using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using HslCommunication.Profinet.Siemens;
using HslCommunication;
using WZ.Useful.Commons;
using System.Diagnostics;
using System.Threading;
using yunneiWCS.EnumDefine;
using System.ServiceModel;
using yunneiWCS.ORM;
using Newtonsoft.Json;
using System.Data.Entity;
using yunneiWCS.wcf;
using yunneiWCS.data;
using yunneiWCS.mes;
using yunneiWCS.ExtendFunction;
using yunneiWCS.EnumDefine.InStockOrder;
using yunneiWCS.EnumDefine.Device;
using yunneiWCS.DataAccess;
using yunneiWCS.Common;
using yunneiWCS.SystemInteraction.tianyong;
using yunneiWCS.PLC.Srm;
using yunneiWCS.SystemInteraction.mes2.dto;
using yunneiWCS.ThreadTask;

namespace yunneiWCS
{
    public partial class Form1 : Form
    {

        /// <summary>虚拟模式
        /// 
        /// </summary>
        // bool isvirtual = false;//虚拟模式调试的时候使用
        public static bool isvirtual = ConfigHelper.GetConfigBool("IsVirtualMode");//修改为配置文件 【EditBy shaocx,2022-01-27】

        public static Mutex single_convIsLock_GG = new Mutex();

        public static Mutex single_convIsLock_GT = new Mutex();


        /// <summary>
        /// wcf服务变量
        /// </summary>
        ServiceHost myWcf;
        public static srmDB srmdb = new srmDB();
        public static convEntity conv1 = new convEntity();
        public static convEntity conv2 = new convEntity();
        public static convEntity conv3 = new convEntity();
        public static convEntity conv4 = new convEntity();
        public static List<convEntity> convs = new List<convEntity> { conv1, conv2, conv3, conv4 };
        public static srmEntity srm = new srmEntity();
        //agvS状态
        public static List<AgvStatus> agvs = new List<AgvStatus>();
        public static SiemensS7Net siemensTcpNet_srm;//声明一个类型为PLC的内部变量
        public static SiemensS7Net siemensTcpNet_tran;//声明一个类型为PLC的内部变量
        public static Mutex single = new Mutex();
        HTTPService api = new HTTPService("http://192.168.0.2:6546/api/v2/");//AGVapi基地址
        int deviceOpcInitTime = 0;//设备初始化次数
        public static string[] agvSendStatus = { "无任务发送", "无任务发送" };

        public static string agvInfo = "";
        ///// <summary>
        ///// 缸盖上线站点号
        ///// </summary>
        //public static List<string> GGstations = new List<string> { "GGU1", "GGU2", "GGU3" };
        public Form1()
        {
            InitializeComponent();
            Control.CheckForIllegalCrossThreadCalls = false;
        }

        private void Form1_Load(object sender, EventArgs e)
        {

            #region 只允许单启动和绑定电脑
            Process current = Process.GetCurrentProcess();
            Process[] processes = Process.GetProcessesByName(current.ProcessName);
            foreach (Process process in processes)
            {
                if (process.Id != current.Id)
                {
                    if (process.MainModule.FileName == current.MainModule.FileName)
                    {
                        MessageBox.Show("不允许重复开启！");
                        Environment.Exit(0);
                        return;
                    }
                }
            }
            //string computerName = Environment.GetEnvironmentVariable("ComputerName");//获取电脑用户名
            //if (computerName != "DESKTOP-0IQRMAE" && computerName != "WIN-7P7ASICT4UL" && computerName != "XMZ1")
            //{
            //    MessageBox.Show("非法主机！无权限运行");
            //    Environment.Exit(0);
            //}
            #endregion
            myWcf = new ServiceHost(typeof(yunneiWCS.wcf.yunneiWcf));
            myWcf.Open();//开启wcf服务
            #region 设备链接初始化
            if (!isvirtual)
            {
                //设备链接初始化
                Thread deviceth = new Thread(deviceOpcInit);
                StartThread(deviceth);
                //给设备实体赋值


            }
            if (isvirtual)
            {
                this.label_title.Text = "虚拟模式不可用于生产";
                this.label_title.BackColor = Color.Red;
            }
            #endregion
            //检测并发送任务
            Thread sendtask = new Thread(sendTaskForHasIssued);
            StartThread(sendtask);
            Thread _sendTaskForNoIssued = new Thread(sendTaskForNoIssuedForGT);
            StartThread(_sendTaskForNoIssued);
            Thread _sendTaskForNoIssuedForGG = new Thread(sendTaskForNoIssuedForGG);
            StartThread(_sendTaskForNoIssuedForGG);
            StartThread(new Thread(sendTaskForPick));
            //堆垛机任务确认
            Thread TaskConfirm = new Thread(SrmfinishConfirm);
            StartThread(TaskConfirm);
            //设备心跳丢失自动初始化
            Thread checkHandShake = new Thread(checkPlcHandShake);
            StartThread(checkHandShake);
            //入库单转成入库任务
            Thread inStockTask = new Thread(inStockCodeToTask);
            StartThread(inStockTask);
            Thread mesSendData = new Thread(mesDataTranffic);
            StartThread(mesSendData);

            new Thread(mesDataTranfficForRealMes.Handler).Start();

            new Thread(RefershData).Start();


            new Thread(HandleOutStockList).Start();

            new Thread(CalcQty).Start();

            new Thread(DeleteData).Start();
        }

        /// <summary>设备初始化
        /// 设备初始化
        /// </summary>
        private void deviceOpcInit()
        {
            if (!isvirtual)
            {
                deviceOpcInitTime++;
                bool plcOK = true;
                siemensTcpNet_srm = new SiemensS7Net(SiemensPLCS.S1500, "192.168.0.10");
                siemensTcpNet_srm.IpAddress = "192.168.0.10";//ip
                //   siemensTcpNet_srm.Port =Convert.ToInt16(4840);//堆垛机PC端口号
                //siemensTcpNet_srm.LogNet = new HslCommunication.LogNet.LogNetSingle("logs.txt");
                OperateResult operateResultSrm = siemensTcpNet_srm.ConnectServer();
                if (!operateResultSrm.IsSuccess)//判断是否链接PLC成功
                {

                    this.label_PLC.Text = "第" + deviceOpcInitTime + "次初始化-堆垛机未链接";
                    this.label_PLC.BackColor = Color.Red;
                    plcOK = false;
                }
                else
                {
                    this.label_PLC.Text = "第" + deviceOpcInitTime + "次初始化-堆垛机已链接";
                    this.label_PLC.BackColor = Color.FromArgb(0x404040);
                    //写给堆垛机心跳
                    Thread wSRM = new Thread(writeSrmHandShake);
                    wSRM.Start();
                }
                siemensTcpNet_tran = new SiemensS7Net(SiemensPLCS.S1500, "192.168.0.21");
                siemensTcpNet_tran.IpAddress = "192.168.0.21";//DB块
                //  siemensTcpNet_tran.Port = Convert.ToInt16(4840);//输送线PLC端口号
                //  siemensTcpNet_tran.LogNet = new HslCommunication.LogNet.LogNetSingle("logs.txt");
                OperateResult operateResultTran = siemensTcpNet_tran.ConnectServer();
                if (!operateResultTran.IsSuccess)//判断是否链接PLC成功
                {
                    this.label_PLC.Text = this.label_PLC.Text + "-输送线未链接";
                    this.label_PLC.BackColor = Color.Red;
                    plcOK = false;
                }
                else
                {
                    this.label_PLC.Text = this.label_PLC.Text + "-输送线已链接";
                    this.label_PLC.BackColor = Color.FromArgb(0x404040);
                }
                if (plcOK)
                {
                    Thread shou = new Thread(shouEntity_Srm);
                    StartThread(shou);

                    Thread shou2 = new Thread(shouEntity_Convs);
                    StartThread(shou2);

                    Thread shou3 = new Thread(shouEntity_Agvs);
                    StartThread(shou3);
                }

            }

        }
        /// <summary>堆垛机显示服务和设备状态状态
        /// 
        /// </summary>
        private void shouEntity_Srm()
        {
            string srmState = "";
            string srmTaskExcute = "";
            while (true)
            {
                //Thread.Sleep(1000);//1秒执行一次
                Thread.Sleep(500);//时间缩短 【Editby shaocx,2024-10-09】
                try
                {
                    srmState = "";
                    srmTaskExcute = "";

                    srm.handShake = siemensTcpNet_srm.ReadInt16(srmdb.R_handShake).Content.ToString();
                    srm.mode = siemensTcpNet_srm.ReadInt16(srmdb.R_mode).Content.ToString() == "2" ? "自动" : "非自动";

                    //优化
                    //srm.state = siemensTcpNet_srm.ReadInt16(srmdb.R_state).Content.ToString() == "1" ? "待机" : "执行中";
                    var _db_state = siemensTcpNet_srm.ReadInt16(srmdb.R_state).Content.ToString();
                    var _state_name = "未知";
                    if (_db_state == "1")
                    {
                        _state_name = "待机";
                    }
                    else if (_db_state == "2")
                    {
                        _state_name = "执行中";
                    }
                    else if (_db_state == "3")
                    {
                        _state_name = "暂停中";
                    }
                    else if (_db_state == "4")
                    {
                        _state_name = "报警";
                    }
                    srm.state = _state_name;

                    srm.stb = siemensTcpNet_srm.ReadInt16(srmdb.R_stb).Content.ToString() == "1" ? "是" : "否";
                    string fin = siemensTcpNet_srm.ReadInt16(srmdb.R_taskFinish).Content.ToString();
                    srm.posY = siemensTcpNet_srm.ReadInt16(srmdb.W_sourcePosX).Content.ToString();

                    srm.posZ = siemensTcpNet_srm.ReadInt16(srmdb.W_sourcePosZ).Content.ToString();
                    string Finish = siemensTcpNet_srm.ReadInt16(srmdb.R_taskFinish).Content.ToString();
                    srm.taskFinish = siemensTcpNet_srm.ReadInt16(srmdb.R_taskFinish).Content.ToString() == "6" ? "完成" : "未完成";
                    srm.TaskID = siemensTcpNet_srm.ReadInt32(srmdb.R_TaskID).Content;

                    //修复报警信息取值不对的问题
                    //int Alarm = siemensTcpNet_srm.ReadInt16(srmdb.W_alarmAck).Content;
                    int Alarm = siemensTcpNet_srm.ReadInt16(srmdb.R_Alarm_number).Content;
                    srm.Alarm_info = Enum.GetName(typeof(srmAlarm), Alarm);
                    srm.haveGoods = siemensTcpNet_srm.ReadBool(srmdb.R_haveGoods).Content == true ? "有货" : "没货";

                    //显示设备状态
                    srmState = siemensTcpNet_srm.ReadInt16(srmdb.R_state).Content.ToString();
                    srm.stateDetailName = Enum.GetName(typeof(srmStatus), Convert.ToInt32(srmState));
                    //显示设备任务执行
                    srmTaskExcute = siemensTcpNet_srm.ReadInt16(srmdb.R_taskFinish).Content.ToString();
                    srm.srmTaskExcuteName = Enum.GetName(typeof(srmTaskExcute), Convert.ToInt32(srmTaskExcute));
                    SystemWarningMsg.Thread_lbl_shouEntity_Srm = "成功";
                }
                catch (Exception ex)
                {
                    SystemWarningMsg.Thread_lbl_shouEntity_Srm = "异常:" + ex.Message;
                }
            }
        }

        /// <summary>输送线显示服务和设备状态状态
        /// 
        /// </summary>
        private void shouEntity_Convs()
        {
            bool bian = true;
            while (true)
            {
                Thread.Sleep(1000);//1秒执行一次
                try
                {
                    //Thread.Sleep(1000);
                    bian = !bian;
                    label_title.BackColor = bian ? Color.Blue : Color.Yellow;
                    for (int i = 0; i < 4; i++)
                    {
                        convs[i].check = siemensTcpNet_tran.ReadByte(convDBS.convDBs[i].R_check).Content == 0 ? "正常" : "外形超限";
                        convs[i].handShake = siemensTcpNet_tran.ReadInt16(convDBS.convDBs[i].R_handShake).Content.ToString();
                        convs[i].isAlarm = siemensTcpNet_tran.ReadBool(convDBS.convDBs[i].R_isAlarm).Content == true ? "故障" : "正常";
                        convs[i].mode = siemensTcpNet_tran.ReadByte(convDBS.convDBs[i].R_mode).Content == 2 ? "自动" : "手动";

