WcsFramework/业务工程/分拣库/WCS.WorkEngineering/WorkStart.cs

using PlcSiemens.Core.Extension;
using ServiceCenter;
using ServiceCenter.SqlSugars;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol;
using WCS.Entity.Protocol.BCR;
using WCS.Entity.Protocol.RGV;
using WCS.Entity.Protocol.Robot;
using WCS.Entity.Protocol.SRM;
using WCS.Entity.Protocol.Station;
using WCS.Entity.Protocol.Truss;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Systems;
using WCS.WorkEngineering.Systems.桁架码垛;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;

namespace WCS.WorkEngineering
{
    /// <summary>
    /// 业务工程配置信息
    /// </summary>
    public static class WorkStart
    {
        /// <summary>
        ///  仓库
        /// </summary>
        public static string? WareHouses { get; set; }

        /// <summary>
        ///  初始化 设备信息
        /// </summary>

        public static void InitializeDeviceInfo()
        {
            if (WareHouses.IsNullOrEmpty())
            {
                throw new Exception("请配置当前程序所属的分拣中心");
            }

            #region 无交互触发设备,只在分拣1有

            if (WareHouses.Contains("FJ1"))
            {
                var devs = new List<string>() { nameof(PalletizCreateEmptyTray), "AGVIn", "AGVOut", nameof(NoInteractionSystems), nameof(UpLoadSystems), nameof(TrussCreateTwoOut) };
                foreach (var conv in devs.Select(code => new Device(code)))
                {
                    conv.AddProtocol<IStation520>(0, 520, "1");
                    conv.AddFlag(DeviceFlags.无交互触发设备);
                }
            }

            #endregion 无交互触发设备,只在分拣1有

            #region 设置设备IP集合

            ServiceHub.DeviceIPList = new List<string>() { };

            #endregion 设置设备IP集合

            if (WareHouses.Contains("FJ1"))
            {
                #region 初始化RGV相关信息

                List<RgvSegmentInfo> RgvInfo = new List<RgvSegmentInfo>
                {
                    new RgvSegmentInfo( 1, "10.30.37.113"), //库一北
                    new RgvSegmentInfo( 2, "10.30.37.118"), //库一南
                };

                foreach (var item in RgvInfo)
                {
                    var conv = new Device($"RGV{item.Code}");
                    conv.AddFlag(DeviceFlags.RGV);
                    conv.AddProtocol<IRGV520>(0, 520, item.Ip);
                    conv.AddProtocol<IRGV521>(0, 521, item.Ip);
                    //conv.AddProtocol<IStation523>(, 523, item.IP);
                }

                #endregion 初始化RGV相关信息

                #region 初始化输送机相关信息

                #region 基本信息

                #region 托盘线输送线

                var tuples = new List<Tuple<string, List<Tuple<int, int>>>>
                {
                    //分拣库一
                    new("10.30.37.89",new List<Tuple<int, int>>()
                    {
                        new(1601, 1620),
                        new(2501, 2540),
                        new(2701, 2740),
                        new(1661, 1690),
                    }),
                };

                foreach (var item in tuples)
                {
                    var db520 = 0;
                    var db521 = 0;
                    var db523 = 0;
                    foreach (var item1 in item.Item2)
                    {
                        for (var i = item1.Item1; i <= item1.Item2; i++)
                        {
                            var conv = new Device(i.ToString());
                            conv.AddFlag(DeviceFlags.输送机);

                            conv.AddProtocol<IStation520>(db520, 520, item.Item1);
                            conv.AddProtocol<IStation521>(db521, 521, item.Item1);
                            conv.AddProtocol<IStation523>(db523, 523, item.Item1);

                            db520 += 14;
                            db521 += 16;
                            db523 += 12;
                        }
                    }
                }

                #endregion 托盘线输送线

                #region 满轮输送线

                #region DB523，所有线体都会有DB523

                var mLtuples523 = new List<Tuple<string, List<Tuple<int, int>>>>()
            {
                new("10.30.37.166",new List<Tuple<int, int>>() //北侧满轮主线
                {
                    new(1, 100),
                    new(9001, 9010),//暂用，无意义
                    new(401, 599),
                    new(801,999),
                    new(1201,1399),
                }),
                new("10.30.37.198",new List<Tuple<int, int>>() //南侧满轮主线
                {
                    new(101, 210),
                    new(601, 799),
                    new(1001, 1199),
                    new(1401,1599),
                    new(341,379),
                })
            };

                foreach (var item in mLtuples523)
                {
                    var db523 = 0;
                    var db524 = 0;
                    foreach (var item1 in item.Item2)
                    {
                        for (var i = item1.Item1; i <= item1.Item2; i++)
                        {
                            var conv = new Device(i.ToString());
                            conv.AddFlag(DeviceFlags.输送机);
                            conv.AddProtocol<IStation523>(db523, 523, item.Item1);
                            conv.AddProtocol<IStation524>(db524, 524, item.Item1);

                            db523 += 12;
                            db524 += 16;
                        }
                    }
                }

                #endregion DB523，所有线体都会有DB523

                #region 520、521 交互线体会有520、521

                //Item2表示线体号集合，Item1表示IP
                var mLTuples520 = new List<Tuple<string, List<int>>>()
            {
                //北侧
                new("10.30.37.166",new List<int>() {1,22,41,61,418,426,435,444,455,466,480,494,508,522,536,550,564,578,591,818,826,835,844,855,866,880,894,908,922,936,950,964,978,991,1218,1226,1235,1244,1255,1266,1280,1294,1308,1322,1336,1350,1364,1378,1391}),
                //南侧
                new("10.30.37.198",new List<int>(){101,122,141,161,618,626,635,644,655,666,680,694,708,722,736,750,764,778,791,1018,1026,1035,1044,1055,1066,1080,1094,1108,1122,1136,1150,1164,1178,1191,1418,1426,1435,1444,1455,1466,1480,1494,1508,1522,1536,1550,1564,1578,1591})
            };

                foreach (var item in mLTuples520)
                {
                    var db520 = 0;
                    var db521 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        if (device != null)
                        {
                            device.AddProtocol<IStation520>(db520, 520, item.Item1);
                            device.AddProtocol<IStation521>(db521, 521, item.Item1);
                        }

                        db520 += 14;
                        db521 += 16;
                    }
                }

                #endregion 520、521 交互线体会有520、521

                #region 满轮扫码器

                //Item2表示线体号集合，Item1表示IP
                var mLTuples83 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){3,14,18,22,38,323,41,58,61}) ,
                new("10.30.37.198",new List<int>(){101,114,118,122,138,363,141,158,161})
            };

                foreach (var item in mLTuples83)
                {
                    var db83 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        device?.AddProtocol<IBCR83>(db83, 83, item.Item1);

                        db83 += 604;
                    }
                }

                #endregion 满轮扫码器

                #region 满轮线告诉分拣预分配

                //Item2表示线体号集合，Item1表示IP
                var mLTuples525 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){18,38,58}),
                new("10.30.37.198",new List<int>(){118,138,158}),
            };

                foreach (var item in mLTuples525)
                {
                    var db525 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        device?.AddProtocol<IStation525>(db525, 525, item.Item1);
                        db525 += 3266;
                    }
                }

                #endregion 满轮线告诉分拣预分配

                #region 外检信息

                //Item2表示线体号集合，Item1表示IP
                var mLTuples91 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){418,818,1218}),
                new("10.30.37.198",new List<int>(){618,1018,1418})
            };

                foreach (var item in mLTuples91)
                {
                    var db91 = 0;

                    foreach (var device in item.Item2.Select(item2 => Device.All.FirstOrDefault(v => v.Code == item2.ToString())))
                    {
                        device?.AddProtocol<IStation91>(db91, 91, item.Item1);
                        db91 += 14;
                    }
                }

                #endregion 外检信息

                #endregion 满轮输送线

                #endregion 基本信息

                #region 托盘线扫码器

                var bcrInfo = new List<BcrInfo>
            {
                new(new [] { "2532", "2732" }, "10.30.37.89"),
                new(new [] {"RGV1"},"10.30.37.113"),
                new(new [] {"RGV2"},"10.30.37.118"),
            };

                foreach (var item in bcrInfo)
                {
                    for (var i = 0; i < item.DeviceNo.Length; i++)
                    {
                        var device = Device.All.FirstOrDefault(v => v.Code == item.DeviceNo[i]);
                        device.AddFlag(DeviceFlags.扫码);
                        var pos = i * 130;
                        device.AddProtocol<IBCR81>(pos, 81, item.Ip);
                    }
                }

                #endregion 托盘线扫码器

                #region 外检信息

                List<ShapeInfo> shapeInfo = new List<ShapeInfo>
            {
                new ShapeInfo(new int[] { 2732,2532 }, "10.30.37.89"),
            };

                foreach (var item in shapeInfo)
                {
                    for (int i = 0; i < item.DeviceNo.Length; i++)
                    {
                        var conv = Device.All.FirstOrDefault(x => x.Code == item.DeviceNo[i].ToString());
                        conv.AddFlag(DeviceFlags.外检);
                        int pos = i * 14;
                        conv.AddProtocol<IStation91>(pos, 91, item.Ip);
                    }
                }

                #endregion 外检信息

                #endregion 初始化输送机相关信息

                #region 初始化桁架相关信息

                List<TrussSegmentInfo> TrussInfo = new List<TrussSegmentInfo>
            {
                new TrussSegmentInfo( 1, "10.30.37.211"),
            };

                foreach (var item in TrussInfo)
                {
                    var conv = new Device($"Truss{item.Code}");
                    conv.AddFlag(DeviceFlags.桁架);
                    conv.AddProtocol<ITruss520>(0, 520, item.Ip);
                    conv.AddProtocol<ITruss521>(0, 521, item.Ip);
                    conv.AddProtocol<ITruss523>(0, 523, item.Ip);
                }

                var tuples1 = new List<Tuple<string, List<int>>>
            {
                //桁架
                new("10.30.37.211",new  List<int>(){1685,1686,1687,1688,1689,1690,1675,1674,1673,1672,1671,1670,1677,1678,1679,1680,1665,1664,1663,1662,1616,1606}), //分拣库一
            };

                foreach (var item in tuples1)
                {
                    var db530 = 0;
                    var db531 = 0;
                    foreach (var conv in item.Item2.Select(item1 => Device.All.FirstOrDefault(x => x.Code == item1.ToString())))
                    {
                        conv!.AddProtocol<ITruss530>(db530, 530, item.Item1);
                        conv!.AddProtocol<ITruss531>(db531, 531, item.Item1);

