BaoKai_202508-Wcs-Jingwang.ChenPin-Jiangxi/WCSIce/MainForm.cs


using Common;
using DevExpress.XtraEditors;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System.Windows.Forms;
using WCS.Properties;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using DevExpress.XtraSplashScreen;
using HslCommunication.Profinet.Siemens;
using HslCommunication.Profinet.Inovance;
using HslCommunication;
using System.Threading.Tasks;
using WCS.Business.Dao;
using System.Xml.Serialization;
using DevExpress.Emf;
using DevExpress.Utils.DirectXPaint;
using System.Text.RegularExpressions;
using DevExpress.XtraRichEdit.Model;
using System.Reflection.Emit;
using static Google.Protobuf.Reflection.SourceCodeInfo.Types;
using DevExpress.XtraReports.UI;
using DevExpress.Utils.Extensions;
using DevExpress.XtraRichEdit.Import.Html;
using DevExpress.Utils;
using System.Web.UI;
using DevExpress.XtraReports.Data;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.StartPanel;
using DevExpress.XtraBars.Docking2010.Views.Widget;
using System.Collections;
using static DevExpress.Data.Helpers.SyncHelper.ZombieContextsDetector;
using DevExpress.XtraRichEdit.Services;
using DevExpress.XtraRichEdit.Import.Doc;

namespace WCS
{
    
    public partial class MainForm : DevExpress.XtraEditors.XtraForm
    {
        public List<string> stockerip = new List<string>();
        Dictionary<int, SiemensS7Net> plcModbus = new Dictionary<int, SiemensS7Net>();
        //SiemensS7Net SiemensPlcDDJ1 = new SiemensS7Net(SiemensPLCS.S1200, RfConfig.Create().ScanIp1);
        //SiemensS7Net SiemensPlcDDJ2 = new SiemensS7Net(SiemensPLCS.S1200, RfConfig.Create().WmsPort);
        //SiemensS7Net SiemensPlcSSJ = new SiemensS7Net(SiemensPLCS.S1200, RfConfig.Create().ScanIp2);
        private InovanceTcpNet inovanceH3UTcp = null;
        string MesIpPort = "";
        string modeType = "";
        string timeNum = "";
        string[] DDJRkStation = new string[] { "SSJ01", "SSJ03", "SSJ05", "SSJ07", "SSJ09", "SSJ11" };//堆垛机入库取货站台

        string[] DDJ_Finish  = new string[] { "1", "2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "12", "13", "14", "15", "16", "17", "18", "19", "20" };//堆垛机入库取货站台

        string[] BcrRkStation  = new string[] { "SSJ96","SSJ50","SSJ53","SSJ56","SSJ81","SSJ84","SSJ88","SSJ91" };//托盘入库口 读取条码

        string[] CkStation = new string[] { "102"};//堆垛机出库库放货站台
        string[] TwoSSJStation  = new string[] { "21", "23", "24", "26" };
        Socket socketWeight, socketWeight2;


        
        public MainForm()
        {
            InitializeComponent();
            ThreadExceptionDialog.CheckForIllegalCrossThreadCalls = false;
            DevExpress.Data.CurrencyDataController.DisableThreadingProblemsDetection = true;
        }


        #region 全局变量初始化

        Dictionary<string, string> decFauleList = new Dictionary<string, string>();

        Dictionary<string, string> ssjStationONE = new Dictionary<string, string>();
        Dictionary<string, string> ssjStationTHREE = new Dictionary<string, string>();
        List<string> rkStation = new List<string>();//入库站台

        List<string> HKStation = new List<string>();//回库按钮检测

        //string devControlMethod01 = "01";//定义设备1控制方式
        //string equipmentStatus01 = "01";//定义设备1状态
        //string ssj223 = "01";//223输送机是否有货
        //string ssj221 = "01";//221输送机是否有货
        //string plcid220 = "01";//220输送机任务号
        //string plcid222 = "01";//222输送机任务号

        //string devControlMethod02 = "01";//定义设备2控制方式
        //string equipmentStatus02 = "01";//定义设备2状态

        //string plcid210 = "01";//210输送机任务号
        //string plcid212 = "01";//212输送机任务号

        #endregion

        #region PLC启动连接检测
        public bool Get_Siemens_ConnectToPlc()
        {
            //ServiceReference1.CUX_WS_COMMON_PKG_PortType ss;
            //ss.COMMON_IMPORT();
            

            //SiemensPlcDDJ1.SetPersistentConnection(); // 设置了长连接
            //OperateResult connect = SiemensPlcDDJ1.ConnectServer();
            //if (connect.IsSuccess)
            //{
            //    AddText("堆垛机连接成功");
            //    return true;
            //}
            //else
            //{
            //    AddText("堆垛机连接失败");
                return false;
            //}
        }
        public bool Get_Siemens_ConnectToPlc2()
        {
            //SiemensPlcSSJ.SetPersistentConnection(); // 设置了长连接
            //OperateResult connect = SiemensPlcSSJ.ConnectServer();
            //if (connect.IsSuccess)
            //{
            //    AddText("输送机连接成功");
            //    return true;
            //}
            //else
            //{
            //    AddText("输送机连接失败");
                return false;
            //}
        }

        public bool Get_HuiChuangPlc()
        {
            inovanceH3UTcp?.ConnectClose();
            inovanceH3UTcp = new InovanceTcpNet(RfConfig.Create().ScanIp3, 502, 1);
            inovanceH3UTcp.AddressStartWithZero = true;
            //inovanceH3UTcp.Series = (InovanceSeries)comboBox4.SelectedItem;
            inovanceH3UTcp.DataFormat = HslCommunication.Core.DataFormat.ABCD;
            //ComboBox1_SelectedIndexChanged(null, new EventArgs());  // 设置数据服务
            inovanceH3UTcp.IsStringReverse = true;

            try
            {
                OperateResult connect = inovanceH3UTcp.ConnectServer();
                if (connect.IsSuccess)
                {
                    return true;
                }
                else
                {
                    MessageBox.Show(HslCommunication.StringResources.Language.ConnectedFailed + connect.Message);
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
            return false;
        }

        #endregion

        #region 文本框界面显示函数
        delegate void addTextCallback(string text);

        public void AddText(string str)
        {
            if (this.txtMessage.InvokeRequired)//为了多线程间控件的安全调用
            {
                addTextCallback ad = new addTextCallback(AddText);
                this.Invoke(ad, new object[] { str });
            }
            else
            {
                txtMessage.Text += DateTime.Now.ToString() + ":" + str + "\r\n";
                this.txtMessage.Focus();
                this.txtMessage.Select(this.txtMessage.TextLength, 0);
                this.txtMessage.ScrollToCaret();
                WriteSysLog.SysLog(str);

                if (this.txtMessage.TextLength > 10000)
                {
                    txtMessage.Text = "";
                }

                if (txtError.TextLength > 10000)
                {
                    txtError.Text = "";
                }
            }
        }

        #endregion

        private bool GetSocketCon11(string IP, int PORT)
        {
            bool sts = false;
            try
            {

                int port = PORT;
                string host = IP;
                ///创建终结点EndPoint
                IPAddress ip = IPAddress.Parse(host);
                IPEndPoint ipe = new IPEndPoint(ip, port);//把ip和端口转化为IPEndpoint实例
                                                          ///创建socket并连接到服务器
                socketWeight = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);//创建Socket
                socketWeight.ReceiveTimeout = 5000;
                if (socketWeight.Connected == false)
                {
                    socketWeight.Connect(ipe);//连接到服务器
                    AddText(" 称重模块：" + IP + " 连接成功");
                    sts = true;
                }
            }
            catch (Exception ex)
            {
                AddText("称重模块：" + IP + " 连接失败" + ex.Message);
                sts = false;
            }
            return sts;
        }

        private bool GetSocketCon12(string IP, int PORT)
        {
            bool sts = false;
            try
            {

                int port = PORT;
                string host = IP;
                ///创建终结点EndPoint
                IPAddress ip = IPAddress.Parse(host);
                IPEndPoint ipe = new IPEndPoint(ip, port);//把ip和端口转化为IPEndpoint实例
                                                          ///创建socket并连接到服务器
                socketWeight2 = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);//创建Socket
                socketWeight2.ReceiveTimeout = 5000;
                if (socketWeight2.Connected == false)
                {
                    socketWeight2.Connect(ipe);//连接到服务器
                    AddText(" 称重模块2：" + IP + " 连接成功");
                    sts = true;
                }
            }
            catch (Exception ex)
            {
                AddText("称重模块2：" + IP + " 连接失败" + ex.Message);
                sts = false;
            }
            return sts;
        }


        private void GetTest()
        {
            //DataTable dt = DataClass.Instance().test1();
            //if (dt != null && dt.Rows.Count > 0)
            //{
            //    for (int i = 0; i < dt.Rows.Count; i++)
            //    {

            //        string strLOCATION_ID = dt.Rows[i]["LOCATION_ID"].ToString();
            //        string  strSORT= dt.Rows[i]["SORT"].ToString();

            //        if (DataClass.Instance().Updatetest(strSORT, strLOCATION_ID))
            //        {
            //            AddText("更新货位入库顺序成功");
            //        }
            //        else
            //        {
            //            AddText("更新货位入库顺序失败："+ strLOCATION_ID);
            //        }


            //    }
            //}

            //AddText("更新货位完成");
        }


        #region ConnectPLC
        private bool ConnectAll(ref string strMsg)
        {
            string errText = string.Empty;
            try
            {
                if (plcModbus != null)
                {
                    if (plcModbus.Count > 0)
                    {
                        plcModbus.Clear();
                    }
                }

                for (int i = 0; i < stockerip.Count; i++)
                {
                    if (!ConnectPLC(i,ref errText))
                    {
                        if (errText.Length > 0)
                        {
                            strMsg = errText; 
                        }
                        
                    }
                }
                
            }
            catch (Exception ex)
            {

                return false;
            }
            return true;
        }
        //  List<DecID> DecSts = new List<DecID>();
        private bool ConnectPLC(int i,ref string errText)
        {
            lock ("a")
            {
                string ip = string.Empty;
                try
                {
                    SiemensS7Net modbusClient = new SiemensS7Net(SiemensPLCS.S1500);
                    modbusClient.IpAddress = stockerip[i];
                    ip = stockerip[i];
                    OperateResult sslt = modbusClient.ConnectServer();
                    if (sslt.IsSuccess)
                    {
                        if (plcModbus.Count(r => r.Key == i + 1) > 0)
                        {
                            plcModbus[i + 1] = modbusClient;

                        }
                        else
                        {
                            plcModbus.Add(i + 1, modbusClient);
                        }
                    }
                    else
                    {
                        //AddText("PLC地址:" + stockerip[i] + ",连接异常:" + sslt.Message);
                        errText = "PLC地址:" + stockerip[i] + ",连接异常:" + sslt.Message;
                        return false;
                    }
                }
                catch (Exception ex)
                {
                    AddText("PLC地址:"+ stockerip[i]+",连接异常:"+ex.Message);
                }
            }
            return true;
        }
        #endregion

        private void MainForm_Load(object sender, EventArgs e)
        {
            textBox1.Text = "20";
            string errText = string.Empty;

            //DataClass.Instance().GetLOCATIONID("1", ref errText);

            //  http://ip:port/Camstar/PackStock.asmx/PackStockIn?pkwPackLot='"++"' &pCustPackId=''&pSubInventory='3001' &pLocation='3001-01051012'
            //  http://10.50.223.1:8099/Camstar/PackStock.asmx/PackStockIn?pkwPackLot='BAG3-20241016003440'&pCustPackId=''&pSubInventory='3001' &pLocation='3001-01051012'
            string conveyorip1 = RfConfig.Create().ScanIp1; //堆垛机1
            string conveyorip2 = RfConfig.Create().ScanIp2; //堆垛机2
            string conveyorip3 = RfConfig.Create().ScanIp3; //堆垛机3
            string conveyorip4 = RfConfig.Create().ScanIp4; //输送机
            MesIpPort = RfConfig.Create().WmsSendIP;


            stockerip.Add(conveyorip1);
            stockerip.Add(conveyorip2);
            stockerip.Add(conveyorip3);
            stockerip.Add(conveyorip4);

            ConnectAll(ref errText);
            if (errText.Length>0)
            {
                AddText(errText);
            }

            decFauleList = DataClass.Instance().GetDictionary(ref errText);
            if (errText.Length > 0)
            {
                AddText("堆垛机故障代码与信息查询异常");
                return;
            }
            if (decFauleList.Count <= 0)
            {
                AddText("堆垛机故障代码与信息查询失败");
                return;
            }

            new Thread((ThreadStart)delegate
            {
                //读取所有输送机状态
                DecConvertSts();
            }).Start();


            new Thread((ThreadStart)delegate
            {
                //出入库任务显示
                GetOnData();
            }).Start();




            #region 堆垛机状态检测
            //Thread tr1 = new Thread(new ThreadStart(GetDevFault));//监控堆垛机故障
            //tr1.IsBackground = true;
            //tr1.Start();

            Thread tr2 = new Thread(new ThreadStart(GetSysInfo)); //监控堆垛机 任务号、状态、控制方式、位置
            tr2.IsBackground = true;
            tr2.Start();


            Thread tr12 = new Thread(new ThreadStart(SSJ_STATUS));//输送机颜色显示
            tr12.IsBackground = true;
            tr12.Start();

            #endregion



            #region 入库线程 （状态：0未执行，1扫码完成写输送机，2写堆垛机成功，3堆垛机过账成功）

            new Thread((ThreadStart)delegate
            {
                // 入库成功调用MES 入库接口回传
                WCS_To_MES_IN();
            }).Start();


            Thread tr8 = new Thread(new ThreadStart(Bcr_To_SSJ));//扫码器96位置读取到条码写输送机任务（路向1，3）
            tr8.IsBackground = true;
            tr8.Start();
            //MES_AGIN
            Thread tr19 = new Thread(new ThreadStart(MES_AGIN));//定时上报mes
            tr19.IsBackground = true;
            tr19.Start();

            Thread tr10 = new Thread(new ThreadStart(TASK_UPDATE));//站台读取到托盘吗更新任务状态或删除任务
            tr10.IsBackground = true;
            tr10.Start();

            //Thread tr13 = new Thread(new ThreadStart(TASK_UPDATE));//站台读取到托盘吗更新任务状态或删除任务
            //tr13.IsBackground = true;
            //tr13.Start();

            Thread tr9 = new Thread(new ThreadStart(RkCK_DDJ));//读取入库站台是否有货写堆垛机任务  出库任务下发堆垛机
            tr9.IsBackground = true;
            tr9.Start();

            //Thread tr13 = new Thread(new ThreadStart(STACKER_TASK));//读取入库站台是否有货写堆垛机任务  出库任务下发堆垛机
            //tr13.IsBackground = true;
            //tr13.Start();
            #endregion


            #region 出库线程 （状态：0未执行，1写堆垛机成功，3堆垛机过账成功）
            //Thread tr10 = new Thread(new ThreadStart(Set_CK_Task));//查询出库任务写堆垛机
            //tr10.IsBackground = true;
            //tr10.Start();

            //////查询 成品搬运单完成接口表订单  查询出库表对应的订单 更改状态为10 扣除库存
            //Thread tr11 = new Thread(new ThreadStart(Get_MES_TO_WMS_CK_FINISH));
            //tr11.IsBackground = true;
            //tr11.Start();

            #endregion

            Thread tr7 = new Thread(new ThreadStart(ClearAccount));//过账进程，用于处理PLC过账信息
            tr7.IsBackground = true;
            tr7.Start();




            //if (!Get_Siemens_ConnectToPlc())
            //{
            //    return;
            //}
            //if (!Get_Siemens_ConnectToPlc2())
            //{
            //    return;
            //}

            //if (!GetSocketCon11(RfConfig.Create().ScanIp3, 26))
            //{
            //    return;
            //}
            //if (!GetSocketCon12(RfConfig.Create().ScanIp4, 26))
            //{
            //    return;
            //}




            AddText("系统启动成功.");
        }



        private static object cklock  = new object();
        private void Get_MES_TO_WMS_CK_FINISH ()
        {
            string errText = string.Empty;
            while (true)
            {
                lock (cklock)
                {
                    try
                    {
                        DataTable dt = DataClass.Instance().Get_cux_wms_move_order_lot_itf_zh();
                        if (dt != null)
                        {
                            if (dt.Rows.Count > 0)
                            {
                                string BarCode = dt.Rows[0]["out_bar_code"].ToString().Trim();

                                string INNER_BAR_CODE = dt.Rows[0]["INNER_BAR_CODE"].ToString().Trim();
                                string request_number= dt.Rows[0]["request_number"].ToString().Trim();
                                string line_number = dt.Rows[0]["line_number"].ToString().Trim();
                                DataTable dtCK = DataClass.Instance().Get_T_CK_PICKINGWAVEGOODS_sts9(BarCode, INNER_BAR_CODE);
                                if (dtCK != null && dtCK.Rows.Count > 0)
                                {
                                    string pickingid = dtCK.Rows[0]["pickingid"].ToString();
                                    string CTL = dtCK.Rows[0]["CTL"].ToString();
                                    if (DataClass.Instance().UPDATE_T_CK_PICKINGWAVEGOODS_STS10(BarCode, pickingid))
                                    {
                                        DataClass.Instance().UpdateT_MI_STOCK("10", CTL);
                                        DataClass.Instance().UPDATE_CUX_WMS_MOVE_ORDER_FSH_ITF_ZH_sts(request_number, line_number, 3);
                                        AddText("EBS出库完成WMS出库订单状态改10成功,内外箱条码:" + BarCode);
                                    }
                                    else
                                    {
                                        DataClass.Instance().UPDATE_CUX_WMS_MOVE_ORDER_FSH_ITF_ZH_sts(request_number, line_number, 2);
                                        AddText("EBS出库完成查询出库任务不存在,内外箱条码:" + BarCode);
                                    }
                                }
                                else
                                {
                                    DataClass.Instance().UPDATE_CUX_WMS_MOVE_ORDER_FSH_ITF_ZH_sts(request_number, line_number, 2);
                                }
                            }
                        }

                        Thread.Sleep(2000);
                    }
                    catch (Exception ex)
                    {
                        //AddText("成品搬运单完成接口表订单处理异常:" + ex.Message);
                    }
                }

            }
        }








        #region 监控堆垛机故障

        private static object objGetDevFault = new object ();
        /// <summary>
        /// 堆垛机故障
        /// </summary>
        private void GetDevFault()
        {
            string errText = string.Empty;
            while (true)
            {
                lock (objGetDevFault)
                {
                    try
                    {
                        //#region 堆垛机1故障

                        //for (int i = 1; i <= 2; i++)
                        //{
                        //    OperateResult<short> opfhid = plcModbus[i].ReadInt16("DB90.22");
                        //    if (opfhid.IsSuccess)
                        //    {
                        //        string devFault1 = opfhid.Content.ToString();

                        //        if (devFault1 == "0")
                        //        {
                        //            //DataClass.Instance().updateErrlist(i.ToString(), devFault1, ref errtext);
                        //            //DataClass.Instance().UpdateDevFault(i.ToString(), "设备正常");
                        //            if (i == 1)
                        //            {
                        //                groupBox1.BackColor = Color.Transparent;
                        //                //txtError.AppendText("");
                        //            }
                        //            else
                        //            {
                        //                groupBox2.BackColor = Color.Transparent;
                        //                //txtError.AppendText("");
                        //            }

                        //            OperateResult<short> opfhid1 = plcModbus[4].ReadInt16("DB90.22");
                        //            OperateResult<short> opfhid2 = plcModbus[4].ReadInt16("DB90.22");
                        //            if (opfhid1.Content.ToString() == "0" && opfhid2.Content.ToString() == "0")
                        //            {
                        //                txtError.AppendText("");
                        //            }




                        //        }
                        //        else
                        //        {
                        //            string msg = decFauleList[devFault1].ToString();
                        //            //DataClass.Instance().UpdateDevFault("1", msg);

                        //            //DataClass.Instance().insertErrlist(i.ToString(), msg, devFault1, isok, plcid, ref errtext);
                        //            if (i == 1)
                        //            {
                        //                groupBox1.BackColor = Color.LightCoral;
                        //                txtErrorMsg("堆垛机1:" + msg);
                        //            }
                        //            else
                        //            {
                        //                groupBox2.BackColor = Color.LightCoral;
                        //                txtErrorMsg("堆垛机2:" + msg);
                        //            }

                        //        }

                        //    }
                        //    else
                        //    {
                        //        txtErrorMsg("堆垛机连接异常:" + opfhid.Message);
                        //    }
                        //}



