using BLL;
using System;
using System.CodeDom;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace AGVControl
{
    public partial class FrmMain : Form
    {
        private bool exit = false;
        private bool change;
        private NotifyIcon notify;
        private ContextMenuStrip notifyMenu;
        private System.Timers.Timer showTimer;
        private Label[] agvRunInfo;
        //private string[] agvRunStep;
        public FrmMain()
        {
            InitializeComponent();
            showTimer = new System.Timers.Timer();
            showTimer.Interval = 1000;
            //showTimer.Enabled = true;
            //showTimer.AutoReset = true;
            showTimer.Elapsed += ShowTimer_Elapsed;
            showTimer.Start();
            Common.logTextBox = TxtLog;
            agvRunInfo = new Label[] { label1, label2, label3, label4, label5, label6 };
        }

        private void ShowConfig()
        {
            int n;
            //agvRunStep = new string[Common.agvInfo.Count];
            for (int i = 0; i < Common.agvInfo.Count; i++)
            {
                Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
                if (input != null && input.Length == 4)
                    Common.agvInfo[i].IsExistShelf = input[3];
                n = DgvAgv.Rows.Add(Common.agvInfo[i].ToRow());
                DgvAgv.Rows[n].HeaderCell.Value = (n + 1).ToString();
                if (i % 2 == 0)
                    DgvAgv.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                if (!Common.agvInfo[i].IsCon)
                    DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
                //agvRunStep[i] = Common.agvInfo[i].Msg;

                //if (i % 2 == 0)
                //    agvRunInfo[i].BackColor = Color.LightBlue;
                //else
                //    agvRunInfo[i].BackColor = Color.LightGray;
            }

            cmbBoxLineName.Items.Add("产线名称");
            foreach (var item in Common.nodeInfo)
            {
                if (item.Name.StartsWith("A"))
                    continue;
                cmbBoxLineName.Items.Add(item.AliceName);
            }
            cmbBoxLineName.SelectedIndex = 0;
            for (int i = 0; i < Common.nodeInfo.Count; i++)
            {
                n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow());
                DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString();
                if (i % 2 == 0)
                    DgvNode.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                if (!Common.nodeInfo[i].Online)
                    DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
            }

            LstAgvPlace.Items.Clear();
            LstAgvPlace.Items.AddRange(Common.showNameMissionName.Keys.ToArray());
            LstAgvPlace.SelectedIndex = 0;
        }

        private void Server_NodeChanged(int nodeIndex)
        {
            Invoke(new Action(() =>
            {
                DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online && Common.nodeInfo[nodeIndex].IsUse ? Color.Black : Color.Red;
                DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
            }));
            System.GC.Collect();
        }

        private void Server_NodeOnline(int nodeIndex)
        {
            Invoke(new Action(() =>
            {
                DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red;
                DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
            }));
            System.GC.Collect();
        }

        private void Control_AgvChanged(int agvIndex)
        {
            Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].StateID.Equals(eAGVState.Error) ? Color.Red : Color.Black; }));
            Invoke(new Action(() =>
            {
                DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());

            }));
            System.GC.Collect();
        }
        private void MissionManager_MissionChanged()
        {
            ShowEmptyTask();
        }
        private void Control_AgvOnline(int agvIndex)
        {
            Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].IsCon ? Color.Black : Color.Red; }));
            Invoke(new Action(() =>
            {
                DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());

