using HalconDotNet;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary.ESS;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.ServiceModel.PeerResolvers;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static System.Windows.Forms.VisualStyles.VisualStyleElement;
using static System.Windows.Forms.VisualStyles.VisualStyleElement.Tab;

namespace OnlineStore.DeviceLibrary
{
    public class SServerManager
    {
        private static string Addr_containerArrived = "/conveyor/containerArrived";
        private static string ess_server = ConfigAppSettings.GetValue(Setting_Init.ESS_Server);
        /// <summary>
        /// 内部服务器基地址
        /// </summary>
        private static string serverAddr = ConfigAppSettings.GetValue(Setting_Init.http_server);
        /// <summary>
        /// 料盘流转位置信息更新
        /// </summary>
        private static string Addr_UpdateLocInfo = "/service/store/agvBox/updateLocInfo";
        /// <summary>
        /// 工位状态定时上报
        /// </summary>
        private static string Addr_StationInfo = "/service/store/agvBox/stationInfo";
        /// <summary>
        /// 定时获取出库库位列表
        /// </summary>
        private static string Addr_getOutTask = "/service/store/agvBox/getOutTask";
        /// <summary>
        /// 根据料箱条码获取目的地信息
        /// </summary>
        private static string Addr_getTarget = "/service/store/agvBox/getTarget";
        /// <summary>
        /// AGV状态上报
        /// </summary>
        static string Addr_agvStatus = "/service/store/agvStatus/agvInfo";

        private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
        {

            if (serverAddr.EndsWith("/"))
            {
                serverAddr = serverAddr.Substring(0, serverAddr.Length - 1);
            }
            string path = serverAddr + addr.Trim() + "?";
            foreach (string paramName in paramsMap.Keys)
            {
                string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
                path += paramName + "=" + par + "&";
            }
            path = path.Substring(0, path.Length - 1);
            return path;
        }

        #region ESS
        /// <summary>
        /// ESS创建任务接口
        /// </summary>
        private static string Addr_createTask = "/task/create";
        /// <summary>
        /// ESS创建任务接口
        /// </summary>
        private static string Addr_cancelTask = "/task/cancel";
        /// <summary>
        /// 容器到达，发给ESS
        /// </summary>
        /// <param name="essModel"></param>
        public static void ContarinerArrived(EssModel essModel)
        {
            try
            {
                if (ess_server.EndsWith("/"))
                {
                    ess_server = ess_server.Substring(0, serverAddr.Length - 1);
                }
                string path = ess_server + Addr_containerArrived;
                string param = JsonHelper.SerializeObject(essModel);
                string resultStr = HttpHelper.Post(path, param);
                LogUtil.info("呼叫AGV【" + path + "】" + param + "【" + resultStr + "】");
            }
            catch (Exception ex)
            {
                LogUtil.error("ContarinerArrived", ex);
            }
        }

        /// <summary>
        /// 创建入库请求
        /// containerCode、slotCode参数必填
        /// </summary>
        /// <param name="containerInfos"></param>
        /// <returns></returns>
        public static bool CreateInStoreOrder(List<ContainerInfo> containerInfos, bool debug = false)
        {
            try
            {
                ESS_CreateTaskBody body = new ESS_CreateTaskBody();
                body.taskType = "tote_inbound";
                body.tasks = new List<ESSTask>();
                foreach (var item in containerInfos)
                {
                    item.TaskCode = $"IN-{item.ContainerValidCode}-{DateTime.Now.ToString("yyyyMMddHHmmssff")}";
                    ESSTask task = new ESSTask();
                    task.taskCode = item.TaskCode;
                    task.taskDescribe = new ESSInstoreTaskDesc()
                    {
                        containerCode = item.ContainerValidCode,
                        locationCode = item.InoutParam?.slotCode
                    };
                    body.tasks.Add(task);
                }
                string param = JsonHelper.SerializeObject(body);
                string path = ess_server + Addr_createTask;
                if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
                {
                    ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
                    if (server != null)
                    {
                        foreach (var item in containerInfos)
                        {
                            if (server.data.ContainsKey(item.TaskCode))
                            {
                                if (server.data[item.TaskCode].ToString().ToLower().Equals("ok"))
                                {
                                    if (!debug)
                                        ContainerManager.UpdateTaskStatus(item.ContainerValidCode, TaskStatus.EXECUTING);
                                }
                            }
                        }
                        LogUtil.info($"创建入库任务成功【{path}】【{param}】【{outMsg}】");
                        return true;
                    }
                    LogUtil.info($"创建入库任务失败，ESS返回失败【{path}】【{param}】【{outMsg}】");
                    return false;
                }
                else
                {
                    LogUtil.error($"创建入库任务失败【{path}】【{param}】【{outMsg}】【{isTimueOut}】");
                    return false;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error($"创建入库任务异常", ex);
            }
            return false;
        }