                        db530 += 18;
                        db531 += 250;
                    }
                }

                var tuples21 = new List<Tuple<string, List<int>>>
            {
                //机械臂
                new("10.30.37.230",new  List<int>(){ 1666, 1661}), //库一北
                new("10.30.37.232",new  List<int>(){ 1681, 1676}), //库一南
            };

                foreach (var item in tuples21)
                {
                    var db530 = 0;
                    var db531 = 0;
                    foreach (var conv in item.Item2.Select(item1 => Device.All.FirstOrDefault(x => x.Code == item1.ToString())))
                    {
                        conv!.AddProtocol<IRobot530>(db530, 530, item.Item1);
                        conv!.AddProtocol<IRobot531>(db531, 531, item.Item1);
                        db530 += 8;
                        db531 += 130;
                    }
                }

                #endregion 初始化桁架相关信息

                #region 初始化机械臂相关信息

                List<TrussSegmentInfo> TrussInfo1 = new List<TrussSegmentInfo>
            {
                new( 1, "10.30.37.230"),
                new( 2, "10.30.37.232"),
            };

                foreach (var item in TrussInfo1)
                {
                    var conv = new Device($"Robot{item.Code}");
                    conv.AddFlag(DeviceFlags.Robot);
                    conv.AddProtocol<IRobot520>(0, 520, item.Ip);
                    conv.AddProtocol<IRobot521>(0, 521, item.Ip);
                    conv.AddProtocol<IRobot522>(0, 522, item.Ip);
                }

                #endregion 初始化机械臂相关信息

                #region 初始化堆垛机相关信息

                int ip = 41;

                for (int i = 0; i <= 1; i++)
                {
                    var srm = new Device($"SRM{i + 1}");
                    srm.AddFlag(DeviceFlags.堆垛机);
                    ip = i == 0 ? ip : ip + 8;
                    //三台堆垛机IP主机位分别是 41、49、57、65、73、81
                    srm.AddProtocol<ISRM520>(0, 520, $"10.30.37.{ip}");
                    srm.AddProtocol<ISRM521>(0, 521, $"10.30.37.{ip}");
                    srm.AddProtocol<ISRM523>(0, 537, $"10.30.37.{ip}");

                    //增加巷道
                    var tunnel = new Device($"TY{i + 1}");
                    tunnel.AddFlag(DeviceFlags.巷道);
                }

                #endregion 初始化堆垛机相关信息

                #region 配置路径信息

                List<RouteInfo> routeInfos = new List<RouteInfo>();

                routeInfos.AddRange(new List<RouteInfo>() {

                #region 出库

                #region 堆垛机--巷道

                new RouteInfo("SRM1", new string[] { "TY1" }),
                new RouteInfo("SRM2", new string[] { "TY2" }),

                #endregion 堆垛机--巷道

                #region 巷道--一楼堆垛机放货口

                new RouteInfo("TY1", new string[] { "2532","2534","2533" }), //人工取货口
                new RouteInfo("TY2", new string[] { "2732","2734","2733" }),

                #endregion 巷道--一楼堆垛机放货口

                #region 巷道--二楼堆垛机放货口

                new RouteInfo("TY1", new string[] { "1601","1605" }),
                new RouteInfo("TY2", new string[] { "1611","1615" }),

                #endregion 巷道--二楼堆垛机放货口

                #region 二楼堆垛机放货口--二楼拆盘机

                //库一
                new RouteInfo("1601", new string[] { "1602" }),//非09拆盘机
                new RouteInfo("1611", new string[] { "1612"}),
                new RouteInfo("1605", new string[] { "1606" }),//09拆盘机
                new RouteInfo("1615", new string[] { "1616" }),

                #endregion 二楼堆垛机放货口--二楼拆盘机

                #region 二楼拆盘机--RGV

                //库一
                new RouteInfo("1602", new string[] { "RGV1" }),//非09拆盘机
                new RouteInfo("1612", new string[] { "RGV2"}),
                new RouteInfo("1606", new string[] { "RGV1" }),//09拆盘机
                new RouteInfo("1616", new string[] { "RGV2" }),

                #endregion 二楼拆盘机--RGV

                #region RGV--码垛区域

                //库一
                new RouteInfo("RGV1", new string[] { "1661","1666" }),//北区机械臂码垛区
                new RouteInfo("RGV1", new string[] { "1662","1663","1664","1665", "1670","1671","1672","1673","1674","1675"}),//桁架北区码垛站台
                new RouteInfo("RGV2", new string[] { "1676","1681" }),
                new RouteInfo("RGV2", new string[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),

                #endregion RGV--码垛区域

                #region Robot--码垛工位

                //库一
                new RouteInfo("Robot1", new string[] { "1666" }),
                new RouteInfo("Robot1", new string[] { "1661" }),
                new RouteInfo("Robot2", new string[] { "1676" }),
                new RouteInfo("Robot2", new string[] { "1681" }),

                #endregion Robot--码垛工位

                #endregion 出库

                #region 入库

                #region 一楼人工入库口-巷道

                new RouteInfo("2532", new string[] { "TY1" }), //分拣库一
                new RouteInfo("2732", new string[] { "TY2" }),

                #endregion 一楼人工入库口-巷道

                #region 一楼叠盘机(堆垛机入口)--巷道

                new RouteInfo("2527", new string[] { "TY1" }), //分拣库一
                new RouteInfo("2528", new string[] { "TY1" }),
                new RouteInfo("2727", new string[] { "TY2" }),
                new RouteInfo("2728", new string[] { "TY2" }),

                #endregion 一楼叠盘机(堆垛机入口)--巷道

                #region 主线

                //北侧
                new RouteInfo("3", new string[] { "14" }),
                new RouteInfo("14", new string[] { "18" }),
                new RouteInfo("18", new string[] { "22" }),
                new RouteInfo("22", new string[] { "38" }),
                new RouteInfo("38", new string[] { "41" }),
                new RouteInfo("41", new string[] { "58" }),
                new RouteInfo("58", new string[] { "61" }),
                //南侧
                new RouteInfo("101", new string[] { "114" }),
                new RouteInfo("114", new string[] { "118" }),
                new RouteInfo("118", new string[] { "122" }),
                new RouteInfo("122", new string[] { "138" }),
                new RouteInfo("138", new string[] { "141" }),
                new RouteInfo("141", new string[] { "158" }),
                new RouteInfo("158", new string[] { "161" }),

                #endregion 主线

                #region 主线分流点--环形库分流点

                new RouteInfo("22", new string[] { "418" }), //分拣库一北
                new RouteInfo("122", new string[] { "618" }), //分拣库一南
                new RouteInfo("41", new string[] { "818" }), //分拣库二北
                new RouteInfo("141", new string[] { "1018" }), //分拣库二南
                new RouteInfo("61", new string[] { "1218" }), //分拣库三北
                new RouteInfo("161", new string[] { "1418" }), //分拣库三南

                #endregion 主线分流点--环形库分流点

                #region 环形库分流点--环形库取货点

                new RouteInfo("418", new string[] { "424","433","442" }),
                new RouteInfo("618", new string[] { "624", "633", "642" }),

                #endregion 环形库分流点--环形库取货点

                #region 环形库分流点--桁架分流点

                new RouteInfo("418", new string[] { "455" }), //分拣库一北
                new RouteInfo("618", new string[] { "655" }), //分拣库一南

                #endregion 环形库分流点--桁架分流点

                #region 桁架分流点--桁架缓存放行点

                new RouteInfo("455", new string[] { "466","480","494","508", "522","536","550","564","578","591"}), //分拣库一北
                new RouteInfo("655", new string[] { "666","680","694","708", "722","736","750","764","778","791"}), //分拣库一南

                #endregion 桁架分流点--桁架缓存放行点

                #region 桁架缓存放行点--桁架取货点

                new("466", new[] { "461" }), //分拣一北侧
                new("480", new[] { "475" }),
                new("494", new[] { "489" }),
                new("508", new[] { "503" }),
                new("522", new[] { "517" }),
                new("536", new[] { "531" }),
                new("550", new[] { "545" }),
                new("564", new[] { "559" }),
                new("578", new[] { "573" }),
                new("591", new[] { "586" }),
                new("666", new[] { "661" }),//分拣一南侧
                new("680", new[] { "675" }),
                new("694", new[] { "689" }),
                new("708", new[] { "703" }),
                new("722", new[] { "717" }),
                new("736", new[] { "731" }),
                new("750", new[] { "745" }),
                new("764", new[] { "759" }),
                new("778", new[] { "773" }),
                new("791", new[] { "786" }),

                #endregion 桁架缓存放行点--桁架取货点

                #region 桁架取货点--桁架

                new("461", new[] { "Truss1" }),//分拣一北侧
                new("475", new[] { "Truss1" }),
                new("489", new[] { "Truss1" }),
                new("503", new[] { "Truss1" }),
                new("517", new[] { "Truss1" }),
                new("531", new[] { "Truss1" }),
                new("545", new[] { "Truss1" }),
                new("559", new[] { "Truss1" }),
                new("573", new[] { "Truss1" }),
                new("586", new[] { "Truss1" }),//分拣一南侧
                new("661", new[] { "Truss1" }),
                new("675", new[] { "Truss1" }),
                new("689", new[] { "Truss1" }),
                new("703", new[] { "Truss1" }),
                new("717", new[] { "Truss1" }),
                new("731", new[] { "Truss1" }),
                new("745", new[] { "Truss1" }),
                new("759", new[] { "Truss1" }),
                new("773", new[] { "Truss1" }),
                new("786", new[] { "Truss1" }),

                #endregion 桁架取货点--桁架

                #region 桁架取货点--码垛工位

                new("461", new[] { "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675" }),//分拣一北侧
                new("475", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("489", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("503", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("517", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("531", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("545", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("559", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("573", new[] {  "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675"}),
                new("586", new[] { "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675" }),
                new("661", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),//分拣一南侧
                new("675", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("689", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("703", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("717", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("731", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("745", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("759", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("773", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),
                new("786", new[] { "1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),

                #endregion 桁架取货点--码垛工位

                #region 桁架--码垛工位

                new("Truss1", new[] { "1662","1663","1664","1665","1670","1671","1672","1673", "1674","1675","1677","1678","1679","1680", "1685","1686","1687","1688","1689","1690" }),

