using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;

namespace DeviceLibrary
{
    public partial class MainMachine : IRobot
    {
        public bool LoadOk = false;
        public string Name { get; set; } = "OutBound";
        private bool _canRunning = true;
        public bool canRunning
        {
            get { return _canRunning; }
            set
            {
                if (_canRunning != value) {
                    Msg.setlogones();
                }
                _canRunning = value;
            }
        }
        public bool isBusy { get; set; } = false;
        public bool isAlarm { get; set; } = false;
        public RunStatus runStatus { get; set; } = RunStatus.Stop;
        public Robot_Config Config { get; set; }
        public bool UserPause { get; set; } = false;


        public MoveInfo ResetMoveInfo;
        
        public MoveInfo StoreMoveInfo;
        public MoveInfo AIOTMoveInfo;

        public delegate void ProcessMsg(List<Msg> msg);
        public event ProcessMsg ProcessMsgEvent;
        public event EventHandler<ErrInfo> ButtenEvent;
        internal AxisBean Middle_Axis;
        public AxisBean UpDown_Axis;
        internal AxisBean InOut_Axis;
        internal AxisBean Comp_Axis;


        ReelTransport boxTransport;
        public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
        public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;

        public ServerCommunication ServerCM;
        //string CID = ServerCommunication.CID;
        /// <summary>
        /// 开始运行的时间
        /// </summary>
        public DateTime StartTime { get; set; }

        /// <summary>
        /// 是否在急停中
        /// </summary>
        public bool isInSuddenDown = false;

        public List<InReelBean> inReelBeans = new List<InReelBean>();

        public Dictionary<string, OutShelfBean> outShelfBeans = new Dictionary<string, OutShelfBean>();


        public Dictionary<string, ReelParam> NgPosMap = new Dictionary<string, ReelParam>();


        public MainMachine(Robot_Config _config) {
            Config = _config;
            Name = "出料机构";
            crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
            StoreMoveInfo = new MoveInfo("移库调度");
            StoreMoveInfo.SetStateDelegate(StoreState);
            ResetMoveInfo = new MoveInfo("重置");
            AIOTMoveInfo = new MoveInfo("移库测试");

            ServerCM = new ServerCommunication();
            //ServerCM.InStoreEvent += ServerCM_InStoreEvent1;
            //ServerCM.OutStoreEvent += ServerCM_OutStoreEvent;
            #region 初始化led灯
            RunningLed = new Led(Config.DOList[IO_Type.Run_Led].GetIOAddr(),LedColor.green);
            StandbyLed = new Led(Config.DOList[IO_Type.Standby_Led].GetIOAddr(), LedColor.yellow);
            AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr(), LedColor.red);
            #endregion
            #region 初始化伺服轴
            Middle_Axis = new AxisBean(Config.Middle_Axis, Name);
            Middle_Axis.ForceSafeCheck = true;
            Middle_Axis.interference += Middle_Axis_interference;
            UpDown_Axis = new AxisBean(Config.UpDown_Axis, Name);
            UpDown_Axis.interference += UpDown_Axis_interference;
            InOut_Axis = new AxisBean(Config.InOut_Axis, Name);
            InOut_Axis.ForceSafeCheck = true;
            InOut_Axis.interference += InOut_Axis_interference;
            Comp_Axis = new AxisBean(Config.Comp_Axis, Name);
            Crc_LanguageChangeEvent(null, EventArgs.Empty);
            #endregion
            boxTransport = new ReelTransport(Config, this);
            boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
            {
                InOutEndProcessEvent?.Invoke(posid, storeMoveType, arg4);
            };
            AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });

            IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
            IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, HomeReset_BTN, 2500, 3000);

            //NG门打开又关闭后，需要清空NG库位信息
            IOMonitor.RegisterIO(IO_Type.Left_NGDoor_Close_Check, Config,IO_VALUE.LOW, LeftNgDoorOpen, 2500, 500);
            IOMonitor.RegisterIO(IO_Type.Right_NGDoor_Close_Check, Config, IO_VALUE.LOW, RightNgDoorOpen, 2500, 500);

            for(int i = 1; i <= 2; i++)
            {
                InReelBean inReel = new InReelBean("IN_"+i);
                inReelBeans.Add(inReel); 
            }

