WCS-Pedestal/Projects/永冠OPP/WCS.Service/Extensions/DeviceExtension.cs

using Logs;
using System;
using System.Collections.Generic;
using System.Linq;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol;
using WCS.Entity.Protocol.RGV;

namespace WCS.Service.Extensions
{
    /// <summary>
    /// 输送机设备组
    /// </summary>
    public class StationDeviceGroup : DeviceGroup<IStation520, IStation521, IStation523>
    {
        /// <summary>
        /// 当前设备可用的RGV
        /// </summary>
        private static readonly List<RGVDevice> AllRgvList;

        static StationDeviceGroup()
        {
            AllRgvList = Device.Where(v => v.IsRGV() && v.CODE != "RGV8").Select(v => v.Create<RGVDevice>()).ToList();
        }

        public StationDeviceGroup(WCS_DEVICE entity) : base(entity)
        {
        }

        /// <summary>
        /// 执行输送机设备组任务 单例锁
        /// </summary>
        /// <param name="act"></param>
        public void EX(Action<StationDeviceGroup> act)
        {
            var key = $"WCS:Lock:{Entity.CODE}";
            try
            {
                if (ProtocolProxy.Yg150Redis.Get(key) != null) throw new WarnException($"[{Entity.CODE}]--触发并发管控");
                ProtocolProxy.Yg150Redis.Set(key, Entity.CODE);
                act(this);
            }
            catch (DoException ex)
            {
                ex.DoExceptionEX(Entity);
            }
            catch (WarnException ex)
            {
                ex.WarnExceptionEX(Entity);
            }
            catch (Exception ex)
            {
                ex.ExceptionEx(Entity);
            }
            finally
            {
                ProtocolProxy.Yg150Redis.Del(key);
            }
        }

        /// <summary>
        /// 当前设备可用的RGV
        /// </summary>
        public List<RGVDevice> RgvList
        {
            get
            {
                return AllRgvList.Where(v => v.LocationList.Any(p => p.Entity == Entity) && v.Data2.WorkMode != 0).ToList();
            }
        }

        /// <summary>
        /// 设备组自身的位置
        /// </summary>
        public float Position
        {
            get
            {
                return StationLocation.ALLlocations.FirstOrDefault(v => v.Station == Entity.CODE)!.Location;
            }
        }

        /// <summary>
        /// 设备组所在环穿的总长度
        /// </summary>
        public float Length
        {
            get
            {
                return StationLocation.ALLlocations.FirstOrDefault(v => v.Station == Entity.CODE)!.Length;
            }
        }

        /// <summary>
        /// 设备组是否满足任务执行条件
        /// </summary>
        /// <param name="type">给当前设备组下发任务时需要的请求</param>
        /// <returns>true:不满足执行条件需要进行停止执行  false:表示满足条件不需要停止执行 </returns>
        /// <exception cref="Exception"></exception>
        public void WhetherToExecute(IstationRequest type = IstationRequest.无)
        {
            foreach (var item in Items)
            {
                if (item.Data.VoucherNo != item.Data2.VoucherNo) throw new WarnException($"等待{item.Entity.CODE}执行任务{item.Data.Tasknum},凭证号不一致");
                if (item.Data3.Status.HasFlag(StationStatus.运行状态位)) throw new DoException($"{item.Entity.CODE}运行中");
                if (!item.Data2.Status.HasFlag(IstationStatus.光电状态)) throw new DoException($"[{item.Entity.CODE}]无光电");
            }
        }

        /// <summary>
        /// 获取设备组中需要取货的设备
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public List<Device<IStation520, IStation521, IStation523>> RgvGetTaskedDevice()
        {
            var a = Items.Where(v => v.Data2.Status.HasFlag(IstationStatus.光电状态) && v.Data2.Tasknum > 10000)
                        .Where(v => v.Entity.CODE.ToShort() != v.Data2.Goodsend && v.Data2.Goodsend != 0)
                        .ToList();
            return a.Count == 0 ? null : a;
        }