            }));
            GC.Collect();
        }

        private void ItemShow_Click(object sender, EventArgs e)
        {
            Show();
            if (WindowState == FormWindowState.Minimized)
                WindowState = FormWindowState.Normal;
        }

        private void ItemExit_Click(object sender, EventArgs e)
        {
            foreach (var item in Common.agvInfo)
            {
                Common.WriteIni(item.Name, SettingString.RFID, item.RFID);
            }
            notify.Dispose();
            exit = true;
            Close();
        }

        private void Notify_MouseDoubleClick(object sender, MouseEventArgs e)
        {
            Show();
            if (WindowState == FormWindowState.Minimized)
                WindowState = FormWindowState.Normal;
        }
        private void FrmMain_Load(object sender, EventArgs e)
        {
            //托盘菜单
            notifyMenu = new ContextMenuStrip();
            ToolStripMenuItem itemShow = new ToolStripMenuItem("显示(&S)");
            itemShow.Click += ItemShow_Click;
            ToolStripMenuItem itemExit = new ToolStripMenuItem("退出(&X)");
            itemExit.Click += ItemExit_Click;
            notifyMenu.Items.Add(itemShow);
            notifyMenu.Items.Add(itemExit);

            //托盘控件
            notify = new NotifyIcon { Icon = Icon, Visible = true, ContextMenuStrip = notifyMenu, Text = Text };
            notify.MouseDoubleClick += Notify_MouseDoubleClick;

            ShowConfig();
            change = true;
            //ChkAutoCharge.Checked = Common.chargeStatus.AutoCharge;
            change = false;
            Common.control.AgvChanged += Control_AgvChanged;
            Common.control.AgvOnline += Control_AgvOnline;
            Common.server.NodeChanged += Server_NodeChanged;
            Common.server.NodeOnline += Server_NodeOnline;
            Common.missionManager.MissionChanged += MissionManager_MissionChanged;
            //foreach (var item in Common.agvInfo)
            //{
            //    cmbBoxAGVName.Items.Add(item.Name);
            //}
            //cmbBoxAGVName.Items.Add("None");
            //cmbBoxAGVName.SelectedIndex = Common.agvInfo.Count;
        }

        private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (!exit)
            {
                e.Cancel = true;
                Hide();
            }
            foreach (var item in Common.agvInfo)
            {
                Common.WriteIni(item.Name, SettingString.RFID, item.RFID);
            }

            //showTimer.Enabled = false;
            showTimer.Stop();
            Common.control.AgvChanged -= Control_AgvChanged;
            Common.control.AgvOnline -= Control_AgvOnline;
            Common.server.NodeChanged -= Server_NodeChanged;
            Common.server.NodeOnline -= Server_NodeOnline;
        }

        private void DgvAgv_CellClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex == -1) return;

            if (e.ColumnIndex == 10)  //调用
            {
                if (Common.agvInfo[e.RowIndex].IsUse.Equals(true))
                {
                    if (Common.chargeStatus.charge3.Equals(Common.agvInfo[e.RowIndex].Name))
                    {
                        Common.chargeStatus.charge3 = "";
                    }
                    if (Common.chargeStatus.charge4.Equals(Common.agvInfo[e.RowIndex].Name))
                    {
                        Common.chargeStatus.charge4 = "";
                    }
                    Common.agvInfo[e.RowIndex].IsUse = false;
                    //Common.agvInfo[e.RowIndex].CurJob = null;
                    //Common.agvInfo[e.RowIndex].RFID = "";
                    //  }
                }
                else
                {

                    //清除4c临时待机位的占用
                    if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station1))
                    {
                        Common.StandbyStation.C4_Station1 = "";
                    }
                    else if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station2))
                    {
                        Common.StandbyStation.C4_Station2 = "";
                    }
                    Common.LogInfo(string.Format("手动开启小车自动模式，并清除上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
                    Common.agvInfo[e.RowIndex].CurJob = null;
                    Common.agvInfo[e.RowIndex].RFID = "";
                   // Common.agvInfo[e.RowIndex].Place = "";
                    Common.agvInfo[e.RowIndex].IsUse = true;
                    // }
                    //else
                    //{
                    //    Common.agvInfo[e.RowIndex].IsUse = true;
                    //    Common.LogInfo(string.Format("手动开启小车自动模式，并继续上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));