                #endregion 桁架--码垛工位

                #region 码垛工位--RGV

                //分拣库一北
                new RouteInfo("1661", new string[] { "RGV1" }),//机械手码垛工位
                new RouteInfo("1666", new string[] { "RGV1" }),
                new RouteInfo("1662", new string[] { "RGV1" }),//绗架码垛工位
                new RouteInfo("1663", new string[] { "RGV1" }),
                new RouteInfo("1664", new string[] { "RGV1" }),
                new RouteInfo("1665", new string[] { "RGV1" }),
                new RouteInfo("1670", new string[] { "RGV1" }),
                new RouteInfo("1671", new string[] { "RGV1" }),
                new RouteInfo("1672", new string[] { "RGV1" }),
                new RouteInfo("1673", new string[] { "RGV1" }),
                new RouteInfo("1674", new string[] { "RGV1" }),
                new RouteInfo("1675", new string[] { "RGV1" }),
                //分拣库一南
                new RouteInfo("1676", new string[] { "RGV2" }),//机械手码垛工位
                new RouteInfo("1681", new string[] { "RGV2" }),
                new RouteInfo("1677", new string[] { "RGV2" }),//绗架码垛工位
                new RouteInfo("1678", new string[] { "RGV2" }),
                new RouteInfo("1679", new string[] { "RGV2" }),
                new RouteInfo("1680", new string[] { "RGV2" }),
                new RouteInfo("1685", new string[] { "RGV2" }),
                new RouteInfo("1686", new string[] { "RGV2" }),
                new RouteInfo("1687", new string[] { "RGV2" }),
                new RouteInfo("1688", new string[] { "RGV2" }),
                new RouteInfo("1689", new string[] { "RGV2" }),
                new RouteInfo("1690", new string[] { "RGV2" }),

                #endregion 码垛工位--RGV

                #region RGV--RGV放货点

                new RouteInfo("RGV1", new string[] { "1604" }),
                new RouteInfo("RGV2", new string[] { "1614" }),

                #endregion RGV--RGV放货点

                #region RGV放货点--堆垛机取货口

                new RouteInfo("1604", new string[] { "1603" }),//北侧
                new RouteInfo("1614", new string[] { "1613" }),//南侧

                #endregion RGV放货点--堆垛机取货口

                #region 二楼堆垛机入库--巷道

                new RouteInfo("1603", new string[] { "TY1" }),//北侧
                new RouteInfo("1613", new string[] { "TY2" }),//南侧

                #endregion 二楼堆垛机入库--巷道

                #region 巷道--堆垛机

                new RouteInfo("TY1", new string[] { "SRM1" }),
                new RouteInfo("TY2", new string[] { "SRM2" }),

                #endregion 巷道--堆垛机

                #region 线体取货位--Robot

                new RouteInfo("442", new string[] { "Robot1" }),
                new RouteInfo("433", new string[] { "Robot1" }),
                new RouteInfo("424", new string[] { "Robot1" }),
                new RouteInfo("624", new string[] { "Robot2" }),
                new RouteInfo("633", new string[] { "Robot2" }),
                new RouteInfo("642", new string[] { "Robot2" }),

                #endregion 线体取货位--Robot

                #endregion 入库
            });

                foreach (var routeInfo in routeInfos)
                {
                    if (routeInfo != null)
                    {
                        var device = Device.All.FirstOrDefault(x => x.Code == routeInfo.DeviceCode);
                        device.AddTarget(routeInfo.NextList);

                        Parallel.ForEach(routeInfo.NextList, next =>
                        {
                            var dev = Device.All.FirstOrDefault(x => x.Code == next);
                            dev.Parent = device;
                        });
                    }
                }
                //Parallel.ForEach(routeInfos, routeInfo =>
                //{
                //});

                #endregion 配置路径信息

                #region 添加设备组

                var tuples2 = new List<Tuple<string, List<string>>>()
            {
                //环形库一北侧机械手取货位
                new("424",new List<string> {"424","425"}),
                new("433",new List<string> {"433","434"}),
                new("442",new List<string> {"442","443"}),
                //环形库一南侧侧机械手取货位
                new("642",new List<string> {"642","643"}),
                new("633",new List<string> {"633","634"}),
                new("624",new List<string> {"624","625"}),
            };
                Parallel.ForEach(tuples2, tuple =>
                {
                    var device = Device.All.FirstOrDefault(x => x.Code == tuple.Item1);
                    device.AddDeviceGroup(tuple.Item2.ToArray());
                });

                #endregion 添加设备组
            }

            if (WareHouses.Contains("FJ2"))
            {
                #region 初始化RGV相关信息

                List<RgvSegmentInfo> RgvInfo = new List<RgvSegmentInfo>
                {
                    new RgvSegmentInfo( 3, "10.30.37.123"), //库二北
                    new RgvSegmentInfo( 4, "10.30.37.128"), //库二南
                };

                foreach (var item in RgvInfo)
                {
                    var conv = new Device($"RGV{item.Code}");
                    conv.AddFlag(DeviceFlags.RGV);
                    conv.AddProtocol<IRGV520>(0, 520, item.Ip);
                    conv.AddProtocol<IRGV521>(0, 521, item.Ip);
                    //conv.AddProtocol<IStation523>(, 523, item.IP);
                }

                #endregion 初始化RGV相关信息

                #region 初始化输送机相关信息

                #region 基本信息

                #region 托盘线输送线

                var tuples = new List<Tuple<string, List<Tuple<int, int>>>>
            {
                //分拣库二
                new("10.30.37.97",new List<Tuple<int, int>>()
                {
                    new(1621, 1640),
                    new(2901, 2940),
                    new(3101, 3140),
                    new(1691, 1720),
                }),
            };

                foreach (var item in tuples)
                {
                    var db520 = 0;
                    var db521 = 0;
                    var db523 = 0;
                    foreach (var item1 in item.Item2)
                    {
                        for (var i = item1.Item1; i <= item1.Item2; i++)
                        {
                            var conv = new Device(i.ToString());
                            conv.AddFlag(DeviceFlags.输送机);

                            conv.AddProtocol<IStation520>(db520, 520, item.Item1);
                            conv.AddProtocol<IStation521>(db521, 521, item.Item1);
                            conv.AddProtocol<IStation523>(db523, 523, item.Item1);

                            db520 += 14;
                            db521 += 16;
                            db523 += 12;
                        }
                    }
                }

                #endregion 托盘线输送线

                #region 满轮输送线

                #region DB523，所有线体都会有DB523

                var mLtuples523 = new List<Tuple<string, List<Tuple<int, int>>>>()
            {
                new("10.30.37.166",new List<Tuple<int, int>>() //北侧满轮主线
                {
                    new(1, 100),
                    new(9001, 9010),//暂用，无意义
                    new(401, 599),
                    new(801,999),
                    new(1201,1399),
                }),
                new("10.30.37.198",new List<Tuple<int, int>>() //南侧满轮主线
                {
                    new(101, 210),
                    new(601, 799),
                    new(1001, 1199),
                    new(1401,1599),
                    new(341,379),
                })
            };

                foreach (var item in mLtuples523)
                {
                    var db523 = 0;
                    var db524 = 0;
                    foreach (var item1 in item.Item2)
                    {
                        for (var i = item1.Item1; i <= item1.Item2; i++)
                        {
                            var conv = new Device(i.ToString());
                            conv.AddFlag(DeviceFlags.输送机);
                            conv.AddProtocol<IStation523>(db523, 523, item.Item1);
                            conv.AddProtocol<IStation524>(db524, 524, item.Item1);

                            db523 += 12;
                            db524 += 16;
                        }
                    }
                }

                #endregion DB523，所有线体都会有DB523

                #region 520、521 交互线体会有520、521

                //Item2表示线体号集合，Item1表示IP
                var mLTuples520 = new List<Tuple<string, List<int>>>()
            {
                //北侧
                new("10.30.37.166",new List<int>() {1,22,41,61,418,426,435,444,455,466,480,494,508,522,536,550,564,578,591,818,826,835,844,855,866,880,894,908,922,936,950,964,978,991,1218,1226,1235,1244,1255,1266,1280,1294,1308,1322,1336,1350,1364,1378,1391}),
                //南侧
                new("10.30.37.198",new List<int>(){101,122,141,161,618,626,635,644,655,666,680,694,708,722,736,750,764,778,791,1018,1026,1035,1044,1055,1066,1080,1094,1108,1122,1136,1150,1164,1178,1191,1418,1426,1435,1444,1455,1466,1480,1494,1508,1522,1536,1550,1564,1578,1591})
            };

                foreach (var item in mLTuples520)
                {
                    var db520 = 0;
                    var db521 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        if (device != null)
                        {
                            device.AddProtocol<IStation520>(db520, 520, item.Item1);
                            device.AddProtocol<IStation521>(db521, 521, item.Item1);
                        }

                        db520 += 14;
                        db521 += 16;
                    }
                }

                #endregion 520、521 交互线体会有520、521

                #region 满轮扫码器

                //Item2表示线体号集合，Item1表示IP
                var mLTuples83 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){3,14,18,22,38,323,41,58,61}) ,
                new("10.30.37.198",new List<int>(){101,114,118,122,138,363,141,158,161})
            };

                foreach (var item in mLTuples83)
                {
                    var db83 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        device?.AddProtocol<IBCR83>(db83, 83, item.Item1);

                        db83 += 604;
                    }
                }

                #endregion 满轮扫码器

                #region 满轮线告诉分拣预分配

                //Item2表示线体号集合，Item1表示IP
                var mLTuples525 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){18,38,58}),
                new("10.30.37.198",new List<int>(){118,138,158}),
            };

                foreach (var item in mLTuples525)
                {
                    var db525 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        device?.AddProtocol<IStation525>(db525, 525, item.Item1);
                        db525 += 3266;
                    }
                }

                #endregion 满轮线告诉分拣预分配

                #region 外检信息

                //Item2表示线体号集合，Item1表示IP
                var mLTuples91 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){418,818,1218}),
                new("10.30.37.198",new List<int>(){618,1018,1418})
            };

                foreach (var item in mLTuples91)
                {
                    var db91 = 0;

                    foreach (var device in item.Item2.Select(item2 => Device.All.FirstOrDefault(v => v.Code == item2.ToString())))
                    {
                        device?.AddProtocol<IStation91>(db91, 91, item.Item1);
                        db91 += 14;
                    }
                }

