#region    [自定义类-VS][20250623083459471][AutoThread]
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Collections.Concurrent;
using System.ComponentModel;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using GZ.Modular.Redis;
using GZ.DB.Entity.OIDATABASE;
using GZ.DB.IRepository.OIDATABASE;
using GZ.DB.Repository.OIDATABASE;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using System.Windows.Interop;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.TextBox;
using System.Security.Cryptography;
using System.Windows.Markup;

namespace GZ.Projects.AuxAllWCS
{
    public partial class AutoThread
    {

        private static AutoThread _instance;

        // 私有构造函数防止外部实例化
        private AutoThread() { }

        public static AutoThread Instance
        {
            get
            {
                if (_instance == null)
                {
                    _instance = new AutoThread();
                }
                return _instance;
            }
        }

        // 线程安全的委托缓存
        private static readonly ConcurrentDictionary<string, Delegate> _methodCache = new ConcurrentDictionary<string, Delegate>();

        // 方法执行器
        public static object InvokeMethod(object instance, string methodName, params object[] args)
        {
            var cacheKey = $"{instance.GetType().FullName}_{methodName}";

            if (!_methodCache.TryGetValue(cacheKey, out var methodDelegate))
            {
                // 获取方法信息
                var methodInfo = instance.GetType().GetMethod(
                    methodName,
                    BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);

                if (methodInfo == null)
                    throw new MissingMethodException($"Method {methodName} not found");

                // 创建委托并缓存
                methodDelegate = Delegate.CreateDelegate(
                    GetDelegateType(methodInfo),
                    instance,
                    methodInfo);

                _methodCache.TryAdd(cacheKey, methodDelegate);
            }

            // 执行委托
            return methodDelegate.DynamicInvoke(args);
        }

        // 根据方法签名生成对应的委托类型
        private static Type GetDelegateType(MethodInfo methodInfo)
        {
            var parameterTypes = methodInfo.GetParameters()
                .Select(p => p.ParameterType)
                .ToList();

            if (methodInfo.ReturnType == typeof(void))
            {
                return System.Linq.Expressions.Expression.GetActionType(parameterTypes.ToArray());
            }
            else
            {
                parameterTypes.Add(methodInfo.ReturnType);
                return System.Linq.Expressions.Expression.GetFuncType(parameterTypes.ToArray());
            }
        }

        /// <summary>
        /// 配置初始化。
        /// </summary>
        /// <param name="tag"></param>
        /// <param name="action"></param>
        public void ThreadSettingInit(Tag tag, Action action)
        {
            Console.WriteLine("初始化配置 线程 run " + tag.Global.SettingsOver);
            if (tag.Global.SettingsOver == 0)
            {
                action?.Invoke();
                tag.Global.SettingsOver = 1;
            }
            else if (Settings.deviceInfos.Count == 0)
            {
                tag.Global.SettingsOver = 0;
            }
            else tag.Global.SettingsOver++;
            if (tag.Global.SettingsOver > 999)
            {
                tag.Global.SettingsOver = 1;
                Console.Clear();
            }
        }

        /// <summary>
        /// 捷顺1 信号处理
        /// </summary>
        /// <param name="tag"></param>
        public void ThreadJS1(Tag tag)
        {
            Console.WriteLine($"ThreadJS1 捷顺1 信号处理 =================> ");
            var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 2 && x.deviceName == "Js捷顺1");

            if (VERX != null)
            {
                if (tag.Js1.D1212_LAST == 0 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 1)
                {
                    var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                    {
                        requestType = 4,
                        endBit = VERX.location[0]
                    }));
                    LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
                    var strr = JsonConvert.DeserializeObject<Messss>(str);
                    if (strr != null && strr.success && strr.data?.state == 0)
                    {
                        //tag.Js1.D1212_LAST = 1;
                        RedisHelper.Add($"Js捷顺1.D1202_LAST", "1", out string msg);
                    }
                }
                if (tag.Js1.D1212_LAST == 1 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 0)
                {
                    //tag.Js1.D1212_LAST = 0; 
                    RedisHelper.Add($"Js捷顺1.D1202_LAST", "0", out string msg);
                }
                if (tag.Js1.D1213_LAST == 0 && TcpServer.GetBitdata(tag.Js1.D1212, 3) == 1)
                {
                    var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                    {
                        requestType = 4,
                        endBit = VERX.location[1]
                    }));
                    LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");
                    var strr = JsonConvert.DeserializeObject<Messss>(str);
                    if (strr != null && strr.success && strr.data?.state == 0)
                    {
                        //tag.Js1.D1213_LAST = 1;
                        RedisHelper.Add($"Js捷顺1.D1203_LAST", "1", out string msg);
                    }
                }
                if (tag.Js1.D1213_LAST == 1 && TcpServer.GetBitdata(tag.Js1.D1212, 3) == 0)
                {
                    //tag.Js1.D1213_LAST = 0;
                    RedisHelper.Add($"Js捷顺1.D1203_LAST", "0", out string msg);
                }
            }
        }
        /// <summary>
        /// 捷顺2 信号处理
        /// </summary>
        /// <param name="tag"></param>
        public void ThreadJS2(Tag tag)
        {
            Console.WriteLine($"ThreadJS2 捷顺2 信号处理 =================> ");
            var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 2 && x.deviceName == "Js捷顺2");

            if (VERX != null)
            {
                if (tag.Js2.D1212_LAST == 0 && TcpServer.GetBitdata(tag.Js2.D1212, 2) == 1)
                {
                    var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                    {
                        requestType = 4,
                        endBit = VERX.location[0]
                    }));
                    LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
                    var strr = JsonConvert.DeserializeObject<Messss>(str);
                    if (strr != null && strr.success && strr.data?.state == 0)
                    {
                        RedisHelper.Add($"Js捷顺2.D1202_LAST", "1", out string msg);
                    }
                }
                if (tag.Js2.D1212_LAST == 1 && TcpServer.GetBitdata(tag.Js2.D1212, 2) == 0)
                {
                    //tag.Js2.D1212_LAST = 0;

                    RedisHelper.Add($"Js捷顺2.D1202_LAST", "0", out string msg);
                }
                if (tag.Js2.D1213_LAST == 0 && TcpServer.GetBitdata(tag.Js2.D1212, 3) == 1)
                {
                    var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                    {
                        requestType = 4,
                        endBit = VERX.location[1]
                    }));
                    LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");

                    var strr = JsonConvert.DeserializeObject<Messss>(str);
                    if (strr != null && strr.success && strr.data?.state == 0)
                    {
                        RedisHelper.Add($"Js捷顺2.D1203_LAST", "1", out string msg);
                    }
                }
                if (tag.Js2.D1213_LAST == 1 && TcpServer.GetBitdata(tag.Js2.D1213, 2) == 0)
                {
                    //tag.Js2.D1213_LAST = 0;