                        convs[i].position = siemensTcpNet_tran.ReadByte(convDBS.convDBs[i].R_position).Content.ToString();
                        convs[i].taskId = siemensTcpNet_tran.ReadInt32(convDBS.convDBs[i].R_taskId).Content;


                        convs[i].W_GJJY = siemensTcpNet_tran.ReadBool(convDBS.convDBs[i].W_GJJY).Content;
                        convs[i].W_LoadMaterialConfirm = siemensTcpNet_tran.ReadBool(convDBS.convDBs[i].W_LoadMaterialConfirm).Content;
                    }
                }
                catch (Exception)
                {

                }
            }
        }

        /// <summary>输送线显示服务和设备状态状态
        /// 
        /// </summary>
        private void shouEntity_Agvs()
        {
            while (true)
            {
                Thread.Sleep(2000);//1秒执行一次
                try
                {
                    try
                    {
                        var agvstatus = baseData.readAgvs();
                        if (agvstatus != null && agvstatus.Count == 4)
                        {
                            agvs = agvstatus;
                        }
                    }
                    catch (Exception)
                    {


                    }
                }
                catch (Exception)
                {

                }

            }


        }

        /// <summary>设备心跳丢失自动初始化
        /// 
        /// </summary>
        private void checkPlcHandShake()
        {
            while (true)
            {

                Thread.Sleep(60000);

                if ((srm.handShake == null || conv1.handShake == null) && isvirtual == false)
                {
                    deviceOpcInit();
                }
            }

        }

        /// <summary>写给堆垛机心跳
        /// 
        /// </summary>
        private void writeSrmHandShake()
        {
            int handShake = 0;
            while (true)
            {
                handShake++;
                if (handShake > 10000)
                {
                    handShake = 0;
                }
                Thread.Sleep(2000);
                short MyData = Convert.ToInt16(handShake);

                var iss = siemensTcpNet_srm.Write(srmdb.W_handShake, MyData);
            }

        }
        /// <summary>开启线程
        /// 
        /// </summary>  
        private void StartThread(Thread thread)
        {
            if (thread != null)
            {
                thread.IsBackground = true;
                thread.Start();
            }
        }

        #region 找空库位 【重要！！！！！】

        /// <summary>找空库位
        /// 
        /// </summary>
        /// <param name="positionType">库位类型，库口=0，空库位=1，缸体=2，缸盖=3</param>
        /// <returns></returns>
        public static string findStorage(int positionType)
        {
            //库位类型，库口=0，空库位=1，缸体=2，缸盖=3,缸体空托盘=4，缸盖空托盘=5，空托盘=6
            string toPlace = "";
            if (single.WaitOne())//增加线程锁防止并发
            {
                if (positionType != 2 && positionType != 3)
                {
                    return "参数异常";
                }

                try
                {
                    using (dbmodel mod = new dbmodel())
                    {
                        //寻找所有的空库位
                        List<position> findPosition = mod.position.Where(x => x.positionType == 1 && x.isfree == false && x.isLock == false && x.enable == true
                            && (x.positionName != "2-27-5" && x.positionName != "2-12-5")  //2-27-5 和2-12-5 是除湿机放的位置 【EditBy shaocx,2022-03-29】
                            ).ToList();
                        //增加对库存数据的查询过滤 【2022-03-26】
                        findPosition = MyExtendHelper.FilterEmptyPosition(mod, findPosition);
                        if (findPosition.Count < 1)
                        {
                            return "";
                        }
                        List<position> outPosition = new List<position>();
                        if (positionType == 2)
                        {
                            outPosition = findPosition.Where(x => x.col > 19).OrderBy(x => x.layer).ThenByDescending(x => x.col).ToList();
                            //outPosition.Clear();
                            //满了就借用缸盖库位
                            if (outPosition.Count < 1)
                            {
                                outPosition = findPosition.Where(x => x.col < 20).OrderByDescending(x => x.col).ThenBy(x => x.layer).ToList();
                            }
                        }

                        if (positionType == 3)
                        {
                            outPosition = findPosition.Where(x => x.col < 20).OrderBy(x => x.layer).ThenBy(x => x.col).ToList();
                            // outPosition.Clear();
                            //满了就借用缸体库位
                            if (outPosition.Count < 1)
                            {
                                outPosition = findPosition.Where(x => x.col > 19).OrderBy(x => x.col).ThenBy(x => x.layer).ToList();
                            }
                        }

                        if (outPosition.Count > 0)
                        {
                            toPlace = outPosition[0].positionName + "/" + outPosition[0].positionId;
                            //outPosition[0].isLock = true;
                            PositionHandler.Lock(true, outPosition[0], "找空库位", SysGloble.WCSNAME, null);
                        }
                        int res = mod.SaveChanges();
                        if (res < 1)
                        {
                            res = mod.SaveChanges();
                            if (res < 1)
                            {
                                res = mod.SaveChanges();
                                if (res < 1)
                                {
                                    toPlace = "";
                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "findStorage", "保存失败");
                                }
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    toPlace = "";
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "findStorage", ex.ToString());
                }
                finally { single.ReleaseMutex(); }//一轮结束
            }
            return toPlace;
        }
        #endregion

        #region 消费Task任务数据线程 【EditBy shaocx,2022-02-06】

        #region 原先的方法
        ///// <summary>发送任务给设备
        ///// 
        ///// </summary>
        //private void sendTask()
        //{
        //    while (true)
        //    {
        //        Thread.Sleep(2000);
        //        try
        //        {
        //            int ishaveTask = 0;
        //            using (dbmodel mod = new dbmodel())
        //            {
        //                //area=1是缸体侧，area=2是缸盖侧
        //                //先处理任务中的任务（在输送线上的）
        //                List<task> FinishTasking = mod.task.Where(x => x.taskStatus == 3).ToList();
        //                if (FinishTasking.Count > 0)
        //                {
        //                    List<task> bobyTask = FinishTasking.Where(x => x.area == 1).ToList();
        //                    #region 处理缸体未完成任务
        //                    if (bobyTask.Count > 0)
        //                    {
        //                        foreach (var item in bobyTask)
        //                        {
        //                            string SourcePlace = "";
        //                            if (!isvirtual)
        //                            {
        //                                #region 判断输送线任务id,赋值SourcePlace
        //                                if (conv1.taskId == item.taskId)
        //                                {
        //                                    SourcePlace = "2-39-1";
        //                                }
        //                                if (conv2.taskId == item.taskId)
        //                                {
        //                                    SourcePlace = "1-39-1";
        //                                }
        //                                #endregion
        //                            }
        //                            if (item.taskType == 3 || item.taskType == 5)
        //                            {//呼叫空托 或 缸体上线

        //                                #region 发送rgv任务
        //                                if (SourcePlace != "")
        //                                {
        //                                    bool isReadAgv = false;
        //                                    if (!isvirtual)
        //                                    {
        //                                        #region 判断AGV是否空闲
        //                                        if (agvs.Count == 4)
        //                                        {
        //                                            string isP = agvs[2].orderId == null ? "" : agvs[2].orderId.Substring(agvs[2].orderId.Length - 1, 1);
        //                                            if (agvs[2].operatingMode == 2 && agvs[2].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                            {
        //                                                isReadAgv = true;
        //                                            }

        //                                            isP = agvs[3].orderId == null ? "" : agvs[3].orderId.Substring(agvs[3].orderId.Length - 1, 1);
        //                                            if (agvs[3].operatingMode == 2 && agvs[3].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                            {
        //                                                isReadAgv = true;
        //                                            }

        //                                        }


        //                                        #endregion
        //                                    }
        //                                    if (isReadAgv)
        //                                    {
        //                                        #region 发送AGV任务 并清空库存

        //                                        string res = "失败";
        //                                        if (!isvirtual)
        //                                        {
        //                                            res = baseData.sendAgvTask(item.taskId, SourcePlace, item.toPlace, 1);

        //                                        }
        //                                        string tasktype = "缸体呼叫空托盘/缸体上线";
        //                                        if (res == "")
        //                                        {
        //                                            #region 清空库存更新状态
        //                                            item.taskStatus = (int)taskStatus.完成;
        //                                            mod.SaveChanges();
        //                                            agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送成功,任务ID:" + item.taskId;
        //                                            //库存位
        //                                            position positions = mod.position.FirstOrDefault(x => x.positionName == item.sourcePlace);
        //                                            //上下线站点位

        //                                            //解锁输送线
        //                                            position convs = mod.position.FirstOrDefault(x => x.positionName == SourcePlace);
        //                                            convs.isLock = false;

        //                                            if (positions != null)
        //                                            {
        //                                                #region 清空库位
        //                                                productStock stock = mod.productStock.FirstOrDefault(x => x.positionId == positions.positionId);
        //                                                if (stock != null)
        //                                                {
        //                                                    if (item.taskType == 5)//上线就把数据放到上线站点上
        //                                                    {
        //                                                        position positionStation = mod.position.FirstOrDefault(x => x.positionName == item.toPlace);
        //                                                        if (positionStation != null)
        //                                                        {
        //                                                            stock.positionId = positionStation.positionId;
        //                                                            positionStation.isfree = true;
        //                                                        }
        //                                                        List<productStockList> stocklist = mod.productStockList.Where(x => x.stockId == positions.positionId).ToList();
        //                                                        if (stocklist.Count > 0)
        //                                                        {
        //                                                            foreach (var itemList in stocklist)
        //                                                            {
        //                                                                itemList.stockId = positionStation.positionId;
        //                                                            }
        //                                                        }
        //                                                    }
        //                                                    else//呼叫空托就清空库存
        //                                                    {
        //                                                        mod.productStock.Remove(stock);
        //                                                    }
        //                                                    positions.isfree = false;
        //                                                    positions.isLock = false;
        //                                                    positions.quantity = 0;
        //                                                    positions.positionType = 1;

        //                                                }
        //                                                else
        //                                                {
        //                                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "任务ID" + item.taskId + "-" + tasktype + "查找库存失败");
        //                                                }
        //                                                #endregion
        //                                            }
        //                                            else
        //                                            {
        //                                                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "任务ID" + item.taskId + "-" + tasktype + "查找库位失败");
        //                                            }
        //                                            #endregion
        //                                        }
        //                                        else
        //                                        {
        //                                            agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送失败,任务ID:" + item.taskId;
        //                                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", tasktype + "发送RGV任务失败");
        //                                        }
        //                                        #endregion

        //                                        int saveRes = mod.SaveChanges();
        //                                        #region 验证是否保存成功
        //                                        for (int i = 0; i < 4; i++)
        //                                        {
        //                                            if (saveRes < 1)
        //                                            {
        //                                                saveRes = mod.SaveChanges();
        //                                            }
        //                                            else
        //                                            {
        //                                                break;
        //                                            }
        //                                        }
        //                                        if (saveRes < 1)
        //                                        {
        //                                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
        //                                        }
        //                                        #endregion
        //                                    }
        //                                    else
        //                                    {
        //                                        agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-ARV繁忙,任务ID:" + item.taskId;
        //                                    }


        //                                }
        //                                else
        //                                {
        //                                    agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-输送线都被占用,任务ID:" + item.taskId;
        //                                }
        //                                #endregion
        //                            }
        //                            else //taskType 1缸体下线和6空托回库
        //                            {
        //                                #region 发送堆垛机任务
        //                                if (SourcePlace != "")
        //                                {
        //                                    if (srm.mode == "自动" && srm.Alarm_info == "无故障" && srm.state == "待机")
        //                                    {
        //                                        #region 发送堆垛机任务
        //                                        if (!isvirtual)
        //                                        {
        //                                            baseData.sendSrmTask(item.taskId, SourcePlace, item.toPlace, 1);
        //                                        }
        //                                        position convs = mod.position.FirstOrDefault(x => x.positionName == SourcePlace);
        //                                        convs.isLock = false;
        //                                        item.taskStatus = (int)taskStatus.待完成;
        //                                        #endregion

        //                                        int saveRes = mod.SaveChanges();
        //                                        #region MyRegion
        //                                        for (int i = 0; i < 4; i++)
        //                                        {
        //                                            if (saveRes < 1)
        //                                            {
        //                                                saveRes = mod.SaveChanges();
        //                                            }
        //                                            else
        //                                            {
        //                                                break;
        //                                            }
        //                                        }
        //                                        if (saveRes < 1)
        //                                        {
        //                                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
        //                                        }
        //                                        #endregion

        //                                    }

        //                                }
        //                                #endregion

