using Common;
using DeviceLibrary.bean;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using log4net.Util;
using System;
using System.Web.UI.WebControls.WebParts;
using System.Windows.Forms;

namespace DeviceLibrary
{
    public abstract class Job
    {
        public Job(JobParam jobParam)
        {
            JobParam = jobParam;
            if (jobParam != null && jobParam.GetMissionInfo() != null)
                JobName = jobParam.GetMissionInfo().jobName;
        }
        public Job() { }
        public JobParam JobParam { get; set; }

        public JobStep<RunStep> JobRunStep = new JobStep<RunStep>(RunStep.NONE);
        /// <summary>
        /// Job里的agv任务信息
        /// </summary>
        public AgvTask Task { get; set; }
        /// <summary>
        /// 运行信息
        /// </summary>
        public string RunInfo { get { return $"{JobName} {TaskStateInfo}{FixInfo}：{runInfo}"; } }
        /// <summary>
        /// agv任务状态信息
        /// </summary>
        public string TaskStateInfo = "";
        public string FixInfo = "";
        public string runInfo = "";
        /// <summary>
        /// 等待人员操作超时时间
        /// </summary>
        public int WaitTimeOut = AppConfigHelper.GetIntValue(SettingString.WaitTimeout);
        /// <summary>
        /// 根据任务状态继续执行任务
        /// </summary>
        public Job Execute(AgvInfo agv)
        {
            SetRunInfo(agv);
            return Run(agv);
        }
        public abstract Job Run(AgvInfo agv);
        /// <summary>
        /// 设置相关运行信息
        /// </summary>
        /// <param name="agv"></param>
        public void SetRunInfo(AgvInfo agv)
        {
            JobRunStep.Agv = agv.Name;
            JobRunStep.StepRunInfo.SetInfo(agv.Name.PadLeft(4, '0'), JobName, agv.Place.AliceName, JobRunStep.CurStep(), runInfo, StartJobTime, DateTime.Now);
            TaskStateInfo = agv.TaskRunState.ToTaskInfo();
            //FixInfo = JobParam.FixMissionInfo != null ? JobParam.FixMissionInfo.ToTxt():"";
            StartJobTime = JobRunStep.startTime;
        }
        /// <summary>
        /// Job开始时间
        /// </summary>
        public DateTime StartJobTime { get; set; } = DateTime.Now;
        /// <summary>
        /// Job名称
        /// </summary>
        public string JobName { get; set; } = "";

        public void AllocateTask(AgvInfo agv, string taskName)
        {
            Task = AgvTaskManager.GetTaskByName(taskName, agv);
            AgvTaskManager.AssignMission(agv, taskName);
        }
        /// <summary>
        /// 去电梯，并占用节点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="liftname"></param>
        protected void ToLift(AgvInfo agv, string liftname)
        {
            LiftContext.SetLiftNodeOccupied(agv, liftname);
            AllocateTask(agv, $"{liftname}");
        }
        /// <summary>
        /// 离开电梯
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="liftName"></param>
        protected void LeaveLift(AgvInfo agv, string liftName)
        {
            AllocateTask(agv, $"{SettingString.Leave}_{liftName}");
        }
        /// <summary>
        /// 清除agv占用的电梯点
        /// </summary>
        /// <param name="agv"></param>
        protected void ClearLiftNodeOccupied(AgvInfo agv)
        {
            LiftContext.SetLiftNodeOccupied(agv);
        }
        /// <summary>
        /// 去电梯临时电1放料点
        /// </summary>
        /// <param name="agvInfo"></param>
        protected void ToTmp1TakeOff(AgvInfo agv, string liftName)
        {
            AllocateTask(agv, $"{liftName}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
        }
        /// <summary>
        /// 去电梯临时点1取料点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="liftName"></param>
        protected void ToTmp1PutOn(AgvInfo agv, string liftName)
        {
            AllocateTask(agv, $"{liftName}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
        }
        /// <summary>
        /// 去取料点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="nodeName"></param>
        protected void ToPutShelfOn(AgvInfo agv, string nodeName)
        {
            AllocateTask(agv, $"{nodeName}_{SettingString.PutShelfOn}");
        }
        /// <summary>
        /// 去放料点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="nodeName"></param>
        protected void ToTakeShelfOff(AgvInfo agv, string nodeName)
        {
            AllocateTask(agv, $"{nodeName}_{SettingString.TakeShelfOff}");
        }
        /// <summary>
        /// 去电梯临时电2放料点
        /// </summary>
        /// <param name="agvInfo"></param>
        protected void ToTmp2TakeOff(AgvInfo agv, string liftName)
        {
            AllocateTask(agv, $"{liftName}_{SettingString.Temp2}_{SettingString.TakeShelfOff}");
        }
        /// <summary>
        /// 去电梯临时点2取料点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="liftName"></param>
        protected void ToTmp2PutOn(AgvInfo agv, string liftName)
        {
            AllocateTask(agv, $"{liftName}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
        }
        /// <summary>
        /// AGV任务是否运行完成
        /// </summary>
        /// <param name="agv"></param>
        /// <returns></returns>
        protected bool AGVTaskIsFinished(AgvInfo agv)
        {
            return agv.TaskRunState.CheckTaskFinished(agv);
        }
        /// <summary>
        /// 卸下料架
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="nodeName"></param>
        protected void TakeShelfOff(AgvInfo agv, string nodeName = "")
        {
            if (string.IsNullOrEmpty(nodeName))
            {
                AllocateTask(agv, $"{SettingString.TakeShelfOff}");
            }
            else
            {
                AllocateTask(agv, $"{SettingString.TakeShelfOff}_{nodeName}");
            }
        }
        /// <summary>
        /// 在电梯内卸下料车
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="liftName"></param>
        protected void TakeShelfOffAtLift(AgvInfo agv, string liftName)
        {
            if (agv.Scope.Workshop.Equals("1F"))
            {
                if (SettingString.LIFT_D2.Equals(liftName))
                {
                    TakeYiYuanLiftShelfOff(agv, liftName);
                }
                else
                {
                    AllocateTask(agv, $"{SettingString.TakeShelfOff}_{liftName}");
                }
            }
            else
            {

