using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Web.Script.Serialization;
using AGVControl;
using RestSharp;

namespace BLL
{
    public class Control
    {
        private bool loop;
        //private int areaC_Index;
        private Thread tAgvCall;
        private Thread tAgvState;
        //public List<string> Marks;
        private const int REG_STATUS = 20;
        //private List<string> shelfLockedNodeNames;
        public delegate void AgvChangedEvent(int agvIndex);
        public event AgvChangedEvent AgvChanged;
        public event AgvChangedEvent AgvOnline;

        public Control()
        {

        }

        public void Start()
        {
            loop = true;
            tAgvState = new Thread(new ThreadStart(AgvState));
            tAgvCall = new Thread(new ThreadStart(AgvCall));
            tAgvState.Start();
            tAgvCall.Start();
        }

        public void Stop()
        {
            loop = false;
        }



        private void AgvState()
        {
            bool rtn;

            while (loop)
            {
                Thread.Sleep(1000);

                for (int i = 0; i < Common.agvInfo.Count; i++)
                {
                    if (!CheckOnline(i)) continue;
                    if (!loop) break;

                    //获取AGV状态
                    rtn = Common.mir.Get_State(Common.agvInfo[i], out int stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position);
                     Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
                    bool change = false;
                    if (rtn) change = Common.agvInfo[i].SetState(stateID, stateText, battery, mission_text, position,input,output);

                    //上报异常
                    if (Common.agvInfo[i].MissionText != mission_text)
                    {
                        Common.agvInfo[i].MissionText = mission_text;
                        if (mission_text.Equals("停靠") || mission_text.ToLower().Equals("DOCKING"))
                        {
                            Common.agvInfo[i].DockingInfo.startTime = DateTime.Now;
                            Common.agvInfo[i].DockingInfo.IsDocking = true;
                        }
                    }
                    bool isAlarm = false;
                    List<AlarmMsg> msglist = new List<AlarmMsg>();
                    if (Common.agvInfo[i].DockingInfo.IsDocking && (DateTime.Now - Common.agvInfo[i].DockingInfo.startTime).TotalMinutes.Equals(1))
                    {
                        isAlarm = true;
                        Common.agvInfo[i].DockingInfo.IsDocking = false;
                        msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv." + Common.agvInfo[i].Name + ".Docking", mission_text));
                    }
                    if (battery <= 10)
                    {
                        isAlarm = true;
                        msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv." + Common.agvInfo[i].Name + ".battery", "电量 " + battery.ToString() + "%"));
                    }
                    if (stateText.Equals("Error") || stateText.Equals("EmergencyStop") || stateText.Equals("Pause"))
                    {
                        isAlarm = true;
                        msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv." + Common.agvInfo[i].Name + ".Error.EmergencyStop", "agv状态 " + stateText));
                    }
                    if (isAlarm)
                        BLL.AGVManager.updateDeviceAlarmMsg(msglist);


                    //获取地点任务状态
                    Thread.Sleep(50);
                    rtn = Common.mir.Get_Register(Common.agvInfo[i], REG_STATUS, out int regValue);
                    if (rtn) Common.agvInfo[i].GetPlace(regValue);

                    if (change)
                    {
                        Common.LogInfo(string.Format("{0} Get_State StateID={1}, StateText={2}, Battery={3}, Mission_text={4}", Common.agvInfo[i].Name, stateID, stateText, battery, mission_text), false);
                    }
                    //执行任务更新状态
                    if (stateID == 5 || change)
                    {
                        Common.log.Debug(string.Format("{0} Get_Register PLC{1}={2}", Common.agvInfo[i].Name, REG_STATUS, regValue));
                        AgvChanged?.Invoke(i);
                    }

                    //获取任务队列
                    //rtn = Common.mir.Get_Mission_Queue(Common.agvInfo[i], out List<string> mission);
                    //if (rtn)
                    //{
                    //    string[] arr = new string[mission.Count];
                    //    for (int j = 0; j < mission.Count; j++)
                    //        arr[j] = Common.agvMission.FirstOrDefault(q => q.Value == mission[j]).Key;
                    //    string missionKey = string.Join(",", arr);
                    //    if (Common.agvInfo[i].MissionQueue != missionKey)
                    //    {
                    //        Common.agvInfo[i].MissionQueue = missionKey;
                    //        AgvChanged?.Invoke(i);
                    //    }
                    //}

                }
            }
        }

        private void AgvCall()
        {
            while (loop)
            {
                Thread.Sleep(1000);
                for (int i = 0; i < Common.agvInfo.Count; i++)
                {
                    if (!loop) break;
                    if (!Common.agvInfo[i].IsCon) continue;   //AGV网络连接
                    if (!Common.agvInfo[i].IsUse) continue;   //AGV是否可用

