using EnumType;
using iWareSda_QQJF.OPCService;
using iWareSda_QQJF.SRM.SrmModel;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.Serialization;
using System.ServiceModel;
using System.Text;
using System.Threading;
using Newtonsoft.Json;
using logtxtWrite;
using iWareSda_QQJF.WCSNEW.EDM;
using iWareSda_QQJF.WCSNEW;
using iWareSda_QQJF.WCSNEW.生成主任务;

namespace iWareSda_QQJF.SRM.SrmService
{
    // 注意: 使用“重构”菜单上的“重命名”命令，可以同时更改代码和配置文件中的类名“SrmService”。
    public class SrmService : ISrmService
    {
        List<int> oldHandShake = new List<int> { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
        List<int> times = new List<int> { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
        /// <summary>获取SrmEntity实体集合
        /// 
        /// </summary>
        /// <returns></returns>
        public string GetSrmInfo(int srmId)
        {
            //循环读取信息 频率太高 不加日志
            if (srmId < 1 || srmId > 9) return "ID号超出范围";

            EntitySrmView srm = new EntitySrmView();

            //中间显示类转换任务ID
            try
            {

                srm.SrmName = Srm_CacheEntity.Srms[srmId - 1].SrmName;
                srm.DeviceId = Srm_CacheEntity.Srms[srmId - 1].DeviceId;
                srm.RhandShake = Srm_CacheEntity.Srms[srmId - 1].RhandShake;
                srm.Rmode = Srm_CacheEntity.Srms[srmId - 1].Rmode;
                srm.Ralarm = Srm_CacheEntity.Srms[srmId - 1].Ralarm;
                srm.RliftFull = Srm_CacheEntity.Srms[srmId - 1].RliftFull;
                srm.Rposx = Srm_CacheEntity.Srms[srmId - 1].Rposx;
                srm.Rposy = Srm_CacheEntity.Srms[srmId - 1].Rposy;
                srm.Rposz = Srm_CacheEntity.Srms[srmId - 1].Rposz;
                srm.Rposxmm = Srm_CacheEntity.Srms[srmId - 1].Rposxmm;
                srm.Rposymm = Srm_CacheEntity.Srms[srmId - 1].Rposymm;
                srm.Rposzmm = Srm_CacheEntity.Srms[srmId - 1].Rposzmm;
                srm.RpickFinish = Srm_CacheEntity.Srms[srmId - 1].RpickFinish;
                srm.RdeliveryFinish = Srm_CacheEntity.Srms[srmId - 1].RdeliveryFinish;
                srm.RtaskFinish = Srm_CacheEntity.Srms[srmId - 1].RtaskFinish;
                srm.RalarmNumber = Srm_CacheEntity.Srms[srmId - 1].RalarmNumber;
                srm.Rstate = Srm_CacheEntity.Srms[srmId - 1].Rstate;
                srm.Ractuallane = Srm_CacheEntity.Srms[srmId - 1].Ractuallane;
                srm.RDevicetaskNO = Srm_CacheEntity.Srms[srmId - 1].RtaskNO;
                srm.RtaskNO = Srm_CacheEntity.Srms[srmId - 1].RtaskNO;
                srm.ack = Srm_CacheEntity.Srms[srmId - 1].ack;

                using (Model edm = new Model())
                {
                    if (srm.RtaskNO != 0)
                    {
                        //srm.RtaskNO = edm.SrmTask.FirstOrDefault(x => x.ID == srm.RtaskNO).MainTask.TASKID;
                        srm.RtaskNO = edm.SrmTask.OrderByDescending(x => x.ID).FirstOrDefault(x => (x.ID % 32767) + 1 == srm.RtaskNO).TASK_TASK.ID;
                    }
                }
            }
            catch
            {

            }

            return JsonConvert.SerializeObject(srm);
        }

        /// <summary>
        /// 读取更新数据
        /// </summary>
        /// <param name="srmId"></param>
        public void ReadPlc(int srmId)
        {
            try
            {
                //object o = FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].handShakeR);
                Srm_CacheEntity.Srms[srmId - 1].RhandShake = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].handShakeR));
                if (Srm_CacheEntity.Srms[srmId - 1].RhandShake == oldHandShake[srmId - 1])
                {
                    times[srmId - 1]++;
                }
                else
                {
                    times[srmId - 1] = 0;
                }
                if (times[srmId - 1] > 3)
                {
                    //断线重连
                    FormMain.srmgs[srmId - 1].Close();
                    Thread.Sleep(1000);
                    FormMain.srmgs[srmId - 1].Open();
                }