                AllocateTask(agv, $"{SettingString.TakeShelfOff}_{liftName}");

            }
        }
        /// <summary>
        /// 移动到节点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="nodeName"></param>
        protected void MoveToNode(AgvInfo agv, string nodeName)
        {
            AllocateTask(agv, $"{nodeName}");
        }
        /// <summary>
        /// 移动到节点的取料点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="nodeName"></param>
        protected void MoveToNodePutShelf(AgvInfo agv, string nodeName)
        {
            AllocateTask(agv, $"{nodeName}_{SettingString.PutShelfOn}");
        }
        /// <summary>
        /// 移动到节点的放料点
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="nodeName"></param>
        protected void MoveToNodeTakeOff(AgvInfo agv, string nodeName)
        {
            AllocateTask(agv, $"{nodeName}_{SettingString.TakeShelfOff}");
        }

        public void PutLiftShelfOn(AgvInfo agv, string nodeName)
        {
            if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车领用) && JobParam.GetMissionInfo().shelfType == 0)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车领用) && JobParam.GetMissionInfo().shelfType == 1)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车归还)) &&
                (!JobParam.GetMissionInfo().needBack))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车归还)) &&
                (JobParam.GetMissionInfo().needBack))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.半成品入库与领用)
                && !JobParam.GetMissionInfo().needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.半成品入库)
                && !JobParam.GetMissionInfo().needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.半成品领用)
                && !JobParam.GetMissionInfo().needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网入库) ||
                JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网领用))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Steel}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.移远成品入库))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Box}");
            }
            else
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
        }
        public void PutLiftShelfOn(AgvInfo agv, string nodeName, MissionInfo missionInfo)
        {
            if (missionInfo == null)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
            else if ((missionInfo.projectType.Equals(ProjectType.空台车归还)) && !missionInfo.needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if ((missionInfo.projectType.Equals(ProjectType.空台车归还)) && (missionInfo.needBack))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
            else if ((missionInfo.projectType.Equals(ProjectType.空台车领用)) && missionInfo.shelfType == 1)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if ((missionInfo.projectType.Equals(ProjectType.空台车领用)) && (missionInfo.shelfType == 0))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
            else if (missionInfo.projectType.Equals(ProjectType.半成品入库与领用)
                && !missionInfo.needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if (missionInfo.projectType.Equals(ProjectType.半成品入库)
                && !missionInfo.needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if (missionInfo.projectType.Equals(ProjectType.半成品领用)
                && !missionInfo.needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Big}");
            }
            else if (missionInfo.projectType.Equals(ProjectType.钢网入库) ||
                missionInfo.projectType.Equals(ProjectType.钢网领用))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Steel}");
            }
            else if (missionInfo.projectType.Equals(ProjectType.移远成品入库))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Box}");
            }
            else
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
        }
        public void PutYiYuanD2LiftShelfOn(AgvInfo agv, string nodeName)
        {
            if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.移远成品入库))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Box}");
            }
            else
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
            }
        }
        public void PutYiYuanC1LiftShelfOn(AgvInfo agv)
        {
            if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.移远成品入库))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Box}");
            }
            else
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}");
            }
        }