                    //Ready,Pause,Executing
                    if (Common.agvInfo[i].StateID != 3 && Common.agvInfo[i].StateID != 4 && Common.agvInfo[i].StateID != 5)
                    {
                        Common.LogInfo(string.Format("{0}不能调用 StateID={1}, StateText={2}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID, Common.agvInfo[i].StateText));
                        continue;
                    }

                    switch (Common.agvInfo[i].PlaceState)
                    {
                        case PlaceState.None:
                            StateNone(i);
                            break;
                        case PlaceState.Move:
                            StateMove(i);
                            break;
                        case PlaceState.MoveFinish:
                            StateMoveFinish(i);
                            break;
                        case PlaceState.Enter:
                            StateEnter(i);
                            break;
                        case PlaceState.EnterFinish:
                            StateEnterFinish(i);
                            break;
                        case PlaceState.Leave:
                            StateLeave(i);
                            break;
                        case PlaceState.LeaveFinish:
                            StateLeaveFinish(i);
                            break;
                        case PlaceState.Error:
                            StateError(i);
                            break;
                    }
                }
            }
        }

        /// <summary>
        ///  计算当前小车距离最近的任务点(只针对产线)
        /// </summary>
        /// <param name="agv"></param>
        /// <returns>节点名称</returns>
        private Common.MissionStru CalculateNearNode(Agv_Info agv)
        {
            Common.MissionStru missionNode = new Common.MissionStru("","");
            double minDis = Double.MaxValue;
            try
            {
                if (Common.missionList.Count == 0)
                    return missionNode;
                foreach (var item in Common.missionList)
                {
                    int index = Common.nodeInfo.FindIndex(s => s.Name == item.NodeName);
                    if (index > -1)
                    {
                        double dis = Math.Sqrt(Math.Pow((agv.Position.x - Common.nodeInfo[index].position.X), 2) + Math.Pow((agv.Position.y - Common.nodeInfo[index].position.Y), 2));
                        Common.LogInfo(string.Format("{0} 距离{1}={2}", agv.Name, Common.nodeInfo[index].Name, dis.ToString("f2")), false);
                        if (dis < minDis)
                        {
                            minDis = dis;
                            missionNode = item;
                        }
                    }
                }
                Common.LogInfo(string.Format("{0} 运动到产线 {1}", agv.Name, missionNode), false);
                return missionNode;
            }
            catch (Exception e)
            {
                Common.log.Error("CalculateNearNode + " + e.ToString());
            }
            return missionNode;
        }
        private bool CheckOnline(int idx)
        {
            bool rtn = Common.mir.CheckIP(Common.agvInfo[idx].IP);
            if (rtn)
            {
                if (!Common.agvInfo[idx].IsCon)
                {
                    Common.agvInfo[idx].IsCon = true;
                    Common.LogInfo(Common.agvInfo[idx].Name + " Online");
                    AgvOnline?.Invoke(idx);
                    AgvChanged?.Invoke(idx);
                }
            }
            else
            {
                if (Common.agvInfo[idx].IsCon)
                {
                    Common.agvInfo[idx].IsCon = false;
                    Common.LogInfo(Common.agvInfo[idx].Name + " Offline");
                    AgvOnline?.Invoke(idx);
                    AgvChanged?.Invoke(idx);
                }
            }
            return rtn;
        }

        /// <summary>
        /// agv空闲
        /// </summary>
        /// <param name="idx"></param>
        private void StateNone(int idx)
        {

            Agv_Info agv = Common.agvInfo[idx];
            if (agv.TaskSend != "") return;

            //检查是否需要充电
            if (CheckIsNeedCharge(agv))
                return;
            if (CheckA6State(agv))
                return;

            CheckEmptyShelf(agv);

            #region 出空料架，带节点状态-不用
            //ClientLevel clientLevel = Common.linePlace.Values.Max<ClientLevel>();
            ////出空料架
            //foreach (var item in Common.linePlace)
            //{
            //    if (!clientLevel.Equals(item.Value))
            //        continue;
            //    string name = item.Key;
            //    index = Common.nodeInfo.FindIndex(s => s.Name.Equals(name) && s.Action == ClientAction.NeedLeave && s.IsUse);
            //    if (index > -1)
            //    {
            //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + name]);
            //        if (rtn)
            //        {
            //            Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
            //            Common.linePlace.Remove(name);
            //        }
            //        agv.TaskSend = rtn ? "Move" + name : "";
            //    }
            //    Common.LogInfo(string.Format("[{0}-{1}] 出空料架.", name, item.Value));
            //    if (Common.linePlace.Count.Equals(0).Equals(false))
            //        Common.LogInfo("剩余需要出空料架的节点：" + string.Join(",", Common.linePlace.Keys.ToArray())
            //            + "；对应紧急程度：" + string.Join(",", Common.linePlace.Values.ToArray()));
            //    if (rtn) break;
            //}