                    RedisHelper.Add($"Js捷顺2.D1203_LAST", "0", out string msg);
                }
            }
        }
        /// <summary>
        /// 维希尔1 左
        /// </summary>
        /// <param name="tag"></param>
        public void Threadwxr1L(Tag tag)
        {
            Console.WriteLine($"Threadwxr1L 维希尔1 左 =================> ");
            var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("1"));

            if (VERX != null)
            {
                if (tag.wxr1.R44 && !tag.wxr1.R44_LAST && tag.wxr1.R10)
                {
                    if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode))
                    {
                        var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                        {
                            requestType = 1,
                            cntrCode = traycode,
                            startBit = VERX.location[0],
                            endBit = ""
                        }));
                        LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
                        var strr = JsonConvert.DeserializeObject<Messss>(str);
                        if (strr != null && strr.success && strr.data?.state == 0)
                        {
                            //tag.wxr1.R44_LAST = true;
                            RedisHelper.Add($"维希尔抓臂1.R44_LAST", "true", out string msg);
                        }
                    }
                    else
                    {
                        TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
                    }
                }
                else
                {
                    //TaskRepository ts = new TaskRepository();
                    if (tag.wxr1.R10_LAST) //托盘放置信号。。
                    {
                        if (tag.wxr1.R10)
                        {
                            //tag.wxr1.R10_LAST = false;
                            RedisHelper.Add($"维希尔抓臂1.R10_LAST", "false", out string msg);
                        }
                        else
                        if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode))
                        {
                            //上报校验。
                            ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
                            var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
                            {
                                sceneType = 1,
                                cntrCode = traycode,
                            }));
                            if (str.Contains("true"))
                            {
                                //Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
                                tag.wxr1.R10 = true;
                                //tag.wxr1.R44_LAST = false;
                                RedisHelper.Add($"维希尔抓臂1.R44_LAST", "false", out string msg);
                            }
                            else
                            {
                                //报警。
                            }
                        }
                        else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
                    }
                }
            }
        }

        /// <summary>
        /// 维希尔1 右
        /// </summary>
        /// <param name="tag"></param>
        public void Threadwxr1R(Tag tag)
        {
            Console.WriteLine($"Threadwxr1R 维希尔1 右 =================> ");
            var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("1"));

            if (VERX != null)
            {
                if (tag.wxr1.R46 && !tag.wxr1.R46_LAST && tag.wxr1.R11)
                {
                    if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode))
                    {
                        var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                        {
                            requestType = 1,
                            cntrCode = traycode,
                            startBit = VERX.location[1],
                            endBit = ""
                        }));
                        LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");
                        var strr = JsonConvert.DeserializeObject<Messss>(str);
                        if (strr != null && strr.success && strr.data?.state == 0)
                        {
                            //tag.wxr1.R46_LAST = true;
                            RedisHelper.Add($"维希尔抓臂1.R46_LAST", "true", out string msg);
                        }
                    }
                    else
                    {
                        TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
                    }
                }
                else
                {
                    if (tag.wxr1.R11_LAST) //托盘放置信号。。
                    {
                        if (tag.wxr1.R11)
                        {
                            //tag.wxr1.R11_LAST = false;
                            RedisHelper.Add($"维希尔抓臂1.R11_LAST", "false", out string msg);
                        }
                        else
                        if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode))
                        {
                            //上报校验。
                            ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
                            var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
                            {
                                sceneType = 1,
                                cntrCode = traycode,
                            }));
                            if (str.Contains("true"))
                            {
                                //Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
                                tag.wxr1.R11 = true;
                                //tag.wxr1.R46_LAST = false;
                                RedisHelper.Add($"维希尔抓臂1.R46_LAST", "false", out string msg);
                            }
                            else
                            {
                                //报警。
                            }
                        }
                        else { TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
                    }
                }
            }
        }

        /// <summary>
        /// 维希尔2 左
        /// </summary>
        /// <param name="tag"></param>
        public void Threadwxr2L(Tag tag)
        {
            Console.WriteLine($"Threadwxr2L 维希尔2 左 =================> ");
            var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2"));

            if (VERX != null)
            {
                if (tag.wxr2.R44 && !tag.wxr2.R44_LAST && tag.wxr2.R10)
                {
                    if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode))
                    {
                        var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                        {
                            requestType = 1,
                            cntrCode = traycode,
                            startBit = VERX.location[0],
                            endBit = ""
                        }));
                        LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
                        var strr = JsonConvert.DeserializeObject<Messss>(str);
                        if (strr != null && strr.success && strr.data?.state == 0)
                        {
                            //tag.wxr2.R44_LAST = true;
                            RedisHelper.Add($"维希尔抓臂2.R44_LAST", "true", out string msg);
                        }
                    }
                    else
                    {
                        TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
                    }
                }
                else
                {
                    if (tag.wxr2.R10_LAST) //托盘放置信号。。
                    {
                        if (tag.wxr2.R10)
                        {
                            //tag.wxr2.R10_LAST = false;
                            RedisHelper.Add($"维希尔抓臂2.R10_LAST", "false", out string msg);
                        }
                        else
                        if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode))
                        {
                            //上报校验。
                            ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
                            var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
                            {
                                sceneType = 1,
                                cntrCode = traycode,
                            }));
                            if (str.Contains("true"))
                            {
                                //Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
                                tag.wxr2.R10 = true;
                                //tag.wxr2.R44_LAST = false;
                                RedisHelper.Add($"维希尔抓臂2.R44_LAST", "false", out string msg);
                            }
                            else
                            {
                                //报警。
                            }
                        }
                        else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
                    }
                }
            }
        }

        /// <summary>
        /// 维希尔2 右
        /// </summary>
        /// <param name="tag"></param>
        public void Threadwxr2R(Tag tag)
        {
            Console.WriteLine($"Threadwxr2R 维希尔2 右 =================> ");

            var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2"));

            if (VERX != null)
            {
                if (tag.wxr2.R46 && !tag.wxr2.R46_LAST && tag.wxr2.R11)
                {
                    if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode))
                    {
                        var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
                        {
                            requestType = 1,
                            cntrCode = traycode,
                            startBit = VERX.location[1],
                            endBit = ""
                        }));
                        LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");
                        var strr = JsonConvert.DeserializeObject<Messss>(str);
                        if (strr != null && strr.success && strr.data?.state == 0)
                        {
                            //tag.wxr2.R46_LAST = true;
                            RedisHelper.Add($"维希尔抓臂2.R46_LAST", "true", out string msg);
                        }
                    }
                    else
                    {
                        TcpServer.TcpServerSend(VERX.deviceNo[2], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
                    }
                }
                else
                {
                    if (tag.wxr2.R11_LAST) //托盘放置信号。。
                    {
                        if (tag.wxr2.R11)
                        {
                            //tag.wxr2.R11_LAST = false;
                            RedisHelper.Add($"维希尔抓臂2.R11_LAST", "false", out string msg);
                        }
                        else
                        if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode))
                        {
                            //上报校验。
                            ///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
                            var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
                            {
                                sceneType = 1,
                                cntrCode = traycode,
                            }));
                            if (str.Contains("true"))
                            {
                                //Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
                                tag.wxr2.R11 = true;
                                //tag.wxr2.R46_LAST = false;
                                RedisHelper.Add($"维希尔抓臂2.R46_LAST", "false", out string msg);
                            }
                            else
                            {
                                //报警。
                            }
                        }
                        else { TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
                    }
                }
            }
        }


        public void ThreadTaskRun(Tag tag, Func<TaskEntity, bool> action)
        {
            Console.WriteLine($"ThreadTaskRun 任务下发 =================> ");
            LogHelper.Info("ThreadTaskRun 任务下发");