                #endregion 外检信息

                #endregion 满轮输送线

                #endregion 基本信息

                #region 托盘线扫码器

                var bcrInfo = new List<BcrInfo>
            {
                new(new [] { "2932", "3132" }, "10.30.37.97"),
                new(new [] {"RGV3"},"10.30.37.123"),
                new(new [] {"RGV4"},"10.30.37.128"),
            };

                foreach (var item in bcrInfo)
                {
                    for (var i = 0; i < item.DeviceNo.Length; i++)
                    {
                        var device = Device.All.FirstOrDefault(v => v.Code == item.DeviceNo[i]);
                        device.AddFlag(DeviceFlags.扫码);
                        var pos = i * 130;
                        device.AddProtocol<IBCR81>(pos, 81, item.Ip);
                    }
                }

                #endregion 托盘线扫码器

                #region 外检信息

                List<ShapeInfo> shapeInfo = new List<ShapeInfo>
            {
                new ShapeInfo(new int[] { 2932,3132 }, "10.30.37.97"),
            };

                foreach (var item in shapeInfo)
                {
                    for (int i = 0; i < item.DeviceNo.Length; i++)
                    {
                        var conv = Device.All.FirstOrDefault(x => x.Code == item.DeviceNo[i].ToString());
                        conv.AddFlag(DeviceFlags.外检);
                        int pos = i * 14;
                        conv.AddProtocol<IStation91>(pos, 91, item.Ip);
                    }
                }

                #endregion 外检信息

                #endregion 初始化输送机相关信息

                #region 初始化桁架相关信息

                List<TrussSegmentInfo> TrussInfo = new List<TrussSegmentInfo>
            {
                new TrussSegmentInfo( 2, "10.30.37.217"),
            };

                foreach (var item in TrussInfo)
                {
                    var conv = new Device($"Truss{item.Code}");
                    conv.AddFlag(DeviceFlags.桁架);
                    conv.AddProtocol<ITruss520>(0, 520, item.Ip);
                    conv.AddProtocol<ITruss521>(0, 521, item.Ip);
                    conv.AddProtocol<ITruss523>(0, 523, item.Ip);
                }

                var tuples1 = new List<Tuple<string, List<int>>>
            {
                //桁架
                new("10.30.37.217",new  List<int>(){1715,1716,1717,1718,1719,1720,1705,1704,1703,1702,1701,1700,1707,1708,1709,1710,1695,1694,1693,1692,1636,1626}), //分拣库二
            };

                foreach (var item in tuples1)
                {
                    var db530 = 0;
                    var db531 = 0;
                    foreach (var conv in item.Item2.Select(item1 => Device.All.FirstOrDefault(x => x.Code == item1.ToString())))
                    {
                        conv!.AddProtocol<ITruss530>(db530, 530, item.Item1);
                        conv!.AddProtocol<ITruss531>(db531, 531, item.Item1);

                        db530 += 18;
                        db531 += 250;
                        if (conv.Code == "1662")
                        {
                            var a = 0;
                        }
                    }
                }

                var tuples21 = new List<Tuple<string, List<int>>>
            {
                //机械臂

                new("10.30.37.234",new  List<int>(){ 1696, 1691}), //库二北
                new("10.30.37.236",new  List<int>(){ 1711, 1706}), //库二南
            };

                foreach (var item in tuples21)
                {
                    var db530 = 0;
                    var db531 = 0;
                    foreach (var conv in item.Item2.Select(item1 => Device.All.FirstOrDefault(x => x.Code == item1.ToString())))
                    {
                        conv!.AddProtocol<IRobot530>(db530, 530, item.Item1);
                        conv!.AddProtocol<IRobot531>(db531, 531, item.Item1);
                        db530 += 8;
                        db531 += 130;
                    }
                }

                #endregion 初始化桁架相关信息

                #region 初始化机械臂相关信息

                List<TrussSegmentInfo> TrussInfo1 = new List<TrussSegmentInfo>
            {
                new( 3, "10.30.37.234"),
                new( 4, "10.30.37.236"),
            };

                foreach (var item in TrussInfo1)
                {
                    var conv = new Device($"Robot{item.Code}");
                    conv.AddFlag(DeviceFlags.Robot);
                    conv.AddProtocol<IRobot520>(0, 520, item.Ip);
                    conv.AddProtocol<IRobot521>(0, 521, item.Ip);
                    conv.AddProtocol<IRobot522>(0, 522, item.Ip);
                }

                #endregion 初始化机械臂相关信息

                #region 初始化堆垛机相关信息

                int ip = 57;

                for (int i = 0; i <= 1; i++)
                {
                    var srm = new Device($"SRM{i + 1}");
                    srm.AddFlag(DeviceFlags.堆垛机);
                    ip = i == 0 ? ip : ip + 8;
                    //三台堆垛机IP主机位分别是 41、49、57、65、73、81
                    srm.AddProtocol<ISRM520>(0, 520, $"10.30.37.{ip}");
                    srm.AddProtocol<ISRM521>(0, 521, $"10.30.37.{ip}");
                    srm.AddProtocol<ISRM523>(0, 537, $"10.30.37.{ip}");

                    //增加巷道
                    var tunnel = new Device($"TY{i + 1}");
                    tunnel.AddFlag(DeviceFlags.巷道);
                }

                #endregion 初始化堆垛机相关信息

                #region 配置路径信息

                List<RouteInfo> routeInfos = new List<RouteInfo>();

                routeInfos.AddRange(new List<RouteInfo>() {

                #region 出库

                #region 堆垛机--巷道

                new RouteInfo("SRM3", new string[] { "TY3" }),
                new RouteInfo("SRM4", new string[] { "TY4" }),

                #endregion 堆垛机--巷道

                #region 巷道--一楼堆垛机放货口

                new RouteInfo("TY3", new string[] { "2932","2934","2933" }), //人工取货口
                new RouteInfo("TY4", new string[] { "3132","3134","3133" }),

                #endregion 巷道--一楼堆垛机放货口

                #region 巷道--二楼堆垛机放货口

                new RouteInfo("TY3", new string[] { "1621","1625" }),
                new RouteInfo("TY4", new string[] { "1631","1635" }),

                #endregion 巷道--二楼堆垛机放货口

                #region 二楼堆垛机放货口--二楼拆盘机

                //库二
                new RouteInfo("1621", new string[] { "1622" }),//非09拆盘机
                new RouteInfo("1631", new string[] { "1632"}),
                new RouteInfo("1625", new string[] { "1626" }),//09拆盘机
                new RouteInfo("1635", new string[] { "1636" }),

                #endregion 二楼堆垛机放货口--二楼拆盘机

                #region 二楼拆盘机--RGV

                //库二
                new RouteInfo("1622", new string[] { "RGV3" }),//非09拆盘机
                new RouteInfo("1632", new string[] { "RGV4"}),
                new RouteInfo("1626", new string[] { "RGV3" }),//09拆盘机
                new RouteInfo("1636", new string[] { "RGV4" }),

                #endregion 二楼拆盘机--RGV

                #region RGV--码垛区域

                //库二
                new RouteInfo("RGV3", new string[] { "1691","1696" }),//北区机械臂码垛区
                new RouteInfo("RGV3", new string[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"}),//桁架北区码垛站台
                new RouteInfo("RGV4", new string[] { "1706","1711" }),
                new RouteInfo("RGV4", new string[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),

                #endregion RGV--码垛区域

                #region Robot--码垛工位

                //库二
                new RouteInfo("Robot3", new string[] { "1691" }),
                new RouteInfo("Robot3", new string[] { "1696" }),
                new RouteInfo("Robot4", new string[] { "1706" }),
                new RouteInfo("Robot4", new string[] { "1711" }),

                #endregion Robot--码垛工位

                #endregion 出库

                #region 入库

                #region 一楼人工入库口-巷道

                new RouteInfo("2932", new string[] { "TY3" }), //分拣库二
                new RouteInfo("3132", new string[] { "TY4" }),

                #endregion 一楼人工入库口-巷道

                #region 一楼叠盘机(堆垛机入口)--巷道

                new RouteInfo("2927", new string[] { "TY3" }), //分拣库二
                new RouteInfo("2928", new string[] { "TY3" }),
                new RouteInfo("3127", new string[] { "TY4" }),
                new RouteInfo("3128", new string[] { "TY4" }),

                #endregion 一楼叠盘机(堆垛机入口)--巷道

                #region 主线

                //北侧
                new RouteInfo("38", new string[] { "41" }),
                new RouteInfo("41", new string[] { "58" }),
                new RouteInfo("58", new string[] { "61" }),
                //南侧
                new RouteInfo("138", new string[] { "141" }),
                new RouteInfo("141", new string[] { "158" }),
                new RouteInfo("158", new string[] { "161" }),

                #endregion 主线

                #region 主线分流点--环形库分流点

                new RouteInfo("41", new string[] { "818" }), //分拣库二北
                new RouteInfo("141", new string[] { "1018" }), //分拣库二南
                new RouteInfo("61", new string[] { "1218" }), //分拣库三北
                new RouteInfo("161", new string[] { "1418" }), //分拣库三南

                #endregion 主线分流点--环形库分流点

                #region 环形库分流点--环形库取货点

                new RouteInfo("818", new string[] { "824","833","842" }),
                new RouteInfo("1018", new string[] { "1024","1033","1042" }),

                #endregion 环形库分流点--环形库取货点

                #region 环形库分流点--桁架分流点

                new RouteInfo("818", new string[] { "855" }), //分拣库二北
                new RouteInfo("1018", new string[] { "1055" }), //分拣库二南

                #endregion 环形库分流点--桁架分流点

                #region 桁架分流点--桁架缓存放行点

                new RouteInfo("855", new string[] { "866","880","894","908", "922","936","950","964","978","991"}), //分拣库二北
                new RouteInfo("1055", new string[] { "1066","1080","1094","1108", "1122","1136","1150","1164","1178","1191"}), //分拣库二南

