using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Net;
using System.Net.Sockets;
using System.Threading;
using System.Web.Script.Serialization;
using RestSharp;
using common = DoubleLine.Common;

namespace BLL
{
    public class ControlCenter
    {
        //public delegate void StatusEvent(int idx);
        //public event StatusEvent Status;
        public delegate void ActionEvent(int idx, string s);
        public event ActionEvent ABB_ActionChanged;

        private bool loop;
        private Asa.File.Log log = common.log;
        private Thread tWeb;
        private List<BindType> bindRFID;
        private BindType packRFID;

        private bool part_Shelf_Enter = true;
        private int step_Shelf_Enter = 0;
        private ShelfEnter step_Shelf_Enter2 = ShelfEnter.FirstShelf;
        private string type_Need_Enter = "";
        private int time_Shelf_Enter = 0;
        private int smallEmpty_Enter;
        private int bigEmpty_Enter;
        private int packageEmpty_Enter;

        private bool part_Shelf_Ready = true;
        private ShelfReady step_Shelf_Ready = ShelfReady.JudgeCount;



        private bool part_ABB_Right = false;
        private int step_ABB_Right = 0;
        private bool start_ABB_Right = false;
        private int shelf_ABB_Right = 0;
        private int time_ABB_Right = 0;
        private int disk_ABB_Right = 0;
        private string virtualRfid_ABB_Right = "";
        private string realRfid_ABB_Right = "";
        private string code_ABB_Right = "";
        private string type2 = "";
        private int smallEmpty_Right;
        private int bigEmpty_Right;
        private int packageEmpty_Right;


        private bool part_ABB_Left = false;
        private int step_ABB_Left = 0;
        private bool start_ABB_Left = false;
        private int shelf_ABB_Left = 0;
        private int time_ABB_Left = 0;
        private int disk_ABB_Left = 0;
        private string virtualRfid_ABB_Left = "";
        private string realRfid_ABB_Left = "";
        private string code_ABB_Left = "";
        private string type3 = "";
        private int smallEmpty_Left;
        private int bigEmpty_Left;
        private int packageEmpty_Left;




        private bool part_ABB_Down = false;
        private int step_ABB_Down = 0;
        private int time_ABB_Down = 0;
        private string barcode_Down = "";
        /// <summary>
        /// 大料架上可放包装料数量
        /// </summary>
        private int emptyInBig_Down;
        /// <summary>
        /// 包装料架上剩余的包装料数量
        /// </summary>
        private int reelInPackage_Down;
        /// <summary>
        /// 剩余的包装料任务
        /// </summary>
        private int packageTask_Down;
        private int packageLoc_Down;
        private int bigLoc_Down;
        private string bigRfid_Down = "";
        private string realBigRfid_Down = "";



        private System.Collections.Concurrent.ConcurrentQueue<string> _barcode;
        private System.Collections.Concurrent.ConcurrentQueue<string> _rfidLoc;
        private System.Collections.Concurrent.ConcurrentQueue<string> _robotIndex;

        //public event Common.StatusEvent IOStatus;
        //public event Common.OutTextEvent AGVText;

        private const int SLEEP = 50;


        private enum ABB_Step
        {
            /// <summary>
            /// 检查信号
            /// </summary>
            CheckSignal,
            /// <summary>
            /// 延迟
            /// </summary>
            Delay,
            GetShelf,
            GetDisk,
            GetStart,
            GetEnd,
            PutStart,
            PutEnd,
            /// <summary>
            /// 架子到达工位1左侧
            /// </summary>
            ShelfArrive

        }

        private enum ShelfEnter
        {
            Reset,
            /// <summary>
            /// 第一个料架
            /// </summary>
            FirstShelf,
            /// <summary>
            /// 需要C料架
            /// </summary>
            NeedC,
            /// <summary>
            /// 需要D料架
            /// </summary>
            NeedD,
            /// <summary>
            /// C料架到达前端
            /// </summary>
            ArriveC,
            /// <summary>
            /// D料架到达前端
            /// </summary>
            ArriveD,
            /// <summary>
            /// 料架准备好
            /// </summary>
            Ready,
            /// <summary>
            /// 等待
            /// </summary>
            Wait,
            Place2Leave
        }

        private enum ShelfReady
        {
            /// <summary>
            /// 判断数量，用于是否需要放行料架
            /// </summary>
            JudgeCount
        }



        /// <summary>
        /// 控制中心
        /// </summary>
        public ControlCenter()
        {
            _barcode = new System.Collections.Concurrent.ConcurrentQueue<string>();
            _rfidLoc = new System.Collections.Concurrent.ConcurrentQueue<string>();
            _robotIndex = new System.Collections.Concurrent.ConcurrentQueue<string>();
            packRFID = new BindType();
            bindRFID = new List<BindType>();

            //log1 = new Asa.File.Log(Common.LOG_PATH, "ControlCenter");
            //log1.OutString("=====程序启动=====");

            //log2 = new Asa.File.Log(Common.LOG_PATH, "MiR_Command");
            //log2.OutString("=====程序启动=====");
        }

        /// <summary>
        /// 是否连接服务器
        /// </summary>
        public bool IsConn { private set; get; } = false;

        /// <summary>
        /// 打开
        /// </summary>
        public void Start()
        {
            common.log.OutInfo("开启控制中心");
            tWeb = new Thread(new ThreadStart(WebProcess)) { Name = "WebProcess" };
            loop = true;
            tWeb.Start();
        }

        /// <summary>
        /// 关闭
        /// </summary>
        public void Exit()
        {
            loop = false;
            common.log.OutInfo("关闭控制中心");
        }

        public bool ServerPause { set; get; } = false;

        public string TestBind()
        {
            string s = "";
            for (int i = 0; i < bindRFID.Count; i++)
            {
                s += i + " real=" + bindRFID[i].RealRFID + " virtual=" + bindRFID[i].VirtualRFID;
            }
            return s;
        }






        /// <summary>
        /// 和WebServers交互的处理线程
        /// </summary>
        private void WebProcess()
        {


            bool autoModeInit = false;

            //string smallEmpty2 = "";
            //string bigEmpty2 = "";
            //bool bind2 = false;
            //string smallEmpty3 = "";
            //string bigEmpty3 = "";
            //bool bind3 = false;

           


            while (loop)
            {
                Thread.Sleep(SLEEP);
                if (ServerPause) continue;

                #region 切换自动
                if (common.LineDouble.AutoMode)
                {
                    if (!autoModeInit)
                    {
                        part_Shelf_Enter = true;
                        //part_Shelf_Ready = true;
                        //part_ABB_Right = false;
                        //part_ABB_Left = false;
                        //part_ABB_Down = false;

                        //step_Shelf_Enter = 0;
                        //step_Shelf_Enter2 = ShelfEnter.FirstShelf;
                        //step_ABB_Right = 0;
                        //step_ABB_Left = 0;
                        //step_ABB_Down = 0;