            //for (int i = 0; i < Common.linePlace.Count; i++)
            //{
            //    string name = Common.linePlace[i];
            //    index = Common.nodeInfo.FindIndex(s => s.Name.Equals(name) && s.IsUse);
            //    if (index > -1)
            //    {
            //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + name]);
            //        if (rtn)
            //        {
            //            Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
            //            Common.LogInfo(string.Format("[{0}] 出空料架.", name));
            //            Common.linePlace.RemoveAt(i);
            //            System.IO.File.WriteAllLines(Common.CONFIG_PATH + "LinePlace.txt", Common.linePlace);
            //        }
            //        agv.TaskSend = rtn ? "Move" + name : "";
            //    }
            //    if (Common.linePlace.Count.Equals(0).Equals(false))
            //        Common.LogInfo("剩余需要出空料架的节点：" + string.Join(",", Common.linePlace.ToArray()));
            //    if (rtn) break;
            //}
            #endregion
        }
        /// <summary>
        /// 判断是否需要充电
        /// </summary>
        /// <param name="agv"></param>
        /// <returns></returns>
        private bool CheckIsNeedCharge(Agv_Info agv)
        {
            if (Common.chargeStatus.AutoCharge)
            {
                if (agv.Battery <= Common.chargeStatus.chargeMin)
                {
                    Common.LogInfo(agv.Name + " 电量小于20%", false);
                    if (StatusCharge(agv))
                        return true;
                }
                else if (agv.Battery <= Common.chargeStatus.chargeMax && agv.WaitTime >= Common.chargeStatus.chargeWait * 60000)
                {
                    Common.LogInfo(agv.Name + " 闲置时间超过" + Common.chargeStatus.chargeWait + "分钟", false);
                    if (StatusCharge(agv))
                        return true;
                }
                return false;
            }
            return false;
        }

        /// <summary>
        /// 充电
        /// </summary>
        /// <param name="agv"></param>
        /// <returns>充电任务结果</returns>
        private bool StatusCharge(Agv_Info agv)
        {
            bool rtn;
            string log;
            double sp = (DateTime.Now.Ticks - Common.chargeStatus.chargeInterval) / 10000000.0;
            //防止两车同时充电卡住的情况
            //if (sp < 60)
            //{
            //    Common.LogInfo(agv.Name + " 与上一辆车的充电时间间隔为" + sp.ToString() + "，小于60s，不能充电。", false);
            //    return false;
            //}

            #region 随机充电位置
            //if (Common.chargeStatus.charge3 == "")
            //{
            //    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge3"]);
            //    if (rtn)
            //    {
            //        agv.TaskSend = "AutoCharge3";
            //        Common.chargeStatus.charge3 = agv.Name;
            //        Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
            //        log = string.Format("{0} AutoCharge3", agv.Name);
            //        Common.LogInfo(log);
            //        Common.mir.State_Ready(agv);
            //    }
            //    else
            //    {
            //        agv.TaskSend = "";
            //        log = string.Format("{0} AutoCharge3 失败", agv.Name);
            //        //防止上一个任务已执行但返回失败时，删除任务
            //        //Common.mir.Del_Mission(agv);
            //        Common.LogInfo(log);
            //    }
            //    return rtn;
            //}
            //else if (Common.chargeStatus.charge4 == "")
            //{
            //    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge4"]);
            //    if (rtn)
            //    {
            //        agv.TaskSend = "AutoCharge4";
            //        Common.chargeStatus.charge4 = agv.Name;
            //        Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
            //        log = string.Format("{0} AutoCharge4", agv.Name);
            //        Common.LogInfo(log);
            //        Common.mir.State_Ready(agv);
            //    }
            //    else
            //    {
            //        agv.TaskSend = "";
            //        log = string.Format("{0} AutoCharge4 失败", agv.Name);
            //        //防止上一个任务已执行但返回失败时，删除任务
            //        //Common.mir.Del_Mission(agv);
            //        Common.LogInfo(log);
            //    }
            //    return rtn;
            //}
            //else if (Common.chargeStatus.charge5 == "")
            //{
            //    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge5"]);
            //    if (rtn)
            //    {
            //        agv.TaskSend = "AutoCharge5";
            //        Common.chargeStatus.charge5 = agv.Name;
            //        Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
            //        log = string.Format("{0} AutoCharge5", agv.Name);
            //        Common.LogInfo(log);
            //        Common.mir.State_Ready(agv);
            //    }
            //    else
            //    {
            //        agv.TaskSend = "";
            //        log = string.Format("{0} AutoCharge5 失败", agv.Name);
            //        //防止上一个任务已执行但返回失败时，删除任务
            //        //Common.mir.Del_Mission(agv);
            //        Common.LogInfo(log);
            //    }
            //    return rtn;
            //}
            //else if (Common.chargeStatus.charge6 == "")
            //{
            //    rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge6"]);
            //    if (rtn)
            //    {
            //        agv.TaskSend = "AutoCharge6";
            //        Common.chargeStatus.charge4 = agv.Name;
            //        Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
            //        log = string.Format("{0} AutoCharge6", agv.Name);
            //        Common.LogInfo(log);
            //        Common.mir.State_Ready(agv);
            //    }
            //    else
            //    {
            //        agv.TaskSend = "";
            //        log = string.Format("{0} AutoCharge6 失败", agv.Name);
            //        //防止上一个任务已执行但返回失败时，删除任务
            //        //Common.mir.Del_Mission(agv);
            //        Common.LogInfo(log);
            //    }
            //    return rtn;
            //}
            //else
            //{
            //    return false;
            //}
            #endregion