                int value = Srm_CacheEntity.Srms[srmId - 1].RhandShake;
                oldHandShake[srmId - 1] = value;

                if (FormMain.srmgs[(int)srmId - 1].IsConnected)
                {
                    int Rmode = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].modeR));
                    int Ralarm = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].alarmISR));
                    int RliftFull = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].liftFullR));
                    int Rposx = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].posXR));
                    int Rposy = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].posYR));
                    int Rposz = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].posZR));
                    long Rposxmm = Convert.ToInt64(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].posxmmR));
                    long Rposymm = Convert.ToInt64(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].posymmR));
                    long Rposzmm = Convert.ToInt64(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].poszmmR));
                    int RpickFinish = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].pickFinishR));
                    int RtaskFinish = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].taskFinishR));
                    int RalarmNumber = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].alarmNOR));
                    int Rstate = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].stateR));
                    int Ractuallane = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].actualLaneR));
                    int RtaskNO = Convert.ToInt32(FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].tasknoR));
                    string ack = FormMain.srmgs[(int)srmId - 1].ReadValuePoint(FormMain.srmDBS[(int)srmId - 1].ackW).ToString();


                    //校验信号
                    if (true)
                    {
                        //验证正确，统一赋值
                        //Srm_CacheEntity.Srms[srmId - 1].RhandShake = RhandShake;
                        Srm_CacheEntity.Srms[srmId - 1].Rmode = Rmode;
                        Srm_CacheEntity.Srms[srmId - 1].Ralarm = Ralarm;
                        Srm_CacheEntity.Srms[srmId - 1].RliftFull = RliftFull;
                        Srm_CacheEntity.Srms[srmId - 1].Rposx = Rposx;
                        Srm_CacheEntity.Srms[srmId - 1].Rposy = Rposy;
                        Srm_CacheEntity.Srms[srmId - 1].Rposz = Rposz;
                        Srm_CacheEntity.Srms[srmId - 1].Rposxmm = Rposxmm;
                        Srm_CacheEntity.Srms[srmId - 1].Rposymm = Rposymm;
                        Srm_CacheEntity.Srms[srmId - 1].Rposzmm = Rposzmm;
                        Srm_CacheEntity.Srms[srmId - 1].RpickFinish = RpickFinish;
                        Srm_CacheEntity.Srms[srmId - 1].RtaskFinish = RtaskFinish;
                        Srm_CacheEntity.Srms[srmId - 1].RalarmNumber = RalarmNumber;
                        Srm_CacheEntity.Srms[srmId - 1].Rstate = Rstate;
                        Srm_CacheEntity.Srms[srmId - 1].Ractuallane = Ractuallane;
                        Srm_CacheEntity.Srms[srmId - 1].RtaskNO = RtaskNO;
                        Srm_CacheEntity.Srms[srmId - 1].ack = ack;
                    }
                }
            }
            catch (Exception)
            { }
        }

        /// <summary>删除堆垛机任务
        /// 
        /// </summary>
        /// <param name="srmId"></param>
        public int SendSrmDelete(int srmId)
        {

            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：SendSrmDelete  错误srmId：" + srmId.ToString(), 0);
                return 0;
            }
            try
            {
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].commandW, 4);
                logtxt.txtWrite("类名：SrmService，函数名：SendSrmDelete  srmId：" + srmId.ToString(), 1);
                return 1;

            }
            catch (Exception ex)
            {
                logtxt.txtWrite("类名：SrmService/函数名：SendSrmDelete/ srmId:" + srmId.ToString() + logtxt.oneRow(ex.ToString()), 2);
                return 0;
            }
        }

        /// <summary>堆垛机任务完成确认信号发送
        /// </summary>
        /// <param name="srmId">设备号</param>
        /// <returns></returns>
        public int SendSrmTaskFinishConfirm(int srmId)
        {

            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：SendSrmTaskFinishConfirm  错误srmId：" + srmId.ToString(), 0);
                return 0;
            }
            try
            {
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].taskFinishW, 1);
                logtxt.txtWrite("类名：SrmService/函数名：SendSrmTaskFinishConfirm/ srmId:" + srmId.ToString(), 1);
                return 1;
            }
            catch (Exception ex)
            {
                logtxt.txtWrite("类名：SrmService/函数名：SendSrmTaskFinishConfirm/ srmId:" + srmId.ToString() + logtxt.oneRow(ex.ToString()), 2);
                return 0;
            }
        }