        /// <summary>
        /// 最近的RGV
        /// </summary>
        /// <returns></returns>
        public RGVDevice RecentRgv()
        {
            return RgvList.MinBy(v => v.Distance(this));
        }

        /// <summary>
        /// 计算目标RGV与站台自身的距离
        /// </summary>
        /// <param name="rgv"></param>
        /// <returns></returns>
        public float Distance(RGVDevice rgv)
        {
            return DevEX.Distance(Position, rgv.Position, Length);
        }

        /// <summary>
        /// 计算两个站台之间的距离
        /// </summary>
        /// <param name="rgv"></param>
        /// <returns></returns>
        public float Distance(StationDeviceGroup dev)
        {
            return DevEX.Distance(Position, dev.Position, Length);
        }

        /// <summary>
        /// 当前RGV
        /// </summary>
        /// <returns></returns>
        public RGVDevice CurrentRGV()
        {
            //RGV与站台距离误差为 正负50
            var max = Position + 500;
            var min = Position - 500;
            return RgvList?.FirstOrDefault(v => v.Data2.Position < max && v.Data2.Position > min);
        }

        /// <summary>
        /// 是否需要RGV
        /// </summary>
        /// <returns>true:需要RGV false:不需要RGV</returns>
        public bool NeedRgv()
        {
            var rgvs = Device.Where(v => v.IsRGV()).Select(v => v.Device<IRGV521>());
            var code = Entity.CODE.Replace("G", "").ToShort();
            if (rgvs.Any(v => v.Data.DestPosition_1 == code && v.Data.SystemStatus != RGVRunStatus.空闲))
                throw new WarnException("已有RGV执行中");
            foreach (var item in Items)
            {
                if (item.Data3.Status.HasFlag(StationStatus.运行状态位)) return false;
                if (!item.Data2.Status.HasFlag(IstationStatus.光电状态)) return false;
            }

            return true;
        }

        /// <summary>
        /// BCR 站点是否被禁止
        /// </summary>
        /// <returns></returns>
        public void BcrStationIsForbid()
        {
            var config = ProtocolProxy.Ygwms150Redis.Get("ForbidTubuEnter").Split(",");
            if (config.Contains(Entity.CODE)) throw new WarnException("当前入库口已被禁用，请联系机修人员了解具体情况");
        }
    }

    /// <summary>
    /// 输送机设备
    /// </summary>
    public class StationDevice : Device<IStation520, IStation521, IStation523>
    {
        public StationDevice(WCS_DEVICE entity) : base(entity)
        {
        }

        /// <summary>
        /// 设备组是否满足任务执行条件
        /// </summary>
        /// <param name="type">给当前设备组下发任务时需要的请求</param>
        /// <returns>true:不满足执行条件需要进行停止执行  false:表示满足条件不需要停止执行 </returns>
        /// <exception cref="Exception"></exception>
        public void WhetherToExecute(IstationRequest type = IstationRequest.无)
        {
            //正在运行
            if (Data3.Status.HasFlag(StationStatus.运行状态位)) throw new DoException("运行中");
            //上一次的任务还未执行
            if (Data.VoucherNo != Data2.VoucherNo)
                throw new WarnException($"等待任务[{Data2.Tasknum}]执行");
            //没有光电
            if (!Data2.Status.HasFlag(IstationStatus.光电状态)) throw new DoException("无光电"); ;
            //没有任务号
            switch (type)
            {
                case IstationRequest.无:
                    if (Data2.Tasknum < 10000 && Data.Tasknum < 10000)
                        throw new WarnException($"设备无任务");
                    break;

                case IstationRequest.扫码入库:
                    if (Data2.Tasknum > 10000 && Data.Tasknum > 10000)
                        throw new WarnException($"设备已有任务任务");
                    break;

                case IstationRequest.堆垛机放货完成请求目标地址:
                    if (Data2.Tasknum < 10000 && Data.Tasknum < 10000)
                        throw new WarnException($"设备无任务信息");
                    break;

                case IstationRequest.请求分配目标地址:
                    if (Data2.Tasknum < 10000 && Data.Tasknum < 10000)
                        throw new WarnException($"设备无任务信息");
                    break;
            }
            //没有请求
            if (type != IstationRequest.无 && Data2.Request != type)
                throw new WarnException($"有光电无{type}请求");
        }

