using System;
using System.Data;
using System.DirectoryServices.ActiveDirectory;
using System.Dynamic;
using System.Security.Policy;
using System.Text;
using Aop.Api.Domain;
using Aspose.Cells.Charts;
using JNPF;
using JNPF.Common.Cache;
using JNPF.Common.Core.Manager;
using JNPF.Common.Dtos.VisualDev;
using JNPF.Common.Extension;
using JNPF.FriendlyException;
using JNPF.Systems.Interfaces.System;
using Microsoft.AspNetCore.Identity;
using Microsoft.Extensions.Hosting;
using Microsoft.Extensions.Logging;
using NetTaste;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using NPOI.OpenXmlFormats;
using NPOI.SS.Formula.Eval;
using NPOI.SS.Formula.Functions;
using Org.BouncyCastle.Asn1.X509;
using Org.BouncyCastle.Asn1.X509.Qualified;
using Qiniu.Util;
using SqlSugar;
using Tnb.BasicData.Entities;
using Tnb.Common.Extension;
using Tnb.Common.Redis;
using Tnb.Common.Utils;
using Tnb.ProductionMgr.Entities;
using Tnb.ProductionMgr.Entities.Dto;
using Tnb.ProductionMgr.Entities.Enums;
using Tnb.ProductionMgr.Interfaces;
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.Enums;
using Tnb.WarehouseMgr.Interfaces;

namespace Tnb.ProductionMgr
{
    //redis定时获取数采数据
    public class RedisBackGround : IHostedService, IDisposable
    {
        private Timer? Readtimer;
        private Timer? CheckGettimer;
        private Timer? Scantimer;
        private Timer? SSXcodetimer;

        // 二楼上升降机
        private Timer? Floor2UpMachinecodetimer;
        // 二楼下升降机
        private Timer? Floor2DownMachinecodetimer;
        // 二楼料架配送
        private Timer? Floor2RackDeliverytimer;
        
        public static SemaphoreSlim s_taskExecuteRackDelivery = new(1);

        private readonly RedisData _redisData;
        private readonly IPrdInstockService _prdInstockService;
        private readonly ISqlSugarRepository<RedisReadConfig> _repository;
        private readonly IWmsPDAScanInStockService _wmsPDAScanInStock;
        private readonly IUserManager _userManager;
        private readonly IBillRullService _billRullService;
        private readonly IWareHouseService _wareHouseService;
        private readonly IWmsCarryBindService _wmsCarryBindService;

        private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
        public RedisBackGround(RedisData redisData, IPrdInstockService prdInstockService, ISqlSugarRepository<RedisReadConfig> repository, IWmsPDAScanInStockService wmsPDAScanInStock
            , IUserManager userManager, IBillRullService billRullService, IWareHouseService wareHouseService, IWmsCarryBindService wmsCarryBindService)
        {
            _redisData = redisData;
            _prdInstockService = prdInstockService;
            _repository = repository;
            _wmsPDAScanInStock = wmsPDAScanInStock;
            _userManager = userManager;
            _billRullService = billRullService;
            _wareHouseService = wareHouseService;
            _wmsCarryBindService = wmsCarryBindService;
        }
        //获取redis数据
        private void GetRedisData(object state)
        {
            var _redisReadConfigs = _repository.AsQueryable().Where(p => p.enabled == 1).ToList();
            foreach (var config in _redisReadConfigs)
            {
                try
                {
                    var json = _redisData.GetHash(config.dev_name!, config.tag_name!).Result;
                    JObject? res = JsonConvert.DeserializeObject<JObject>(json);
                    if (config.data_type == (int)DataType.INT)
                    {
                        if (config.check_type == (int)CheckType.相等)
                        {
                            if (res.Value<int>("Value") == int.Parse(config.data!))
                            {
                                InstockInput instockInput = new()
                                {
                                    equip_code = res["DevName"]!.ToString(),
                                    label_code = res["TagName"]!.ToString()
                                };
                                TriggerEvent((EventType)config.event_type, instockInput);
                            }
                        }
                        else if (config.check_type == (int)CheckType.包含)
                        {
                            int[] ints = Array.ConvertAll(config.data!.Replace("[", "").Replace("]", "").Split(",", StringSplitOptions.RemoveEmptyEntries), int.Parse);
                            if (ints.Contains(res.Value<int>("Value")))
                            {
                                InstockInput instockInput = new()
                                {
                                    equip_code = res["DevName"]!.ToString(),
                                    label_code = res["TagName"]!.ToString()
                                };
                                TriggerEvent((EventType)config.event_type, instockInput);
                            }
                        }
                    }
                    else if (config.data_type == (int)DataType.BOOL)
                    {
                        if (config.check_type == (int)CheckType.相等)
                        {
                            if (res.Value<bool>("Value") == bool.Parse(config.data!))
                            {
                                InstockInput instockInput = new()
                                {
                                    equip_code = res["DevName"]!.ToString(),
                                    label_code = res["TagName"]!.ToString()
                                };
                                TriggerEvent((EventType)config.event_type, instockInput);
                            }
                        }
                    }
                }
                catch (Exception)
                {
                }
            }
        }
        private void TriggerEvent(EventType eventType, InstockInput instockInput)
        {
            switch (eventType)
            {
                case EventType.注塑空满箱请求:
                    _prdInstockService.InstockTypeOne(instockInput);
                    break;
                case EventType.挤出空满箱请求:
                    _prdInstockService.InstockTubeOne(instockInput);
                    break;
                case EventType.限位请求:
                    _prdInstockService.InstockOutPack(instockInput);
                    break;
                default:
                    break;
            }
        }
        //ctu取货
        private void CheckGet(object state)
        {
            Dictionary<string, string[]> getdic = new Dictionary<string, string[]>();
            getdic.Add("SSX-021-005", new string[] { "YTCS", "AllowFullOut_CS05", "LiftCode" });
            getdic.Add("SSX-011-002", new string[] { "YTCS", "AllowAgvFullIn_CS02", "Code_CS02" });
            getdic.Add("SSX-011-004", new string[] { "YTCS", "AllowCtuFullOut_CS04", "Code_CS04" });

            getdic.Add("SSX-011-008", new string[] { "东面提升机输送线", "入库输送线8允许出箱", "入库输送线7条码" });

            getdic.Add("SSX-111-011", new string[] { "东面提升机输送线", "下升降机11允许出箱", "下升降机11条码" });
            getdic.Add("SSX-111-012", new string[] { "东面提升机输送线", "下升降机12允许出箱", "下升降机12条码" });
            getdic.Add("ZSSSXCTU02", new string[] { "YTCS", "AllowAgvEmptyOut_CS03", "" });
            getdic.Add("ZSSSXCTU01", new string[] { "YTCS", "AllowAgvEmptyOut_CS01", "" });

           
            foreach (var key in getdic.Keys)
            {
                try
                {
                    var strs = getdic.Where(p => p.Key == key).First().Value;
                    bool flag = _redisData.HashExist(strs[0], strs[1]).Result;
                    string data = _redisData.GetHash(strs[0], strs[1]).Result;
                    JObject? res = JsonConvert.DeserializeObject<JObject>(data);
                    
                    bool result = res != null && res["Value"] != null ? res.Value<bool>("Value") : false;
                    if (result)
                    {
                        if (!string.IsNullOrEmpty(strs[2]))
                        {
                            string codedata = _redisData.GetHash(strs[0], strs[2]).Result;
                            JObject? coderes = JsonConvert.DeserializeObject<JObject>(codedata);
                            string coderesult = coderes != null && coderes["Value"] != null ? coderes.Value<string>("Value")! : "";
                            coderesult = coderesult.Replace("\r", "");


                            var DistaskH = _repository.AsSugarClient().Queryable<WmsDistaskH>().Where(p => p.carry_code == coderesult && p.status == WmsWareHouseConst.TASK_BILL_STATUS_YXD_ID && string.IsNullOrEmpty(p.extras)).First();