        /// <summary>发送急停
        /// 
        /// </summary>
        /// <param name="srmId"></param>
        public int SendSrmEStop(int srmId)
        {
            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：SendSrmEStop  错误srmId：" + srmId.ToString(), 0);
                return 0;
            }
            try
            {
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].emergencyStopW, 1);
                logtxt.txtWrite("类名：SrmService/函数名：SendSrmEStop/ srmId:" + srmId.ToString(), 1);
                return 1;
            }
            catch (Exception ex)
            {
                logtxt.txtWrite("类名：SrmService/函数名：SendSrmEStop/ srmId:" + srmId.ToString() + logtxt.oneRow(ex.ToString()), 2);
                return 0;
            }
        }


        /// <summary>发送堆垛机单放和移动任务
        /// 
        /// </summary>
        /// <param name="srmID"></param>堆垛机号
        /// <param name="taskID"></param>任务id
        /// <param name="toPlace"></param>目的地址
        /// <param name="command"></param>2是单放，3是移动
        /// <returns></returns>
        /// 
        public int SendSrmMove(int srmId, int taskId, string toPlace, int command, int palletType, int taskFather)
        {
            if (command < 2 || command > 3 || srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：SendSrmEStop  错误srmId：" + srmId.ToString(), 0);
                return 2;
            }

            try
            {
                UInt16 taskid;
                bool istaskid = UInt16.TryParse(taskId.ToString(), out taskid);
                if (!istaskid)
                {
                    logtxt.txtWrite("类名：SrmService，函数名：SendSrmEStop  错误taskID：" + taskId.ToString(), 0);
                    return 2;
                }
                string[] places = toPlace.Split('-');
                if (places.Length != 3)
                {
                    logtxt.txtWrite("类名：SrmService，函数名：SendSrmEStop  错误toPlace：" + toPlace.ToString(), 0);
                    return 2;
                }
                int[] placenos = new int[3];
                for (int i = 0; i < 3; i++)
                {
                    bool isconso = int.TryParse(places[i], out placenos[i]);
                    if (!isconso)
                    {
                        logtxt.txtWrite("类名：SrmService，函数名：SendSrmEStop  错误toPlace：" + toPlace.ToString(), 0);
                        return 2;
                    }
                }
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].taskNOW, taskId);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].taskFather, taskFather);


                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].palletTypeW, palletType);//暂时强写
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].destinationPosXW, placenos[1]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].destinationPosYW, placenos[2]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].destinationPosZW, placenos[0]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].commandW, command);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].stbW, 1);
                logtxt.txtWrite("类名：SrmService/函数名：SendSrmMove/ srmId:" + srmId.ToString() + "taskID:" + taskId.ToString()
                    + "toPlace" + toPlace.ToString() + "command" + command.ToString(), 1);
            }
            catch (Exception ex)
            {
                logtxt.txtWrite("类名：SrmService/函数名：SendSrmMove/ srmId:" + srmId.ToString() + "taskID:" + taskId.ToString()
                    + "toPlace" + toPlace.ToString() + "command" + command.ToString() + logtxt.oneRow(ex.ToString()), 2);
                return 0;
            }
            //发送握手确认
            isack(srmId);
            return 1;

            //返回1 执行成功 ，0 执行失败 2 参数格式错误
        }


        /// <summary> 发送堆垛机搬运任务
        ///
        /// </summary>
        /// <param name="srmId"></param>堆垛机号
        /// <param name="taskId"></param>任务ID
        /// <param name="sourcePlace"></param>起始位
        /// <param name="toPlace"></param>货物放置目的地
        /// <param name="pallet"></param>托盘类型 1-6暂定
        /// <returns></returns>
        public int SendSrmTask(int srmId, int taskId, string sourcePlace, string toPlace, int pallet, int fatherId)
        {
            if (pallet < 1 || pallet > 13 || srmId < 1 || srmId > 13)
            {
                logtxt.txtWrite("类名：SrmService，函数名：sendSrmTask  错误pallet：" + pallet.ToString() + "错误srmId：" + srmId.ToString(), 0);
                return 0;
            }