        /// <summary>
        /// 创建出库请求
        /// containerCode参数必填
        /// </summary>
        /// <param name="containerInfos"></param>
        /// <returns></returns>
        public static bool CreateOutStoreOrder(List<ContainerInfo> containerInfos, bool debug = false)
        {
            try
            {
                ESS_CreateTaskBody body = new ESS_CreateTaskBody();
                body.taskType = "tote_outbound";
                body.tasks = new List<ESSTask>();
                foreach (var item in containerInfos)
                {
                    item.TaskCode = $"OUT-{item.ContainerValidCode}-{DateTime.Now.ToString("yyyyMMddHHmmssff")}";
                    ESSTask task = new ESSTask();
                    task.taskCode = item.TaskCode;
                    task.taskDescribe = new ESSOutstoreTaskDesc()
                    {
                        containerCode = item.ContainerValidCode,
                        toStationCode = new List<string>() { "1" }
                    };
                    body.tasks.Add(task);
                }
                string param = JsonHelper.SerializeObject(body);
                string path = ess_server + Addr_createTask;
                if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
                {
                    ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
                    if (server != null)
                    {
                        foreach (var item in containerInfos)
                        {
                            if (server.data.ContainsKey(item.TaskCode))
                            {
                                if (server.data[item.TaskCode].ToString().ToLower().Equals("ok"))
                                {
                                    if (!debug)
                                        ContainerManager.UpdateTaskStatus(item.ContainerValidCode, TaskStatus.EXECUTING);
                                }
                            }
                        }
                        LogUtil.info($"创建出库任务成功【{path}】【{param}】【{outMsg}】");
                        return true;
                    }
                    LogUtil.info($"创建出库任务失败，ESS返回失败【{path}】【{param}】【{outMsg}】");
                    return false;
                }
                else
                {
                    LogUtil.error($"创建出库任务失败【{path}】【{param}】【{outMsg}】【{isTimueOut}】");
                    return false;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error($"创建出库任务异常:{JsonHelper.SerializeObject(containerInfos)}", ex);
            }
            return false;
        }
        /// <summary>
        /// 取消出库任务
        /// </summary>
        /// <param name="containerInfos"></param>
        /// <param name="debug"></param>
        /// <returns></returns>
        public static bool CancelOutStoreOrder(List<ContainerInfo> containerInfos, bool debug = false)
        {
            try
            {
                ESS_CancelBody body = new ESS_CancelBody();
                body.taskCodes = new List<string>();
                foreach (var item in containerInfos)
                {
                    body.taskCodes.Add(item.TaskCode);
                }
                string param = JsonHelper.SerializeObject(body);
                string path = ess_server + Addr_cancelTask;
                if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
                {
                    ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
                    if (server != null)
                    {
                        foreach (var item in containerInfos)
                        {
                            if (server.data.ContainsKey(item.TaskCode))
                            {
                                if (server.data[item.TaskCode].ToString().ToLower().Equals("ok"))
                                {
                                    if (!debug)
                                        ContainerManager.UpdateTaskStatus(item.ContainerValidCode, TaskStatus.EXECUTING);
                                }
                            }
                        }
                        LogUtil.info($"取消出库任务成功【{path}】【{param}】【{outMsg}】");
                        return true;
                    }
                    LogUtil.info($"取消出库任务失败，ESS返回失败【{path}】【{param}】【{outMsg}】");
                    return false;
                }
                else
                {
                    LogUtil.error($"取消出库任务失败【{path}】【{param}】【{outMsg}】【{isTimueOut}】");
                    return false;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error($"取消出库任务异常:{JsonHelper.SerializeObject(containerInfos)}", ex);
            }
            return false;
        }
        #endregion