                            if (DistaskH != null)
                            {
                                Logger.LogInformation($@"【定时任务CheckGet】 {JsonConvert.SerializeObject(DistaskH)}");
                                dynamic reqBody = new ExpandoObject();
                                reqBody.taskCode = DistaskH.bill_code;
                                reqBody.slotCode = key;
                                reqBody.containerCode = coderesult;
                                CancellationTokenSource Ctu = new();
                                if (strs[0] == "东面提升机输送线")
                                {
                                    Logger.LogInformation($"【定时任务CheckGet】 开始发送请求到 http://192.168.11.104:1880/wcs/notify/cargo ");
                                }
                                dynamic respBody = HttpClientHelper.PostStreamAsync("http://192.168.11.104:1880/wcs/notify/cargo", reqBody, Ctu.Token).Result;
                                if (strs[0] == "东面提升机输送线")
                                {
                                    Logger.LogInformation($"【定时任务CheckGet】 接收请求 http://192.168.11.104:1880/wcs/notify/cargo 结果 {respBody} ");
                                }
                                DistaskH.extras = respBody;
                                _repository.AsSugarClient().Updateable(DistaskH).ExecuteCommand();
                                Ctu.Dispose();
                            }
                            else
                            {
                                LoggerSSX.LogInformation($@"【定时任务CheckGet】 {key}->{strs[0]} {strs[2]} 
采集结果:{ $@"任务执行(wms_distask_h)中找不到匹配的记录 任务执行需要存在载具编号(carry_code)为{coderesult} 
且单据状态(status)为已下达(26126853976101) 且扩展字段(extras)为空的记录
select extras,* from wms_distask_h
where carry_code = '{coderesult}' and status = '{WmsWareHouseConst.TASK_BILL_STATUS_YXD_ID}'  " }");

                            }
                        }
                        else {
                            var DistaskH = _repository.AsSugarClient().Queryable<WmsDistaskH>().Where(p => p.startlocation_code == key && p.status == WmsWareHouseConst.TASK_BILL_STATUS_YXD_ID && string.IsNullOrEmpty(p.extras)).First();
                            if (DistaskH != null)
                            {
                                dynamic reqBody = new ExpandoObject();
                                reqBody.taskCode = DistaskH.bill_code;
                                reqBody.slotCode = key;
                                reqBody.containerCode = DistaskH.carry_code;
                                CancellationTokenSource Ctu = new();
                                dynamic respBody = HttpClientHelper.PostStreamAsync("http://192.168.11.104:1880/wcs/notify/cargo", reqBody, Ctu.Token).Result;
                                DistaskH.extras = respBody;
                                _repository.AsSugarClient().Updateable(DistaskH).ExecuteCommand();
                                Ctu.Dispose();
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    LoggerSSX.LogError(ex.ToString());
                }
            }
        }

        private static readonly Dictionary<LogLevel, string> s_logLevelMap = new()
        {
            [LogLevel.Debug] = "DBG",
            [LogLevel.Information] = "INF",
            [LogLevel.Warning] = "WRN",
            [LogLevel.Error] = "ERR",
        };


        #region 日志

        protected ILogger Logger => LoggerFactory.Create(builder => builder.AddFile($"{AppContext.BaseDirectory}/logs/custom{DateTime.Now:yyyyMMdd}.log", cfgOpts =>
        {

            //cfgOpts.DateFormat = "yyyy-MM-dd HH:mm:ss.fff";
            cfgOpts.MessageFormat = (logMsg) =>
            {
                var logLevel = s_logLevelMap[logMsg.LogLevel];
                var sb = new StringBuilder();
                _ = sb.Append($"[{logLevel}] ");
                _ = sb.Append($"{logMsg.LogName} ");
                _ = sb.Append($"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff} ");
                _ = sb.Append($"#{logMsg.EventId.Id} ");
                _ = sb.Append(logMsg.Message + " ");
                _ = sb.Append(logMsg.Exception?.ToString());
                return sb.ToString();
            };

        })).CreateLogger(this.GetType());


        protected ILogger LoggerBGW => LoggerFactory.Create(builder => builder.AddFile($"{AppContext.BaseDirectory}/logs/customBGW{DateTime.Now:yyyyMMdd}.log", cfgOpts =>
        {

            //cfgOpts.DateFormat = "yyyy-MM-dd HH:mm:ss.fff";
            cfgOpts.MessageFormat = (logMsg) =>
            {
                var logLevel = s_logLevelMap[logMsg.LogLevel];
                var sb = new StringBuilder();
                _ = sb.Append($"[{logLevel}] ");
                _ = sb.Append($"{logMsg.LogName} ");
                _ = sb.Append($"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff} ");
                _ = sb.Append($"#{logMsg.EventId.Id} ");
                _ = sb.Append(logMsg.Message + " ");
                _ = sb.Append(logMsg.Exception?.ToString());
                return sb.ToString();
            };

        })).CreateLogger(this.GetType());

        protected ILogger LoggerSSX => LoggerFactory.Create(builder => builder.AddFile($"{AppContext.BaseDirectory}/logs/customSSX{DateTime.Now:yyyyMMdd}.log", cfgOpts =>
        {

            //cfgOpts.DateFormat = "yyyy-MM-dd HH:mm:ss.fff";
            cfgOpts.MessageFormat = (logMsg) =>
            {
                var logLevel = s_logLevelMap[logMsg.LogLevel];
                var sb = new StringBuilder();
                _ = sb.Append($"[{logLevel}] ");
                _ = sb.Append($"{logMsg.LogName} ");
                _ = sb.Append($"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff} ");
                _ = sb.Append($"#{logMsg.EventId.Id} ");
                _ = sb.Append(logMsg.Message + " ");
                _ = sb.Append(logMsg.Exception?.ToString());
                return sb.ToString();
            };

        })).CreateLogger(this.GetType());

        // 二楼上下升降机日志
        protected ILogger LoggerFloor2UpDownMachine => LoggerFactory.Create(builder => builder.AddFile($"{AppContext.BaseDirectory}/logs/customFloor2UpDownMachine{DateTime.Now:yyyyMMdd}.log", cfgOpts =>
        {

            //cfgOpts.DateFormat = "yyyy-MM-dd HH:mm:ss.fff";
            cfgOpts.MessageFormat = (logMsg) =>
            {
                var logLevel = s_logLevelMap[logMsg.LogLevel];
                var sb = new StringBuilder();
                _ = sb.Append($"[{logLevel}] ");
                _ = sb.Append($"{logMsg.LogName} ");
                _ = sb.Append($"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff} ");
                _ = sb.Append($"#{logMsg.EventId.Id} ");
                _ = sb.Append(logMsg.Message + " ");
                _ = sb.Append(logMsg.Exception?.ToString());
                return sb.ToString();
            };

        })).CreateLogger(this.GetType());


        // 二楼料架补充
        protected ILogger LoggerFloor2RackDelivery => LoggerFactory.Create(builder => builder.AddFile($"{AppContext.BaseDirectory}/logs/customFloor2RackDelivery{DateTime.Now:yyyyMMdd}.log", cfgOpts =>
        {
            //cfgOpts.DateFormat = "yyyy-MM-dd HH:mm:ss.fff";
            cfgOpts.MessageFormat = (logMsg) =>
            {
                var logLevel = s_logLevelMap[logMsg.LogLevel];
                var sb = new StringBuilder();
                _ = sb.Append($"[{logLevel}] ");
                _ = sb.Append($"{logMsg.LogName} ");
                _ = sb.Append($"{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff} ");
                _ = sb.Append($"#{logMsg.EventId.Id} ");
                _ = sb.Append(logMsg.Message + " ");
                _ = sb.Append(logMsg.Exception?.ToString());
                return sb.ToString();
            };

        })).CreateLogger(this.GetType());

        #endregion

        //扫码入库
        private void ScanInStock(object state)
        {
            Dictionary<string, string[]> getdic = new Dictionary<string, string[]>();
            getdic.Add("BGWRKYCL02", new string[] { "CP8", "AllowGetFullBox1", "code1", "PutDoneEmptyBox", "false" });
            getdic.Add("BGWRKYCL01", new string[] { "CP8", "AllowGetFullBox2", "code2", "PutDoneEmptyBox", "false" });
            foreach (var key in getdic.Keys)
            {
                try
                {
                    var strs = getdic.Where(p => p.Key == key).First().Value;
                    bool flag = _redisData.HashExist(strs[0], strs[1]).Result;
                    string data = _redisData.GetHash(strs[0], strs[1]).Result;
                    JObject? res = JsonConvert.DeserializeObject<JObject>(data);


                    bool result = res != null && res["Value"] != null ? res.Value<bool>("Value") : false;
                    if (result)
                    {
                        Logger.LogInformation($"【ScanInStock】 八工位 {key} AllowGetFullBox1采集到 {res["Value"]}");