            ITaskRepository taskservice = new TaskRepository();
            try
            {
                LogHelper.Info("任务下发  AGV 任务 进入");
                #region AGV任务下发。

                var tklist = taskservice.FindList(x => x.S_B_STATE == "未执行" && x.S_WORK_MODE == "AGV");
                if (tklist.Any())
                    foreach (var tk in tklist.GroupBy(item =>
                    {
                        var ticks = item.T_CREATE.Ticks;
                        return new DateTime(ticks - ticks % (10 * TimeSpan.TicksPerMinute));
                    }).OrderBy(x => x.Key))
                    {
                        var ts = tk.OrderByDescending(x => x.N_PRIORITY).ToList();
                        foreach (var t in ts)
                        {
                            var b = false;
                            b = action?.Invoke(t) ?? false; //new ViewModel().RunTask(t);

                            if (b)
                            {
                                t.S_B_STATE = "已推送";
                                taskservice.Update(t);
                            }
                        }
                        break;
                    }
                //foreach (var tk in tklist.GroupBy(item =>
                //{
                //    var ticks = item.T_CREATE.Ticks;
                //    return new DateTime(ticks - ticks % (10 * TimeSpan.TicksPerMinute));
                //}).OrderBy(x => x.Key))
                //if (tklist.Any())
                //{

                #endregion
            }
            catch (Exception ex)
            {
                LogHelper.Info(ex.Message + ex.StackTrace);
            }
            try
            {
                #region Rgv

                LogHelper.Info($"查看RGV 电量：【{tag.RGV.R当前电量}】 充电状态：【{tag.RGV.R充电状态}】 故障代码：【{tag.RGV.RgvrunError}】 手动1自动2【{tag.RGV.R手动1自动2}】");

                if (tag.RGV.R手动1自动2 == 1)
                {
                    LogHelper.Info($"RGV 手动模式，不用管。");
                    return;
                }
                if (tag.RGV.taskend == 125)
                {
                    LogHelper.Info($"RGV 有125命令未执行。");
                    System.Threading.Thread.Sleep(3000);
                    return;
                }
                LogHelper.Info("任务下发  Rgv 任务 进入");

                TaskEntity task1 = null;
                TaskEntity task2 = null;
                var task1Isrun = false;
                if (tag.RGV.ReadTask1No > 0 && tag.RGV.bit1taskOver != 1)
                {
                    var taskno = tag.RGV.ReadTask1No;
                    string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
                    task1 = taskservice.FindEntity(x => x.S_TASK_NO == tno);
                    if (task1 != null && task1.S_B_STATE != "完成")
                        task1Isrun = true;
                    //if (tag.RGV.bit1taskOver_LAST == 1)
                    //    RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
                }
                var task2Isrun = false;
                if (tag.RGV.ReadTask2No > 0 && tag.RGV.bit2taskOver != 1)
                {
                    var taskno = tag.RGV.ReadTask2No;
                    string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
                    task2 = taskservice.FindEntity(x => x.S_TASK_NO == tno);
                    if (task2 != null && task2.S_B_STATE != "完成")
                        task2Isrun = true;
                    //if (tag.RGV.bit2taskOver_LAST == 1)
                    //    RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
                }
                if (task1Isrun || task2Isrun)
                {
                    string mes = "";
                    if (task1Isrun)
                        mes += tag.RGV.ReadTask1No + "执行中...";
                    if (task2Isrun)
                        mes += tag.RGV.ReadTask2No + "执行中...";
                    LogHelper.Info($"{mes} 不能下发新任务。");
                    System.Threading.Thread.Sleep(3000);
                    return;
                }
                var thisOver = 0;
                LogHelper.Info($"查看RGV 1工位任务》");
                if (tag.RGV.ReadTask1No > 0 && tag.RGV.bit1taskOver == 1)
                {
                    var taskno = tag.RGV.ReadTask1No;
                    LogHelper.Info($"RGV 1工位任务{tag.RGV.ReadTask1No}");
                    string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
                    task1 = taskservice.FindEntity(x => x.S_TASK_NO == tno);

                    LogHelper.Info($"RGV 1工位任务{task1?.S_TASK_NO}.bit1taskOver_LAST：{tag.RGV.bit1taskOver_LAST}");
                    if (tag.RGV.bit1taskOver_LAST == 0 && task1 != null)
                    {
                        if (task1.S_B_STATE != "完成")
                        {
                            thisOver = 1;
                            if (task1.S_B_STATE == "取货完成")
                            {
                                task1.S_B_STATE = "完成";
                                //tag.RGV.ReadTask1No = 0;
                            }
                            else
                            {
                                task1.S_B_STATE = "取货完成";
                            }
                            //tag.RGV.bit1taskOver = 0;
                            LogHelper.Info($"RGV 1工位任务{task1.S_TASK_NO} 状态切换为{task1.S_B_STATE}");
                            //tag.RGV.bit1taskOver_LAST = 1;
                            RedisHelper.Add($"RGV.bit1taskOver_LAST", "1", out string msg);
                            LogHelper.Info($"RGV 1工位任务写处理");
                            taskservice.Update(task1);
                            LogHelper.Info($"RGV 1工位任务更新。");
                        }
                        else
                        {
                            LogHelper.Info("RGV1工位任务已经完成。");
                        }
                    }
                }
                else if (tag.RGV.ReadTask1No == 0)
                {
                    LogHelper.Info($"RGV 1工位没有任务》");
                }

                LogHelper.Info($"查看RGV 2工位任务》");
                if (tag.RGV.ReadTask2No > 0 && tag.RGV.bit2taskOver == 1)
                {
                    var taskno = tag.RGV.ReadTask2No;
                    LogHelper.Info($"RGV 2工位任务{tag.RGV.ReadTask2No}");
                    string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
                    task2 = taskservice.FindEntity(x => x.S_TASK_NO == tno);