                #endregion 桁架分流点--桁架缓存放行点

                #region 桁架缓存放行点--桁架取货点

                new("866", new[] { "861" }), //分拣二北侧
                new("880", new[] { "875" }),
                new("894", new[] { "889" }),
                new("908", new[] { "903" }),
                new("922", new[] { "917" }),
                new("936", new[] { "931" }),
                new("950", new[] { "945" }),
                new("964", new[] { "959" }),
                new("978", new[] { "973" }),
                new("991", new[] { "986" }),
                new("1066", new[] { "1061" }),//分拣二南侧
                new("1080", new[] { "1075" }),
                new("1094", new[] { "1089" }),
                new("1108", new[] { "1103" }),
                new("1122", new[] { "1117" }),
                new("1136", new[] { "1131" }),
                new("1150", new[] { "1145" }),
                new("1164", new[] { "1159" }),
                new("1178", new[] { "1173" }),
                new("1191", new[] { "1186" }),

                #endregion 桁架缓存放行点--桁架取货点

                #region 桁架取货点--桁架

                new("861", new[] { "Truss2" }), //分拣二北侧
                new("875", new[] { "Truss2" }),
                new("889", new[] { "Truss2" }),
                new("903", new[] { "Truss2" }),
                new("917", new[] { "Truss2" }),
                new("931", new[] { "Truss2" }),
                new("945", new[] { "Truss2" }),
                new("959", new[] { "Truss2" }),
                new("973", new[] { "Truss2" }),
                new("986", new[] { "Truss2" }),
                new("1061", new[] { "Truss2" }),//分拣二南侧
                new("1075", new[] { "Truss2" }),
                new("1089", new[] { "Truss2" }),
                new("1103", new[] { "Truss2" }),
                new("1117", new[] { "Truss2" }),
                new("1131", new[] { "Truss2" }),
                new("1145", new[] { "Truss2" }),
                new("1159", new[] { "Truss2" }),
                new("1173", new[] { "Truss2" }),
                new("1186", new[] { "Truss2" }),

                #endregion 桁架取货点--桁架

                #region 桁架取货点--码垛工位

                new("861", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705" }), //分拣二北侧
                new("875", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("889", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("903", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("917", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("931", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("945", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("959", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("973", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("986", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705"  }),
                new("1061", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),//分拣二南侧
                new("1075", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1089", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1103", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1117", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1131", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1145", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1159", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1173", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),
                new("1186", new[] { "1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),

                #endregion 桁架取货点--码垛工位

                #region 桁架--码垛工位

                new("Truss2", new[] { "1692","1693","1694","1695", "1700","1701","1702","1703","1704","1705","1707","1708","1709","1710", "1715","1716","1717","1718","1719","1720" }),

                #endregion 桁架--码垛工位

                #region 码垛工位--RGV

                //分拣库二北
                new RouteInfo("1691", new string[] { "RGV3" }),//机械手码垛工位
                new RouteInfo("1696", new string[] { "RGV3" }),
                new RouteInfo("1692", new string[] { "RGV3" }),//绗架码垛工位
                new RouteInfo("1693", new string[] { "RGV3" }),
                new RouteInfo("1694", new string[] { "RGV3" }),
                new RouteInfo("1695", new string[] { "RGV3" }),
                new RouteInfo("1700", new string[] { "RGV3" }),
                new RouteInfo("1701", new string[] { "RGV3" }),
                new RouteInfo("1702", new string[] { "RGV3" }),
                new RouteInfo("1703", new string[] { "RGV3" }),
                new RouteInfo("1704", new string[] { "RGV3" }),
                new RouteInfo("1705", new string[] { "RGV3" }),
                //分拣库二南
                new RouteInfo("1706", new string[] { "RGV4" }),//机械手码垛工位
                new RouteInfo("1711", new string[] { "RGV4" }),
                new RouteInfo("1707", new string[] { "RGV4" }),//绗架码垛工位
                new RouteInfo("1708", new string[] { "RGV4" }),
                new RouteInfo("1709", new string[] { "RGV4" }),
                new RouteInfo("1710", new string[] { "RGV4" }),
                new RouteInfo("1715", new string[] { "RGV4" }),
                new RouteInfo("1716", new string[] { "RGV4" }),
                new RouteInfo("1717", new string[] { "RGV4" }),
                new RouteInfo("1718", new string[] { "RGV4" }),
                new RouteInfo("1719", new string[] { "RGV4" }),
                new RouteInfo("1720", new string[] { "RGV4" }),

                #endregion 码垛工位--RGV

                #region RGV--RGV放货点

                new RouteInfo("RGV3", new string[] { "1624" }),
                new RouteInfo("RGV4", new string[] { "1634" }),

                #endregion RGV--RGV放货点

                #region RGV放货点--堆垛机取货口

                new RouteInfo("1624", new string[] { "1623" }),//北侧
                new RouteInfo("1634", new string[] { "1633" }),//南侧

                #endregion RGV放货点--堆垛机取货口

                #region 二楼堆垛机入库--巷道

                new RouteInfo("1623", new string[] { "TY3" }),//北侧
                new RouteInfo("1633", new string[] { "TY4" }),//南侧

                #endregion 二楼堆垛机入库--巷道

                #region 巷道--堆垛机

                new RouteInfo("TY3", new string[] { "SRM3" }),
                new RouteInfo("TY4", new string[] { "SRM4" }),

                #endregion 巷道--堆垛机

                #region 线体取货位--Robot

                new RouteInfo("824", new string[] { "Robot3" }),
                new RouteInfo("833", new string[] { "Robot3" }),
                new RouteInfo("842", new string[] { "Robot3" }),
                new RouteInfo("1024", new string[] { "Robot4" }),
                new RouteInfo("1033", new string[] { "Robot4" }),
                new RouteInfo("1042", new string[] { "Robot4" }),

                #endregion 线体取货位--Robot

                #endregion 入库
            });

                foreach (var routeInfo in routeInfos)
                {
                    if (routeInfo != null)
                    {
                        var device = Device.All.FirstOrDefault(x => x.Code == routeInfo.DeviceCode);
                        device.AddTarget(routeInfo.NextList);

                        Parallel.ForEach(routeInfo.NextList, next =>
                        {
                            var dev = Device.All.FirstOrDefault(x => x.Code == next);
                            dev.Parent = device;
                        });
                    }
                }

                #endregion 配置路径信息

                #region 添加设备组

                var tuples2 = new List<Tuple<string, List<string>>>()
            {
                //环形库二北侧机械手取货位
                new("824",new List<string> {"824","825"}),
                new("833",new List<string> {"833","834"}),
                new("842",new List<string> {"842","843"}),
                //环形库二南侧侧机械手取货位
                new("1042",new List<string> {"1042","1043"}),
                new("1033",new List<string> {"1033","1034"}),
                new("1024",new List<string> {"1024","1025"}),
            };
                Parallel.ForEach(tuples2, tuple =>
                {
                    var device = Device.All.FirstOrDefault(x => x.Code == tuple.Item1);
                    device.AddDeviceGroup(tuple.Item2.ToArray());
                });

                #endregion 添加设备组
            }

            if (WareHouses.Contains("FJ3"))
            {
                #region 初始化RGV相关信息

                List<RgvSegmentInfo> RgvInfo = new List<RgvSegmentInfo>
                {
                    new RgvSegmentInfo( 5, "10.30.37.133"), //库三北
                    new RgvSegmentInfo( 6, "10.30.37.138"), //库三南
                };

                foreach (var item in RgvInfo)
                {
                    var conv = new Device($"RGV{item.Code}");
                    conv.AddFlag(DeviceFlags.RGV);
                    conv.AddProtocol<IRGV520>(0, 520, item.Ip);
                    conv.AddProtocol<IRGV521>(0, 521, item.Ip);
                    //conv.AddProtocol<IStation523>(, 523, item.IP);
                }

                #endregion 初始化RGV相关信息

                #region 初始化输送机相关信息

                #region 基本信息

                #region 托盘线输送线

                var tuples = new List<Tuple<string, List<Tuple<int, int>>>>
            {
                //分拣库三
                new("10.30.37.105",new List<Tuple<int, int>>()
                {
                    new(1641, 1660),
                    new(3301, 3340),
                    new(3501, 3540),
                    new(1721, 1750)
                })
            };

                foreach (var item in tuples)
                {
                    var db520 = 0;
                    var db521 = 0;
                    var db523 = 0;
                    foreach (var item1 in item.Item2)
                    {
                        for (var i = item1.Item1; i <= item1.Item2; i++)
                        {
                            var conv = new Device(i.ToString());
                            conv.AddFlag(DeviceFlags.输送机);

                            conv.AddProtocol<IStation520>(db520, 520, item.Item1);
                            conv.AddProtocol<IStation521>(db521, 521, item.Item1);
                            conv.AddProtocol<IStation523>(db523, 523, item.Item1);

                            db520 += 14;
                            db521 += 16;
                            db523 += 12;
                        }
                    }
                }

                #endregion 托盘线输送线

                #region 满轮输送线

                #region DB523，所有线体都会有DB523

                var mLtuples523 = new List<Tuple<string, List<Tuple<int, int>>>>()
            {
                new("10.30.37.166",new List<Tuple<int, int>>() //北侧满轮主线
                {
                    new(1, 100),
                    new(9001, 9010),//暂用，无意义
                    new(401, 599),
                    new(801,999),
                    new(1201,1399),
                }),
                new("10.30.37.198",new List<Tuple<int, int>>() //南侧满轮主线
                {
                    new(101, 210),
                    new(601, 799),
                    new(1001, 1199),
                    new(1401,1599),
                    new(341,379),
                })
            };

                foreach (var item in mLtuples523)
                {
                    var db523 = 0;
                    var db524 = 0;
                    foreach (var item1 in item.Item2)
                    {
                        for (var i = item1.Item1; i <= item1.Item2; i++)
                        {
                            var conv = new Device(i.ToString());
                            conv.AddFlag(DeviceFlags.输送机);
                            conv.AddProtocol<IStation523>(db523, 523, item.Item1);
                            conv.AddProtocol<IStation524>(db524, 524, item.Item1);

                            db523 += 12;
                            db524 += 16;
                        }
                    }
                }