            #region 指定充电位置
            if (agv.IP == "10.85.199.72")//1764
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge3"]);
                if (rtn)
                {
                    //agv.TaskSend = "AutoCharge3";
                    agv.TaskSend = "";
                    Common.chargeStatus.charge3 = agv.Name;
                    Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
                    log = string.Format("{0} AutoCharge3", agv.Name);
                    Common.LogInfo(log);
                    Common.mir.State_Ready(agv);
                }
                else
                {
                    agv.TaskSend = "";
                    log = string.Format("{0} AutoCharge3 失败", agv.Name);
                    //防止上一个任务已执行但返回失败时，删除任务
                    //Common.mir.Del_Mission(agv);
                    Common.LogInfo(log);
                }
                return rtn;
            }
            else if (agv.IP == "10.85.199.71")//1763
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge4"]);
                if (rtn)
                {
                    //agv.TaskSend = "AutoCharge4";
                    agv.TaskSend = "";
                    Common.chargeStatus.charge4 = agv.Name;
                    Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
                    log = string.Format("{0} AutoCharge4", agv.Name);
                    Common.LogInfo(log);
                    Common.mir.State_Ready(agv);
                }
                else
                {
                    agv.TaskSend = "";
                    log = string.Format("{0} AutoCharge4 失败", agv.Name);
                    //防止上一个任务已执行但返回失败时，删除任务
                    //Common.mir.Del_Mission(agv);
                    Common.LogInfo(log);
                }
                return rtn;
            }
            else if (agv.IP == "10.85.199.73")//1767
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge5"]);
                if (rtn)
                {
                    //agv.TaskSend = "AutoCharge5";
                    agv.TaskSend = "";
                    Common.chargeStatus.charge5 = agv.Name;
                    Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
                    log = string.Format("{0} AutoCharge5", agv.Name);
                    Common.LogInfo(log);
                    Common.mir.State_Ready(agv);
                }
                else
                {
                    agv.TaskSend = "";
                    log = string.Format("{0} AutoCharge5 失败", agv.Name);
                    //防止上一个任务已执行但返回失败时，删除任务
                    //Common.mir.Del_Mission(agv);
                    Common.LogInfo(log);
                }
                return rtn;
            }
            else if (agv.IP == "10.85.199.74")//1768
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge6"]);
                if (rtn)
                {
                    //agv.TaskSend = "AutoCharge6";
                    agv.TaskSend = "";
                    Common.chargeStatus.charge4 = agv.Name;
                    Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
                    log = string.Format("{0} AutoCharge6", agv.Name);
                    Common.LogInfo(log);
                    Common.mir.State_Ready(agv);
                }
                else
                {
                    agv.TaskSend = "";
                    log = string.Format("{0} AutoCharge6 失败", agv.Name);
                    //防止上一个任务已执行但返回失败时，删除任务
                    //Common.mir.Del_Mission(agv);
                    Common.LogInfo(log);
                }
                return rtn;
            }
            else
            {
                return false;
            }
            #endregion
        }

        /// <summary>
        ///A6是否有满料架要出
        /// </summary>
        /// <param name="agv"></param>
        private bool CheckA6State(Agv_Info agv)
        {
            bool rtn;
            int index;
            string RFID = "";