                    //}

                }
                DgvAgv.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
                Common.WriteIni(Common.agvInfo[e.RowIndex].Name, SettingString.IsUse, Common.agvInfo[e.RowIndex].IsUse.ToString());
                Common.appConfig.Save();
                DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
            }
        }

        private void DgvNode_CellClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex == -1) return;

            if (e.ColumnIndex == 7)  //调用
            {
                Common.nodeInfo[e.RowIndex].IsUse = !Common.nodeInfo[e.RowIndex].IsUse;
                DgvNode.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.nodeInfo[e.RowIndex].IsUse.ToString();
                Common.WriteIni(Common.nodeInfo[e.RowIndex].Name, SettingString.IsUse, Common.nodeInfo[e.RowIndex].IsUse.ToString());
                Common.appConfig.Save();
                DgvNode.Rows[e.RowIndex].SetValues(Common.nodeInfo[e.RowIndex].ToRow());
            }
            else if (e.ColumnIndex == 8)  //清除缓存
            {
                //清除节点缓存
                Common.LogInfo(string.Format("手动清除缓存，{0} {1}", Common.nodeInfo[e.RowIndex].AgvName, Common.nodeInfo[e.RowIndex].Name));
                string name = Common.nodeInfo[e.RowIndex].AgvName;
                Common.nodeInfo[e.RowIndex].AgvName = "";
                DgvNode.Rows[e.RowIndex].Cells[5].Value = "";
                Common.nodeInfo[e.RowIndex].RFID = "";
                DgvNode.Rows[e.RowIndex].Cells[4].Value = "";
                //清除小车缓存
                int idx = Common.agvInfo.FindIndex(s => s.Name == name);
                if (idx > -1)
                {
                    Common.agvInfo[idx].Place = "";
                    Common.agvInfo[idx].RFID = "";
                    DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
                    //添加Init任务
                    Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission["Init"]);
                    Common.mir.State_Ready(Common.agvInfo[idx]);
                }
                DgvNode.Rows[e.RowIndex].SetValues(Common.nodeInfo[e.RowIndex].ToRow());
            }
        }

        private void BtnMissionReady_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
                Common.mir.State_Ready(Common.agvInfo[idx]);
        }

        private void BtnMissionPause_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
                Common.mir.State_Pause(Common.agvInfo[idx]);
            Common.LogInfo("手动暂停：[" + Common.agvInfo[idx].Name + "]");
        }

        private void BtnMissionAdd_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                if (!Common.agvInfo[idx].IsUse)
                //{
                //    if (MessageBox.Show("确定在自动模式下对小车手动分配任务？", Common.agvInfo[idx].Name, MessageBoxButtons.YesNo) == DialogResult.No)
                //        return;
                //    Common.agvInfo[idx].Resend();
                //    //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
                //    Common.LogInfo("手动添加任务：[" + Common.agvInfo[idx].Name + "][" + Common.agvInfo[idx].CurTaskName + "]");
                //}
                //else
                {
                    bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
                    if (!rtn)
                        return;
                    if (LstAgvPlace.Text.StartsWith("Move"))
                        Common.agvInfo[idx].Place = LstAgvPlace.Text.Substring(4);
                    Common.LogInfo("手动添加任务：[" + Common.agvInfo[idx].Name + "][" + Common.agvInfo[idx].CurTaskName + "]");
                }
                ////清除4c临时待机位的占用
                //if (Common.agvInfo[idx].Name.Equals(Common.StandbyStation.C4_Station1))
                //{
                //    Common.StandbyStation.C4_Station1 = "";
                //}
                //else if (Common.agvInfo[idx].Name.Equals(Common.StandbyStation.C4_Station2))
                //{
                //    Common.StandbyStation.C4_Station2 = "";
                //}
                DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
            }

        }

        private void BtnClearError_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
                Common.mir.Clear_Error(Common.agvInfo[idx]);
            Common.LogInfo("手动清除错误：[" + Common.agvInfo[idx].Name + "]");
        }

        bool InShhow = false;

        private void ShowTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            //ShowEmptyTask();
            if (InShhow)
                return;
            InShhow = true;