            try
            {
                UInt16 taskID;
                bool istaskId = UInt16.TryParse(taskId.ToString(), out taskID);
                if (!istaskId)
                {
                    logtxt.txtWrite("类名：SrmService，函数名：sendSrmTask  错误taskId：" + taskId.ToString(), 0);
                    return 0;
                }
                string[] places = (sourcePlace + "-" + toPlace).Split('-');
                if (places.Length != 6)
                {
                    logtxt.txtWrite("类名：SrmService，函数名：sendSrmTask  错误taskId：" + taskId.ToString(), 0);
                    return 0;
                }

                int[] placenos = new int[6];
                for (int i = 0; i < 6; i++)
                {
                    bool isconso = int.TryParse(places[i], out placenos[i]);
                    if (!isconso)
                    {
                        logtxt.txtWrite("类名：SrmService，函数名：sendSrmTask  错误taskId：" + taskId.ToString(), 0);
                        return 0;
                    }
                }
                #region opc写值
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].taskNOW, taskId);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].taskFather, fatherId);

                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].palletTypeW, pallet);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].sourcePosXW, placenos[1]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].sourcePosYW, placenos[2]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].sourcePosZW, placenos[0]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].destinationPosXW, placenos[4]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].destinationPosYW, placenos[5]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].destinationPosZW, placenos[3]);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].commandW, 1);
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].stbW, 1);
                logtxt.txtWrite("类名：SrmService/函数名：sendSrmTask/ srmId:" + srmId.ToString() + "taskId:" + taskId.ToString()
                    + "sourcePlace" + sourcePlace.ToString() + "toPlace" + toPlace.ToString() + "pallet" + pallet.ToString(), 1);

                #endregion
                WZ.Useful.Commons.LogTextHelper.WriteLine("堆垛机", "任务下发成功：", "堆垛机:" + srmId + " 任务号:" + taskId + "主任务号:" + fatherId);
            }
            catch (Exception ex)
            {
                logtxt.txtWrite("类名：SrmService/函数名：sendSrmTask/ srmId:" + srmId.ToString() + "taskId:" + taskId.ToString()
                    + "sourcePlace" + sourcePlace.ToString() + "toPlace" + toPlace.ToString() + "pallet" + pallet.ToString() + logtxt.oneRow(ex.ToString()), 2);
                return 0;
            }
            //发送握手确认
            isack(srmId);
            return 1;

            //返回1 执行成功 ，0 执行失败 2 参数格式错误
        }


        /// <summary>堆垛机ACK确认 握手通信
        /// 
        /// </summary>
        /// <param name="srmid"></param>
        /// <returns></returns>
        public void isack(int srmid)
        {
            Thread th = new Thread(new ParameterizedThreadStart(ack));
            th.IsBackground = true;
            th.Start(srmid);
        }
        public void ack(object srmid)
        {
            string srmAck = string.Empty;
            int times = 0;
            while (true)
            {
                //超过5秒 ack不置1返回失败
                if (times > 10)
                {
                    times = 0;
                    logtxt.txtWrite("类名：SrmService/函数名：ack(握手确认)/ srmid:" + srmid.ToString() + "ACK超时不置1,返回失败", 1);
                    //更新数据库
                    using (Model edm = new Model())
                    {
                        int sid = (int)srmid;
                        SrmTask task = edm.SrmTask.OrderByDescending(x => x.ID).FirstOrDefault(x => x.USESRMID == sid && x.ISRELEASED == 1 && x.HASFINISHED == 0);
                        task.ISRELEASED = 0;//初始化任务进行重发
                        edm.SaveChanges();
                    }
                    break;
                }
                Thread.Sleep(500);
                try
                {
                    //读取ack值
                    srmAck = Srm_CacheEntity.Srms[(int)srmid - 1].ack;
                    if (srmAck == "1")
                    {
                        //ack为1时stb改为0  一次握手执行完成
                        FormMain.srmgs[(int)srmid - 1].WriteValuePoint(FormMain.srmDBS[(int)srmid - 1].stbW, 0);
                        logtxt.txtWrite("类名：SrmService/函数名：ack(握手确认)/ srmid:" + srmid.ToString(), 1);
                        WZ.Useful.Commons.LogTextHelper.WriteLine("stbW", "写入:", "0");
                        break;
                    }
                }
                catch (Exception ex)
                { logtxt.txtWrite("类名：SrmService/函数名：ack(握手确认)/ srmid:" + srmid.ToString() + logtxt.oneRow(ex.ToString()), 2); }