            //A6出满料
            rtn = FindA6Leave(out string nextNode);
            if (rtn)
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
                if (rtn)
                {
                    agv.NextPlace = nextNode;
                    index = FindNode("A6");
                    Common.nodeInfo[index].AgvName = agv.Name;
                    RFID = Common.nodeInfo[index].RFID;
                    agv.RFID = RFID;
                    index = FindNode(nextNode);
                    Common.nodeInfo[index].AgvName = agv.Name;
                }
                Common.LogInfo(string.Format("A6有满料架[{0}]要出,目的地为{1}", RFID, nextNode));
                agv.TaskSend = rtn ? "MoveA6" : "";
                return true;
            }
            return false;
        }
        /// <summary>
        /// 查看是否有空料架出，有则根据距离分配任务
        /// </summary>
        /// <param name="agv"></param>
        /// <returns>true:有空料架要出</returns>
        private bool CheckEmptyShelf(Agv_Info agv)
        {
            //if (Common.linePlace.Count == 0)
            //{
            //    //Common.LogInfo("当前无空料架要出");
            //    return false;
            //}
            bool rtn = false;
            //int index = -1;
            //foreach (var nodeName in Common.linePlace)
            //{
            //    index = Common.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
            //    if (index > -1)
            //    {
            //        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + nodeName]);
            //        if (rtn)
            //        {
            //            Common.nodeInfo[index].AgvName = agv.Name;
            //            Common.LogInfo(string.Format("[{0}] 出空料架.", nodeName));
            //            Common.linePlace.Remove(nodeName);
            //            System.IO.File.WriteAllLines(Common.CONFIG_PATH + "LinePlace.txt", Common.linePlace);
            //        }
            //        agv.TaskSend = rtn ? "Move" + nodeName : "";
            //    }
            //    if (Common.linePlace.Count.Equals(0).Equals(false))
            //        Common.LogInfo("剩余需要出空料架的节点：" + string.Join(",", Common.linePlace.ToArray()));
            //    if (rtn) return true;
            //}

            Common.MissionStru missionNode = CalculateNearNode(agv);
            if (missionNode.NodeName.Equals(""))
            {
                return false;
            }
            int index = Common.nodeInfo.FindIndex(s => s.Name.Equals(missionNode.NodeName) && s.AgvName == "" && s.IsUse);
            if (index > -1)
            {
                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + missionNode.NodeName]);
                if (rtn)
                {
                    Common.nodeInfo[index].AgvName = agv.Name;
                    Common.LogInfo(string.Format("[{0}] 出空料架.", missionNode.NodeName));
                    Common.missionList.Remove(missionNode);
                    using (System.IO.StreamWriter file = new System.IO.StreamWriter(Common.CONFIG_PATH + "LinePlace.txt"))
                    {
                        foreach (var item in Common.missionList)
                        {
                            file.WriteLine(string.Format("{0},{1}", item.CreateTime,item.NodeName));
                        }

                    }
                }
                agv.TaskSend = rtn ? "Move" + missionNode.NodeName : "";
            }
            if (Common.missionList.Count.Equals(0).Equals(false))
            {
                AgvChanged?.Invoke(0);
                Common.LogInfo("剩余需要出空料架的节点：");
                Common.missionList.ForEach(s => Common.LogInfo(string.Format("创建时间:{0}，任务节点{1}", s.CreateTime, s.NodeName)));
            }

            if (rtn) return true;
            return false;
        }
        /// <summary>
        /// agv运动
        /// </summary>
        /// <param name="idx"></param>
        private void StateMove(int idx)
        {
            //bool rtn;
            //Agv_Info agv = Common.agvInfo[idx];
            //int index = FindNode(agv.Place);
            //if (index == -1) return;
            //ClientNode node = Common.nodeInfo[index];

            //switch (agv.Place)
            //{
            //    case "":
            //        agv.TaskSend = "";
            //        agv.NextPlace = "";
            //        break;
            //}
        }
        /// <summary>
        /// agv运动完成
        /// </summary>
        /// <param name="idx"></param>
        private void StateMoveFinish(int idx)
        {
            bool rtn;
            Agv_Info agv = Common.agvInfo[idx];
            int index = FindNode(agv.Place);
            if (index == -1) return;
            ClientNode node = Common.nodeInfo[index];