                #endregion DB523，所有线体都会有DB523

                #region 520、521 交互线体会有520、521

                //Item2表示线体号集合，Item1表示IP
                var mLTuples520 = new List<Tuple<string, List<int>>>()
            {
                //北侧
                new("10.30.37.166",new List<int>() {1,22,41,61,418,426,435,444,455,466,480,494,508,522,536,550,564,578,591,818,826,835,844,855,866,880,894,908,922,936,950,964,978,991,1218,1226,1235,1244,1255,1266,1280,1294,1308,1322,1336,1350,1364,1378,1391}),
                //南侧
                new("10.30.37.198",new List<int>(){101,122,141,161,618,626,635,644,655,666,680,694,708,722,736,750,764,778,791,1018,1026,1035,1044,1055,1066,1080,1094,1108,1122,1136,1150,1164,1178,1191,1418,1426,1435,1444,1455,1466,1480,1494,1508,1522,1536,1550,1564,1578,1591})
            };

                foreach (var item in mLTuples520)
                {
                    var db520 = 0;
                    var db521 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        if (device != null)
                        {
                            device.AddProtocol<IStation520>(db520, 520, item.Item1);
                            device.AddProtocol<IStation521>(db521, 521, item.Item1);
                        }

                        db520 += 14;
                        db521 += 16;
                    }
                }

                #endregion 520、521 交互线体会有520、521

                #region 满轮扫码器

                //Item2表示线体号集合，Item1表示IP
                var mLTuples83 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){3,14,18,22,38,323,41,58,61}) ,
                new("10.30.37.198",new List<int>(){101,114,118,122,138,363,141,158,161})
            };

                foreach (var item in mLTuples83)
                {
                    var db83 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        device?.AddProtocol<IBCR83>(db83, 83, item.Item1);

                        db83 += 604;
                    }
                }

                #endregion 满轮扫码器

                #region 满轮线告诉分拣预分配

                //Item2表示线体号集合，Item1表示IP
                var mLTuples525 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){18,38,58}),
                new("10.30.37.198",new List<int>(){118,138,158}),
            };

                foreach (var item in mLTuples525)
                {
                    var db525 = 0;

                    foreach (var device in item.Item2.Select(item1 => Device.All.FirstOrDefault(v => v.Code == item1.ToString())))
                    {
                        device?.AddProtocol<IStation525>(db525, 525, item.Item1);
                        db525 += 3266;
                    }
                }

                #endregion 满轮线告诉分拣预分配

                #region 外检信息

                //Item2表示线体号集合，Item1表示IP
                var mLTuples91 = new List<Tuple<string, List<int>>>()
            {
                new("10.30.37.166",new List<int>(){418,818,1218}),
                new("10.30.37.198",new List<int>(){618,1018,1418})
            };

                foreach (var item in mLTuples91)
                {
                    var db91 = 0;

                    foreach (var device in item.Item2.Select(item2 => Device.All.FirstOrDefault(v => v.Code == item2.ToString())))
                    {
                        device?.AddProtocol<IStation91>(db91, 91, item.Item1);
                        db91 += 14;
                    }
                }

                #endregion 外检信息

                #endregion 满轮输送线

                #endregion 基本信息

                #region 托盘线扫码器

                var bcrInfo = new List<BcrInfo>
            {
                new(new [] { "3332", "3532" }, "10.30.37.105"),
                new(new [] {"RGV5"},"10.30.37.133"),
                new(new [] {"RGV6"},"10.30.37.138")
            };

                foreach (var item in bcrInfo)
                {
                    for (var i = 0; i < item.DeviceNo.Length; i++)
                    {
                        var device = Device.All.FirstOrDefault(v => v.Code == item.DeviceNo[i]);
                        device.AddFlag(DeviceFlags.扫码);
                        var pos = i * 130;
                        device.AddProtocol<IBCR81>(pos, 81, item.Ip);
                    }
                }

                #endregion 托盘线扫码器

                #region 外检信息

                List<ShapeInfo> shapeInfo = new List<ShapeInfo>
            {
                new ShapeInfo(new int[] { 3332,3532 }, "10.30.37.105")
            };

                foreach (var item in shapeInfo)
                {
                    for (int i = 0; i < item.DeviceNo.Length; i++)
                    {
                        var conv = Device.All.FirstOrDefault(x => x.Code == item.DeviceNo[i].ToString());
                        conv.AddFlag(DeviceFlags.外检);
                        int pos = i * 14;
                        conv.AddProtocol<IStation91>(pos, 91, item.Ip);
                    }
                }

                #endregion 外检信息

                #endregion 初始化输送机相关信息

                #region 初始化桁架相关信息

                List<TrussSegmentInfo> TrussInfo = new List<TrussSegmentInfo>
            {
                new TrussSegmentInfo( 3, "10.30.37.223")
            };

                foreach (var item in TrussInfo)
                {
                    var conv = new Device($"Truss{item.Code}");
                    conv.AddFlag(DeviceFlags.桁架);
                    conv.AddProtocol<ITruss520>(0, 520, item.Ip);
                    conv.AddProtocol<ITruss521>(0, 521, item.Ip);
                    conv.AddProtocol<ITruss523>(0, 523, item.Ip);
                }

                var tuples1 = new List<Tuple<string, List<int>>>
            {
                //桁架
                new("10.30.37.223",new  List<int>(){1745,1746,1747,1748,1749,1750,1735,1734,1733,1732,1731,1730,1737,1738,1739,1740,1725,1724,1723,1722,1656,1646}), //分拣库三
            };

                foreach (var item in tuples1)
                {
                    var db530 = 0;
                    var db531 = 0;
                    foreach (var conv in item.Item2.Select(item1 => Device.All.FirstOrDefault(x => x.Code == item1.ToString())))
                    {
                        conv!.AddProtocol<ITruss530>(db530, 530, item.Item1);
                        conv!.AddProtocol<ITruss531>(db531, 531, item.Item1);

                        db530 += 18;
                        db531 += 250;
                        if (conv.Code == "1662")
                        {
                            var a = 0;
                        }
                    }
                }

                var tuples21 = new List<Tuple<string, List<int>>>
            {
                //机械臂
                new("10.30.37.238",new  List<int>(){ 1726, 1721}), //库三北
                new("10.30.37.240",new  List<int>(){ 1741, 1736}), //库三南
            };

                foreach (var item in tuples21)
                {
                    var db530 = 0;
                    var db531 = 0;
                    foreach (var conv in item.Item2.Select(item1 => Device.All.FirstOrDefault(x => x.Code == item1.ToString())))
                    {
                        conv!.AddProtocol<IRobot530>(db530, 530, item.Item1);
                        conv!.AddProtocol<IRobot531>(db531, 531, item.Item1);
                        db530 += 8;
                        db531 += 130;
                    }
                }

                #endregion 初始化桁架相关信息

                #region 初始化机械臂相关信息

                List<TrussSegmentInfo> TrussInfo1 = new List<TrussSegmentInfo>
            {
                new( 5, "10.30.37.238"),
                new( 6, "10.30.37.240"),
            };

                foreach (var item in TrussInfo1)
                {
                    var conv = new Device($"Robot{item.Code}");
                    conv.AddFlag(DeviceFlags.Robot);
                    conv.AddProtocol<IRobot520>(0, 520, item.Ip);
                    conv.AddProtocol<IRobot521>(0, 521, item.Ip);
                    conv.AddProtocol<IRobot522>(0, 522, item.Ip);
                }

                #endregion 初始化机械臂相关信息

                #region 初始化堆垛机相关信息

                int ip = 7;

                for (int i = 73; i <= 1; i++)
                {
                    var srm = new Device($"SRM{i + 1}");
                    srm.AddFlag(DeviceFlags.堆垛机);
                    ip = i == 0 ? ip : ip + 8;
                    //三台堆垛机IP主机位分别是 41、49、57、65、73、8
                    srm.AddProtocol<ISRM520>(0, 520, $"10.30.37.{ip}");
                    srm.AddProtocol<ISRM521>(0, 521, $"10.30.37.{ip}");
                    srm.AddProtocol<ISRM523>(0, 537, $"10.30.37.{ip}");

                    //增加巷道
                    var tunnel = new Device($"TY{i + 1}");
                    tunnel.AddFlag(DeviceFlags.巷道);
                }

                #endregion 初始化堆垛机相关信息

                #region 配置路径信息

                List<RouteInfo> routeInfos = new List<RouteInfo>();

                routeInfos.AddRange(new List<RouteInfo>() {

                #region 出库

                #region 堆垛机--巷道

                new RouteInfo("SRM5", new string[] { "TY5" }),
                new RouteInfo("SRM6", new string[] { "TY6" }),

                #endregion 堆垛机--巷道

                #region 巷道--一楼堆垛机放货口

                new RouteInfo("TY5", new string[] { "3332","3334","3333" }), //人工取货口
                new RouteInfo("TY6", new string[]{ "3532","3534","3533" }),

                #endregion 巷道--一楼堆垛机放货口

                #region 巷道--二楼堆垛机放货口

                new RouteInfo("TY5", new string[] { "1641","1645" }),
                new RouteInfo("TY6", new string[] { "1651","1655" }),

                #endregion 巷道--二楼堆垛机放货口

                #region 二楼堆垛机放货口--二楼拆盘机

                //库三
                new RouteInfo("1641", new string[] { "1642" }),//非09拆盘机
                new RouteInfo("1651", new string[] { "1652"}),
                new RouteInfo("1645", new string[] { "1646" }),//09拆盘机
                new RouteInfo("1655", new string[] { "1656" }),

                #endregion 二楼堆垛机放货口--二楼拆盘机

                #region 二楼拆盘机--RGV

                //库三
                new RouteInfo("1642", new string[] { "RGV5" }),//非09拆盘机
                new RouteInfo("1652", new string[] { "RGV6"}),
                new RouteInfo("1646", new string[] { "RGV5" }),//09拆盘机
                new RouteInfo("1656", new string[] { "RGV6" }),

                #endregion 二楼拆盘机--RGV

                #region RGV--码垛区域

                //库三
                new RouteInfo("RGV5", new string[] { "1721","1726" }),//北区机械臂码垛区
                new RouteInfo("RGV5", new string[] { "1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"}),//桁架北区码垛站台
                new RouteInfo("RGV6", new string[] { "1736","1741" }),
                new RouteInfo("RGV6", new string[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),

                #endregion RGV--码垛区域

                #region Robot--码垛工位

                //库三
                new RouteInfo("Robot5", new string[] { "1721" }),
                new RouteInfo("Robot5", new string[] { "1726" }),
                new RouteInfo("Robot6", new string[] { "1736" }),
                new RouteInfo("Robot6", new string[] { "1741" }),

                #endregion Robot--码垛工位

                #endregion 出库

                #region 入库

                #region 一楼人工入库口-巷道

                new RouteInfo("3332", new string[] { "TY5" }), //分拣库三
                new RouteInfo("3532", new string[] { "TY6" }),