                        //time_Shelf_Enter = 0;
                        //time_ABB_Right = 0;
                        //time_ABB_Left = 0;
                        //time_ABB_Down = 0;

                        //start_ABB_Right = false;
                        //start_ABB_Left = false;

                        autoModeInit = true;
                        //bindRFID.Clear();
                        common.log.OutInfo("控制中心开启自动化");
                    }
                }
                else
                {
                    autoModeInit = false;
                    continue;
                }
                #endregion

                //架子进入工位
                if (part_Shelf_Enter)
                    Shelf_Enter_Action2();

                //架子准备好
                //if (part_Shelf_Ready)
                //    Shelf_Ready_Action();

                //右侧ABB
                if (part_ABB_Right && common.ABB_Info[0].IsOpen && common.LineDouble.Place1Ready)
                    ABB_Right_Action();

                //左侧ABB
                if (part_ABB_Left && common.ABB_Info[1].IsOpen && common.LineDouble.Place1Ready)
                    ABB_Left_Action();

                //下侧ABB
                if (part_ABB_Down && common.ABB_Info[2].IsOpen && common.LineDouble.Place2Ready)
                    ABB_Down_Action();
            }
        }

        private void Shelf_Enter_Action()
        {
            if (step_Shelf_Enter == 0)  //从web服务器读取所需料架
            {
                if (time_Shelf_Enter == 0)
                {
                    common.Web.ShelfFinish("", "", "", "", out smallEmpty_Enter, out bigEmpty_Enter, out packageEmpty_Enter);
                    
                    if (smallEmpty_Enter != 0)
                        type_Need_Enter = "D";
                    else if (bigEmpty_Enter != 0)
                        type_Need_Enter = "C";
                    else if (packageEmpty_Enter != 0)
                        type_Need_Enter = "C";
                    else
                        type_Need_Enter = "";

                    if (type_Need_Enter.Equals(""))
                    {
                        common.log.OutInfo("没有得到任务");
                        time_Shelf_Enter += SLEEP;
                        return;
                    }
                    else if (type_Need_Enter.Equals("D"))
                    {
                        common.LineDouble.NeedTypeD = DoubleLine.DeviceAction.Start;
                        common.log.OutInfo("需要D料架");
                        step_Shelf_Enter = 1;
                    }
                    else if (type_Need_Enter.Equals("C"))
                    {
                        common.LineDouble.NeedTypeC = DoubleLine.DeviceAction.Start;
                        common.log.OutInfo("需要C料架");
                        step_Shelf_Enter = 2;
                    }
                }
                else
                {
                    if (time_Shelf_Enter >= 2000)
                        time_Shelf_Enter = 0;
                    else
                        time_Shelf_Enter += SLEEP;
                }
            }
            else if (step_Shelf_Enter == 1)  //D料架
            {
                if (common.LineDouble.NeedTypeD == DoubleLine.DeviceAction.Stop)
                {
                    common.log.OutInfo("到达工位1前端");
                    common.LineDouble.GoPlace1 = DoubleLine.DeviceAction.Start;
                    step_Shelf_Enter = 3;
                }
                else if (common.LineDouble.NeedTypeD == DoubleLine.DeviceAction.Error)
                {
                    common.log.OutInfo("没有D料架");
                    step_Shelf_Enter = 0;
                    time_Shelf_Enter += SLEEP;
                }
            }
            else if (step_Shelf_Enter == 2)  //C料架
            {
                if (common.LineDouble.NeedTypeC == DoubleLine.DeviceAction.Stop)
                {
                    common.LineDouble.GoPlace1 = DoubleLine.DeviceAction.Start;
                    common.log.OutInfo("到达工位1前端");
                    step_Shelf_Enter = 3;
                }
                else if (common.LineDouble.NeedTypeC == DoubleLine.DeviceAction.Error)
                {
                    common.log.OutInfo("没有C料架");
                    step_Shelf_Enter = 0;
                    time_Shelf_Enter += SLEEP;
                }
            }
            else if (step_Shelf_Enter == 3)  //判断料架到位
            {
                if (common.LineDouble.GoPlace1 == DoubleLine.DeviceAction.Stop)
                {
                    common.log.OutInfo(type_Need_Enter + "料架到达工位1");


                    bindRFID.Add(new BindType(common.LineDouble.Place1RFID, ""));
                    for (int i = 0; i < bindRFID.Count; i++)
                        common.log.OutInfo("Key=" + bindRFID[i].RealRFID + ",Value=" + bindRFID[i].VirtualRFID);

                    step_Shelf_Enter = 4;
                    //part1 = false;
                    time_Shelf_Enter = 0;
                    step_ABB_Right = 0;
                    part_ABB_Right = true;
                    step_ABB_Left = 0;
                    part_ABB_Left = true;
                    step_ABB_Down = 0;
                    part_ABB_Down = false;
                }
                else if (common.LineDouble.GoPlace1 == DoubleLine.DeviceAction.Error)
                {
                    common.log.OutInfo("不能去工位1");
                    return;
                }
            }
            else if (step_Shelf_Enter == 4)
            {
                if (time_Shelf_Enter == 0)
                {
                    string barcode = "";
                    //if (!_barcode.TryDequeue(out barcode))
                    //    barcode = "";

                    string rfidLoc = "";
                    //if (!_rfidLoc.TryDequeue(out rfidLoc))
                    //    rfidLoc = "";

                    string robotIndex = "";
                    //if (!_robotIndex.TryDequeue(out robotIndex))
                    //    robotIndex = "";
                    common.Web.ShelfFinish(common.LineDouble.Place1RFID, barcode, rfidLoc, robotIndex, out smallEmpty_Enter, out bigEmpty_Enter, out packageEmpty_Enter);

                    time_Shelf_Enter = SLEEP;