            switch (agv.Place)
            {
                case "A5":
                    if (node.Action == ClientAction.MayEnter)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                        if (rtn)
                            Common.LogInfo(string.Format("{0}到达{1},可以进入料架", agv.Name, agv.Place));
                    }
                    else
                    {
                        rtn = Common.server.ReadyEnter(agv.Place);
                        if (!rtn) return;
                        Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place));
                    }
                    break;
                case "A6":
                    if (node.Action == ClientAction.MayEnter)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                        if (rtn)
                            Common.LogInfo(string.Format("{0}到达{1},可以进入料架", agv.Name, agv.Place));
                    }
                    else if (node.Action == ClientAction.MayLeave)
                    {
                        if (agv.TaskSend == "Enter") return;
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
                        agv.TaskSend = rtn ? "Enter" : "";
                        if (rtn)
                            Common.LogInfo(string.Format("{0}到达{1},可以出去料架", agv.Name, agv.Place));
                    }
                    else if (node.Action == ClientAction.NeedEnter)
                    {
                        rtn = Common.server.ReadyEnter(agv.Place);
                        if (!rtn) return;
                        Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place));
                    }
                    else if (node.Action == ClientAction.NeedLeave)
                    {
                        rtn = Common.server.ReadyLeave(agv.Place);
                        if (!rtn) return;
                        Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place));
                    }
                    else if (node.Action == ClientAction.NeedEnterLeave)
                    {
                        if(agv.IsExistShelf)//车上有料架
                        {
                            rtn = Common.server.ReadyEnter(agv.Place);
                            if (!rtn) return;
                            Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place));
                        }
                        else
                        {
                            rtn = Common.server.ReadyLeave(agv.Place);
                            if (!rtn) return;
                            Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place));
                        }
                    }
                    break;
                case "E1":
                case "E2":
                case "E3":
                case "E4":
                case "E5":
                case "E6":
                case "E7":
                case "E8":
                case "E9":
                case "E10":
                case "E11":
                case "E12":
                case "E14":
                case "E15":
                case "E16":
                case "E21":
                case "E22":
                    //C是大料架，D是小料架
                    //大料架
                    //if (agv.RFID.StartsWith("C"))
                    //{
                    //    if (Common.linePlace.Contains(node.Name))
                    //    {
                    //        int nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5" && (s.Action == ClientAction.NeedC || s.Action == ClientAction.NeedEnter) && s.AgvName == "" && s.IsUse);
                    //        if (nodeIdx > -1)
                    //        {
                    //            rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + Common.nodeInfo[nodeIdx].Name]);
                    //            if (rtn)
                    //            {
                    //                agv.TaskSend = rtn ? "Move" + Common.nodeInfo[nodeIdx].Name : "";
                    //                Common.nodeInfo[nodeIdx].AgvName = agv.Name;
                    //                Common.linePlace.Remove(node.Name);
                    //                Common.LogInfo(string.Format("{0}载大料架运往{1}[RFID={2}][{3}],", agv.Name, Common.nodeInfo[nodeIdx].Name, agv.RFID, Common.nodeInfo[nodeIdx].Action));
                    //                return;
                    //            }
                    //        }

                    //        nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.Action == ClientAction.NeedEnter || s.Action == ClientAction.NeedEnterLeave) && s.AgvName == "" && s.IsUse);
                    //        if (nodeIdx > -1)
                    //        {
                    //            rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + Common.nodeInfo[nodeIdx].Name]);
                    //            if (rtn)
                    //            {
                    //                agv.TaskSend = rtn ? "Move" + Common.nodeInfo[nodeIdx].Name : "";
                    //                Common.nodeInfo[nodeIdx].AgvName = agv.Name;
                    //                Common.linePlace.Remove(node.Name);
                    //                Common.LogInfo(string.Format("{0}载大料架运往{1}[RFID={2}][{3}],", agv.Name, Common.nodeInfo[nodeIdx].Name, agv.RFID, Common.nodeInfo[nodeIdx].Action));
                    //                return;
                    //            }
                    //        }

                    //    }
                    //    else
                    //    {
                    //        Common.LogInfo(string.Format("{0}载大料架到达{1}[RFID={2}],等待料架清空。。。", agv.Name, agv.Place, agv.RFID));
                    //        return;
                    //    }
                    //}
                    //else if (agv.RFID.StartsWith("D"))//小料架
                    //{
                    //    rtn = Common.server.ReadyEnter(agv.Place);
                    //    if (!rtn) return;
                    //    Common.LogInfo(string.Format("{0}载小料架到达{1}[RFID={2}],服务器发送ReadyEnter信号", agv.Name, agv.Place, agv.RFID));
                    //}
                    if (agv.RFID.StartsWith("D") || agv.RFID.StartsWith("C"))//不分大小料架
                    {
                        rtn = Common.server.ReadyEnter(agv.Place);
                        if (!rtn) return;
                        Common.LogInfo(string.Format("{0}载小料架到达{1}[RFID={2}],服务器发送ReadyEnter信号", agv.Name, agv.Place, agv.RFID));
                    }
                    else//其他地方到E区域，则是空车
                    {
                        rtn = Common.server.ReadyLeave(agv.Place);
                        if (!rtn) return;
                        Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place));
                    }

                    if (node.Action == ClientAction.MayEnter)
                    {
                        if (agv.TaskSend == "Leave") return;
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
                        agv.TaskSend = rtn ? "Leave" : "";
                        if (rtn)
                            Common.LogInfo(string.Format("{0}到达{1},可以进入料架", agv.Name, agv.Place));
                    }
                    else if (node.Action == ClientAction.MayLeave)
                    {
                        if (agv.TaskSend == "Enter") return;
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
                        agv.TaskSend = rtn ? "Enter" : "";
                        if (rtn)
                            Common.LogInfo(string.Format("{0}到达{1},可以出去料架", agv.Name, agv.Place));
                    }
                    //else if (node.Action == ClientAction.NeedEnter)
                    //{
                    //    rtn = Common.server.ReadyEnter(agv.Place);
                    //    if (!rtn) return;
                    //    Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place));

                    //}
                    //else if (node.Action == ClientAction.NeedLeave)
                    //{
                    //    rtn = Common.server.ReadyLeave(agv.Place);
                    //    if (!rtn) return;
                    //    Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place));
                    //}
                    break;
            }