                times++;
            }

        }


        /// <summary>堆垛机解警
        /// 
        /// </summary>
        /// <param name="srmId"></param>
        public void SrmRlsAlert(int srmId)
        {
            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：SrmRlsAlert  错误srmId：" + srmId.ToString(), 0);
                return;
            }
            try
            {
                FormMain.srmgs[srmId - 1].WriteValuePoint(FormMain.srmDBS[srmId - 1].alarmAckW, 1);
                logtxt.txtWrite("类名：SrmService/函数名：SrmRlsAlert(解警)/ srmid:" + srmId.ToString(), 1);
            }
            catch (Exception ex)
            {
                logtxt.txtWrite("类名：SrmService/函数名：SrmRlsAlert(解警)/ srmid:" + srmId.ToString() + logtxt.oneRow(ex.ToString()), 2);
            }


        }

        /// <summary>任务是否完成
        /// 
        /// </summary>
        /// <param name="srmId"></param>
        /// <param name="taskId"></param>
        /// <returns></returns>
        public int IsTaskFinish(int srmId)
        {
            //GetSrmInfo(srmId);
            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：IsTaskFinish  错误srmId：" + srmId.ToString(), 0);
                return 2;
            }
            logtxt.txtWrite("类名：SrmService，函数名：IsTaskFinish  任务完成srmId：" + srmId.ToString(), 0);
            if (Srm_CacheEntity.Srms[srmId - 1].RtaskFinish == 1)
            {
                WZ.Useful.Commons.LogTextHelper.WriteLine("堆垛机", "任务完成：", "堆垛机:" + srmId + " 任务号:" + (Srm_CacheEntity.Srms[srmId - 1].RtaskNO - 1));
            }
            return Srm_CacheEntity.Srms[srmId - 1].RtaskFinish;
        }

        /// <summary>
        /// 获取完成任务号
        /// </summary>
        /// <param name="srmid"></param>
        /// <returns></returns>
        public int FinishTask(int srmId)
        {
            //GetSrmInfo(srmId);
            int taskid = Srm_CacheEntity.Srms[srmId - 1].RtaskNO;
            return taskid;
        }

        /// <summary>堆垛机是否准备好
        /// 
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns></returns>
        public bool IsReady(int srmId)
        {
            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：IsReady  错误IsReady：" + srmId.ToString(), 0);
                return false;
            }
            //GetSrmInfo(srmId);
            int mode = Srm_CacheEntity.Srms[srmId - 1].Rmode;
            int alarm = Srm_CacheEntity.Srms[srmId - 1].Ralarm;
            int liftFull = Srm_CacheEntity.Srms[srmId - 1].RliftFull;
            int state = Srm_CacheEntity.Srms[srmId - 1].Rstate;

            if (mode != 1 || alarm == 1 || liftFull == 1 || state != 0)
            {

                logtxt.txtWrite("类名：SrmService，函数名：IsReady  没准备好srmId：" + srmId.ToString(), 0);
                return false;
            }
            logtxt.txtWrite("类名：SrmService，函数名： IsReady： 准备好srmId：" + srmId.ToString(), 0);
            return true;
        }


        /// <summary>堆垛机是否故障
        /// 
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns>true:表示堆垛机没有故障，false：表示堆垛机有故障</returns>
        public bool IsNotAlarm(int srmId)
        {
            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：IsReady  错误IsReady：" + srmId.ToString(), 0);
                return false;
            }
            //GetSrmInfo(srmId);
            int mode = Srm_CacheEntity.Srms[srmId - 1].Rmode;
            int alarm = Srm_CacheEntity.Srms[srmId - 1].Ralarm;

            if (mode != 1 || alarm == 1)
            {

                logtxt.txtWrite("类名：SrmService，函数名：IsReady  没准备好srmId：" + srmId.ToString(), 0);
                return false;
            }
            logtxt.txtWrite("类名：SrmService，函数名： IsReady： 准备好srmId：" + srmId.ToString(), 0);
            return true;
        }