        /// <summary>
        /// 执行输送机任务 单例锁
        /// </summary>
        /// <param name="act"></param>
        public void EX(Action<StationDevice> act)
        {
            var key = $"WCS:Lock:{Entity.CODE}";

            try
            {
                if (ProtocolProxy.Yg150Redis.Get(key) != null) throw new WarnException($"[{Entity.CODE}]--触发并发管控");
                ProtocolProxy.Yg150Redis.Set(key, Entity.CODE);
                act(this);
            }
            catch (DoException ex)
            {
                ex.DoExceptionEX(Entity);
            }
            catch (WarnException ex)
            {
                ex.WarnExceptionEX(Entity);
            }
            catch (Exception ex)
            {
                ex.ExceptionEx(Entity);
            }
            finally
            {
                ProtocolProxy.Yg150Redis.Del(key);
            }
        }
    }

    /// <summary>
    /// RGV设备
    /// </summary>
    public class RGVDevice : Device<IRGV520, IRGV521, IRGV523>
    {
        static RGVDevice()
        {
            AllRGVList = Device.Where(v => v.IsRGV() && v.CODE != "RGV8").Select(v => v.Create<RGVDevice>()).ToList();
        }

        public RGVDevice(WCS_DEVICE entity) : base(entity)
        {
        }

        /// <summary>
        /// 所有环穿RGV
        /// </summary>
        private static List<RGVDevice> AllRGVList { get; set; }

        /// <summary>
        /// 与当前RGV处于同一环穿的RGV
        /// </summary>
        public List<RGVDevice> RGVList
        {
            get
            {
                return AllRGVList.Where(v => v.Entity.DEVICEPROTOCOLS.Any(d => Entity.DEVICEPROTOCOLS.Any(e => e.DB.PLC.IP == d.DB.PLC.IP)))
                    .Where(v => v.Entity.CODE != Entity.CODE && v.Data2.WorkMode != 0).ToList();
            }
        }

        /// <summary>
        /// RGV当前位置
        /// </summary>
        public float Position
        {
            get
            {
                return Data2.Position;
            }
        }

        /// <summary>
        /// 与当前RGV处于同一环穿的站台
        /// </summary>
        public List<StationDeviceGroup> LocationList
        {
            get
            {
                return StationLocation.ALLlocations.Where(v => Entity.DEVICEPROTOCOLS.Any(p => p.DB.PLC.CODE == v.PLC))
                                      .Select(v => Device.Find(v.Station).Create<StationDeviceGroup>()).ToList();
            }
        }

        /// <summary>
        /// 总长度
        /// </summary>
        public float Length
        {
            get
            {
                return LocationList.FirstOrDefault().Length;
            }
        }

        /// <summary>
        /// 执行RGV任务 单例锁
        /// </summary>
        /// <param name="act"></param>
        public void EX(Action<RGVDevice> act)
        {
            var key = $"WCS:Lock:{Entity.CODE}";

            try
            {
                if (ProtocolProxy.Yg150Redis.Get(key) != null) throw new WarnException($"[{Entity.CODE}]--触发并发管控");
                ProtocolProxy.Yg150Redis.Set(key, Entity.CODE);
                act(this);
            }
            catch (DoException ex)
            {
                ex.DoExceptionEX(Entity);
            }
            catch (WarnException ex)
            {
                ex.WarnExceptionEX(Entity);
            }
            catch (Exception ex)
            {
                ex.ExceptionEx(Entity);
            }
            finally
            {
                ProtocolProxy.Yg150Redis.Del(key);
            }
        }