        //                            }
        //                        }
        //                    }
        //                    else
        //                    {
        //                        agvSendStatus[1] = "";
        //                    }
        //                    #endregion
        //                    List<task> lidTask = FinishTasking.Where(x => x.area == 2).ToList();
        //                    #region 处理缸盖未完成任务
        //                    if (lidTask.Count > 0)
        //                    {
        //                        foreach (var item in lidTask)
        //                        {
        //                            string SourcePlace = "";
        //                            if (!isvirtual)
        //                            {
        //                                #region 判断输送线任务id,赋值SourcePlace
        //                                if (conv3.taskId == item.taskId)
        //                                {
        //                                    SourcePlace = "1-0-1";
        //                                }
        //                                if (conv4.taskId == item.taskId)
        //                                {
        //                                    SourcePlace = "2-0-1";
        //                                }
        //                                #endregion
        //                            }
        //                            if (SourcePlace != "")
        //                            {
        //                                if (item.taskType == 3 || item.taskType == 4)//
        //                                {
        //                                    #region 发送AGV任务
        //                                    bool isReadAgv = false;
        //                                    if (!isvirtual)
        //                                    {
        //                                        if (agvs.Count == 4)
        //                                        {
        //                                            #region 判断AGV是否空闲

        //                                            string isP = agvs[0].orderId == null ? "" : agvs[0].orderId.Substring(agvs[0].orderId.Length - 1, 1);
        //                                            if (agvs[0].operatingMode == 2 && agvs[0].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                            {
        //                                                isReadAgv = true;
        //                                            }

        //                                            isP = agvs[1].orderId == null ? "" : agvs[1].orderId.Substring(agvs[1].orderId.Length - 1, 1);
        //                                            if (agvs[1].operatingMode == 2 && agvs[1].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                            {
        //                                                isReadAgv = true;
        //                                            }
        //                                            #endregion
        //                                        }


        //                                    }
        //                                    if (isReadAgv)
        //                                    {

        //                                        string res = "失败";
        //                                        if (!isvirtual)
        //                                        {
        //                                            res = baseData.sendAgvTask(item.taskId, SourcePlace, item.toPlace, 1);
        //                                        }
        //                                        if (res == "")
        //                                        {
        //                                            agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送成功,任务ID:" + item.taskId;
        //                                            #region 发送AGV任务
        //                                            item.taskStatus = (int)taskStatus.完成;
        //                                            int ishave = mod.SaveChanges();
        //                                            position delPosition = mod.position.FirstOrDefault(x => x.positionName == item.sourcePlace);
        //                                            //清除库存 需要改，RGV
        //                                            if (delPosition != null)
        //                                            {
        //                                                #region MyRegion
        //                                                productStock stock = mod.productStock.FirstOrDefault(x => x.positionId == delPosition.positionId);
        //                                                if (item.taskType == 3)//呼叫空托盘就把数据删了
        //                                                {
        //                                                    mod.productStock.Remove(stock);
        //                                                }
        //                                                else//上线就把数据放到上线站点上
        //                                                {
        //                                                    position positionStation = mod.position.FirstOrDefault(x => x.positionName == item.toPlace);
        //                                                    if (positionStation != null)
        //                                                    {
        //                                                        stock.positionId = positionStation.positionId;
        //                                                        positionStation.isfree = true;
        //                                                    }
        //                                                    List<productStockList> stocklist = mod.productStockList.Where(x => x.stockId == delPosition.positionId).ToList();
        //                                                    if (stocklist.Count > 0)
        //                                                    {
        //                                                        foreach (var itemList in stocklist)
        //                                                        {
        //                                                            itemList.stockId = positionStation.positionId;
        //                                                        }
        //                                                    }
        //                                                }


        //                                                delPosition.isfree = false;
        //                                                delPosition.isLock = false;
        //                                                delPosition.positionType = 1;
        //                                                #endregion

        //                                            }
        //                                            //
        //                                            #region 输送线复位
        //                                            position convs = mod.position.FirstOrDefault(x => x.positionName == SourcePlace);
        //                                            convs.isLock = false;
        //                                            int saveRes = mod.SaveChanges();
        //                                            for (int i = 0; i < 4; i++)
        //                                            {
        //                                                if (saveRes < 1)
        //                                                {
        //                                                    saveRes = mod.SaveChanges();
        //                                                }
        //                                                else
        //                                                {
        //                                                    break;
        //                                                }
        //                                            }
        //                                            if (saveRes < 1)
        //                                            {
        //                                                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
        //                                            }
        //                                            #endregion

        //                                            #endregion
        //                                        }
        //                                        else
        //                                        {
        //                                            agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发失败,任务ID:" + item.taskId;
        //                                        }

        //                                    }
        //                                    else
        //                                    {
        //                                        agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-ARV繁忙,任务ID:" + item.taskId;
        //                                    }
        //                                    #endregion

        //                                }
        //                                else
        //                                {
        //                                    if (srm.mode == "自动" && srm.Alarm_info == "无故障" && srm.state == "待机")
        //                                    {
        //                                        #region 发送堆垛机任务
        //                                        if (!isvirtual)
        //                                        {
        //                                            baseData.sendSrmTask(item.taskId, SourcePlace, item.toPlace, 1);
        //                                            //恢复输送线锁定状态

        //                                        }
        //                                        position convs = mod.position.FirstOrDefault(x => x.positionName == SourcePlace);
        //                                        if (convs != null)
        //                                        {
        //                                            convs.isLock = false;
        //                                        }

        //                                        item.taskStatus = (int)taskStatus.待完成;
        //                                        #endregion

        //                                        int saveRes = mod.SaveChanges();
        //                                        #region MyRegion
        //                                        for (int i = 0; i < 4; i++)
        //                                        {
        //                                            if (saveRes < 1)
        //                                            {
        //                                                saveRes = mod.SaveChanges();
        //                                            }
        //                                            else
        //                                            {
        //                                                break;
        //                                            }
        //                                        }
        //                                        if (saveRes < 1)
        //                                        {
        //                                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
        //                                        }
        //                                        #endregion

        //                                    }
        //                                }

        //                            }
        //                            else
        //                            {
        //                                agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-输送线都被占用,任务ID:" + item.taskId;
        //                            }
        //                        }
        //                    }
        //                    else
        //                    {
        //                        agvSendStatus[0] = "无任务";
        //                    }
        //                    #endregion
        //                }
        //                else
        //                {
        //                    ishaveTask = 1;
        //                }
        //                //处理未下发的任务
        //                List<task> noFinishTask = mod.task.Where(x => x.taskStatus == 2).ToList();
        //                if (noFinishTask.Count > 0)
        //                {
        //                    #region 未下发的任务
        //                    List<task> bobyTask = noFinishTask.Where(x => x.area == 1).ToList();
        //                    //处理缸体未下发任务
        //                    if (bobyTask.Count > 0)
        //                    {
        //                        foreach (var item in bobyTask)
        //                        {
        //                            //找空闲输送线

        //                            #region 处理缸体未下发任务

        //                            if (item.taskType == 1 || item.taskType == 6 || item.taskType == 7)
        //                            {

        //                                #region 发送agv任务
        //                                bool isReadAgv = false;
        //                                if (!isvirtual)
        //                                {
        //                                    if (agvs.Count == 4)
        //                                    {
        //                                        #region 判断AGV是否空闲
        //                                        string isP = agvs[2].orderId == null ? "" : agvs[2].orderId.Substring(agvs[2].orderId.Length - 1, 1);
        //                                        if (agvs[2].operatingMode == 2 && agvs[2].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                        {
        //                                            isReadAgv = true;
        //                                        }

        //                                        isP = agvs[3].orderId == null ? "" : agvs[3].orderId.Substring(agvs[3].orderId.Length - 1, 1);
        //                                        if (agvs[3].operatingMode == 2 && agvs[3].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                        {
        //                                            isReadAgv = true;
        //                                        }
        //                                        #endregion
        //                                    }

        //                                }
        //                                if (isReadAgv)
        //                                {

        //                                    string toplace = convIsLock(1);
        //                                    #region MyRegion
        //                                    if (toplace != "")
        //                                    {
        //                                        #region 发送AGV任务
        //                                        string res = "失败";
        //                                        if (!isvirtual)
        //                                        {
        //                                            res = baseData.sendAgvTask(item.taskId, item.sourcePlace, toplace, 1);

        //                                        }
        //                                        if (res == "")
        //                                        {
        //                                            agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送成功,任务ID:" + item.taskId;
        //                                            item.middlePlace = toplace;
        //                                            item.taskStatus = 3;
        //                                            position unlockPosition = mod.position.FirstOrDefault(x => x.positionName == toplace);
        //                                            if (unlockPosition != null)
        //                                            {
        //                                                unlockPosition.isLock = true;
        //                                            }
        //                                            int saveRes = mod.SaveChanges();
        //                                            #region 检验保存是否成功
        //                                            for (int i = 0; i < 4; i++)
        //                                            {
        //                                                if (saveRes < 1)
        //                                                {
        //                                                    saveRes = mod.SaveChanges();
        //                                                }
        //                                                else
        //                                                {
        //                                                    break;
        //                                                }
        //                                            }
        //                                            if (saveRes < 1)
        //                                            {
        //                                                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
        //                                            }
        //                                            #endregion

        //                                        #endregion
        //                                        }

        //                                        else
        //                                        {
        //                                            agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送失败,任务ID:" + item.taskId;
        //                                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "RGV任务发送失败！ 任务id:" + item.taskId);
        //                                        }


        //                                    }
        //                                    else
        //                                    {
        //                                        agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送失败输送线都被占用,任务ID:" + item.taskId;
        //                                    }
        //                                    #endregion

        //                                }
        //                                else
        //                                {
        //                                    agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-AGV繁忙,任务ID:" + item.taskId;
        //                                }
        //                                #endregion

        //                            }
        //                            else
        //                            {
        //                                #region 发送堆垛机任务
        //                                if (srm.mode == "自动" && srm.Alarm_info == "无故障" && srm.state == "待机")
        //                                {
        //                                    string toplace = convIsLock(1);
        //                                    if (toplace != "")
        //                                    {

        //                                        #region 发送堆垛机任务
        //                                        if (!isvirtual)
        //                                        {
        //                                            baseData.sendSrmTask(item.taskId, item.sourcePlace, toplace, 1);
        //                                        }
        //                                        position unlockPosition = mod.position.FirstOrDefault(x => x.positionName == toplace);
        //                                        if (unlockPosition != null)
        //                                        {
        //                                            unlockPosition.isLock = true;
        //                                        }
        //                                        //保存任务记录
        //                                        item.middlePlace = toplace;
        //                                        item.taskStatus = 3;
        //                                        //增加出库单 状态更改
        //                                        #endregion

        //                                        int saveRes = mod.SaveChanges();

        //                                        for (int i = 0; i < 4; i++)
        //                                        {
        //                                            if (saveRes < 1)
        //                                            {
        //                                                saveRes = mod.SaveChanges();
        //                                            }
        //                                            else
        //                                            {
        //                                                break;
        //                                            }
        //                                        }
        //                                        if (saveRes < 1)
        //                                        {
        //                                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
        //                                        }
        //                                    }
        //                                    else
        //                                    {

        //                                    }

        //                                }
        //                                #endregion

        //                            }
        //                            #endregion
        //                        }
        //                    }
        //                    else
        //                    {
        //                        agvSendStatus[0] = "无任务发送";
        //                    }
        //                    //处理缸盖未下发任务
        //                    List<task> lidTask = noFinishTask.Where(x => x.area == 2).ToList();
        //                    if (lidTask.Count > 0)
        //                    {
        //                        foreach (var item in lidTask)
        //                        {
        //                            //找空闲输送线
        //                            string toplace = convIsLock(3);
        //                            #region 处理缸盖未下发任务

        //                            if (toplace != "")
        //                            {
        //                                if (item.taskType == 2 || item.taskType == 6 || item.taskType == 7)
        //                                {


        //                                    bool isReadAgv = false;
        //                                    if (!isvirtual)
        //                                    {
        //                                        if (agvs.Count == 4)
        //                                        {
        //                                            #region 判断AGV是否空闲
        //                                            string isP = agvs[0].orderId == null ? "" : agvs[0].orderId.Substring(agvs[0].orderId.Length - 1, 1);
        //                                            if (agvs[0].operatingMode == 2 && agvs[0].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                            {
        //                                                isReadAgv = true;
        //                                            }

        //                                            isP = agvs[1].orderId == null ? "" : agvs[1].orderId.Substring(agvs[1].orderId.Length - 1, 1);
        //                                            if (agvs[1].operatingMode == 2 && agvs[1].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
        //                                            {
        //                                                isReadAgv = true;
        //                                            }
        //                                            #endregion
        //                                        }