        /// <summary>堆垛机是否准备好
        /// 
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns></returns>
        public bool IsNotUse(int srmId)
        {
            if (srmId < 1 || srmId > 9)
            {
                logtxt.txtWrite("类名：SrmService，函数名：IsReady  错误IsReady：" + srmId.ToString(), 0);
                return false;
            }

            int mode = Srm_CacheEntity.Srms[srmId - 1].Rmode;
            int liftFull = Srm_CacheEntity.Srms[srmId - 1].RliftFull;
            int state = Srm_CacheEntity.Srms[srmId - 1].Rstate;

            if (mode != 1 || liftFull == 1 || state != 0)
            {

                logtxt.txtWrite("类名：SrmService，函数名：IsReady  没准备好srmId：" + srmId.ToString(), 0);
                return false;
            }
            logtxt.txtWrite("类名：SrmService，函数名： IsReady： 准备好srmId：" + srmId.ToString(), 0);
            return true;
        }

        ///// <summary>
        ///// 获取任务是否完成
        ///// </summary>
        ///// <param name="taskId"></param>
        //public iWareSda_QQJF.WCS.TaskFinishClass TaskFinish(int taskId)
        //{
        //    iWareSda_QQJF.WCS.TaskFinishClass result = new WCS.TaskFinishClass();
        //    using (Model edm = new Model())
        //    {
        //        TASK_TASK task = edm.TASK_TASK.FirstOrDefault(x => x.ID == taskId);
        //        if (task == null)
        //        {
        //            result.result = false;
        //            result.statusId = 0;
        //            result.message = "无此任务号";
        //            result.isError = 0;
        //        }
        //        else
        //        {
        //            if (task.HASFINISHED == 1 || task.HASFINISHED == 2)
        //            {
        //                result.result = true;
        //                result.statusId = 0;
        //                if (task.ISERROR == 1)
        //                {
        //                    result.result = false;
        //                    result.statusId = task.ERRORMSG ?? 0;
        //                    result.isError = 1;
        //                    string msg = "";
        //                    switch (result.statusId)
        //                    {
        //                        case 1: msg = "输送线"; break;
        //                        case 2: msg = "RGV"; break;
        //                        case 3: msg = "堆垛机"; break;
        //                        default: msg = "输送线"; break;
        //                    }
        //                    result.message = msg + " 设备ID：" + task.ERRORDEVICEID;
        //                }
        //            }
        //            else
        //            {
        //                result.result = false;
        //                result.statusId = 0;
        //                result.message = "此任务号未完成";
        //                result.isError = 0;
        //            }
        //        }
        //    }
        //    WZ.Useful.Commons.LogTextHelper.WriteLine("任务完成接口", result.result.ToString(), "任务号:"+taskId);
        //    WZ.Useful.Commons.LogTextHelper.WriteLine("任务完成接口详情", result.message, "任务号:" + result.statusId.ToString());
        //    return result;
        //}

        ///// <summary>
        ///// 下发主任务
        ///// </summary>
        ///// <param name="palletType"></param>
        ///// <param name="sourcePlace"></param>
        ///// <param name="toPlace"></param>
        ///// <param name="taskId"></param>
        ///// <param name="taskType"></param>
        ///// <returns></returns>
        //public iWareSda_QQJF.WCS.SendTaskClass SendTask(int palletType, string sourcePlace, string toPlace, int taskId, int taskType, int outType)
        //{
        //    WZ.Useful.Commons.LogTextHelper.WriteLine("任务开始下发", taskId.ToString(), "");
        //    //初始化服务对象
        //    iWareSda_QQJF.RGV.RgvService.RgvService rgvService = new RGV.RgvService.RgvService();
        //    iWareSda_QQJF.SRMTRAN.SrmTranService.SrmTranService srmService = new SRMTRAN.SrmTranService.SrmTranService();

