using Aop.Api.Domain;
using JNPF;
using JNPF.Common.Core.Manager;
using JNPF.Common.Enums;
using JNPF.Common.Extension;
using JNPF.Common.Manager;
using JNPF.Common.Net;
using JNPF.Common.Security;
using JNPF.EventBus;
using JNPF.EventHandler;
using JNPF.Logging;
using JNPF.Systems.Entitys.System;
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Logging;
using Newtonsoft.Json;
using Senparc.CO2NET.Cache;
using SqlSugar;
using Tnb.Common.Extension;
using Tnb.EquipMgr.Entities;
using Tnb.WarehouseMgr.Entities;
using Tnb.WarehouseMgr.Entities.Configs;
using Tnb.WarehouseMgr.Entities.Consts;
using Tnb.WarehouseMgr.Entities.Dto;
using Tnb.WarehouseMgr.Entities.Dto.Inputs;
using Tnb.WarehouseMgr.Entities.Dto.Outputs;
using Tnb.WarehouseMgr.Entities.Dto.Queries;
using Tnb.WarehouseMgr.Entities.Entity;
using Tnb.WarehouseMgr.Entities.Enums;
using Tnb.WarehouseMgr.Interfaces;

namespace Tnb.WarehouseMgr
{
    /// <summary>
    /// Wms设备接口提供程序服务类
    /// </summary>

    public class DeviceProviderService : ServiceLoggerBase<DeviceProviderService>
    {
        private readonly ISqlSugarClient _db;
        private readonly IWareHouseService _wareHouseService;
        private readonly ICacheManager _cacheManager;
        private readonly IEventPublisher _eventPublisher;
        private readonly IUserManager _userManager;
        private readonly IElevatorControlService _elevatorControlService;
        private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
        private readonly ILoggerFactory _loggerFactory;
        public static Dictionary<string, int> s_eleLoadedStatusDic = new();



        public DeviceProviderService(ISqlSugarRepository<WmsInstockH> repository, IWareHouseService wareHouseService,
                        ICacheManager cacheManager,
            IEventPublisher eventPublisher,
            IUserManager userManger,
            IElevatorControlService elevatorControlService
            ) //: base(repository.AsSugarClient())
        {
            _db = repository.AsSugarClient();
            _wareHouseService = wareHouseService;
            _cacheManager = cacheManager;
            _eventPublisher = eventPublisher;
            _userManager = userManger;
            _elevatorControlService = elevatorControlService;
            _ = InitializationTask;
            if (s_eleLoadedStatusDic.Count < 1)
            {
                foreach (var (k, _) in s_elevatorMap)
                {
                    s_eleLoadedStatusDic[k] = 0;
                }
            }
        }

        /// <summary>
        /// 创建任务链
        /// </summary>
        /// <returns></returns>
        [HttpPost, NonUnify]
        public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> CreateTaskChain()
        {
            Logger.LogInformation("fasdfadsfadsfasdfasdfadsfasdfadsfadsfasdfasdfasdfasdfas");
            return await Task.FromResult<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result>(null);
        }

        /// <summary>
        /// 取货确认/申请取货
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost, NonUnify, AllowAnonymous]
        public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> LoadConfirm(ConfirmInput input)
        {
            Logger.Information("取货确认..................");
            var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
                  .And((a, b, c) => c.bill_code == input.taskCode)
                  .And((a, b, c) => a.enabled == 1)
                  .AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
                  .AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
                  .ToExpression();

            WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().InnerJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
                        .InnerJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
                        .Where(whereExp)
                        .Select((a, b, c) => new WmsElevatorH
                        {
                            distask_id = c.id,
                            device_id = a.elevator_id,
                        }, true)
                        .FirstAsync();

            if (elevator.IsNull())
            {
                Logger.Error("未找到匹配的电梯任务", new Exception($"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务"));
                return await ToApiResult(HttpStatusCode.InternalServerError, $"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
            }
            try
            {