        //                                    }
        //                                    if (isReadAgv)
        //                                    {
        //                                        #region 处理缸盖未下发任务
        //                                        string res = "失败";
        //                                        if (!isvirtual)
        //                                        {
        //                                            res = baseData.sendAgvTask(item.taskId, item.sourcePlace, toplace, 1);
        //                                        }
        //                                        if (res == "")
        //                                        {
        //                                            agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送成功,任务ID:" + item.taskId;
        //                                            item.middlePlace = toplace;
        //                                            item.taskStatus = 3;
        //                                            position unlockPosition = mod.position.FirstOrDefault(x => x.positionName == toplace);
        //                                            if (unlockPosition != null)
        //                                            {
        //                                                unlockPosition.isLock = true;
        //                                            }

        //                                        }
        //                                        else
        //                                        {
        //                                            agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送失败,任务ID:" + item.taskId;
        //                                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "RGV任务发送失败！ 任务id:" + item.taskId);
        //                                        }

        //                                        #endregion

        //                                    }
        //                                    else
        //                                    {
        //                                        agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-RGV繁忙,任务ID:" + item.taskId;
        //                                    }

        //                                }
        //                                else
        //                                {
        //                                    if (srm.mode == "自动" && srm.Alarm_info == "无故障" && srm.state == "待机")
        //                                    {
        //                                        #region 发送堆垛机任务
        //                                        if (!isvirtual)
        //                                        {
        //                                            baseData.sendSrmTask(item.taskId, item.sourcePlace, toplace, 1);
        //                                        }

        //                                        position unlockPosition = mod.position.FirstOrDefault(x => x.positionName == toplace);
        //                                        if (unlockPosition != null)
        //                                        {
        //                                            unlockPosition.isLock = true;
        //                                        }
        //                                        item.middlePlace = toplace;
        //                                        item.taskStatus = 3;
        //                                        #endregion
        //                                    }

        //                                }
        //                                int saveRes = mod.SaveChanges();
        //                                #region 验证发送是否成功
        //                                for (int i = 0; i < 4; i++)
        //                                {
        //                                    if (saveRes < 1)
        //                                    {
        //                                        saveRes = mod.SaveChanges();
        //                                    }
        //                                    else
        //                                    {
        //                                        break;
        //                                    }
        //                                }
        //                                if (saveRes < 1)
        //                                {
        //                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
        //                                }
        //                                #endregion

        //                            }
        //                            else
        //                            {
        //                                agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-输送线都被占用,任务ID:" + item.taskId;
        //                            }
        //                            #endregion
        //                        }
        //                    }
        //                    else
        //                    {
        //                        agvSendStatus[1] = "无任务发送";
        //                    }
        //                    #endregion
        //                }
        //                else
        //                {
        //                    #region 更改信息状态
        //                    if (ishaveTask == 1)
        //                    {
        //                        agvSendStatus[0] = "无任务发送";
        //                        agvSendStatus[1] = "无任务发送";
        //                    }
        //                    #endregion
        //                }

        //            }
        //        }
        //        catch (Exception ex)
        //        {
        //            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", ex.ToString());
        //        }
        //    }
        //}
        #endregion

        #region 现在的方法

        /// <summary>
        /// 处理未下发的任务(缸体)
        /// </summary>
        private void sendTaskForNoIssuedForGT()
        {
            while (true)
            {
                Thread.Sleep(2000);
                try
                {
                    using (dbmodel mod = new dbmodel())
                    {
                        //area=1是缸体侧，area=2是缸盖侧
                        //处理未下发的任务
                        var queryStatus_NoIssue = (int)taskStatus.未下发;
                        List<task> noFinishTask = mod.task.Where(x => x.taskStatus == queryStatus_NoIssue).ToList();
                        //List<task> noFinishTask = mod.task.Where(x => x.taskStatus == 2).ToList();
                        if (noFinishTask.Count > 0)
                        {
                            #region 未下发的任务
                            List<task> bobyTask = noFinishTask.Where(x => x.area == 1).ToList();
                            //处理缸体未下发任务
                            if (bobyTask.Count > 0)
                            {
                                foreach (var item in bobyTask)
                                {

                                    #region 处理缸体未下发任务

                                    //if (item.taskType == 1 || item.taskType == 6 || item.taskType == 7)
                                    if (item.taskType == (int)taskType.缸体下线
                                        || item.taskType == (int)taskType.空托回库 || item.taskType == (int)taskType.空托下线入库
                                        || item.taskType == (int)taskType.余料回库)
                                    {

                                        #region 发送agv任务
                                        bool isReadAgv = false;
                                        if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                        {
                                            if (agvs.Count == 4)
                                            {
                                                #region 判断AGV是否空闲
                                                string isP = agvs[2].orderId == null ? "" : agvs[2].orderId.Substring(agvs[2].orderId.Length - 1, 1);
                                                if (agvs[2].operatingMode == 2 && agvs[2].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                {
                                                    isReadAgv = true;
                                                }

                                                isP = agvs[3].orderId == null ? "" : agvs[3].orderId.Substring(agvs[3].orderId.Length - 1, 1);
                                                if (agvs[3].operatingMode == 2 && agvs[3].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                {
                                                    isReadAgv = true;
                                                }
                                                #endregion
                                            }
                                        }
                                        else
                                        {//虚拟模式或强制完成
                                            isReadAgv = true;
                                        }
                                        if (isReadAgv)
                                        {

                                            //string convPlace = convIsLock(1, item, TaskAreaEnum.缸体侧);
                                            string convPlace = convIsLock_GT(1, item);
                                            #region MyRegion
                                            if (convPlace != "")
                                            {
                                                string res = "失败";
                                                if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                                {
                                                    res = baseData.sendAgvTask(item, item.taskId, item.sourcePlace, convPlace, 1);
                                                }
                                                else
                                                {//虚拟模式或强制完成
                                                    res = "";
                                                }
                                                if (res == "")
                                                {
                                                    SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "发送成功,任务ID:" + item.taskId;
                                                    item.middlePlace = convPlace;
                                                    //item.taskStatus = 3;
                                                    item.taskStatus = (int)taskStatus.已下发;
                                                    item.remark = "已下发";
                                                    item.remark = "发送AGV任务成功";
                                                    position unlockPosition = mod.position.FirstOrDefault(x => x.positionName == convPlace);
                                                    if (unlockPosition != null)
                                                    {
                                                        //unlockPosition.isLock = true;
                                                        PositionHandler.Lock(true, unlockPosition, "处理未下发的任务(缸体)", SysGloble.WCSNAME, item);
                                                    }
                                                    //起点库位解锁、设置无货 【EditBy shaocx,2022-03-23】
                                                    position _sourcePlace = mod.position.FirstOrDefault(x => x.positionName == item.sourcePlace);
                                                    PositionHandler.LockAndFree(false, false, _sourcePlace, "处理未下发的任务(缸体)，修改起点", SysGloble.WCSNAME, item);

                                                    int saveRes = mod.SaveChanges();
                                                    #region 检验保存是否成功
                                                    for (int i = 0; i < 4; i++)
                                                    {
                                                        if (saveRes < 1)
                                                        {
                                                            saveRes = mod.SaveChanges();
                                                        }
                                                        else
                                                        {
                                                            break;
                                                        }
                                                    }
                                                    if (saveRes < 1)
                                                    {
                                                        WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
                                                    }
                                                    #endregion
                                                }
                                                else
                                                {
                                                    //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                    item.remark = "发送AGV任务失败:" + res;
                                                    mod.SaveChanges();

                                                    SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "发送AGV任务失败:" + res + ",任务ID:" + item.taskId;
                                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "RGV任务发送失败！" + res + " 任务id:" + item.taskId);
                                                }
                                            }
                                            else
                                            {
                                                agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送失败输送线都被占用,任务ID:" + item.taskId;

                                                //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                item.remark = "发送失败输送线都被占用";
                                                mod.SaveChanges();
                                            }
                                            #endregion

                                        }
                                        else
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-AGV繁忙,任务ID:" + item.taskId;
                                            //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                            item.remark = "没发送任务-AGV繁忙";
                                            mod.SaveChanges();
                                        }
                                        #endregion

                                    }
                                    else if (item.taskType == (int)taskType.旁路工位缸体空托回库 || item.taskType == (int)taskType.旁路工位缸体余料回库)
                                    {
                                        string convPlace = item.middlePlace;//这个输送线站点是工人自己选的 
                                        SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = MyExtend.HandlerNoIssuedTaskFor旁路工位缸体空托或余料回库(mod, convPlace, item, agvSendStatus);
                                    }
                                    else if (item.taskType == (int)taskType.缸体下线直接去上线点)
                                    {//增加 缸体下线直接去上线点的分支判断 【EditBy shaocx,2022-02-06】
                                        SystemWarningMsg.Thread_HandleTaskForNoIssuedForDirectOnLinePoint__ErrMsg = MyExtend.HandleTaskForNoIssuedForDirectOnLinePoint(mod, agvs, item, agvSendStatus);
                                    }
                                    else if (item.taskType == (int)taskType.手动出库 || item.taskType == (int)taskType.出库分拣
                                        || item.taskType == (int)taskType.空托人工出库
                                        )
                                    {//增加 手动出库的分支判断 【EditBy shaocx,2022-03-02】
                                        var errMsg = "";
                                        MyExtend.HandleTaskForutStoreBySrm(mod, item, ref errMsg);
                                        if (!string.IsNullOrEmpty(errMsg))
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = errMsg;
                                            //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                            item.remark = errMsg;
                                            mod.SaveChanges();
                                        }
                                    }
                                    else if (item.taskType == (int)taskType.缸体上线去旁路工位)//增加 缸体上线去旁路工位 的分支 【EditBy shaocx,2022-04-24】  
                                    {
                                        //string convPlace = convIsLock(1, item, TaskAreaEnum.缸体侧);
                                        string convPlace = convIsLock_GT(1, item);
                                        if (convPlace != "")
                                        {
                                            TaskHelper.sendTaskForNoIssuedFor发送堆垛机任务(mod, item, convPlace);
                                        }
                                        else
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = "未找到空闲的输送线站点";
                                            //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                            item.remark = SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg;
                                            mod.SaveChanges();
                                        }
                                    }
                                    else if (item.taskType == (int)taskType.手动入库
                                        || item.taskType == (int)taskType.空托手动入库)
                                    {//增加手动入库的分支 【EditBy shaocx,2022-03-16】
                                        var errMsg = "";
                                        MyExtend.HandleTaskForHandInStore(mod, item, ref errMsg);
                                        if (!string.IsNullOrEmpty(errMsg))
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = errMsg;
                                            //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                            item.remark = errMsg;
                                            mod.SaveChanges();
                                        }
                                    }
                                    else
                                    {
                                        //string convPlace = convIsLock(1, item, TaskAreaEnum.缸体侧);
                                        string convPlace = convIsLock_GT(1, item);
                                        if (convPlace != "")
                                        {
                                            TaskHelper.sendTaskForNoIssuedFor发送堆垛机任务(mod, item, convPlace);
                                        }
                                        else
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = "未找到空闲的输送线站点";
                                            //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                            item.remark = SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg;
                                            mod.SaveChanges();
                                        }
                                    }
                                    #endregion
                                }
                            }
                            else
                            {
                                agvSendStatus[0] = "无任务发送";
                            }
                            #endregion
                        }
                        else
                        {
                            SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = "没有要处理的状态为未下发的任务";
                        }

                    }
                }
                catch (Exception ex)
                {
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTaskForNoIssued", ex.ToString());
                    SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg = "出现异常:" + JsonConvert.SerializeObject(ex);
                }
            }
        }

        /// <summary>
        /// 处理未下发的任务(缸盖)
        /// </summary>
        private void sendTaskForNoIssuedForGG()
        {
            while (true)
            {
                Thread.Sleep(2000);
                try
                {
                    using (dbmodel mod = new dbmodel())
                    {
                        //area=1是缸体侧，area=2是缸盖侧
                        //处理未下发的任务
                        var queryStatus_NoIssue = (int)taskStatus.未下发;
                        List<task> noFinishTask = mod.task.Where(x => x.taskStatus == queryStatus_NoIssue).ToList();
                        //List<task> noFinishTask = mod.task.Where(x => x.taskStatus == 2).ToList();
                        if (noFinishTask.Count > 0)
                        {