        /// <summary>
        /// A 工位状态定时上报
        /// </summary>
        /// <param name="deviceName">设备名称</param>
        /// <param name="stationBarcode">站点分拣台料箱的编码</param>
        /// <returns>需要入库的工位名称,如s1，s2</returns>
        public static List<string> UploadStationInfo(string deviceName, Dictionary<string, string> stationBarcode)
        {
            List<string> list = new List<string>();
            try
            {
                string msg = "";
                if (stationBarcode == null)
                    return list;
                if (stationBarcode.Count == 0)
                    return list;
                if (string.IsNullOrEmpty(serverAddr))
                {
                    LogUtil.error(deviceName + "UploadStationInfo :未找到服务器地址");
                    return list;
                }
                string server = GetAddr(Addr_StationInfo, stationBarcode);
                DateTime startTime = DateTime.Now;
                string resultStr = HttpHelper.Get(server);
                ServerData3 serverResult = JsonHelper.DeserializeJsonToObject<ServerData3>(resultStr);
                if (serverResult == null)
                {
                    msg = deviceName + "UploadStationInfo【 " + JsonHelper.SerializeObject(stationBarcode) + "】" + "没有收到服务器反馈";
                }
                else if (serverResult.code.Equals(0).Equals(false))
                {
                    // code: 0为正常,其他为异常, msg: 消息, data: 为空
                    msg = deviceName + " UploadStationInfo【 " + JsonHelper.SerializeObject(stationBarcode) + "】【" + serverResult.code + "】" + serverResult.msg;
                }
                if (!msg.Equals(""))
                {
                    LogUtil.error(msg);
                    return list;
                }
                //if (serverResult?.data?.ContainsKey("needInStation") ?? false)
                return serverResult.data.needInStation;
            }
            catch (Exception ex)
            {
                LogUtil.error(deviceName + " ", ex);
            }
            return list;
        }
        /// <summary>
        /// B 获取出库任务列表
        /// </summary>
        /// <param name="deviceName"></param>
        /// <returns></returns>
        public static List<OutTaskData> GetOutTask(string deviceName)
        {
            List<OutTaskData> list = new List<OutTaskData>();
            //判断任务数》-30 不获取出库任务
            if (!LineManager.CheckTaskCntIsInLimit()) return list;
            try
            {
                string msg = "";
                if (string.IsNullOrEmpty(serverAddr))
                {
                    LogUtil.error(deviceName + "GetOutTask :未找到服务器地址");
                    return list;
                }
                string server = GetAddr(Addr_getOutTask, new Dictionary<string, string>());
                DateTime startTime = DateTime.Now;
                string resultStr = HttpHelper.Get(server);
                ServerData4 serverResult = JsonHelper.DeserializeJsonToObject<ServerData4>(resultStr);
                if (serverResult == null)
                {
                    msg = deviceName + "GetOutTask 没有收到服务器反馈";
                }
                else if (serverResult.code.Equals(0).Equals(false))
                {
                    // code: 0为正常,其他为异常, msg: 消息, data: 为空
                    msg = deviceName + " GetOutTask【" + serverResult.code + "】" + serverResult.msg;
                }
                if (!msg.Equals(""))
                {
                    LogUtil.error(msg);
                    return list;
                }
                if (serverResult.data != null)
                {
                    list = serverResult.data;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error(deviceName + " ", ex);
            }
            return list;
        }

        /// <summary>
        /// C 根据料箱条码获取目的地信息
        /// </summary>
        /// <param name="deviceName">设备名称</param>
        /// <param name="barcode">条形码</param>
        /// <returns>目的地信息，s1--s5.其他值则为入库的目标库位</returns>
        public static ContainerTarget GetContainerTarget(string deviceName, string barcode)
        {
            ContainerTarget target = null;
            try
            {
                string msg = "";
                if (string.IsNullOrEmpty(serverAddr))
                {
                    LogUtil.error(deviceName + " GetContainerTarget :未找到服务器地址");
                    return target;
                }
                Dictionary<string, string> param = new Dictionary<string, string>();
                param.Add("barcode", barcode);
                string server = GetAddr(Addr_getTarget, param);
                DateTime startTime = DateTime.Now;
                string resultStr = HttpHelper.Get(server);
                ServerData5 serverResult = JsonHelper.DeserializeJsonToObject<ServerData5>(resultStr);
                if (serverResult == null)
                {
                    msg = deviceName + " GetContainerTarget 没有收到服务器反馈";
                }
                else if (serverResult.code.Equals(0).Equals(false))
                {
                    // code: 0为正常,其他为异常, msg: 消息, data: 为空
                    msg = deviceName + " GetContainerTarget【" + serverResult.code + "】" + serverResult.msg;
                }
                if (!msg.Equals(""))
                {
                    LogUtil.error(msg);
                    return target;
                }
                if (serverResult.data != null)
                {
                    target = serverResult.data;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error(deviceName + " ", ex);
            }
            return target;
        }