                    LogHelper.Info($"RGV2工位任务{task2?.S_TASK_NO}.bit2taskOver_LAST：{tag.RGV.bit2taskOver_LAST}");
                    if (tag.RGV.bit2taskOver_LAST == 0 && task2 != null)
                    {
                        if (task2.S_B_STATE != "完成")
                        {
                            thisOver = 2;
                            if (task2.S_B_STATE == "取货完成")
                            {
                                task2.S_B_STATE = "完成";
                                //tag.RGV.ReadTask2No = 0;
                            }
                            else
                            {
                                task2.S_B_STATE = "取货完成";
                            }
                            //tag.RGV.bit2taskOver = 0;
                            LogHelper.Info($"RGV 2工位任务{task2.S_TASK_NO} 状态切换为{task2.S_B_STATE}");
                            RedisHelper.Add($"RGV.bit2taskOver_LAST", "1", out string msg);
                            LogHelper.Info($"RGV 2工位任务写处理");
                            taskservice.Update(task2);
                            LogHelper.Info($"RGV 2工位任务更新。");
                        }
                        else
                        {
                            LogHelper.Info("RGV2工位任务已经完成。");
                        }
                    }
                }
                else if (tag.RGV.ReadTask2No == 0)
                {
                    LogHelper.Info($"RGV 2工位没有任务》");
                }

                //if (thisOver > 0)
                //{
                //    var v2 = RedisHelper.Get<WriteGroupEntity>("RGVQueue", out string rev);
                //    if (v2 != null)
                //    {
                //        LogHelper.Info($"RGVQueue 读到结果-{JsonConvert.SerializeObject(v2)}  \n 下发前进行清除。");
                //        var b = RedisHelper.Remove("RGVQueue", out rev);
                //    }
                //}

                ///1 有货  就2 取。  1 没货 就2 卸货， 都有货  就1卸货。 都没货 就1卸
                var tklist = taskservice.FindList(x => x.S_B_STATE == "未执行" && x.S_WORK_MODE == "RGV").OrderBy(x => x.T_CREATE).ToList();
                if (task1 != null && task1.S_B_STATE != "完成") //1有任务
                {
                    if (task2 != null && task2.S_B_STATE != "完成")// 1 有任务  2 有任务。 
                    {
                        LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 也有任务{task2.S_TASK_NO}。 开始工位1 卸货。");
                        tag.RGV.workMod = 1;
                        tag.RGV.taskmod = 2;
                        tag.RGV.taskno1 = Convert.ToUInt32(task1.S_TASK_NO.Substring(4));
                        tag.RGV.task1do = Convert.ToUInt16(task1.S_END_LOC);
                        System.Threading.Thread.Sleep(750);
                        //RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
                        //tag.RGV.taskend = 125;
                        //Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue");

                        LogHelper.Info($"{task1.S_TASK_NO}> bit1taskOver_LAST 写 0");
                        RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
                        LogHelper.Info($"{task1.S_TASK_NO}> end 写 125");
                        Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                    }
                    else //1有任务  2 没任务。  
                    {

                        LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧取货任务。");

                        var leftSide = new List<string> { "1023", "1020" };
                        var RightSide = new List<string> { "1002", "1008", "1010", "1016" };
                        bool creT2 = false;