                #endregion 一楼人工入库口-巷道

                #region 一楼叠盘机(堆垛机入口)--巷道

                new RouteInfo("3327", new string[] { "TY5" }), //分拣库三
                new RouteInfo("3328", new string[] { "TY5" }),
                new RouteInfo("3527", new string[] { "TY6" }),
                new RouteInfo("3528", new string[] { "TY6" }),

                #endregion 一楼叠盘机(堆垛机入口)--巷道

                #region 环形库分流点--环形库取货点

                new RouteInfo("1218", new string[] { "1224","1233","1242" }),
                new RouteInfo("1418", new string[] { "1424","1433","1442" }),

                #endregion 环形库分流点--环形库取货点

                #region 主线

                //北侧

                new RouteInfo("58", new string[] { "61" }),
                //南侧

                new RouteInfo("158", new string[] { "161" }),

                #endregion 主线

                #region 主线分流点--环形库分流点

                new RouteInfo("61", new string[] { "1218" }), //分拣库三北
                new RouteInfo("161", new string[] { "1418" }), //分拣库三南

                #endregion 主线分流点--环形库分流点

                #region 环形库分流点--桁架分流点

                new RouteInfo("1218", new string[] { "1255" }), //分拣库三北
                new RouteInfo("1418", new string[] { "1455" }), //分拣库三南

                #endregion 环形库分流点--桁架分流点

                #region 桁架分流点--桁架缓存放行点

                new RouteInfo("1255", new string[] { "1266","1280","1294","1308", "1322","1336","1350","1364","1378", "1391"}), //分拣库三北
                new RouteInfo("1455", new string[] { "1466","1480","1494","1508", "1522","1536","1550","1564","1578","1591"}), //分拣库三南

                #endregion 桁架分流点--桁架缓存放行点

                #region 桁架缓存放行点--桁架取货点

                new("1266", new[] { "1261" }), //分拣三北侧
                new("1280", new[] { "1275" }),
                new("1294", new[] { "1289" }),
                new("1308", new[] { "1303" }),
                new("1322", new[] { "1317" }),
                new("1336", new[] { "1331" }),
                new("1350", new[] { "1345" }),
                new("1364", new[] { "1359" }),
                new("1378", new[] { "1373" }),
                new("1391", new[] { "1386" }),
                new("1466", new[] { "1461" }),//分拣三南侧
                new("1480", new[] { "1475" }),
                new("1494", new[] { "1489" }),
                new("1508", new[] { "1503" }),
                new("1522", new[] { "1517" }),
                new("1536", new[] { "1531" }),
                new("1550", new[] { "1545" }),
                new("1564", new[] { "1559" }),
                new("1578", new[] { "1573" }),
                new("1591", new[] { "1586" }),

                #endregion 桁架缓存放行点--桁架取货点

                #region 桁架取货点--桁架

                new("1261", new[] { "Truss3" }), //分拣三北侧
                new("1275", new[] { "Truss3" }),
                new("1289", new[] { "Truss3" }),
                new("1303", new[] { "Truss3" }),
                new("1317", new[] { "Truss3" }),
                new("1331", new[] { "Truss3" }),
                new("1345", new[] { "Truss3" }),
                new("1359", new[] { "Truss3" }),
                new("1373", new[] { "Truss3" }),
                new("1386", new[] { "Truss3" }),
                new("1461", new[] { "Truss3" }),//分拣三南侧
                new("1475", new[] { "Truss3" }),
                new("1489", new[] { "Truss3" }),
                new("1503", new[] { "Truss3" }),
                new("1517", new[] { "Truss3" }),
                new("1531", new[] { "Truss3" }),
                new("1545", new[] { "Truss3" }),
                new("1559", new[] { "Truss3" }),
                new("1573", new[] { "Truss3" }),
                new("1586", new[] { "Truss3" }),

                #endregion 桁架取货点--桁架

                #region 桁架取货点--码垛工位

                new("1261", new[] { "1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735" }), //分拣三北侧
                new("1275", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1289", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1303", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1317", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1331", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1345", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1359", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1373", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1386", new[] {"1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735"  }),
                new("1461", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),//分拣三南侧
                new("1475", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1489", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1503", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1517", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1531", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1545", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1559", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1573", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),
                new("1586", new[] { "1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750" }),

                #endregion 桁架取货点--码垛工位

                #region 桁架--码垛工位

                new("Truss3", new[] { "1722","1723","1724","1725", "1730","1731","1732","1733","1734","1735","1737","1738","1739","1740", "1745","1746","1747","1748","1749","1750"}),

                #endregion 桁架--码垛工位

                #region 码垛工位--RGV

                //分拣库三北
                new RouteInfo("1721", new string[] { "RGV5" }),//机械手码垛工位
                new RouteInfo("1726", new string[] { "RGV5" }),
                new RouteInfo("1722", new string[] { "RGV5" }),//绗架码垛工位
                new RouteInfo("1723", new string[] { "RGV5" }),
                new RouteInfo("1724", new string[] { "RGV5" }),
                new RouteInfo("1725", new string[] { "RGV5" }),
                new RouteInfo("1730", new string[] { "RGV5" }),
                new RouteInfo("1731", new string[] { "RGV5" }),
                new RouteInfo("1732", new string[] { "RGV5" }),
                new RouteInfo("1733", new string[] { "RGV5" }),
                new RouteInfo("1734", new string[] { "RGV5" }),
                new RouteInfo("1735", new string[] { "RGV5" }),
                //分拣库三南
                new RouteInfo("1736", new string[] { "RGV6" }),//机械手码垛工位
                new RouteInfo("1741", new string[] { "RGV6" }),
                new RouteInfo("1737", new string[] { "RGV6" }),//绗架码垛工位
                new RouteInfo("1738", new string[] { "RGV6" }),
                new RouteInfo("1739", new string[] { "RGV6" }),
                new RouteInfo("1740", new string[] { "RGV6" }),
                new RouteInfo("1745", new string[] { "RGV6" }),
                new RouteInfo("1746", new string[] { "RGV6" }),
                new RouteInfo("1747", new string[] { "RGV6" }),
                new RouteInfo("1748", new string[] { "RGV6" }),
                new RouteInfo("1749", new string[] { "RGV6" }),
                new RouteInfo("1750", new string[] { "RGV6" }),

                #endregion 码垛工位--RGV

                #region RGV--RGV放货点

                new RouteInfo("RGV5", new string[] { "1644" }),
                new RouteInfo("RGV6", new string[] { "1654" }),

                #endregion RGV--RGV放货点

                #region RGV放货点--堆垛机取货口

                new RouteInfo("1644", new string[] { "1643" }),//北侧
                new RouteInfo("1654", new string[] { "1653" }),//南侧

                #endregion RGV放货点--堆垛机取货口

                #region 二楼堆垛机入库--巷道

                new RouteInfo("1643", new string[] { "TY5" }),//北侧
                new RouteInfo("1653", new string[] { "TY6" }),//南侧

                #endregion 二楼堆垛机入库--巷道

                #region 巷道--堆垛机

                new RouteInfo("TY5", new string[] { "SRM5" }),
                new RouteInfo("TY6", new string[] { "SRM6" }),

                #endregion 巷道--堆垛机

                #region 线体取货位--Robot

                new RouteInfo("1224", new string[] { "Robot5" }),
                new RouteInfo("1233", new string[] { "Robot5" }),
                new RouteInfo("1242", new string[] { "Robot5" }),
                new RouteInfo("1424", new string[] { "Robot6" }),
                new RouteInfo("1433", new string[] { "Robot6" }),
                new RouteInfo("1442", new string[] { "Robot6" })

                #endregion 线体取货位--Robot

                #endregion 入库
            });

                foreach (var routeInfo in routeInfos)
                {
                    if (routeInfo != null)
                    {
                        var device = Device.All.FirstOrDefault(x => x.Code == routeInfo.DeviceCode);
                        device.AddTarget(routeInfo.NextList);

                        Parallel.ForEach(routeInfo.NextList, next =>
                        {
                            var dev = Device.All.FirstOrDefault(x => x.Code == next);
                            dev.Parent = device;
                        });
                    }
                }
                //Parallel.ForEach(routeInfos, routeInfo =>
                //{
                //});

                #endregion 配置路径信息

                #region 添加设备组

                var tuples2 = new List<Tuple<string, List<string>>>()
            {
                ////环形库三北侧机械手取货位
                new("1224",new List<string> {"1224","1225"}),
                new("1233",new List<string> {"1233","1234"}),
                new("1242",new List<string> {"1242","1243"}),
                ////环形库三南侧侧机械手取货位
                new("1442",new List<string> {"1442","1443"}),
                new("1433",new List<string> {"1433","1434"}),
                new("1424",new List<string> {"1424","1425"}),
            };
                Parallel.ForEach(tuples2, tuple =>
                {
                    var device = Device.All.FirstOrDefault(x => x.Code == tuple.Item1);
                    device.AddDeviceGroup(tuple.Item2.ToArray());
                });