            
            outShelfBeans.Add("U1", new OutShelfBean("U1", Config.RFID_U1));
            outShelfBeans.Add("U2", new OutShelfBean("U2", Config.RFID_U2));
            outShelfBeans.Add("U3", new OutShelfBean("U3", Config.RFID_U3));
            outShelfBeans.Add("U4", new OutShelfBean("U4", Config.RFID_U4));

            LedProcessInit();
            LoadOk = true;
        }
        public OutShelfBean getOutShelf(string name)
        {
            OutShelfBean result = null;
            outShelfBeans.TryGetValue(name, out result);
            return result;
        }

        public InReelBean getInReelBean(string name)
        {
            foreach(InReelBean inReel in inReelBeans)
            {
                if (inReel.Name.Equals(name))
                {
                    return inReel;
                }
            }
            return null;
        }
        //private void ServerCM_OutStoreEvent(JobInfo jobInfo)
        //{
        //    AddOutStoreTask(jobInfo.WareNum, jobInfo.PosId, jobInfo.plateW, jobInfo.plateH);
        //}


        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
            StoreMoveInfo.Name = crc.GetString(L.store_manage_equipment, "进出库调度");
            ResetMoveInfo.Name = crc.GetString(L.reset_equipment, "重置");
            AIOTMoveInfo.Name = crc.GetString(L.autotest_inout_equipment, "出入库测试");

        }
        private (bool, string) InOut_Axis_interference(int from, int to)
        {           
            return (false, "");
        }
        private (bool, string) Middle_Axis_interference(int from, int to)
        {
            if (RobotManage.DisableUpdownProtect)
                return (false, "");

            if (InOut_Axis.IsInPosition(Config.InOut_P1))
                return (false, "");

            return (true, crc.GetString(L.Middle_Axis_interference_01, "进出轴不在待机点时无法移动旋转轴"));
        }

        private (bool, string) UpDown_Axis_interference(int from, int to)
        {
            if (RobotManage.DisableUpdownProtect)
                return (false, "");

            if (InOut_Axis.IsInPosition(Config.InOut_P1))
                return (false, "");

            return (true, crc.GetString(L.UpDown_Axis_interference_01, "进出轴不在待机点时无法移动升降轴"));
        }
        public bool hasAlarm = false;
        /// <summary>
        /// 整机启动变量,设置为false后将退出线程,只在停止时调用
        /// </summary>
        bool mstart=true;
        public void Run() {
            mstart = true;
            while (mstart) {
                try
                {
                    canRunning = DeviceCheck();
                    if (canRunning)
                    {
                        BtnProcess();
                        canRunning = SafeCheck();
                    }
                    Thread.Sleep(200);
                    if (!canRunning || !mstart)
                        continue;
                    if (runStatus == RunStatus.Running)
                    {
                        ioMonitor();
                        boxTransport.Process();
                        if (RobotManage.InoutDebugMode)
                            AutoInOutTestProcess();
                        else
                            StoreProcess();


                        foreach(InReelBean bean  in inReelBeans)
                        {
                            bean.Process();
                        }
                        foreach (OutShelfBean bean in outShelfBeans.Values)
                        {
                            bean.Process();
                        }

