areaName == "常规送检区").FirstOrDefault();
                    startloc = getLocByMaterial(model.S_ITEM_CODE, cgreservoirs.areaCode).S_CODE;
                    if (startloc == null)
                    {
                        return new Results { Code = "1", Message = $"{model.S_ITEM_CODE}未找到该物料!", Data = null };
                    }
                }
                //如果传了起点
                if (!string.IsNullOrEmpty(model.START_LOC))
                {
                    var loc = db.Queryable<Location>().Where(a => a.S_CODE == model.START_LOC).First();
                    if (loc == null || loc.N_LOCK_STATE != 0)
                    {
                        return new Results { Code = "1", Message = $"{model.START_LOC}库位已被锁定!", Data = null };
                    }
                    startloc = loc.S_CODE;
                }
                //计算紧急送检区终点货位
                var reservoirs = Settings.ReservoirAreas.Where(s => s.areaName == "紧急送检区").FirstOrDefault();
                Location OutLoc = TaskProcess.CompactWorkTransport(reservoirs.areaCode);
                if (OutLoc == null)
                {
                    return new Results { Code = "1", Message = $"终点库区紧急送检区未找到空货位!", Data = null };
                }
                //创建送检任务
                var locCntrRel = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE == model.START_LOC).First();

                LogHelper.Info($"创建任务 起点:{startloc}终点:{OutLoc.S_CODE}", "送检");
                var res = TaskProcess.CreateTransport(startloc, OutLoc.S_CODE, "送检", locCntrRel.S_CNTR_CODE, 1, 1);
                if (!res)
                {
                    return new Results { Code = "1", Message = "送检任务生成失败!", Data = null };

                }
                return result;
            }
            catch (Exception ex)
            {
                Console.WriteLine("submitCheck:" + ex.Message + ex.StackTrace);
                LogHelper.Error("submitCheck:" + ex.Message, ex);
                throw;
            }
        }

        /// <summary>
        /// 根据物料找货位  根据CntrItemDetail时间 先进先出  连表查判断货位有没有锁
        /// </summary>
        /// <param name="itemCode">物料</param>
        /// <returns></returns>
        public static Location getLocByMaterial(string itemCode, string areaCode)
        {
            Location result = null;
            try
            {
                var db = new SqlHelper<object>().GetInstance();
                //两表联查查出有该物料的货位编号  （现场没有物料表）
                var locCntrs = db.Queryable<LocCntrRel>().LeftJoin<CntrItemDetail>((p, m) => p.S_CNTR_CODE == m.S_CNTR_CODE)
                .Where((p, m) => m.S_ITEM_CODE == itemCode)
                .OrderBy((p, m) => p.T_CREATE)  //按创建时间顺序
                .Select((p, m) => p.S_LOC_CODE) // 选择托盘物料表的数据
                .ToList();
                LogHelper.Info($"有物料{itemCode}的货位编号{JsonConvert.SerializeObject(locCntrs)}");
                //找常规送检区内含有查出物料货位的货位
                var locList = db.Queryable<Location>()
                    .Where(p => p.S_AREA_CODE == areaCode && p.N_LOCK_STATE == 0)
                    .Where(s => locCntrs.Contains(s.S_CODE.Trim()))
                    .ToList();

                if (!locList.Any())
                {
                    return null;
                }
                result = locList.FirstOrDefault();
            }
            catch (Exception ex)
            {
                Console.WriteLine("getLocByMaterial:" + ex.Message + ex.StackTrace);
                LogHelper.Error("getLocByMaterial:" + ex.Message, ex);
            }
            return result;
        }