                        //#endregion

                        ////输送机控制方式：1维修，2手动，5联机
                        //OperateResult<short> m101  = plcModbus[4].ReadInt16("DB90.8");
                        //if (m101.IsSuccess)
                        //{
                        //    if(m101.Content.ToString()=="1")
                        //    {
                        //        labelControl19.Text = "输送机模式:维修";
                        //        labelControl19.ForeColor = Color.Red;
                        //        AddText("输送机模式:维修");
                        //    }
                        //    else if (m101.Content.ToString() == "2")
                        //    {
                        //        labelControl19.Text = "输送机模式:手动";
                        //        labelControl19.ForeColor = Color.Red;
                        //        AddText("输送机模式:手动");
                        //    }
                        //    else if (m101.Content.ToString() == "5")
                        //    {
                        //        labelControl19.Text = "输送机模式:联机";
                        //        labelControl19.ForeColor = Color.Blue;
                        //    }
                        //}

                        

                        Thread.Sleep(3000);
                    }
                    catch (Exception ex)
                    {
                        AddText("堆垛机故障异常:" + ex.Message);
                    }
                }
            }
        }
        #endregion

        #region 监控堆垛机控制方式/位置
        /// <summary>
        /// 监控堆垛机控制方式/状态/位置/任务号
        /// </summary>
        /// 

        private static object objinfo = new object();
        private void GetSysInfo()
        {
            string errText = string.Empty;
            while (true)
            {
                lock (objinfo)
                {
                    try
                    {
                        string errtext = "";
                        string Plcid = "";
                        string strCon = "";
                        for (int i = 1; i < 4; i++)
                        {
                            try
                            {
                                OperateResult<int> opfhidPLCID = plcModbus[i].ReadInt32("DB91.0");
                                if (opfhidPLCID.IsSuccess)
                                {
                                    Plcid = opfhidPLCID.Content.ToString();
                                    //任务号
                                    if (i == 1)
                                    {
                                        TxtPlcid1.Text = Plcid;
                                    }
                                    else if (i == 2)
                                    {
                                        //任务号
                                        TxtPlcid2.Text = Plcid;
                                    }
                                    else if (i == 3)
                                    {
                                        //任务号
                                        TxtPlcid3.Text = Plcid;
                                    }
                                }
                                else
                                {
                                    txtErrorMsg("堆垛机连接异常:" + opfhidPLCID.Message);
                                }

                            OperateResult<short[]> opfhid = plcModbus[i].ReadInt16("DB91.4", 8);
                            if (opfhid.IsSuccess)
                            {
                                if (i == 1)
                                {
                                    //控制方式 DB91.4
                                    string kzfssts = opfhid.Content[0].ToString();//堆垛机控制方式 联机 脱机  手动
                                    switch (kzfssts)
                                    {
                                        case "0":

                                            TxtEquipmenetControlMethod01.Text = "待机";
                                            TxtEquipmenetControlMethod01.ForeColor = Color.Black;
                                            strCon = "待机";
                                            break;
                                        case "1":

                                            TxtEquipmenetControlMethod01.Text = "自学习";
                                            TxtEquipmenetControlMethod01.ForeColor = Color.Red;
                                            strCon = "自学习";
                                            break;
                                        case "2":

                                            TxtEquipmenetControlMethod01.Text = "调试";
                                            TxtEquipmenetControlMethod01.ForeColor = Color.Red;
                                            strCon = "调试";
                                            break;
                                        case "3":

                                            TxtEquipmenetControlMethod01.Text = "手动";
                                            TxtEquipmenetControlMethod01.ForeColor = Color.Red;
                                            strCon = "手动";
                                            break;
                                        case "4":

                                            TxtEquipmenetControlMethod01.Text = "自动";
                                            TxtEquipmenetControlMethod01.ForeColor = Color.Red;
                                            strCon = "自动";
                                            break;
                                        case "5":

                                            TxtEquipmenetControlMethod01.Text = "联机";
                                            TxtEquipmenetControlMethod01.ForeColor = Color.Black;
                                            strCon = "联机";
                                            break;
                                        default:
                                            strCon = "异常";
                                            TxtEquipmenetControlMethod01.Text = "异常";
                                            TxtEquipmenetControlMethod01.ForeColor = Color.Red;
                                            break;
                                    }

                                    //状态 DB91.6
                                    string kzControl = opfhid.Content[1].ToString();
                                    switch (kzControl)
                                    {
                                        case "1":
                                            TxtEquipmentStatus01.Text = "空闲";
                                            break;
                                        case "2":
                                            TxtEquipmentStatus01.Text = "指令接收";
                                            break;
                                        case "3":
                                            TxtEquipmentStatus01.Text = "取货移动";
                                            break;
                                        case "4":
                                            TxtEquipmentStatus01.Text = "取货中";
                                            break;
                                        case "5":
                                            TxtEquipmentStatus01.Text = "取货完成";
                                            break;
                                        case "6":
                                            TxtEquipmentStatus01.Text = "卸货移动";
                                            break;
                                        case "7":
                                            TxtEquipmentStatus01.Text = "卸货中";
                                            break;
                                        case "8":
                                            TxtEquipmentStatus01.Text = "出库卸货完成";
                                            break;
                                        case "9":
                                            TxtEquipmentStatus01.Text = "入库卸货完成";
                                            break;
                                        default:
                                            TxtEquipmentStatus01.Text = "脱机状态";
                                            //TxtEquipmentStatus01.ForeColor = Color.Red;
                                            break;
                                    }

                                    //位置DB91.10
                                    string EquipmenetRow = opfhid.Content[3].ToString();
                                    string EquipmenetList = opfhid.Content[4].ToString();
                                    string EquipmenetLayer = opfhid.Content[5].ToString();
                                    TBCEquipmentLocation1.Value = int.Parse(EquipmenetList);
                                    TxtEquipmentLocation1.Text = EquipmenetRow + "排" + EquipmenetList + "列" + EquipmenetLayer + "层";
                                    DataClass.Instance().UpdateDevControl("1", TxtEquipmenetControlMethod01.Text, TxtEquipmentStatus01.Text, TxtPlcid1.Text);
                                }
                                else if (i == 2)
                                {
                                    //控制方式
                                    string kzfssts = opfhid.Content[0].ToString();//堆垛机控制方式 联机 脱机  手动
                                    switch (kzfssts)
                                    {
                                        case "0":

                                            TxtEquipmenetControlMethod02.Text = "待机";
                                            TxtEquipmenetControlMethod02.ForeColor = Color.Black;
                                            strCon = "待机";
                                            break;
                                        case "1":

                                            TxtEquipmenetControlMethod02.Text = "自学习";
                                            TxtEquipmenetControlMethod02.ForeColor = Color.Red;
                                            strCon = "自学习";

                                            break;
                                        case "2":
                                            strCon = "调试";
                                            TxtEquipmenetControlMethod02.Text = "调试";
                                            TxtEquipmenetControlMethod02.ForeColor = Color.Red;
                                            break;
                                        case "3":
                                            strCon = "手动";
                                            TxtEquipmenetControlMethod02.Text = "手动";
                                            TxtEquipmenetControlMethod02.ForeColor = Color.Red;
                                            break;
                                        case "4":
                                            strCon = "自动";
                                            TxtEquipmenetControlMethod02.Text = "自动";
                                            TxtEquipmenetControlMethod02.ForeColor = Color.Red;

                                            break;
                                        case "5":
                                            strCon = "联机";
                                            TxtEquipmenetControlMethod02.Text = "联机";
                                            TxtEquipmenetControlMethod02.ForeColor = Color.Black;

                                            break;
                                        default:
                                            strCon = "异常";
                                            TxtEquipmenetControlMethod02.Text = "异常";
                                            TxtEquipmenetControlMethod02.ForeColor = Color.Red;
                                            break;
                                    }

                                    //状态
                                    string kzControl = opfhid.Content[1].ToString();
                                    switch (kzControl)
                                    {
                                        case "1":
                                            TxtEquipmentStatus02.Text = "空闲";
                                            break;
                                        case "2":
                                            TxtEquipmentStatus02.Text = "指令接收";
                                            break;
                                        case "3":
                                            TxtEquipmentStatus02.Text = "取货移动";
                                            break;
                                        case "4":
                                            TxtEquipmentStatus02.Text = "取货中";
                                            break;
                                        case "5":
                                            TxtEquipmentStatus02.Text = "取货完成";
                                            break;
                                        case "6":
                                            TxtEquipmentStatus02.Text = "卸货移动";
                                            break;
                                        case "7":
                                            TxtEquipmentStatus02.Text = "卸货中";
                                            break;
                                        case "8":
                                            TxtEquipmentStatus02.Text = "出库卸货完成";
                                            break;
                                        case "9":
                                            TxtEquipmentStatus02.Text = "入库卸货完成";
                                            break;
                                        default:
                                            TxtEquipmentStatus02.Text = "脱机状态";
                                            //TxtEquipmentStatus02.ForeColor = Color.Red;
                                            break;
                                    }

                                    //位置
                                    string EquipmenetRow = opfhid.Content[3].ToString();
                                    string EquipmenetList = opfhid.Content[4].ToString();
                                    string EquipmenetLayer = opfhid.Content[5].ToString();
                                    TBCEquipmentLocation2.Value = int.Parse(EquipmenetList);
                                    TxtEquipmentLocation2.Text = EquipmenetRow + "排" + EquipmenetList + "列" + EquipmenetLayer + "层";
                                    DataClass.Instance().UpdateDevControl("2", TxtEquipmenetControlMethod02.Text, TxtEquipmentStatus02.Text, TxtPlcid2.Text);
                                }
                                else if (i == 3)
                                {
                                    //控制方式
                                    string kzfssts = opfhid.Content[0].ToString();//堆垛机控制方式 联机 脱机  手动
                                    switch (kzfssts)
                                    {
                                        case "0":

                                            TxtEquipmenetControlMethod03.Text = "待机";
                                            TxtEquipmenetControlMethod03.ForeColor = Color.Black;
                                            strCon = "待机";
                                            break;
                                        case "1":

                                            TxtEquipmenetControlMethod03.Text = "自学习";
                                            TxtEquipmenetControlMethod03.ForeColor = Color.Red;
                                            strCon = "自学习";

                                            break;
                                        case "2":
                                            strCon = "调试";
                                            TxtEquipmenetControlMethod03.Text = "调试";
                                            TxtEquipmenetControlMethod03.ForeColor = Color.Red;
                                            break;
                                        case "3":
                                            strCon = "手动";
                                            TxtEquipmenetControlMethod03.Text = "手动";
                                            TxtEquipmenetControlMethod03.ForeColor = Color.Red;
                                            break;
                                        case "4":
                                            strCon = "自动";
                                            TxtEquipmenetControlMethod03.Text = "自动";
                                            TxtEquipmenetControlMethod03.ForeColor = Color.Red;

                                            break;
                                        case "5":
                                            strCon = "联机";
                                            TxtEquipmenetControlMethod03.Text = "联机";
                                            TxtEquipmenetControlMethod03.ForeColor = Color.Black;

                                            break;
                                        default:
                                            strCon = "异常";
                                            TxtEquipmenetControlMethod03.Text = "异常";
                                            TxtEquipmenetControlMethod03.ForeColor = Color.Red;
                                            break;
                                    }

                                    //状态
                                    string kzControl = opfhid.Content[1].ToString();
                                    switch (kzControl)
                                    {
                                        case "1":
                                            TxtEquipmentStatus03.Text = "空闲";
                                            break;
                                        case "2":
                                            TxtEquipmentStatus03.Text = "指令接收";
                                            break;
                                        case "3":
                                            TxtEquipmentStatus03.Text = "取货移动";
                                            break;
                                        case "4":
                                            TxtEquipmentStatus03.Text = "取货中";
                                            break;
                                        case "5":
                                            TxtEquipmentStatus03.Text = "取货完成";
                                            break;
                                        case "6":
                                            TxtEquipmentStatus03.Text = "卸货移动";
                                            break;
                                        case "7":
                                            TxtEquipmentStatus03.Text = "卸货中";
                                            break;
                                        case "8":
                                            TxtEquipmentStatus03.Text = "出库卸货完成";
                                            break;
                                        case "9":
                                            TxtEquipmentStatus03.Text = "入库卸货完成";
                                            break;
                                        default:
                                            TxtEquipmentStatus03.Text = "脱机状态";
                                            //TxtEquipmentStatus02.ForeColor = Color.Red;
                                            break;
                                    }

                                    //位置
                                    string EquipmenetRow = opfhid.Content[3].ToString();
                                    string EquipmenetList = opfhid.Content[4].ToString();
                                    string EquipmenetLayer = opfhid.Content[5].ToString();
                                    TBCEquipmentLocation3.Value = int.Parse(EquipmenetList);
                                    TxtEquipmentLocation3.Text = EquipmenetRow + "排" + EquipmenetList + "列" + EquipmenetLayer + "层";
                                    DataClass.Instance().UpdateDevControl("3", TxtEquipmenetControlMethod03.Text, TxtEquipmentStatus03.Text, TxtPlcid3.Text);
                                }
                            }
                            else
                            {
                                txtErrorMsg("堆垛机连接异常:" + opfhid.Message);
                            }
                            OperateResult<short> opfhid2  = plcModbus[i].ReadInt16("DB91.22");
                            if (opfhid2.IsSuccess)
                            {
                                string devFault1 = opfhid2.Content.ToString();

                                if (devFault1 == "0")
                                {
                                    DataClass.Instance().updateErrlist(i.ToString(), devFault1, ref errtext);
                                    //DataClass.Instance().UpdateDevFault(i.ToString(), "设备正常");
                                    if (i == 1)
                                    {
                                        groupBox1.BackColor = Color.Transparent;
                                        //txtError.AppendText("");
                                    }
                                    else if (i == 2)
                                    {
                                        groupBox2.BackColor = Color.Transparent;
                                        //txtError.AppendText("");
                                    }
                                    else if (i == 3)
                                    {
                                        groupBox5.BackColor = Color.Transparent;
                                        //txtError.AppendText("");
                                    }
                         

                                    //OperateResult<short> opfhid11 = plcModbus[4].ReadInt16("DB91.22");
                               
                                    //if (opfhid11.Content.ToString() == "0")
                                    //{
                                    //    txtError.Text="";
                                    //}
                                }
                                else
                                {
                                    string msg = decFauleList[devFault1].ToString();
                                    //DataClass.Instance().UpdateDevFault("1", msg);

                                    DataClass.Instance().insertErrlist(i.ToString(), msg, devFault1, strCon, Plcid, ref errtext);
                                    if (i == 1)
                                    {
                                        groupBox1.BackColor = Color.LightCoral;
                                        txtErrorMsg("堆垛机1:" + msg);
                                    }
                                    else if (i == 2)
                                    {
                                        groupBox2.BackColor = Color.LightCoral;
                                        txtErrorMsg("堆垛机2:" + msg);
                                    }
                                    else if (i == 3)
                                    {
                                        groupBox5.BackColor = Color.LightCoral;
                                        txtErrorMsg("堆垛机3:" + msg);
                                    }
                                }
                            }
                            else
                            {
                                txtErrorMsg("堆垛机连接异常:" + opfhid.Message);
                            }

                            }
                            catch
                            {
                                continue;
                            }

                        }

                       
                        Thread.Sleep(2000);
                    }
                    catch (Exception ex)
                    {
                        //AddText("监控堆垛机任务号/控制方式/位置/异常:" + ex.Message);
                    }
                }

            }
        }
        #endregion


        #region agv入库放货完成，出来时通知WMS ，WMS给输送机写启动信号

        public class Rootobject
        {
            public string reqCode { get; set; }
            public string reqTime { get; set; }
            public string clientCode { get; set; }
            public string tokenCode { get; set; }
            public string interfaceName { get; set; }
            public string wbCode { get; set; }
            public string podCode { get; set; }
            public string agvCode { get; set; }
            public string taskCode { get; set; }
            public string taskSeq { get; set; }
            public Nextpositioncode nextPositionCode { get; set; }
            public string data { get; set; }
        }

        public class Nextpositioncode
        {
            public string positionCode { get; set; }
            public string type { get; set; }
        }

        public class DataListAgv 
        {
            /// <summary>
            /// 
            /// </summary>
            public string carrierTyp { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string materialLot { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string materialCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string sysLotNum { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string podLotNum { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string lotStatus { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string includeScrap { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string podStatus { get; set; }
        }

        public class RootAGVrun 
        {
            /// <summary>
            /// 
            /// </summary>
            public string reqCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string reqTime { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string clientCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string tokenCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string taskTyp { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string sceneTyp { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string ctnrTyp { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string ctnrCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string wbCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public List<string> userCallCodePath { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string podCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string podDir { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string podTyp { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string materialLot { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string priority { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string agvCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string taskCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public DataListAgv  data { get; set; }
        }

        private object wmsData = new object();
        public  string GetWmsData(string value, string sts)
        {
            lock (wmsData)
            {
                string retJson = "";
                try
                {
                    WriteSysLog.SysLog("WCS调用MES 入库接口:"+ value);
                    string url = value;
                    HttpWebRequest req = WebRequest.Create(url) as HttpWebRequest;
                    req.ContentType = "text/html";

                    req.Method = "GET";
                    req.Timeout = 3000;

                    HttpWebResponse response = req.GetResponse() as HttpWebResponse;
                    using (StreamReader sr = new StreamReader(response.GetResponseStream(), Encoding.UTF8))
                    {
                        retJson =  sr.ReadToEnd();
                        WriteSysLog.SysLog("WCS调用MES 入库接口返回:" + retJson);
                    }
                }
                catch (Exception ex)
                {
  
                }
                return retJson;
            }
        }



        public string GetRequest(string url, string headerToken)
        {
            HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
            request.Method = "GET";
            //request.ContentType = "text/html, application/xhtml+xml, */*";
            request.ContentType = "text/html";

            //request.Headers["X-XTRA-AUTH-ID"] = headerToken; //添加头

            HttpWebResponse response = (HttpWebResponse)request.GetResponse();
            Stream rs = response.GetResponseStream();
            //StreamReader sr = new StreamReader(rs, encode);
            StreamReader sr = new StreamReader(rs, Encoding.UTF8);
            var result = sr.ReadToEnd();
            sr.Close();
            rs.Close();
            return result;
        }



        /// <summary>
        /// WCS入库成功回传MES
        /// </summary>
        private void WCS_To_MES_IN  ()
        {
            while (true)
            {
                string errText = String.Empty;

                lock ("agv")
                {
                    try
                    {
                        //正式环境：10.50.220.1:8099
                        // string strUUID = Guid.NewGuid().ToString("N");//32位 
                        // http://10.50.223.1:8099/Camstar/PackStock.asmx/PackStockIn?pkwPackLot='BAG3-20241016003440'&pCustPackId=''&pSubInventory='3001' &pLocation='3001-01051012'
                        DataSet dtAgv = DataClass.Instance().Get_MES_TO_WMS_IN();
                        if (dtAgv != null && dtAgv.Tables[0].Rows.Count > 0)
                        {
                            for (int i = 0; i < dtAgv.Tables[0].Rows.Count; i++)
                            {
                                string STORAGE_ID =  dtAgv.Tables[0].Rows[i]["STORAGE_ID"].ToString(); //字库编号
                                string LOCATION_ID =  dtAgv.Tables[0].Rows[i]["LOCATION_ID"].ToString();
                                string BARCODE = dtAgv.Tables[0].Rows[i]["BARCODE"].ToString();//外箱子 + 内箱子条码
                                string CUSTOMER_ID= dtAgv.Tables[0].Rows[i]["CUSTOMER_ID"].ToString();//客户代码
                                //下发AGV搬运
                                //3001-WMS-00
                                //string newLoc = STORAGE_ID + "-" + LOCATION_ID.Substring(0, 2) + "-" + LOCATION_ID;//+ "." + CUSTOMER_ID
                                string newLoc = STORAGE_ID + "-WMS-00";

                                string strJsonRK = GetWmsData("http://" + MesIpPort + "/Camstar/PackStock.asmx/PackStockIn?pkwPackLot="+ BARCODE + "&pCustPackId=&pSubInventory="+ STORAGE_ID + "&pLocation="+ newLoc + "", "");
                                if (errText.Length > 0)
                                {
                                    AddText($"WCS入库成功{dtAgv.Tables[0].Rows[i]["CTL"].ToString()}回传MES异常:" + errText);
                                    continue;
                                }
                                if (strJsonRK.Length > 0)
                                {
                                    AddText("WCS入库成功回传MES返回：" + strJsonRK);