                        ShelfEmptyProcess();
                    }
                    else if (runStatus == RunStatus.HomeReset)
                    {
                        HomeReset();
                    }
                }
                catch (Exception ex)
                {
                    Msg.add(ex.ToString(), MsgLevel.warning);
                    Msg.setlogones();
                }
                finally {
                    var m = Msg.get();
                    ProcessMsgEvent?.Invoke(m);
                    ServerCM.ProcessMsg(m);
                    StoreStatus currnetstoreStatus= StoreStatus.None;
                    if (m.Find((aa) => aa.msgLevel == MsgLevel.alarm) == null)
                    {
                        hasAlarm = false;
                        AlarmBuzzer.OFF();
                        if (ServerCM.storeStatus != StoreStatus.InStoreExecute
                            && ServerCM.storeStatus != StoreStatus.OutStoreExecute
                            && ServerCM.storeStatus != StoreStatus.ResetMove && ServerCM.storeStatus != StoreStatus.StoreOnline)
                        {
                            LogUtil.info($"test storeStatus is {ServerCM.storeStatus} change to StoreOnline");
                            currnetstoreStatus = StoreStatus.StoreOnline;
                        }
                    }
                    else {
                        hasAlarm = true;
                        AlarmBuzzer.ON();
                        currnetstoreStatus = isInSuddenDown ? StoreStatus.SuddenStop : StoreStatus.Warning;
                    }
                    //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
                    if (!UserPause)
                        Msg.clear();
                    else
                        currnetstoreStatus = StoreStatus.Debugging;

                    if (currnetstoreStatus!=StoreStatus.None)
                        ServerCM.storeStatus = currnetstoreStatus;
                }
            }
            ServerCM.storeStatus = StoreStatus.None;
            LogUtil.info("主线程已退出.");
        }
        public void Start() {
            ServerCM.StartConnectServer();
            Run();
        }
        public void Stop() {
            mstart = false;
            SafetyDevice.PauseAll();
            AutoInOutTest = false;
            ServerCM.StopConnectServer();
            Thread.Sleep(300);
            Alarm(AlarmType.None);
            StopMove(true);
            LedProcess(null);
            

        }
        public bool BeginHomeReset(bool firstRun=false) {

            if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
            {
                Msg.add("急停未开，回原失败", MsgLevel.alarm, ErrInfo.SuddenStop);
                return false;
            }

            if (!firstRun)
            {
                StopMove();
                Thread.Sleep(500);
            }
            OpenAllServo();
            boxTransport.Unlock();
            Alarm(AlarmType.None);
            runStatus = RunStatus.HomeReset;
            ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
            ResetMoveInfo.log("开始回原");
            ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
            foreach (InReelBean bean in inReelBeans)
            {
                bean.Reset();
            }
            foreach (OutShelfBean bean in outShelfBeans.Values)
            {
                bean.Reset();
            }
            return true;
        }
        //强制回原
        bool forceHome=true;
        void HomeReset()
        {
            if (CheckWait(ResetMoveInfo))
                return;
            switch (ResetMoveInfo.MoveStep)
            {
                case MoveStep.H01_HomeReset:
                    ResetMoveInfo.log("开始回原");
                    ServerCM.storeStatus = StoreStatus.ResetMove;
                    Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
                    break;
                case MoveStep.H02_HomeReset_01:
                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
                    ResetMoveInfo.log("进出轴 回原 ");
                    InOut_Axis.HomeMove(ResetMoveInfo, forceHome);                    
                    break;
                case MoveStep.H02_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
                    break;
                case MoveStep.H03_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                    ResetMoveInfo.log("旋转轴,升降轴,回原,料叉P1待机点");
                    InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                    Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
                    UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);
                    break;
                case MoveStep.H04_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
                    break;
                case MoveStep.H05_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
                    ResetMoveInfo.log("旋转轴,升降轴,到P1待机点");
                    Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
                    UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
                    break;
                case MoveStep.H06_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
                    ResetMoveInfo.log("压紧轴回原");
                    Comp_Axis.HomeMove(ResetMoveInfo, forceHome);
                    break;
                case MoveStep.H07_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
                    ResetMoveInfo.log("旋转轴,升降轴,到P2,压紧轴p1");
                    Comp_Axis.AbsMove(ResetMoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
                    break;
                case MoveStep.H08_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
                    var TrayCheck_Fixture = IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH);
                    if (TrayCheck_Fixture)
                    {
                        //ResetMoveInfo.log($"回原时检测到又滞留物料:TrayCheck_Fixture={TrayCheck_Fixture}");
                        //StoreMoveInfo.MoveParam.TargetPos = Setting_Init.Runtime_PosID;
                        //StoreMoveInfo.MoveParam.PlateH = Setting_Init.Runtime_PlateH;
                        //StoreMoveInfo.MoveParam.PlateW = Setting_Init.Runtime_PlateW;
                        //StoreMoveInfo.MoveParam.WareCode = Setting_Init.Runtime_WareCode;
                        //StoreMoveInfo.MoveParam.IsNg = Setting_Init.Runtime_IsNg;
                        //StoreMoveInfo.MoveParam.NgMsg = Setting_Init.Runtime_NgMsg;
                        //if (Setting_Init.Runtime_IsInStore)
                        //{
                        //    ResetMoveInfo.log("入库物料:" + StoreMoveInfo.MoveParam.ToStr());
                        //    if (TrayCheck_Fixture)
                        //        StoreMoveInfo.MoveParam.ReelOnFixture = true;
                        //    StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);