                #endregion 添加设备组
            }

            #region 标签配置

            Dictionary<DeviceFlags, List<string>> devices = new Dictionary<DeviceFlags, List<string>>();
            if (WareHouses.Contains("FJ1"))
            {
                devices = new Dictionary<DeviceFlags, List<string>>
                {
                     { DeviceFlags.一楼叠盘机,new List<string>() { "2527", "2528", "2727", "2728" } },
                     { DeviceFlags.桁架分流点,new List<string>() { "455", "655" } },
                     { DeviceFlags.桁架缓存放行点, new List<string>(){ "466", "480", "494", "508", "522", "536", "550", "564", "578", "591", "666", "680", "694", "708", "722", "736", "750", "764", "778", "791",} },
                     { DeviceFlags.桁架09缓存放行点, new List<string>(){"1266", "1280", "1294", "1308", "1322", "1336",  "1466", "1480", "1494", "1508", "1522", "1536" } },
                     { DeviceFlags.桁架09异常缓存放行点, new List<string>(){ "591", "791" } },
                     { DeviceFlags.桁架18缓存放行点, new List<string>(){ "550", "564", "578", "750", "764", "778" } },
                     { DeviceFlags.桁架取货点, new List<string>(){ "461", "475", "489", "503", "517", "531", "545", "559", "573", "586", "661", "675", "689", "703", "717", "731", "745", "759", "773", "786"} },
                     { DeviceFlags.桁架18取货点, new List<string>(){ "545", "559", "573", "945", "959", "973", "1345", "1359", "1373", "745", "759", "773", "1145", "1159", "1173", "1545", "1559", "1573" } },
                     { DeviceFlags.拆盘机, new List<string>(){ "1602", "1612" } },
                     { DeviceFlags.桁架码垛位, new List<string>(){ "1670","1671","1672","1673","1674","1675","1664","1662","1663","1665","1677","1678","1679","1680","1685","1686","1687","1688","1689","1690","1606","1616"} },
                     { DeviceFlags.环形库码垛工位, new List<string>(){ "1666", "1661", "1676", "1681" } },
                     { DeviceFlags.AGV取货站台口, new List<string>(){ "2533", "2534", "2734", "2733"} },
                     { DeviceFlags.Robot, new List<string>(){ "Robot1", "Robot2" } },
                     {DeviceFlags.二次码垛RGV取货口, new List<string>(){ "1606", "1616"}}
                 };
            }
            if (WareHouses.Contains("FJ2"))
            {
                devices = new Dictionary<DeviceFlags, List<string>>
                {
                     { DeviceFlags.一楼叠盘机,new List<string>() {  "2927", "2928", "3127", "3128", } },
                     { DeviceFlags.桁架分流点,new List<string>() { "855", "1055" } },
                     { DeviceFlags.桁架缓存放行点, new List<string>(){ "866", "880", "894", "908", "922", "936", "950", "964", "978", "991", "1066", "1080", "1094", "1108", "1122", "1136", "1150", "1164", "1178", "1191",} },
                     { DeviceFlags.桁架09缓存放行点, new List<string>(){ "866", "880", "894", "908", "922", "936", "1066", "1080", "1094", "1108", "1122", "1136"} },
                     { DeviceFlags.桁架09异常缓存放行点, new List<string>(){  "991" , "1191"  } },
                     { DeviceFlags.桁架18缓存放行点, new List<string>(){  "950", "964", "978" , "1150", "1164", "1178"} },
                     { DeviceFlags.桁架取货点, new List<string>(){ "861", "875", "889", "903", "917", "931", "945", "959", "973", "986", "1061", "1075", "1089", "1103", "1117", "1131", "1145", "1159", "1173", "1186"} },
                     { DeviceFlags.桁架18取货点, new List<string>(){ "545", "559", "573", "945", "959", "973", "1345", "1359", "1373", "745", "759", "773", "1145", "1159", "1173", "1545", "1559", "1573" } },
                     { DeviceFlags.拆盘机, new List<string>(){  "1622", "1632" } },
                     { DeviceFlags.桁架码垛位, new List<string>(){"1692","1693","1694","1695","1700","1701","1702","1703","1704","1705","1707","1708","1709","1710","1715","1716","1717","1718","1719","1720","1626","1636" } },
                     { DeviceFlags.环形库码垛工位, new List<string>(){"1691", "1696", "1706", "1711" } },
                     { DeviceFlags.AGV取货站台口, new List<string>(){"2934","2933","3133", "3134"} },
                     { DeviceFlags.Robot, new List<string>(){  "Robot3", "Robot4"  } },
                     {DeviceFlags.二次码垛RGV取货口, new List<string>(){  "1626","1636"}}
                 };
            }
            if (WareHouses.Contains("FJ3"))
            {
                devices = new Dictionary<DeviceFlags, List<string>>
                {
                     { DeviceFlags.一楼叠盘机,new List<string>() {  "3327", "3328", "3527", "3528" } },
                     { DeviceFlags.桁架分流点,new List<string>() { "1255", "1455" } },
                     { DeviceFlags.桁架缓存放行点, new List<string>(){  "1266", "1280", "1294", "1308", "1322", "1336", "1350", "1364", "1378", "1391", "1466", "1480", "1494", "1508", "1522", "1536", "1550", "1564", "1578", "1591"} },
                     { DeviceFlags.桁架09缓存放行点, new List<string>(){ "1266", "1280", "1294", "1308", "1322", "1336",  "1466", "1480", "1494", "1508", "1522", "1536" } },
                     { DeviceFlags.桁架09异常缓存放行点, new List<string>(){  "1391" , "1591" } },
                     { DeviceFlags.桁架18缓存放行点, new List<string>(){ "1350", "1364", "1378", "1550", "1564", "1578" } },
                     { DeviceFlags.桁架取货点, new List<string>(){"1261", "1275", "1289", "1303", "1317", "1331", "1345", "1359", "1373", "1386" , "1461", "1475", "1489", "1503", "1517", "1531", "1545", "1559", "1573", "1586" } },
                     { DeviceFlags.桁架18取货点, new List<string>(){ "545", "559", "573", "945", "959", "973", "1345", "1359", "1373", "745", "759", "773", "1145", "1159", "1173", "1545", "1559", "1573" } },
                     { DeviceFlags.拆盘机, new List<string>(){  "1642", "1652" } },
                     { DeviceFlags.桁架码垛位, new List<string>(){"1722","1723","1724","1725","1730","1731","1732","1733","1734","1735","1737","1738","1739","1740","1745","1746","1747","1748","1749","1750","1646","1656"} },
                     { DeviceFlags.环形库码垛工位, new List<string>(){"1721", "1726", "1736", "1741" } },
                     { DeviceFlags.AGV取货站台口, new List<string>(){"3333","3334","3533","3534"} },
                     { DeviceFlags.Robot, new List<string>(){  "Robot5", "Robot6" } },
                     {DeviceFlags.二次码垛RGV取货口, new List<string>(){ "1646","1656"}}
                 };
            }

            Parallel.ForEach(devices, device =>
            {
                Parallel.ForEach(device.Value, value =>
                {
                    var dev = Device.All.FirstOrDefault(v => v.Code == value);
                    if (dev != null)
                    {
                        dev.AddFlag(device.Key);
                    }
                });
            });

            #endregion 标签配置
        }

        /// <summary>
        ///  初始化数据库连接
        /// </summary>
        /// <param name="datas"></param>
        public static void InitDB(this List<DataBaseConnectionString> datas)
        {
            //初始化数据库
            SqlSugarHelper.Do(db =>
            {
                foreach (var connectionString in datas!)
                {
                    var _db = db.Connect.GetConnectionScope(connectionString.Key);
                    switch (connectionString.Key)
                    {
                        case "WCSDB"://WCS基本数据库
                            SqlSugarHelper.SetDefault(connectionString.Key);
                            //_db.CodeFirst.InitTables(typeof(WCS_PlcData));
                            //_db.CodeFirst.InitTables(typeof(WCS_TaskInfo));
                            //_db.CodeFirst.InitTables(typeof(WCS_TaskDtl));
                            //_db.CodeFirst.InitTables(typeof(WCS_TaskOld));
                            //_db.CodeFirst.InitTables(typeof(WCS_AgvTaskInfo));
                            //_db.CodeFirst.InitTables(typeof(WCS_Palletizing));
                            //_db.CodeFirst.InitTables(typeof(WCS_PalletizingLayer));
                            //_db.CodeFirst.InitTables(typeof(WCS_PalletizingRow));
                            //_db.CodeFirst.InitTables(typeof(WCS_PalletizingLoc));
                            //_db.CodeFirst.InitTables(typeof(WCS_CacheLine));
                            //_db.CodeFirst.InitTables(typeof(WCS_CacheLineLoc));

                            break;

                        case "WCSDlog"://WCS日志数据库

                            break;

                        case "PLC"://PLC

                            SqlSugarHelper.SetPLC(connectionString.Key);

                            //_db.DbMaintenance.CreateDatabase();
                            //_db.CodeFirst.InitTables<WCS_Log>();
                            //_db.CodeFirst.InitTables<WCS_SRM520>();
                            //_db.CodeFirst.InitTables<WCS_SRM521>();
                            //_db.CodeFirst.InitTables<WCS_SRM537>();
                            //_db.CodeFirst.InitTables<WCS_RGV520>();
                            //_db.CodeFirst.InitTables<WCS_RGV521>();
                            //_db.CodeFirst.InitTables<WCS_BCR80>();
                            //_db.CodeFirst.InitTables<WCS_BCR81>();
                            //_db.CodeFirst.InitTables<WCS_BCR83>();
                            //_db.CodeFirst.InitTables<WCS_Station520>();
                            //_db.CodeFirst.InitTables<WCS_Station521>();
                            //_db.CodeFirst.InitTables<WCS_Station523>();
                            //_db.CodeFirst.InitTables<WCS_Station524>();
                            //_db.CodeFirst.InitTables<WCS_Station525>();
                            //_db.CodeFirst.InitTables<WCS_Station90>();
                            //_db.CodeFirst.InitTables<WCS_Station91>();
                            //_db.CodeFirst.InitTables<WCS_Truss520>();
                            //_db.CodeFirst.InitTables<WCS_Truss521>();
                            //_db.CodeFirst.InitTables<WCS_Truss523>();
                            //_db.CodeFirst.InitTables<WCS_Truss530>();
                            //_db.CodeFirst.InitTables<WCS_Truss531>();
                            //_db.CodeFirst.InitTables<WCS_Robot520>();
                            //_db.CodeFirst.InitTables<WCS_Robot521>();
                            //_db.CodeFirst.InitTables<WCS_Robot522>();
                            //_db.CodeFirst.InitTables<WCS_Robot530>();
                            //_db.CodeFirst.InitTables<WCS_Robot531>();
                            //var a = false;
                            break;

                        default: //其他库
                            break;
                    };
                };
            });
        }
    }

    public class DevDbConfig<T>
    {
        public DevDbConfig()
        {
        }

        public DevDbConfig(string ip, T code)
        {
            IP = ip;
            Code = code;
        }

        public DevDbConfig(string ip, List<DevInterval<T>> devIntervalList)
        {
            IP = ip;
            DevIntervalList = devIntervalList;
        }

        public DevDbConfig(string ip, List<T> devCodeList)
        {
            IP = ip;
            DevCodeList = devCodeList;
        }

        public string IP { get; set; }

        public T Code { get; set; }

        public T StartCode { get; set; }

        public T EndCode { get; set; }

        public List<T> DevCodeList { get; set; }

        public List<DevInterval<T>> DevIntervalList { get; set; }
    }

    public class DevInterval<T>
    {
        public DevInterval(T s, T e)
        {
            StartCode = s;
            EndCode = e;
        }

        public T StartCode { get; set; }

        public T EndCode { get; set; }
    }
}