        }

        /// <summary>
        /// 料架进入小车
        /// </summary>
        /// <param name="idx"></param>
        private void StateEnter(int idx)
        {
        }
        /// <summary>
        /// 料架进入小车完成
        /// </summary>
        /// <param name="idx"></param>
        private void StateEnterFinish(int idx)
        {
            bool rtn;
            Agv_Info agv = Common.agvInfo[idx];
            if (agv.TaskSend != "") return;
            int index = FindNode(agv.Place);
            if (index == -1) return;
            ClientNode node = Common.nodeInfo[index];

            switch (agv.Place)
            {
                case "A6":
                    if (node.Action == ClientAction.FinishLeave)
                    {
                        string nextPlace = agv.NextPlace;
                        if (nextPlace.Equals(""))
                            return;
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + nextPlace]);
                        if (rtn)
                        {
                            agv.NextPlace = "";
                            node.AgvName = "";
                            agv.TaskSend = rtn ? "Move" + nextPlace : "";
                            Common.LogInfo(string.Format("{0}装载满料架，运往{1}", "A6", agv.Name,nextPlace));
                        }

                    }
                    break;
                case "E1":
                case "E2":
                case "E3":
                case "E4":
                case "E5":
                case "E6":
                case "E7":
                case "E8":
                case "E9":
                case "E10":
                case "E11":
                case "E12":
                case "E14":
                case "E15":
                case "E16":
                case "E21":
                case "E22":
                    //产线客户端不发FinishLeave
                    //产线空料架进入小车
                    //node.AgvName = "";
                    //node.Action = ClientAction.None;
                    ResetNodeState(node);
                    //目前条件：根据需求运料架,需要就运行【后续需要更改为从产线进入小车的料架均为小料架】 s.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter
                    int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5" 
                    && (s.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter || s.Action == ClientAction.NeedC) && s.IsUse);
                    if (tarIdx == -1)
                    {
                        Common.LogInfo(string.Format("{0} 已装载料架，A5不需要料架", agv.Name));//小
                    }
                    else
                    {
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
                        if (rtn)
                        {
                            agv.NextPlace = "";
                            node.AgvName = "";
                            agv.TaskSend = rtn ? "MoveA5" : "";
                            Common.LogInfo(string.Format("{0} 已装载料架，送往A5", agv.Name));//小
                        }
                        break;
                    }

                    tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
                    (s.Action == ClientAction.NeedEnter || s.Action == ClientAction.NeedEnterLeave) && s.IsUse);

                    if (tarIdx == -1)
                    {
                        Common.LogInfo(string.Format("{0} 已装载料架，A6不需要料架", agv.Name));//小
                    }
                    else
                    {
                        rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
                        if (rtn)
                        {
                            agv.NextPlace = "";
                            node.AgvName = "";
                            agv.TaskSend = rtn ? "MoveA6" : "";
                            Common.LogInfo(string.Format("{0} 已装载料架，送往A6", agv.Name));//小
                        }

                    }
                    break;
            }

        }
        /// <summary>
        /// 料架离开小车
        /// </summary>
        /// <param name="idx">agv索引</param>
        private void StateLeave(int idx)
        {
            Agv_Info agv = Common.agvInfo[idx];
        }
        /// <summary>
        /// 料架离开小车完成
        /// </summary>
        /// <param name="idx"></param>
        private void StateLeaveFinish(int idx)
        {
            bool rtn;
            Agv_Info agv = Common.agvInfo[idx];
            if (agv.TaskSend != "") return;
            int index = FindNode(agv.Place);
            if (index == -1) return;
            ClientNode node = Common.nodeInfo[index];

            switch (agv.Place)
            {
                case "A5":
                //if (node.Action == ClientAction.FinishEnter)
                //{
                //    Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place));
                //}
                //break;
                case "A6":
                    if (node.Action == ClientAction.FinishEnter)
                    {
                        Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place));
                        //agv.RFID = "";
                        ResetAGVState(agv, true);
                        ResetNodeState(node);
                        //查询附近是否有空料架要出,没有则去待机位
                        if (!CheckEmptyShelf(agv))
                            MoveStandby(agv);
                    }
                    break;
                case "E1":
                case "E2":
                case "E3":
                case "E4":
                case "E5":
                case "E6":
                case "E7":
                case "E8":
                case "E9":
                case "E10":
                case "E11":
                case "E12":
                case "E14":
                case "E15":
                case "E16":
                case "E21":
                case "E22":
                    /// agv.RFID = "";
                    // node.AgvName = "";
                    //node.Action = ClientAction.None;
                    ResetAGVState(agv, true);
                    ResetNodeState(node);
                    //查询附近是否有空料架要出,没有则去待机位
                    if (!CheckEmptyShelf(agv))
                        MoveStandby(agv);
                    break;
            }
        }