                Logger.Information($"当前任务Id:{elevator.distask_id}");
                Logger.Information($"elevator.device_id={elevator.device_id}");
                if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
                {

                    string devName = elevatorCode?.ToString();
                    Logger.Information($"获取设备:{devName},状态");
                    var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
                    (int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
                    Logger.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus.ToEnum<EnumRunStatus>()},Agv状态:{agvStatus.ToEnum<EnumAgvStatus>()},当前楼层：{floorNo}");
                    {
                        var curFloor = await GetRealFloor(elevator.end_floor);
                        Logger.Information($"目标楼层：{curFloor},电梯当前楼层:{floorNo}");
                        Logger.Information($"当前放货设备ID：{elevator.device_id}");
                        var loadedStatus = s_eleLoadedStatusDic[elevator.device_id] == 1 ? "完成" : "未完成";
                        Logger.Information($"{devName.Match(@"\d+")}#梯,放货-> {loadedStatus}");

                        var devId = elevator.device_id;
                        KeyValuePair<string, int> freeElePair = new();
                        if (s_eleLoadedStatusDic[elevator.device_id] != 1)
                        {
                            var loadedStatusPairs = s_eleLoadedStatusDic.Where(kv => kv.Value == 1).ToList();
                            var rIdx = Random.Shared.Next(0, loadedStatusPairs.Count);
                            freeElePair = loadedStatusPairs[rIdx];
                            if (!freeElePair.Key.IsNullOrWhiteSpace() && s_elevatorMap.TryGetValue(freeElePair.Key, out object? v))
                            {
                                devId = freeElePair.Key;
                                devName = v?.ToString()!;
                                Logger.Information($"查找到已放货的设备:{devName},设备ID:{freeElePair.Key}");
                            }
                        }

                        if (s_eleLoadedStatusDic[devId] == 1 && curFloor != floorNo)
                        {
                            _ = await _elevatorControlService.CallLift(devName, elevator.end_floor, CancellationToken.None);
                            s_eleLoadedStatusDic[devId] = 0;
                        }
                        if (curFloor != floorNo)
                        {
                            return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
                        }
                        if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.开门到位保持 && floorNo == curFloor) //判断电梯楼层与当前放货在同一楼层在允许放货
                        {
                            _ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
                        }
                        if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯)
                        {
                            //elevator.current_floor = floor;
                            //await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();
                            return await ToApiResult(HttpStatusCode.OK, "成功");
                        }
                        return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
                    }
                }

            }
            catch (Exception)
            {
                return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
                throw;
            }
            return await ToApiResult(HttpStatusCode.OK, "未启用");
        }

        /// <summary>
        /// 放货确认/申请放货
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost, NonUnify, AllowAnonymous]
        public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> UnloadConfirm(ConfirmInput input)//
        {
            Logger.Information("放货确认..................");
            Logger.Information($"输入参数:{JsonConvert.SerializeObject(input)}");
            try
            {
                var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
                .And((a, b, c) => c.bill_code == input.taskCode)
                .And((a, b, c) => a.enabled == 1)
                .AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
                .AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
                .ToExpression();


                //根据Agv传递的参数获取，对应的电梯
                WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
                                        .LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.endlocation_id)
                                        .Where(whereExp)
                                        .Select((a, b, c) => new WmsElevatorH
                                        {
                                            end_floor = SqlFunc.ToInt32(c.end_floor),
                                            device_id = a.elevator_id,
                                        }, true)
                                        .FirstAsync();
                if (elevator.IsNull())
                {
                    Logger.Error($"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
                }

                if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
                {
                    string devName = elevatorCode?.ToString();
                    var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
                    Logger.Information($"获取设备:{devName},状态");
                    await Task.Delay(1000);
                    (int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);//elevator.elevator_code
                    Logger.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus},门状态:{doorStatus},Agv状态:{agvStatus},当前楼层：{floorNo}");
                    //判断Agv电梯是否进入状态
                    if (agvStatus != (int)EnumAgvStatus.AGV运行状态)
                    {
                        await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
                    }