        //存摄像头调用接口空满状态   货位，空满状态
        private static string monitorStatus = null;
        /// <summary>
        /// 摄像头监测接口   
        /// </summary>
        /// <param name="models.PointCode">监测货位</param>
        /// <param name="models.PointStatus">监测空满状态0空闲1占用3异常</param>
        /// <returns></returns>
        internal static Results UpdateFullStatus(List<CameraMonitor> models)
        {
            var result = new Results() { Code = "0", Message = "操作成功", Data = null };
            var db = new SqlHelper<Location>().GetInstance();
            //校验与内存是否一致
            if (monitorStatus != null)
            {
                try
                {
                    //string转成list
                    var jsonList = JsonConvert.DeserializeObject<List<CameraMonitor>>(monitorStatus);
                    //找两个List的交集
                    var intersection = jsonList.Where(j => models.Any(m =>
                        m.PointCode == j.PointCode && m.PointStatus == j.PointStatus)).ToList();
                    LogHelper.Info($"摄像头与上次调用一致数据：{JsonConvert.SerializeObject(intersection)}");
                    foreach (var model in intersection)
                    {
                        //找到该点位的库区
                        var loc = db.Queryable<Location>().Where(a => a.S_CODE == model.PointCode).First();
                        //没锁再继续走
                        if (loc.N_LOCK_STATE == 0 && loc != null)
                        {
                            var reservoirs = Settings.ReservoirAreas.Where(s => s.areaName == "送检入库区").FirstOrDefault();
                            //如果是送检入库区
                            if (reservoirs.areaCode.Equals(loc.S_AREA_CODE))
                            {
                                var locCntrRel = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE == model.PointCode).First();
                                var container = new Container();
                                if (locCntrRel == null)
                                {
                                    //第一次自己绑定一个托盘
                                    string trayCode = ContainerHelper.GenerateCntrNo();
                                    ContainerHelper.BindLocCntrs(model.PointCode, trayCode, null, null);
                                    container = db.Queryable<Container>().Where(a => a.S_CODE == trayCode).First();
                                    container.C_FULL = "2";
                                }
                                else
                                {
                                    //查数据库空满状态 跟缓存不一样则更新
                                    //找到这个货位的容器 空满状态C_FULL改成2满  0 -- 空 1 -- 有货 2 -- 满
                                    container = db.Queryable<Container>().Where(a => a.S_CODE == locCntrRel.S_CNTR_CODE).First();
                                    if (container.C_FULL != model.PointStatus.ToString())
                                    {
                                        container.C_FULL = "2";
                                    }
                                }
                                var res = db.Updateable(container).UpdateColumns(it => it.C_FULL).ExecuteCommand() > 0;
                                if (res)
                                {
                                    LogHelper.Info($"修改{model.PointCode}货位空满状态成功", "摄像头监测");
                                }
                                else
                                {
                                    LogHelper.Info($"修改{model.PointCode}货位空满状态失败", "摄像头监测");
                                }
                            }
                            else
                            {
                                //如果是空托缓存区  判断拆托机是否有空位 空托缓存区满了且拆托机入口有空则创建任务
                                var reservoirs1 = Settings.ReservoirAreas.Where(s => s.areaName == "3min空托区").FirstOrDefault();
                                var reservoirs2 = Settings.ReservoirAreas.Where(s => s.areaName == "6min空托区").FirstOrDefault();
                                if (loc.S_AREA_CODE.Equals(reservoirs1.areaCode) || loc.S_AREA_CODE.Equals(reservoirs2.areaCode))//三寸空托
                                {
                                    ProcessEmptyTrayAreas(db, loc, reservoirs1.areaCode, reservoirs2.areaCode);
                                }
                            }
                        }
                        else
                        {
                            LogHelper.Info($"{model.PointCode}货位任务已经生成", "摄像头监测");
                        }

                    }
                }
                catch (Exception ex)
                {
                    Console.WriteLine("UpdateFullStatus:" + ex.Message + ex.StackTrace);
                    LogHelper.Error("UpdateFullStatus:" + ex.Message, ex);
                    throw;
                }
            }
            //list转string 存到内存
            monitorStatus = JsonConvert.SerializeObject(models);

            return result;
        }
        //摄像头监测空托缓存区
        private static void ProcessEmptyTrayAreas(SqlSugar.ISqlSugarClient db, Location loc, string areaCode1, string areaCode2)
        {
            var plcDeviceTable = new PlcDeviceTable();
            string endLoc = null;
            if (loc.S_AREA_CODE.Equals(areaCode1))
            {
                plcDeviceTable = S7Helper.plcDeviceTables.Find(s => s.DeviceNo == 1001);
                endLoc = Settings.linePlcInfos.Where(s => s.code == "拆托机1").FirstOrDefault().inLoca;
            }
            else if (loc.S_AREA_CODE.Equals(areaCode2))//六寸空托
            {
                plcDeviceTable = S7Helper.plcDeviceTables.Find(s => s.DeviceNo == 1004);
                endLoc = Settings.linePlcInfos.Where(s => s.code == "拆托机2").FirstOrDefault().inLoca;
            }
            //判断是否允许放框
            if (plcDeviceTable.workMode == 1 && plcDeviceTable.lightAction == 0 && plcDeviceTable.requestPut)
            {
                //创建任务 从空托缓存区叉个料到拆托机
                var list = db.Queryable<Location>().Where(a => a.S_AREA_CODE.Trim() == loc.S_AREA_CODE
                && a.N_CURRENT_NUM > 0 && a.N_LOCK_STATE == 0).OrderByDescending(a => a.N_ROW)
                .OrderByDescending(a => a.N_COL).First();
                var startLoc = list.S_CODE;

                string trayCode = ContainerHelper.GenerateCntrNo();