                        Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
                        {
                            ["DevName"] = strs[0],
                            ["token"] = _eleCtlCfg.token,
                            ["TagName"] = strs[3],
                            ["Value"] = strs[4],
                        };
                        Logger.LogInformation($"【ScanInStock】 八工位 {key} 发送PutDoneEmptyBox指令 {_eleCtlCfg.WriteTagUrl} {JsonConvert.SerializeObject(dicCommand)}");
                        HttpClientHelper.GetRequestAsync(_eleCtlCfg.WriteTagUrl,  dicCommand).Wait();
                        string codedata = _redisData.GetHash(strs[0], strs[2]).Result;
                        Logger.LogInformation($"【ScanInStock】 八工位 {key} 获取到扫码信息: {codedata}");
                        JObject? coderes = JsonConvert.DeserializeObject<JObject>(codedata);
                        string coderesult = coderes != null && coderes["Value"] != null ? coderes.Value<string>("Value")! : "";
                        WmsCarryH? carry = _repository.AsSugarClient().Queryable<WmsCarryH>().Single(it => it.carry_code == coderesult);
                        Logger.LogInformation($"【ScanInStock】 八工位 {key} 查找{coderesult}绑定的托盘: {JsonConvert.SerializeObject(carry)}");
                        if (carry != null)
                        {
                            if (_repository.AsSugarClient().Queryable<WmsDistaskH>().Where(p => p.carry_id == carry.id && p.status != WmsWareHouseConst.TASK_BILL_STATUS_COMPLE_ID ).Any())
                            {
                                Logger.LogInformation($"【ScanInStock】 八工位 {key} 托盘 {carry.id} 对应的执行任务状态(status)不是26126860808229(已完成)，此时不能执行入库");
                                continue;
                            }
                               
                            var WmsCarryCode = _repository.AsSugarClient().Queryable<WmsCarryCode>().Where(it => it.carry_id == carry.id).OrderByDescending(it => it.id).First();
                       // 用适当的字段替换 YourTimestampField
    
                            if (WmsCarryCode != null)
                            {
                                Logger.LogInformation($"【ScanInStock】 八工位 {key} 查找到托盘{carry.id}在WmsCarryCode中存在");

                                VisualDevModelDataCrInput input = new VisualDevModelDataCrInput();
                                input.data = new Dictionary<string, object>();
                                input.data.Add("barcode", coderesult);
                                input.data.Add("codeqty", WmsCarryCode.codeqty);//条码数量  
                                input.data.Add("material_code", WmsCarryCode.material_code);
                                input.data.Add("extras", key);//location_code
                                input.data.Add("warehouse_id", "1");//TEST
                                input.data.Add("bill_code", "");//采购收货单号
                                input.data.Add("code_batch", WmsCarryCode.code_batch!);//批次
                                input.data.Add("material_specification", WmsCarryCode.material_specification!);//规格型号
                                input.data.Add("container_no", WmsCarryCode.container_no!);//箱号
                                input.data.Add("material_id", WmsCarryCode.material_id);
                                input.data.Add("id", null);
                                _wmsPDAScanInStock.ScanInStockByRedis(input).Wait();
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    Logger.LogInformation($"【ScanInStock】 八工位扫到码发送入库请求发生异常:{ex}");
                }
            }
        }

        private void SSXcode(object state)
        {
            Dictionary<string, string[]> dic = new Dictionary<string, string[]>();
            dic.Add("东面提升机输送线", new string[] { "下升降机判断请求", "下升降机判断条码", "下升降机判断完毕", "下升降机判断结果" });
            Dictionary<string, int> putdic = new Dictionary<string, int>();
            putdic.Add("SSX-111-011", 11);
            putdic.Add("SSX-111-012", 12);
            foreach (var key in dic.Keys)
            {
                try
                {
                    var strs = dic.Where(p => p.Key == key).First().Value;
                    string dataflag = _redisData.GetHash(key, strs[0]).Result;
                    JObject? resflag = JsonConvert.DeserializeObject<JObject>(dataflag);


                    //Logger.LogInformation($"【定时任务SSXcode】 {key}->{strs[0]} 采集结果:{resflag}");
                    bool re  = resflag != null && resflag["Value"] != null ? resflag.Value<bool>("Value") : false;
                    if (!re)
                        continue;
                    string data = _redisData.GetHash(key, strs[1]).Result;
                    JObject? res = JsonConvert.DeserializeObject<JObject>(data);
                    //Logger.LogInformation($"【定时任务SSXcode】 {key}->{strs[1]} 采集结果:{res}");
                    string? result = res != null && res["Value"] != null ? res.Value<string>("Value") : "";
                    if (!string.IsNullOrEmpty(result))
                    {
                        if (result.Length < 5)
                        {
                            result = "LX" + result.Replace("\r", "");
                        }
                        var DistaskH = _repository.AsSugarClient().Queryable<WmsDistaskH>().Where(p => p.carry_code == result && p.status != WmsWareHouseConst.TASK_BILL_STATUS_COMPLE_ID).OrderByDescending(p => p.create_time).First();
                        if (DistaskH != null)
                        {
                            Logger.LogInformation($"【定时任务SSXcode】DistaskH != null putdic.Keys.Contains(DistaskH.startlocation_code):{putdic.Keys.Contains(DistaskH.startlocation_code)}");

                            Dictionary<string, string> dicCommand2 = new(StringComparer.OrdinalIgnoreCase)
                            {
                                ["DevName"] = key,
                                ["token"] = _eleCtlCfg.token,
                                ["TagName"] = strs[3],
                                ["Value"] = putdic.Keys.Contains(DistaskH.startlocation_code) ? putdic.Where(p => p.Key == DistaskH.startlocation_code).First().Value.ToString() : "13",
                            };
                            HttpClientHelper.GetRequestAsync(_eleCtlCfg.WriteTagUrl, dicCommand2).Wait();
                            Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
                            {
                                ["DevName"] = key,
                                ["token"] = _eleCtlCfg.token,
                                ["TagName"] = strs[2],
                                ["Value"] = "true",
                            };
                            HttpClientHelper.GetRequestAsync(_eleCtlCfg.WriteTagUrl, dicCommand).Wait();
                        }
                        else
                        {
                            Logger.LogInformation($"【定时任务SSXcode】DistaskH == null {_repository.AsSugarClient().Queryable<WmsDistaskH>().Where(p => p.carry_code == result && p.status != WmsWareHouseConst.TASK_BILL_STATUS_COMPLE_ID).OrderByDescending(p => p.create_time).ToSqlString()}");
                            Dictionary<string, string> dicCommand2 = new(StringComparer.OrdinalIgnoreCase)
                            {
                                ["DevName"] = key,
                                ["token"] = _eleCtlCfg.token,
                                ["TagName"] = strs[3],
                                ["Value"] =   "13",
                            };
                            HttpClientHelper.GetRequestAsync(_eleCtlCfg.WriteTagUrl, dicCommand2).Wait();
                            Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
                            {
                                ["DevName"] = key,
                                ["token"] = _eleCtlCfg.token,
                                ["TagName"] = strs[2],
                                ["Value"] = "true",
                            };
                            HttpClientHelper.GetRequestAsync(_eleCtlCfg.WriteTagUrl, dicCommand).Wait();
                        }
                    }
                }
                catch (Exception ex)
                {

                    Logger.LogInformation($"【定时任务SSXcode】发生异常 {ex}");
                }
            }
        }

        public void Dispose()
        {
            Readtimer?.Dispose();
            CheckGettimer?.Dispose();
            Scantimer?.Dispose();
            SSXcodetimer?.Dispose();
            Floor2UpMachinecodetimer?.Dispose();
            Floor2DownMachinecodetimer?.Dispose();
            Floor2RackDeliverytimer.Dispose();
        }

        #region 二楼上升降机机械臂
        // 上升降机
        private async void Floor2UpMachinecode(object args)
        {
            using (var db = _repository.AsSugarClient().CopyNew())
            {
                string barcode = Floor2UpDownMachinecode_GetTag<string>(MechanicalArmConsts.上升降机条码).ToString();
                if (string.IsNullOrEmpty(barcode))
                {
                    LoggerFloor2UpDownMachine.LogError($@"【上升降机】未取到条码数据");
                    return;
                }