                    if (common.LineDouble.Place2Count > 0)
                    {
                        if (packageEmpty_Enter == 0 && common.ABB_Info[2].PutEnd)
                        {
                            common.LineDouble.Place2Leave = DoubleLine.DeviceAction.Start;
                            part_ABB_Down = false;
                            step_Shelf_Enter = 8;
                        }
                    }
                    else if (common.LineDouble.Place1Count > 0 && common.LineDouble.Place1RFID[0] == 'D')
                    {
                        if (smallEmpty_Enter == 0 &&
                            !common.LineDouble.Place1Right &&
                            common.LineDouble.Place2Count == 0 &&
                            common.ABB_Info[0].PutEnd &&
                            common.ABB_Info[1].PutEnd)
                        {
                            common.LineDouble.Place1Leave = DoubleLine.DeviceAction.Start;
                            step_Shelf_Enter = 5;
                            if (bindRFID.Count == 1)
                            {
                                if (bindRFID[0].RealRFID.Equals(common.LineDouble.Place1RFID))
                                    bindRFID.RemoveAt(0);
                            }
                            else
                            {
                                if (bindRFID[0].RealRFID.Equals(common.LineDouble.Place1RFID))
                                    bindRFID.RemoveAt(0);
                                else if (bindRFID[1].RealRFID.Equals(common.LineDouble.Place1RFID))
                                    bindRFID.RemoveAt(1);
                            }
                            common.log.OutString("Place1RFID=" + common.LineDouble.Place1RFID);
                        }
                    }
                    else if (common.LineDouble.Place1Count > 0 && common.LineDouble.Place1RFID[0] == 'C')
                    {
                        if (bigEmpty_Enter == 0 &&
                            !common.LineDouble.Place1Right &&
                            common.LineDouble.Place2Count == 0 && 
                            common.ABB_Info[0].PutEnd &&
                            common.ABB_Info[1].PutEnd)
                        {
                            common.LineDouble.Place1ToPlace2 = DoubleLine.DeviceAction.Start;
                            if (bindRFID.Count == 1)
                            {
                                if (bindRFID[0].RealRFID.Equals(common.LineDouble.Place1RFID))
                                    bindRFID.RemoveAt(0);
                            }
                            else
                            {
                                if (bindRFID[0].RealRFID.Equals(common.LineDouble.Place1RFID))
                                    bindRFID.RemoveAt(0);
                                else if (bindRFID[1].RealRFID.Equals(common.LineDouble.Place1RFID))
                                    bindRFID.RemoveAt(1);
                            }
                            common.log.OutInfo("工位1到工位2");
                            step_Shelf_Enter = 6;
                        }
                    }
                }
                else
                {
                    if (time_Shelf_Enter >= 2000)
                        time_Shelf_Enter = 0;
                    else
                        time_Shelf_Enter += SLEEP;
                }

            }
            else if (step_Shelf_Enter == 5)
            {
                if (common.LineDouble.Place1Leave == DoubleLine.DeviceAction.Stop)
                {
                    //if (bindRFID[0].Key.Equals(common.LineDouble.Place1RFID))
                    //    bindRFID.RemoveAt(0);
                    //else if (bindRFID[1].Key.Equals(common.LineDouble.Place1RFID))
                    //    bindRFID.RemoveAt(1);
                    if (common.LineDouble.Place1Left)
                    {
                        common.LineDouble.GoPlace1 = DoubleLine.DeviceAction.Start;
                        step_Shelf_Enter = 7;
                        common.log.OutInfo("工位1左侧去工位1");
                    }
                    else
                    {
                        step_Shelf_Enter = 0;
                        time_Shelf_Enter = 0;
                        common.log.OutInfo("工位1出库完成，回到起始");
                    }
                }
            }
            else if (step_Shelf_Enter == 6)
            {
                if (common.LineDouble.Place1ToPlace2 == DoubleLine.DeviceAction.Stop)
                {
                    step_Shelf_Enter = 4;
                    part_ABB_Down = true;
                    step_ABB_Down = 0;
                    time_ABB_Down = 0;
                }
            }
            else if (step_Shelf_Enter == 7)
            {
                if (common.LineDouble.GoPlace1 == DoubleLine.DeviceAction.Stop)
                {
                    step_Shelf_Enter = 4;
                    time_Shelf_Enter = 0;
                }
            }
            else if (step_Shelf_Enter == 8)
            {
                if (common.LineDouble.Place2Leave == DoubleLine.DeviceAction.Stop)
                {
                    step_Shelf_Enter = 0;
                    time_Shelf_Enter = 0;
                }
            }
        }

        private void Shelf_Enter_Action2()
        {
            if (step_Shelf_Enter2 == ShelfEnter.Reset)
            {

            }
            else if (step_Shelf_Enter2 == ShelfEnter.FirstShelf)
            {
                if (time_Shelf_Enter == 0)
                {
                    common.Web.ShelfFinish("", "", "", "", out smallEmpty_Enter, out bigEmpty_Enter, out packageEmpty_Enter);
                    if (smallEmpty_Enter != 0)
                    {
                        type_Need_Enter = "D";
                        step_Shelf_Enter2 = ShelfEnter.NeedD;
                    }
                    else if (bigEmpty_Enter != 0)
                    {
                        type_Need_Enter = "C";
                        step_Shelf_Enter2 = ShelfEnter.NeedC;
                    }
                    else if (packageEmpty_Enter != 0)
                    {
                        type_Need_Enter = "C";
                        step_Shelf_Enter2 = ShelfEnter.NeedC;
                    }
                    else
                    {
                        type_Need_Enter = "";
                        common.log.OutInfo("没有得到任务");
                        time_Shelf_Enter += SLEEP;
                    }
                }
                else
                {
                    //没有任务的时候，每2s调用一次接口
                    if (time_Shelf_Enter >= 2000)
                        time_Shelf_Enter = 0;
                    else
                        time_Shelf_Enter += SLEEP;
                }
            }
            else if (step_Shelf_Enter2 == ShelfEnter.NeedC)
            {
                common.LineDouble.NeedTypeC = DoubleLine.DeviceAction.Start;
                step_Shelf_Enter2 = ShelfEnter.ArriveC;
                common.log.OutInfo("需要C料架");
            }
            else if (step_Shelf_Enter2 == ShelfEnter.NeedD)
            {
                common.LineDouble.NeedTypeD = DoubleLine.DeviceAction.Start;
                step_Shelf_Enter2 = ShelfEnter.ArriveD;
                common.log.OutInfo("需要D料架");
            }
            else if (step_Shelf_Enter2 == ShelfEnter.ArriveC)
            {
                if (common.LineDouble.NeedTypeC == DoubleLine.DeviceAction.Stop)
                {
                    common.log.OutInfo("到达工位1前端");
                    common.LineDouble.GoPlace1 = DoubleLine.DeviceAction.Start;
                    step_Shelf_Enter2 = ShelfEnter.Ready;
                }
                else if (common.LineDouble.NeedTypeC == DoubleLine.DeviceAction.Error)
                {
                    common.log.OutInfo("没有C料架，或者有阻挡不能获取C料架");
                    step_Shelf_Enter2 = ShelfEnter.FirstShelf;
                    time_Shelf_Enter = SLEEP;
                }
            }
            else if (step_Shelf_Enter2 == ShelfEnter.ArriveD)
            {
                if (common.LineDouble.NeedTypeD == DoubleLine.DeviceAction.Stop)
                {
                    common.log.OutInfo("到达工位1前端");
                    common.LineDouble.GoPlace1 = DoubleLine.DeviceAction.Start;
                    step_Shelf_Enter2 = ShelfEnter.Ready;
                }
                else if (common.LineDouble.NeedTypeD == DoubleLine.DeviceAction.Error)
                {
                    common.log.OutInfo("没有D料架，或者有阻挡不能获取D料架");
                    step_Shelf_Enter2 = ShelfEnter.FirstShelf;
                    time_Shelf_Enter = SLEEP;
                }
            }
            else if (step_Shelf_Enter2 == ShelfEnter.Ready)
            {
                if (common.LineDouble.GoPlace1 == DoubleLine.DeviceAction.Stop)
                {
                    common.log.OutInfo(type_Need_Enter + "料架到达工位1");
                    int idx = bindRFID.FindIndex(s => s.RealRFID == common.LineDouble.Place1RFID);
                    if (idx == -1) bindRFID.Add(new BindType(common.LineDouble.Place1RFID, ""));
                    type_Need_Enter = "";
                    step_Shelf_Enter2 = ShelfEnter.Wait;
                    part_ABB_Left = true;
                    step_ABB_Left = 0;
                    part_ABB_Right = true;
                    step_ABB_Right = 0;