        public void TakeYiYuanLiftShelfOff(AgvInfo agv, string nodeName)
        {
            if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.移远成品入库))
            {
                AllocateTask(agv, $"{SettingString.TakeShelfOff}_{nodeName}{SettingString._Box}");
            }
            else
            {
                AllocateTask(agv, $"{SettingString.TakeShelfOff}_{nodeName}");
            }
        }
        /// <summary>
        /// 根据当前任务类型拾取料车，非电梯拾取任务
        /// </summary>
        /// <param name="agv"></param>
        public void PutShelfOn(AgvInfo agv)
        {
            if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车归还)) && (!JobParam.GetMissionInfo().needBack))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
            }
            else if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车归还)) && (JobParam.GetMissionInfo().needBack))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}");
            }
            else if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车领用)) && (JobParam.GetMissionInfo().shelfType == 0))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}");
            }
            else if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车领用)) && (JobParam.GetMissionInfo().shelfType==1))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.半成品入库与领用)
                && !JobParam.GetMissionInfo().needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.半成品入库)
             && !JobParam.GetMissionInfo().needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.半成品领用)
            && !JobParam.GetMissionInfo().needBack)
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网入库) ||
                JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网领用))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Steel}");
            }
            else if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.移远成品入库))
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Box}");
            }
            else
            {
                AllocateTask(agv, $"{SettingString.PutShelfOn}");
            }
        }
        public void PutShelfOn(AgvInfo agv, MissionInfo missionInfo)
        {
            if (missionInfo != null)
            {
                if ((missionInfo.projectType.Equals(ProjectType.空台车归还)) && (!missionInfo.needBack))
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
                }
                else if ((missionInfo.projectType.Equals(ProjectType.空台车领用)) && (missionInfo.shelfType==1))
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
                }
                else if ((missionInfo.projectType.Equals(ProjectType.空台车领用)) && (missionInfo.shelfType == 0))
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}");
                }
                else if (missionInfo.projectType.Equals(ProjectType.半成品入库与领用)
                    && !missionInfo.needBack)
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
                }
                else if (missionInfo.projectType.Equals(ProjectType.半成品入库)
                 && !missionInfo.needBack)
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
                }
                else if (missionInfo.projectType.Equals(ProjectType.半成品领用)
                && !missionInfo.needBack)
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
                }
                else if (missionInfo.projectType.Equals(ProjectType.钢网入库) ||
                    missionInfo.projectType.Equals(ProjectType.钢网领用))
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Steel}");
                }
                else if (missionInfo.projectType.Equals(ProjectType.移远成品入库))
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Box}");
                }
                else
                {
                    AllocateTask(agv, $"{SettingString.PutShelfOn}");
                }
            }

        }
        protected void AllocateTask(AgvInfo agv, ChargePile chargePile)
        {
            Task = new AgvTask() { AliceName = chargePile.AliceName, Name = chargePile.Name, Guid = chargePile.Guid };
            AgvTaskManager.AssignMission(agv, chargePile, Task);
        }
        protected void ToStandby(AgvInfo agv)
        {
            Task = AgvTaskManager.GetTaskByName($"{SettingString.Standby}", agv);
            AgvTaskManager.AssignMission(agv, $"{SettingString.Standby}");
        }
        protected void PlaySound(AgvInfo agv)
        {
            Task = AgvTaskManager.GetTaskByName($"{SettingString.PlaySound}", agv);
            AgvTaskManager.AssignMission(agv, $"{SettingString.PlaySound}");
        }
        protected void StopSound(AgvInfo agv)
        {
            Task = AgvTaskManager.GetTaskByName($"{SettingString.StopSound}", agv);
            AgvTaskManager.AssignMission(agv, $"{SettingString.StopSound}");
        }
        /// <summary>
        /// 设置PLC值
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="port"></param>
        /// <param name="val"></param>
        protected void SetPlc(AgvInfo agv, int port, int val)
        {
            int times = 0;
            while (!MiR_API.Set_Register(agv, port, val))
            {
                if (times > 5)
                    break;
            }
        }
        /// <summary>
        /// 入库类型-1
        /// </summary>
        /// <param name="agv"></param>
        protected void SetPlcWithToInstore(AgvInfo agv)
        {
            SetPlc(agv, 51, 1);
        }
        /// <summary>
        /// 出库类型-2
        /// </summary>
        /// <param name="agv"></param>
        protected void SetPlcWithToOutstore(AgvInfo agv)
        {
            SetPlc(agv, 51, 2);
        }