                                    if (!strJsonRK.Contains("当前工位 '成品仓'") &&strJsonRK.Contains("Error"))
                                    {
                                        //间隔三秒再次调用mes
                                        AddText("WCS入库成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + "");
                                        Thread.Sleep(3000);
                                        string strJsonRK_agin = GetWmsData("http://" + MesIpPort + "/Camstar/PackStock.asmx/PackStockIn?pkwPackLot=" + BARCODE + "&pCustPackId=&pSubInventory=" + STORAGE_ID + "&pLocation=" + newLoc + "", "");
                                        if (errText.Length > 0)
                                        {
                                            AddText($"WCS入库成功{dtAgv.Tables[0].Rows[i]["CTL"].ToString()}回传MES异常:" + errText);
                                            continue;
                                        }
                                        if (strJsonRK.Length > 0)
                                        {
                                            AddText($"WCS入库成功{dtAgv.Tables[0].Rows[i]["CTL"].ToString()}回传MES返回：" + strJsonRK);
                                            if(strJsonRK.Contains("Error"))
                                            {
                                                if (DataClass.Instance().Update_T_MI_STOCK_STSEBS(LOCATION_ID, BARCODE, "9"))
                                                {
                                                    AddText("WCS入库成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9成功");
                                                }
                                                else
                                                {
                                                    AddText($"WCS入库成功{dtAgv.Tables[0].Rows[i]["CTL"].ToString()}回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9失败");
                                                }
                                                AddText("WCS入库成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + "");
                                                //Thread.Sleep(3000);
                                                //string strJsonRK_agin2 = GetWmsData("http://" + MesIpPort + "/Camstar/PackStock.asmx/PackStockIn?pkwPackLot=" + BARCODE + "&pCustPackId=&pSubInventory=" + STORAGE_ID + "&pLocation=" + newLoc + "", "");

                                            }
                                        }

                                        //if (DataClass.Instance().Update_T_MI_STOCK_STSEBS(LOCATION_ID, BARCODE, "2"))
                                        //{
                                        //    AddText("WCS入库成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态2成功");
                                        //}
                                        //else
                                        //{
                                        //    AddText("WCS入库成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态2失败");
                                        //}
                                    }
                                    else
                                    {
                                        if (DataClass.Instance().Update_T_MI_STOCK_STSEBS(LOCATION_ID, BARCODE, "1"))
                                        {
                                            AddText($"WCS入库成功{dtAgv.Tables[0].Rows[i]["CTL"].ToString()}回传MES成功：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态2成功");
                                        }
                                        else
                                        {
                                            AddText("WCS入库成功回传MES成功：编号：" + BARCODE + "，" + strJsonRK + ",更新数据库状态1失败");
                                        }
                                    }
                                }

                            }
                        }

                        Thread.Sleep(2000);
                    }
                    catch (Exception ex)
                    {
                        AddText("异常:" + ex.Message);
                    }
                }

            }
        }
        #endregion



        private string GetBcrRetCode (string  bcrid)//读取u型线条码
        {
            string strValues = string.Empty;
            OperateResult<byte[]> read = plcModbus[4].Read(GetBarCodePlcAddress(bcrid), 20);
            {
                if (read.IsSuccess)
                {
                    for (int i = 0; i < 20; i++)
                    {
                        strValues += ((char)read.Content[i]).ToString();
                    }
                }
            }
            return strValues.Trim();
        }

        int ckPort = 50;



        // 使用枚举定义状态
        public enum StackerStatus { Offline = 0, Online = 5 }

        public int[] GetAvailableStackers()
        {
            var availableStackers = new List<int>();

            for (int stackerId = 1; stackerId <= 3; stackerId++)
            {
                try
                {
                    var opStatus = plcModbus[stackerId].ReadInt16("DB91.4", 2);
                    var opfhid2 = plcModbus[stackerId].ReadInt16("DB91.22");

                    if (!opStatus.IsSuccess || !opfhid2.IsSuccess)
                    {
                        AddText($"堆垛机{stackerId}读取状态失败");
                        continue;
                    }

                    if (opStatus.Content.Length < 1)
                    {
                        AddText($"堆垛机{stackerId}状态数据长度不足");
                        continue;
                    }

                    // 检查联机状态且无故障
                    if ((StackerStatus)opStatus.Content[0] == StackerStatus.Online
                        && opfhid2.Content == 0)
                    {
                        availableStackers.Add(stackerId);
                    }
                }
                catch (Exception ex)
                {
                    AddText($"堆垛机{stackerId}通讯异常: {ex.ToString()}");
                }
            }
            return availableStackers.ToArray();
        }

        // 使用线程安全的访问方式
        private static readonly object _locker = new object();
        private static int _stackerId = 0;

        public int STACKER_TASKNUM()
        {
            //
            string sql = "select * from T_ONGOODSSHELF where LOCATION_ID is not null and TASKTYPE=1";
            return 0;
        }

        public int GetNextAvailableStacker()
        {
            lock (_locker)
            {
                //int[] availableStackers = GetAvailableStackers();
                int[] availableStackers = { 1, 2, 3 };

                if (availableStackers.Length == 0)
                {
                    AddText("警告：没有可用的堆垛机！");
                    return -1;
                }

                // 从未选择过或当前选择不可用
                if (_stackerId == 0 || !availableStackers.Contains(_stackerId))
                {
                    _stackerId = availableStackers[0];
                    return _stackerId;
                }

                // 环形选择下一个
                int currentIndex = Array.IndexOf(availableStackers, _stackerId);
                int nextIndex = (currentIndex +1) % availableStackers.Length;  // 这里加了1
                _stackerId = availableStackers[nextIndex];
                return _stackerId;
            }
        }






        #region 入库获取条码信息写输送机任务
        /// <summary>
        /// 入库
        /// </summary>
        public  void Bcr_To_SSJ()
        {
            while (true)
            {
                string errText = String.Empty;
                string str = string.Empty;
                int bytes = 0;
                int weight = 100;

                try
                {
                    //OperateResult ru = plcModbus[4].Write("DB9.DBW1700", (short)1);
                    // 扫码器96位置读取到条码写输送机任务（路向1，3）
                    foreach (string bcrId  in BcrRkStation )
                    {
                        string code = GetBcrRetCode(bcrId);
                        code = code.Replace(" ", "").ToString();
                        code = code.Replace("\0", "").ToString();
                        code = code.Replace("\r", "").ToString();
                        if (code.Length > 0)
                        {
                            AddText("接收扫码器编号：" + bcrId + ",料箱号:" + code);
                            if (code == "NoRead")
                            {
                                string port = "";
                                if (bcrId == "SSJ50")
                                {
                                    port = "99";
                                }
                                else if (bcrId == "SSJ53")
                                {
                                    port = "99";
                                }
                                else if (bcrId == "SSJ56")
                                {
                                    port = "56";
                                }
                                else if (bcrId == "SSJ81")
                                {
                                    port = "99";
                                }
                                else if (bcrId == "SSJ84")
                                {
                                    port = "99";
                                }
                                else if (bcrId == "SSJ88")
                                {
                                    port = "99";
                                }
                                else if (bcrId == "SSJ91")
                                {
                                    port = "99";
                                }
                                else if (bcrId == "SSJ96")
                                {
                                    port = "99";
                                }
                                string sta = GetWCSTOSSJ(bcrId);
                                string[] strb = sta.Split(';');
                                string plcId = DataClass.Instance().GetPlcId();
                                OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse(port));//进入人工码盘位置
                                AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",扫码失败!循环");
                                continue;
                            }

                            if (bcrId == "SSJ96")//入库扫码器
                            {
                                //有出库任务直行
                                DataTable dt_OUT = DataClass.Instance().Get_T_CK_PICKING_GOODS(code.Trim(), ref errText);
                                if(dt_OUT!=null)
                                {
                                    if (dt_OUT.Rows.Count > 0)
                                    {
                                        string plcId = dt_OUT.Rows[0]["PLCID"].ToString();
                                        //string plcId = DataClass.Instance().GetPlcId();
                                        string sta = GetWCSTOSSJ(bcrId);
                                        string[] strb = sta.Split(';');

                                        OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                        OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("99"));//进入人工码盘位置
                                        if (retPlcId96.IsSuccess && retLX96.IsSuccess)
                                        {
                                            AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",有出库任务-直行，写入99");
                                        }
                                    }
                                }
                                //有入库任务，处理
                                DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF_SSX(code.Trim(), ref errText);
                                if (dt != null)
                                {
                                    if (dt.Rows.Count > 0)
                                    {
                                        string decId = "";
                                        string inStand = "";
                                        //读
                                        string plcId = DataClass.Instance().GetPlcId();
                                        string CTL = dt.Rows[0]["ctl"].ToString().Trim();//托盘
                                        string STORAGE_AREA_ID = dt.Rows[0]["STORAGE_AREA_ID"].ToString().Trim();//子库编号
                                        string GOODSID = dt.Rows[0]["GOODSID"].ToString().Trim(); // 000000空料箱
                                        string TASKTYPE = dt.Rows[0]["TASKTYPE"].ToString().Trim();//1入立体库 2 直接到包装线10空箱入库
                                        string LOCATION_ID = dt.Rows[0]["LOCATION_ID"].ToString().Trim();
                                        if (TASKTYPE == "1" || TASKTYPE == "10")//入库
                                        {
                                            if (TASKTYPE == "1")
                                            {
                                                if (DataClass.Instance().GetkcCtl(CTL))
                                                {
                                                    AddText("托盘编号：" + CTL + "货架中已存在该托盘，请检查托盘编号是否重复");
                                                    continue;
                                                }
                                            }

                                            //查询货位
                                            if (GOODSID == "000000"&& LOCATION_ID=="")
                                            {
                                                //判断产线是否有叫空箱的任务存在，存在先补产线 在入立体库
                                                string pickingid = DataClass.Instance().Get_CtlNullCX();
                                                if (pickingid.Length > 0)
                                                {
                                                    string sta = GetWCSTOSSJ(bcrId);
                                                    string[] strb = sta.Split(';');

                                                    OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("99"));//进入人工码盘位置
                                                    if (retPlcId96.IsSuccess && retLX96.IsSuccess)
                                                    {
                                                        //删除入库任务
                                                        DataClass.Instance().Del_T_CK_PICKINGWAVEGOODS_pickingid(pickingid);
                                                        AddText("扫码器编号：" + bcrId + ",任务号:" + plcId + "料箱号：" + CTL + "，PDA叫空料箱任务优先到产线");
                                                    }

                                                    continue;
                                                }
                                                OperateResult<short> ssjsts = plcModbus[4].ReadInt16("DB10.DBW3162");
                                                if (ssjsts.IsSuccess && ssjsts.Content == 0)//1需要空箱0不需要空箱
                                                {
                                                    int STACKER = GetNextAvailableStacker();
                                                    AddText($"当前空箱{bcrId}入库堆垛机编号是:{STACKER}");
                                                    LOCATION_ID = DataClass.Instance().GetLOCATIONID_EMPTY("3035", STACKER, ref errText);
                                                    DataTable dtInStand = DataClass.Instance().Get_T_BASE_STORAGE_AREA_LOCATION_InStand(LOCATION_ID);
                                                    if (dtInStand != null && dtInStand.Rows.Count > 0)
                                                    {
                                                        decId = dtInStand.Rows[0]["decid"].ToString().Trim();
                                                        inStand = dtInStand.Rows[0]["instand"].ToString().Trim();
                                                    }
                                                    //DataTable dtLocation = DataClass.Instance().GetNullCtl(ref errText);
                                                    //if (dtLocation != null)
                                                    //{
                                                    //    if (dtLocation.Rows.Count > 0)
                                                    //    {
                                                    //        LOCATION_ID = dtLocation.Rows[0]["location_id"].ToString().Trim();
                                                    //        decId = dtLocation.Rows[0]["decid"].ToString().Trim();
                                                    //        inStand = dtLocation.Rows[0]["instand"].ToString().Trim();
                                                    //    }
                                                    //}
                                                }
                                                else
                                                {
                                                    //优先进入人工码盘位置

                                                    string sta = GetWCSTOSSJ(bcrId);
                                                    string[] strb = sta.Split(';');

                                                    OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("96"));//进入人工码盘位置
                                                    if (retPlcId96.IsSuccess && retLX96.IsSuccess)
                                                    {
                                                        //删除入库任务
                                                        DataClass.Instance().Del_T_ONGOODSSHELF(code);
                                                        AddText("扫码器编号：" + bcrId + ",任务号:" + plcId + ",货位:" + LOCATION_ID + ",料箱号：" + CTL);
                                                    }
                                                }
                                            }
                                            else if(LOCATION_ID=="")
                                            {
                                                //先比对三个堆垛机已分配的任务数量-分配给少的那台堆垛机
                                                int STACKER = GetNextAvailableStacker();
                                                 if (STACKER == -1|| STACKER == 0) { AddText($"当前料箱{bcrId}无可入库堆垛机编号"); continue; }
                                                AddText($"当前料箱{bcrId}入库堆垛机编号是:{STACKER}");
                                                //需要测试语句是否正常？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
                                                LOCATION_ID = DataClass.Instance().GetLOCATIONID(STORAGE_AREA_ID, STACKER,ref errText);
                                                DataTable dtInStand = DataClass.Instance().Get_T_BASE_STORAGE_AREA_LOCATION_InStand(LOCATION_ID);
                                                if (dtInStand != null && dtInStand.Rows.Count > 0)
                                                {
                                                    decId = dtInStand.Rows[0]["decid"].ToString().Trim();
                                                    inStand = dtInStand.Rows[0]["instand"].ToString().Trim();
                                                }
                                            }
                                            if (errText.Length > 0)
                                            {
                                                AddText("查询可用库位异常:" + errText);
                                                OperateResult LOC_NUMBER = plcModbus[4].Write("DB9.DBW1700", (short)1);
                                                continue;
                                            }
                                            else if(LOCATION_ID != "")
                                            {
                                                //判断这个库为对应的堆垛机是否可用，如果不可用，更换入库航道
                                                
                                                DataTable dtInStand = DataClass.Instance().Get_T_BASE_STORAGE_AREA_LOCATION_InStand(LOCATION_ID);
                                                
                                                if (dtInStand != null && dtInStand.Rows.Count > 0)
                                                {
                                                    int[] STATUS = GetAvailableStackers();
                                                    decId = dtInStand.Rows[0]["decid"].ToString().Trim();
                                                    if (!STATUS.Contains(int.Parse(decId)))
                                                    {
                                                        AddText($"当前堆垛机编号{decId}不支持入库");
                                                        if(DataClass.Instance().deleteRuKuLOCATION(plcId, code, LOCATION_ID))
                                                        {
                                                            AddText($"当前入库任务任务号:{plcId},箱号：{code}，位置：{LOCATION_ID},重置任务状态成功");
                                                            string sta = GetWCSTOSSJ(bcrId);
                                                            string[] strb = sta.Split(';');
                                                            OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                                            OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("99"));//zhixing
                                                            AddText("扫码器编号：" + bcrId + ",料箱号:" + code + "-取消入库再次循环");
                                                            continue; 
                                                        }
                                                    }
                                                    
                                                    inStand = dtInStand.Rows[0]["instand"].ToString().Trim();
                                                }
                                            }
                                            AddText("入库任务查找货位成功，料箱号:" + CTL + ",货位：" + LOCATION_ID + ",堆垛机编号:" + decId + ",入库站台:" + inStand);

                                            string stradd = GetWCSTOSSJ(bcrId);
                                            string[] stra = stradd.Split(';');
                                            OperateResult retPlcId = plcModbus[4].Write(stra[0], int.Parse(plcId));////任务号
                                            OperateResult retLX = plcModbus[4].Write(stra[1], short.Parse(inStand));//入库口站台
                                            if (retPlcId.IsSuccess && retLX.IsSuccess)
                                            {
                                                if (DataClass.Instance().UpdateRKTaskLocationPLCID(plcId, code, LOCATION_ID))
                                                {
                                                    if (GOODSID == "000000")
                                                    {
                                                        DataClass.Instance().UpdateDevFault(decId);
                                                    }


                                                    AddText("扫码器编号:" + bcrId + ",PLC任务号:" + plcId + ",入库站台" + inStand + ",货位:" + LOCATION_ID + ",料箱号：" + CTL + ",写输送机任务成功,更新数据库成功");
                                                    continue;
                                                }
                                                else
                                                {
                                                    AddText("扫码器编号:" + bcrId + ",PLC任务号:" + plcId + ",入库站台" + inStand + ",货位:" + LOCATION_ID + ",料箱号：" + CTL + ",写输送机任务成功,更新数据库失败!!!");
                                                }
                                            }
                                        }
                                        if (TASKTYPE == "2")
                                        {
                                            //直接到装箱线体
                                            string sta = GetWCSTOSSJ(bcrId);
                                            string[] strb = sta.Split(';');
                                            OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                            OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("99"));//进入人工码盘位置
                                            AddText("扫码器编号：" + bcrId + ",料箱号:" + code + "-装箱线任务");
                                            continue;
                                        }
                                        else
                                        {
                                            string sta = GetWCSTOSSJ(bcrId);
                                            string[] strb = sta.Split(';');
                                            OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                            OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("99"));//进入人工码盘位置
                                            AddText("扫码器编号：" + bcrId + ",料箱号:" + code + "-装箱线任务");
                                        }

                                    }
                                    else
                                    {
                                        //异常箱子 ：没有任务箱子进入96
                                        OperateResult<short> ssjsts = plcModbus[4].ReadInt16("DB10.DBW3162");
                                        if (ssjsts.IsSuccess && ssjsts.Content == 0)//1需要空箱0不需要空箱
                                        {
                                            string plcId = DataClass.Instance().GetPlcId();
                                            string sta = GetWCSTOSSJ(bcrId);
                                            string[] strb = sta.Split(';');

                                            OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                            OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("99"));//进入人工码盘位置
                                            if (retPlcId96.IsSuccess && retLX96.IsSuccess)
                                            {
                                                AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",96已满，不需要空箱");
                                            }
                                        }
                                        else if(!DataClass.Instance().GetCKTaskCk_task(code.Trim()))
                                        {
                                            string plcId = DataClass.Instance().GetPlcId();
                                            string sta = GetWCSTOSSJ(bcrId);
                                            string[] strb = sta.Split(';');

                                            OperateResult retPlcId96 = plcModbus[4].Write(strb[0], int.Parse(plcId));////任务号
                                            OperateResult retLX96 = plcModbus[4].Write(strb[1], short.Parse("96"));//进入人工码盘位置
                                            if (retPlcId96.IsSuccess && retLX96.IsSuccess)
                                            {
                                                AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",96可入空箱，移栽96");
                                            }
                                        }                                    
                                           
                                    }
                                }

                            }
                            else
                            {
                                string plcId = DataClass.Instance().GetPlcId();
                                string lxid = "";
                                if (bcrId == "SSJ81")
                                {
                                    //查询有出库任务且没有物料号是000000的,如果有直行
                                    if (DataClass.Instance().GetCKTaskCk_task(code.Trim()) || DataClass.Instance().GetCKTaskRk_task(code.Trim()))
                                    {
                                        lxid = "99";
                                    }
                                    else//
                                    {
                                        DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF_SSX(code.Trim(), ref errText);
                                        if (dt != null && dt.Rows.Count > 0)
                                        {
                                            string GOODSID = dt.Rows[0]["GOODSID"].ToString().Trim(); // 000000空料箱
                                            string LOCATION_ID = dt.Rows[0]["LOCATION_ID"].ToString().Trim();
                                            if (GOODSID == "000000"&&LOCATION_ID=="")
                                            {
                                                OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3418");//SSJ106
                                                AddText($"当前82无尘室口状态{SSJ81.Content}");
                                                if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                                {
                                                    lxid = "82";
                                                    Thread.Sleep(1000);
                                                    DataClass.Instance().Del_T_CK_PICKINGWAVEGOODS(code.Trim());//空箱出库任务进入后删除
                                                    DataClass.Instance().Del_T_ONGOODSSHELF(code);
                                                }
                                                else
                                                {
                                                    lxid = "99";
                                                }
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                        else
                                        {
                                            OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3418");//SSJ106
                                            AddText($"当前82无尘室口状态{SSJ81.Content}");
                                            if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                            {
                                                lxid = "82";
                                                //lxid = "99";
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                    }
                                }
                                else if (bcrId == "SSJ84")
                                {
                                    if (DataClass.Instance().GetCKTaskCk_task(code.Trim()) || DataClass.Instance().GetCKTaskRk_task(code.Trim()))
                                    {
                                        lxid = "99";
                                    }
                                    else
                                    {
                                        DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF_SSX(code.Trim(), ref errText);
                                        if (dt != null && dt.Rows.Count > 0)
                                        {
                                            string GOODSID = dt.Rows[0]["GOODSID"].ToString().Trim(); // 000000空料箱
                                            string LOCATION_ID = dt.Rows[0]["LOCATION_ID"].ToString().Trim();
                                            if (GOODSID == "000000" && LOCATION_ID == "")
                                            {
                                                OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3386");//SSJ105
                                                AddText($"当前84无尘室口状态{SSJ81.Content}");
                                                if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                                {