                        //}
                        //else if (TrayCheck_Fixture)
                        //{
                        //    ResetMoveInfo.log("出库物料在料叉上:" + StoreMoveInfo.MoveParam.ToStr());
                        //    StoreMoveInfo.MoveParam.ReelOnFixture = true;
                        //    StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10);
                        //}
                        //else
                        //{
                        //    ResetMoveInfo.log("出库物料在门口:" + StoreMoveInfo.MoveParam.ToStr());

                        //    StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);

                        //}
                    }
                    //else if (!string.IsNullOrEmpty(Setting_Init.Runtime_PlateInFix.Val)) {
                    //    var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.TargetPos);
                    //    var dc = CSVPositionReader<ACStorePosition>.GetPositon(Setting_Init.Runtime_PlateInFix);
                    //    boxTransport.Start(new BoxStorePosition(Config, dc, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
                    //    ResetMoveInfo.log($"开始转运料盘:{Setting_Init.Runtime_PlateInFix}=>{StoreMoveInfo.MoveParam.TargetPos}");
                    //    StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
                    //}
                    //else
                    {
                        StoreMoveInfo.NewMove(MoveStep.Wait);
                    }
                    forceHome = false;
                    boxTransport.Reset();
                    ResetMoveInfo.log("回原完成");
                    ResetMoveInfo.EndMove();
                    runStatus = RunStatus.Running;
                    ServerCM.storeStatus = StoreStatus.StoreOnline;
                    break;
                case MoveStep.H09_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H10_HomeReset);

                    break;
                case MoveStep.H10_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
                    break;   
                case MoveStep.H14_HomeReset:
                    break;
                case MoveStep.H15_HomeReset:
                    break;
                case MoveStep.H16_HomeReset:
                    break;
                case MoveStep.HEND_HomeReset:
                    forceHome = false;
                    StoreMoveInfo.NewMove(MoveStep.Wait);
                    boxTransport.Reset();
                    ResetMoveInfo.log("回原完成");
                    ResetMoveInfo.EndMove();
                    runStatus = RunStatus.Running;
                    ServerCM.storeStatus = StoreStatus.StoreOnline;
                    break;
            }
        }
        bool _IgnoreSafecheck = false;
        public bool IgnoreSafecheck
        {
            get => _IgnoreSafecheck; set
            {
                _IgnoreSafecheck = value;
            }
        }
        public bool IgnoreGratingSignal = false;

        bool lastSafeCheckStatus = true;
        bool SafeCheck() {
            bool ok = true;
            var ignorestring = "[" + crc.GetString(L.ignored, "已忽略") + "]";

            if (IOValue(IO_Type.Left_NGDoor_Close_Check).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck)
                {
                    ok = false;
                    DeviceSuddenStop();
                    UserPause = true;
                }
                Msg.add("左侧NG料门没有关闭" + (ok ? ignorestring : ""), MsgLevel.alarm);
            }
            if (IOValue(IO_Type.Right_NGDoor_Close_Check).Equals(IO_VALUE.LOW))
            {
                if (!IgnoreSafecheck)
                {
                    ok = false;
                    DeviceSuddenStop();
                    UserPause = true;
                }
                Msg.add("右侧NG料门没有关闭" + (ok ? ignorestring : ""), MsgLevel.alarm);
            }