        protected void CloseSound(AgvInfo agv)
        {
            SetPlc(agv, 51, 0);
        }
        /// <summary>
        /// 任务重发
        /// </summary>
        /// <returns></returns>
        public bool ResendTask(AgvInfo agv)
        {
            bool rtn = false;
            if (!Task.Equals(agv.TaskRunState.Task))//agv运行的任务与Job任务不同
            {
                rtn = AgvTaskManager.AssignMission(agv, Task.Name);
                if (rtn)
                {
                    return true;
                }
            }
            else if (!agv.TaskRunState.TaskID.Equals(-1))
            {
                if (agv.TaskRunState.TaskState.Equals(SettingString.Aborted) || agv.TaskRunState.TaskState.Equals(SettingString.Invalid))
                {
                    rtn = AgvTaskManager.AssignMission(agv, Task.Name);
                    if (rtn)
                    {
                        return true;
                    }

                }
            }
            else if (agv.TaskRunState.TaskID.Equals(-1))//任务发送失败，重新发送
            {
                rtn = AgvTaskManager.AssignMission(agv, Task.Name);
                if (rtn)
                {
                    return true;
                }
            }
            return false;
        }
        /// <summary>
        /// 是否需要确认
        /// </summary>
        /// <returns>false,不需要确认</returns>
        protected bool NeedConfirm()
        {
            if (JobParam.GetMissionInfo() != null)
            {
                MissionInfo missionInfo = JobParam.GetMissionInfo();
                //service.model.ProjectType type = JobParam.GetMissionInfo().projectType;
                if ((!missionInfo.needBack))//(type.Equals(service.model.ProjectType.空台车领用) && !missionInfo.needBack) ||
                                            //(type.Equals(service.model.ProjectType.空台车归还) && !missionInfo.needBack) ||
                {
                    return false;
                }
            }
            return true;
        }
        /// <summary>
        /// 是否是指定项目类型
        /// </summary>
        /// <returns></returns>
        protected bool IsProjectType(ProjectType projectType)
        {
            if (JobParam.GetMissionInfo() != null)
            {
                service.model.ProjectType type = JobParam.GetMissionInfo().projectType;
                if (type.Equals(projectType))
                {
                    return true;
                }
            }
            return false;
        }
        protected string GetTargetName(Node node)
        {
            if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().projectType.Equals(ProjectType.Tray领用))
            {
                if (node.Name.Equals("D1Tail") || node.Name.Equals("D2Tail") || node.Name.Equals("D3Tail"))
                {
                    return "D1_D3_SHARED";
                }
                if (node.Name.Equals("D4Tail") || node.Name.Equals("D5Tail") || node.Name.Equals("D6Tail"))
                {
                    return "D4_D6_SHARED";
                }
                if (node.Name.Equals("D8Tail") || node.Name.Equals("D9Tail") || node.Name.Equals("D10Tail"))
                {
                    return "D8_D10_SHARED";
                }
                if (node.Name.Equals("D11Tail") || node.Name.Equals("D12Tail") || node.Name.Equals("D13Tail"))
                {
                    return "D11_D13_SHARED";
                }
                if (node.Name.Equals("D14Tail") || node.Name.Equals("D15Tail") || node.Name.Equals("D16Tail"))
                {
                    return "D14_D16_SHARED";
                }
            }