                        // 2号 优先给 1020  1008  1016
                        var t2 = tklist.OrderBy(x => x.T_CREATE).ToList().Find(x => x.S_START_LOC == "1020" || x.S_START_LOC == "1008" || x.S_START_LOC == "1016");
                        if (t2 != null)
                        {
                            LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找1020  1008  1016取货任务{t2.S_TASK_NO}。");
                            tag.RGV.workMod = 2;
                            LogHelper.Info($"{task1.S_TASK_NO}> workMod 2 《2工位》");
                            tag.RGV.taskmod = 1;
                            LogHelper.Info($"{task1.S_TASK_NO}> taskmod 1 《取货》");
                            tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
                            tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
                            creT2 = true;
                            LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0");
                            RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
                            LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
                            Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                            t2.S_B_STATE = "已推送";
                            taskservice.Update(t2);
                        }
                        ////2 如果有同侧取货任务。就取。没有
                        //else if (leftSide.Contains(task1.S_START_LOC))
                        //{
                        //    leftSide.Remove(task1.S_START_LOC);
                        //    var lsde = leftSide.FirstOrDefault();
                        //    t2 = tklist.Find(x => x.S_START_LOC == lsde && x.S_END_LOC != "1017");
                        //    if (t2 != null) //同侧取货任务。
                        //    {
                        //        LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧取货任务{t2.S_TASK_NO}。");
                        //        tag.RGV.workMod = 2;
                        //        tag.RGV.taskmod = 1;
                        //        tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
                        //        tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
                        //        t2.S_B_STATE = "已推送";
                        //        taskservice.Update(t2);
                        //        creT2 = true;
                        //        System.Threading.Thread.Sleep(750);
                        //        LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0");
                        //        RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
                        //        LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
                        //        Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                        //    }
                        //}
                        //else if (RightSide.Contains(task1.S_START_LOC))
                        //{
                        //    RightSide.Remove(task1.S_START_LOC);
                        //    t2 = tklist.Find(x => RightSide.Contains(x.S_START_LOC) && x.S_END_LOC != "1017");
                        //    if (t2 != null) //同侧取货任务。
                        //    {
                        //        LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧 1002,1010 取货任务{t2.S_TASK_NO}。");
                        //        tag.RGV.workMod = 2;
                        //        tag.RGV.taskmod = 1;
                        //        tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
                        //        tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
                        //        t2.S_B_STATE = "已推送";
                        //        taskservice.Update(t2);
                        //        creT2 = true;
                        //        System.Threading.Thread.Sleep(750);
                        //        LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 125");
                        //        RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
                        //        LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
                        //        Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                        //    }
                        //}
                        else //1 直接卸货。 
                        //if (!creT2)
                        {
                            LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 没有同侧取货任务 1工位卸货。");
                            tag.RGV.workMod = 1;
                            LogHelper.Info($"{task1.S_TASK_NO}> workMod 1 《1工位》");
                            tag.RGV.taskmod = 2;
                            LogHelper.Info($"{task1.S_TASK_NO}> taskmod 2 《卸货》");
                            tag.RGV.taskno1 = Convert.ToUInt32(task1.S_TASK_NO.Substring(4));
                            tag.RGV.task1do = Convert.ToUInt16(task1.S_END_LOC);
                            System.Threading.Thread.Sleep(750);
                            LogHelper.Info($"{task1.S_TASK_NO}> bit1taskOver_LAST 写 0");
                            RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
                            LogHelper.Info($"{task1.S_TASK_NO}> taskend 写 0");
                            Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                        }
                    }
                }
                else
                {
                    if (task2 != null && task2.S_B_STATE != "完成")// 1 没任务  2 有任务。 
                    {
                        LogHelper.Info($"查看RGV 1工位没任务,工位2 有任务{task2.S_TASK_NO}。工位2卸货。。");
                        //2 卸货。
                        tag.RGV.workMod = 2;
                        LogHelper.Info($"{task2.S_TASK_NO}> workMod 2 《2工位》");
                        tag.RGV.taskmod = 2;
                        LogHelper.Info($"{task2.S_TASK_NO}> taskmod 2 《卸货》");
                        tag.RGV.taskno2 = Convert.ToUInt32(task2.S_TASK_NO.Substring(4));
                        tag.RGV.task2do = Convert.ToUInt16(task2.S_END_LOC);
                        System.Threading.Thread.Sleep(750);
                        LogHelper.Info($"{task2.S_TASK_NO}> bit2taskOver_LAST 写 0");
                        RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
                        //tag.RGV.taskend = 125;
                        LogHelper.Info($"{task2.S_TASK_NO}> taskend 写125");
                        Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                    }
                    else if (tklist.Any()) //1mei 任务  2 没任务。
                    {
                        LogHelper.Info($"查看RGV 1工位没任务,工位2 也没任务。优先1工位终点1017任务。。");
                        //、下 1017任务 给1号工位。
                        //var lss = tklist.Take(2).ToList();
                        var e1017first = tklist.Find(x => x.S_START_LOC == "1002" || x.S_START_LOC == "1010" || x.S_START_LOC == "1023");
                        //if (e1017first != null)
                        //{
                        //    e1017first = tklist.FirstOrDefault();
                        //}
                        if (e1017first != null)
                        {
                            LogHelper.Info($"查看RGV没任务， 给工位1筛选任务。 1002  1010  1023取货任务{e1017first.S_TASK_NO}。");
                            tag.RGV.workMod = 1;
                            LogHelper.Info($"{e1017first.S_TASK_NO}> workMod 1 《1工位》");
                            tag.RGV.taskmod = 1;
                            LogHelper.Info($"{e1017first.S_TASK_NO}> taskmod 1 《取货》");
                            uint tno = Convert.ToUInt32(e1017first.S_TASK_NO.Substring(4));
                            LogHelper.Info($"{e1017first.S_TASK_NO}> 转换后任务号{tno} 开始写入。");
                            tag.RGV.taskno1 = tno;
                            LogHelper.Info($"{e1017first.S_TASK_NO}>开始写入 task1do>>{e1017first.S_START_LOC}。");
                            tag.RGV.task1do = Convert.ToUInt16(e1017first.S_START_LOC);
                            LogHelper.Info($"{e1017first.S_TASK_NO}> 更新任务。");
                            LogHelper.Info($"{e1017first.S_TASK_NO}> bit1taskOver_LAST 写0");
                            RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
                            LogHelper.Info($"{e1017first.S_TASK_NO}> taskend 写125");
                            //tag.RGV.taskend=125
                            Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                            e1017first.S_B_STATE = "已推送";
                            taskservice.Update(e1017first);
                        }
                        else
                        {
                            var t2 = tklist.OrderBy(x => x.T_CREATE).ToList().Find(x => x.S_START_LOC == "1020" || x.S_START_LOC == "1008" || x.S_START_LOC == "1016");
                            if (tklist != null)
                            {
                                LogHelper.Info($"查看RGV没任务 给工位2筛选任务。 找1020  1008  1016取货任务{t2.S_TASK_NO}。");
                                tag.RGV.workMod = 2;
                                LogHelper.Info($"{t2.S_TASK_NO}> workMod 2 《2工位》");
                                tag.RGV.taskmod = 1;
                                LogHelper.Info($"{t2.S_TASK_NO}> taskmod 1 《取货》");
                                tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
                                LogHelper.Info($"{t2.S_TASK_NO}> taskno2  {Convert.ToUInt32(t2.S_TASK_NO.Substring(4))}《任务号》");
                                tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
                                LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0");
                                RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
                                LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
                                Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
                                t2.S_B_STATE = "已推送";
                                taskservice.Update(t2);
                            }
                        }
                    }
                }
                LogHelper.Info($"rgv 处理完成。taskend 125");
                #endregion
            }
            catch (Exception ex)
            {
                LogHelper.Info(ex.Message + ex.StackTrace);
            }
        }


        public void ThreadGrats(Tag tag, Action<HaiKangOrderInfo> continueTask)
        {
            LogHelper.Info($"ThreadGrats 光栅处理 =================> ");

            var taskCOdes = new List<string> { "Sarrive", "Srelease", "Earrive", "Erelease" };
            TaskActRepository taskActRepository = new TaskActRepository();
            TaskRepository taskRepository = new TaskRepository();
            var requires = taskActRepository.FindList(x => taskCOdes.Contains(x.S_ACTION_CODE) && x.N_CREATEMETHOD == 0).OrderBy(x => x.T_CREATE);
            foreach (var item in requires)
            {
                LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE}光栅处理 =================> ");
                var tin = taskCOdes.IndexOf(item.S_ACTION_CODE);
                if (tin == -1)
                {
                    item.N_CREATEMETHOD = -1;
                    taskActRepository.Update(item);
                    continue;
                }
                var task = taskRepository.FindEntity(x => x.S_TASK_NO == item.S_TASK_NO);
                if (task == null)
                {
                    item.N_CREATEMETHOD = -1;
                    taskActRepository.Update(item);
                    continue;
                }
                string loc = "";
                if (tin < 2)
                {
                    loc = item.S_START_LOC;
                }
                else
                {
                    loc = item.S_END_LOC;
                }
                if (loc == null) continue; else loc = loc.Trim();
                bool goin = tin % 2 == 0;
                bool continuuuuu = false;
                var dev = Settings.deviceInfos.Find(x => x.location.Contains(loc));
                if (dev != null)
                {
                    LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅处理 =================> ");
                    var V = dev.location.ToList().FindIndex(x => x == loc) == 0;
                    //车走了  开光栅
                    if (!goin)
                    {
                        if (dev.deviceType == 1)
                        {
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> ");
                            LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "R02" : "R04"), "true", dev.deviceName + "Queue"));
                            Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "R02" : "R04"), "true", dev.deviceName + "Queue", false);
                        }
                        else if (dev.deviceType == 2)
                        {
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> ");
                            LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "D1222" : "D1223"), "1", dev.deviceName + "Queue"));

                            Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1220" : "D1221"), "0", dev.deviceName + "Queue");
                            Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1222" : "D1223"), "1", dev.deviceName + "Queue");
                        }
                        LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理完成 =================> ");