        /// <summary>
        /// 获取前一个取货点
        /// </summary>
        /// <returns></returns>
        public StationDeviceGroup BeforeStation()
        {
            var a = LocationList.Where(v => v.Entity.Is(DF.涂布RGV取货设备组) || v.Entity.Is(DF.BOPPRGV取货设备组));
            return LocationList.Where(v => v.Entity.Is(DF.涂布RGV取货设备组) || v.Entity.Is(DF.BOPPRGV取货设备组) && v.Entity.CODE != this.CurrentStation().Entity.CODE).OrderBy(v => Distance(v)).FirstOrDefault();
        }

        /// <summary>
        /// 前一个RGV
        /// </summary>
        /// <returns></returns>
        public RGVDevice Before()
        {
            //按照位置排序
            var arr = RGVList.OrderBy(v => v.Position);
            var rgv = arr.FirstOrDefault(v => v.Position > Position);
            if (rgv == null)
                rgv = arr.LastOrDefault(v => v.Position < Position);
            return rgv;
        }

        /// <summary>
        /// 后一个RGV
        /// </summary>
        /// <returns></returns>
        public RGVDevice After()
        {
            //到当前RGV最近的一个RGV
            return RGVList.OrderBy(v => v.Distance(this)).FirstOrDefault();
        }

        /// <summary>
        /// 获取当前所在的取货站台
        /// </summary>
        /// <returns></returns>
        public StationDeviceGroup CurrentStation()
        {
            return LocationList.Where(v => v.Entity.Is(DF.涂布RGV取货设备组) || v.Entity.Is(DF.涂布RGV放货设备组) || v.Entity.Is(DF.BOPPRGV取货设备组) || v.Entity.Is(DF.BOPPRGV放货设备组)).Where(v =>
                {
                    //RGV与站台距离误差为 正负50500
                    var max = v.Position + 500;
                    var min = v.Position - 500;
                    return Data2.Position < max && Data2.Position > min;
                }).FirstOrDefault();
        }

        /// <summary>
        /// 计算当前RGV与指定RGV之间的距离
        /// </summary>
        /// <param name="rgv"></param>
        /// <returns></returns>
        public float Distance(RGVDevice rgv)
        {
            //return Math.Abs((Position - rgv.Position + Length) % Length);
            return DevEX.Distance(Position, rgv.Position, Length);
        }

        /// <summary>
        /// 计算当前RGV与指定站台之间的距离
        /// </summary>
        /// <param name="after"></param>
        /// <returns></returns>
        public float Distance(StationDeviceGroup after)
        {
            if (after == null) throw new WarnException($"不是一个有效的StationDeviceGroup,{Entity.CODE}");
            return DevEX.Distance(Position, after.Position, Length);
        }

        /// <summary>
        /// 是否需要执行放货任务
        /// </summary>
        /// <returns></returns>
        public bool IsPut()
        {
            if (Data2.TaskType_1 != RGVTaskType.取货) return false;
            if (!Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.RGV到站)) return false;
            if (!Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.任务完成)) return false;
            if (!Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) return false;
            return true;
        }

        /// <summary>
        /// 写入移动任务
        /// </summary>
        /// <param name="addr">目标地址</param>
        public void Move(StationDeviceGroup addr)
        {
            InfoLog.INFO_RGVINFO($"[{Entity.CODE}]--写入RGV移动任务-开始:{Data.TaskID_1},{Data.TaskType_1},{Data.DestPosition_1},{Data.Trigger_1}");
            if (Data2.WorkMode != RGVMode.自动) throw new WarnException($"RGV状态{Data2.WorkMode},无法执行移动任务");
            if (Data2.SystemStatus != RGVRunStatus.空闲) throw new WarnException($"rgv状态为{Data2.SystemStatus},无法执行移动任务");
            if (Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) throw new WarnException("RGV有光电，无法执行移动任务");
            Data.TaskID_1 = addr.Entity.CODE.GetShortCode();
            Data.TaskType_1 = RGVTaskType.移动;
            Data.DestPosition_1 = addr.Entity.CODE.GetShortCode();
            Data.Trigger_1++;
            InfoLog.INFO_RGVINFO($"[{Entity.CODE}]--写入RGV移动任务-结束:{Data.TaskID_1},{Data.TaskType_1},{Data.DestPosition_1},{Data.Trigger_1}");
        }