                                                    lxid = "84";
                                                    Thread.Sleep(1000);
                                                    DataClass.Instance().Del_T_CK_PICKINGWAVEGOODS(code.Trim());//空箱出库任务进入后删除
                                                    DataClass.Instance().Del_T_ONGOODSSHELF(code);
                                                }
                                                else
                                                {
                                                    lxid = "99";
                                                }
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                        else
                                        {
                                            OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3386");//SSJ105
                                            AddText($"当前84无尘室口状态{SSJ81.Content}");
                                            if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                            {
                                                //lxid = "99";
                                                lxid = "84";
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                    }
                                    
                                }
                                else if (bcrId == "SSJ88")
                                {
                                    if (DataClass.Instance().GetCKTaskCk_task(code.Trim()) || DataClass.Instance().GetCKTaskRk_task(code.Trim()))
                                    {
                                        lxid = "99";
                                    }
                                    else
                                    {
                                        DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF_SSX(code.Trim(), ref errText);
                                        if (dt != null && dt.Rows.Count > 0)
                                        {
                                            string GOODSID = dt.Rows[0]["GOODSID"].ToString().Trim(); // 000000空料箱
                                            string LOCATION_ID = dt.Rows[0]["LOCATION_ID"].ToString().Trim();
                                            if (GOODSID == "000000" && LOCATION_ID == "")
                                            {
                                                OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3290");//SSJ102
                                                AddText($"当前89无尘室口状态{SSJ81.Content}");
                                                if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                                {
                                                    lxid = "89";
                                                    DataClass.Instance().Del_T_CK_PICKINGWAVEGOODS(code.Trim());//空箱出库任务进入后删除
                                                    DataClass.Instance().Del_T_ONGOODSSHELF(code);
                                                }
                                                else
                                                {
                                                    lxid = "99";
                                                }
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                        else
                                        {
                                            OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3290");//SSJ102
                                            AddText($"当前89无尘室口状态{SSJ81.Content}");
                                            if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                            {
                                                lxid = "89";
                                                //lxid = "99";
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                    }
                                    
                                }
                                else if (bcrId == "SSJ91")
                                {
                                    if (DataClass.Instance().GetCKTaskCk_task(code.Trim())|| DataClass.Instance().GetCKTaskRk_task(code.Trim()))
                                    {
                                        lxid = "99";
                                    }
                                    //DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF(code.Trim(), "0", ref errText);
                                    else
                                    {
                                        DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF_SSX(code.Trim(), ref errText);//查询状态0和1的任务
                                        if (dt != null && dt.Rows.Count > 0)
                                        {
                                            string GOODSID = dt.Rows[0]["GOODSID"].ToString().Trim(); // 000000空料箱
                                            string LOCATION_ID = dt.Rows[0]["LOCATION_ID"].ToString().Trim();
                                            if (GOODSID == "000000" && LOCATION_ID == "")
                                            {
                                                OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3258");//SSJ101
                                                AddText($"当前91无尘室口状态{SSJ81.Content}");
                                                if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                                {
                                                    lxid = "91";
                                                    Thread.Sleep(1000);
                                                    DataClass.Instance().Del_T_CK_PICKINGWAVEGOODS(code.Trim());//空箱出库任务进入后删除
                                                    DataClass.Instance().Del_T_ONGOODSSHELF(code);
                                                }
                                                else
                                                {
                                                    lxid = "99";
                                                }
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                        else
                                        {
                                            OperateResult<short> SSJ81 = plcModbus[4].ReadInt16("DB10.DBW3258");//SSJ101
                                            AddText($"当前91无尘室口状态{SSJ81.Content}");
                                            if (SSJ81.IsSuccess && SSJ81.Content == 1)//1需要空箱0不需要空箱
                                            {
                                                lxid = "91";
                                                //lxid = "99";
                                            }
                                            else
                                            {
                                                lxid = "99";
                                            }
                                        }
                                    }
                                }
                                //装箱线出库口 50，53 平均分配---按需分配
                                else if (bcrId == "SSJ50")
                                {
                                    //查询出库表是否有
                                    string GOODID = "";
                                    string portCK  = "";
                                    //有出库任务---装箱线的任务
                                    if (DataClass.Instance().GetCKTaskCkCount(code.Trim(),ref GOODID,ref portCK))
                                    {
                                        if (portCK == "50")//WMS指定装箱出库口
                                        {
                                            Thread.Sleep(1000);
                                            //读取1号线是否已满，如果已满就直行
                                            OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1626");
                                            if (result_full.Content == 1)//通道已满，直行
                                            {
                                                string stradd50 = GetWCSTOSSJ(bcrId);
                                                string[] stra50 = stradd50.Split(';');
                                                OperateResult retPlcId50 = plcModbus[4].Write(stra50[0], int.Parse(plcId));////任务号
                                                OperateResult retLX50 = plcModbus[4].Write(stra50[1], short.Parse("99"));//入库口站台
                                                if (retPlcId50.IsSuccess && retLX50.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                }
                                                continue;
                                            }
                                            else
                                            {
                                                string stradd50 = GetWCSTOSSJ(bcrId);
                                                string[] stra50 = stradd50.Split(';');
                                                OperateResult retPlcId50 = plcModbus[4].Write(stra50[0], int.Parse(plcId));////任务号
                                                OperateResult retLX50 = plcModbus[4].Write(stra50[1], (short)50);//入库口站台
                                                if (retPlcId50.IsSuccess && retLX50.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道未满，WMS指定装箱口移栽进入：" + 50);
                                                    //更新任务状态为9
                                                    //if(DataClass.Instance().UPDATE_STATUS_9(code))
                                                    //{
                                                    //    AddText("更新料箱号" + code + "状态9成功");
                                                    //}
                                                }
                                                continue;
                                            }
                                        }
                                        else if (portCK == "53")
                                        {
                                            lxid = "99";
                                        }
                                        else if (portCK == "56")
                                        {
                                            lxid = "99";
                                        }
                                        else
                                        {
                                            if (GOODID == "000000")
                                            {
                                                lxid = "99";
                                            }
                                            else
                                            {
                                                //如果没有指定位置，没满就入，满了就直行
                                                Thread.Sleep(1000);
                                                OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1626");
                                                if (result_full.Content == 1)//通道已满，直行
                                                {
                                                    string stradd50 = GetWCSTOSSJ(bcrId);
                                                    string[] stra50 = stradd50.Split(';');
                                                    OperateResult retPlcId50 = plcModbus[4].Write(stra50[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX50 = plcModbus[4].Write(stra50[1], short.Parse("99"));//入库口站台
                                                    if (retPlcId50.IsSuccess && retLX50.IsSuccess)
                                                    {
                                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                    }
                                                    lxid = "99";
                                                }
                                                else
                                                {
                                                    string stradd50 = GetWCSTOSSJ(bcrId);
                                                    string[] stra50 = stradd50.Split(';');
                                                    OperateResult retPlcId50 = plcModbus[4].Write(stra50[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX50 = plcModbus[4].Write(stra50[1], (short)50);//入库口站台
                                                    if (retPlcId50.IsSuccess && retLX50.IsSuccess)
                                                    {
                                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 50);
                                                    }
                                                    lxid = "50";
                                                }
                                            }
                                        }
                                    } 
                                    else if (DataClass.Instance().GetRKTaskCkCount(code.Trim(), ref GOODID))
                                    {
                                        if (GOODID == "000000")
                                        {
                                            lxid = "99";
                                        }
                                        else
                                        {
                                            //执行上报mes的操作-查询该箱子对应的数据
                                            DataSet dt = DataClass.Instance().Get_T_ONGOODSSHELF_SSX_MES(code.Trim(), ref errText);
                                            if (dt != null && dt.Tables[0].Rows.Count > 0)
                                            {
                                                for (int i = 0; i < dt.Tables[0].Rows.Count; i++)
                                                {
                                                    string STORAGE_ID = dt.Tables[0].Rows[i]["STORAGE_AREA_ID"].ToString(); //字库编号
                                                    string BARCODE = dt.Tables[0].Rows[i]["BARCODE"].ToString();//外箱子 + 内箱子条码
                                                    string CUSTOMER_ID = dt.Tables[0].Rows[i]["CUSTOMER_ID"].ToString();//客户代码
                                                    string newLoc = STORAGE_ID + "-WMS-00";

                                                    string strJsonRK = GetWmsData("http://" + MesIpPort + "/Camstar/PackStock.asmx/PackStockIn?pkwPackLot=" + BARCODE + "&pCustPackId=&pSubInventory=" + STORAGE_ID + "&pLocation=" + newLoc + "", "");
                                                    if (errText.Length > 0)
                                                    {
                                                        AddText($"WCS入装箱线成功{dt.Tables[0].Rows[i]["CTL"].ToString()}回传MES异常:" + errText);
                                                        continue;
                                                    }
                                                    if (strJsonRK.Length > 0)
                                                    {
                                                        AddText("WCS入装箱线成功回传MES返回：" + strJsonRK);

                                                        if (!strJsonRK.Contains("当前工位 '成品仓'") && strJsonRK.Contains("Error"))
                                                        {
                                                            if (DataClass.Instance().Update_T_SSX_TASK(BARCODE, code.Trim(),"9"))
                                                            {
                                                                AddText("WCS入装箱线成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9（上报失败）成功");
                                                            }
                                                            else
                                                            {
                                                                AddText($"WCS入装箱线成功{dt.Tables[0].Rows[i]["CTL"].ToString()}回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9（上报失败）失败");
                                                            }
                                                            AddText("WCS入装箱线成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + "");
                                                        }
                                                        else
                                                        {
                                                            if (DataClass.Instance().Update_T_SSX_TASK(BARCODE, code.Trim(), "1"))
                                                            {
                                                                AddText($"WCS入装箱线成功{dt.Tables[0].Rows[i]["CTL"].ToString()}回传MES成功：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态1（上报成功）成功");
                                                            }
                                                            else
                                                            {
                                                                AddText($"WCS入装箱线成功{dt.Tables[0].Rows[i]["CTL"].ToString()}回传MES成功：编号：" + BARCODE + "，" + strJsonRK + ",更新数据库状态1（上报成功，更新状态失败）失败");
                                                            }
                                                        }
                                                    }

                                                }
                                            }
                                            OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1626");
                                            if (result_full.Content == 1)//通道已满，直行
                                            {
                                                string stradd50 = GetWCSTOSSJ(bcrId);
                                                string[] stra50 = stradd50.Split(';');
                                                OperateResult retPlcId50 = plcModbus[4].Write(stra50[0], int.Parse(plcId));////任务号
                                                OperateResult retLX50 = plcModbus[4].Write(stra50[1], (short)99);//入库口站台
                                                if (retPlcId50.IsSuccess && retLX50.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                }
                                                lxid = "99";
                                            }
                                            else
                                            {
                                                string stradd50 = GetWCSTOSSJ(bcrId);
                                                string[] stra50 = stradd50.Split(';');
                                                OperateResult retPlcId50 = plcModbus[4].Write(stra50[0], int.Parse(plcId));////任务号
                                                OperateResult retLX50 = plcModbus[4].Write(stra50[1], (short)50);//入库口站台
                                                if (retPlcId50.IsSuccess && retLX50.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 50);
                                                    //Thread.Sleep(1000);
                                                    //DataClass.Instance().Ins_T_ONGOODSSHELF(code);
                                                    //DataClass.Instance().Del_T_ONGOODSSHELF(code);//MES码盘到输送线后任务删除
                                                }
                                                lxid = "50";
                                            }
                                            //string port = DataClass.Instance().Get_T_CK_PORT();
                                            //if (int.Parse(port) == 50)
                                            //{
                                            //    lxid = "50";
                                            //    DataClass.Instance().Update_T_CK_PORT(port);
                                            //    DataClass.Instance().Del_T_ONGOODSSHELF(code);//空箱入库任务进入后删除
                                            //}
                                            //else
                                            //{
                                            //    lxid = "99";
                                            //}
                                        }
                                    }
                                    else
                                    {
                                        lxid = "99";
                                    }
                                   
                                }
                                else if (bcrId == "SSJ53")
                                {
                                    string GOODID = "";
                                    string portCK = "";
                                    if (DataClass.Instance().GetCKTaskCkCount(code.Trim(), ref GOODID, ref portCK))
                                    {
                                        if (portCK == "53")//WMS指定装箱出库口
                                        {
                                            //判断是否已满
                                            Thread.Sleep(1000);
                                            OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1722");
                                            if (result_full.Content == 1)//通道已满，直行
                                            {
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], short.Parse("99"));//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                }
                                                continue;
                                            }
                                            else
                                            {
                                                lxid = "53";
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], (short)53);//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 53);
                                                    //更新任务状态为9
                                                    //if (DataClass.Instance().UPDATE_STATUS_9(code))
                                                    //{
                                                    //    AddText("更新料箱号" + code + "状态9成功");
                                                    //}
                                                }
                                                continue;
                                            }
                                        }
                                        else if (portCK == "56"|| portCK == "50")
                                        {
                                            lxid = "99";
                                        }
                                        else
                                        {
                                            if (GOODID == "000000")
                                            {
                                                lxid = "99";
                                            }
                                            else
                                            {
                                                Thread.Sleep(1000);
                                                OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1722");
                                                if (result_full.Content == 1)//通道已满，直行
                                                {
                                                    string stradd53 = GetWCSTOSSJ(bcrId);
                                                    string[] stra53 = stradd53.Split(';');
                                                    OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX53 = plcModbus[4].Write(stra53[1], short.Parse("99"));//入库口站台
                                                    if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                    {
                                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                    }
                                                    continue;
                                                }
                                                else
                                                {
                                                    lxid = "53";
                                                    string stradd53 = GetWCSTOSSJ(bcrId);
                                                    string[] stra53 = stradd53.Split(';');
                                                    OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX53 = plcModbus[4].Write(stra53[1], (short)53);//入库口站台
                                                    if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                    {
                                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 53);
                                                    }
                                                    continue;
                                                }
                                                //string port = DataClass.Instance().Get_T_CK_PORT();
                                                //if (int.Parse(port) == 53)
                                                //{
                                                //    lxid = "53";
                                                //    DataClass.Instance().Update_T_CK_PORT(port);
                                                //}
                                                //else
                                                //{
                                                //    lxid = "99";
                                                //}
                                            }
                                        }
                                    }
                                    else if (DataClass.Instance().GetRKTaskCkCount(code.Trim(), ref GOODID))
                                    {
                                        if (GOODID == "000000")
                                        {
                                            lxid = "99";
                                        }
                                        else
                                        {
                                            Thread.Sleep(1000);
                                            OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1722");
                                            if (result_full.Content == 1)//通道已满，直行
                                            {
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], short.Parse("99"));//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                }
                                                continue;
                                            }
                                            else
                                            {
                                                lxid = "53";
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], (short)53);//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 53);
                                                    Thread.Sleep(1000);
                                                    //DataClass.Instance().Ins_T_ONGOODSSHELF(code);
                                                    //DataClass.Instance().Del_T_ONGOODSSHELF(code);//MES码盘到输送线后任务删除
                                                }
                                                continue;
                                            }
                                            //string port = DataClass.Instance().Get_T_CK_PORT();
                                            //if (int.Parse(port) == 53)
                                            //{

                                            //    lxid = "53";
                                            //    DataClass.Instance().Update_T_CK_PORT(port);
                                            //    DataClass.Instance().Del_T_ONGOODSSHELF(code);//空箱入库任务进入后删除
                                            //}
                                            //else
                                            //{
                                            //    lxid = "99";
                                            //}
                                        }
                                    }
                                    else
                                    {
                                        lxid = "99";
                                    }
                                        
                                }
                                else if (bcrId == "SSJ56")
                                {
                                    string GOODID = "";
                                    string portCK = "";
                                    lxid = "99";
                                    if (DataClass.Instance().GetCKTaskCkCount(code.Trim(), ref GOODID, ref portCK))
                                    {
                                        if (portCK == "56")//WMS指定装箱出库口
                                        {
                                            OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1818");
                                            if (result_full.Content == 1)//通道已满，直行
                                            {
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], short.Parse("99"));//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                }
                                                continue;
                                            }
                                            else
                                            {
                                                lxid = "53";
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], (short)56);//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 56);
                                                }
                                                continue;
                                            }

                                        }
                                        else if (portCK == "50" || portCK == "53")
                                        {
                                            lxid = "99";
                                        }
                                        else
                                        {
                                            if (GOODID == "000000")
                                            {
                                                lxid = "99";
                                            }
                                            else
                                            {
                                                OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1818");
                                                if (result_full.Content == 1)//通道已满，直行
                                                {
                                                    string stradd53 = GetWCSTOSSJ(bcrId);
                                                    string[] stra53 = stradd53.Split(';');
                                                    OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX53 = plcModbus[4].Write(stra53[1], short.Parse("99"));//入库口站台
                                                    if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                    {
                                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                    }
                                                    continue;
                                                }
                                                else
                                                {
                                                    string stradd53 = GetWCSTOSSJ(bcrId);
                                                    string[] stra53 = stradd53.Split(';');
                                                    OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                    OperateResult retLX53 = plcModbus[4].Write(stra53[1], (short)56);//入库口站台
                                                    if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                    {
                                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 56);
                                                    }
                                                    continue;
                                                }
                                                //string port = DataClass.Instance().Get_T_CK_PORT();
                                                //if (int.Parse(port) == 53)
                                                //{
                                                //    lxid = "53";
                                                //    DataClass.Instance().Update_T_CK_PORT(port);
                                                //}
                                                //else
                                                //{
                                                //    lxid = "99";
                                                //}
                                            }
                                        }
                                    }
                                    else if (DataClass.Instance().GetRKTaskCkCount(code.Trim(), ref GOODID))
                                    {
                                        if (GOODID == "000000")
                                        {
                                            lxid = "99";
                                        }
                                        else
                                        {
                                            OperateResult<short> result_full = plcModbus[4].ReadInt16("DB10.1818");
                                            if (result_full.Content == 1)//通道已满，直行
                                            {
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], short.Parse("99"));//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",通道已满，直行：" + 99);
                                                }
                                                continue;
                                            }
                                            else
                                            {
                                                string stradd53 = GetWCSTOSSJ(bcrId);
                                                string[] stra53 = stradd53.Split(';');
                                                OperateResult retPlcId53 = plcModbus[4].Write(stra53[0], int.Parse(plcId));////任务号
                                                OperateResult retLX53 = plcModbus[4].Write(stra53[1], (short)56);//入库口站台
                                                if (retPlcId53.IsSuccess && retLX53.IsSuccess)
                                                {
                                                    AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",WMS指定装箱口移栽进入：" + 56);
                                                    DataClass.Instance().Ins_T_ONGOODSSHELF(code);
                                                    DataClass.Instance().Del_T_ONGOODSSHELF(code);//MES码盘到输送线后任务删除
                                                }
                                                continue;
                                            }
                                            //string port = DataClass.Instance().Get_T_CK_PORT();
                                            //if (int.Parse(port) == 53)
                                            //{

                                            //    lxid = "53";
                                            //    DataClass.Instance().Update_T_CK_PORT(port);
                                            //    DataClass.Instance().Del_T_ONGOODSSHELF(code);//空箱入库任务进入后删除
                                            //}
                                            //else
                                            //{
                                            //    lxid = "99";
                                            //}
                                        }
                                    }
                                    else
                                    {
                                        lxid = "99";
                                    }
                                }

                                //AddText("扫码器编号：" + bcrId + ",出库口:" + ckPort);
                                if (lxid == ""&& bcrId!="SSJ50") 
                                { 
                                    lxid = "99"; 
                                }
                                string stradd = GetWCSTOSSJ(bcrId);
                                string[] stra = stradd.Split(';');
                                OperateResult retPlcId = plcModbus[4].Write(stra[0], int.Parse(plcId));////任务号
                                OperateResult retLX = plcModbus[4].Write(stra[1], short.Parse(lxid));//入库口站台
                                if (retPlcId.IsSuccess && retLX.IsSuccess)
                                {
                                    if (lxid == "99")
                                    {
                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",产线料箱已满或有任务，直行");
                                    }
                                    else
                                    {
                                        AddText("扫码器编号：" + bcrId + ",料箱号:" + code + ",产线料箱未满-移栽进入：" + lxid);
                                    }
                                }

                            }

                        }
                    }
                   


                    Thread.Sleep(500);
                }
                catch (Exception ex)
                {
                    AddText("扫码线程异常:" + ex.Message+",代码行:"+ ex.StackTrace);
                }

            }
        }
        #endregion



        

        private void MES_AGIN()
        {
            while(true)
            {
                Thread.Sleep(500);
                DateTime now = DateTime.Now;

                // 计算今天早上6点和晚上6点的时间
                DateTime am6 = now.Date.AddHours(6);
                DateTime pm6 = now.Date.AddHours(18);