                        item.N_CREATEMETHOD = 1;
                        taskActRepository.Update(item);
                    }
                    //车要进入交互。
                    else
                    {
                        if (dev.deviceType == 1)
                        {
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理 =================> ");
                            var tf = Conn.默认Redis.GetValue(dev.deviceName + "." + (V ? "R50" : "R52"));//读关闭状态
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅关闭信号{tf}");
                            if (tf?.ToLower() == "true")
                            {
                                LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭！");
                                continuuuuu = true;
                            }
                            else
                            {
                                LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue"));
                                Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue", false);
                            }
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理完成 =================> ");
                        }
                        else if (dev.deviceType == 2)
                        {
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理 =================> ");
                            var tf = Conn.默认Redis.GetValue(dev.deviceName + ".D1202");
                            int numm = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf);
                            int close = TcpServer.GetBitdata(numm, (V ? 0 : 1));
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅关闭信号{close}");
                            if (close == 1)
                            {
                                LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭！");
                                continuuuuu = true;
                            }
                            else
                            {
                                LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "D1220" : "D1221"), "1", dev.deviceName + "Queue"));
                                Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1222" : "D1223"), "0", dev.deviceName + "Queue");
                                Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1220" : "D1221"), "1", dev.deviceName + "Queue");

                                string d12201 = RedisHelper.Get<string>(dev.deviceName + "." + (V ? "D1220" : "D1221"), out string msg);
                                LogHelper.Info($"ThreadGrats 写{(dev.deviceName + "." + (V ? "D1220" : "D1221"))}为 1 ， 后读{d12201}");
                            }
                            LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理完成 =================> ");
                        }
                    }

                }
                if (continuuuuu)
                {
                    LogHelper.Info($"{item.S_TASK_NO}{item.S_ACTION_CODE} 车辆发送继续任务！");
                    continueTask?.Invoke(new HaiKangOrderInfo
                    {
                        reqCode = item.S_ID.Replace("-", ""),
                        taskCode = item.S_TASK_NO
                    });
                    item.N_CREATEMETHOD = 1;
                    taskActRepository.Update(item);
                }
            }
            System.Threading.Thread.Sleep(3000);
            LogHelper.Info($"ThreadGrats deviceType2光栅写入位重置 =================> ");
            //重置信号
            foreach (var dev in Settings.deviceInfos.FindAll(x => x.deviceType == 2))
            {
                var tf = Conn.默认Redis.GetValue(dev.deviceName + ".D1202");
                int numm = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf);
                //int int0 = TcpServer.GetBitdata(numm, 0);
                //int int1 = TcpServer.GetBitdata(numm, 1);

                if (TcpServer.GetBitdata(numm, 0) == 0)
                {
                    Conn.默认Redis.SetValue(dev.deviceName + ".D1220", "0", dev.deviceName + "Queue", false);
                    Conn.默认Redis.SetValue(dev.deviceName + ".D1222", "0", dev.deviceName + "Queue", false);
                }
                if (TcpServer.GetBitdata(numm, 1) == 0)
                {
                    Conn.默认Redis.SetValue(dev.deviceName + ".D1221", "0", dev.deviceName + "Queue", false);
                    Conn.默认Redis.SetValue(dev.deviceName + ".D1223", "0", dev.deviceName + "Queue", false);
                }
                if (TcpServer.GetBitdata(numm, 2) == 0)
                {
                    Conn.默认Redis.SetValue(dev.deviceName + ".D1224", "0", dev.deviceName + "Queue", false);
                }
                if (TcpServer.GetBitdata(numm, 3) == 0)
                {
                    Conn.默认Redis.SetValue(dev.deviceName + ".D1225", "0", dev.deviceName + "Queue", false);
                }
            }
            LogHelper.Info($"ThreadGrats deviceType2光栅写入位重置完成。 =================> ");
        }
        /// <summary>
        /// 1020  1023空框下线
        /// </summary>
        /// <param name="tag"></param>
        public void ThreadEdown(Tag tag)
        {
            Console.WriteLine($"ThreadEdown 20 23 = 空下检测 =================> ");
            TaskRepository taskRepository = new TaskRepository();
            foreach (var Bssx in new string[] { "1020", "1023" })
            {
                var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16));
                var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16));
                var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String));
                Console.WriteLine($"{Bssx} 空下检测：任务申请：{RtaskState}- 是否已处理：{RtaskState_LAST}- 托盘码：{R托盘码}  ");
                if (RtaskState == 3 && RtaskState_LAST == 0)
                {
                    var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
                    string msg = "";
                    if (task != null)
                    {
                        Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                        LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                        continue;
                    }
                    try
                    {
                        var listtep = new List<string>();
                        if (Bssx == "1020")
                        {
                            if (tag.SF下料位.RArrive1003 == 1)
                            {
                                listtep = new List<string> { "1012", "1004" };
                            }
                            else
                            {
                                listtep = new List<string> { "1004", "1012" };
                            }
                        }
                        else
                        {
                            if (tag.SF下料位.RArrive1005 == 1)
                            {
                                listtep = new List<string> { "1014", "1006" };
                            }
                            else
                            {
                                listtep = new List<string> { "1006", "1014" };
                            }
                        }

                        foreach (var item in listtep)//(Bssx == "1020" ? new string[] { "1004", "1012" } : new string[] { "1006", "1014" }))
                        {
                            var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
                            var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
                            if (R5 == 5 && R5空闲_LAST == 0 && task == null)
                            {
                                task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
                                msg = "";
                                if (task != null)
                                {
                                    Console.WriteLine($" {item}有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                                    LogHelper.Info($" {item}有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                                    continue;
                                }

                                var b = TaskProcess.CreateTask("", Bssx, item, "空上RGV", 5, new List<string> { R托盘码 }, "RGV");
                                if (b)
                                {
                                    LogHelper.Debug($"输送线RGV空托任务 from:{Bssx}>to {item}开始创建成功");
                                    RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg);
                                    //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue");
                                    RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out msg);
                                    //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue");
                                    break;
                                }
                            }
                            else if (R5 != 5 && R5空闲_LAST == 1)
                            {
                                RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out msg);
                                //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "0", $"S{item}ReadQueue");
                            }
                        }
                        System.Threading.Thread.Sleep(1000);
                    }
                    catch (Exception ex)
                    {
                        LogHelper.Error(ex.Message, ex);
                        Console.WriteLine(ex.Message + ex.StackTrace);
                    }
                }
                else if (RtaskState != 3 && RtaskState_LAST == 1)
                {
                    RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg);
                    //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "0", $"S{Bssx}ReadQueue");
                }
                System.Threading.Thread.Sleep(2000);
            }

            foreach (var item in new string[] { "1004", "1012", "1006", "1014", "1026", "1017" })
            {
                var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
                var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
                if (R5 != 5 && R5空闲_LAST == 1)
                {
                    RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg);
                    //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "0", $"S{item}ReadQueue");
                }
            }
        }