        //    iWareSda_QQJF.WCS.SendTaskClass result = new WCS.SendTaskClass();
        //    result.result = false;
        //    result.statusId = 0;
        //    result.deviceId = 0;
        //    result.outTransId = 0;//出库时根据出口状态计算
        //    result.outType = outType;
        //    int statusId = 0;
        //    int deviceId = 0;
        //    using (Model edm = new Model())
        //    {
        //        MainTask oldTask = edm.MainTask.FirstOrDefault(x => x.TASKID == taskId);
        //        if (oldTask != null)
        //        {
        //            result.result = true;
        //            result.statusId = 90;
        //            return result;
        //        }
        //        //判断设备是否允许下发
        //        if (Helper.TaskCouldSend(sourcePlace, toPlace, taskType, out statusId, out deviceId))//调试状态先屏蔽，不然太麻烦
        //        {
        //            MainTask task = new MainTask();
        //            task.TASKID = taskId;
        //            task.SOURCEPLACE = sourcePlace;
        //            if (taskType != 2)//入库移库
        //            {
        //                task.TOPLACE = toPlace;
        //            }
        //            else//出库
        //            {
        //                WZ.Useful.Commons.LogTextHelper.WriteLine("出库", toPlace.ToString(), outType.ToString());
        //                //指定出库
        //                //if (!string.IsNullOrEmpty(toPlace))
        //                if (toPlace != "999" && toPlace != "997")
        //                {
        //                    result.outTransId = int.Parse(toPlace);
        //                    task.TOPLACE = toPlace;
        //                }
        //                //类型出库
        //                else
        //                {
        //                    if (toPlace == "999")
        //                    {
        //                        outType = 1;
        //                    }
        //                    if (toPlace == "997")
        //                    {
        //                        outType = 5;
        //                    }
        //                    result.outTransId = Helper.GetOutTran(outType, sourcePlace);
        //                    task.TOPLACE = result.outTransId.ToString();
        //                }
        //            }
        //            bool allowSend = true;
        //            //检测是否会造成RGV堵塞(单出口只能发2条)
        //            if (taskType == 2)
        //            {
        //                SRMTRAN.SrmTranService.SrmTranService srm = new SRMTRAN.SrmTranService.SrmTranService();
        //                int tranNum2 = 0;
        //                if (task.TOPLACE == "19")
        //                {
        //                    tranNum2 = srm.GetSrmConveyorStationHasGoods(int.Parse(task.TOPLACE) + 1) == 1 ? 1 : 0;
        //                }
        //                else if (task.TOPLACE != "67" && task.TOPLACE != "34")
        //                {
        //                    tranNum2 = srm.GetSrmConveyorStationHasGoods(int.Parse(task.TOPLACE) - 1) == 1 ? 1 : 0;
        //                }
        //                else if (task.TOPLACE == "67" || task.TOPLACE == "34")
        //                {
        //                    tranNum2 = 1;//分拣出口就一段
        //                }
        //                int taskNum = edm.MainTask.Where(x => x.TOPLACE == task.TOPLACE && x.HASFINISHED == 0).Count();
        //                int tranNum1 = srm.GetSrmConveyorStationHasGoods(int.Parse(task.TOPLACE)) == 1 ? 1 : 0;
        //                if (taskNum + tranNum1 + tranNum2 >= 2)
        //                {
        //                    allowSend = false;
        //                }
        //            }
        //            if (allowSend)
        //            {
        //                task.UPDATETIME = DateTime.Now;
        //                task.HASFINISHED = 0;
        //                task.ISERROR = 0;
        //                task.TASKTYPE = taskType;
        //                task.OUTTYPE = outType;
        //                task.HASREADED = 0;
        //                task.HASPUSHED = 0;
        //                task.PALLETTYPE = palletType;
        //                edm.MainTask.Add(task);
        //                if (edm.SaveChanges() > 0)
        //                {
        //                    result.result = true;
        //                }
        //                else
        //                {
        //                    result.result = false;
        //                    result.statusId = 99;
        //                }
        //            }
        //            else
        //            {
        //                result.result = false;
        //                result.statusId = 88;//出口堵塞
        //            }

        //        }
        //        else
        //        {
        //            //获取不可下发原因
        //            result.result = false;
        //            result.statusId = statusId;
        //            result.deviceId = deviceId;
        //            WZ.Useful.Commons.LogTextHelper.WriteLine("下发失败", result.deviceId.ToString(), "状态：" + result.statusId.ToString());
        //        }
        //    }
        //    //WZ.Useful.Commons.LogTextHelper.WriteLine("出库", result.outTransId.ToString(), result.result.ToString());
        //    WZ.Useful.Commons.LogTextHelper.WriteLine("任务：" + taskId, "成功："+result.result.ToString()," "+sourcePlace+" "+toPlace+" "+taskType);
        //    WZ.Useful.Commons.LogTextHelper.WriteLine("任务下发", result.statusId.ToString(), result.result.ToString());
        //    return result;
        //}

        ///// <summary>
        ///// 关联删除
        ///// </summary>
        ///// <param name="srmID"></param>
        ///// <returns></returns>
        //public int SendSrmDeleteAll(int srmID)
        //{
        //    List<int> tranDoingId = new List<int>();
        //    List<int> rgvDoingId = new List<int>();
        //    List<int> srmDoingId = new List<int>();