                // 计算下次执行时间
                DateTime nextRun;
                if (now < am6)
                {
                    nextRun = am6;
                }
                else if (now < pm6)
                {
                    nextRun = pm6;
                }
                else
                {
                    nextRun = am6.AddDays(1);  // 明天早上6点
                }
                // 计算需要等待的时间
                TimeSpan waitTime = nextRun - now;

                // 等待到下次执行时间
                if (waitTime > TimeSpan.Zero)
                {
                    Thread.Sleep(waitTime);
                }
                try
                {
                    string errText = "";
                    DataSet dt = DataClass.Instance().SELECTT_MI_STOCK_9(ref errText);
                    if (dt != null && dt.Tables[0].Rows.Count > 0)
                    {
                        for (int i = 0; i < dt.Tables[0].Rows.Count; i++)
                        {
                            string STORAGE_ID = dt.Tables[0].Rows[i]["STORAGE_ID"].ToString(); //字库编号
                            string LOCATION_ID = dt.Tables[0].Rows[i]["LOCATION_ID"].ToString();
                            string BARCODE = dt.Tables[0].Rows[i]["BARCODE"].ToString();//外箱子 + 内箱子条码
                            string CUSTOMER_ID = dt.Tables[0].Rows[i]["CUSTOMER_ID"].ToString();//客户代码
                            string newLoc = STORAGE_ID + "-WMS-00";

                            string strJsonRK = GetWmsData("http://" + MesIpPort + "/Camstar/PackStock.asmx/PackStockIn?pkwPackLot=" + BARCODE + "&pCustPackId=&pSubInventory=" + STORAGE_ID + "&pLocation=" + newLoc + "", "");
                            if (errText.Length > 0)
                            {
                                AddText("WCS定时上报mes成功回传MES异常:" + errText);
                                continue;
                            }
                            if (strJsonRK.Length > 0)
                            {
                                AddText("WCS定时上报mes成功回传MES返回：" + strJsonRK);

                                if (!strJsonRK.Contains("当前工位 '成品仓'") && strJsonRK.Contains("Error"))
                                {
                                    if (DataClass.Instance().Update_T_MI_STOCK_STSEBS(LOCATION_ID, BARCODE, "9"))
                                    {
                                        AddText("WCS定时上报mes成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9（上报失败）成功");
                                    }
                                    else
                                    {
                                        AddText("WCS定时上报mes成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9（上报失败）失败");
                                    }
                                    AddText("WCS定时上报mes成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + "");
                                }
                                else
                                {
                                    if (DataClass.Instance().Update_T_MI_STOCK_STSEBS(LOCATION_ID,BARCODE, "1"))
                                    {
                                        AddText("WCS定时上报mes成功回传MES成功：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态1(上报成功)成功");
                                    }
                                    else
                                    {
                                        AddText("WCS定时上报mes成功回传MES成功：编号：" + BARCODE + "，" + strJsonRK + ",更新数据库状态1（上报成功，更新状态失败）失败");
                                    }
                                }
                            }

                        }
                    }
                }
                catch (Exception ex)
                {

                }
            }     
        }


        public void EMPTY_NUM()
        {
            while (true)
            {
                Thread.Sleep(1000);
                try
                {
                    string sql = @"select * from T_MI_STOCK where GOODS_ID='000000'";
                    DataTable dataTable=OracleHelper.ExecuteDataTable(sql);
                    if(dataTable.Rows.Count<40)
                    {
                        OperateResult ru = plcModbus[4].Write("DB9.DBW1714", (short)1);//SSJ106
                    }
                }
                catch (Exception ex)
                {
                    AddText($"异常{ex}");
                    continue;
                }
            }
        }

        public void TASK_UPDATE()
        {
            while (true)
            {
                Thread.Sleep(500);
                try
                {
                    
                    OperateResult<string> SSJ74 = plcModbus[4].ReadString("DB10.DBW2368", 8);//SSJ106
                    OperateResult<int> SSJ74_TaskId = plcModbus[4].ReadInt32("DB10.DBW2390");//SSJ106
                    if (SSJ74.Content.Trim() != ""&& SSJ74_TaskId.Content != null)
                    {
                        OperateResult ru = plcModbus[4].Write("DB9.DBW1042", (short)1);//SSJ106
                        string CTL = SSJ74.Content.Trim();int TaskId = SSJ74_TaskId.Content;
                        //AddText($"56装箱线口写入移动指令1，托盘号:{CTL}");
                        if (DataClass.Instance().UPDATE_STATUS_9(CTL, TaskId.ToString()))
                        {
                            AddText("更新料箱号" + CTL + "状态9成功");
                        }
                        else
                        {
                            //输送线任务，直接备份删除
                            DataClass.Instance().Ins_T_ONGOODSSHELF(CTL);
                            DataClass.Instance().Del_T_ONGOODSSHELF(CTL);//MES码盘到输送线后任务删除
                        }
                    }
                    OperateResult<string> SSJ72 = plcModbus[4].ReadString("DB10.DBW2304", 8);//SSJ106
                    OperateResult<int> SSJ72_TaskId = plcModbus[4].ReadInt32("DB10.DBW2326");//SSJ106
                    if (SSJ72.Content.Trim() != "")
                    {
                        OperateResult ru = plcModbus[4].Write("DB9.DBW1014", (short)1);//SSJ106
                        string CTL = SSJ72.Content.Trim(); int TaskId = SSJ72_TaskId.Content;
                        //AddText($"53装箱线口写入移动指令1，托盘号:{CTL}");
                        if (DataClass.Instance().UPDATE_STATUS_9(CTL, TaskId.ToString()))
                        {
                            AddText("更新料箱号" + CTL + "状态9成功");
                            
                        }
                        else
                        {
                            //输送线任务，直接备份删除
                            DataClass.Instance().Ins_T_ONGOODSSHELF(CTL);
                            DataClass.Instance().Del_T_ONGOODSSHELF(CTL);//MES码盘到输送线后任务删除
                            
                        }
                    }
                    OperateResult<string> SSJ70 = plcModbus[4].ReadString("DB10.DBW2240", 8);//SSJ106
                    OperateResult<int> SSJ70_TaskId = plcModbus[4].ReadInt32("DB10.DBW2262");//SSJ106
                    if (SSJ70.Content.Trim() != "")
                    {
                        OperateResult ru = plcModbus[4].Write("DB9.DBW986", (short)1);//SSJ106
                        string CTL = SSJ70.Content.Trim(); int TaskId = SSJ70_TaskId.Content;
                        //AddText($"50装箱线口写入移动指令1，托盘号:{CTL}");
                        if (DataClass.Instance().UPDATE_STATUS_9(CTL,TaskId.ToString()))
                        {
                            AddText("更新料箱号" + CTL + "状态9成功");
                          
                        }
                        else
                        {
                            //输送线任务，直接备份删除
                            DataClass.Instance().Ins_T_ONGOODSSHELF(CTL);
                            DataClass.Instance().Del_T_ONGOODSSHELF(CTL);//MES码盘到输送线后任务删除
                            
                        }
                    }
                //    OperateResult<string> SSJ61 = plcModbus[4].ReadString("DB10.DBW1952", 8);//SSJ106
                //    //更新堆垛机出库任务状态为9或者备份删除输送线任务
                //    if (SSJ61.Content.Trim() != "")
                //    {
                //        string CTL= SSJ61.Content.Trim();
                //        if (DataClass.Instance().UPDATE_STATUS_9_2(CTL))
                //        {
                //            AddText("更新料箱号" + CTL + "状态9成功");
                          
                //        }
                //        else
                //        {
                //            //输送线任务，直接备份删除
                //            DataClass.Instance().Ins_T_ONGOODSSHELF(CTL);
                //            DataClass.Instance().Del_T_ONGOODSSHELF(CTL);//MES码盘到输送线后任务删除
                           
                //        }
                //    }
                //    OperateResult<string> SSJ64 = plcModbus[4].ReadString("DB10.DBW2048", 8);//SSJ106
                //    if (SSJ64.Content.Trim() != "")
                //    {
                //        string CTL = SSJ64.Content.Trim();
                //        if (DataClass.Instance().UPDATE_STATUS_9_2(CTL))
                //        {
                //            AddText("更新料箱号" + CTL + "状态9成功");
                           
                //        }
                //        else
                //        {
                //            //输送线任务，直接备份删除
                //            DataClass.Instance().Ins_T_ONGOODSSHELF(CTL);
                //            DataClass.Instance().Del_T_ONGOODSSHELF(CTL);//MES码盘到输送线后任务删除
                            
                //        }
                //    }
                //    OperateResult<string> SSJ67 = plcModbus[4].ReadString("DB10.DBW2144", 8);//SSJ106
                //    if (SSJ67.Content.Trim() != "")
                //    {
                //        string CTL = SSJ67.Content.Trim();
                //        if (DataClass.Instance().UPDATE_STATUS_9_2(CTL))
                //        {
                //            AddText("更新料箱号" + CTL + "状态9成功");
                           
                //        }
                //        else
                //        {
                //            //输送线任务，直接备份删除
                //            DataClass.Instance().Ins_T_ONGOODSSHELF(CTL);
                //            DataClass.Instance().Del_T_ONGOODSSHELF(CTL);//MES码盘到输送线后任务删除
                           
                //        }
                //    }
                }
                catch(Exception ex)
                {
                    AddText($"异常{ex}");
                    continue;
                }
            }
        }

        #region 查询入库站台任务写堆垛机


        //public bool outTask(int? stackerId)
        //{
        //    //查询出库任务下发
        //    string errText = "";
        //    DataTable dt = DataClass.Instance().GetOUTTask(stackerId.ToString(), ref errText);
        //    if()
        //    return false;
        //}

        /// <summary>
        /// 移库执行方法
        /// </summary>
        private bool ExecuteMoveTask(string decId)
        {
            //查询堆垛机是否空闲
            OperateResult<short[]> opfhidYK = plcModbus[int.Parse(decId)].ReadInt16("DB91.4", 2);
            if(opfhidYK.IsSuccess)
            {
                string DevStatus = opfhidYK.Content[1].ToString();//堆垛机状态 1空闲
                if (DevStatus != "1") return false;
                //查询是否有未下发的移库任务
                bool YKTask= DataClass.Instance().SELECT_YK(decId);
            }
            return true;
        }


        private object TASK = new object();
        public void STACKERTASK()
        {
            while (true)
            {
                try
                {
                    lock (TASK)
                    {
                        //查找可用的设备--堆垛机是联机且无故障
                        int[] STATUS_decide = GetAvailableStackers();
                        if (STATUS_decide == null || STATUS_decide.Length == 0)
                        {
                            // 数组为 null 或空的处理逻辑
                            AddText("无可用堆垛机");
                            return;
                        }
                        //轮询堆垛机
                        foreach (var decid in STATUS_decide)
                        {
                            //移库任务
                            bool exeMoveTask = ExecuteMoveTask(decid.ToString());
                            if (exeMoveTask) continue;
                            //出库任务
                            //bool exeoutTask = outTask(decid);
                        }

                            string errText = string.Empty;
                        List<string> declist = new List<string>();
                        declist.Add("1");
                        declist.Add("2");
                        declist.Add("3");
                        //轮询三台堆垛机状态
                        foreach (var decid in declist)
                        {
                            OperateResult<short[]> ddjControl = plcModbus[int.Parse(decid)].ReadInt16("DB91.4", 2);//
                            OperateResult<short> opfhid2 = plcModbus[int.Parse(decid)].ReadInt16("DB91.22");
                            if (ddjControl.IsSuccess && opfhid2.IsSuccess)
                            {
                                if (ddjControl.Content[0].ToString() == "5" || int.Parse(opfhid2.Content.ToString()) > 0)//堆垛机控制模式，单机 联机/堆垛机故障
                                {
                                    if (ddjControl.Content[1].ToString() == "1" && opfhid2.Content.ToString() == "0")//堆垛机运行状态：空闲 且正常
                                    {
                                        OperateResult<short> number = plcModbus[4].ReadInt16("DB10.DBW4192");
                                        if (number.Content < 30)//线体数量小于30下发出库
                                        {
                                            if (Set_CK_Task())
                                            {
                                                //优先执行出库任务
                                                continue;
                                            }
                                        }
                                        string[] DDJRkStation = { };
                                        switch (decid)
                                        {
                                            case "1":
                                                DDJRkStation = new string[] { "SSJ01", "SSJ03" };//堆垛机入库取货站台
                                                break;
                                            case "2":
                                                DDJRkStation = new string[] { "SSJ05", "SSJ07" };//堆垛机入库取货站台
                                                break;
                                            case "3":
                                                DDJRkStation = new string[] { "SSJ09", "SSJ11" };//堆垛机入库取货站台
                                                break;
                                        }
                                        foreach (string rkstand in DDJRkStation)//1，3，5，7，9，11
                                        {
                                            //查询入库口是否有任务
                                            OperateResult<int> ssjsts = plcModbus[4].ReadInt32(Get_SSJ_PlcId(rkstand));
                                            if (ssjsts.IsSuccess && ssjsts.Content > 0)
                                            {
                                                string code = "";
                                                DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF_instand(ssjsts.Content.ToString(), "1", ref errText);
                                                if (dt != null)
                                                {
                                                    if (dt.Rows.Count > 0)
                                                    {
                                                        string PLCID = dt.Rows[0]["PLCID"].ToString().Trim();//任务号
                                                        string CTL = dt.Rows[0]["CTL"].ToString().Trim();//托盘

                                                        string LOCATION_ID = dt.Rows[0]["LOCATION_ID"].ToString().Trim();
                                                        string LOCATION_ID_PLC = dt.Rows[0]["LOCATION_ID_PLC"].ToString().Trim();
                                                        string DECID = dt.Rows[0]["DECID"].ToString().Trim();
                                                        string INSTAND = dt.Rows[0]["INSTAND"].ToString().Trim();
                                                        string TASKTYPE = dt.Rows[0]["TASKTYPE"].ToString().Trim();
                                                        if (TASKTYPE == "1")
                                                        {
                                                            if (DataClass.Instance().GetkcCtl(CTL))
                                                            {
                                                                AddText("托盘编号：" + CTL + "货架中已存在该托盘，请检查托盘编号是否重复");
                                                                continue;
                                                            }
                                                        }

                                                        if (LOCATION_ID.Length > 0)
                                                        {
                                                            //LOCATION_ID_PLC  03132012  03排132列 01层 2 深货位

                                                            string row = LOCATION_ID_PLC.Substring(0, 2);
                                                            string cln = LOCATION_ID_PLC.Substring(2, 3);
                                                            string layer = LOCATION_ID_PLC.Substring(5, 2);
                                                            string DEPTH = LOCATION_ID_PLC.Substring(7, 1);
                                                            if (WritePlcTaskRK(PLCID, row, Convert.ToString(int.Parse(cln) + 1).PadLeft(2, '0'), layer, DEPTH, DECID, "1", CTL, rkstand))
                                                            {
                                                                AddText("入库任务写堆垛机成功，任务号：" + PLCID + "，库位：" + LOCATION_ID + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);

                                                                if (DataClass.Instance().UPDATE_T_ONGOODSSHELF(PLCID, "2"))
                                                                {
                                                                    //DataClass.Instance().UpdateDevFault(DECID);

                                                                    AddText("入库任务更新入库表状态及货位状态成功，任务号：" + PLCID + "，库位：" + LOCATION_ID + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);
                                                                }
                                                                else
                                                                {
                                                                    AddText("入库任务写堆垛机成功更新状态2失败,任务号:" + PLCID + ",库位:" + LOCATION_ID + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);
                                                                }
                                                            }
                                                            else
                                                            {
                                                                AddText("入库任务写堆垛机失败，任务号:" + PLCID + ",库位：" + LOCATION_ID + ",请检查网络和任务是否异常。" + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);
                                                            }
                                                        }
                                                        else
                                                        {
                                                            AddText("入库站台:" + rkstand + ",货位查询异常:" + LOCATION_ID);
                                                        }
                                                    }
                                                }
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    }
                    Thread.Sleep(1000);
                }
                catch
                {

                }
            }
        }
       
        




        /// <summary>
        /// 查询入库站台任务写堆垛机
        /// </summary>
        /// 
        private object objlock = new object();
        public void RkCK_DDJ()
        {
            while (true)
            {
                try
                {
                    lock (objlock)
                    {
                        string errText = "";
                        if (Set_CK_Task())
                        {
                            //优先执行出库任务
                            continue;
                        }
                        
                            //根据AGV送达信号 查询对应的任务
                            foreach (string rkstand in DDJRkStation)//1，3，5，7，9，11
                            {
                                //遍历入库站台 是否有托盘

                                //查询任务号
                                OperateResult<int> ssjsts = plcModbus[4].ReadInt32(Get_SSJ_PlcId(rkstand));
                                if (ssjsts.IsSuccess && ssjsts.Content > 0)
                                {
                                    string code = "";
                                    DataTable dt = DataClass.Instance().Get_T_ONGOODSSHELF_instand(ssjsts.Content.ToString(), "1", ref errText);
                                    if (dt == null || dt.Rows.Count < 1) 
                                    {
                                    OperateResult ru = plcModbus[4].Write("DB9.DBW8", short.Parse(rkstand.Substring(3,2)));
                                    continue;
                                }
                                else
                                {
                                    OperateResult ru = plcModbus[4].Write("DB9.DBW8", (short)0);
                                }
                                    if (dt != null)
                                    {
                                        if (dt.Rows.Count > 0)
                                        {
                                       
                                        string PLCID = dt.Rows[0]["PLCID"].ToString().Trim();//任务号
                                            string CTL = dt.Rows[0]["CTL"].ToString().Trim();//托盘

                                            string LOCATION_ID = dt.Rows[0]["LOCATION_ID"].ToString().Trim();
                                            string LOCATION_ID_PLC = dt.Rows[0]["LOCATION_ID_PLC"].ToString().Trim();
                                            string DECID = dt.Rows[0]["DECID"].ToString().Trim();
                                            string INSTAND = dt.Rows[0]["INSTAND"].ToString().Trim();
                                            string TASKTYPE = dt.Rows[0]["TASKTYPE"].ToString().Trim();
                                            if (TASKTYPE == "1")
                                            {
                                                if (DataClass.Instance().GetkcCtl(CTL))
                                                {
                                                    AddText("托盘编号：" + CTL + "货架中已存在该托盘，请检查托盘编号是否重复");
                                                    continue;
                                                }
                                            }

                                            if (LOCATION_ID.Length > 0)
                                            {
                                                //LOCATION_ID_PLC  03132012  03排132列 01层 2 深货位

                                                string row = LOCATION_ID_PLC.Substring(0, 2);
                                                string cln = LOCATION_ID_PLC.Substring(2, 3);
                                                string layer = LOCATION_ID_PLC.Substring(5, 2);
                                                string DEPTH = LOCATION_ID_PLC.Substring(7, 1);
                                            try
                                            {
                                                OperateResult<short[]> ddjControl = plcModbus[int.Parse(DECID)].ReadInt16("DB91.4", 2);//
                                                if (ddjControl.IsSuccess)
                                                {
                                                    if (ddjControl.Content[0].ToString() == "5")//堆垛机控制模式，单机 联机
                                                    {
                                                        if (ddjControl.Content[1].ToString() == "1")//堆垛机运行状态：空闲 ，运行中
                                                        {
                                                            if (WritePlcTaskRK(PLCID, row, Convert.ToString(int.Parse(cln) + 1).PadLeft(2, '0'), layer, DEPTH, DECID, "1", CTL, rkstand))
                                                            {
                                                                AddText("入库任务写堆垛机成功，任务号：" + PLCID + "，库位：" + LOCATION_ID + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);

                                                                if (DataClass.Instance().UPDATE_T_ONGOODSSHELF(PLCID, "2"))
                                                                {
                                                                    //DataClass.Instance().UpdateDevFault(DECID);

                                                                    AddText("入库任务更新入库表状态及货位状态成功，任务号：" + PLCID + "，库位：" + LOCATION_ID + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);
                                                                }
                                                                else
                                                                {
                                                                    AddText("入库任务写堆垛机成功更新状态2失败,任务号:" + PLCID + ",库位:" + LOCATION_ID + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);
                                                                }
                                                            }
                                                            else
                                                            {
                                                                AddText("入库任务写堆垛机失败，任务号:" + PLCID + ",库位：" + LOCATION_ID + ",请检查网络和任务是否异常。" + ",入库站台:" + rkstand + ",堆垛机编号:" + DECID);
                                                            }

                                                        }
                                                    }
                                                    else
                                                    {
                                                        AddText("堆垛机：" + DECID + "单机模式,请选择联机模式");
                                                        continue;
                                                    }
                                                }
                                            }
                                            catch
                                            {
                                                continue;
                                            }
                                        }
                                        else
                                            {
                                                AddText("入库站台:" + rkstand + ",货位查询异常:" + LOCATION_ID);
                                            }
                                        }
                                    }
                                }
                            continue;
                        }
                        Thread.Sleep(3000);
                    }
                }
                catch (Exception ex)
                {
                    txtErrorMsg(ex.ToString());
                }
            }
            Thread.Sleep(1500);
        }
        #endregion


        public void GetOnData()
        {
            while (true)
            {
                try
                {
                    string errText = "";
                    