        public void ThreadDdown(Tag tag)
        {
            Console.WriteLine($"ThreadDdown 08 10 ==================> 1026");
            TaskRepository taskRepository = new TaskRepository();
            foreach (var Bssx in new string[] { "1008", "1016" })
            {
                var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16));
                var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16));
                var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String));
                Console.WriteLine($"{Bssx} 满下检测：任务申请：{RtaskState}- 是否已处理：{RtaskState_LAST}- 托盘码：{R托盘码}");
                if (RtaskState == 3 && RtaskState_LAST == 0)
                {
                    var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
                    string msg = "";
                    if (task != null)
                    {
                        Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                        LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                        continue;
                    }

                    var item = "1026";
                    var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
                    var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
                    if (R5 == 5 && R5空闲_LAST == 0)
                    {
                        task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
                        msg = "";
                        if (task != null)
                        {
                            Console.WriteLine($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                            LogHelper.Info($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                            continue;
                        }
                        var b = TaskProcess.CreateTask("", Bssx, item, "满转1026", 5, new List<string> { R托盘码 }, "RGV");
                        if (b)
                        {
                            RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg);
                            RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out string msg2);
                            //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue");
                            //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue");
                            break;
                        }
                    }
                    else if (R5 != 5 && R5空闲_LAST == 1)
                    {
                        RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg2);
                    }
                }
                else if (RtaskState != 3 && RtaskState_LAST == 1)
                {
                    RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg);
                    //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "0", $"S{Bssx}ReadQueue");
                }
                System.Threading.Thread.Sleep(2000);
            }
        }

        public void Thread0210Down(Tag tag)
        {
            Console.WriteLine($"Thread0210Down ==================>");
            TaskRepository taskRepository = new TaskRepository();
            foreach (var Bssx in new string[] { "1002", "1010" })
            {
                var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16));
                var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16));
                var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String));
                Console.WriteLine($"{Bssx} 满下检测：任务申请：{RtaskState}- 是否已处理：{RtaskState_LAST}- 托盘码：{R托盘码}");
                if (RtaskState == 3 && RtaskState_LAST == 0)
                {
                    var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
                    string msg = "";
                    if (task != null)
                    {
                        Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                        LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                        continue;
                    }
                    var item = "1017";
                    var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
                    var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
                    if (R5 == 5 && R5空闲_LAST == 0)
                    {
                        task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
                        msg = "";
                        if (task != null)
                        {
                            Console.WriteLine($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                            LogHelper.Info($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
                            continue;
                        }
                        var b = TaskProcess.CreateTask("", Bssx, item, "满转1017", 5, new List<string> { R托盘码 }, "RGV");
                        if (b)
                        {
                            RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg);
                            RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out string msg1);
                            //Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue");
                            //Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue");
                            break;
                        }
                    }
                    else if (R5 != 5 && R5空闲_LAST == 1)
                    {
                        RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg1);
                    }
                }
                else if (RtaskState != 3 && RtaskState_LAST == 1)
                {
                    RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg);
                }
                System.Threading.Thread.Sleep(2000);
            }
        }


        public void Thread下料位检测(Tag tag)
        {
            Console.WriteLine($"Thread下料位检测    =====>");
            foreach (var ssx in new string[] { "1003", "1005", "1011", "1013" })
            {
                var RArrive = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}"), typeof(System.UInt16));
                var RArriveLast = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}_LAST"), typeof(System.UInt16));
                LogHelper.Info($" FNK1003051113.RArrive{ssx}>{RArrive} && FNK1003051113.RArrive{ssx}_LAST >{RArriveLast}");
                if (RArrive == 1 && RArriveLast == 0)
                {
                    if (ssx == "1005" && tag.SF下料位.WRelease1005 == 0)
                    {
                        LogHelper.Info($"ssx == 1005 && tag.SF下料位.WRelease1005:{tag.SF下料位.WRelease1005}  写f1 2215=1，RArrive1005_LAST=1");
                        tag.FNK1.D2215 = 1;
                        //tag.SF下料位.RArrive1005_LAST = 1;
                        RedisHelper.Add($"FNK1003051113.RArrive1005_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1005 = 0;
                        //tag.SF下料位.WSafe0305 = 0;
                    }
                    else if (ssx == "1003" && tag.SF下料位.WRelease1003 == 0)
                    {
                        LogHelper.Info($"ssx == 1003 && tag.SF下料位.WRelease1003:{tag.SF下料位.WRelease1003}  写f1 2210=1，RArrive1003_LAST=1");
                        tag.FNK1.D2210 = 1;
                        //tag.SF下料位.RArrive1003_LAST = 1;

                        RedisHelper.Add($"FNK1003051113.RArrive1003_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1003 = 0;
                        //tag.SF下料位.WSafe0305 = 0;
                    }
                    else if (ssx == "1013" && tag.SF下料位.WRelease1013 == 0)
                    {
                        LogHelper.Info($"ssx == 1013 && tag.SF下料位.WRelease1013:{tag.SF下料位.WRelease1013}  写f2 2215=1，RArrive1013_LAST=1");
                        tag.FNK2.D2215 = 1;
                        //tag.SF下料位.RArrive1013_LAST = 1;
                        RedisHelper.Add($"FNK1003051113.RArrive1013_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1013 = 0;
                        //tag.SF下料位.WSafe1113 = 0;
                    }
                    else if (ssx == "1011" && tag.SF下料位.WRelease1011 == 0)
                    {
                        LogHelper.Info($"ssx == 1011 && tag.SF下料位.WRelease1011:{tag.SF下料位.WRelease1011}  写f2 2210=1，RArrive1011_LAST=1");
                        tag.FNK2.D2210 = 1;
                        //tag.SF下料位.RArrive1011_LAST = 1;
                        RedisHelper.Add($"FNK1003051113.RArrive1011_LAST", "1", out string msg);

                        //tag.SF下料位.WRelease1011 = 0;
                        //tag.SF下料位.WSafe1113 = 0;
                    }
                }
                else if (RArrive == 0 && RArriveLast == 1)
                {
                    LogHelper.Info($"重置 FNK1003051113.RArrive{ssx}_LAST=0");
                    RedisHelper.Add($"FNK1003051113.RArrive{ssx}_LAST", "0", out string msg);
                    //Conn.默认Redis.SetValue($"FNK1003051113.RArrive{ssx}_LAST", "0", $"FNK1003051113Queue");
                }
            }
        }

        public void ThreadFNK1Over(Tag tag)
        {
            Console.WriteLine($"ThreadFNK1Over    =====>");
            //LogHelper.Info($" FN1 D2217>{tag.FNK1.D2217} D2217LAST>{tag.FNK1.D2217_LAST} D2215>{tag.FNK1.D2215} release1005>{tag.SF下料位.WRelease1005}");
            //LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 写 2215=0，D2217_LAST=1，WRelease1005=1 RArrive1005_LAST=0");
            if (tag.FNK1.D2217 == 1 && tag.FNK1.D2217_LAST == 0)
            {
                tag.FNK1.D2215 = 0;
                //tag.FNK1.D2212_LAST = 1;
                RedisHelper.Add($"p发那科1下线.D2217_LAST", "1", out string msg);