            Invoke(new Action(() =>
            {
                for (int i = 0; i < Common.agvInfo.Count; i++)
                {
                    try
                    {
                        agvRunInfo[i].Text = Common.agvInfo[i].RunInfo();
                    }
                    catch (Exception ex)
                    {        
                    }
                }

                if (!Common.doubleLine_WO.Equals(""))
                    lblWO.Text = Common.doubleLine_WO;
                if (!AGVManager.A6_Target.Equals(""))
                    lblDestInfo.Text = AGVManager.A6_Target;
                lblCharge3.Text = "充电桩3:" + Common.chargeStatus.charge3;
                lblCharge4.Text = "充电桩4:" + Common.chargeStatus.charge4;
                lblStandy1.Text = "4C待机位1:" + Common.StandbyStation.C4_Station1;
                lblStandy2.Text = "4C待机位2:" + Common.StandbyStation.C4_Station2;
            }));

            InShhow = false;
        }

        private void ShowEmptyTask()
        {
            if (dgvLineMission.InvokeRequired)
            {
                dgvLineMission.Invoke(new Action(() => ShowEmptyTask()));
                return;
            }
            try
            {
                if (dgvLineMission.Rows.Count != 0)
                    dgvLineMission.Rows.Clear();
                foreach (var item in Common.missionManager.missionList)
                {
                    var key = Common.nodeInfo.Where(q => q.Name == item.NodeName).Select(q => q.AliceName);
                    if (key.ToList().Count > 0)
                        dgvLineMission.Rows.Add(item.CreateTime, key.ToList()[0]);
                }
                groupBox4.Text = "产线解绑信息:共" + Common.missionManager.EmptyMissionCount.ToString() + "个";
            }
            catch (Exception ex)
            {
                Common.log.Error(ex);
            }

        }

        private void ChkAutoCharge_CheckedChanged(object sender, EventArgs e)
        {

            if (change) return;
            //Common.chargeStatus.AutoCharge = ChkAutoCharge.Checked;

        }

        private void btnDeleteMission_Click(object sender, EventArgs e)
        {
            try
            {
                if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0)
                {
                    return;
                }
                if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]", "手动删除解绑任务", MessageBoxButtons.YesNo) == DialogResult.No)
                    return;
                //int idx=Common.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]);

                int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
                if (idx > -1)
                {
                    if (Common.DelEmptyShelfTask(Common.nodeInfo[idx].Name))
                    {
                        Common.LogInfo("手动删除任务成功：" + cmbBoxLineName.SelectedItem.ToString());
                    }
                    else
                    {
                        Common.LogInfo("手动删除任务失败");
                    }
                }

            }
            catch (Exception ex)
            {
                Common.log.Error("手动删除任务失败：" + ex.Message);
            }
        }


        private void btnAddMission_Click(object sender, EventArgs e)
        {
            try
            {
                if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0)
                {
                    return;
                }
                if (cmbBoxLineName.SelectedItem.ToString().StartsWith("A"))
                    return;
                if (MessageBox.Show("确定添加产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]", "手动1添加解绑", MessageBoxButtons.YesNo) == DialogResult.No)
                    return;
                int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
                if (idx > -1)
                {
                    if (Common.AddEmptyShelfTask(Common.nodeInfo[idx].Name))
                    {
                        Common.LogInfo("手动添加任务成功：" + cmbBoxLineName.SelectedItem.ToString());
                    }
                    else
                    {
                        Common.LogInfo("手动添加任务失败");
                    }

                }

            }
            catch (Exception ex)
            {
                ShowEmptyTask();
                Common.log.Error("手动添加任务失败：" + ex.Message);
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                Common.agvInfo[idx].IsExistShelf = !Common.agvInfo[idx].IsExistShelf;
                Common.LogInfo("手动设置 " + Common.agvInfo[idx].Name + " 负载状态=" + Common.agvInfo[idx].IsExistShelf);
            }
        }

        private void button1_Click_1(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                Common.agvInfo[idx].CurJob = new ChargeJob("");
                return;
                //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
            }
        }

        private void button2_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                Common.agvInfo[idx].CurJob = new EmptyAGVBackJob("");
                return;