            return node.Name;
        }
        /// <summary>
        /// 清除AGV占用的任务
        /// </summary>
        /// <param name="missionInfo"></param>
        protected void ResetMissionOccupiedAgv(MissionInfo missionInfo)
        {
            MissionManager.SetMissionOccupiedAgv(missionInfo.missionId, string.Empty);
        }
        /// <summary>
        /// 当前电梯正在使用电梯
        /// </summary>
        /// <param name="liftId"></param>
        /// <param name="agv"></param>
        protected void SetLiftOccupied(string liftId, AgvInfo agv)
        {
            lift.LiftContext.SetLiftOccupiedAgv(liftId, agv.IP);
        }
        /// <summary>
        /// 目的地是否有小车占用
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="targetName"></param>
        /// <returns></returns>
        protected bool TargetIsOccupied(AgvInfo agv, string targetName)
        {
            if (LiftContext.OtherAGVIsInLift(agv, targetName))
                return true;
            else
            {
                try
                {
                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP)
                            && agv.Scope.Workshop.Equals(s.Scope.Workshop));
                    if (agvInfo != null)
                    {
                        if (agvInfo?.TaskRunState?.Task?.Name.Contains(targetName) ?? false)
                        {
                            return true;
                        }
                        //else if (agvInfo?.Place?.Name.Contains(targetName) ?? false)
                        //    return true;
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogUtil.error($"TargetIsOccupied:{agv.Name},{JsonHelper.SerializeObject(AGVManager.agvInfo)}", ex);
                    return false;
                }
            }

        }
        /// <summary>
        /// 获取任务下一个状态
        /// </summary>
        /// <param name="missionState"></param>
        /// <returns></returns>
        protected MissionState getNextState(MissionState missionState)
        {
            if (missionState == MissionState.电梯运行)
                return MissionState.电梯到达;
            else if (missionState == MissionState.电梯到达)
                return MissionState.离开电梯;
            else if (missionState == MissionState.离开电梯)
                return MissionState.送料;
            else if (missionState == MissionState.前往电梯)
                return MissionState.到达电梯;
            else if (missionState == MissionState.到达电梯)
                return MissionState.电梯运行;
            else if (missionState == MissionState.返回电梯运行)
                return MissionState.返回电梯到达;
            else if (missionState == MissionState.返回电梯到达)
                return MissionState.返回离开电梯;
            else if (missionState == MissionState.返回离开电梯)
                return MissionState.返回起始地;
            else if (missionState == MissionState.等待成品回收)
                return MissionState.返回电梯;

            int intType = ((int)missionState) + 1;
            return (MissionState)intType;
        }

        protected bool MissionIsBackState(MissionInfo missionInfo)
        {
            if (missionInfo == null) return false;
            if (missionInfo.state >= MissionState.返回到达电梯内 && missionInfo.state <= MissionState.返回电梯运行)
                return true;
            if (missionInfo.state == MissionState.等待成品回收)
                return true;
            return false;
        }
        protected bool CheckMIssionInlift(MissionInfo missionInfo)
        {
            if (missionInfo.state >= MissionState.返回电梯到达 && missionInfo.state <= MissionState.返回离开电梯)
                return true;
            return false;
        }
        /// <summary>
        /// 设置电梯内料架的任务状态
        /// </summary>
        /// <param name="missionState"></param>
        /// <returns></returns>
        protected bool setMissionState(MissionInfo missionInfo)
        {
            service.model.MissionInfo mission = manager.MissionManager.GetMission(missionInfo?.missionId ?? "");
            if (mission != null)
            {
                MissionState missionState = getNextState(mission.state);
                //任务状态变更
                MissionManager.SetMissionState(mission.missionId, missionState, out string msg);
                return true;
            }
            return false;
        }
        /// <summary>
        /// 设置当前任务的状态
        /// </summary>
        /// <param name="missionState"></param>
        protected void setMissionState(MissionState missionState)
        {
            //任务状态变更
            MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, missionState, out string msg);
        }
        protected bool IsBackShelf(MissionInfo missionInfo)
        {
            if (missionInfo?.state >= MissionState.返回电梯运行 && missionInfo?.state <= MissionState.返回电梯到达)
            {
                return true;
            }
            return false;
        }
        protected Job GetCallBackJob()
        {
            //Assembly assembly = Assembly.GetExecutingAssembly(); // 获取当前程序集
            //return (Model.Job)assembly.CreateInstance(JobParam.CallbackJob.Type.FullName);
            object[] parameters = new object[1];
            parameters[0] = JobParam;
            Job job = (Job)Activator.CreateInstance(JobParam.CallbackJob.Type, parameters);
            return job;
        }
        protected RunStep GetCallBackStep()
        {
            return JobParam.CallbackJob.RunStep;
        }
        /// <summary>
        /// 生成Job回调
        /// </summary>
        /// <param name="type"></param>
        /// <param name="callbackStep"></param>
        /// <returns></returns>
        protected void GenJobCallBack(Type type, RunStep callbackStep, JobParam jobParam = null)
        {
            JobParam.CallbackJob = new JobCallBack(type, callbackStep);
        }
    }
}