                LogHelper.Info($"创建任务 起点:{startLoc}终点:{endLoc}", "拆托");
                var res = TaskProcess.CreateTransport(startLoc, endLoc, "拆托", trayCode, 1, 1);
                if (res)
                {
                    LogHelper.Info($"起点:{startLoc}终点:{endLoc}任务创建成功", "拆托");
                }
                else
                {
                    LogHelper.Info($"起点:{startLoc}终点:{endLoc}任务创建失败", "拆托");
                }
            }
        }
        /// <summary>
        /// 抽检主动呼叫    起点：送检缓存区
        /// </summary>
        /// <param name="model.S_ITEM_CODE">物料</param>
        /// <param name="model.END_LOC">终点货位</param>
        /// <returns></returns>
        internal static Results activeCall(GetSubmitCheck model)
        {
            var result = new Results() { Code = "0", Message = "抽检主动呼叫任务生成成功！", Data = null };
            var db = new SqlHelper<Location>().GetInstance();
            try
            {
                //根据物料找某库区的货位
                var cgreservoirs = Settings.ReservoirAreas.Where(s => s.areaName == "送检缓存区").FirstOrDefault();
                var startloc = getLocByMaterial(model.S_ITEM_CODE, cgreservoirs.areaCode);
                if (startloc == null)
                {
                    return new Results { Code = "1", Message = $"未找到包含物料{model.S_ITEM_CODE}的货位", Data = null };
                }
                //终点
                var endloc = db.Queryable<Location>().Where(a => a.S_CODE == model.END_LOC).First();
                if (endloc == null || endloc.N_LOCK_STATE != 0)
                {
                    return new Results { Code = "1", Message = $"{model.END_LOC}库位已被锁定!", Data = null };
                }
                //创建任务
                var locCntrRel = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE == startloc.S_CODE).First();

                LogHelper.Info($"创建任务 起点:{startloc.S_CODE}终点:{endloc.S_CODE}", "抽检主动呼叫");
                var res = TaskProcess.CreateTransport(startloc.S_CODE, endloc.S_CODE, "抽检主动呼叫", locCntrRel.S_CNTR_CODE, 1, 1);
                if (!res)
                {
                    return new Results { Code = "1", Message = "抽检主动呼叫任务生成失败!", Data = null };

                }
                return result;
            }
            catch (Exception ex)
            {
                Console.WriteLine("submitCheck:" + ex.Message + ex.StackTrace);
                LogHelper.Error("submitCheck:" + ex.Message, ex);
                throw;
            }
        }
        /// <summary>
        /// 主动物料绑定
        /// </summary>
        /// <param name="model.S_ITEM_CODE">物料编码</param>
        /// <param name="model.BIND_LOC">绑定货位</param>
        /// <returns></returns>
        internal static Results bindMaterial(GetSubmitCheck model)
        {
            var result = new Results() { Code = "0", Message = "物料绑定成功！", Data = null };
            var db = new SqlHelper<Location>().GetInstance();
            try
            {
                string cntrStr = ContainerHelper.GenerateCntrNo();
                var locCntrRel = db.Queryable<LocCntrRel>().Where(a => a.S_LOC_CODE == model.BIND_LOC).First();
                if (locCntrRel != null)
                {
                    cntrStr = locCntrRel.S_CNTR_CODE;
                }
                var res = ContainerHelper.BindLocCntrs(model.BIND_LOC, cntrStr, model.S_ITEM_CODE, "布卷");
                if (!res)
                {
                    return new Results { Code = "1", Message = $"物料{model.S_ITEM_CODE}货位{model.BIND_LOC}绑定失败", Data = null };
                }
                return result;
            }
            catch (Exception ex)
            {
                Console.WriteLine("bindMaterial:" + ex.Message + ex.StackTrace);
                LogHelper.Error("bindMaterial:" + ex.Message, ex);
                throw;
            }
        }
        /// <summary>
        /// 按钮盒调用下线
        /// </summary>
        /// <param name="startLoc">起点货位</param>
        /// <param name="endArea">终点货区</param>
        /// <returns></returns>
        internal static bool tcpOffline(string startLoc, string endArea)
        {
            var db = new SqlHelper<Location>().GetInstance();