                // 读取上升降机的左右料架区配置
                string[] configs = new string[2] { "二楼上升降机机械臂左", "二楼上升降机机械臂右" };
                // 左右料架区配置
                List<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>()
                    .Where(r => configs.Contains(r.name) && r.agvconfirm == 1).ToList();

                // 是否可以放货
                if (WmsMechanicalArmHs.Count == 0)
                {
                    LoggerFloor2UpDownMachine.LogWarning($@"【上升降机】目前没有可以放货的料架区(机械臂空托送到信号为false)");
                    return;
                }

                // 如果条码已被绑定
                if (WmsMechanicalArmHs.Where(r => !string.IsNullOrEmpty(r.barcodes) && r.barcodes.Contains(barcode)).Count() > 0)
                {
                    LoggerFloor2UpDownMachine.LogWarning($@"【上升降机】条码{barcode}已被绑定");
                    return;
                }
                LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】扫描到有效条码 {barcode}");

                // 获取下到输送线9和10的未完成的出库单
                List<WmsEmptyOutstockH> WmsEmptyOutstockHs = db.Queryable<WmsEmptyOutstockH>()
                    .InnerJoin<WmsEmptyOutstockD>((a, b) => a.id == b.bill_id)
                    .Where((a, b) => (a.location_id == "32609238573589" || a.location_id == "32609229889045") && (string.IsNullOrEmpty(a.bindrackcomplete) || a.bindrackcomplete != WmsWareHouseConst.BILLSTATUS_COMPLETE_ID)
                    && b.carry_code == barcode).ToList();

                if (WmsEmptyOutstockHs.Count() == 0)
                {
                    LoggerFloor2UpDownMachine.LogWarning($@"【上升降机】未找到条码{barcode}的输送线为9、10的出库单");
                    return;
                }
                // 出库单
                WmsEmptyOutstockH WmsEmptyOutstockH = WmsEmptyOutstockHs.OrderByDescending(r => r.create_time).First();

                // 找到条码在的出库单
                string ckdCode = WmsEmptyOutstockH.bill_code;
                int ckdRemainBindRackNum = (int)(WmsEmptyOutstockH.remainbindracknum != null ? WmsEmptyOutstockH.remainbindracknum : 0);

                //扫描到的料箱 a.对应出库单的b.码垛计数未达到满托数量的料架区
                IEnumerable<WmsMechanicalArmH> targetConfigs = WmsMechanicalArmHs.Where(r => r.outbill == ckdCode && r.stackingcount < r.maxnum);

                WmsMechanicalArmH target;
                await db.Ado.BeginTranAsync();
                try
                {
                    // 找不到对应的料架
                    if (targetConfigs.Count() == 0)
                    {
                        // 有空闲料架区且绑定了料架时
                        targetConfigs = WmsMechanicalArmHs.Where(r => string.IsNullOrEmpty(r.outbill)).OrderBy(r => r.id);
                        if (targetConfigs.Count() > 0)
                        {
                            target = targetConfigs.First();

                            // 计算当前料架区的满托数量
                            int? maxnum = ckdRemainBindRackNum > target.maxracknum ? ckdRemainBindRackNum % target.maxracknum : ckdRemainBindRackNum;

                            // 更新 出库单、满托数量
                            LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】为条码 {barcode} 所在的出库单 {ckdCode} 占用了一个空闲料架");
                            await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
                            {
                                outbill = ckdCode,
                                maxnum = maxnum
                            }).Where(r => r.id == target.id).ExecuteCommandAsync();

                            bool result = await Floor2UpDownMachinecode_SetTag($"上升降机满托{target.stackingposition}数量", maxnum.ToString());
                            LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】设定升降机满托{target.stackingposition}满托数量为 {maxnum} 结果为 {result}");
                            if (!result)
                            {
                                throw new Exception($@"【上升降机】设定升降机满托{target.stackingposition}满托数量为 {maxnum} 结果为 {result}");
                            }
                            // 尝试写入空托送到信号
                            bool result上升降机空托送到 = await Floor2UpDownMachinecode_SetTag($"上升降机空托{target.stackingposition}送到", "true");
                            LoggerFloor2UpDownMachine.LogInformation($@"【送空托到上升降区】回写 上升降机空托{target.stackingposition}送到 结果为{result上升降机空托送到}");
                            if (!result上升降机空托送到)
                            {
                                return;
                            }
                        }
                        else
                        {
                            LoggerFloor2UpDownMachine.LogError($@"【上升降机】条码{barcode}找不到绑定出库单{ckdCode}的料架区，且没有空闲的料架区可以用于绑定此出库单！");
                            await db.Ado.RollbackTranAsync();
                            return;
                        }
                    }

                    //如有多个料架绑定同个出库单则取第一个未满托的料架
                    target = targetConfigs.First();
                    LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】当前条码目标料架区为 {JsonConvert.SerializeObject(target)}");

                    // 料架信息
                    WmsCarryH rack = db.Queryable<WmsCarryH>().Where(r => r.id == target.rackid).ToList()[0];

                    // 料箱信息
                    WmsCarryH LX = db.Queryable<WmsCarryH>().Where(r => r.carry_code == barcode).ToList()[0];

                    // 开始码垛
                    bool result_开始码垛 = await Floor2UpDownMachinecode_SetTag(MechanicalArmConsts.上升降机当前码垛位, target.stackingposition.ToString());
                    LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】码垛结果 {result_开始码垛}");
                    if (!result_开始码垛)
                    {
                        throw new Exception($@"【上升降机】码垛结果 {result_开始码垛}");
                    }
                    // 回写料箱条码、码垛计数
                    await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
                    {
                        barcodes = $"{target.barcodes},{barcode}".Trim(','),
                        stackingcount = r.stackingcount + 1,
                        mechanicalconfirm = 1
                    }).Where(r => r.id == target.id).ExecuteCommandAsync();
                    LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】回写料箱条码、码垛计数");

                    // 回写出库单的剩余可绑定料架数量
                    await db.Updateable<WmsEmptyOutstockH>().SetColumns(r => new WmsEmptyOutstockH
                    {
                        remainbindracknum = r.remainbindracknum - 1
                    }).Where(r => r.id == WmsEmptyOutstockH.id).ExecuteCommandAsync();
                    LoggerFloor2UpDownMachine.LogInformation($@"【上升降机】回写出库单的剩余可绑定料架数量");

                    // 绑定料箱到料架
                    CarryBindFloor2UpDownMachineInput carryBindFloor2UpDownMachineInput = new() { };
                    carryBindFloor2UpDownMachineInput.carry_id = target.rackid;
                    carryBindFloor2UpDownMachineInput.carry_code= target.rackcode;
                    carryBindFloor2UpDownMachineInput.membercarry_id = LX.id;
                    carryBindFloor2UpDownMachineInput.membercarry_code = LX.carry_code;
                    carryBindFloor2UpDownMachineInput.carrystd_id = rack.carrystd_id;

                    await _wmsCarryBindService.CarryBindFloor2UpDownMachine(carryBindFloor2UpDownMachineInput);
                


                    await db.Ado.CommitTranAsync();

                }
                catch (Exception ex)
                {
                    LoggerFloor2UpDownMachine.LogError(ex.ToString());
                    LoggerFloor2UpDownMachine.LogError(ex.StackTrace);
                    await db.Ado.RollbackTranAsync();
                }
            }
        }



        //private async void Floor2DownMachinecode(object args)
        //{
        //    using (var db = _repository.AsSugarClient().CopyNew())
        //    {

        //        // 读取上升降机的左右料架区配置
        //        string[] configs = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };

        //        // 左右料架区配置
        //        List<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>()
        //            .Where(r => configs.Contains(r.name) && r.mechanicalconfirm == 1 && r.stackingcount < r.maxnum).ToList();

        //        // 是否可以放货
        //        if (WmsMechanicalArmHs.Count == 0)
        //        {
        //            //LoggerFloor2UpDownMachine.LogWarning($@"【下升降机】目前没有可以取货的料架区");
        //            return;
        //        }

        //        WmsMechanicalArmH target;
        //        target = WmsMechanicalArmHs.First();


        //        // 待拆垛列表
        //        List<WmsCarryD> WmsCarryCodes = db.Queryable<WmsMechanicalArmH>()
        //            .InnerJoin<WmsCarryD>((a, b) => a.rackid == b.carry_id)
        //            .Where(a => configs.Contains(a.name) && a.mechanicalconfirm == 1 && a.id == target.id).Select((a, b) => b).OrderBy(a => a.id).ToList();