                    for (int i = 0; i < bindRFID.Count; i++)
                        common.log.OutInfo("real=" + bindRFID[i].RealRFID + ",virtual=" + bindRFID[i].VirtualRFID);
                }
                else if (common.LineDouble.GoPlace1 == DoubleLine.DeviceAction.Error)
                {
                    common.log.OutInfo("不能去工位1");
                }
            }
            else if (step_Shelf_Enter2 == ShelfEnter.Wait)
            {
                if (type_Need_Enter == "C")
                    step_Shelf_Enter2 = ShelfEnter.NeedC;
                else if (type_Need_Enter == "D")
                    step_Shelf_Enter2 = ShelfEnter.NeedD;
                else
                {
                    if (packRFID.Leave)
                    {
                        common.LineDouble.Place2Leave = DoubleLine.DeviceAction.Start;
                        step_Shelf_Enter2 = ShelfEnter.Place2Leave;
                    }
                    //common.Web.ShelfFinish("", "", "", "", out smallEmpty_Enter, out bigEmpty_Enter, out packageEmpty_Enter);
                    //if (smallEmpty_Enter == 0)
                    //{
                    //}
                    //else if (bigEmpty_Enter == 0)
                    //{
                    //}
                    //else if (packageEmpty_Enter == 0)
                    //{
                    //}
                    //else
                    //{
                    //}
                }
            }
            else if (step_Shelf_Enter2 == ShelfEnter.Place2Leave)
            {
                if (common.LineDouble.Place2Leave == DoubleLine.DeviceAction.Stop)
                {
                    step_Shelf_Enter2 = ShelfEnter.FirstShelf;
                }
            }
        }

        private void Shelf_Ready_Action()
        {
            if (step_Shelf_Ready == ShelfReady.JudgeCount)
            {
                if (common.LineDouble.Place1Ready)
                {
                    //common.Web.ShelfFinish(common.LineDouble.Place1RFID, "", "", "", out smallEmpty_Enter, out bigEmpty_Enter, out packageEmpty_Enter);

                }

                if (common.LineDouble.Place2Ready)
                {
                }

            }

        }

        private void ABB_Left_Action()
        {
            if (step_ABB_Left == 0)  //信号到位
            {
                Asa.IOModule.Box_Sta sta = common.IO_Info[4].Box.ReadDI((int)IO26_DI.X673);
                if (sta == Asa.IOModule.Box_Sta.On)
                {
                    if (shelf_ABB_Right == -1)
                    {
                    }
                    else if (common.LineDouble.Place1RFID.IndexOf("D") > -1 && shelf_ABB_Right < 47 && start_ABB_Right)
                    {
                        ABB_ActionChanged?.Invoke(1, "等待ABB1");
                    }
                    else if (common.LineDouble.Place1RFID.IndexOf("C") > -1 && shelf_ABB_Right < 7 && start_ABB_Right)
                    {
                        ABB_ActionChanged?.Invoke(1, "等待ABB1");
                    }
                    else
                    {
                        shelf_ABB_Left = -1;
                        start_ABB_Left = true;
                        time_ABB_Left = 0;
                        step_ABB_Left = 1;
                        ABB_ActionChanged?.Invoke(1, "收到信号");
                        common.log.OutInfo("左侧收到信号 X673=true");
                    }
                }
            }
            else if (step_ABB_Left == 1)
            {
                if (time_ABB_Left >= 1000)
                {
                    step_ABB_Left = 2;
                    common.log.OutInfo("延时1s");
                }
                else
                {
                    time_ABB_Left += SLEEP;
                }
            }
            else if (step_ABB_Left == 2)
            {
                common.Web.GetDiskInfo(2, common.LineDouble.Place1RFID, out disk_ABB_Left, out shelf_ABB_Left, out virtualRfid_ABB_Left, out realRfid_ABB_Left, out code_ABB_Left);

                if (realRfid_ABB_Left != "")  //有真实RFID
                {
                    if (realRfid_ABB_Left == common.LineDouble.Place1RFID)  //真实RFID是当前料架的RFID
                    {
                        step_ABB_Left = 21;
                    }
                    else
                    {
                        int idx = bindRFID.FindIndex(s => s.RealRFID == realRfid_ABB_Left);
                        if (idx == -1)
                        {
                            if (bindRFID.Count == 1)
                            {
                            }
                            else if (bindRFID.Count == 2)
                            {
                            }
                        }
                        else
                        {
                            common.log.OutInfo("切换料架");
                        }
                    }

                }
                else if (virtualRfid_ABB_Left != "")  //只有虚拟RFID
                {
                    int idx = bindRFID.FindIndex(s => s.VirtualRFID == virtualRfid_ABB_Left);
                    if (idx == -1)
                    {
                        if (virtualRfid_ABB_Left.IndexOf("C") > -1)  //需要C料架
                        {
                            idx = bindRFID.FindIndex(s => s.RealRFID.StartsWith("C") && s.VirtualRFID == "");
                            if (idx == -1)
                            {
                                type_Need_Enter = "C";
                                common.log.OutInfo("需要D料架");
                            }
                            else
                                bindRFID[idx].VirtualRFID = virtualRfid_ABB_Left;
                        }
                        else if (virtualRfid_ABB_Left.IndexOf("D") > -1)  //需要D料架
                        {
                            type_Need_Enter = "D";
                            common.log.OutInfo("需要D料架");
                        }
                    }
                    else
                    {
                        if (bindRFID[idx].RealRFID == common.LineDouble.Place1RFID)
                        {
                            step_ABB_Left = 21;
                        }
                        else
                        {
                            common.log.OutInfo("切换料架");
                        }
                    }
                }






                //if (realRfid_ABB_Left == "" && virtualRfid_ABB_Left != "")  //首盘补盘，第一次
                //{
                //    type3 = "";
                //    for (int i = 0; i < bindRFID.Count; i++)
                //    {
                //        if (bindRFID[i].RealRFID != "" && bindRFID[i].VirtualRFID == "")
                //        {
                //            common.log.OutInfo("3 Key=" + bindRFID[i].RealRFID + ",Value=" + bindRFID[i].VirtualRFID);
                //            if (virtualRfid_ABB_Left.IndexOf(bindRFID[i].RealRFID[0]) > -1)
                //            {
                //                bindRFID[i].VirtualRFID = virtualRfid_ABB_Left;
                //                type3 = bindRFID[i].RealRFID;
                //                break;
                //            }
                //        }
                //    }