        /// <summary>
        /// 写入取货任务
        /// </summary>
        /// <param name="addr">目标地址</param>
        public void Pick(StationDeviceGroup addr, int task1 = 0, int task2 = 0)
        {
            InfoLog.INFO_RGVINFO($"[{Entity.CODE}]--写入RGV取货任务-开始:{Data.TaskID_1},{Data.TaskID_2},{Data.TaskType_1},{Data.DestPosition_1},{Data.Trigger_1}");
            Data.TaskType_1 = RGVTaskType.取货;
            Data.DestPosition_1 = addr.Entity.CODE.GetShortCode();
            if (task1 != 0) Data.TaskID_1 = task1;
            if (task2 != 0) Data.TaskID_2 = task2;
            Data.Trigger_1++;
            InfoLog.INFO_RGVINFO($"[{Entity.CODE}]--写入RGV取货任务-结束:{Data.TaskID_1},{Data.TaskID_2},{Data.TaskType_1},{Data.DestPosition_1},{Data.Trigger_1}");
        }

        /// <summary>
        /// 写入放货任务
        /// </summary>
        /// <param name="addr">目标地址</param>
        public void Put(StationDeviceGroup addr, int task1 = 0, int task2 = 0)
        {
            InfoLog.INFO_RGVINFO($"[{Entity.CODE}]--写入RGV放货任务-开始:{Data.TaskID_1},{Data.TaskID_2},{Data.TaskType_1},{Data.DestPosition_1},{Data.Trigger_1}");
            Data.TaskType_1 = RGVTaskType.放货;
            Data.DestPosition_1 = addr.Entity.CODE.GetShortCode();
            if (task1 != 0) Data.TaskID_1 = task1;
            if (task2 != 0) Data.TaskID_2 = task2;
            Data.Trigger_1++;
            InfoLog.INFO_RGVINFO($"[{Entity.CODE}]--写入RGV放货任务-结束:{Data.TaskID_1},{Data.TaskID_2},{Data.TaskType_1},{Data.DestPosition_1},{Data.Trigger_1}");
        }

        /// <summary>
        /// 筛选出所有与当前RGV距离小于指定长度的RGV
        /// </summary>
        /// <param name="distance">指定长度</param>
        /// <returns></returns>
        public RGVDevice[] RgvAfter(float distance)
        {
            return RGVList.Where(v => Distance(v) < distance).ToArray();
        }

        /// <summary>
        /// 当前RGV是否有拦住指定RGV
        /// </summary>
        /// <param name="rgv">RGV</param>
        /// <returns></returns>
        public bool StopedByMe(RGVDevice rgv)
        {
            //目标站台
            var target = rgv.Data2.DestPosition_1;
            //获取目标站台的设备组信息
            var station = Device.Find($"G{target}").Create<StationDeviceGroup>();

            if (station.Distance(rgv) < 5000) return false;

            //当前RGV与目标站台的距离小于传入RGV到达目标站台的距离
            return (this.Distance(station) < rgv.Distance(station)) || station.CurrentRGV()?.Entity.CODE == this.Entity.CODE;
        }

        /// <summary>
        /// 获取当前RGV的下一个站台,即距离最近的一个站台
        /// </summary>
        /// <returns></returns>
        public StationDeviceGroup NextStation()
        {
            //先取当前RGV与所有站台的距离
            var dev = LocationList.OrderBy(v => v.Distance(this)).FirstOrDefault();
            return dev;
        }
    }

    /// <summary>
    /// 堆垛机设备
    /// </summary>
    public class SRMDevice : Device<ISRM520, ISRM521, ISRM537>
    {
        public SRMDevice(WCS_DEVICE entity) : base(entity)
        {
        }

        /// <summary>
        /// 获取放货点
        /// </summary>
        public List<StationDevice> GetDeliveryPoint()
        {
            return Entity.ROUTES.Select(v => v.NEXT) //巷道
                                .SelectMany(v => v.ROUTES.Select(d => d.NEXT)) //放货点
                                .Where(v => v.IsConv()) //必须是输送线
                                .Select(v => v.Create<StationDevice>()).ToList();
        }