        /// <summary>
        /// D 更新任务状态
        /// </summary>
        /// <param name="deviceName">设备名称</param>
        /// <param name="barcode">料箱条码</param>
        /// <param name="status">状态</param>
        /// <param name="locInfo">位置</param>
        /// <returns></returns>
        public static bool UpdateLocInfo(string deviceName, string barcode, string status, string locInfo ,out bool canRemove,out string msg)
        {
            msg = "";
            canRemove = false;
            try
            {
                if (String.IsNullOrEmpty(barcode))
                {
                    return false;
                }
                if (string.IsNullOrEmpty(serverAddr))
                {
                    LogUtil.error(deviceName + " UpdateTrayLoc   [" + barcode + "]  [" + status + "]  :未找到服务器地址");
                    return false;
                }

                Dictionary<string, string> paramMap = new Dictionary<string, string>();
                paramMap.Add("barcode", barcode);//barcode = 料盘的条码
                paramMap.Add("status", status);   // status = 状态信息
                paramMap.Add("loc", locInfo);//站位名
                //paramMap.Add("locInfo", locInfo);  // locInfo = 位置信息,移栽时为移栽编号,流水线时为托盘号,皮带线时为皮带线编号,机器人时为机器人编号
                string server = GetAddr(Addr_UpdateLocInfo, paramMap);
                DateTime startTime = DateTime.Now;
                string resultStr = HttpHelper.Get(server);
                msg=("UpdateTrayLoc   " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
                // 返回: { "code": 0, "msg":"ok", "data":""}
                ServerData serverResult = JsonHelper.DeserializeJsonToObject<ServerData>(resultStr);
                if (serverResult == null)
                {
                    //msg = deviceName + " UpdateTrayLoc【" + barcode + "】【" + status + "】【" + locInfo + "】没有收到服务器反馈";
                    return false;
                }
                else if (serverResult.code.Equals(303).Equals(true))
                {
                    canRemove = true;
                    // code: 0为正常,其他为异常, msg: 消息, data: 为空
                   // msg = deviceName + " UpdateTrayLoc 任务已完成【" + barcode + "】【" + status + "】【" + locInfo + "】  ：" + "【" + serverResult.code + "】" + serverResult.msg;
                    //LogUtil.info(msg);
                    return true;
                }
                else if (serverResult.code.Equals(0).Equals(true))
                {
                    // code: 0为正常,其他为异常, msg: 消息, data: 为空
                   // msg = deviceName + " UpdateTrayLoc【" + barcode + "】【" + status + "】【" + locInfo + "】  ：" + "【" + serverResult.code + "】" + serverResult.msg;
                    // LogUtil.info(msg);
                    return true;
                }
                else
                    return false;
            }
            catch (Exception ex)
            {
                LogUtil.error(deviceName + " UpdateLocInfo ", ex);
            }
            return false;
        }



        #region ESS 接口
        static string Addr_GetRobotState = "/robot/query";
        /// <summary>
        /// 获取机器人状态
        /// </summary>
        /// <returns></returns>
        public static RobotStates GetRobotState()
        {
            try
            {
                string path = ess_server + Addr_GetRobotState;
                Dictionary<string, object> tmp = new Dictionary<string, object>();
                string param = JsonHelper.SerializeObject(tmp);
                if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
                {
                    ResultData resultData = JsonHelper.DeserializeJsonToObject<ResultData>(outMsg);
                    if (resultData != null)
                    {
                        if (resultData.code.Equals(0))
                            return resultData.data;
                    }
                    else
                        return null;
                }
                else
                {
                    return null;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error($"GetRobotState ", ex);
            }
            return null;
        }
        #endregion