            try
            {
                //校验起点货位是否存在/锁住
                var loc = db.Queryable<Location>().Where(a => a.S_CODE == startLoc).First();
                if (loc == null || loc.N_LOCK_STATE != 0)
                {
                    LogHelper.Info("起点货位不存在或已锁" + startLoc);
                    return false;
                }
                //计算终点货位
                //if (string.IsNullOrEmpty(endArea))
                //{
                //    return new Results { Code = "1", Message = "出库未传终点库区!", Data = null };
                //}
                //如果是紧凑型
                var reservoirs = Settings.ReservoirAreas.Where(s => s.areaName == "紧急送检区").FirstOrDefault();
                Location OutLoc = null;
                if (endArea.Equals(reservoirs.areaCode))
                {
                    OutLoc = CompactWorkTransport(endArea);
                }
                else
                {
                    OutLoc = InWorkTransport(endArea);
                }
                //创建托盘货位绑定关系
                string trayCode = ContainerHelper.GenerateCntrNo();
                //没传物料的话默认一个
                string itemCode = null;
                string wlName = null;
                //if (!string.IsNullOrEmpty(model.S_ITEM_CODE))
                //{
                //    itemCode = model.S_ITEM_CODE;
                //    wlName = db.Queryable<TN_Material>().Where(b => b.S_ITEM_CODE == model.S_ITEM_CODE).First().S_ITEM_NAME;
                //}
                ContainerHelper.BindLocCntrs(OutLoc.S_CODE, trayCode, itemCode, wlName);
                //创建任务
                LogHelper.Info($"创建任务 起点:{startLoc}终点:{OutLoc.S_CODE}", "按钮盒下线");
                return TaskProcess.CreateTransport(startLoc, OutLoc.S_CODE, "按钮盒下线", trayCode, 1, 1);

            }
            catch (Exception ex)
            {
                Console.WriteLine("materialOffline:" + ex.Message + ex.StackTrace);
                LogHelper.Error("materialOffline:" + ex.Message, ex);
                throw;
            }
        }
        /// <summary>
        /// 按钮盒调用空托
        /// </summary>
        /// <param name="startLoc">起点货位</param>
        /// <param name="endLoc">终点货位</param>
        /// <returns></returns>
        internal static bool tcpEmptyTray(string startLoc, string endLoc)
        {
            var db = new SqlHelper<Location>().GetInstance();
            try
            {
                //校验终点货位是否锁
                var endloc = db.Queryable<Location>().Where(a => a.S_CODE == endLoc).First();
                if (endloc == null || endloc.N_LOCK_STATE != 0)
                {
                    LogHelper.Info("终点货位已锁" + endLoc);
                    return false;
                }
                //创建托盘货位绑定关系
                string trayCode = ContainerHelper.GenerateCntrNo();
                //创建任务
                LogHelper.Info($"创建任务 起点:{startLoc}终点:{endLoc}", "按钮盒调用空托");
                return TaskProcess.CreateTransport(startLoc, endLoc, "按钮盒调用空托", trayCode, 1, 1);

            }
            catch (Exception ex)
            {
                Console.WriteLine("materialOffline:" + ex.Message + ex.StackTrace);
                LogHelper.Error("materialOffline:" + ex.Message, ex);
                throw;
            }
        }