                    DataTable iningtask = DataClass.Instance().GetiningGoodsDecidOhp();
                    if (iningtask != null)
                    {
                        if (gridControl2.InvokeRequired)
                        {
                            // 如果当前线程不是UI线程，则使用Invoke在UI线程上调用此方法  
                            gridControl2.Invoke(new MethodInvoker(delegate
                            {
                                gridControl2.DataSource = iningtask;
                            }));
                        }
                        else
                        {
                            // 如果当前线程已经是UI线程，则直接设置DataSource  
                            gridControl2.DataSource = iningtask;
                        }

                       
                    }

                    DataTable outingtask = DataClass.Instance().GetOutingGoodsDecidOhp();
                    if (iningtask != null)
                    {
                        if (gridControl3.InvokeRequired)
                        {
                            // 如果当前线程不是UI线程，则使用Invoke在UI线程上调用此方法  
                            gridControl3.Invoke(new MethodInvoker(delegate
                            {
                                gridControl3.DataSource = outingtask;
                            }));
                        }
                        else
                        {
                            // 如果当前线程已经是UI线程，则直接设置DataSource  
                            gridControl3.DataSource = outingtask;
                        }


                    }

                    //labelControl1.Invoke(new MethodInvoker(delegate
                    //{
                    //    string num1 = DataClass.Instance().GetLOCATIONID2("1", ref errText);
                    //    labelControl1.Text = num1.ToString();
                    //    if (int.Parse(num1) <= 5)
                    //    {
                    //        labelControl1.ForeColor = Color.Red;
                    //    }
                    //    else
                    //    {
                    //        labelControl1.ForeColor = Color.Blue;
                    //    }
                        

                    //}));

                    //labelControl2.Invoke(new MethodInvoker(delegate
                    //{
                    //    int num2 = DataClass.Instance().Get_T_BASE_STORAGE_AREA_LOCATION_NullCount("非样板");
                    //    labelControl2.Text = num2.ToString();
                    //    if (num2 <= 20)
                    //    {
                    //        labelControl2.ForeColor = Color.Red;
                    //    }
                    //    else
                    //    {
                    //        labelControl2.ForeColor = Color.Blue;
                    //    }
                    //}));
                    


                }
                catch (Exception ex)
                {
                    AddText("查询出入库任务异常:" + ex.Message);

                }
                Thread.Sleep(3000);
            }
        }


      
       

        /// <summary>
        /// 输送机是否有货
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public string Get_SSJ_STS(string station)
        {
            lock ("ssd")
            {
                switch (station)
                {
                    case "101":
                        return "DB35.19.0";
                    case "102":
                        return "DB35.19.1";
                    //case "03":
                    //    return "DB90.88";
                    //case "04":
                    //    return "DB90.128";
                    //case "05":
                    //    return "DB90.168";
                    //case "06":
                    //    return "DB90.208";
                    //case "07":
                    //    return "DB90.248";
                    //case "08":
                    //    return "DB90.288";
                    //case "09":
                    //    return "DB90.328";
                    //case "10":
                    //    return "DB90.368";

                }
                return null;
            }
        }



        public string Get_PLC_FINISH (string station)
        {
            lock ("ssd")
            {
                switch (station)
                {
                  
                    case "1":
                        return "DB70.DBD0;DB70.DBW4";
                    case "2":
                        return "DB70.DBD6;DB70.DBW10";
                    case "3":
                        return "DB70.DBD12;DB70.DBW16";
                    case "4":
                        return "DB70.DBD18;DB70.DBW22";
                    case "5":
                        return "DB70.DBD24;DB70.DBW28";
                    case "6":
                        return "DB70.DBD30;DB70.DBW34";
                    case "7":
                        return "DB70.DBD36;DB70.DBW40";
                    case "8":
                        return "DB70.DBD42;DB70.DBW46";
                    case "9":
                        return "DB70.DBD48;DB70.DBW52";
                    case "10":
                        return "DB70.DBD54;DB70.DBW58";
                    case "11":
                        return "DB70.DBD60;DB70.DBW64";
                    case "12":
                        return "DB70.DBD66;DB70.DBW70";
                    case "13":
                        return "DB70.DBD72;DB70.DBW76";
                    case "14":
                        return "DB70.DBD78;DB70.DBW82";
                    case "15":
                        return "DB70.DBD84;DB70.DBW88";
                    case "16":
                        return "DB70.DBD90;DB70.DBW94";
                    case "17":
                        return "DB70.DBD96;DB70.DBW100";
                    case "18":
                        return "DB70.DBD102;DB70.DBW106";
                    case "19":
                        return "DB70.DBD108;DB70.DBW112";
                    case "20":
                        return "DB70.DBD114;DB70.DBW118";
                 

                }
                return null;
            }
        }

        public string WCS_TO_PLC_DEL(string station)
        {
            lock ("ssd")
            {
                switch (station)
                {

                    case "1":
                        return "DB71.DBD0";
                    case "2":
                        return "DB71.DBD4";
                    case "3":
                        return "DB71.DBD8";
                    case "4":
                        return "DB71.DBD12";
                    case "5":
                        return "DB71.DBD16";
                    case "6":
                        return "DB71.DBD20";
                    case "7":
                        return "DB71.DBD24";
                    case "8":
                        return "DB71.DBD28";
                    case "9":
                        return "DB71.DBD32";
                    case "10":
                        return "DB71.DBD36";
                    case "11":
                        return "DB71.DBD40";
                    case "12":
                        return "DB71.DBD44";
                    case "13":
                        return "DB71.DBD48";
                    case "14":
                        return "DB71.DBD52";
                    case "15":
                        return "DB71.DBD56";
                    case "16":
                        return "DB71.DBD60";
                    case "17":
                        return "DB71.DBD64";
                    case "18":
                        return "DB71.DBD68";
                    case "19":
                        return "DB71.DBD72";
                    case "20":
                        return "DB71.DBD76";


                }
                return null;
            }
        }


        /// <summary>
        /// 入库写输送机任务号+路向
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        private string Get_SSJ_PlcId(string station)
        {
            lock ("dss")
            {
                switch (station)
                {
                    case "SSJ01":
                        return "DB10.DBD54";
                    case "SSJ03":
                        return "DB10.DBD118";
                    case "SSJ05":
                        return "DB10.DBD182";
                    case "SSJ07":
                        return "DB10.DBD246";
                    case "SSJ09":
                        return "DB10.DBD310";
                    case "SSJ11":
                        return "DB10.DBD374";
                    
                }
                return null;
            }
        }



        private string Get_SSJ_PlcId_Del (string station)
        {
            lock ("dss")
            {
                switch (station)
                {
                    case "01":
                        return "DB101.0";
                  
                    case "05":
                        return "DB101.80";
                 

                }
                return null;
            }
        }


        public string GetBarCodePlcAddress(string station)
        {
            // 04:DB90.400
            // 07:DB90.420
            // 09:DB90.440
            switch (station)
            {
                case "SSJ50":
                    return "DB10.DBW1600";
                case "SSJ53":
                    return "DB10.DBW1696";
                case "SSJ56":
                    return "DB10.DBW1792";
                case "SSJ81":
                    return "DB10.DBW2592";
                case "SSJ84":
                    return "DB10.DBW2688";
                case "SSJ88":
                    return "DB10.DBW2816";
                case "SSJ91":
                    return "DB10.DBW2912";
                case "SSJ96":
                    return "DB10.DBW3072";

            }
            return null;

        }

        public string GetWCSTOSSJ (string station)
        {
            // 04:DB90.400
            // 07:DB90.420
            // 09:DB90.440
            switch (station)
            {
                case "SSJ50":
                    return "DB9.DBD700;DB9.DBW704";
                case "SSJ53":
                    return "DB9.DBD742;DB9.DBW746";
                case "SSJ56":
                    return "DB9.DBD784;DB9.DBW788";
                case "SSJ81":
                    return "DB9.DBD1134;DB9.DBW1138";
                case "SSJ84":
                    return "DB9.DBD1176;DB9.DBW1180";
                case "SSJ88":
                    return "DB9.DBD1232;DB9.DBW1236";
                case "SSJ91":
                    return "DB9.DBD1274;DB9.DBW1278";
                case "SSJ96":
                    return "DB9.DBD1344;DB9.DBW1348";

            }
            return null;

        }





        /// <summary>
        /// 是否有货
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public string GetTwoSSJPlcAddress (string station)
        {
            switch (station)
            {
                case "21":
                    return "DB90.56";
                case "22":
                    return "DB90.136";
                case "23":
                    return "DB90.176";
                case "24":
                    return "DB90.56";
                case "25":
                    return "DB90.136";
                case "26":
                    return "DB90.176";

            }
            return null;

        }


        /// <summary>
        /// 控制类型：1 入库，2 出库
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public  string GetTwoSSJPlcAddressControl (string station)
        {
            switch (station)
            {
                case "21":
                    return "DB90.56";
                case "22":
                    return "DB90.136";
                case "23":
                    return "DB90.176";
                case "24":
                    return "DB90.56";
                case "25":
                    return "DB90.136";
                case "26":
                    return "DB90.176";

            }
            return null;

        }

      

        #region 入库任务写堆垛机
        private object rkLock = new object ();
        /// <summary>
        /// 写PLC任务。
        /// </summary>
        /// <param name="plcid">任务号</param>
        /// <param name="Getlocation">取货位置</param>
        /// <param name="SendLocation">卸货位置</param>
        /// <param name="TaskType">任务类型</param>
        /// <returns></returns>
        private bool WritePlcTaskRK(string plcid, string row, string cln, string layer, string DEPTH,
            string decid, string taskType, string code,string rkstand)
        {
            lock (rkLock)
            {
                try
                {
                    string isok = string.Empty;
                    string iserror = string.Empty;
                    short[] values = new short[13];
                    values[0] = short.Parse(taskType);//1:入库 2:出库  9移库
                    values[1] = 1;// 取货站台
                    values[2] = 1;///入库巷道号
                    values[3] = 1;///出库巷道号
                    values[4] = 1;//卸货站台号

                    //2,3,6,7,10,11 写PLC 1 取货排
                    //1,4,5,8,9,12 写PLC 2取货排

                    if (row == "03" || row == "04" || row == "07" || row == "08" || row == "11" || row == "12")
                    {
                        values[5] = 1;//取货排
                    }
                    else
                    {
                        values[5] = 2;//取货排
                      
                    }

                    if (row == "01" || row == "02" || row == "05" || row == "06" || row == "09" || row == "10")
                    {
                        values[6] = 1;///取货列
                    }
                    else
                    {
                        values[6] = 134;///取货列
                    }

                    values[7] = 1;//取货层

                    if (row == "01" || row == "04" || row == "05" || row == "08" || row == "09" || row == "12")
                    {
                        values[8] = 2;//卸货排
                    }
                    else
                    {
                        values[8] = 1;//卸货排
                    }

                    values[9] = short.Parse(cln);//卸货列
                    values[10] = short.Parse(layer);//卸货层
                    values[11] = 1;//取货深度
                    values[12] = short.Parse(DEPTH);//卸货深度
        
                   

                    OperateResult retWrite1 = plcModbus[int.Parse(decid)].Write("DB90.0", int.Parse(plcid));//任务号
                    OperateResult retWrite2 = plcModbus[int.Parse(decid)].Write("DB90.4", values);//堆垛机坐标
                    if (retWrite1.IsSuccess && retWrite2.IsSuccess)
                    {
                        Thread.Sleep(500);
                        OperateResult writeXY = plcModbus[int.Parse(decid)].Write("DB90.80", (short)1);//校验
                        if (writeXY.IsSuccess)
                        {
                            Thread.Sleep(2000);
                            OperateResult<int> ssjsts = plcModbus[int.Parse(decid)].ReadInt32("DB91.0");
                            if (ssjsts.IsSuccess)
                            {
                                if (ssjsts.Content.ToString() == plcid)
                                {
                                    AddText("接收PLC入库任务返回任务号成功：WCS写入任务号：" + plcid + "，读取PLC任务号:" + ssjsts.Content);
                                    return true;
                                }
                                else
                                {
                                    AddText("接收PLC入库任务返回任务号失败：WCS写入任务号：" + plcid + "，读取PLC任务号:" + ssjsts.Content);
                                }

                            }
                        }
                    }
                    
               
                
                }
                catch (Exception ex)
                {
                    return false;
                }
                return false;
            }
        }
        #endregion

        #region 出库写堆垛机PLC任务

        private static readonly object lockwriteplc = new object();
        /// <summary>
        /// 写PLC任务。
        /// </summary>
        /// <param name="plcid">任务号</param>
        /// <param name="Getlocation">取货位置</param>
        /// <param name="SendLocation">卸货位置</param>
        /// <param name="TaskType">任务类型</param>
        /// <returns></returns>
        private bool WritePlcTaskCK(string plcid, string row, string cln, string layer, string depth, string decid, string instand, string taskType,string ck_type )
        {
            lock (lockwriteplc)
            {
                try
                {
                    string isok = string.Empty;
                    string iserror = string.Empty;

                    short[] values = new short[13];
                    values[0] = short.Parse(taskType);//1:入库 2:出库
                    values[1] = 1;// 取货站台
                    values[2] = 1;///入库巷道号
                    values[3] = 1;///出库巷道号
                    values[4] = 1;//卸货站台号


                    if (row == "02" || row == "03" || row == "06" || row == "07" || row == "10" || row == "11")
                    {
                        values[5] = 1;//取货排
                    }
                    else
                    {
                        values[5] = 2;//取货排

                    }
                    values[6] = short.Parse(cln);//取货列
                    values[7] = short.Parse(layer);//取货层

                    if (row == "01" || row == "02" || row == "05" || row == "06" || row == "09" || row == "10")
                    {
                        values[8] = 1;//卸货排
                    }
                    else
                    {
                        values[8] = 2;//卸货排
                    }

                    if (row == "01" || row == "02" || row == "05" || row == "06" || row == "09" || row == "10")
                    {
                        values[9] = 1;///卸货列
                    }
                    else
                    {
                        values[9] = 134;///卸货列
                    }

                    values[10] = 1;//卸货层
                    values[11] = short.Parse(depth);//取货深度
                    values[12] = 1;//卸货深度

                    OperateResult<int> ssjstsID  = plcModbus[int.Parse(decid)].ReadInt32("DB91.0");
                    if (ssjstsID.IsSuccess && ssjstsID.Content == 0)
                    {
                        OperateResult retstsPlcid = plcModbus[int.Parse(decid)].Write("DB90.0", int.Parse(plcid));
                        OperateResult retsts = plcModbus[int.Parse(decid)].Write("DB90.4", values);
                        if (retsts.IsSuccess && retstsPlcid.IsSuccess)
                        {
                            Thread.Sleep(500);

                            OperateResult writeXY = plcModbus[int.Parse(decid)].Write("DB90.80", (short)1);//校验
                            if (writeXY.IsSuccess)
                            {
                                Thread.Sleep(2000);
                                OperateResult<int> ssjsts = plcModbus[int.Parse(decid)].ReadInt32("DB91.0");
                                if (ssjsts.IsSuccess)
                                {
                                    if (ssjsts.Content.ToString() == plcid)
                                    {
                                        AddText("接收PLC出库任务返回任务号成功：WCS写入任务号：" + plcid + "，读取PLC任务号:" + ssjsts.Content);
                                        return true;
                                    }
                                    else
                                    {
                                        AddText("接收PLC出库任务返回任务号失败：WCS写入任务号：" + plcid + "，读取PLC任务号:" + ssjsts.Content);
                                    }
                                }
                            }
                        }
                        else
                        {
                            return false;
                        }
                    }
                }
                catch (Exception ex)
                {
                    return false;
                }
                return false;
            }
        }
        #endregion

        #region  移库写堆垛机任务
        private bool WritePlcTaskMove(string plcid, string start_row, string start_cln, string start_layer, string start_depth,
            string end_row, string end_cln, string end_layer, string end_depth, string decid)
        {
            lock (lockwriteplc)
            {
                try
                {
                    string isok = string.Empty;
                    string iserror = string.Empty;

                    short[] values = new short[13];
                    values[0] = 9;//1:入库 2:出库；9移库
                    values[1] = 1;// 取货站台
                    values[2] = 1;///入库巷道号
                    values[3] = 1;///出库巷道号
                    values[4] = 1;//卸货站台号


                    if (start_row == "02" || start_row == "03" || start_row == "06" || start_row == "07" || start_row == "10" || start_row == "11")
                    {
                        values[5] = 1;//取货排
                    }
                    else
                    {
                        values[5] = 2;//取货排

                    }
                    values[6] = short.Parse(start_cln);//取货列
                    values[7] = short.Parse(start_layer);//取货层


                    if (end_row == "02" || end_row == "03" || end_row == "06" || end_row == "07" || end_row == "10" || end_row == "11")
                    //if (end_row == "01" || end_row == "02" || end_row == "05" || end_row == "06" || end_row == "09" || end_row == "10")
                    {
                        values[8] = 1;//卸货排
                    }
                    else
                    {
                        values[8] = 2;//卸货排
                    }
                    values[9] = short.Parse(end_cln);///卸货列
                    values[10] = short.Parse(end_layer);//卸货层


                    values[11] = short.Parse(start_depth);//取货深度
                    values[12] = short.Parse(end_depth);//卸货深度


                    OperateResult retstsPlcid = plcModbus[int.Parse(decid)].Write("DB90.0", int.Parse(plcid));
                    OperateResult retsts = plcModbus[int.Parse(decid)].Write("DB90.4", values);
                    if (retsts.IsSuccess && retstsPlcid.IsSuccess)
                    {
                        Thread.Sleep(800);

                        OperateResult writeXY = plcModbus[int.Parse(decid)].Write("DB90.80", (short)1);//校验
                        if (writeXY.IsSuccess)
                        {
                            Thread.Sleep(2000);
                            OperateResult<int> ssjsts = plcModbus[int.Parse(decid)].ReadInt32("DB91.0");
                            if (ssjsts.IsSuccess)
                            {
                                if (ssjsts.Content.ToString() == plcid)
                                {
                                    return true;
                                }
                            }
                        }
                       
                    }
                    else
                    {
                        return false;
                    }


                }
                catch (Exception ex)
                {
                    return false;
                }
                return false;
            }
        }

        #endregion

        #region 查询出库任务写堆垛机
        private static readonly object locksettask = new object();
       
        /// <summary>
        /// 发送任务
        /// </summary>
        private bool Set_CK_Task()
        {

            bool retsts=false;

            List<string> declist = new List<string>();
            declist.Add("1");
            declist.Add("2");
            declist.Add("3");
            //while (true)
            {
                Thread.Sleep(1000);
                //lock (locksettask)
                {
                    string errText = string.Empty;

                    //空箱出库任务？
                    DataTable dtCtlNull  = DataClass.Instance().GetCKTaskNullBoX(ref errText);
                    if (dtCtlNull != null && dtCtlNull.Rows.Count > 0)
                    {
                        string pickingid = dtCtlNull.Rows[0]["pickingid"].ToString();

                        string decIdCTL = DataClass.Instance().GetBoxNumDecId();
                        if (decIdCTL.Length > 0)
                        {
                            DataTable dtbox = DataClass.Instance().GetCK_TASK_NULLBOX(decIdCTL);
                            if (dtbox != null && dtbox.Rows.Count > 0)
                            {
                                string plcId = DataClass.Instance().GetPlcId();

                                string location_id = dtbox.Rows[0]["location_id"].ToString();
                                string CTL = dtbox.Rows[0]["ctl"].ToString();

                                //string GOODS_ID = dtbox.Rows[0]["goods_id"].ToString();
                                //string PUTIN_ID = "CK" + DateTime.Now.ToString("yyyyMMddHHmmssfff");


                                if (DataClass.Instance().UpdateCKTaskPLCID(plcId,CTL, location_id, pickingid))
                                {
                                    DataClass.Instance().Update_T_MI_STOCK("1", CTL, location_id);
                                    AddText("空托盘出库任务查找货位成功，任务号:" + plcId + "出库库位:" + location_id + "料箱号:" + CTL);
                                   