                            #region 未下发的任务
                            //处理缸盖未下发任务
                            List<task> lidTask = noFinishTask.Where(x => x.area == 2).ToList();
                            if (lidTask.Count > 0)
                            {
                                foreach (var item in lidTask)
                                {
                                    //if (item.taskType == 2 || item.taskType == 6 || item.taskType == 7)
                                    if (item.taskType == (int)taskType.缸盖下线 ||
                                        item.taskType == (int)taskType.空托回库 || item.taskType == (int)taskType.空托下线入库
                                        || item.taskType == (int)taskType.余料回库)
                                    {//缸盖下线=2,    空托回库=6,  余料回库=7,


                                        bool isReadAgv = false;
                                        if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                        {
                                            if (agvs.Count == 4)
                                            {
                                                #region 判断AGV是否空闲
                                                string isP = agvs[0].orderId == null ? "" : agvs[0].orderId.Substring(agvs[0].orderId.Length - 1, 1);
                                                if (agvs[0].operatingMode == 2 && agvs[0].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                {
                                                    isReadAgv = true;
                                                }

                                                isP = agvs[1].orderId == null ? "" : agvs[1].orderId.Substring(agvs[1].orderId.Length - 1, 1);
                                                if (agvs[1].operatingMode == 2 && agvs[1].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                {
                                                    isReadAgv = true;
                                                }
                                                #endregion
                                            }
                                            else
                                            {
                                                SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "，读取AGV个数不是4个，应该是AGV不在线,任务ID:" + item.taskId;

                                                //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                item.remark = "读取AGV个数不是4个，应该是AGV不在线";
                                                mod.SaveChanges();
                                            }
                                        }
                                        else
                                        {//虚拟模式或强制完成
                                            isReadAgv = true;
                                        }
                                        if (isReadAgv)
                                        {
                                            string convPlace = "";
                                            convPlace = findConvPlaceFor_sendTaskForNoIssuedForGG(mod, item);
                                            if (string.IsNullOrEmpty(convPlace))
                                            {
                                                break;//跳出循环
                                            }
                                            #region 处理缸盖未下发任务的数据保存
                                            string res = "失败";
                                            if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                            {
                                                res = baseData.sendAgvTask(item, item.taskId, item.sourcePlace, convPlace, 1);
                                            }
                                            else
                                            {//虚拟模式或强制完成
                                                res = "";
                                            }
                                            if (res == "")
                                            {
                                                SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "发送成功,任务ID:" + item.taskId;
                                                item.middlePlace = convPlace;
                                                //item.taskStatus = 3;
                                                item.taskStatus = (int)taskStatus.已下发;
                                                item.remark = "已下发";
                                                position unlockPosition = mod.position.FirstOrDefault(x => x.positionName == convPlace);
                                                if (unlockPosition != null)
                                                {
                                                    // unlockPosition.isLock = true;
                                                    PositionHandler.Lock(true, unlockPosition, "处理未下发的任务(缸盖)", SysGloble.WCSNAME, item);
                                                }
                                                //起点库位解锁、设置无货 【EditBy shaocx,2022-03-23】
                                                position _sourcePlace = mod.position.FirstOrDefault(x => x.positionName == item.sourcePlace);
                                                PositionHandler.LockAndFree(false, false, _sourcePlace, "处理未下发的任务(缸盖)，修改起点", SysGloble.WCSNAME, item);
                                                if (item.taskType == (int)taskType.空托回库 || item.taskType == (int)taskType.余料回库)
                                                {//给天永发信号
                                                    TianYongSystem.UpdateStoreByTaskID(mod, item, item.toPlace, (int)item.taskId, item.taskTypeName + ",离开天永站点");
                                                }

                                                int saveRes = mod.SaveChanges();
                                                #region 验证发送是否成功
                                                if (saveRes < 1)
                                                {
                                                    SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = "数据库保存失败！ 任务id:" + item.taskId;
                                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
                                                }
                                                else
                                                {//保存成功

                                                }
                                                #endregion
                                            }
                                            else
                                            {
                                                //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                item.remark = "发送AGV任务失败:" + res;
                                                mod.SaveChanges();


                                                SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "发送AGV任务失败:" + res + ",任务ID:" + item.taskId;
                                                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "RGV任务发送发送AGV任务失败:" + res + ", 任务id:" + item.taskId);
                                            }

                                            #endregion
                                        }
                                        else
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-AGV繁忙,任务ID:" + item.taskId;
                                            item.remark = "AGV繁忙";
                                            mod.SaveChanges();
                                        }

                                    }
                                    else if (item.taskType == (int)taskType.缸盖下线直接去上线点)
                                    {//增加 缸体下线直接去上线点的分支判断 【EditBy shaocx,2022-02-06】
                                        SystemWarningMsg.Thread_HandleTaskForNoIssuedForDirectOnLinePoint__ErrMsg = MyExtend.HandleTaskForNoIssuedForDirectOnLinePoint(mod, agvs, item, agvSendStatus);
                                        item.remark = SystemWarningMsg.Thread_HandleTaskForNoIssuedForDirectOnLinePoint__ErrMsg;
                                        mod.SaveChanges();
                                    }
                                    else if (item.taskType == (int)taskType.手动出库 || item.taskType == (int)taskType.出库分拣
                                         || item.taskType == (int)taskType.空托人工出库
                                        )
                                    {//增加 手动出库的分支判断 【EditBy shaocx,2022-03-02】
                                        var errMsg = "";
                                        MyExtend.HandleTaskForutStoreBySrm(mod, item, ref errMsg);
                                        if (!string.IsNullOrEmpty(errMsg))
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = errMsg;
                                            item.remark = errMsg;
                                            mod.SaveChanges();
                                        }
                                    }
                                    else if (item.taskType == (int)taskType.缸体上线去旁路工位)
                                    {//增加 缸体下线直接去旁路工位 的分支 【EditBy shaocx,2022-04-24】 
                                        SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "，缸体上线去旁路工位，物料不应该是缸盖,任务ID:" + item.taskId;

                                        //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                        item.remark = "缸体上线去旁路工位，物料不应该是缸盖";
                                        mod.SaveChanges();
                                    }
                                    else if (item.taskType == (int)taskType.手动入库
                                        || item.taskType == (int)taskType.空托手动入库)
                                    {//增加手动入库的分支 【EditBy shaocx,2022-03-16】
                                        var errMsg = "";
                                        MyExtend.HandleTaskForHandInStore(mod, item, ref errMsg);
                                        if (!string.IsNullOrEmpty(errMsg))
                                        {
                                            SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = errMsg;
                                            item.remark = errMsg;
                                            mod.SaveChanges();
                                        }
                                    }
                                    else
                                    {
                                        string toplace = "";
                                        toplace = findConvPlaceFor_sendTaskForNoIssuedForGG(mod, item);
                                        if (string.IsNullOrEmpty(toplace))
                                        {
                                            break;//跳出循环
                                        }
                                        TaskHelper.sendTaskForNoIssuedFor发送堆垛机任务(mod, item, toplace);
                                    }
                                }
                            }
                            else
                            {
                                SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = "无任务发送";
                            }
                            #endregion
                        }
                        else
                        {
                            SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = "没有要处理的状态为未下发的任务";
                        }

                    }
                }
                catch (Exception ex)
                {
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTaskForNoIssued", ex.ToString());
                    SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = "出现异常:" + JsonConvert.SerializeObject(ex);
                }
            }
        }

        /// <summary>
        /// 寻找目标点(输送线站点)
        /// </summary>
        /// <param name="item"></param>
        /// <returns></returns>
        private string findConvPlaceFor_sendTaskForNoIssuedForGG(dbmodel mod, task item)
        {
            //找空闲输送线
            //string convPlace = convIsLock(3, item, TaskAreaEnum.缸盖侧);
            string convPlace = convIsLock_GG(3, item);

            if (convPlace != "")
            {

            }
            else
            {
                SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-输送线都被占用（或是被锁定，或是输送线上有货）,任务ID:" + item.taskId;
                item.remark = "输送线都被占用（或是被锁定，或是输送线上有货）";
                mod.SaveChanges();
            }
            return convPlace;
        }

        /// <summary>处理已下发的任务
        /// 处理已下发的任务
        /// </summary>
        private void sendTaskForHasIssued()
        {
            while (true)
            {
                Thread.Sleep(2000);
                try
                {
                    int ishaveTask = 0;
                    using (dbmodel mod = new dbmodel())
                    {
                        //area=1是缸体侧，area=2是缸盖侧
                        //先处理任务中的任务（在输送线上的）
                        var queryStatus = (int)taskStatus.已下发;
                        List<task> FinishTasking = mod.task.Where(x => x.taskStatus == queryStatus).ToList();
                        //List<task> FinishTasking = mod.task.Where(x => x.taskStatus == 3).ToList();
                        if (FinishTasking.Count > 0)
                        {
                            //List<task> bobyTask = FinishTasking.Where(x => x.area == 1).ToList();
                            var queryTaskAreaEnum = (int)TaskAreaEnum.缸体侧;
                            List<task> bobyTask = FinishTasking.Where(x => x.area == queryTaskAreaEnum).ToList();
                            #region 处理缸体未完成任务
                            if (bobyTask.Count > 0)
                            {
                                foreach (var item in bobyTask)
                                {
                                    string convPlace = "";
                                    convPlace = MyExtendHelper.GetConvPlace(conv1, conv2, conv3, conv4, item, TaskAreaEnum.缸体侧);

                                    //if (item.taskType == 3 || item.taskType == 5)
                                    if (item.taskType == (int)taskType.呼叫空托 || item.taskType == (int)taskType.缸体上线)
                                    {//呼叫空托 或 缸体上线

                                        #region 发送rgv任务
                                        if (convPlace != "")
                                        {
                                            bool isReadAgv = false;
                                            if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                            {
                                                #region 判断AGV是否空闲
                                                if (agvs.Count == 4)
                                                {
                                                    string isP = agvs[2].orderId == null ? "" : agvs[2].orderId.Substring(agvs[2].orderId.Length - 1, 1);
                                                    if (agvs[2].operatingMode == 2 && agvs[2].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                    {
                                                        isReadAgv = true;
                                                    }

                                                    isP = agvs[3].orderId == null ? "" : agvs[3].orderId.Substring(agvs[3].orderId.Length - 1, 1);
                                                    if (agvs[3].operatingMode == 2 && agvs[3].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                    {
                                                        isReadAgv = true;
                                                    }

                                                }


                                                #endregion
                                            }
                                            else
                                            {//虚拟模式或强制完成
                                                isReadAgv = true;
                                            }
                                            if (isReadAgv)
                                            {
                                                #region 发送AGV任务 并处理库存

                                                string res = "失败";
                                                if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                                {
                                                    res = baseData.sendAgvTask(item, item.taskId, convPlace, item.toPlace, 1);
                                                }
                                                else
                                                {//虚拟模式或强制完成
                                                    res = "";
                                                }
                                                string tasktype = "缸体呼叫空托盘/缸体上线";
                                                if (res == "")
                                                {
                                                    TaskHelper.sendTaskForHasIssuedFor呼叫空托And缸体上线And缸盖上线(mod, item, convPlace, tasktype);
                                                }
                                                else
                                                {
                                                    //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                    item.remark = "发送AGV任务失败:" + res;
                                                    mod.SaveChanges();

                                                    agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送AGV任务失败:" + res + ",任务ID:" + item.taskId;
                                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", tasktype + "发送AGV任务失败:" + res);
                                                }
                                                #endregion
                                            }
                                            else
                                            {
                                                agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-AGV繁忙,任务ID:" + item.taskId;
                                                //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                item.remark = "AGV繁忙";
                                                mod.SaveChanges();
                                            }
                                        }
                                        else
                                        {
                                            agvSendStatus[0] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-输送线都被占用,任务ID:" + item.taskId;
                                            //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                            item.remark = "输送线都被占用";
                                            mod.SaveChanges();
                                        }
                                        #endregion
                                    }
                                    else if (item.taskType == (int)taskType.缸体上线去旁路工位)
                                    {//增加 缸体上线去旁路工位 的分支判断 【EditBy shaocx,2022-04-23】

                                    }
                                    else if (item.taskType == (int)taskType.缸体下线直接去上线点)
                                    {//增加 缸体下线直接去上线点的分支判断 【EditBy shaocx,2022-02-06】

                                    }
                                    else if (item.taskType == (int)taskType.手动出库 || item.taskType == (int)taskType.出库分拣
                                        || item.taskType == (int)taskType.空托人工出库)
                                    {//增加 手动出库的分支判断 【EditBy shaocx,2022-03-02】

                                    }
                                    else if (item.taskType == (int)taskType.手动入库
                                        || item.taskType == (int)taskType.空托手动入库)
                                    {//增加手动入库的分支 【EditBy shaocx,2022-03-16】