                //    //用于第二次服务器还没有绑定的情况
                //    if (type3 == "")
                //    {
                //        for (int i = 0; i < bindRFID.Count; i++)
                //        {
                //            if (bindRFID[i].RealRFID != "" && bindRFID[i].VirtualRFID == virtualRfid_ABB_Left)
                //            {
                //                common.log.OutInfo("4 Key=" + bindRFID[i].RealRFID + ",Value=" + bindRFID[i].VirtualRFID);
                //                type3 = bindRFID[i].RealRFID;
                //                break;
                //            }
                //        }
                //    }


                //    if (type3 == "")
                //    {
                //        int idx3 = bindRFID.FindIndex(s => s.VirtualRFID == virtualRfid_ABB_Left);
                //        if (idx3 == -1) bindRFID.Add(new BindType("", virtualRfid_ABB_Left));
                //        step_ABB_Left = 5;
                //    }
                //    else
                //    {
                //        if (type3 == common.LineDouble.Place1RFID)
                //            step_ABB_Left = 21;
                //        else
                //            step_ABB_Left = 5;
                //    }
                //}
                //else if (realRfid_ABB_Left != "" && virtualRfid_ABB_Left != "")  //首盘第二次以上
                //{
                //    if (realRfid_ABB_Left == common.LineDouble.Place1RFID)
                //        step_ABB_Left = 21;
                //    else
                //        step_ABB_Left = 5;
                //}
                //else if (realRfid_ABB_Left != "" && virtualRfid_ABB_Left == "")  //补盘第二次以上
                //{
                //    if (realRfid_ABB_Left == common.LineDouble.Place1RFID)
                //        step_ABB_Left = 21;
                //    else
                //        step_ABB_Left = 5;
                //}
                for (int i = 0; i < bindRFID.Count; i++)
                    common.log.OutInfo("3RFID real=" + bindRFID[i].RealRFID + ",virtual=" + bindRFID[i].VirtualRFID);

            }
            else if (step_ABB_Left == 21)
            {
                if (common.LineDouble.Place1RFID.IndexOf("D") > -1 && shelf_ABB_Left > 46 && start_ABB_Right)
                { }
                else if (common.LineDouble.Place1RFID.IndexOf("C") > -1 && shelf_ABB_Left > 6 && start_ABB_Right)
                { }
                else
                {
                    step_ABB_Left = 3;
                    common.log.OutInfo("左侧21 RFID=" + common.LineDouble.Place1RFID + ",shelf_left=" + shelf_ABB_Left + ",start_right=" + start_ABB_Right);

                }
            }
            else if (step_ABB_Left == 3)
            {
                if (common.LineDouble.Place1Ready)
                {
                    common.ABB.MoveGet(1, "p" + disk_ABB_Left, common.ABB_Info[1].Speed);
                    ABB_ActionChanged?.Invoke(1, "moveget p" + disk_ABB_Left);
                    common.log.OutInfo("ABB2 moveget 开始");
                    step_ABB_Left = 31;
                }
            }
            else if (step_ABB_Left == 31)
            {
                if (common.ABB_Info[1].GetEnd)
                {
                    ABB_ActionChanged?.Invoke(1, "moveget 完成");
                    common.log.OutInfo("ABB2 moveget 完成");
                    step_ABB_Left = 4;
                }
            }
            else if (step_ABB_Left == 4)
            {
                string pointLeft = common.LineDouble.Place1RFID.ToLower()[0] + "p" + shelf_ABB_Left.ToString();
                common.ABB.MovePut(1, pointLeft, common.ABB_Info[1].Speed);
                ABB_ActionChanged?.Invoke(1, "moveput " + pointLeft);
                common.log.OutInfo("ABB2 moveput 开始");
                step_ABB_Left = 41;
            }
            else if (step_ABB_Left == 41)
            {
                if (common.ABB_Info[1].PutIn)
                {
                    common.log.OutInfo("ABB2 moveput 放入");
                    //_barcode.Enqueue(code_ABB_Left);
                    //_rfidLoc.Enqueue(shelf_ABB_Left.ToString());
                    //_robotIndex.Enqueue("2");

                    common.Web.ShelfFinish(common.LineDouble.Place1RFID, code_ABB_Left, shelf_ABB_Left.ToString(), "1", out smallEmpty_Left, out bigEmpty_Left, out packageEmpty_Left);
                    if (common.LineDouble.Place1RFID.StartsWith("D"))
                    {
                        if (smallEmpty_Left == 0)
                        {
                            int idx = bindRFID.FindIndex(s => s.RealRFID == common.LineDouble.Place1RFID);
                            if (idx > -1) bindRFID[idx].Leave = true;
                        }
                    }
                    else if (common.LineDouble.Place1RFID.StartsWith("C"))
                    {
                        if (bigEmpty_Left == 0)
                        {
                            int idx = bindRFID.FindIndex(s => s.RealRFID == common.LineDouble.Place1RFID);
                            if (idx > -1) bindRFID[idx].Leave = true;
                        }
                    }

                    step_ABB_Left = 42;
                }
            }
            else if (step_ABB_Left == 42)
            {
                if (common.ABB_Info[1].PutEnd)
                {
                    step_ABB_Left = 0;
                    start_ABB_Left = false;

                    _barcode.Enqueue(code_ABB_Left);
                    _rfidLoc.Enqueue(shelf_ABB_Left.ToString());
                    _robotIndex.Enqueue("2");