        //        // 料架拆垛完成
        //        if (WmsCarryCodes.Count() == 0)
        //        {
        //            return;
        //        }
        //        string barcode = WmsCarryCodes[0].membercarry_code;

        //        // 如果条码已被绑定
        //        if (WmsMechanicalArmHs.Where(r => !string.IsNullOrEmpty(r.barcodes) && r.barcodes.Contains(barcode)).Count() > 0)
        //        {
        //            LoggerFloor2UpDownMachine.LogWarning($@"【下升降机】条码{barcode}已被绑定");
        //            return;
        //        }
        //        LoggerFloor2UpDownMachine.LogInformation($@"【下升降机】扫描到有效条码 {barcode}");

        //        await db.Ado.BeginTranAsync();
        //        try
        //        {
        //            LoggerFloor2UpDownMachine.LogInformation($@"【下升降机】当前条码目标料架区为 {JsonConvert.SerializeObject(target)}");

        //            // 料架信息
        //            WmsCarryH rack = db.Queryable<WmsCarryH>().Where(r => r.id == target.rackid).ToList()[0];

        //            // 料箱信息
        //            WmsCarryH LX = db.Queryable<WmsCarryH>().Where(r => r.carry_code == barcode).ToList()[0];


        //            await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
        //            {
        //                barcodes = $"{target.barcodes},{barcode}".Trim(','),
        //                stackingcount = r.stackingcount + 1
        //            }).Where(r => r.id == target.id).ExecuteCommandAsync();
        //            LoggerFloor2UpDownMachine.LogInformation($@"【下升降机】回写料箱条码、拆垛计数");

        //            // 解除绑定料箱到料架
        //            CarryBindFloor2UpDownMachineInput carryBindFloor2UpDownMachineInput = new() { };
        //            carryBindFloor2UpDownMachineInput.carry_id = target.rackid;
        //            carryBindFloor2UpDownMachineInput.carry_code = target.rackcode;
        //            carryBindFloor2UpDownMachineInput.membercarry_id = LX.id;
        //            carryBindFloor2UpDownMachineInput.membercarry_code = LX.carry_code;
        //            carryBindFloor2UpDownMachineInput.carrystd_id = rack.carrystd_id;

        //            await _wmsCarryBindService.CarryUnbindFloor2UpDownMachine(carryBindFloor2UpDownMachineInput);
                


        //            await db.Ado.CommitTranAsync();

        //        }
        //        catch (Exception ex)
        //        {
        //            LoggerFloor2UpDownMachine.LogError(ex.ToString());
        //            LoggerFloor2UpDownMachine.LogError(ex.StackTrace);
        //            await db.Ado.RollbackTranAsync();
        //        }
        //    }
        //}

        /// <summary>
        /// 检查机械臂料架区信号(上升降机空托1送到)
        /// </summary>
        /// <returns></returns>
        //public async Task<bool> 检查机械臂料架区信号_上升降机空托1送到()
        //{
        //    using (var db = _repository.AsSugarClient().CopyNew())
        //    {
        //        string[] configs_upMachine = new string[2] { "二楼上升降机机械臂左", "二楼上升降机机械臂右" };

        //        // 找到AGV已到货的数据 发送机械臂送到指令
        //        ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHsuagar = db.Queryable<WmsMechanicalArmH>()
        //            .Where(r => r.agvconfirm == 1 && r.mechanicalconfirm == 0 && configs_upMachine.Contains(r.name));

        //        foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHsuagar.ToList())
        //        {
        //            // 尝试写入空托送到信号
        //            bool result上升降机空托送到 = await Floor2UpDownMachinecode_SetTag($"上升降机空托{wmsMechanicalArmH.stackingposition}送到", "true");
        //            LoggerFloor2UpDownMachine.LogInformation($@"【送空托到上升降区】回写 上升降机空托{wmsMechanicalArmH.stackingposition}送到 结果为{result上升降机空托送到}");
        //            if (!result上升降机空托送到)
        //            {
        //                return false;
        //            }

        //            // 绑定料架
        //            await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
        //            {
        //                mechanicalconfirm = 1
        //            }).Where(r => r.id == wmsMechanicalArmH.id).ExecuteCommandAsync();
        //        }

        //        return true;
        //    }
        //}

        /// <summary>
        /// 检查机械臂料架区信号(上升降机满托1送到)
        /// </summary>
        /// <returns></returns>
        public async Task<bool> 检查机械臂料架区信号_下升降机满托1送到()
        {
            using (var db = _repository.AsSugarClient().CopyNew())
            {
                string[] configs_upMachine = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };

                // 找到AGV已到货，没有机械臂确认的数据
                ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHsuagar = db.Queryable<WmsMechanicalArmH>()
                    .Where(r => r.agvconfirm == 1 && r.mechanicalconfirm == 0 && configs_upMachine.Contains(r.name));
                LoggerFloor2UpDownMachine.LogInformation($@"【检查机械臂料架区信号_下升降机满托1送到】 {WmsMechanicalArmHsuagar.Count()}");

                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHsuagar.ToList())
                {
                    // 尝试写入满托送到信号
                    bool result上升降机空托送到 = await Floor2UpDownMachinecode_SetTag($"下升降机满托{wmsMechanicalArmH.stackingposition}送到", "true");
                    LoggerFloor2UpDownMachine.LogInformation($@"【送满托到下升降区】回写 下升降机满托{wmsMechanicalArmH.stackingposition}送到 结果为{result上升降机空托送到}");
                    if (!result上升降机空托送到)
                    {
                        return false;
                    }

                    int LXCount = db.Queryable<WmsCarryD>() .Where(a => a.carry_id == wmsMechanicalArmH.rackid).Count();

                    bool result = await Floor2UpDownMachinecode_SetTag($"下升降机满托{wmsMechanicalArmH.stackingposition}数量", LXCount.ToString());
                    LoggerFloor2UpDownMachine.LogInformation($@"【送满托到下升降区】设定下升降机满托{wmsMechanicalArmH.stackingposition}满托数量为 {LXCount} 结果为 {result}");
                    if (!result)
                    {
                        throw new Exception($@"【送满托到下升降区】设定升降机满托{wmsMechanicalArmH.stackingposition}满托数量为 {LXCount} 结果为 {result}");
                    }
                    // 绑定料架
                    await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
                    {
                        mechanicalconfirm = 1,
                        maxnum = LXCount
                    }).Where(r => r.id == wmsMechanicalArmH.id).ExecuteCommandAsync();

                    LoggerFloor2UpDownMachine.LogInformation($@"【送满托到下升降区】 料架{wmsMechanicalArmH.rackid}下的料箱开始生成预任务");
                    bool pretask_result = await _wareHouseService.Floor2EmptyCarryCreateZZCPretask(wmsMechanicalArmH.rackid);
                    if (pretask_result)
                    {
                        LoggerFloor2UpDownMachine.LogInformation($@"【送满托到下升降区】 料架{wmsMechanicalArmH.rackid}下的料箱生成预任务完成");
                    }
                    else
                    {
                        LoggerFloor2UpDownMachine.LogInformation($@"【送满托到下升降区】 料架{wmsMechanicalArmH.rackid}下的料箱生成预任务失败");
                    }
                    
                }

                return true;
            }
        }

        /// <summary>
        /// 送空托到上升降区
        /// </summary>
        /// <returns></returns>
        public async Task<bool> 送空托到上升降区()
        {
            using (var db = _repository.AsSugarClient().CopyNew())
            {
                string[] configs_upMachine = new string[2] { "二楼上升降机机械臂左", "二楼上升降机机械臂右" };

                // 找到没有绑定料架的且库位未锁定的料架区
                ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHsuagar = _repository.AsSugarClient().Queryable<WmsMechanicalArmH>().
                    InnerJoin<WmsPointH>((a, b) => a.point_id == b.id)
                    .InnerJoin<BasLocation>((a, b, c) => b.location_id == c.id)
                    .Where((a, b, c) => string.IsNullOrEmpty(a.rackcode) && c.is_lock == 0 && configs_upMachine.Contains(a.name));

                List<WmsMechanicalArmH> WmsMechanicalArmHs = WmsMechanicalArmHsuagar.ToList();

                if (WmsMechanicalArmHs.Count() == 0)
                {
                    LoggerFloor2RackDelivery.LogWarning($"【送空托到上升降区】 无需补充料架区 {WmsMechanicalArmHsuagar.ToSqlString()}");
                    return false;
                }