                    Logger.Information("目前正常");

                    var curFloor = await GetRealFloor(elevator.end_floor);
                    Logger.Information($"当前放货设备ID：{elevator.device_id}");
                    var loadedStatus = s_eleLoadedStatusDic[elevator.device_id] == 1 ? "完成" : "未完成";
                    Logger.Information($"{devName.Match(@"\d+")}#梯,放货-> {loadedStatus}");

                    var devId = elevator.device_id;
                    KeyValuePair<string, int> freeElePair = new();
                    if (s_eleLoadedStatusDic[elevator.device_id] != 1)
                    {
                        var loadedStatusPairs = s_eleLoadedStatusDic.Where(kv => kv.Value == 1).ToList();
                        var rIdx = Random.Shared.Next(0, loadedStatusPairs.Count);
                        freeElePair = loadedStatusPairs[rIdx];
                        if (!freeElePair.Key.IsNullOrWhiteSpace() && s_elevatorMap.TryGetValue(freeElePair.Key, out object? v))
                        {
                            devId = freeElePair.Key;
                            devName = v?.ToString()!;
                            Logger.Information($"查找到已放货的设备:{devName},设备ID:{freeElePair.Key}");
                        }
                    }

                    if (s_eleLoadedStatusDic[devId] == 1 && curFloor != floorNo)
                    {
                        _ = await _elevatorControlService.CallLift(devName, elevator.end_floor, CancellationToken.None);
                        s_eleLoadedStatusDic[devId] = 0;
                    }
                    if (curFloor != floorNo)
                    {
                        return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
                    }
                    Logger.Information($"当前楼层：{curFloor}，电梯所在楼层:{floorNo}");
                    //电梯到达目标楼层后，判断当前电梯门状态是否为开门到位保持状态
                    if (doorStatus != (int)EnumDoorStatus.开门到位保持 && curFloor == floorNo) //判断目标楼层与电梯所在楼层在同一层才可开门放货
                    {
                        _ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
                    }


                    if (sysStatus == (int)EnumSysStatus.正常状态 && runStatus == (int)EnumRunStatus.停梯
                        && doorStatus == (int)EnumDoorStatus.开门到位保持)
                    {
                        Log.Information("进入开门状态,马上要成功了");
                        try
                        {
                            /*                        elevator.current_floor = elevator.end_floor;
                                                    await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();*/

                        }
                        catch (Exception ex)
                        {
                            Logger.LogError("更新延迟队列异常", ex);
                            throw;
                        }

                        return await ToApiResult(HttpStatusCode.OK, "成功");
                    }
                }

                return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");

            }
            catch (Exception ex)
            {
                Logger.Error("放货确认失败", ex);
                return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
                throw;
            }
        }

        /// <summary>
        /// 任务链状态上报
        /// </summary>
        /// <returns></returns>
        [HttpPost, NonUnify, AllowAnonymous]
        public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> TaskChainCallBack(TaskChainCallBackInput input)
        {

            try
            {
                Logger.Information($"任务链上报->任务链编号：{input.taskChainCode},状态：{input.status},设备ID：{input.deviceID}");
                switch (input.status)
                {
                    case "CREATED": break;
                    case "ALLOCATED": break;
                    case "PROCESSING":
                        if (input.taskChainCode.Trim().IsNullOrEmpty())
                        {
                            return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
                        }
                        List<WmsDistaskH> disTasks = await _db.Queryable<WmsDistaskH>().Where(it => it.bill_code.Contains(input.taskChainCode)).ToListAsync();
                        List<EqpEquipment> eps = await _db.Queryable<EqpEquipment>().Where(it => it.code.Contains(input.deviceID)).ToListAsync();
                        if (disTasks == null || disTasks.Count < 1)
                        {
                            Logger.Error($"根据任务链编号:{input.taskChainCode} ,未获取到任何任务");
                        }
                        if (disTasks?.Count > 0)
                        {
                            TaskExecuteUpInput taskExecuteUpInput = new()
                            {
                                disTaskIds = disTasks?.Select(x => x.id).ToList() ?? Enumerable.Empty<string>().ToList(),
                                EqpIds = eps?.Select(x => x.id).ToList() ?? Enumerable.Empty<string>().ToList(),
                            };
                            await _wareHouseService.TaskExecute(taskExecuteUpInput);
                        }
                        break;
                    case "CANCELLED": break;
                    case "SUCCEED": break;
                    case "FAILURE": break;
                    case "FINISHED": break;
                    default: break;
                }