                    ABB_ActionChanged?.Invoke(1, "moveput 完成");
                    common.log.OutInfo("ABB2 moveput 完成");
                }
            }
            else if (step_ABB_Left == 5)
            {
                if (!start_ABB_Right)
                {
                    if (common.LineDouble.Place1Count == 1)  //工位只有一个架子
                    {
                        if (virtualRfid_ABB_Left.Contains("C"))
                        {
                            common.LineDouble.NeedTypeC = DoubleLine.DeviceAction.Start;
                            common.log.OutInfo("需要C料架");
                        }
                        else if (virtualRfid_ABB_Left.Contains("D"))
                        {
                            common.LineDouble.NeedTypeD = DoubleLine.DeviceAction.Start;
                            common.log.OutInfo("需要D料架");
                        }
                        else
                        {
                            common.log.OutInfo("无法识别");
                        }
                        step_ABB_Left = 6;
                    }
                    else if (common.LineDouble.Place1Count == 2)
                    {
                        common.LineDouble.PlaceMove = DoubleLine.DeviceAction.Start;
                        common.log.OutInfo("料架开始左右切换");
                        step_ABB_Left = 7;
                    }
                }
            }
            else if (step_ABB_Left == 6)
            {
                if (common.LineDouble.NeedTypeC == DoubleLine.DeviceAction.Stop && 
                    common.LineDouble.NeedTypeD == DoubleLine.DeviceAction.Stop)
                {
                    common.LineDouble.PlaceMove = DoubleLine.DeviceAction.Start;
                    common.log.OutInfo("料架开始左右切换");
                    step_ABB_Left = 7;
                }
            }
            else if (step_ABB_Left == 7)
            {
                if (common.LineDouble.PlaceMove == DoubleLine.DeviceAction.Stop &&
                    common.LineDouble.PlaceLeft == DoubleLine.DeviceAction.Stop &&
                    common.LineDouble.PlaceRight == DoubleLine.DeviceAction.Stop)
                {
                    step_ABB_Left = 3;
                    common.log.OutInfo("料架切换完成");
                    if (type3.Equals(""))
                    {
                        bindRFID[bindRFID.Count - 1].RealRFID = common.LineDouble.Place1RFID;
                    }
                }
            }
            else if (step_ABB_Left == 8)
            {
                if (common.LineDouble.Place1Leave == DoubleLine.DeviceAction.Stop)
                {
                    if (common.LineDouble.Place1Count > 0)
                        common.LineDouble.GoPlace1 = DoubleLine.DeviceAction.Start;
                    step_ABB_Right = 9;
                }
            }
            else if (step_ABB_Left == 9)
            {
                if (common.LineDouble.GoPlace1 == DoubleLine.DeviceAction.Stop)
                {
                    part_Shelf_Enter = true;
                    part_ABB_Right = false;
                    part_ABB_Left = false;
                    step_Shelf_Enter = 0;
                    start_ABB_Left = false;
                }
            }

        }

        private void ABB_Right_Action()
        {
            if (step_ABB_Right == 0)  //信号到位
            {
                Asa.IOModule.Box_Sta sta = common.IO_Info[5].Box.ReadDI((int)IO27_DI.X683);
                if (sta == Asa.IOModule.Box_Sta.On)
                {
                    if (shelf_ABB_Left == -1)
                    {
                    }
                    else if (common.LineDouble.Place1RFID.IndexOf("D") > -1 && shelf_ABB_Left > 46 && start_ABB_Left)
                    {
                        ABB_ActionChanged?.Invoke(0, "等待ABB2");
                    }
                    else if (common.LineDouble.Place1RFID.IndexOf("C") > -1 && shelf_ABB_Left > 6 && start_ABB_Left)
                    {
                        ABB_ActionChanged?.Invoke(0, "等待ABB2");
                    }
                    else
                    {
                        shelf_ABB_Right = -1;
                        start_ABB_Right = true;
                        time_ABB_Right = 0;
                        step_ABB_Right = 1;
                        ABB_ActionChanged?.Invoke(0, "收到信号");
                        common.log.OutInfo("右侧收到信号 X683=true");
                    }
                }
            }
            else if (step_ABB_Right == 1)
            {
                if (time_ABB_Right >= 500)
                {
                    step_ABB_Right = 2;
                    common.log.OutInfo("延时500ms");
                }
                else
                {
                    time_ABB_Right += SLEEP;
                }
            }
            else if (step_ABB_Right == 2)
            {
                common.Web.GetDiskInfo(1, common.LineDouble.Place1RFID, out disk_ABB_Right, out shelf_ABB_Right, out virtualRfid_ABB_Right, out realRfid_ABB_Right, out code_ABB_Right);

                if (realRfid_ABB_Right != "")  //有真实RFID
                {
                    if (realRfid_ABB_Right == common.LineDouble.Place1RFID)  //真实RFID是当前料架的RFID
                    {
                        step_ABB_Right = 21;
                    }
                    else
                    {
                        int idx = bindRFID.FindIndex(s => s.RealRFID == realRfid_ABB_Right);
                        if (idx == -1)
                        {
                            if (bindRFID.Count == 1)
                            {
                            }
                            else if (bindRFID.Count == 2)
                            {
                            }
                        }
                        else
                        {
                            common.log.OutInfo("切换料架");
                        }
                    }

                }
                else if (virtualRfid_ABB_Right != "")  //只有虚拟RFID
                {
                    int idx = bindRFID.FindIndex(s => s.VirtualRFID == virtualRfid_ABB_Right);
                    if (idx == -1)
                    {
                        if (virtualRfid_ABB_Right.IndexOf("C") > -1)  //需要C料架
                        {
                            idx = bindRFID.FindIndex(s => s.RealRFID.StartsWith("C") && s.VirtualRFID == "");
                            if (idx == -1)
                            {
                                type_Need_Enter = "C";
                                common.log.OutInfo("需要C料架");
                            }
                            else
                            {
                                bindRFID[idx].VirtualRFID = virtualRfid_ABB_Right;
                                step_ABB_Right = 21;
                            }
                        }
                        else if (virtualRfid_ABB_Right.IndexOf("D") > -1)  //需要D料架
                        {
                            idx = bindRFID.FindIndex(s => s.RealRFID.StartsWith("D") && s.VirtualRFID == "");
                            if (idx == -1)
                            {
                                type_Need_Enter = "D";
                                common.log.OutInfo("需要D料架");
                            }
                            else
                            {
                                bindRFID[idx].VirtualRFID = virtualRfid_ABB_Right;
                                step_ABB_Right = 21;
                            }
                        }
                    }
                    else
                    {
                        if (bindRFID[idx].RealRFID == common.LineDouble.Place1RFID)
                        {
                            step_ABB_Right = 21;
                        }
                        else
                        {
                            common.log.OutInfo("切换料架");
                        }
                    }
                }








                //if (realRfid_ABB_Right == "" && virtualRfid_ABB_Right != "")  //首盘补盘，第一次
                //{
                //    type2 = "";
                //    for (int i = 0; i < bindRFID.Count; i++)
                //    {
                //        if (bindRFID[i].RealRFID != "" && bindRFID[i].VirtualRFID == "")
                //        {
                //            common.log.OutInfo("1 Key=" + bindRFID[i].RealRFID + ",Value=" + bindRFID[i].VirtualRFID);
                //            if (virtualRfid_ABB_Right.IndexOf(bindRFID[i].RealRFID[0]) > -1)
                //            {
                //                bindRFID[i].VirtualRFID = virtualRfid_ABB_Right;
                //                type2 = bindRFID[i].RealRFID;
                //                break;
                //            }
                //        }
                //    }

                //    //用于第二次服务器还没有绑定的情况
                //    if (type2 == "")
                //    {
                //        for (int i = 0; i < bindRFID.Count; i++)
                //        {
                //            if (bindRFID[i].RealRFID != "" && bindRFID[i].VirtualRFID == virtualRfid_ABB_Right)
                //            {
                //                common.log.OutInfo("2 Key=" + bindRFID[i].RealRFID + ",Value=" + bindRFID[i].VirtualRFID);
                //                type2 = bindRFID[i].RealRFID;
                //                break;
                //            }
                //        }
                //    }