                // 料架区
                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
                {

                    LoggerFloor2RackDelivery.LogInformation($"【送空托到上升降区】 即将补充料架区{wmsMechanicalArmH.name}");


                    // 找到占用且未锁定的库位上的空料架
                    ISugarQueryable<BasLocation> rackStartLocations =
                        _repository.AsSugarClient().Queryable<BasLocation>()
                        .InnerJoin<WmsCarryH>((a, b) => a.id == b.location_id)
                        .LeftJoin<WmsCarryD>((a, b, c) => b.id == c.carry_id)
                        .Where((a, b, c) => a.wh_id == "33780009364245" && a.is_use == "1" && a.is_lock == 0 && string.IsNullOrEmpty(c.id)
                        && b.carrystd_id == WmsWareHouseConst.CARRY_LJSTD_ID).OrderBy(a => a.id).Take(1);

                    if (rackStartLocations.Count() == 0)
                    {
                        LoggerFloor2RackDelivery.LogWarning($"【送空托到上升降区】 暂存仓中没有可用的空料架 {rackStartLocations.ToSqlString()}");
                        continue;
                    }

                    BasLocation startLocation = rackStartLocations.First();

                    List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == startLocation.id).ToList();

                    if (startPoints.Count == 0)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起始库位{startLocation.location_code}未在点位表维护对应的点位");
                        continue;
                    }

                    List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();

                    if (endPoints.Count == 0)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 终点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
                        continue;
                    }

                    List<WmsCarryH> wmsCarryHs = _repository.AsSugarClient().Queryable<WmsCarryH>().Where(r => r.location_id == startLocation.id).ToList();
                    if (wmsCarryHs.Count == 0)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起点{startLocation.id} {startLocation.location_code}上找不到料架");
                        continue;
                    }

                    if (wmsCarryHs.Count > 1)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送空托到上升降区】 起点{startLocation.id} {startLocation.location_code}上存在多个料架");
                        continue;
                    }

                    // 空料架
                    WmsCarryH targetCarry = wmsCarryHs[0];

                    WmsPointH startPoint = startPoints.First();
                    WmsPointH endPoint = endPoints.First();

                    await _repository.AsSugarClient().Updateable<BasLocation>().SetColumns(r => new BasLocation
                    {
                        is_lock = 1
                    }).Where(r => r.id == startLocation.id).ExecuteCommandAsync();
                    await _repository.AsSugarClient().Updateable<BasLocation>().SetColumns(r => new BasLocation
                    {
                        is_lock = 1
                    }).Where(r => r.id == endPoint.location_id).ExecuteCommandAsync();
                    //await _repository.AsSugarClient().Updateable<WmsPointH>().SetColumns(r => new WmsPointH
                    //{
                    //    is_lock = 1
                    //}).Where(r => r.id == endPoint.id).ExecuteCommandAsync();


                    LoggerFloor2RackDelivery.LogInformation($"【送空托到上升降区】 开始生成预任务 起点{startPoint.point_code} 终点{endPoint.point_code} 料架 {targetCarry.carry_code}");
                    List<WmsPointH> points = new List<WmsPointH>();
                    points.Add(startPoint);
                    points.Add(endPoint);

                    Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, targetCarry.id, targetCarry.carry_code);
                    if (!result.Item1)
                    {
                        continue;
                        //throw new Exception("【送空托到上升降区】 未成功生成预任务");
                    }
                }
                return true;
            }
        }

        /// <summary>
        /// 送满托到下升降区
        /// </summary>
        /// <returns></returns>
        public async Task<bool> 送满托到下升降区()
        {
            using (var db = _repository.AsSugarClient().CopyNew())
            {
                string[] configs_upMachine = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };

                // 找到没有绑定料架的且点位未锁定的料架区
                ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHsuagar = _repository.AsSugarClient().Queryable<WmsMechanicalArmH>().
                    InnerJoin<WmsPointH>((a, b) => a.point_id == b.id)
                    .InnerJoin<BasLocation>((a, b, c) => b.location_id == c.id)
                    .Where((a, b, c) => string.IsNullOrEmpty(a.rackcode) && c.is_lock == 0 && configs_upMachine.Contains(a.name));

                List<WmsMechanicalArmH> WmsMechanicalArmHs = WmsMechanicalArmHsuagar.ToList();

                if (WmsMechanicalArmHs.Count() == 0)
                {
                    LoggerFloor2RackDelivery.LogWarning($"【送满托到下升降区】 无需补充料架区 {WmsMechanicalArmHsuagar.ToSqlString()}");
                    return false;
                }

                // 料架区
                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
                {

                    bool 下升降机请求送满托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"下升降机请求送满托{wmsMechanicalArmH.stackingposition}");
                    if (!下升降机请求送满托)
                    {
                        LoggerFloor2RackDelivery.LogWarning($"【送满托到下升降区】 料架区 {wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 下升降机请求送满托{wmsMechanicalArmH.stackingposition}信号不为true");
                        return false;
                    }


                    // 找到占用且未锁定的库位上的满料架且料架中的料箱是空的
                    List<BasLocation> rackStartLocations =
                        _repository.AsSugarClient().Queryable<BasLocation>()
                        .InnerJoin<WmsCarryH>((a, b) => a.id == b.location_id)
                        .LeftJoin<WmsCarryD>((a, b, c) => b.id == c.carry_id) // 有料箱
                        .LeftJoin<WmsCarryCode>((a, b, c, d) => c.membercarry_id == d.carry_id)
                        .Where((a, b, c, d) => a.wh_id == "33780009364245" && a.is_use == "1" && a.is_lock == 0 && !string.IsNullOrEmpty(c.id)
                        && b.carrystd_id == WmsWareHouseConst.CARRY_LJSTD_ID).OrderBy((a, b, c, d) => d.id).Select((a, b, c, d) => new // 关联载具物料明细表
                        {
                            basLocation = a,
                            WmsCarryCode_id = d.id
                        }).ToList().GroupBy(r => r.basLocation.location_code).Select(r =>
                        {
                            var item = r.FirstOrDefault();
                            // 前面通过OrderBy(d => d.id)对WmsCarryCode_id进行了排序 那么如果第一行有数据则说明存在非空料箱
                            if (!string.IsNullOrEmpty(item.WmsCarryCode_id))
                            {
                                return new BasLocation();
                            }
                            else
                            {
                                // 进这里说明库位下的料箱都为空
                                return item.basLocation;
                            }
                            
                        })
                        // 筛选非空库位数据
                        .Where(r => !string.IsNullOrEmpty(r.location_code)).ToList();


                    if (rackStartLocations.Count() == 0)
                    {
                        //LoggerFloor2RackDelivery.LogWarning($"【送满托到下升降区】 暂存仓中没有可用的满料架 {rackStartLocations.ToSqlString()}");
                        return false;
                    }
                    LoggerFloor2RackDelivery.LogInformation($"【送满托到下升降区】 即将补充料架区{wmsMechanicalArmH.name}");

                    BasLocation startLocation = rackStartLocations.First();

                    List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == startLocation.id).ToList();

                    if (startPoints.Count == 0)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 起始库位{startLocation.location_code}未在点位表维护对应的点位");
                        return false;
                    }

                    List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();

                    if (endPoints.Count == 0)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 终点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
                        return false;
                    }

                    List<WmsCarryH> wmsCarryHs = _repository.AsSugarClient().Queryable<WmsCarryH>().Where(r => r.location_id == startLocation.id).ToList();
                    if (wmsCarryHs.Count == 0)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 起点{startLocation.id} {startLocation.location_code}上找不到料架");
                        return false;
                    }

                    if (wmsCarryHs.Count > 1)
                    {
                        LoggerFloor2RackDelivery.LogError($"【送满托到下升降区】 起点{startLocation.id} {startLocation.location_code}上存在多个料架");
                        return false;
                    }

                    // 满料架
                    WmsCarryH targetCarry = wmsCarryHs[0];