                                }
                            }
                        }

                    }



                    foreach (string decid in declist)
                    {


                        //查询出库任务 
                        DataTable dt = DataClass.Instance().GetCKTask(decid, ref errText);
                        if (errText.Length > 0)
                        {
                            AddText("WCS获取WMS出库任务发生异常" + errText);
                        }
                        else
                        {
                            if (dt != null && dt.Rows.Count > 0)
                            {
                                //foreach(var TASK in dt.Rows)
                                //{
                                //    if (dt.Rows[0]["GOOD_ID"].ToString().Trim() == "000000" && dt.Rows[0]["TYPESTS"].ToString() != "3")
                                //    {
                                //        continue;
                                //    }
                                //    else if(dt.Rows[0]["GOOD_ID"].ToString().Trim() != "000000" && dt.Rows[0]["TYPESTS"].ToString() != "3")
                                //    {
                                //        OperateResult<short> number = plcModbus[4].ReadInt16("DB10.DBW4192");
                                //        OperateResult<short> STATUS = plcModbus[4].ReadInt16("DB10.DBW3930");
                                //        if (number.Content < int.Parse(textBox1.Text) && STATUS.Content == 0)//线体数量小于20下发出库
                                //        {
                                //            AddText($"当前数量{number.Content},可以下发料箱出库任务");
                                //            continue;
                                //        }
                                //        else
                                //        {
                                //            continue;
                                //        }
                                //    }
                                //}
                                //如果不是空箱出库
                                if (dt.Rows[0]["GOOD_ID"].ToString().Trim() != "000000" && dt.Rows[0]["TYPESTS"].ToString() != "3")
                                {
                                    OperateResult<short> number = plcModbus[4].ReadInt16("DB10.DBW4192");
                                    OperateResult<short> STATUS = plcModbus[4].ReadInt16("DB10.DBW3930");
                                    if (number.Content < int.Parse(textBox1.Text) && STATUS.Content == 0)//线体数量小于20下发出库
                                    {
                                        AddText($"当前数量{number.Content},可以下发料箱出库任务");
                                    }
                                    else
                                    {
                                        return false;
                                    }
                                }
                                retsts = true;
                              
                                #region

                                string plcID = dt.Rows[0]["plcId"].ToString().Trim();
                                string GOOD_ID = dt.Rows[0]["GOOD_ID"].ToString().Trim();//000000空料箱
                                string decId =  dt.Rows[0]["decId"].ToString().Trim();
                                string locationID = dt.Rows[0]["LOC_ID"].ToString().Trim();//起始货位
                                string LOCATION_ID_PLC  = dt.Rows[0]["location_id_plc"].ToString().Trim();//PLC的货位
                                string inline= dt.Rows[0]["inline"].ToString().Trim();//双深货位 相邻的货位

                                string outstand = dt.Rows[0]["outstand"].ToString().Trim();
                                string to_loc = dt.Rows[0]["TOWHSELOC"].ToString().Trim();//移库任务目的货位
                                string typests = dt.Rows[0]["typests"].ToString().Trim();// 1,出库，3，移库

                                //string[] strCid = locationID.Split('-');

                                string row = LOCATION_ID_PLC.Substring(0, 2);
                                string cln = LOCATION_ID_PLC.Substring(2, 3);//起始地址
                                string layer = LOCATION_ID_PLC.Substring(5, 2);
                                string depth = LOCATION_ID_PLC.Substring(7, 1);

                                //if (GOOD_ID == "000000" && locationID=="")//查找空托盘货位出库，3台堆垛机托盘最大出 空闲堆垛机出库
                                //{
                                //    string decIdCTL = DataClass.Instance().GetBoxNumDecId();
                                //    if (decIdCTL.Length > 0)
                                //    {
                                //        DataTable dtbox = DataClass.Instance().GetCK_TASK_NULLBOX(decIdCTL);
                                //        if (dtbox != null && dtbox.Rows.Count > 0)
                                //        {
                                //            string plcId = DataClass.Instance().GetPlcId();

                                //            string location_id  = dtbox.Rows[0]["location_id"].ToString();
                                //            string CTL = dtbox.Rows[0]["ctl"].ToString();

                                //            string GOODS_ID = dtbox.Rows[0]["goods_id"].ToString();
                                //            string PUTIN_ID = "CK" + DateTime.Now.ToString("yyyyMMddHHmmssfff");


                                //            if (DataClass.Instance().insert_T_CK_PICKINGWAVEGOODS(plcId, PUTIN_ID, location_id, "0",
                                //               "0", CTL, "", "0", "1","", GOODS_ID, "") > 0)
                                //            {
                                //                AddText("生成空托盘出库任务，任务号:" + plcId + "出库库位:" + locationID + "料箱号:" + CTL);
                                //                continue;
                                //            }
                                //        }
                                //    }

                                //    continue;
                                //}


                                if (depth == "2" && GOOD_ID!="000000")
                                {
                                    //出2深度的货位 首先查询1深度是否有货，有货产生移库任务 在执行出库任务

                                    DataTable dtonmis = DataClass.Instance().GetCKTaskHK(inline);//查询入库表 浅货位是否正在入库
                                    if (dtonmis != null)
                                    {
                                        if (dtonmis.Rows.Count > 0)
                                        {
                                            retsts = false;
                                            continue;
                                        }
                                    }
                                    DataTable dtmis = DataClass.Instance().GetCKTaskSTS(inline);//查询浅货位库存是否存在
                                    if (dtmis != null)
                                    {
                                        if (dtmis.Rows.Count > 0)
                                        {
                                            DataTable dtonmisck = DataClass.Instance().GetCKTaskCk(inline);//查询出库表是否有浅货位的出库任务
                                            if (dtonmisck != null)
                                            {
                                                if (dtonmisck.Rows.Count == 0)
                                                {
                                                    //string decId = dtmis.Rows[0]["decId"].ToString().Trim();
                                                    string plcId = DataClass.Instance().GetPlcId();

                                                    string BARCODE = dtmis.Rows[0]["BARCODE"].ToString();
                                                    string CTL = dtmis.Rows[0]["CTL"].ToString();
                                                    string LOCATION_ID = dtmis.Rows[0]["LOCATION_ID"].ToString();
                                                    string PICKING_NUM = dtmis.Rows[0]["SHELVES_NUM"].ToString();
                                                    string SPECIFICATION = dtmis.Rows[0]["VERSION"].ToString();
                                                    string GOODS_ID = dtmis.Rows[0]["GOODS_ID"].ToString();
                                                    string PUTIN_ID = "YK" + DateTime.Now.ToString("yyyyMMddHHmmssfff");

                                                    string TOWHSELOC = DataClass.Instance().GetLOCATIONID_MOVE(dtmis.Rows[0]["STORAGE_AREA_ID"].ToString(), LOCATION_ID, ref errText);
                                                    if (TOWHSELOC.Trim().Length == 0)
                                                    {
                                                        continue;
                                                    }
                                                    if (DataClass.Instance().insert_T_CK_PICKINGWAVEGOODS(plcId, PUTIN_ID, LOCATION_ID, PICKING_NUM,
                                                        BARCODE, CTL, "", "0", "3", SPECIFICATION, GOODS_ID, TOWHSELOC) > 0)
                                                    {
                                                        if (DataClass.Instance().Update_T_BASE_STORAGE_AREA_LOCATION_sts(TOWHSELOC))
                                                        {
                                                            AddText("生成移库任务号:" + plcID + "起始库位:" + locationID + "目的库位:" + TOWHSELOC + "，写入数据库成功");

                                                            continue;
                                                        }
                                                        else
                                                        {
                                                            AddText("生成移库任务号:" + plcID + "起始库位:" + locationID + "目的库位:" + TOWHSELOC + "，更新数据库货位状态1成功");
                                                        }
                                                    }

                                                    retsts = true;
                                                    continue;

                                                }
                                                else
                                                {
                                                    retsts = true;
                                                    
                                                }

                                            }
                                        }
                                    }

                                    //DataTable dt2  = DataClass.Instance().GetCKTaskList(inline,ref errText);
                                    //if (dt2 != null)
                                    //{
                                    //    if (dt2.Rows.Count > 0)
                                    //    {
                                    //        //浅货位有货 需要生成出库任务
                                    //        string plcId = DataClass.Instance().GetPlcId();

                                    //        string BARCODE = dt2.Rows[0]["BARCODE"].ToString();
                                    //        string CTL = dt2.Rows[0]["CTL"].ToString();
                                    //        string LOCATION_ID = dt2.Rows[0]["LOCATION_ID"].ToString();
                                    //        string PICKING_NUM = dt2.Rows[0]["SHELVES_NUM"].ToString();
                                    //        string SPECIFICATION = dt2.Rows[0]["VERSION"].ToString();
                                    //        string GOODS_ID = dt2.Rows[0]["GOODS_ID"].ToString();
                                    //        string PUTIN_ID = "CK" + DateTime.Now.ToString("yyyyMMddHHmmssfff");

                                    //        string TOWHSELOC = "";// DataClass.Instance().GetLOCATIONID("1", ref errText);
                                    //        if (DataClass.Instance().insert_T_CK_PICKINGWAVEGOODS(plcId, PUTIN_ID, LOCATION_ID, PICKING_NUM,
                                    //            BARCODE, CTL, "", "0", "3", SPECIFICATION, GOODS_ID, TOWHSELOC)>0)
                                    //        {
                                    //            AddText("生成移库任务号:" + plcID + "起始库位:" + locationID + "目的库位:" + TOWHSELOC + "，写入数据库成功");

                                    //            continue;
                                    //        }

                                    //    }
                                    //}
                                }

                                if (typests == "3" && to_loc != "")
                                {


                                    DataTable dtInStand = DataClass.Instance().Get_T_BASE_STORAGE_AREA_LOCATION_InStand(to_loc);
                                    if (dtInStand != null && dtInStand.Rows.Count > 0)
                                    {
                                        decId = dtInStand.Rows[0]["decid"].ToString().Trim();
                                        to_loc = dtInStand.Rows[0]["location_id_plc"].ToString().Trim();//转换PLC 的坐标
                                    }



                                    //string row = LOCATION_ID_PLC.Substring(0, 2);
                                    //string cln = LOCATION_ID_PLC.Substring(2, 3);//起始地址
                                    //string layer = LOCATION_ID_PLC.Substring(5, 2);
                                    //string depth = LOCATION_ID_PLC.Substring(7, 1);


                                    string end_row = to_loc.Substring(0, 2);
                                    string end_cln = to_loc.Substring(2, 3);
                                    string end_layer = to_loc.Substring(5, 2);
                                    string end_depth = to_loc.Substring(7, 1);

                                    OperateResult<short[]> opfhidYK = plcModbus[int.Parse(decId)].ReadInt16("DB91.4", 2);
                                    if (opfhidYK.IsSuccess)
                                    {
                                        string kzfssts = opfhidYK.Content[0].ToString();//堆垛机控制方式 联机 脱机  手动
                                        string DevStatus = opfhidYK.Content[1].ToString();//堆垛机状态 1空闲
                                        if (kzfssts == "5")
                                        {
                                            if (DevStatus == "1")
                                            {
                                                bool retTF = WritePlcTaskMove(plcID, row, Convert.ToString(int.Parse(cln)+1), layer, depth, end_row, Convert.ToString(int.Parse(end_cln) + 1), end_layer, end_depth, decId);
                                                if (retTF)
                                                {
                                                    if (DataClass.Instance().UpdateCKTaskSts(plcID, "1"))
                                                    {
                                                        AddText("移库任务号:" + plcID + "起始库位:" + locationID + "目的库位:" + to_loc + "，移库任务写PLC成功，更新移库任务状态为1成功");

                                                    }
                                                    else
                                                    {
                                                        AddText("移库任务号:" + plcID + "起始库位:" + locationID + "目的库位:" + to_loc + "，移库任务写PLC成功，更新移库任务状态为1失败");
                                                    }
                                                }
                                                else
                                                {
                                                    AddText("堆垛机：" + decId + "忙碌中!!!，等待移库任务写入");
                                                }
                                            }
                                        }
                                    }
                                    else
                                    {
                                        txtErrorMsg("堆垛机连接异常:" + opfhidYK.Message);
                                    }
                                    continue;
                                }
                                else   if (typests == "1" || typests == "2" || typests == "")//零拣货或者整托出库
                                {
                                    try
                                    {
                                        OperateResult<short[]> opfhid3 = plcModbus[int.Parse(decId)].ReadInt16("DB91.4", 2);
                                        if (opfhid3.IsSuccess)
                                        {
                                            string kzfssts = opfhid3.Content[0].ToString();//堆垛机控制方式 联机 脱机  手动
                                            string DevStatus = opfhid3.Content[1].ToString();//堆垛机状态 1空闲
                                            if (kzfssts == "5")
                                            {
                                                if (DevStatus == "1")
                                                {
                                                    string retckstand = GetCkStand(row);
                                                    OperateResult<short> retssjsts = plcModbus[4].ReadInt16(retckstand);
                                                    if (retssjsts.IsSuccess && retssjsts.Content == 1)
                                                    {
                                                        if (WritePlcTaskCK(plcID, row, Convert.ToString(int.Parse(cln) + 1), layer, depth, decId, "0", "2", typests))
                                                        {
                                                            if (DataClass.Instance().UpdateCKTaskSts(plcID, "1"))
                                                            {
                                                                //DataClass.Instance().UpdateDevFault(decId);

                                                                AddText("任务号:" + plcID + "库位:" + locationID + ",堆垛机:" + decId + ",出库任务写PLC成功，更新出库任务状态为1成功");

                                                            }
                                                            else
                                                            {
                                                                AddText("任务号:" + plcID + "库位:" + locationID + ",堆垛机:" + decId + "出库任务写PLC成功，更新出库任务状态为1失败!!!");
                                                            }
                                                        }
                                                        else
                                                        {
                                                            AddText("堆垛机：" + decId + ",写堆垛机出库指令失败...");
                                                        }
                                                    }
                                                    else
                                                    {
                                                        AddText("堆垛机：" + decId + ",出库排：" + row + ",不允许出库PLC地址:" + retckstand);
                                                    }

                                                }
                                                else
                                                {
                                                    AddText("堆垛机:" + decId + "，非空闲模式等待出库...");
                                                    //return retsts;
                                                }
                                            }
                                            else
                                            {
                                                AddText("堆垛机：" + decId + "非联机方式，请设置堆垛机控制方式");
                                            }

                                        }
                                        else
                                        {
                                            txtErrorMsg("堆垛机连接异常:" + opfhid3.Message);
                                        }
                                    }
                                    catch
                                    {
                                        retsts =false;
                                    }
                                }


                               

                                #endregion
                            }
                        }
                        retsts = false;
                    }
                }

                return retsts;
            }
        }
        #endregion


        public  string GetCkStand(string row)
        {
            string ckstand = "";
            if (row == "01" || row == "02")
            {
                ckstand = "DB10.DBW90";
            }
            else if (row == "03" || row == "04")
            {
                ckstand = "DB10.DBW154";
            }
            else if (row == "05" || row == "06")
            {
                ckstand = "DB10.DBW218";
            }
            else if (row == "07" || row == "08")
            {
                ckstand = "DB10.DBW282";
            }
            else if (row == "09" || row == "10")
            {
                ckstand = "DB10.DBW346";
            }
            else if (row == "11" || row == "12")
            {
                ckstand = "DB10.DBW410";
            }
            return ckstand;
        }





        #region 接收出库PLC条码 打印标签
        /// <summary>
        /// 入库
        /// </summary>
        private void CK_BCR()
        {
            while (true)
            {
                lock ("CKBCR")
                {
                    try
                    {
                        Thread.Sleep(1000);
                        string errText = string.Empty;
                        inovanceH3UTcp.IsStringReverse = true;
                        OperateResult<string> read = inovanceH3UTcp.ReadString("MW261", 10);//出库BCR读地址 MW261长度10  M275 写1 放行
                        if (read.IsSuccess)
                        {
                            string barcode = read.Content;//PLC条码号

                            barcode = barcode.Replace(",", "");
                            barcode = barcode.Replace("\n", "");
                            barcode = barcode.Replace("\0", "");
                            barcode = barcode.Replace("\r", "");
                            barcode = barcode.Replace(" ", "");
                            if (barcode != "" && barcode != "Noread")
                            {
                                AddText("接收出库PLC条码信息：" + barcode);
                                if (barcode.Length == 20)
                                {
                                    DataTable dt = DataClass.Instance().GetT_BASE_GOODS_BARCODE(barcode);
                                    if (dt != null)
                                    {
                                        if (dt.Rows.Count > 0)
                                        {
                                            AddText("开始打印出库条码：" + barcode);
                                            XtraReport1 br = new XtraReport1();
                                            br.SetBindData(dt, "2");

                                            OperateResult write3 = inovanceH3UTcp.Write("MW261", new short[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 });
                                        }
                                        else
                                        {
                                            AddText("批号查询失败,条码未入库无法打印：" + barcode);
                                        }
                                    }
                                }
                                else
                                {
                                    AddText("接收PLC出库读码异常,批号：" + barcode);
                                    OperateResult write4 = inovanceH3UTcp.Write("MW261", new short[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 });
                                }

                                OperateResult write2 = inovanceH3UTcp.Write("MW275", (short)1);
                            }
                            //else
                            //{
                            //    AddText("出库读码异常");
                            //}
                        }

                    }
                    catch (Exception ex)
                    {
                        MessageBox.Show(ex.ToString());
                    }
                }
            }
        }
        #endregion


        #region 过账信息处理
        private static readonly object lockGuozhang = new object();
        private void ClearAccount()
        {
            while (true)
            {
                Thread.Sleep(1000);
              
                    lock (lockGuozhang)
                    {
                        string Errtext = string.Empty;
                        for (int i = 1; i < 4; i++)//遍历堆垛机
                        {
                            foreach (string rkstand in DDJ_Finish)
                            {
                            try
                            {
                                string sta = Get_PLC_FINISH(rkstand);
                                string[] strb = sta.Split(';');
                                OperateResult<int> retA = plcModbus[i].ReadInt32(strb[0]);
                                if (retA.IsSuccess && retA.Content > 0)
                                {
                                    string retPlcId = retA.Content.ToString();
                                    OperateResult<short> retB = plcModbus[i].ReadInt16(strb[1]);// 任务类型：1正常任务 2 删除任务

                                    string retType = retB.Content.ToString();// 任务类型：1正常任务 2 删除任务
                                    if (retType == "1")//正常任务
                                    {
                                        if (int.Parse(retPlcId) > 0)
                                        {
                                            AddText("接收过账区任务号：" + retPlcId);
                                            //根据任务号对应的任务执行过账
                                            DataSet ds_ON = DataClass.Instance().SELECT_ON(retPlcId);//入库
                                            if (ds_ON.Tables[0].Rows.Count > 0)
                                            {
                                                if (DataClass.Instance().Update_T_ONGOODSSHELF(10, retPlcId))//入库任务
                                                {
                                                    //正常过账入库
                                                    AddText("接收过账区任务号：" + retPlcId + ",堆垛机入库放货完成,更新入库状态10成功");
                                                    WriteSysLog.SysLog("接收过账区任务号：" + retPlcId + ",堆垛机入库放货完成,更新入库状态3成功");
                                                }
                                            }
                                            DataSet ds_OUT = DataClass.Instance().SELECT_OUT(retPlcId);//出库
                                            if (ds_OUT.Tables[0].Rows.Count > 0)
                                            {
                                                //判断移库3，料箱出库及空箱出库
                                                string GOODSID = ds_OUT.Tables[0].Rows[0]["GOOD_ID"].ToString();
                                                string TASKTYPE = ds_OUT.Tables[0].Rows[0]["TYPESTS"].ToString();
                                                if (GOODSID == "000000" && TASKTYPE != "3")//空箱出库
                                                {
                                                    DataClass.Instance().UpdateCKTaskStatus(retPlcId, "9");
                                                }
                                                else if (GOODSID != "000000" && TASKTYPE != "3")//料箱出库
                                                {
                                                    DataClass.Instance().UpdateCKTaskStatus(retPlcId, "6");
                                                }
                                                else
                                                {
                                                    DataClass.Instance().UpdateCKTaskStatus(retPlcId, "9");
                                                }
                                                AddText("接收过账区任务号：" + retPlcId + ",堆垛机放货完成,更新出库状态成功");
                                                WriteSysLog.SysLog("接收过账区任务号：" + retPlcId + ",堆垛机放货完成,更新出库状态成功");
                                            }
                                            else
                                            {
                                                //无用过账直接清除
                                                AddText("接收过账区任务号：" + retPlcId + ",任务号异常");
                                                WriteSysLog.SysLog("接收过账区任务号：" + retPlcId + ",任务号异常");
                                            }
                                            plcModbus[i].Write(WCS_TO_PLC_DEL(rkstand), int.Parse(retPlcId));