                /*ConnectionConfigOptions opts = App.GetOptions<ConnectionConfigOptions>();
                UserAgent userAgent = new(App.HttpContext);
                //写系统日志
                await _eventPublisher.PublishAsync(new LogEventSource("Log:CreateOpLog", opts, new SysLogEntity
                {
                    Id = SnowflakeIdHelper.NextId(),
                    Category = 4,
                    UserId = _userManager.UserId,
                    UserName = _userManager.User.RealName,
                    IPAddress = NetHelper.Ip,
                    RequestURL = App.HttpContext.Request.Path,
                    RequestMethod = App.HttpContext.Request.Method,
                    Json = $"任务链状态上报,任务链编号:{input.taskChainCode},上报状态:{input.status},设备编号:{input.deviceID}",
                    PlatForm = string.Format("{0}-{1}", userAgent.OS.ToString(), userAgent.RawValue),
                    CreatorTime = DateTime.Now
                }));*/
            }
            catch (Exception ex)
            {
                Logger.Error("任务链状态上报", ex);
                Logger.Error($"任务链状态上报错误堆栈{Environment.NewLine}{ex.StackTrace}");
                return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
                throw;
            }
            return await ToApiResult(HttpStatusCode.OK, "成功");


        }

        /// <summary>
        /// 任务状态上报
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost, NonUnify, AllowAnonymous]
        public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> TaskCallback(TaskCallBackInput input)
        {

            Logger.Information($"任务状态上报->接收参数:{JsonConvert.SerializeObject(input)}");
            try
            {

                List<WmsDistaskH> disTasks = await _db.Queryable<WmsDistaskH>().Where(it => it.bill_code.Contains(input.taskCode)).ToListAsync();
                if (input.action == "LOAD")
                {

                    TaskExecuteAfterUpInput taskExecuteAfterUpInput = new()
                    {
                        disTaskIds = disTasks.Select(x => x.id).ToList()
                    };

                    Logger.Information($"设备取返回输入参数:{JsonConvert.SerializeObject(taskExecuteAfterUpInput)}");
                    await _wareHouseService.TaskExecuteAfter(taskExecuteAfterUpInput);
                    Logger.Information($"Agv取货完成,任务Id:{string.Join(",", disTasks.Select(x => x.id))}");

                    var disTask = disTasks.Find(x => x.bill_code == input.taskCode);

                    if (disTask != null && !disTask.startlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase))
                    {
                        return await ToApiResult(HttpStatusCode.OK, "成功");
                    }
                    //根据Agv传递的参数获取，对应的电梯
                    WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
                                            .Where((a, b) => b.location_id == disTask.startlocation_id)
                                            .Select((a, b) => new WmsElevatorH
                                            {
                                                device_id = a.elevator_id,
                                            }, true)
                                            .FirstAsync();

                    s_eleLoadedStatusDic[elevator.device_id] = 1;
                    Logger.Information($"当前取货设备ID：{elevator.device_id}");
                    //根据disTask StartLocationId 起始库位关联电梯获取设备ID location_code.Continas("")
                    var devName = s_elevatorMap[elevator.device_id]?.ToString();
                    Logger.Information($"{devName.Match(@"\d+")}#梯，设备名称：{devName}，开始进入关门流程");
                    int doorStatus = await _elevatorControlService.GetTagAsync(devName, ElevatorConsts.DoorStatus);
                    Logger.Information($"设备:{devName},门状态：{doorStatus.ToEnum<EnumDoorStatus>().ToString()}");
                    if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持
                        && !disTask.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)
                        )
                    {
                        _ = await _elevatorControlService.SendOpenCloseCmd(devName, 4); //向电梯发送前门关门指令
                    }
                    WmsElevatorUnexecute elevatorQueueItem = await _db.Queryable<WmsElevatorUnexecute>().FirstAsync(it => disTasks.Select(x => x.id).Contains(it.distask_id) && it.task_status == "执行中");
                    if (elevatorQueueItem != null)
                    {

                        _ = await _db.Deleteable(elevatorQueueItem).ExecuteCommandAsync();
                    }