                //    if (type2 == "")
                //    {
                //        int idx2 = bindRFID.FindIndex(s => s.VirtualRFID == virtualRfid_ABB_Right);
                //        if (idx2 == -1) bindRFID.Add(new BindType("", virtualRfid_ABB_Right));
                //        step_ABB_Right = 5;
                //    }
                //    else
                //    {
                //        if (type2 == common.LineDouble.Place1RFID)
                //            step_ABB_Right = 21;
                //        else
                //            step_ABB_Right = 5;
                //    }
                //}
                //else if (realRfid_ABB_Right != "" && virtualRfid_ABB_Right != "")  //首盘第二次以上
                //{
                //    if (realRfid_ABB_Right == common.LineDouble.Place1RFID)
                //        step_ABB_Right = 21;
                //    else
                //        step_ABB_Right = 5;
                //}
                //else if (realRfid_ABB_Right != "" && virtualRfid_ABB_Right == "")  //补盘第二次以上
                //{
                //    if (realRfid_ABB_Right == common.LineDouble.Place1RFID)
                //        step_ABB_Right = 21;
                //    else
                //        step_ABB_Right = 5;
                //}
                for (int i = 0; i < bindRFID.Count; i++)
                    common.log.OutInfo("real=" + bindRFID[i].RealRFID + ",virtual=" + bindRFID[i].VirtualRFID);

            }
            else if (step_ABB_Right == 21)
            {
                if (common.LineDouble.Place1RFID.IndexOf("D") > -1 && shelf_ABB_Right < 47 && start_ABB_Left)
                { }
                else if (common.LineDouble.Place1RFID.IndexOf("C") > -1 && shelf_ABB_Right < 7 && start_ABB_Left)
                { }
                else
                {
                    step_ABB_Right = 3;
                    common.log.OutInfo("右侧21 RFID=" + common.LineDouble.Place1RFID + ",shelf_right=" + shelf_ABB_Right + ",start_left=" + start_ABB_Left);

                }
            }
            else if (step_ABB_Right == 3)
            {
                if (common.LineDouble.Place1Ready)
                {
                    common.ABB.MoveGet(0, "p" + disk_ABB_Right, common.ABB_Info[0].Speed);
                    ABB_ActionChanged?.Invoke(0, "moveget p" + disk_ABB_Right);
                    common.log.OutInfo("ABB1 moveget 开始");
                    step_ABB_Right = 31;
                }
            }
            else if (step_ABB_Right == 31)
            {
                if (common.ABB_Info[0].GetEnd)
                {
                    ABB_ActionChanged?.Invoke(0, "moveget 完成");
                    common.log.OutInfo("ABB1 moveget 完成");
                    step_ABB_Right = 4;
                }
            }
            else if (step_ABB_Right == 4)
            {
                string pointRight = common.LineDouble.Place1RFID.ToLower()[0] + "p" + shelf_ABB_Right.ToString();
                common.ABB.MovePut(0, pointRight, common.ABB_Info[0].Speed);
                ABB_ActionChanged?.Invoke(0, "moveput " + pointRight);
                common.log.OutInfo("ABB1 moveput 开始");
                step_ABB_Right = 41;
            }
            else if (step_ABB_Right == 41)
            {
                if (common.ABB_Info[0].PutIn)
                {
                    common.log.OutInfo("ABB1 moveput 放入");
                    //_barcode.Enqueue(code_ABB_Right);
                    //_rfidLoc.Enqueue(shelf_ABB_Right.ToString());
                    //_robotIndex.Enqueue("1");

                    common.Web.ShelfFinish(common.LineDouble.Place1RFID, code_ABB_Right, shelf_ABB_Right.ToString(), "1", out smallEmpty_Right, out bigEmpty_Right, out packageEmpty_Right);
                    if (common.LineDouble.Place1RFID.StartsWith("D"))
                    {
                        if (smallEmpty_Right == 0)
                        {
                            int idx = bindRFID.FindIndex(s => s.RealRFID == common.LineDouble.Place1RFID);
                            if (idx > -1) bindRFID[idx].Leave = true;
                        }
                    }
                    else if (common.LineDouble.Place1RFID.StartsWith("C"))
                    {
                        if (bigEmpty_Right == 0)
                        {
                            int idx = bindRFID.FindIndex(s => s.RealRFID == common.LineDouble.Place1RFID);
                            if (idx > -1) bindRFID[idx].Leave = true;
                        }
                    }

                    step_ABB_Right = 42;
                }
            }
            else if (step_ABB_Right == 42)
            {
                if (common.ABB_Info[0].PutEnd)
                {
                    step_ABB_Right = 0;
                    start_ABB_Right = false;

                    //_barcode.Enqueue(code_ABB_Right);
                    //_rfidLoc.Enqueue(shelf_ABB_Right.ToString());
                    //_robotIndex.Enqueue("1");

                    ABB_ActionChanged?.Invoke(0, "moveput 完成");
                    common.log.OutInfo("ABB1 moveput 完成");
                }
            }
            else if (step_ABB_Right == 5)
            {
                if (!start_ABB_Left)
                {
                    if (common.LineDouble.Place1Count == 1)  //工位只有一个架子
                    {
                        if (virtualRfid_ABB_Right.Contains("C"))
                        {
                            common.LineDouble.NeedTypeC = DoubleLine.DeviceAction.Start;
                            common.log.OutInfo("需要C料架");
                        }
                        else if (virtualRfid_ABB_Right.Contains("D"))
                        {
                            common.LineDouble.NeedTypeD = DoubleLine.DeviceAction.Start;
                            common.log.OutInfo("需要D料架");
                        }
                        else
                        {
                            common.log.OutInfo("无法识别");
                        }
                        step_ABB_Right = 6;
                    }
                    else if (common.LineDouble.Place1Count == 2)
                    {
                        common.LineDouble.PlaceMove = DoubleLine.DeviceAction.Start;
                        common.log.OutInfo("料架左右切换");
                        step_ABB_Right = 7;
                    }
                }
            }
            else if (step_ABB_Right == 6)
            {
                if (common.LineDouble.NeedTypeC == DoubleLine.DeviceAction.Stop && 
                    common.LineDouble.NeedTypeD == DoubleLine.DeviceAction.Stop)
                {
                    common.LineDouble.PlaceMove = DoubleLine.DeviceAction.Start;
                    common.log.OutInfo("料架左右切换");
                    step_ABB_Right = 7;
                }
            }
            else if (step_ABB_Right == 7)
            {
                if (common.LineDouble.PlaceMove == DoubleLine.DeviceAction.Stop && 
                    common.LineDouble.PlaceLeft == DoubleLine.DeviceAction.Stop && 
                    common.LineDouble.PlaceRight == DoubleLine.DeviceAction.Stop)
                {
                    step_ABB_Right = 3;
                    common.log.OutInfo("料架切换完成");
                    if (type2.Equals(""))
                    {
                        bindRFID[bindRFID.Count - 1].RealRFID = common.LineDouble.Place1RFID;
                    }
                }
            }
            else if (step_ABB_Right == 8)
            {
                if (common.LineDouble.Place1Leave == DoubleLine.DeviceAction.Stop)
                {
                    if (common.LineDouble.Place1Count > 0)
                        common.LineDouble.GoPlace1 = DoubleLine.DeviceAction.Start;
                    step_ABB_Right = 9;
                }
            }
            else if (step_ABB_Right == 9)
            {
                if (common.LineDouble.GoPlace1 == DoubleLine.DeviceAction.Stop)
                {
                    part_Shelf_Enter = true;
                    part_ABB_Right = false;
                    part_ABB_Left = false;
                    step_Shelf_Enter = 0;
                    start_ABB_Right = false;
                }
            }