            if (!lastSafeCheckStatus && ok)
            {
                SafetyDevice.ResumeAll();
            }
            lastSafeCheckStatus = ok;
            return ok;
        }

        void DeviceSuddenStop() {           
            if (lastSafeCheckStatus)
            {
                AxisBean.StopMultiAxis(AxisBean.List);
                MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
                SafetyDevice.PauseAll();
                if (runStatus == RunStatus.HomeReset)
                {
                    ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
                }
            }
        }

        /// <summary>
        /// 最后一次气压检测变为0的时间
        /// </summary>
        DateTime lastAirCloseTime = DateTime.MinValue;

        internal DateTime checkAlarmTime = DateTime.Now;
        public bool DeviceCheck() {
            bool ok = true;
            isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
            if (UserPause)
            {
                Msg.add(crc.GetString(L.system_pause, "系统暂停"), MsgLevel.warning);
                DeviceSuddenStop();
                lastSafeCheckStatus = false;
                ok = false;
                return ok;
            }
            else if (isInSuddenDown)
            {
                //Alarm(AlarmType.SuddenStop);
                Msg.add(crc.GetString(L.in_suddenstop, "急停中"), MsgLevel.alarm, ErrInfo.SuddenStop);
                ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
                lastSafeCheckStatus = false;
                ok = false;
            }
            else if (alarmType != AlarmType.None) {
                //if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
                //{
                //    Alarm(AlarmType.None);
                //}
                //else
                {
                    Msg.add(crc.GetString(L.system_need_reset, "系统需要重置"), MsgLevel.alarm,ErrInfo.SuddenStop);
                    ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
                    ok = false;
                }
            }
            if (ok && !AxisBean.RunMultiAxis(true, out string msg, AxisBean.List))
            {
                ok = false;
                Msg.add(msg, MsgLevel.warning);
            }
            if (RobotManage.InoutDebugMode)
            {
                Msg.add(crc.GetString(L.store_inout_debug_mode, "进出库调试模式"), MsgLevel.info);
                //ok = false;
            }
            if (alarmType!=AlarmType.SuddenStop)
            {
                TimeSpan span = DateTime.Now - checkAlarmTime;
                if (span.TotalSeconds > 2)
                {
                    checkAlarmTime = DateTime.Now;
                    foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
                    {
                        if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
                        {
                            if (configMoveAxis.DeviceName == "Comp_Axis")
                            {
                                if (runStatus == RunStatus.Running || ResetMoveInfo.IsStep(MoveStep.H06_HomeReset))
                                {
                                    Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
                                    + crc.GetString(L.motion_alarm, "运动报警"), MsgLevel.alarm);
                                    RobotManage.UserPause(crc.GetString("Res0016","压紧轴报警"), true);
                                    AxisManager.AlarmClear(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue());
                                    Thread.Sleep(2000);
                                }
                            }
                            else
                            {
                                Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
                                + crc.GetString(L.motion_alarm, "运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
                                ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
                            }
                            LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));

                            ok = false;
                        }
                    }
                }
            }
            return ok;
        }

        public void IgnoreX09() {
            boxTransport.IgnoreX09 = true;
            LogUtil.info("按下X09忽略");
        }
        private void clearNgPos(string ngType)
        {
            List<string> allPosList = CSVPositionReader<ACStorePosition>.getPositionKeyList();
            List<string> leftNgPos = (from m in allPosList where m.StartsWith(ngType) select m).ToList();
            if (leftNgPos.Count > 0)
            {
                foreach (string pos in leftNgPos)
                {
                    if (NgPosMap.ContainsKey(pos))
                    {
                        ReelParam reelParam = NgPosMap[pos];
                        LogUtil.info($"NG门打开，清理NG库位[{pos}]的物料信息：{reelParam.ToStr()}");
                    }
                }
            }
        }