                                    }
                                    else if (item.taskType == (int)taskType.缸体下线 ||
                                        item.taskType == (int)taskType.空托回库 || item.taskType == (int)taskType.空托下线入库
                                         || item.taskType == (int)taskType.余料回库
                                        )
                                    {//taskType 1缸体下线和6空托回库  7余料回库
                                        TaskHelper.sendTaskForHasIssuedFor发送堆垛机任务(mod, item, convPlace);
                                    }
                                    else if (item.taskType == (int)taskType.旁路工位缸体空托回库 || item.taskType == (int)taskType.旁路工位缸体余料回库
                                  )
                                    {
                                        TaskHelper.sendTaskForHasIssuedFor发送堆垛机任务(mod, item, item.middlePlace);
                                    }
                                    else //其他任务类型
                                    {


                                    }
                                }
                            }
                            else
                            {
                                agvSendStatus[1] = "";
                            }
                            #endregion
                            // List<task> lidTask = FinishTasking.Where(x => x.area == 2).ToList();
                            queryTaskAreaEnum = (int)TaskAreaEnum.缸盖侧;
                            List<task> lidTask = FinishTasking.Where(x => x.area == queryTaskAreaEnum).ToList();
                            #region 处理缸盖未完成任务
                            if (lidTask.Count > 0)
                            {
                                foreach (var item in lidTask)
                                {
                                    string convPlace = "";
                                    convPlace = MyExtendHelper.GetConvPlace(conv1, conv2, conv3, conv4, item, TaskAreaEnum.缸盖侧);
                                    if (convPlace != "")
                                    {
                                        if (item.taskType == (int)taskType.呼叫空托 || item.taskType == (int)taskType.缸盖上线)
                                        {//呼叫空托=3,   缸盖上线=4,
                                            #region 发送AGV任务
                                            bool isReadAgv = false;
                                            if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                            {
                                                if (agvs.Count == 4)
                                                {
                                                    #region 判断AGV是否空闲

                                                    string isP = agvs[0].orderId == null ? "" : agvs[0].orderId.Substring(agvs[0].orderId.Length - 1, 1);
                                                    if (agvs[0].operatingMode == 2 && agvs[0].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                    {
                                                        isReadAgv = true;
                                                    }

                                                    isP = agvs[1].orderId == null ? "" : agvs[1].orderId.Substring(agvs[1].orderId.Length - 1, 1);
                                                    if (agvs[1].operatingMode == 2 && agvs[1].battery > 0.4 && MyExtendHelper.ValidateAgvNoParting(isP))
                                                    {
                                                        isReadAgv = true;
                                                    }
                                                    #endregion
                                                }
                                            }
                                            else
                                            {//虚拟模式或强制完成
                                                isReadAgv = true;
                                            }
                                            if (isReadAgv)
                                            {
                                                string res = "失败";
                                                if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                                                {
                                                    res = baseData.sendAgvTask(item, item.taskId, convPlace, item.toPlace, 1);
                                                }
                                                else
                                                {//虚拟模式或强制完成
                                                    res = "";
                                                }
                                                if (res == "")
                                                {
                                                    agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送成功,任务ID:" + item.taskId;
                                                    #region 发送AGV任务成功后
                                                    TaskHelper.sendTaskForHasIssuedFor呼叫空托And缸体上线And缸盖上线(mod, item, convPlace, "");
                                                    #endregion
                                                }
                                                else
                                                {
                                                    //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                    item.remark = "发送AGV任务失败:" + res;
                                                    mod.SaveChanges();

                                                    agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "发送AGV任务失败:" + res + ",任务ID:" + item.taskId;
                                                }

                                            }
                                            else
                                            {
                                                agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-AGV繁忙,任务ID:" + item.taskId;
                                                //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                                item.remark = "AGV繁忙";
                                                mod.SaveChanges();
                                            }
                                            #endregion
                                        }
                                        else if (item.taskType == (int)taskType.缸盖下线直接去上线点)
                                        {//增加 缸体下线直接去上线点的分支判断 【EditBy shaocx,2022-02-06】

                                        }
                                        else if (item.taskType == (int)taskType.手动出库 || item.taskType == (int)taskType.出库分拣
                                            || item.taskType == (int)taskType.空托人工出库)
                                        {//增加 手动出库的分支判断 【EditBy shaocx,2022-03-02】

                                        }
                                        else if (item.taskType == (int)taskType.手动入库
                                            || item.taskType == (int)taskType.空托手动入库)
                                        {//增加手动入库的分支 【EditBy shaocx,2022-03-16】

                                        }
                                        else if (item.taskType == (int)taskType.缸体上线去旁路工位)
                                        {//增加 缸体上线去旁路工位 的分支判断 【EditBy shaocx,2022-04-23】

                                        }
                                        else
                                        {
                                            TaskHelper.sendTaskForHasIssuedFor发送堆垛机任务(mod, item, convPlace);
                                        }
                                    }
                                    else
                                    {
                                        agvSendStatus[1] = DateTime.Now.ToString("dd日HH:mm:ss") + "没发送任务-输送线都被占用,任务ID:" + item.taskId;
                                        //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                        item.remark = "输送线都被占用";
                                        mod.SaveChanges();
                                    }
                                }
                            }
                            else
                            {
                                agvSendStatus[0] = "无任务";
                            }
                            #endregion
                        }
                        else
                        {
                            SystemWarningMsg.Thread_SendTask_ErrMsg = "没有要处理的状态为已下发的任务";
                            ishaveTask = 1;
                        }
                        #region 更改信息状态
                        if (ishaveTask == 1)
                        {
                            agvSendStatus[0] = "无任务发送";
                            agvSendStatus[1] = "无任务发送";
                        }
                        #endregion
                    }
                }
                catch (Exception ex)
                {
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTaskForHasIssued", ex.ToString());
                    SystemWarningMsg.Thread_SendTask_ErrMsg = "出现异常:" + JsonConvert.SerializeObject(ex);
                }
            }
        }


        /// <summary>
        /// 处理分拣完成的任务
        /// </summary>
        private void sendTaskForPick()
        {
            while (true)
            {
                Thread.Sleep(2000);
                try
                {
                    using (dbmodel mod = new dbmodel())
                    {
                        var queryStatus_NoIssue = (int)taskStatus.分拣完成;
                        List<task> noFinishTask = mod.task.Where(x => x.taskStatus == queryStatus_NoIssue).ToList();
                        if (noFinishTask.Count > 0)
                        {
                            var item = noFinishTask[0];
                            #region 发送堆垛机任务
                            if (!MyExtendHelper.IsAllowSimulatorHandle(item))
                            {
                                //if (srm.mode == "自动" && srm.Alarm_info == "无故障" && srm.state == "待机")
                                if (MyExtendHelper.IsAllowSendNewTaskToSrm())
                                {
                                    #region 发送输送线放料完成信号任务
                                    TransEnum _TransEnum = MyExtendHelper.GetTransByPlace(item.toPlace);
                                    TransService.LoadMaterialConfirm(Convert.ToInt32(_TransEnum) - 1);
                                    #endregion

                                    baseData.sendSrmTask(item, item.taskId, item.toPlace, item.sourcePlace, 1);
                                }
                                else
                                {
                                    //保存失败信息到任务表中 【EditBy shaocx,2022-03-16】
                                    item.remark = "堆垛机不是自动，无故障，待机状态，不能下发堆垛机任务!!!!";
                                    mod.SaveChanges();
                                    SystemWarningMsg.Thread_sendTaskForPick_ErrMsg = "堆垛机不是自动，无故障，待机状态，不能下发堆垛机任务";
                                    continue;
                                }
                            }
                            else
                            {//虚拟模式或强制完成

                            }
                            //保存任务记录
                            item.taskStatus = (int)taskStatus.分拣完成后下发设备任务;
                            item.remark = "分拣完成后下发设备任务";
                            //增加出库单 状态更改
                            #endregion

                            int saveRes = mod.SaveChanges();

                            for (int i = 0; i < 4; i++)
                            {
                                if (saveRes < 1)
                                {
                                    saveRes = mod.SaveChanges();
                                }
                                else
                                {
                                    break;
                                }
                            }
                            if (saveRes < 1)
                            {
                                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTask", "数据库保存失败！ 任务id:" + item.taskId);
                                SystemWarningMsg.Thread_sendTaskForPick_ErrMsg = "数据库保存失败！ 任务id:" + item.taskId;
                            }
                        }
                        else
                        {
                            SystemWarningMsg.Thread_sendTaskForPick_ErrMsg = "没有要处理的状态为未下发的任务";
                        }

                    }
                }
                catch (Exception ex)
                {
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "sendTaskForPick", ex.ToString());
                    SystemWarningMsg.Thread_sendTaskForPick_ErrMsg = "出现异常:" + JsonConvert.SerializeObject(ex);
                }
            }
        }

        #endregion

        #endregion

        #region 处理新建的出库表单[缸体上线、缸盖上线]

        /// <summary>
        /// 处理新建的出库表单[缸体上线、缸盖上线]
        /// </summary>
        public void HandleOutStockList()
        {
            while (true)
            {
                Thread.Sleep(2000);
                try
                {
                    var errMsg = "";
                    var queryStatus1 = (int)taskStatus.新建;
                    var _taskType1 = (int)taskType.缸体上线;
                    var _taskType2 = (int)taskType.缸盖上线;
                    var _taskType3 = (int)taskType.缸体上线去旁路工位;//增加 缸体上线去旁路工位 的分支 【EditBy shaocx,2022-04-23】
                    List<task> taskList = null;
                    using (dbmodel mod = new dbmodel())
                    {
                        taskList = mod.task.Where(x => x.taskStatus == queryStatus1
                            && (x.taskType == _taskType1 || x.taskType == _taskType2 || x.taskType == _taskType3)
                            ).OrderBy(x => x.createTime).ToList();
                        if (taskList != null && taskList.Count > 0)
                        {
                            foreach (var item in taskList)
                            {
                                bool result = MyExtend.DoHandleOutStockList(mod, item, ref errMsg);
                                if (result == false)
                                {
                                    SystemWarningMsg.Thread_HandleOutStockList_Msg = "返回错误:" + errMsg + ",任务ID：" + item.taskId;
                                }
                            }
                        }
                        else
                        {
                            SystemWarningMsg.Thread_HandleOutStockList_Msg = "没有要处理的新建的出库表单";
                        }
                    }
                }
                catch (Exception ex)
                {
                    SystemWarningMsg.Thread_HandleOutStockList_Msg = "异常" + ex.ToString();
                }
            }
        }
        #endregion