                    WmsPointH startPoint = startPoints.First();
                    WmsPointH endPoint = endPoints.First();

                    await _repository.AsSugarClient().Updateable<BasLocation>().SetColumns(r => new BasLocation
                    {
                        is_lock = 1
                    }).Where(r => r.id == startLocation.id).ExecuteCommandAsync();

                    await _repository.AsSugarClient().Updateable<BasLocation>().SetColumns(r => new BasLocation
                    {
                        is_lock = 1
                    }).Where(r => r.id == endPoint.location_id).ExecuteCommandAsync();
                    //await _repository.AsSugarClient().Updateable<WmsPointH>().SetColumns(r => new WmsPointH
                    //{
                    //    is_lock = 1
                    //}).Where(r => r.id == endPoint.id).ExecuteCommandAsync();


                    LoggerFloor2RackDelivery.LogInformation($"【送满托到下升降区】 开始生成预任务 起点{startPoint.point_code} 终点{endPoint.point_code} 料架 {targetCarry.carry_code}");
                    List<WmsPointH> points = new List<WmsPointH>();
                    points.Add(startPoint);
                    points.Add(endPoint);

                    Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, targetCarry.id, targetCarry.carry_code);
                    if (!result.Item1)
                    {
                        throw new Exception("【送满托到下升降区】 未成功生成预任务");
                    }
                }
                return true;
            }
        }
        

        /// <summary>
        /// 移走上升降区未生成预任务且满托的料架
        /// </summary>
        /// <returns></returns>
        public async Task<bool> 移走上升降区未生成预任务且满托的料架()
        {
            using (var db = _repository.AsSugarClient().CopyNew())
            {
                string[] configs_upMachine = new string[2] { "二楼上升降机机械臂左", "二楼上升降机机械臂右" };
                // 读取上升降机的左右料架区配置

                List<WmsMechanicalArmH> WmsMechanicalArmHs = _repository.AsSugarClient().Queryable<WmsMechanicalArmH>().Where(r => r.stackingcount == r.maxnum && r.maxnum != 0 && !string.IsNullOrEmpty(r.rackcode) && r.iscreatepretask == 0 && configs_upMachine.Contains(r.name) && r.mechanicalconfirm == 1).ToList();
                
                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
                {
                    await s_taskExecuteRackDelivery.WaitAsync();
                    LoggerFloor2RackDelivery.LogInformation($"【移走上升降区满托的料架】 开始执行预任务生成 {wmsMechanicalArmH.point_code} {wmsMechanicalArmH.outbill} {wmsMechanicalArmH.barcodes}");
                    try
                    {
                        // 判断是否 上升降机请求取满托
                        bool 上升降机请求取满托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"上升降机请求取满托{wmsMechanicalArmH.stackingposition}");
                        LoggerFloor2RackDelivery.LogError($"【移走上升降区满托的料架】上升降机请求取满托{wmsMechanicalArmH.stackingposition} {上升降机请求取满托}");
                        if (!上升降机请求取满托)
                        {
                            return false;
                        }

                        await _repository.AsSugarClient().Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
                        {
                            iscreatepretask = 1
                        }).Where(r => r.id == wmsMechanicalArmH.id).ExecuteCommandAsync();

                        List<WmsPointH> points = new List<WmsPointH>();

                        List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();

                        if (startPoints.Count == 0)
                        {
                            LoggerFloor2RackDelivery.LogError($"【移走上升降区满托的料架】 起点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
                            return false;
                        }

                        WmsPointH startPoint = startPoints.First();
                        points.Add(startPoint);

                        // 找到未占用且未锁定的库位
                        ISugarQueryable<BasLocation> rackEndLocations =
                            _repository.AsSugarClient().Queryable<BasLocation>()
                            .Where(r => r.wh_id == "33780009364245" && r.is_use == "0" && r.is_lock == 0).OrderBy(a => a.id).Take(1);

                        if (rackEndLocations.Count() == 0)
                        {
                            LoggerFloor2RackDelivery.LogWarning($"【移走上升降区满托的料架】 暂存仓中没有可用的空库位 {rackEndLocations.ToSqlString()}");
                            return false;
                        }

                        BasLocation endLocation = rackEndLocations.First();

                        List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == endLocation.id).ToList();

                        if (endPoints.Count == 0)
                        {
                            LoggerFloor2RackDelivery.LogError($"【移走上升降区满托的料架】 终点库位{endLocation.location_code}未在点位表维护对应的点位");
                            return false;
                        }

                        WmsPointH endPoint = endPoints.First();
                        points.Add(endPoint);

                        // 锁住终点库位
                        await db.Updateable<BasLocation>(r => new BasLocation
                        {
                            is_lock = 1
                        }).Where(r => r.id == endLocation.id).ExecuteCommandAsync();
                        //await db.Updateable<WmsPointH>(r => new WmsPointH
                        //{
                        //    is_lock = 1
                        //}).Where(r => r.id == endPoint.id).ExecuteCommandAsync();

                        LoggerFloor2RackDelivery.LogInformation($"【移走上升降区满托的料架】 开始执行预任务生成: 料架区为{wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 料架为{wmsMechanicalArmH.rackcode}");

                        Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, wmsMechanicalArmH.rackid, wmsMechanicalArmH.rackcode);
                        if (!result.Item1)
                        {
                            throw new Exception("未成功生成预任务");
                        }
                        LoggerFloor2RackDelivery.LogInformation($"【移走上升降区满托的料架】 成功生成预任务 {result.Item2}");

                        s_taskExecuteRackDelivery.Release();
                    }
                    catch (Exception ex)
                    {
                        LoggerFloor2RackDelivery.LogError(ex.ToString());
                        LoggerFloor2RackDelivery.LogError(ex.StackTrace);
                    }
                    finally
                    {
                        s_taskExecuteRackDelivery.Release();
                    }
                }
                return true;
            }
        }


        /// <summary>
        /// 移走下升降区未生成预任务且空托的料架
        /// </summary>
        /// <returns></returns>
        public async Task<bool> 移走下升降区未生成预任务且空托的料架()
        {
            using (var db = _repository.AsSugarClient().CopyNew())
            {
                string[] configs_upMachine = new string[2] { "二楼下升降机机械臂左", "二楼下升降机机械臂右" };
                // 读取下升降机的左右料架区配置

                List<WmsMechanicalArmH> WmsMechanicalArmHs = _repository.AsSugarClient().Queryable<WmsMechanicalArmH>().Where(r => !string.IsNullOrEmpty(r.rackcode) && r.iscreatepretask == 0 && configs_upMachine.Contains(r.name)).ToList();

                foreach (WmsMechanicalArmH wmsMechanicalArmH in WmsMechanicalArmHs)
                { 
                    try
                    {
                        // 判断是否 上升降机请求取满托
                        bool 下升降机请求取空托 = (bool)Floor2UpDownMachinecode_GetTag<bool>($"下升降机请求取空托{wmsMechanicalArmH.stackingposition}");
                        LoggerFloor2RackDelivery.LogError($"【移走下升降区空托的料架】下升降机请求取空托{wmsMechanicalArmH.stackingposition} {下升降机请求取空托}" );
                        if (!下升降机请求取空托)
                        {
                            return false;
                        }
                        LoggerFloor2RackDelivery.LogInformation($"【移走下升降区空托的料架】 开始执行预任务生成 {wmsMechanicalArmH.point_code} {wmsMechanicalArmH.outbill} {wmsMechanicalArmH.barcodes}");


                        await _repository.AsSugarClient().Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
                        {
                            iscreatepretask = 1
                        }).Where(r => r.id == wmsMechanicalArmH.id).ExecuteCommandAsync();

                        List<WmsPointH> points = new List<WmsPointH>();

                        List<WmsPointH> startPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.id == wmsMechanicalArmH.point_id).ToList();

                        if (startPoints.Count == 0)
                        {
                            LoggerFloor2RackDelivery.LogError($"【移走下升降区空托的料架】 起点{wmsMechanicalArmH.point_id} {wmsMechanicalArmH.point_code}未在点位表维护对应的点位");
                            return false;
                        }

                        WmsPointH startPoint = startPoints.First();
                        points.Add(startPoint);

                        // 找到未占用且未锁定的库位
                        ISugarQueryable<BasLocation> rackEndLocations =
                            _repository.AsSugarClient().Queryable<BasLocation>()
                            .Where(r => r.wh_id == "33780009364245" && r.is_use == "0" && r.is_lock == 0).OrderBy(a => a.id).Take(1);

                        if (rackEndLocations.Count() == 0)
                        {
                            LoggerFloor2RackDelivery.LogWarning($"【移走下升降区空托的料架】 暂存仓中没有可用的空库位 {rackEndLocations.ToSqlString()}");
                            return false;
                        }