        private string getNextNgPos(int size = 7)
        {
            string ngType = "NG_" + size;
            List<string> allPosList = CSVPositionReader<ACStorePosition>.getPositionKeyList();
            List<string> leftNgPos = (from m in allPosList where m.StartsWith(ngType) select m).ToList();
            if (leftNgPos.Count > 0)
            {
                foreach (string pos in leftNgPos)
                {
                    if (!NgPosMap.ContainsKey(pos))
                    {
                        LogUtil.info($"获取下一个{size}寸盘的NG库位号： {pos}");
                        return pos; 
                    }
                }
            }
            return "";
        }
        private void UpdateNgPos(string ngPos,ReelParam reelParam)
        {
            if (NgPosMap.ContainsKey(ngPos))
            {
                ReelParam reel = NgPosMap[ngPos];
                NgPosMap.Remove(ngPos);
            }
            NgPosMap.Add(ngPos, reelParam);

            LogUtil.info($"更新NG库位[{ngPos}]的物料信息：{reelParam.ToStr()}");

        }

        public string getReadyShelf(string split= ",")
        {
            string rfid = "";
            foreach(OutShelfBean bean in outShelfBeans.Values)
            {
                if (bean.ShelfValid())
                {
                    rfid += bean.CurrShelf.realRFID;
                }
            }
            return rfid;
        }
        private DateTime lastEmptyTime = DateTime.Now;
        private void ShelfEmptyProcess()
        {
            //2秒钟获取一次
            TimeSpan span = DateTime.Now - lastEmptyTime;
            if (span.TotalSeconds < 3)
            {
                return;
            }
            try
            {
                lastEmptyTime = DateTime.Now;

                string shelfRfid = getReadyShelf();
                if (String.IsNullOrEmpty(shelfRfid))
                {
                    return;
                }
                Dictionary<string, int> emptyMap = HttpServer.getShelfEmptySlot(shelfRfid);
                //需要取放料，且料架已准备好
                if (emptyMap != null)
                {
                    List<string> keys = new List<string>(outShelfBeans.Keys);
                    foreach (string key in keys)
                    {
                        ShelfInfo shelf = outShelfBeans[key].CurrShelf;
                        if (outShelfBeans[key].ShelfValid())
                        {
                            string realRfid = outShelfBeans[key].CurrShelf.rfid;
                            if (emptyMap.TryGetValue(realRfid, out int emptyP))
                            {
                                outShelfBeans[key].CurrShelf.EmptyPos = emptyP;
                                if (emptyP <= 0)
                                {
                                    outShelfBeans[key].CurrShelf.IsNeedLeave=true;
                                    LogUtil.error(outShelfBeans[key] + "的料架 【" + realRfid + "】剩余空位【" + emptyP + "】更改料架状态为需要离开");
                                }
                            }
                        }
                    }
                }

            }
            catch (Exception ex)
            {
                LogUtil.error(Name + "ShelfEmptyProcess：" + ex.ToString());
            }
        }

        internal string GetShelfPosId(TrayInfo tray)
        {
            string targetPosName = "";

            if (tray != null)
            {
                foreach (OutShelfBean obj in outShelfBeans.Values)
                {
                    if (obj.IsRightShelf(tray, out targetPosName))
                    { 
                        //判断库位号是否存在
                        ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(targetPosName);
                        if (position == null)
                        { 
                            LogUtil.error(Name + " " + tray.ToStr() + " 找到匹配料架，但未找到库位号：" + position) ;
                            WarnMsg = tray.barcode+"未找到库位号："+position;
                            targetPosName = "";
                            break;
                        }

                        obj.StartPutReel();
                        LogUtil.info(Name + " " + tray.ToStr() + " 使用料架：" + targetPosName + "，更改料架为忙碌状态，开始放料");
                        break;
                    }
                }
            }
            return targetPosName;
        }

        public void MsgEvent(List<Msg> msgs)
        {
            ProcessMsgEvent?.Invoke(msgs);
        }
    }
}