        /// <summary>堆垛机完成确认
        /// 
        /// </summary>
        public void SrmfinishConfirm()
        {
            while (true)
            {
                // 库位类型，库口=0，空库位=1，缸体=2，缸盖=3,缸体空托盘=4，缸盖空托盘=5，空托盘=6
                Thread.Sleep(2000);
                string plc_taskID = "";//PLC任务号
                try
                {
                    var errMsg = "";
                    //增加查询条件 [EditBy shaocx,2022-03-02]
                    var queryStatus1 = (int)taskStatus.完成;
                    var queryStatus2 = (int)taskStatus.作废;
                    var queryStatus3 = (int)taskStatus.新建;
                    task finishTask = null;
                    using (dbmodel mod = new dbmodel())
                    {
                        if (!isvirtual)
                        {//正式环境
                            //首先读取那些被强制完成的任务
                            finishTask = mod.task.FirstOrDefault(x => (x.isForceComplete == 1 && x.taskStatus != queryStatus1 && x.taskStatus != queryStatus2 && x.taskStatus != queryStatus3));
                            if (finishTask != null)
                            {
                                bool result = MyExtend.HandleSrmfinishConfirm(mod, finishTask, ref errMsg);
                                if (result == false)
                                {
                                    SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "返回错误:" + errMsg + ",任务号：" + finishTask.taskId;
                                }
                                else
                                {
                                    SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "正式环境下，处理任务成功,任务号：" + finishTask.taskId;
                                }
                            }
                            else
                            {
                                SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "正式环境下，没有任务要处理";
                            }
                            finishTask = null;
                            if (srm.taskFinish == "完成")
                            {
                                plc_taskID = srm.TaskID.ToString();
                                finishTask = mod.task.FirstOrDefault(x => x.PlcTaskNo == plc_taskID && (x.taskStatus != queryStatus1 && x.taskStatus != queryStatus2 && x.taskStatus != queryStatus3));
                                if (finishTask != null)
                                {
                                    bool result = MyExtend.HandleSrmfinishConfirm(mod, finishTask, ref errMsg);
                                    if (result == false)
                                    {
                                        SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "返回错误:" + errMsg + ",任务号：" + finishTask.taskId;
                                    }
                                    else
                                    {//保存数据成功
                                        if (!MyExtendHelper.IsAllowSimulatorHandle(finishTask))
                                        {
                                            siemensTcpNet_srm.Write(srmdb.W_Task_Finish_ACK, Convert.ToInt16(1));//确认任务
                                        }
                                        SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "处理任务成功,任务号：" + finishTask.taskId;
                                    }
                                }
                                else
                                {
                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "SrmfinishConfirm", "PLC任务ID：" + plc_taskID + "数据库找不到状态不是已完成或作废的此任务");
                                    SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "PLC任务ID：" + plc_taskID + "数据库找不到状态不是已完成或作废的此任务";
                                    if (!MyExtendHelper.IsAllowSimulatorHandle(finishTask))
                                    {
                                        siemensTcpNet_srm.Write(srmdb.W_Task_Finish_ACK, Convert.ToInt16(1));//确认任务
                                    }
                                }
                            }
                            else
                            {
                                if (!MyExtendHelper.IsAllowSimulatorHandle(finishTask))
                                {
                                    siemensTcpNet_srm.Write(srmdb.W_Task_Finish_ACK, Convert.ToInt16(0));//没完成就0 堆垛机plc需要
                                }
                            }
                        }
                        else
                        {//虚拟模式
                            finishTask = mod.task.FirstOrDefault(x => (x.taskStatus != queryStatus1 && x.taskStatus != queryStatus2 && x.taskStatus != queryStatus3));
                            if (finishTask != null)
                            {
                                bool result = MyExtend.HandleSrmfinishConfirm(mod, finishTask, ref errMsg);
                                if (result == false)
                                {
                                    SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "返回错误:" + errMsg + ",任务号：" + finishTask.taskId;
                                }
                                else
                                {
                                    SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "模拟环境下！！！，处理任务成功,任务号：" + finishTask.taskId;
                                }
                            }
                            else
                            {
                                SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "模拟环境下！！！，没有任务要处理";
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "finishConfirm", "PLC任务ID：" + plc_taskID + ex.ToString());
                    SystemWarningMsg.Thread_SrmfinishConfirm_Msg = "PLC任务ID：" + plc_taskID + ex.ToString();
                }
            }
        }


        /// <summary>
        /// MES数据推送
        /// </summary>
        public void mesDataTranffic()
        {
            while (true)
            {
                //SystemWarningMsg.msg_mesDataTranffic = "";
                try
                {
                    Thread.Sleep(3000);
                    using (dbmodel mod = new dbmodel())
                    {
                        List<task> sendMesData = mod.task.Where(x => x.sendMesed == 1).ToList();
                        //增加任务状态的过滤 【EditBy shaocx,2022-02-06】
                        var queryStatus = (int)taskStatus.完成;
                        sendMesData = sendMesData.Where(x => x.taskStatus == queryStatus).ToList();

                        if (sendMesData.Count > 0)
                        {
                            foreach (var itemTask in sendMesData)
                            {
                                try
                                {
                                    mesMsg res = null;
                                    if (isvirtual)
                                    {//模拟环境
                                        res = new mesMsg();
                                        res.ErrorCode = 0;
                                        res.ErrorMsg = "模拟环境下，模拟发送";
                                    }
                                    else
                                    {//正式环境
                                        switch (itemTask.taskType)
                                        {
                                            case (int)taskType.缸盖上线:
                                                res = mesDataManipulation.OUTStockSend("0", itemTask.materialCode, (decimal)itemTask.quantity);
                                                break;
                                            case (int)taskType.缸盖下线:
                                                res = mesDataManipulation.InStockSend("0", "汽油机车间-机加工-缸盖线", (decimal)itemTask.quantity, itemTask.materialCode);
                                                break;
                                            case (int)taskType.缸体上线:
                                            case (int)taskType.缸体上线去旁路工位://增加 缸体上线去旁路工位 的分支 【EditBy shaocx,2022-04-23】
                                                res = mesDataManipulation.OUTStockSend("0", itemTask.materialCode, (decimal)itemTask.quantity);
                                                break;
                                            case (int)taskType.缸体下线:
                                                res = mesDataManipulation.InStockSend("0", "汽油机车间-机加工-机体线", (decimal)itemTask.quantity, itemTask.materialCode);
                                                break;
                                            case (int)taskType.余料回库:
                                                res = mesDataManipulation.OUTStockSend("1", itemTask.materialCode, (decimal)itemTask.quantity);
                                                break;
                                            //增加推送类型 【EditBy shaocx,2022-02-06】
                                            case (int)taskType.缸盖下线直接去上线点:
                                                //缸盖下线
                                                res = mesDataManipulation.InStockSend("0", "汽油机车间-机加工-缸盖线", (decimal)itemTask.quantity, itemTask.materialCode);
                                                //缸盖上线
                                                res = mesDataManipulation.OUTStockSend("0", itemTask.materialCode, (decimal)itemTask.quantity);
                                                break;
                                            case (int)taskType.缸体下线直接去上线点:
                                                //缸体下线
                                                res = mesDataManipulation.InStockSend("0", "汽油机车间-机加工-机体线", (decimal)itemTask.quantity, itemTask.materialCode);
                                                //缸体上线
                                                res = mesDataManipulation.OUTStockSend("0", itemTask.materialCode, (decimal)itemTask.quantity);
                                                break;
                                            default:
                                                break;
                                        }
                                    }

                                    if (res != null)
                                    {
                                        if (res.ErrorCode < 3)
                                        {
                                            itemTask.sendMesed = res.ErrorCode == 0 ? 2 : 3; //1=未发送,2=发送成功,3=发送失败,o是空托盘不参与对接
                                            itemTask.mesReply = res.ErrorMsg;
                                            mod.SaveChanges();
                                        }
                                    }

                                }
                                catch (Exception ex)
                                {
                                    SystemWarningMsg.msg_mesDataTranffic = "推送给MES数据异常:" + JsonConvert.SerializeObject(ex);
                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "mesDataTranffic", SystemWarningMsg.msg_mesDataTranffic);
                                }
                            }
                        }
                        else
                        {
                            SystemWarningMsg.msg_mesDataTranffic = "没有数据要推送给MES!";
                        }
                    }
                }
                catch (Exception ex)
                {
                    SystemWarningMsg.msg_mesDataTranffic = "数据要推送给MES出现异常:" + ex.Message;
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "mesDataTranffic数据要推送给MES出现异常:", SystemWarningMsg.msg_mesDataTranffic + "," + JsonConvert.SerializeObject(ex));
                }
            }

        }

     
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            Environment.Exit(0);//退出本进程所有线程
        }

        #region 组盘下发后，生成下线入库任务

        #region 原先的旧方法

        ///// <summary>生成下线入库任务
        ///// 
        ///// </summary>
        //private void inStockCodeToTask()
        //{


        //    while (true)
        //    {
        //        Thread.Sleep(3000);

        //        using (dbmodel mod = new dbmodel())
        //        {
        //            //EF事务
        //            //using (DbContextTransaction transaction = mod.Database.BeginTransaction())
        //            //{
        //            try
        //            {
        //                inStockOrder inTask = mod.inStockOrder.FirstOrDefault(x => x.status == 2);
        //                if (inTask != null)
        //                {
        //                    int tasktype = inTask.siteCode.Substring(0, 2) == "GT" ? 1 : 2;
        //                    //寻找空库位 2是缸体，3是缸盖
        //                    #region 生成任务
        //                    inTask.status = 3;
        //                    int saveRes = mod.SaveChanges();
        //                    if (saveRes == 1)
        //                    {
        //                        string toPlace = findStorage(tasktype + 1);
        //                        if (toPlace == "")
        //                        {
        //                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", "下线入库找不到库位 入库表单号：" + inTask.orderCode);
        //                            continue;
        //                        }
        //                        saveRes = 0;
        //                        task newInTask = new task();
        //                        newInTask.area = tasktype;//1是缸体侧 2是缸盖
        //                        newInTask.createListCode = inTask.orderCode;
        //                        newInTask.createTime = DateTime.Now;
        //                        newInTask.priority = 1;
        //                        newInTask.sourcePlace = inTask.siteCode;
        //                        newInTask.taskName = tasktype == 1 ? "缸体入库" : "缸盖入库";
        //                        newInTask.taskStatus = 2;
        //                        newInTask.taskType = tasktype;
        //                        newInTask.toPlace = toPlace.Split('/')[0];
        //                        newInTask.materialCode = inTask.productCode;
        //                        newInTask.materialName = inTask.productName;
        //                        newInTask.quantity = inTask.quantity;
        //                        newInTask.sendMesed = 1;//1=未发送,2=发送成功,3=发送失败
        //                        newInTask.mesReply = "未发送";
        //                        newInTask.supplier = inTask.supplier;//供应商 【EditBy shaocx,2022-01-15】
        //                        newInTask.containerCode = inTask.containerCode;//托盘号  【EditBy shaocx,2022-01-15】
        //                        mod.task.Add(newInTask);
        //                        saveRes = mod.SaveChanges();
        //                        if (saveRes != 1)
        //                        {
        //                            WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", "下线入库保存任务失败入库表单号：" + inTask.orderCode);
        //                        }
        //                        saveRes = 0;
        //                    }
        //                    else
        //                    {
        //                        WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", "下线入库状态修改失败表单号：" + inTask.orderCode);
        //                    }
        //                    #endregion
        //                }

        //                //transaction.Commit();
        //            }
        //            catch (Exception ex)
        //            {
        //                //保存失败 抛异常 回滚
        //                // transaction.Rollback();
        //                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", ex.ToString());
        //            }
        //            //}
        //        }

        //    }
        //}

        #endregion

        #region 新方法

        /// <summary>组盘下发后，生成下线入库任务
        /// 
        /// </summary>
        private void inStockCodeToTask()
        {
            while (true)
            {
                Thread.Sleep(3000);
                SystemWarningMsg.Thread_inStockCodeToTask_ErrMsg = "";
                using (dbmodel mod = new dbmodel())
                {
                    var queryStatus = (int)InStockOrderStatus.待下发;
                    inStockOrder inTask = mod.inStockOrder.FirstOrDefault(x => x.status == queryStatus);
                    //inStockOrder inTask = mod.inStockOrder.FirstOrDefault(x => x.status == 2);
                    if (inTask != null)
                    {
                        #region 事务处理

                        using (var trans = mod.Database.BeginTransaction())
                        {
                            try
                            {

                                taskType tasktype = MyExtendHelper.GetTaskTypeForInStockOrder(inTask);
                                //寻找空库位 2是缸体，3是缸盖
                                #region 生成任务
                                //inTask.status = 3;
                                inTask.status = (int)InStockOrderStatus.已下发;
                                int saveRes = mod.SaveChanges();
                                if (saveRes == 1)
                                {
                                    //增加 toStieCode的判断 【EditBy shaocx,2022-02-06】
                                    string taskName = "";
                                    string toPlace = FindToPlaceForInStockOrder(inTask, (int)tasktype, ref taskName);
                                    if (string.IsNullOrEmpty(toPlace))
                                    {
                                        WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", "下线入库找不到库位 入库表单号：" + inTask.orderCode);
                                        throw new Exception("下线入库找不到立库空库位 入库表单号：" + inTask.orderCode);
                                    }
                                    saveRes = 0;
                                    task newInTask = new task();
                                    newInTask.area = MyExtendHelper.GetTaskAreaForInStockOrder(inTask);//1是缸体侧 2是缸盖
                                    newInTask.createListCode = inTask.orderCode;
                                    newInTask.createTime = DateTime.Now;
                                    newInTask.priority = 1;
                                    newInTask.sourcePlace = inTask.siteCode;
                                    newInTask.taskType = (int)tasktype;
                                    newInTask.taskTypeName = tasktype.ToString();
                                    newInTask.taskName = taskName;
                                    //newInTask.taskStatus = 2;
                                    newInTask.taskStatus = (int)taskStatus.未下发;
                                    newInTask.remark = "未下发";