                        BasLocation endLocation = rackEndLocations.First();

                        List<WmsPointH> endPoints = _repository.AsSugarClient().Queryable<WmsPointH>().Where(r => r.location_id == endLocation.id).ToList();

                        if (endPoints.Count == 0)
                        {
                            LoggerFloor2RackDelivery.LogError($"【移走下升降区空托的料架】 终点库位{endLocation.location_code}未在点位表维护对应的点位");
                            return false;
                        }

                        WmsPointH endPoint = endPoints.First();
                        points.Add(endPoint);


                        // 解除绑定料箱到料架
                        CarryBindFloor2UpDownMachineInput carryBindFloor2UpDownMachineInput = new() { };
                        carryBindFloor2UpDownMachineInput.carry_id = wmsMechanicalArmH.rackid;
                        carryBindFloor2UpDownMachineInput.carry_code = wmsMechanicalArmH.rackcode;

                        await _wmsCarryBindService.CarryUnbindFloor2UpDownMachine(carryBindFloor2UpDownMachineInput);

                        // 锁住终点库位
                        await db.Updateable<BasLocation>(r => new BasLocation
                        {
                            is_lock = 1
                        }).Where(r => r.id == endLocation.id).ExecuteCommandAsync();
                        //await db.Updateable<WmsPointH>(r => new WmsPointH
                        //{
                        //    is_lock = 1
                        //}).Where(r => r.id == endPoint.id).ExecuteCommandAsync();

                        LoggerFloor2RackDelivery.LogInformation($"【移走下升降区空托的料架】 开始执行预任务生成: 料架区为{wmsMechanicalArmH.name}{wmsMechanicalArmH.stackingposition} 料架为{wmsMechanicalArmH.rackcode}");

                        Tuple<bool, WmsPretaskH> result = await Floor2UpDownMachinecode_createPretask(points, wmsMechanicalArmH.rackid, wmsMechanicalArmH.rackcode);
                        if (!result.Item1)
                        {
                            throw new Exception("未成功生成预任务");
                        }
                    }
                    catch (Exception ex)
                    {
                        LoggerFloor2RackDelivery.LogError(ex.ToString());
                        LoggerFloor2RackDelivery.LogError(ex.StackTrace);
                    }
                }
                return true;
            }
        }
        

        // 料架配送
        private async void Floor2RackDelivery(object args)
        {
            var db = _repository.AsSugarClient().CopyNew();
            try
            {
                // 检查机械臂料架区信号(上升降机空托1送到)
                //await 检查机械臂料架区信号_上升降机空托1送到();

                // 检查机械臂料架区信号(下升降机满托1送到)
                await 检查机械臂料架区信号_下升降机满托1送到();

                // 送空托到上升降区
                await 送空托到上升降区();

                // 送满托到下升降区
                await 送满托到下升降区();

                // 移走上升降区未生成预任务且满托的料架
                await 移走上升降区未生成预任务且满托的料架();

                // 移走下升降区未生成预任务且空托的料架
                await 移走下升降区未生成预任务且空托的料架();

                _ = _wareHouseService.GenTaskExecute();

            }
            catch (Exception ex)
            {
                LoggerFloor2RackDelivery.LogError(ex.ToString());
                LoggerFloor2RackDelivery.LogError(ex.StackTrace);
            }

        }
        

        // 上下升降机生成预任务（补充料架、上升降机取货到料架、上升降机满托运走，下升降机拿货到输送线、下升降机空托运走）
        private async Task<Tuple<bool, WmsPretaskH>> Floor2UpDownMachinecode_createPretask(List<WmsPointH> points, string carry_id, string carry_code)
        {
            //根据获取的路径点生成预任务,生成顺序必须预路径算法返回的起终点的顺序一致（预任务顺序）
            WmsPretaskH preTask = null;
            string bill_code = _billRullService.GetBillNumber(WmsWareHouseConst.WMS_PRETASK_H_ENCODE).GetAwaiter().GetResult();
            List<WmsPretaskH> preTasks = points.Where(it => !it.location_id.IsNullOrEmpty()).GroupBy(g => g.area_code).Select(it =>
            {
                WmsPointH? sPoint = it.FirstOrDefault();
                WmsPointH? ePoint = it.LastOrDefault();

                preTask = new()
                {
                    org_id = "",
                    startlocation_id = sPoint?.location_id!,
                    startlocation_code = sPoint?.location_code!,
                    endlocation_id = ePoint?.location_id!,
                    endlocation_code = ePoint?.location_code!,
                    start_floor = sPoint?.floor.ToString(),
                    end_floor = ePoint?.floor.ToString(),
                    startpoint_id = sPoint?.id!,
                    startpoint_code = sPoint?.point_code!,
                    endpoint_id = ePoint?.id!,
                    endpoint_code = ePoint?.point_code!,
                    bill_code = bill_code,
                    status = WmsWareHouseConst.PRETASK_BILL_STATUS_DXF_ID,
                    biz_type = "",
                    task_type = "",
                    carry_id = carry_id,
                    carry_code = carry_code,
                    area_id = sPoint?.area_id!,
                    area_code = it.Key,
                    require_id = "",
                    require_code = "",
                    create_id = "",
                    create_time = DateTime.Now
                };

                return preTask;
            }).ToList();
            //更新页面
            //赋值签收状态

            LoggerFloor2RackDelivery.LogInformation($"开始执行 GenPreTask {JsonConvert.SerializeObject(preTasks)}");
            bool result = await _wareHouseService.GenPreTask(preTasks, null!);
            LoggerFloor2RackDelivery.LogInformation($"GenPreTask 结果 {result}");
            if (result)
            {
                LoggerFloor2RackDelivery.LogInformation($"成功生成预任务：{preTasks.First().bill_code}");
                return new Tuple<bool, WmsPretaskH>(true, preTask);
            }
            return new Tuple<bool, WmsPretaskH>(false, null);
        }

        private object Floor2UpDownMachinecode_GetTag<T>(string tag)
        {
            string key = "东面提升机输送线";
            string data = _redisData.GetHash(key, tag.ToString()).Result;
            if (data == null)
            {
                LoggerFloor2UpDownMachine.LogError($@"{key} {tag} 未取到数值！");
                return "";
            }
            JObject? res = JsonConvert.DeserializeObject<JObject>(data);
            switch (typeof(T).ToString())
            {
                case "System.Boolean":
                    {
                        bool result = res != null && res["Value"] != null ? res.Value<bool>("Value") : false;
                        return result;
                    }
                case "System.String":
                    {
                        string? result = res != null && res["Value"] != null ? res.Value<string>("Value") : "";
                        return result;
                    }
            }
            return "wrong type";
        }

        private async Task<bool> Floor2UpDownMachinecode_SetTag(string tag, string value)
        {
            string DevName = "东面提升机输送线";
            Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
            {
                ["DevName"] = DevName,
                ["token"] = _eleCtlCfg.token,
                ["TagName"] = tag,
                ["Value"] = value,
            };
            string result = await HttpClientHelper.GetRequestAsync(_eleCtlCfg.WriteTagUrl, dicCommand);
            // 测试

            //JObject valueJson = new JObject();
            //valueJson["Value"] = value;

            //bool res = await _redisData.HSet(DevName, tag, valueJson.ToString());
            //return true;

            return result.Contains("Ok");
        }

        #endregion

        public Task StartAsync(CancellationToken cancellationToken)
        {
            Readtimer = new Timer(GetRedisData, null, TimeSpan.Zero, TimeSpan.FromSeconds(300));
            CheckGettimer = new Timer(CheckGet, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
            Scantimer = new Timer(ScanInStock, null, TimeSpan.Zero, TimeSpan.FromSeconds(60));
            SSXcodetimer = new Timer(SSXcode, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));

            // 二楼上升降机
            Floor2UpMachinecodetimer = new Timer(Floor2UpMachinecode, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
            // 二楼下升降机
            //Floor2DownMachinecodetimer = new Timer(Floor2DownMachinecode, null, TimeSpan.Zero, TimeSpan.FromSeconds(10));
            // 二楼料架配送
            Floor2RackDeliverytimer = new Timer(Floor2RackDelivery, null, TimeSpan.Zero, TimeSpan.FromSeconds(30));

            return Task.CompletedTask;
        }
        public Task StopAsync(CancellationToken cancellationToken)
        {
            return Task.CompletedTask;
        }

    }
}