            }
        }

        private void btnWO_Click(object sender, EventArgs e)
        {
            try
            {
                Task.Factory.StartNew(new Action(() =>
                {
                    if (AGVManager.FindCurSO(out AGVManager.WOData woData))
                    {
                        if (Common.GetNodeNameByLineName(woData.line, out string loc))
                        {
                            Common.doubleLine_WO = "工单料信息：" + woData.ToTxt(loc);
                            Common.LogInfo(Common.doubleLine_WO);
                        }
                    }
                }));
            }
            catch (Exception ex)
            {
                MessageBox.Show("查询失败：" + ex.Message + "\r\n" + ex.StackTrace);
            }
        }

        /// <summary>
        /// 出料查询
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button5_Click(object sender, EventArgs e)
        {
            try
            {
                Task.Factory.StartNew(() =>
                {
                    int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6));
                    if (idx > -1)
                    {
                        AGVManager.FindFullShelfTarget(Common.nodeInfo[idx].RFID, out AGVManager.BoxDestInfo FullShelfDestInfo);
                    }

                });
            }
            catch (Exception ex)
            {
                MessageBox.Show("查询失败：" + ex.Message + "\r\n" + ex.StackTrace);
            }
        }

        private void button9_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                Common.agvInfo[idx].CurJob = null;

            }
        }

        private void button1_Click_2(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            Common.CalculateNearNode(Common.agvInfo[idx], SettingString.D4_Name_Prefix);
        }

        private void btnUpdateStatus_Click(object sender, EventArgs e)
        {
            try
            {
                Task.Factory.StartNew(() =>
                {
                    AGVManager.UpdateStatus(txtBoxRFID.Text.ToUpper(), txtBoxLineName.Text.ToUpper());
                    Common.LogInfo(string.Format("手动上报状态 产线{0} 物料状态更新成功[{1}]", txtBoxLineName.Text.ToUpper(), txtBoxRFID.Text.ToUpper()));

                });
            }
            catch (Exception ex)
            {
                MessageBox.Show("手动上报状态失败：" + ex.Message + "\r\n" + ex.StackTrace);
            }
        }

        private void dgvLineMission_Click(object sender, EventArgs e)
        {
            ShowEmptyTask();
        }

        private void btnClearC4StandyInfo_Click(object sender, EventArgs e)
        {
            Common.StandbyStation.C4_Station1 = "";
            Common.StandbyStation.C4_Station2 = "";
        }

        private void btnReSendTask_Click(object sender, EventArgs e)
        {
            if (DgvAgv.SelectedCells.Count == 0) return;
            int idx = DgvAgv.SelectedCells[0].RowIndex;
            if (idx < 0) return;
            if (Common.agvInfo[idx].IsCon)
            {
                if (Common.agvInfo[idx].IsUse)
                {
                    if (MessageBox.Show("确定在自动模式下对小车重发任务？", Common.agvInfo[idx].Name, MessageBoxButtons.YesNo) == DialogResult.No)
                        return;
                    Common.agvInfo[idx].Resend();
                    Common.mir.State_Ready(Common.agvInfo[idx]);
                    //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
                    Common.LogInfo("手动重发任务：[" + Common.agvInfo[idx].Name + "][" + Common.agvInfo[idx].CurTaskName + "]");
                }
                ////清除4c临时待机位的占用
                //if (Common.agvInfo[idx].Name.Equals(Common.StandbyStation.C4_Station1))
                //{
                //    Common.StandbyStation.C4_Station1 = "";
                //}
                //else if (Common.agvInfo[idx].Name.Equals(Common.StandbyStation.C4_Station2))
                //{
                //    Common.StandbyStation.C4_Station2 = "";
                //}
                DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
            }
        }
    }
}