                                        }
                                        else
                                        {
                                            plcModbus[i].Write(WCS_TO_PLC_DEL(rkstand), int.Parse(retPlcId));
                                            AddText("任务号：" + retPlcId + " 堆垛机手动删除。");
                                            //无用过账直接清除
                                            WriteSysLog.SysLog("任务号" + retPlcId + "堆垛机手动删除");
                                        }
                                    }
                                    else if (int.Parse(retType) == 2)
                                    {
                                        plcModbus[i].Write(WCS_TO_PLC_DEL(rkstand), int.Parse(retPlcId));
                                        AddText("任务号：" + retPlcId + " 堆垛机手动删除。");
                                        //无用过账直接清除
                                        WriteSysLog.SysLog("任务号" + retPlcId + "堆垛机手动删除");
                                    }
                                }
                                else
                                {
                                    continue;
                                }
                            }
                            catch (Exception exp)
                            {
                                WriteSysLog.SysLog("过账数据处理错误，信息：" + exp.ToString());
                                continue;
                            }
                            
                            }
                        }
                    }
                }
        }
        /// <summary>
        /// 清空指定过账区
        /// </summary>
        /// <param name="i"></param>
        private void ClearGuoZhang(int i, int plcid)
        {
            PLCCommon.PlcFactory.Instance().WirtePlcContianer("过账确认" + i.ToString(), new object[] { plcid });
            // PLCCommon.PlcFactory.Instance().WirtePlcContianer("过账类型" + i.ToString(), new object[] { 0 });
        }
        #endregion

        #region 出库完成通知AGV

        public class RootobjectMod
        {
            public string reqCode { get; set; }
            public string reqTime { get; set; }
            public string clientCode { get; set; }
            public string tokenCode { get; set; }
            public string interfaceName { get; set; }
            public string taskTyp { get; set; }
            public string wbCode { get; set; }
            public Positioncodepath[] positionCodePath { get; set; }
            public string podCode { get; set; }
            public string podDir { get; set; }
            public string priority { get; set; }
            public string agvCode { get; set; }
            public string taskCode { get; set; }
            public string data { get; set; }

            public string userCallCode { get; set; }
        }

        public class Positioncodepath
        {
            public string positionCode { get; set; }
            public string type { get; set; }
        }

        List<Positioncodepath> listP = new List<Positioncodepath>();

        public static string MidStrEx_New(string sourse, string startstr, string endstr)
        {
            Regex rg = new Regex("(?<=(" + startstr + "))[.\\s\\S]*?(?=(" + endstr + "))", RegexOptions.Multiline | RegexOptions.Singleline);
            return rg.Match(sourse).Value;
        }




        #endregion

        #region 生成AGV调度任务单

        public class RootSendAgvSchedulingTask 
        {
            /// <summary>
            /// 
            /// </summary>
            public string reqCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string reqTime { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string clientCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string tokenCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string taskTyp { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string userCallCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public List<string> userCallCodePath { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string podCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string podDir { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string priority { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string robotCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string taskCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string data { get; set; }
        }



        List<string> userCallCodePathList = new List<string>();


        private void SendAgvSchedulingTask (string reqCode,string podCode)
        {

            //{
            //   "reqCode": "",
            //	"reqTime": "",
            //	"clientCode": "",
            //	"tokenCode": "",
            //	"taskTyp": "",
            //	"userCallCode": "",
            //	"userCallCodePath": ["p01", "b01"],
            //	"podCode": "100001",
            //	"podDir": "0",
            //	"priority": "1",
            //	"robotCode": "",
            //	"taskCode": "",
            //	"data": ""
            //}
            //起点：位置点p01;     终点：位置点b01；
            userCallCodePathList.Add("p01");
            userCallCodePathList.Add("b01");

            string errText = string.Empty;
            RootSendAgvSchedulingTask rt = new RootSendAgvSchedulingTask();
           
            rt.reqCode = DateTime.Now.ToString("yyyyMMddHHmmss");
            rt.reqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
            rt.clientCode = "";//客户端编号 海康提供
            rt.tokenCode = "";//令牌号 海康提供
            rt.taskTyp = "";//任务类型，空托盘入库,使用字母,  海康提供
            rt.userCallCode = "";//接驳工位
            rt.userCallCodePath = userCallCodePathList;  //起点：位置点p01;     终点：位置点b01；
            rt.podCode = "";//货架编号（和料箱号一样）
            rt.podDir = "";//“180”,”0”,”90”,”-90” 分别代表”左”,”右”,”上”,”下” 
            rt.priority = "1";//优先级，从（1~5）级，最大优先级最高
            rt.robotCode = ""; //Agv编号（空）
            rt.taskCode = "";//任务单号,选填, 不填系统自动生成，必须为32位UUID
            rt.data = "";

            string strJSON = JsonConvert.SerializeObject(rt);
            string strJsonRK = ApiPost("http://" + MesIpPort + "/genAgvSchedulingTask", strJSON,ref errText);
            RCKLIST.Clear();
            if (strJsonRK.Length > 0)
            {
                JObject strJo = (JObject)JsonConvert.DeserializeObject(strJsonRK);
                string returncode = strJo["code"].ToString();
                string returnmsg = strJo["message"].ToString();
                if (returncode == "0")
                {
                    AddText("生成AGV调度任务单成功，reqCode=" + rt.reqCode);
                    //if (DataClass.Instance().UpdateT_WMS_TO_WCS_WORK_OUT(2,3, plcid))
                    //{
                    //    AddText("出库任务回传WMS成功，更新状态为2成功 workID=" + lkr.workID);
                    //}
                    //else
                    //{
                    //    AddText("出库任务回传WMS成功，更新状态为2失败 workID=" + lkr.workID);
                    //}
                }
                else
                {
                    AddText("生成AGV调度任务单失败，异常：" + returnmsg);
                }
            }


        }
        #endregion

        #region 输送机状态显示
        private static object ssjlock = new object();

        private void SSJ_STATUS()
        {
            string errText = string.Empty;
            while (true)
            {
                lock (ssjlock)
                {
                    try
                    {
                        Thread.Sleep(2000);
                        //设备状态：1空闲，2有载
                        Control CT = groupBox6;
                        if (CT != null)
                        {
                            foreach (Control ctl in CT.Controls)
                            {
                                if (ctl.Text.ToString() != "")
                                {
                                    System.Text.RegularExpressions.Regex reg1 = new System.Text.RegularExpressions.Regex(@"^[-]?\d+[.]?\d*$");
                                    if (reg1.IsMatch(ctl.Text.Trim()))
                                    {

                                        if (ctl.Text.Length == 3 && ctl.Name.Substring(0,3)=="lbl")//01
                                        {
                                            string ss = ctl.Text;
                                            OperateResult<bool> ontStation = plcModbus[4].ReadBool(Get_SSJ_STS(ss));
                                            if (ontStation.IsSuccess)
                                            {
                                                if (ontStation.Content)
                                                {
                                                    ctl.BackColor = Color.Blue;
                                                }
                                                else if (ontStation.Content.ToString() == "1")
                                                {
                                                    ctl.BackColor = Color.Transparent;
                                                }
                                            }
                                            else
                                            {
                                                txtErrorMsg("输送机状态显示堆垛机连接异常:" + ontStation.Message);
                                            }
                                        }

                                    }
                                }
                            }
                        }


                        //Control CT2 = panel2;
                        //if (CT2 != null)
                        //{
                        //    foreach (Control ctl2 in CT2.Controls)
                        //    {
                        //        if (ctl2.Text.ToString() != "")
                        //        {
                        //            System.Text.RegularExpressions.Regex reg1 = new System.Text.RegularExpressions.Regex(@"^[-]?\d+[.]?\d*$");
                        //            if (reg1.IsMatch(ctl2.Text.Trim()))
                        //            {
                        //                OperateResult<short> ontStation = plcModbus[4].ReadInt16(GetSSJ_STS(ctl2.Text));
                        //                if (ontStation.IsSuccess)
                        //                {
                        //                    if (ontStation.Content.ToString() == "2")
                        //                    {
                        //                        ctl2.BackColor = Color.Blue;
                        //                    }
                        //                    else if (ontStation.Content.ToString() == "1")
                        //                    {
                        //                        ctl2.BackColor = Color.Transparent;
                        //                    }
                        //                }
                        //                else
                        //                {
                        //                    txtErrorMsg("堆垛机连接异常:" + ontStation.Message);
                        //                }
                        //            }
                        //        }
                        //    }
                        //}
                    }
                    catch (Exception ee)
                    { }
                }
            }
        }


        #endregion


        /// <summary>
        /// //遍历循环 所有输送机的状态值（0，1）
        /// </summary>
        public void DecConvertSts()
        {
            string errText = string.Empty;
            DataTable tbWms = DataClass.Instance().GetConveyorStatus();
            if (tbWms != null && tbWms.Rows.Count > 0)
            {
                for (int i = 0; i < tbWms.Rows.Count; i++)
                {
                    string decIndex = tbWms.Rows[i]["ConveyorID"].ToString();
                    string plcdb = tbWms.Rows[i]["plcdb"].ToString();
                    int lyn = int.Parse(tbWms.Rows[i]["lyn"].ToString());
                    OperateResult<short[]> readD100 = plcModbus[lyn].ReadInt16("DB90." + plcdb, 3);
                    if (readD100.IsSuccess)
                    {
                        short error = 0;
                        string errtext = "";
                        short[] cyData = readD100.Content;
                      
                        short type  = cyData[0];//作业类型:1入库,2出库
                        short autol = cyData[1];//控制方式1维修,2手动,5联机
                        string loadmode = cyData[2].ToString();////设备状态:1无货;2有货

                        int plcid = 0;
                        string plcx = "DB90." + (int.Parse(plcdb) - 4);//任务号地址
                        OperateResult<int> readload = plcModbus[lyn].ReadInt32(plcx);
                        if (readload.IsSuccess)
                        {
                            if (readload.Content>0)
                            {
                                plcid = readload.Content;
                            }
                        }
                        switch (error)
                        {
                            case 1:
                                errtext = "输送超时";
                                break;
                            case 2:
                                errtext = "电机故障";
                                break;
                            case 4:
                                errtext = "超宽";
                                break;
                            case 8:
                                errtext = "超高";
                                break;
                            case 16:
                                errtext = "重量错误";
                                break;
                            case 32:
                                errtext = "高度货格不符";
                                break;
                            case 128:
                                errtext = "后限位故障";
                                break;
                            case 256:
                                errtext = "激光错误";
                                break;
                            case 512:
                                errtext = "急停错误";
                                break;
                        }
                        DataClass.Instance().UpStandNeedEnd(decIndex.ToString(), plcid.ToString(), autol.ToString(), errtext, loadmode);
                    }
                }
            }

            Thread.Sleep(2000);

        }







        #region Api的post方法
        private static readonly object lockapi = new object();
        private string ApiPost(string url, string message,ref string errText)
        {
            lock (lockapi)
            {
                errText = string.Empty;
                string returnmessage = string.Empty;
                try
                {

                    Encoding encoding = Encoding.UTF8;
                    HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
                    request.Method = "POST";
                    //request.Accept = "text/html, application/xhtml+xml, *";
                    request.ContentType = "application/json";
                    //request.ContentLength = buffer.Length;
                    byte[] buffer = encoding.GetBytes(message);
                    request.GetRequestStream().Write(buffer, 0, buffer.Length);
                    HttpWebResponse response = (HttpWebResponse)request.GetResponse();
                    using (StreamReader reader = new StreamReader(response.GetResponseStream(), Encoding.UTF8))
                    {
                        returnmessage = reader.ReadToEnd();
                    }

                }
                catch (Exception ex)
                {
                    errText = ex.Message;
                }
                WriteSysLog.SysLog("WCS发送：\r\n" + message + "\r\n AGV返回信息：\r\n" + returnmessage);
                return returnmessage;
            }
        }

        #endregion

        #region 上方菜单栏按钮事件






        //查看日志按钮，打开文件夹
        private void ButtonScanLogs_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
        {
            try
            {
                Process.Start("Log");
            }
            catch { XtraMessageBox.Show("打开日志失败，您可以手动打开文件夹，名称“SysLog”", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information); }

        }
        //清除过账按钮
        private void ButClearGuoZhang_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
        {
            if (XtraMessageBox.Show("确定清空？数据可能存在异常", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button2) != DialogResult.OK)
            {
                return;
            }
            SplashScreenManager.ShowDefaultWaitForm("请稍后...", "正在清空...");
            string Errtext = string.Empty;
            //for (int i = 1; i <= 25; i++)
            //{
            //    string plcid = PLCCommon.PlcFactory.Instance().ReadPlcDbValue("过账区" + i.ToString(), ref Errtext);
            //    if (plcid != "0" && plcid != "" && plcid != "01")
            //    {
            //        ClearGuoZhang(i,int.p);
            //    }
            //}
            SplashScreenManager.CloseForm();
        }

        #endregion

        #region 基本功能事件，一般不需要更改



        private void txtErrorMsg(string info)
        {
            //if (txtError.Text.Length > 1000)
            //{
            //    txtError.BeginInvoke(new MethodInvoker(delegate { txtError.Text = SysInfo.Text.Substring(200); }));
            //}
            ////添加文本
            //txtError.BeginInvoke(new MethodInvoker(delegate { txtError.Text += DateTime.Now.ToString("MM-dd HH:mm:ss") + " || " + info + "\r\n"; }));

            ////移动光标到最下面
            //txtError.BeginInvoke(new MethodInvoker(delegate { txtError.SelectionStart = SysInfo.Text.Length; }));
            //txtError.BeginInvoke(new MethodInvoker(delegate { txtError.ScrollToCaret(); }));

            txtError.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + " " + info + "\r\n");
        }

        /// <summary>
        /// 数据库连接检测
        /// </summary>
        /// <returns></returns>
        public bool SqlIsConnected()
        {
            #region 数据库连接检测
            bool SqlConnect = DataClass.Instance().CheckSqlConnect();
            if (SqlConnect)
            {

                return true;
            }
            else
            {

            }
            Thread.Sleep(100);
            return false;
            #endregion

        }
        #endregion

        #region 
        private void MainForm_FormClosing(object sender, FormClosingEventArgs e)
        {
            DialogResult dr = XtraMessageBox.Show("是否退出系统？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button2);
            if (dr == DialogResult.Yes)
            {
                Process.GetCurrentProcess().Kill();
            }
            else
            {
                e.Cancel = true;
            }
        }



        List<REQUEST_DATAItem> RCKLIST = new List<REQUEST_DATAItem>();
        List<REQUEST_DATAItem2> RCKLIST2 = new List<REQUEST_DATAItem2>();

        public class REQUEST_DATAItem2
        {
            /// <summary>
            /// 
            /// </summary>
            public string DATA_AUTH { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string LOT_NO { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string ITEM_CODE { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string CREATE_TIME { get; set; }
            /// <summary>
            /// 不良
            /// </summary>
            public string BAD_CAUSE { get; set; }
            /// <summary>
            /// 检测工位
            /// </summary>
            public string WORK_STATION { get; set; }
        }

        public class REQUEST_DATAItem
        {


            public string DATA_AUTH { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string BUSINESS_TYPE { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string LOT_NO { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string ITEM_CODE { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string OPERATOR_TIME { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string OPERATOR_USER { get; set; }
        }

        public class RootRCK
        {
            /// <summary>
            /// 
            /// </summary>
            public List<REQUEST_DATAItem> REQUEST_DATA { get; set; }
        }

        public class RootRCK2
        {
            /// <summary>
            /// 
            /// </summary>
            public List<REQUEST_DATAItem2> REQUEST_DATA { get; set; }
        }



        private string GetBcrUxt()//读取条码
        {
            string strValues = string.Empty;
            OperateResult<byte[]> read = inovanceH3UTcp.Read("MW210", 20);
            {
                if (read.IsSuccess)
                {
                    for (int i = 0; i < 20; i++)
                    {
                        strValues += ((char)read.Content[i]).ToString();
                    }
                }
            }
            return strValues.Trim();

        }



        private void barButtonItem8_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
        {
            try
            {
                Process.Start("Log");
            }
            catch { XtraMessageBox.Show("打开日志失败，您可以手动打开文件夹，名称“SysLog”", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information); }

        }



        private void barButtonItem9_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
        {
            FormBarCode frm = new FormBarCode();
            frm.Show();
        }

        #endregion


        MySqlHelper msql = new MySqlHelper();



        private void button2_Click(object sender, EventArgs e)
        {
            //int startStation = 104;
            //int endStation = 103;
            //int[] values = new int[5];
            //values[0] = int.Parse(textBox1.Text) + aa;//任务号
            //values[1] = 2;//任务类型 1入库 2 出库
            //values[2] = startStation;
            //values[3] = endStation;
            //values[4] = int.Parse(textBox1.Text.Trim());
            //OperateResult retWrite = plcModbus[4].Write("DB101.60", values);//写5位
            //aa++;
        }
        int aa = 5;
        private void button3_Click(object sender, EventArgs e)
        {
            SendAgvSchedulingTask("", "TP001");
        }
        public static int GlobalNumber { get; set; } = 20;
        private void pictureBox3_Click(object sender, EventArgs e)
        {
            
        }

        private void barButtonItem10_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
        {
            //查询数据库堆垛机状态
            while(true)
            {

            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            try
            {
                DataTable iningtask = DataClass.Instance().GetiningGoodsDecidOhp();
                if (iningtask != null)
                {
                    gridControl2.DataSource = iningtask;
                }

                DataTable outingtask = DataClass.Instance().GetOutingGoodsDecidOhp();
                if (iningtask != null)
                {
                    gridControl3.DataSource = outingtask;
                }

            }
            catch (Exception ex)
            {
                AddText("查询出入库任务异常:" + ex.Message);

            }
        }

        private void button4_Click(object sender, EventArgs e)
        {
            string errText = "";
            string LOCATION_ID = "";// DataClass.Instance().GetLOCATIONID("1", ref errText);
            AddText("入库货位:" + LOCATION_ID);
        }

        private void TBCEquipmentLocation1_EditValueChanged(object sender, EventArgs e)
        {

        }

        private void button5_Click(object sender, EventArgs e)
        {
            MessageBox.Show(
            $"当前软件线体允许数量为：{GlobalNumber}\n" +
            $"确认修改为：{int.Parse(textBox1.Text)}",
            "提示",
            MessageBoxButtons.OK,
            MessageBoxIcon.Information
            );
            GlobalNumber = int.Parse(textBox1.Text);
        }

        private void button6_Click(object sender, EventArgs e)
        {
            string errText = "";
            DataSet dt = DataClass.Instance().SELECTT_MI_STOCK_9(ref errText);
            if (dt != null && dt.Tables[0].Rows.Count > 0)
            {
                for (int i = 0; i < dt.Tables[0].Rows.Count; i++)
                {
                    string STORAGE_ID = dt.Tables[0].Rows[i]["STORAGE_ID"].ToString(); //字库编号
                    string LOCATION_ID = dt.Tables[0].Rows[i]["LOCATION_ID"].ToString();
                    string BARCODE = dt.Tables[0].Rows[i]["BARCODE"].ToString();//外箱子 + 内箱子条码
                    string CUSTOMER_ID = dt.Tables[0].Rows[i]["CUSTOMER_ID"].ToString();//客户代码
                    string newLoc = STORAGE_ID + "-WMS-00";

                    string strJsonRK = GetWmsData("http://" + MesIpPort + "/Camstar/PackStock.asmx/PackStockIn?pkwPackLot=" + BARCODE + "&pCustPackId=&pSubInventory=" + STORAGE_ID + "&pLocation=" + newLoc + "", "");
                    if (errText.Length > 0)
                    {
                        AddText("WCS定时上报mes成功回传MES异常:" + errText);
                        continue;
                    }
                    if (strJsonRK.Length > 0)
                    {
                        AddText("WCS定时上报mes成功回传MES返回：" + strJsonRK);

                        if (!strJsonRK.Contains("当前工位 '成品仓'") && strJsonRK.Contains("Error"))
                        {
                            if (DataClass.Instance().Update_T_MI_STOCK_STSEBS(LOCATION_ID, BARCODE, "9"))
                            {
                                AddText("WCS定时上报mes成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9成功");
                            }
                            else
                            {
                                AddText("WCS定时上报mes成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态9失败");
                            }
                            AddText("WCS定时上报mes成功回传MES错误：编号：" + BARCODE + "," + strJsonRK + "");
                        }
                        else
                        {
                            if (DataClass.Instance().Update_T_MI_STOCK_STSEBS(LOCATION_ID, BARCODE, "1"))
                            {
                                AddText("WCS定时上报mes成功回传MES成功：编号：" + BARCODE + "," + strJsonRK + ",更新数据库状态1成功");
                            }
                            else
                            {
                                AddText("WCS定时上报mes成功回传MES成功：编号：" + BARCODE + "，" + strJsonRK + ",更新数据库状态1失败");
                            }
                        }
                    }

                }
            }
        }

      

        public class ModAgvArriveStation
        {
            /// <summary>
            /// 
            /// </summary>
            public string reqCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string reqTime { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string clientCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string tokenCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string lot { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string materialCode { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string qty { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string carrier { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string taskCode { get; set; }

            public string taskTyp  { get; set; }
            /// <summary>
            /// 
            /// </summary>
            public string posCode { get; set; }
        }







    }
}