        }

        private void ABB_Down_Action()
        {
            if (step_ABB_Down == 0)
            {
                if (common.LinePack.RFID != "" || common.LinePack.RFID != "00")
                {
                    step_ABB_Down = 3;
                    time_ABB_Down = 0;
                }
                else
                {
                    if (time_ABB_Down == 0)
                    {
                        common.Web.GetPackInfo(common.LineDouble.Place2RFID, "", out barcode_Down, out emptyInBig_Down, out reelInPackage_Down, out packageTask_Down, out packageLoc_Down, out bigLoc_Down, out bigRfid_Down, out realBigRfid_Down);
                        if (emptyInBig_Down != 0) step_ABB_Down = 1;
                    }
                    else
                    {
                        if (time_ABB_Down > 2000)
                            time_ABB_Down = 0;
                        else
                            time_ABB_Down += SLEEP;
                    }
                }
            }
            else if (step_ABB_Down == 1)
            {
                if (common.LinePack.PlaceLeft)
                {
                    packRFID = new BindType();
                    common.LinePack.GoPlace = DoubleLine.DeviceAction.Start;
                    step_ABB_Down = 2;
                }
            }
            else if (step_ABB_Down == 2)
            {
                if (common.LinePack.GoPlace == DoubleLine.DeviceAction.Stop)
                {
                    step_ABB_Down = 3;
                    time_ABB_Down = 0;
                    //common.LinePack.RFID = common.RFID.ReadStr(common.RFID_Info[6].IP);
                }
                else if(common.LinePack.GoPlace == DoubleLine.DeviceAction.Error)
                {
                    step_ABB_Down = 1;
                }
            }
            else if (step_ABB_Down == 3)
            {
                if (time_ABB_Down == 0)
                {
                    common.Web.GetPackInfo(common.LineDouble.Place2RFID, common.LinePack.RFID, out barcode_Down, out emptyInBig_Down, out reelInPackage_Down, out packageTask_Down, out packageLoc_Down, out bigLoc_Down, out bigRfid_Down, out realBigRfid_Down);
                    if (emptyInBig_Down == 0)
                    {
                        packRFID.Leave = true;
                        step_ABB_Down = 0;
                        time_ABB_Down = 0;
                        part_ABB_Down = false;
                        common.log.OutInfo("放行大料架，emptyInBig=0");
                    }
                    if (reelInPackage_Down == 0)
                    {
                        if (common.LinePack.PlaceExist)
                        {
                            common.LinePack.PlaceLeave = DoubleLine.DeviceAction.Start;
                            step_ABB_Down = 9;
                            common.log.OutInfo("放行包装料架，reelInPackage=0");
                        }
                        else
                        {
                            step_ABB_Down = 0;
                            common.log.OutInfo("没有包装料架可以放行");
                        }
                    }
                    else
                    {
                        if (common.LinePack.PlaceExist)
                        {
                            if (packageLoc_Down > 0 && bigLoc_Down > 0)
                            {
                                if (packRFID.RealRFID == "" && packRFID.VirtualRFID == "")
                                {
                                    packRFID.RealRFID = realBigRfid_Down;
                                    packRFID.VirtualRFID = bigRfid_Down;
                                    step_ABB_Down = 4;
                                }
                                else
                                {
                                    if (packRFID.VirtualRFID == bigRfid_Down)
                                        step_ABB_Down = 4;
                                    else
                                        step_ABB_Down = 10;
                                }
                            }
                            else
                            {
                                step_ABB_Down = 0;
                                common.log.OutInfo("抓取位置错误");
                            }
                        }
                        else
                        {
                            step_ABB_Down = 0;
                            common.log.OutInfo("没有包装料架可以抓取");
                        }
                    }

                    time_ABB_Down += SLEEP;
                }
                else
                {
                    if (time_ABB_Down > 2000)
                        time_ABB_Down = 0;
                    else
                        time_ABB_Down += SLEEP;
                }
            }
            else if (step_ABB_Down == 4)
            {
                if (!common.LinePack.RobotBlock)
                {
                    common.ABB.MoveGet(2, "p" + packageLoc_Down, common.ABB_Info[2].Speed);
                    common.log.OutInfo("ABB3 moveget 开始");
                    step_ABB_Down = 5;
                }
            }
            else if (step_ABB_Down == 5)
            {
                if (common.ABB_Info[2].GetEnd)
                {
                    common.log.OutInfo("ABB3 moveget 完成");
                    step_ABB_Down = 6;
                }
            }
            else if (step_ABB_Down == 6)
            {
                string pointDown = common.LineDouble.Place2RFID[0] + "p" + bigLoc_Down;
                common.ABB.MovePut(2, pointDown, common.ABB_Info[2].Speed);
                common.log.OutInfo("ABB3 moveput 开始");
                step_ABB_Down = 7;
            }
            else if (step_ABB_Down == 7)
            {
                if (common.ABB_Info[2].PutIn)
                {
                    common.log.OutInfo("ABB3 moveput 放入");
                    common.Web.PackFinish(barcode_Down, common.LinePack.RFID, packageLoc_Down, common.LineDouble.Place2RFID, bigLoc_Down);
                    step_ABB_Down = 8;
                }
            }
            else if (step_ABB_Down == 8)
            {
                if (common.ABB_Info[2].PutEnd)
                {
                    step_ABB_Down = 3;
                    time_ABB_Down = 0;
                    common.log.OutInfo("ABB3 moveput 完成");
                }
            }
            else if (step_ABB_Down == 9)
            {
                if (common.LinePack.PlaceLeave == DoubleLine.DeviceAction.Stop)
                {
                    step_ABB_Down = 0;
                    common.log.OutInfo("包装料架离开工位");
                }
            }
            else if (step_ABB_Down == 10)
            {
                common.log.OutInfo("包装料架不一致");
                common.log.OutTextBox("包装料架不一致");
            }
        }

    }

    internal class BindType
    {
        internal string RealRFID;
        internal string VirtualRFID;
        internal bool Leave;

        internal BindType()
        {
            RealRFID = "";
            VirtualRFID = "";
            Leave = false;
        }

        internal BindType(string realRFID, string virtualRFID)
        {
            RealRFID = realRFID;
            VirtualRFID = virtualRFID;
        }
    }



}