        /// <summary>
        /// 获取取货点
        /// </summary>
        public List<StationDevice> GetPickPoint()
        {
            return Device.Where(v => v.Is(DF.SRM二级品取货) || v.Is(DF.SRM涂布取货) || v.Is(DF.SRMBOPP取货))
                         .Where(v => v.ROUTES.Any(p => p.NEXT.ROUTES.Any(d => d.NEXT == Entity)))
                         .Select(v => v.Create<StationDevice>())
                         .ToList();
        }

        /// <summary>
        /// 处理完成任务
        /// </summary>
        public void FinishedTaskHandle()
        {
            WCS_TASK task = new WCS_TASK();
        }

        /// <summary>
        /// 执行堆垛机任务 单例锁
        /// </summary>
        /// <param name="act"></param>
        public void EX(Action<SRMDevice> act)
        {
            var key = $"WCS:Lock:{Entity.CODE}";

            try
            {
                if (ProtocolProxy.Yg150Redis.Get(key) != null) throw new WarnException($"[{Entity.CODE}]--触发并发管控");
                ProtocolProxy.Yg150Redis.Set(key, Entity.CODE);
                act(this);
            }
            catch (DoException ex)
            {
                ex.DoExceptionEX(Entity);
            }
            catch (WarnException ex)
            {
                ex.WarnExceptionEX(Entity);
            }
            catch (Exception ex)
            {
                ex.ExceptionEx(Entity);
            }
            finally
            {
                ProtocolProxy.Yg150Redis.Del(key);
            }
        }

        /// <summary>
        /// 执行出库任务 出库单例锁
        /// </summary>
        /// <param name="act"></param>
        public void EXOutStock(Action<SRMDevice> act)
        {
            var key = "WCS:Lock:";
            try
            {
                if (Entity.CODE == "SRM3" || Entity.CODE == "SRM4")
                {
                    key += "SRM3-SRM4-Out";
                    if (ProtocolProxy.Yg150Redis.Get(key) != null) throw new WarnException($"触发出库并发管控--[{Entity.CODE}]");
                    ProtocolProxy.Yg150Redis.Set(key, Entity.CODE);
                }
                if (Entity.CODE == "SRM5" || Entity.CODE == "SRM6")
                {
                    key += "SRM5-SRM6-Out";
                    if (ProtocolProxy.Yg150Redis.Get(key) != null) throw new WarnException($"触发出库并发管控--[{Entity.CODE}]");
                    ProtocolProxy.Yg150Redis.Set(key, Entity.CODE);
                }

                if (Entity.CODE == "SRM7" || Entity.CODE == "SRM8")
                {
                    key += "SRM7-SRM8-Out";
                    if (ProtocolProxy.Yg150Redis.Get(key) != null) throw new WarnException($"触发出库并发管控--[{Entity.CODE}]");
                    ProtocolProxy.Yg150Redis.Set(key, Entity.CODE);
                }

                act(this);
            }
            finally
            {
                if (Entity.CODE == "SRM3" || Entity.CODE == "SRM4") ProtocolProxy.Yg150Redis.Del($"{key}SRM3-SRM4-Out");
                if (Entity.CODE == "SRM5" || Entity.CODE == "SRM6") ProtocolProxy.Yg150Redis.Del($"{key}SRM5-SRM6-Out");
                if (Entity.CODE == "SRM7" || Entity.CODE == "SRM8") ProtocolProxy.Yg150Redis.Del($"{key}SRM7-SRM8-Out");
            }
        }