        //    int srmTaskId = Srm_CacheEntity.Srms[srmID - 1].RtaskNO;
        //    //删除未执行的任务和删除已执行的任务
        //    bool result = WCS.Helper.DeleteAllBySrmTaskId(srmTaskId, out tranDoingId, out rgvDoingId, out srmDoingId);
        //    //删除设备任务
        //    foreach (var i in rgvDoingId)
        //    {
        //        RGV.RgvService.RgvService srv = new RGV.RgvService.RgvService();
        //        srv.SendRgvDelete(i);
        //    }
        //    foreach (var i in tranDoingId)
        //    {
        //        SRMTRAN.SrmTranService.SrmTranService srv = new SRMTRAN.SrmTranService.SrmTranService();
        //        srv.SendTranDelete(i);
        //    }
        //    foreach (var i in srmDoingId)
        //    {
        //        SRM.SrmService.SrmService srv = new SRM.SrmService.SrmService();
        //        srv.SendSrmDelete(i);
        //    }

        //    if (result)
        //    {
        //        return 1;
        //    }
        //    else
        //    {
        //        return 0;
        //    }
        //}

        /// <summary>
        /// 切换自动优化
        /// </summary>
        /// <param name="srmId"></param>
        /// <returns></returns>
        public bool UseAutoMove(int srmId)
        {
            if (srmId < 1 || srmId > 9)
            {
                return false;
            }
            CreateMainTask.needMove[srmId - 1] = !CreateMainTask.needMove[srmId - 1];
            return CreateMainTask.needMove[srmId - 1];
        }

        /// <summary>
        /// 根据任务号删除任务
        /// </summary>
        /// <param name="id"></param>
        /// <param name="tranDoingId"></param>
        /// <param name="rgvDoingId"></param>
        /// <param name="srmDoingId"></param>
        public bool DeleteMainTask(int id, out List<int> tranDoingId, out List<int> rgvDoingId, out List<int> srmDoingId, out List<string> placeList, out int dir)
        {
            dir = 0;
            WZ.Useful.Commons.LogTextHelper.WriteLine("任务关联删除", "任务号", id.ToString());
            bool result = WCSNEW.Helper.DeleteAllTask(id, out tranDoingId, out rgvDoingId, out srmDoingId, out placeList, out dir);
            if (result)
            {
                //删除设备任务
                foreach (var i in rgvDoingId)
                {
                    RGV.RgvService.RgvService srv = new RGV.RgvService.RgvService();
                    srv.SendRgvDelete(i);
                }
                foreach (var i in tranDoingId)
                {
                    SRMTRAN.SrmTranService.SrmTranService srv = new SRMTRAN.SrmTranService.SrmTranService();
                    srv.SendTranDelete(i);
                }
                foreach (var i in srmDoingId)
                {
                    SRM.SrmService.SrmService srv = new SRM.SrmService.SrmService();
                    srv.SendSrmDelete(i);
                }
                WCSNEW.Helper.GetAlarmDevice(id);
            }
            return result;
        }

        /// <summary>
        /// 根据托盘号删除任务
        /// </summary>
        /// <param name="id"></param>
        /// <param name="tranDoingId"></param>
        /// <param name="rgvDoingId"></param>
        /// <param name="srmDoingId"></param>
        public bool DeleteMainTaskByContainerName(string containerName, out List<int> tranDoingId, out List<int> rgvDoingId, out List<int> srmDoingId, out List<string> placeList, out int dir)
        {
            dir = 0;
            WZ.Useful.Commons.LogTextHelper.WriteLine("任务关联删除", "托盘:", containerName);
            TASK_TASK task = new TASK_TASK();
            using (Model edm = new Model())
            {
                //task = edm.TASK_TASK.FirstOrDefault(x => x.BASE_CONTAINER.CONTAINERNAME == containerName && (x.HASFINISHED ?? 0) == 0);
                task = edm.TASK_TASK.OrderByDescending(x => x.CREATETIME).FirstOrDefault(x => x.BASE_CONTAINER.CONTAINERNAME == containerName);

            }
            if (task != null)
            {
                bool result = DeleteMainTask(task.ID, out tranDoingId, out rgvDoingId, out srmDoingId, out placeList, out dir);
                return result;

            }
            else
            {
                tranDoingId = new List<int>();
                rgvDoingId = new List<int>();
                srmDoingId = new List<int>();
                placeList = new List<string>();
                dir = 0;
                return false;
            }
        }
    }
}