                                    newInTask.toPlace = toPlace;
                                    newInTask.materialCode = inTask.productCode;
                                    newInTask.materialName = inTask.productName;
                                    newInTask.quantity = inTask.quantity;
                                    newInTask.sendMesed = 1;//1=未发送,2=发送成功,3=发送失败
                                    newInTask.mesReply = "未发送";
                                    newInTask.supplier = inTask.supplier;//供应商 【EditBy shaocx,2022-01-15】
                                    newInTask.containerCode = inTask.containerCode;//托盘号  【EditBy shaocx,2022-01-15】
                                    newInTask.version = inTask.version;//机型
                                    newInTask.creator = SysGloble.WCSNAME;
                                    //记录PLC任务号和AGV任务号 【EditBy shaocx,2022-03-28】
                                    newInTask.PlcTaskNo = TaskNoHelper.CreatePlcTaskIdForSrmTaskPublic(1);
                                    newInTask.AgvTaskNo = TaskNoHelper.CreateTaskIdForAgvTask(newInTask.PlcTaskNo);
                                    mod.task.Add(newInTask);
                                    saveRes = mod.SaveChanges();
                                    if (saveRes != 1)
                                    {
                                        WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", "下线入库保存任务失败入库表单号：" + inTask.orderCode);
                                        throw new Exception("下线入库保存任务失败入库表单号：" + inTask.orderCode);
                                    }
                                    trans.Commit();
                                    saveRes = 0;
                                }
                                else
                                {
                                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", "下线入库状态修改失败表单号：" + inTask.orderCode);
                                    throw new Exception("修改入库单状态为已下发失败" + inTask.orderCode);
                                }
                                #endregion

                            }
                            catch (Exception ex)
                            {
                                SystemWarningMsg.Thread_inStockCodeToTask_ErrMsg = ex.Message;
                                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", ex.ToString());
                                trans.Rollback();
                            }
                        }

                        #endregion
                    }
                }
            }
        }

        /// <summary>
        /// 处理入库单，寻找最终的目标库位 【EditBy shaocx,2022-02-06】
        /// </summary>
        /// <param name="inTask"></param>
        /// <param name="tasktype"></param>
        /// <returns></returns>
        private string FindToPlaceForInStockOrder(inStockOrder inTask, int tasktype, ref string taskName)
        {
            taskType _taskType = (taskType)Enum.Parse(typeof(taskType), tasktype.ToString());

            //增加 toStieCode的判断 【EditBy shaocx,2022-02-06】
            string toPlace = string.Empty;
            if (string.IsNullOrEmpty(inTask.toStieCode))
            {
                //toPlace = findStorage(tasktype + 1);
                positionType _positionType = default(positionType);
                // inTask.orderType = isGT == true ? 1 : 2;//1=缸体,2=缸盖
                _positionType = inTask.orderType == 1 ? positionType.缸体 : positionType.缸盖;
                toPlace = findStorage((int)_positionType);
                //taskName = tasktype == 1 ? "缸体入库" : "缸盖入库";
                taskName = _taskType.ToString();
            }
            else
            {//表示不入立体库，直接去天永机器人那里
                toPlace = inTask.toStieCode;

                taskName = _taskType.ToString();
            }
            if (toPlace == "")
            {
                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "inStockCodeToTask", "下线入库找不到库位 入库表单号：" + inTask.orderCode);
                return toPlace;
            }
            //格式化数据
            if (string.IsNullOrEmpty(inTask.toStieCode))
            {
                toPlace = toPlace.Split('/')[0];
            }

            return toPlace;
        }

        #endregion

        #endregion

        #region 寻找库位

        /// <summary>
        /// 缸盖寻找空输送线站点
        /// </summary>
        /// <param name="convCode"></param>
        /// <param name="_task"></param>
        /// <param name="_TaskAreaEnum"></param>
        /// <returns></returns>
        private string convIsLock_GG(int convCode, task _task)
        {
            if (single_convIsLock_GG.WaitOne())//增加线程锁防止并发
            {
                try
                {
                    return convIsLock(convCode, _task, TaskAreaEnum.缸盖侧);
                }
                catch (Exception ex)
                {
                    throw ex;
                }
                finally
                {
                    single_convIsLock_GG.ReleaseMutex();
                }//一轮结束
            }
            return "";
        }

        /// <summary>
        /// 缸体寻找空输送线站点
        /// </summary>
        /// <param name="convCode"></param>
        /// <param name="_task"></param>
        /// <param name="_TaskAreaEnum"></param>
        /// <returns></returns>
        private string convIsLock_GT(int convCode, task _task)
        {
            if (single_convIsLock_GT.WaitOne())//增加线程锁防止并发
            {
                try
                {
                    return convIsLock(convCode, _task, TaskAreaEnum.缸体侧);
                }
                catch (Exception ex)
                {
                    throw ex;
                }
                finally
                {
                    single_convIsLock_GT.ReleaseMutex();
                }//一轮结束
            }
            return "";
        }
        /// <summary>判断输送线是否都锁定和是否有货
        /// 
        /// </summary>
        /// <param name="convCode">1=1,2号输送线/缸体侧，3=3,4号输送线/缸盖侧</param>
        /// <returns></returns>
        private string convIsLock(int convCode, task _task, TaskAreaEnum _TaskAreaEnum)
        {
            //2021-11月24改任务发送成功后再锁定 这里不锁定
            string convPlace = "";
            if (MyExtendHelper.IsAllowSimulatorHandle(_task))
            {//虚拟模式或者是强制完成

                switch (_TaskAreaEnum)
                {
                    case TaskAreaEnum.缸体侧:
                        convPlace = "2-39-1";//写死
                        break;
                    case TaskAreaEnum.缸盖侧:
                        convPlace = "1-0-1";//写死
                        break;
                }
                return convPlace;
            }
            try
            {
                long num1 = convCode == 3 ? (long)1 : (long)230;
                long num2 = convCode == 3 ? (long)231 : (long)460;
                using (dbmodel mod = new dbmodel())
                {
                    //3,4号输送线  库位ID----1号=460(2-39-1) 2号230(1-39-1)  3号1(1-0-1) 4号231(2-0-1)
                    List<position> pos = mod.position.Where(x => x.positionId == num1 || x.positionId == num2).ToList();

                    if (convCode == 3)
                    {
                        #region 缸盖测
                        if (pos[0].isLock == false && conv3.position == "0")
                        {
                            convPlace = pos[0].positionName;

                        }
                        else
                        {
                            if (pos[1].isLock == false && conv4.position == "0")
                            {
                                convPlace = pos[1].positionName;

                            }

                        }
                        #endregion
                    }
                    else
                    {
                        #region 缸体侧
                        if (pos[0].isLock == false && conv2.position == "0")
                        {
                            convPlace = pos[0].positionName;

                        }
                        else
                        {
                            if (pos[1].isLock == false && conv1.position == "0")
                            {
                                convPlace = pos[1].positionName;

                            }
                        }
                        #endregion

                    }

                    //增加校验,如果该点有未结束的任务占用，则抛异常 【Editby shaocx,2024-10-09】
                    if (!string.IsNullOrEmpty(convPlace))
                    {
                        var isStationHasDoingTaskResult = MyExtendHelper.IsStationHasDoingTaskForMiddlePlace(mod, convPlace);
                        if (isStationHasDoingTaskResult.result == false)
                        {
                            // throw new Exception(isStationHasDoingTaskResult.resMsg);
                            return string.Empty;
                        }
                        //*/
                    }
                }
            }
            catch (Exception ex)
            {
                convPlace = "";
                WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "convIsLock", ex.ToString());
            }

            return convPlace;
        }

        #endregion



        #region 辅助
        ///// <summary>
        ///// 生存库位
        ///// </summary>
        //public void posiont()
        //{
        //    using (dbmodel mod = new dbmodel())
        //    {
        //        for (byte i = 1; i < 3; i++)
        //        {
        //            for (byte j = 0; j < 40; j++)
        //            {
        //                for (byte k = 1; k < 7; k++)
        //                {
        //                    if (j == 0 || j == 39)
        //                    {
        //                        if (k > 1)
        //                        {
        //                            continue;
        //                        }
        //                    }
        //                    position addp = new position();

        //                    addp.positionName = i + "-" + j + "-" + k;
        //                    addp.row = i;
        //                    addp.col = j;
        //                    addp.layer = k;
        //                    addp.isLock = false;
        //                    addp.isfree = false;
        //                    addp.positionType = 1;
        //                    addp.enable = true;
        //                    mod.position.Add(addp);

        //                }
        //            }
        //        }
        //        int aa = mod.SaveChanges();

        //        MessageBox.Show("写入" + aa + "条");
        //    }
        //}
        #endregion

        #region 定时删除数据

        /// <summary>
        /// 定时删除数据
        /// </summary>
        public void DeleteData()
        {
            while (true)
            {
                try
                {
                    LogTextHelper.BatchDeleteLog();
                    LogTextHelper.BatchDeleteLog(@"H:\\api\\YUN\\Log");
                    LogTextHelper.BatchDeleteLog(@"H:\\api\\YUN\\Log");//移除log4日志
                    ClearDataHandler.Delete_System_TianYongLog(7);
                    ClearDataHandler.Delete_StockClearLog(30);
                    ClearDataHandler.Delete_taskRecord(30);
                    ClearDataHandler.Delete_System_TianYongEmptyBackLog(7);

                    ClearDataHandler.Delete_serialNumberHistory(30);

                    SystemWarningMsg.Thread_lbl_ClearDataMsg = "成功";
                }
                catch (Exception ex)
                {
                    SystemWarningMsg.Thread_lbl_ClearDataMsg = ex.Message;
                }
                finally
                {
                    Thread.Sleep(24 * 60 * 60 * 1000);//每天一次 
                }
            }
        }

        #endregion


        #region 定时刷新数据

        /// <summary>
        /// 定时刷新数据
        /// </summary>
        public void RefershData()
        {
            while (true)
            {
                try
                {
                    var showNowTime = "(" + DateTimeHelper.ConvertToStringForOnlyShowTime(DateTime.Now) + ")";

                    this.lbl_sendTask_errMsg.Text = showNowTime + SystemWarningMsg.Thread_SendTask_ErrMsg;

                    this.lbl_inStockCodeToTask_errMsg.Text = showNowTime + SystemWarningMsg.Thread_inStockCodeToTask_ErrMsg;

                    this.lbl_NoIssueTaskMsg_GT.Text = showNowTime + SystemWarningMsg.Thread_SendTask_NoIssue_GT_ErrMsg;
                    this.lbl_NoIssueTaskMsg_GG.Text = showNowTime + SystemWarningMsg.Thread_SendTask_NoIssue_GG_ErrMsg;
                    this.lbl_Thread_HandleTaskForNoIssuedForDirectOnLinePoint__ErrMsg.Text = showNowTime + SystemWarningMsg.Thread_HandleTaskForNoIssuedForDirectOnLinePoint__ErrMsg;

                    this.lbl_msg_mesDataTranffic.Text = showNowTime + SystemWarningMsg.msg_mesDataTranffic;
                    this.lbl_msg_mesDataTranffic_V2.Text = showNowTime + SystemWarningMsg.msg_mesDataTranfficForRealMes;

                    this.lbl_sendTaskForPick_ErrMsg.Text = showNowTime + SystemWarningMsg.Thread_sendTaskForPick_ErrMsg;
                    this.lbl_ClearDataMsg.Text = showNowTime + SystemWarningMsg.Thread_lbl_ClearDataMsg;

                    this.lbl_Thread_lbl_shouEntity_Srm.Text = showNowTime + SystemWarningMsg.Thread_lbl_shouEntity_Srm;


                    this.lbl_agvSendStatus1.Text = showNowTime + agvSendStatus[0];
                    this.lbl_agvSendStatu2.Text = showNowTime + agvSendStatus[1];


                    this.lbl_SrmfinishConfirm_Msg.Text = showNowTime + SystemWarningMsg.Thread_SrmfinishConfirm_Msg;

                    this.lbl_Thread_HandleOutStockList_Msg.Text = showNowTime + SystemWarningMsg.Thread_HandleOutStockList_Msg;

                }
                catch (Exception ex)
                {

                }
                finally
                {
                    Thread.Sleep(1000);
                }
            }
        }

        #endregion

        #region 计算产量，并写入PLC

        /// <summary>
        /// 计算产量，并写入PLC
        /// </summary>
        public void CalcQty()
        {
            while (true)
            {
                try
                {
                    MyExtend.CalcQty();
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "CalcQty", "计算产量，并写入PLC成功");
                }
                catch (Exception ex)
                {
                    WZ.Useful.Commons.LogTextHelper.WriteLine("Form1", "CalcQty", "计算产量，并写入PLC失败:" + ex.Message + ex.ToString());
                }
                finally
                {
                    Thread.Sleep(6 * 60 * 60 * 1000);//6小时一次
                }
            }
        }

        #endregion
    }

}