        /// <summary>
        /// 安全交互
        /// </summary>
        /// <param name="model.STATION_NAME">请求点位</param>
        /// <param name="model.APPLY_CODE">请求码</param>
        /// <returns></returns>
        internal static safeResult safetyInteraction(SafetyInteraction model)
        {
            //0允许进入 1不允许进入
            var result = new safeResult() { code = "1", msg = "success" };
            try
            {
                var reservoirs = Settings.SafeInteractions.Where(s => s.pointCode == model.STATION_NAME).FirstOrDefault();//y0-0000 y1-0001  on-FF00  off-0000
                var rgvSafeInteraction = DeviceProcess.rgvSafeInteraction;
                //RGV
                if (reservoirs.type.Equals("RGV"))
                {
                    LogHelper.Info($"RGV安全交互  请求点位：{model.STATION_NAME}请求码：{model.APPLY_CODE}");
                    //卸货请求进入
                    if (model.APPLY_CODE.Equals("5"))
                    {
                        //根据ip读状态
                        if (rgvSafeInteraction != null)
                        {
                            LogHelper.Info($"RGV安全交互参数{JsonConvert.SerializeObject(rgvSafeInteraction)}");
                            var safelist = JsonConvert.DeserializeObject<List<SafeInteraction>>(rgvSafeInteraction);
                            if (safelist.Any())
                            {
                                var safedata = safelist.Where(s => s.ip == reservoirs.ip).First();
                                //1允许卸货  2卸货完成确认
                                if (safedata.data == "1") 
                                {
                                    LogHelper.Info($"RGV安全交互 允许卸货");
                                    return new safeResult() { code = "0", msg = "success" };
                                }
                            }
                        }
                    }
                }
                //拆托机
                else if (reservoirs.type.Equals("CTJ"))
                {
                    LogHelper.Info($"拆托机安全交互  请求点位：{model.STATION_NAME}请求码：{model.APPLY_CODE}");
                    //找到线体 根据线体找内存里的状态
                    var reservoirs1 = Settings.ConveyorLinesInfos.Where(s => s.location == model.STATION_NAME).FirstOrDefault();
                    var plcDeviceTable = S7Helper.plcDeviceTables.Find(a => a.DeviceNo == reservoirs1.code);
                    if (plcDeviceTable != null)
                    {
                        LogHelper.Info($"拆托机安全交互参数{JsonConvert.SerializeObject(plcDeviceTable)}");
                        if (model.APPLY_CODE.Equals("1"))
                        {
                            //0-脱机状态，1-待机状态，2-运行中    待机且有托盘且请求取框才走
                            if (plcDeviceTable.workMode == 1 && plcDeviceTable.lightAction == 1 && plcDeviceTable.requestTake)
                            {
                                LogHelper.Info($"拆托机安全交互 允许取框");
                                return new safeResult() { code = "0", msg = "success" };
                            }

                        }
                        else if (model.APPLY_CODE.Equals("5"))
                        {
                            //0-脱机状态，1-待机状态，2-运行中    待机且无托盘且允许放框才走
                            if (plcDeviceTable.workMode == 1 && plcDeviceTable.lightAction == 0 && plcDeviceTable.requestPut)
                            {
                                LogHelper.Info($"拆托机安全交互 允许放框");
                                return new safeResult() { code = "0", msg = "success" };
                            }
                        }
                    }
                }

                //TcpClient tcpClient = new TcpClient();
                ////发送信号写请求开门
                //var str = tcpClient.WriteSingleRegisterRtu("01050000FF008C3A", reservoirs.ip, int.Parse(reservoirs.port));
                ////发送信号读门状态
                //var x0bool = tcpClient.ReadInputRegistersRtu("010200000001B9CA", reservoirs.ip, int.Parse(reservoirs.port));
                ////如果开门到位
                //if (x0bool)
                //{
                //    return new safeResult() { code = "0", msg = "success" };
                //}
                ////请求离开
                //else if (model.APPLY_CODE.Equals("8"))
                //{
                //    ////发送信号写请求关门
                //    //var str = tcpClient.WriteSingleRegisterRtu("010500000000CDCA", reservoirs.ip, int.Parse(reservoirs.port));
                //    //var str2 = tcpClient.WriteSingleRegisterRtu("01050001FF00DDFA", reservoirs.ip, int.Parse(reservoirs.port));
                //    ////发送信号读门状态
                //    //var x0bool = tcpClient.ReadInputRegistersRtu("010200010001E80A", reservoirs.ip, int.Parse(reservoirs.port));
                //    ////如果门已关
                //    //if (x0bool)
                //    //{
                //    //    return new safeResult() { code = "0", msg = "success" };
                //    //}

                //}
                return result;
            }
            catch (Exception ex)
            {
                Console.WriteLine("safetyInteraction:" + ex.Message + ex.StackTrace);
                LogHelper.Error("safetyInteraction:" + ex.Message, ex);
                throw;
            }
        }

    }
}