        /// <summary>
        /// 一工位写任务
        /// </summary>
        /// <param name="task"></param>
        /// <param name="goodsnum">货物数量</param>
        public void WriteTask1(Task task, short goodsnum)
        {
            InfoLog.INFO_SRMINFO($"出库--写入堆垛机[{Entity.CODE}]1工位-开始:[{Data.TaskID_1}][{Data.SLine_1}][{Data.SCol_1}][{Data.SLayer_1}][{Data.ELine_1}][{Data.VoucherNo_1}]--[{Data.RES1_1}]");
            Data.TaskID_1 = task.ID;
            Data.SLine_1 = task.Line;
            Data.SCol_1 = task.Col;
            Data.SLayer_1 = task.Layer;
            Data.ELine_1 = task.SRMSTATION.ToShort();
            Data.ECol_1 = 0;
            Data.ELayer_1 = 0;
            Data.RES1_1 = goodsnum;
            Data.VoucherNo_1++;
            InfoLog.INFO_SRMINFO($"出库--写入堆垛机[{Entity.CODE}]1工位-结束:[{Data.TaskID_1}][{Data.SLine_1}][{Data.SCol_1}][{Data.SLayer_1}][{Data.ELine_1}][{Data.VoucherNo_1}]--[{Data.RES1_1}]");
        }

        /// <summary>
        /// 二工位写任务
        /// </summary>
        /// <param name="task"></param>
        /// <param name="goodsnum">货物数量</param>
        public void WriteTask2(Task task, short goodsnum)
        {
            InfoLog.INFO_SRMINFO($"出库--写入堆垛机[{Entity.CODE}]2工位-开始:[{Data.TaskID_2}][{Data.SLine_2}][{Data.SCol_2}][{Data.SLayer_2}][{Data.ELine_2}][{Data.VoucherNo_2}]--[{Data.RES1_2}]");
            Data.TaskID_2 = task.ID;
            Data.SLine_2 = task.Line;
            Data.SCol_2 = task.Col;
            Data.SLayer_2 = task.Layer;
            Data.ELine_2 = task.SRMSTATION.ToShort();
            Data.ECol_2 = 0;
            Data.ELayer_2 = 0;
            Data.RES1_2 = goodsnum;
            Data.VoucherNo_2++;
            InfoLog.INFO_SRMINFO($"出库--写入堆垛机[{Entity.CODE}]2工位-结束:[{Data.TaskID_2}][{Data.SLine_2}][{Data.SCol_2}][{Data.SLayer_2}][{Data.ELine_2}][{Data.VoucherNo_2}]--[{Data.RES1_2}]");
        }

        /// <summary>
        /// 获取任务对应的货叉
        /// </summary>
        /// <param name="task">任务信息</param>
        /// <param name="index">任务在下发任务集合中的索引</param>
        /// <returns></returns>
        public SrmFork GetFork(Task task, int index)
        {
            if (index > 1) throw new WarnException("一次最多下发两个任务");
            //如果索引是1，直接返回货叉2
            if (index == 1) return SrmFork.货叉2;

            //判断任务列是多少
            return task.Col switch
            {
                102 => Entity.CODE switch
                {
                    "SRM1" => SrmFork.货叉1,
                    _ => SrmFork.货叉2,
                },
                112 => SrmFork.货叉2,
                _ => SrmFork.货叉1,
            };
        }

        /// <summary>
        /// 检查同组堆垛机是否有出库任务正在执行
        /// </summary>
        public void CheckOutTask()
        {
        }
    }

    /// <summary>
    /// 异常处理
    /// </summary>
    public static class DevEX
    {
        /// <summary>
        /// 计算两点距离
        /// </summary>
        /// <param name="start">起始点</param>
        /// <param name="end">结束点</param>
        /// <param name="total">总长</param>
        /// <returns></returns>
        public static float Distance(float start, float end, float total)
        {
            float distance = 0;
            if (start > end) distance = (total - start) + end;
            else distance = end - start;
            return distance;
        }

        public static void DoExceptionEX(this DoException ex, WCS_DEVICE Entity)
        {
            InfoLog.INFO_INFO($"[{Entity.CODE}]--{ex.Message}");
        }

        /// <summary>
        /// 警报执行记录
        /// </summary>
        /// <param name="ex">警报信息</param>
        /// <param name="Entity">发生设备</param>
        /// <param name="reportMonitor">是否上报监控</param>
        /// <exception cref="Exception"></exception>
        public static void WarnExceptionEX(this WarnException ex, WCS_DEVICE Entity, bool reportMonitor = true)
        {
            InfoLog.INFO_WARN($"[{Entity.CODE}]--{ex.Message}");
            if (ex.Message.Contains("The database operation was expected")) return;