                tag.SF下料位.WRelease1005 = 1;
                tag.SF下料位.WSafe0305 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1005_LAST", "0", out msg);
                LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 写 2215=0，D2217_LAST=1，WRelease1005=1 RArrive1005_LAST=0");
            }
            else if (tag.FNK1.D2217 == 0 && tag.FNK1.D2217_LAST == 1)
            {
                //tag.FNK1.D2217_LAST = 0;
                RedisHelper.Add($"p发那科1下线.D2217_LAST", "0", out string msg);
                LogHelper.Info($" p发那科1下线.D2217_LAST=0");
            }
            if (tag.FNK1.D2216 == 1)
            {
                tag.FNK1.D2215 = 0;

                LogHelper.Info($" p发那科1下线 读D2216=1  写D2215 =0");
            }

            if (tag.FNK1.D2212 == 1 && tag.FNK1.D2212_LAST == 0)
            {
                tag.FNK1.D2210 = 0;
                //tag.FNK1.D2217_LAST = 1;
                RedisHelper.Add($"p发那科1下线.D2212_LAST", "1", out string msg);
                tag.SF下料位.WRelease1003 = 1;
                tag.SF下料位.WSafe0305 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1003_LAST", "0", out msg);
                LogHelper.Info($" FN1 .D2212=1,2212_LAST=0 写 2210=0，D2212_LAST=1，WRelease1003=1 RArrive1003_LAST=0");
            }
            //else if (tag.FNK1.D2211 == 1)
            //    tag.FNK1.D2210 = 0;
            else if (tag.FNK1.D2212 == 0 && tag.FNK1.D2212_LAST == 1)
            {
                //tag.FNK1.D2212_LAST = 0;
                RedisHelper.Add($"p发那科1下线.D2212_LAST", "0", out string msg);
                LogHelper.Info($" p发那科1下线.D2212_LAST=0");
            }

            if (tag.FNK1.D2211 == 1)
            {
                tag.FNK1.D2210 = 0;

                LogHelper.Info($" p发那科1下线 读D2211=1  写D2210 =0");
            }

        }
        public void ThreadFNK2Over(Tag tag)
        {
            Console.WriteLine($"ThreadFNK2Over    =====>");
            if (tag.FNK2.D2217 == 1 && tag.FNK2.D2217_LAST == 0)
            {
                tag.FNK2.D2215 = 0;
                //tag.FNK2.D2212_LAST = 1;
                RedisHelper.Add($"p发那科2下线.D2217_LAST", "1", out string msg);

                tag.SF下料位.WRelease1013 = 1;
                tag.SF下料位.WSafe1113 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1013_LAST", "0", out msg);
                LogHelper.Info($" FN2 .D2217=1,2217_LAST=0 写 2215=0，D2217_LAST=1，WRelease1013=1 RArrive1013_LAST=0");
            }
            else if (tag.FNK2.D2217 == 0 && tag.FNK2.D2217_LAST == 1)
            {
                //tag.FNK2.D2217_LAST = 0;
                RedisHelper.Add($"p发那科2下线.D2217_LAST", "0", out string msg);

                LogHelper.Info($" p发那科2下线.D2217_LAST=0");
            }
            if (tag.FNK2.D2216 == 1)
            {
                tag.FNK2.D2215 = 0;

                LogHelper.Info($" p发那科2下线 读D2216=1  写D2215 =0");
            }

            if (tag.FNK2.D2212 == 1 && tag.FNK2.D2212_LAST == 0)
            {
                tag.FNK2.D2210 = 0;
                //tag.FNK2.D2217_LAST = 1;
                RedisHelper.Add($"p发那科2下线.D2212_LAST", "1", out string msg);

                tag.SF下料位.WRelease1011 = 1;
                tag.SF下料位.WSafe1113 = 1;
                System.Threading.Thread.Sleep(1000);
                RedisHelper.Add($"FNK1003051113.RArrive1011_LAST", "0", out msg);
                LogHelper.Info($" FN2 .D2212=1,2212_LAST=0 写 2210=0，D2212_LAST=1，WRelease1011=1 RArrive1011_LAST=0");
            }
            else if (tag.FNK2.D2212 == 0 && tag.FNK2.D2212_LAST == 1)
            {
                //tag.FNK2.D2212_LAST = 0;
                RedisHelper.Add($"p发那科2下线.D2212_LAST", "0", out string msg);
                LogHelper.Info($" p发那科2下线.D2212_LAST=0");
            }
            if (tag.FNK2.D2211 == 1)
            {
                tag.FNK2.D2210 = 0;
                LogHelper.Info($" p发那科2下线 读D2211=1  写D2210 =0");
            }
        }



        public void Thread1019Down(Tag tag)
        {
            Console.WriteLine($"1019任务状态：   =====>");
            Console.WriteLine($"1019任务状态：{tag.SA1019.RtaskState}- barcode:{tag.SA1019.R托盘码}- 空闲{tag.SA1019.R5空闲}");
        }
        public void Thread1025Up(Tag tag)
        {
            Console.WriteLine($"SA1025 任务状态：   =====>");
            Console.WriteLine($"SA1025 任务状态：{tag.SA1025.RtaskState}- 空闲{tag.SA1025.R5空闲}");
        }
        public void Thread1022Up(Tag tag)
        {
            Console.WriteLine($"SA1022    =====>");
            Console.WriteLine($"SA1022 任务状态：{tag.SA1022.RtaskState}- 空闲{tag.SA1022.R5空闲}");
        }
        public void Thread1030Down(Tag tag)
        {
            Console.WriteLine($"SA1030 任务状态：   =====>");
            Console.WriteLine($"SA1030 任务状态：{tag.SA1030.RtaskState}- 空闲{tag.SA1030.R5空闲}-->对应终点2001>空闲5：{tag.SA2001.R5空闲}");
        }
        public void Thread2030Down(Tag tag)
        {
            Console.WriteLine($"SA2030 任务状态：   =====>");
            Console.WriteLine($"SA2030 任务状态：{tag.SA2030.RtaskState}- 空闲{tag.SA2030.R5空闲} - barcode:{tag.SA2030.R托盘码}");
        }


    }

    class Messss
    {
        public bool success { get; set; }
        public Ddata data { get; set; }
        public object extra { get; set; }
    }

    public class Ddata
    {
        public string reqCode { get; set; }
        public int state { get; set; }
        public string error { get; set; }
    }
}

#endregion [自定义类-VS][20250623083459471][AutoThread]