        /// <summary>
        /// 重置节点状态
        /// </summary>
        /// <param name="clientNode"></param>
        private void ResetNodeState(ClientNode clientNode)
        {
            clientNode.Action = ClientAction.None;
            clientNode.AgvName = "";
            clientNode.RFID = "";
        }

        /// <summary>
        /// 重置agv变量信息(RFID)
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="IsNextPlace">是否清除下一目的地</param>
        private void ResetAGVState(Agv_Info agv,bool IsNextPlace=false)
        {
            agv.RFID = "";
            if (IsNextPlace)
                agv.NextPlace = "";
        }
        private bool MoveStandby(Agv_Info agv)
        {
            string log;

            //清除当前任务点
            if (!agv.Place.Equals(""))
            {
                int idx = Common.nodeInfo.FindIndex(s => s.Name == agv.Place);
                if (idx > -1)
                {
                    Common.nodeInfo[idx].AgvName = "";
                }
                else
                {
                    log = "清理AgvName，没有找到 " + agv.Name;
                    Common.LogInfo(log);
                }
            }


            //执行下一个任务
            //agv.Place = "";

            bool rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandby"]);  //返回待机区
            if (rtn)
            {
                agv.TaskSend = "";
                agv.Place = "";
                log = string.Format("{0} MoveStandby", agv.Name);
                Common.LogInfo(log);
                Common.mir.State_Ready(agv);
            }
            else
            {
                agv.TaskSend = "";
                log = string.Format("{0} MoveStandby 失败", agv.Name);
                //防止上一个任务已执行但返回失败时，删除任务
                //Common.mir.Del_Mission(agv);
                Common.LogInfo(log);
            }

            return rtn;

        }

        /// <summary>
        /// 错误状态
        /// </summary>
        /// <param name="idx"></param>
        private void StateError(int idx)
        {
            Agv_Info agv = Common.agvInfo[idx];
            Common.LogInfo(string.Format("{0}在执行任务[{1}]出现错误：{2}", agv.Name, agv.TaskSend, agv.MissionText));
        }
        /// <summary>
        /// 查找节点是否存在以及是否调用
        /// </summary>
        /// <param name="nodeName"></param>
        /// <returns></returns>
        private int FindNode(string nodeName)
        {
            int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
            return idx;
        }

        private bool FindA6Leave(out string nextNode)
        {
            nextNode = "";
            int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals("A6")
            && (s.Action == ClientAction.NeedLeave || s.Action == ClientAction.NeedEnterLeave)
            && s.AgvName == "" && s.IsUse);//&& (s.RFID.StartsWith("C")|| s.RFID.StartsWith("D"))
            if (idx == -1) return false;
            bool rtn = FindA6Destination(Common.nodeInfo[idx].RFID, out string dest);
            if (!rtn) return false;

            idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(dest) && s.IsUse);
            if (idx == -1)
            {
                return false;
            }
            else
            {
                nextNode = dest;
                return true;
            }

        }

        private bool FindA6Destination(string rfid, out string dest)
        {
            dest = "";
            try
            {
                string url = Common.itsHttp + rfid;
                var client = new RestClient(url) { Timeout = -1 };
                var request = new RestRequest(Method.GET);
                //request.AddHeader("Host", "10.85.17.233");
                IRestResponse response = client.Execute(request);
                string json = response.Content;
                json = json.Replace("\r", "");
                json = json.Replace("\n", "");
                json = json.Replace(" ", "");
                Common.LogInfo("ITS URL: " + url + " Return: " + json);

                if (string.IsNullOrWhiteSpace(json)) return false;
                List<BoxDestInfo> res = JsonHelper.DeserializeJsonToList<BoxDestInfo>(json);
                //JavaScriptSerializer serializer = new JavaScriptSerializer();
                if (res == null || res.Count==0)
                    return false;

                if (res[0].id == rfid)
                {
                    if (res[0].location.Equals("Feeder"))
                    {
                        res[0].location = "FeederIn";
                    }
                    if (Common.agvProductionLine.TryGetValue(res[0].location, out string loc))
                    {
                        dest = loc;
                        Common.LogInfo("出满料架任务：目的地为 "+ loc+" [产线名 "+ res[0].location + "]");
                        return true;
                    }
                }
                //Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                //if (dic == null) return false;

                //bool b1 = dic.TryGetValue("id", out object id);
                //bool b2 = dic.TryGetValue("location", out object location);

                //if (b1 && b2)
                //{
                //    if (id.ToString() == rfid)
                //    {
                //        if (Common.agvProductionLine.TryGetValue(location.ToString(), out string loc))
                //        {
                //            dest = loc;
                //            return true;
                //        }
                //    }
                //}
                return false;
            }
            catch (Exception ex)
            {
                Common.log.Error("FindA6Destination", ex);
                return false;
            }
        }

        public class BoxDestInfo
        {
            /// <summary>
            /// RFID
            /// </summary>
            public string id { get; set; }
            public string SO { get; set; }
            public string location { get; set; }

        }

    }
}