            Helpers.LogHelper.AddWCS_EXCEPTION(ex.Message, Entity.CODE, WCS_EXCEPTIONTYPE.无.ToString());
            //排除部分频繁触发的异常上报
            if (ex.Message.Contains("触发并发管控")) return;

            if (reportMonitor)
            {
                Ltc.Log(ex.GetBaseException().Message);
                throw new Exception($"[{Entity.CODE}]--{ex.Message}");
            }
        }

        public static void ExceptionEx(this Exception ex, WCS_DEVICE Entity)
        {
            InfoLog.INFO_ERROR($"[{Entity.CODE}]--{ex.Message}--{ex.StackTrace}");
            //排除部分频繁触发的异常上报
            if (ex.Message.Contains("Collection was modified; enumeration operation may not execute.")) return;
            Ltc.Log(ex.GetBaseException().Message);
        }
    }

    /// <summary>
    /// 堆垛机货叉/工位
    /// </summary>
    public enum SrmFork
    {
        货叉1 = 0,
        货叉2 = 1,
    }

    /// <summary>
    /// 站台位置信息
    /// </summary>
    public class StationLocation
    {
        /// <summary>
        /// 所有环穿站台的信息
        /// </summary>
        public static List<StationLocation> ALLlocations { get; set; } = new List<StationLocation>();

        static StationLocation()
        {
            ALLlocations.AddRange(new List<StationLocation>() {
                new StationLocation("G1",486326,"RGV3",1567770),
                new StationLocation("G2",693631,"RGV3",1567770),
                new StationLocation("G3",789931,"RGV3",1567770),
                new StationLocation("G4",961595,"RGV3",1567770),
                new StationLocation("G5",1013350,"RGV3",1567770),
                new StationLocation("G6",1069938,"RGV3",1567770),
                new StationLocation("G7",1126338,"RGV3",1567770),
                new StationLocation("G8",1178355,"RGV3",1567770),
                new StationLocation("G9",1256875,"RGV3",1567770),
                new StationLocation("G10",1313239,"RGV3",1567770),
                new StationLocation("G11",1369970,"RGV3",1567770),
                new StationLocation("G12",636770,"RGV1",3719290),
                new StationLocation("G13",749520,"RGV1",3719290),
                new StationLocation("G14",879930,"RGV1",3719290),
                new StationLocation("G15",936310,"RGV1",3719290),
                new StationLocation("G16",988000,"RGV1",3719290),
                //new StationLocation("G17",1607000,"RGV1",3719290),
                //new StationLocation("G18",1667000,"RGV1",3719290),
                new StationLocation("G19",1785000,"RGV1",3719290),
                //new StationLocation("G20",2548012,"RGV1",3719290),
                //new StationLocation("G21",2606033,"RGV1",3719290),
                //new StationLocation("G22",2660833,"RGV1",3719290),
                new StationLocation("G23",2714350,"RGV1",3719290),
            });
        }

        public StationLocation(string station, int location, string plc, int length)
        {
            Station = station;
            Location = location;
            PLC = plc;
            Length = length;
        }

        /// <summary>
        /// 输送机设备组编号
        /// </summary>
        public string Station { get; set; }

        /// <summary>
        /// 输送机在环轨中的位置
        /// </summary>
        public int Location { get; set; }

        /// <summary>
        /// 所属RGV组 PLC名称
        /// </summary>
        public string PLC { get; set; }

        /// <summary>
        /// 所属环穿轨道的长度
        /// </summary>
        public int Length { get; set; }
    }

    /// <summary>
    /// 巷道信息
    /// </summary>
    public class TunnelInfo
    {
        public WCS_DEVICE Tunnel;
        public WCS_DEVICE taskIN;
        public Device<ISRM520, ISRM521, ISRM537> SRM;
    }
}