                }
                else if (input.action == "UNLOAD")
                {

                    TaskCompleUpInput taskCompleUpInput = new()
                    {
                        disTaskIds = disTasks.Select(x => x.id).ToList()
                    };
                    Logger.Information($"taskCompleUpInput json parameter:{JsonConvert.SerializeObject(taskCompleUpInput)}");
                    await _wareHouseService.TaskComplate(taskCompleUpInput);

                }
            }
            catch (Exception ex)
            {
                Logger.Error("任务状态上报出现错误", ex);
                Logger.Error("任务状态上报错误堆栈信息", ex.StackTrace);
                return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
                throw;
            }
            finally
            {
                _ = InvokeGenPretaskExcute();
            }
            return await ToApiResult(HttpStatusCode.OK, "成功");

        }

        /// <summary>
        /// 申请进出电梯
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost, NonUnify, AllowAnonymous]
        public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> ElevatorConfirm(ConfirmInput input)
        {
            try
            {
                List<WmsElevatorH> eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
                    .LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
                    .Where((a, b, c) => c.startlocation_code == input.sourceName && c.bill_code == input.taskCode)
                    .ToListAsync();
            }
            catch (Exception)
            {
                return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
                throw;
            }
            return await ToApiResult(HttpStatusCode.OK, "未启用");
        }

        /// <summary>
        /// 根据产线获取Agv列表
        /// </summary>
        /// <param name="lineId">产线Id，默认空，(潍柴的只有一条产线所以不用传)</param>
        /// <remarks>
        /// returns:
        /// <br/>{
        /// <br/>    name:设备名称
        /// <br/>    code:设备代码
        /// <br/>}
        /// </remarks>
        [HttpGet("lineId"), AllowAnonymous]
        public async Task<dynamic> GetAgvListByLineId(string lineId = "")
        {
            var devList = await _db.Queryable<EqpEquipment>().InnerJoin<EqpEquipType>((a, b) => a.equip_type_id == b.id)
                                          .Where((a, b) => b.code == "003" && b.status == 1)
                                          .Select((a, b) => new
                                          {
                                              a.name,
                                              a.code,
                                          })
                                          .ToListAsync();
            return devList;
        }
        /// <summary>
        /// 获取Agv实时信息
        /// </summary>
        /// <param name="q">查询输入参数</param>
        ///<remarks>
        /// <br/>{
        /// <br/>    deviceCode:设备序号
        /// <br/>    devicePostionRec:设备所在二维码的x,y坐标，前边的值是x，后边的是y
        /// <br/>    devicePosition:设备当前位置
        /// <br/>    oritation:方向
        /// <br/>    speed:速度
        /// <br/>    shelfNumber：当前搬运的货架编号,对应载具编号
        /// <br/>}
        ///</remarks>
        [HttpGet, AllowAnonymous]
        public async Task<List<AgvRealInfoOutput>> GetAgvRealInfo([FromQuery] AgvRealInfoQuery q)
        {
            //请求Les接口，bing解析返回结果 绑定到AgvRealInfoOutput实例 此处忽略
            var devCodes = new[] { "Dev01", "Dev02", "Dev03", "Dev04", "Dev05" };

            if (!q.deviceCode.IsNullOrWhiteSpace())
            {
                devCodes = devCodes.Where(x => q.deviceCode.Contains(x)).ToArray();
            }
            var result = new List<AgvRealInfoOutput>();
            for (int i = 0; i < devCodes.Length; i++)
            {
                AgvRealInfoOutput output = new();
                output.deviceCode = devCodes[i];
                output.oritation = 0;
                output.speed = Random.Shared.Next(0, 100);
                var x = Random.Shared.NextDouble() * 100;
                var y = Random.Shared.NextDouble() * 100;
                output.devicePostionRec = new[] { x, y };
                output.shelfNumber = "xxxx";
                result.Add(output);
            }
            return result;
        }

        /// <summary>
        /// CTU放货申请
        /// </summary>
        /// <param name="input"></param>
        /// <returns></returns>
        [HttpPost, NonUnify, AllowAnonymous]
        public Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> CTUUnloadConfirm(ConfirmInput input)
        {
            var data = "";
            try
            {
                data = "允许放货";
            }
            catch (Exception)
            {
                data = "不允许放货";
                throw;
            }
            return ToApiResult(HttpStatusCode.OK, data);
        }
    }
}