        #region AGV状态上报
        static string agvStr = "";
        /// <summary>
        /// AGV状态上报
        /// </summary>
        /// <param name="agvStatuses"></param>
        /// <returns></returns>
        public static bool UpdateAgvStatus(List<AgvStatus> agvStatuses)
        {
            try
            {
                if(agvStatuses==null || agvStatuses.Count==0)
                {
                    LogUtil.error($"UpdateAgvStatus 无信息");
                    return false;
                }
                Dictionary<string, string> queryStr = new Dictionary<string, string>();
                //queryStr.Add("rfid", rfid);
                string server = GetAddr(Addr_agvStatus, queryStr);
                string json = HttpHelper.Post(server,JsonHelper.SerializeObject(agvStatuses));
                ServerData rtnData = JsonHelper.DeserializeJsonToObject<ServerData>(json);
                if(!agvStr.Equals(json))
                {
                    LogUtil.info($"UpdateAgvStatus【{json}】【{JsonHelper.SerializeObject(rtnData)}】");
                    agvStr = json;
                }
                if (rtnData != null && rtnData.code == 0)
                {
                    return true;
                }
            }
            catch (Exception ex)
            {
                LogUtil.error($"UpdateAgvStatus 【{JsonHelper.SerializeObject(agvStatuses)}】", ex);

            }
            return false;
        }

        #endregion
        #region 未使用接口
        //public static string GetTraySize(string deviceName, int robotIndex, string codeStr, out int outSize, out bool isNg)
        //{
        //    outSize = 0;
        //    isNg = false;
        //    string msg = "";
        //    try
        //    {
        //        if (String.IsNullOrEmpty(codeStr))
        //        {
        //            return msg = deviceName + "未扫到条码";
        //        }
        //        string logName = $"GetTraySize   [{robotIndex}]  [{codeStr}]  :";
        //        if (string.IsNullOrEmpty(serverAddr))
        //        {
        //            LogUtil.error(deviceName + $"{logName}未找到服务器地址");
        //            return msg;
        //        }
        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("robotIndex", robotIndex.ToString());// 参数: robotIndex = 机器人编号,IP为51的机器人为1, 52的机器人为2, 53的机器人为3
        //        paramMap.Add("barcode", codeStr);//  barcode = 扫到的条码

        //        string server = GetAddr(Addr_getSize, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        bool isTimeOut = false;
        //        string resultStr = HttpHelper.Post(server, "", Encoding.UTF8, 5000, out isTimeOut);

        //        LogUtil.info("GetTraySize   " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
        //        if (isTimeOut)
        //        {
        //            return msg = "获取尺寸超时";
        //        }
        //        //返回: { "code": 0, "msg":"ok", data: 7} 
        //        ServerData serverResult = JsonHelper.DeserializeJsonToObject<ServerData>(resultStr);
        //        if (serverResult == null)
        //        {
        //            return msg = "没有收到服务器反馈";
        //        }
        //        else if (serverResult.code.Equals(0).Equals(false))
        //        {
        //            //   code: 0为正常,其他为异常, 
        //            //code不是0，直接NG
        //            isNg = true;
        //            return msg = $" [{serverResult.code}]:" + serverResult.msg;
        //        }

        //        if (!serverResult.data.Equals(""))
        //        {
        //            //   data:料盘直径,= 7时升起气缸
        //            outSize = Convert.ToInt32(serverResult.data);
        //            LogUtil.info(deviceName + $"{logName} 获得尺寸：" + outSize);
        //        }
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(deviceName + " ", ex);
        //    }
        //    return "";
        //}
        //private static string Addr_clearPutInRfid = "/service/store/qisda/clearPutInRfid";
        //public static string clearPutInRfid(string deviceName, string rfid)
        //{
        //    string msg = "";
        //    try
        //    {
        //        if (String.IsNullOrEmpty(rfid))
        //        {
        //            return msg;
        //        }
        //        if (string.IsNullOrEmpty(serverAddr))
        //        {
        //            LogUtil.error(deviceName + "clearPutInRfid   [" + rfid + "]  :未找到服务器地址");
        //            return msg;
        //        }

        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("rfid", rfid);//rfid   
        //        string server = GetAddr(Addr_clearPutInRfid, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        string resultStr = HttpHelper.Post(server, "");
        //        LogUtil.info(deviceName + "clearPutInRfid    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");

        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(deviceName + " " + ex.ToString());
        //    }
        //    return msg;
        //}


        //皮带线获取尺寸后,料盘到达机器人取料位置进调用,如果未扫到码,或者没等到取料位置信号亮,可以不用调用

        //> 地址:
        //>>/rest/api/qisda/device/arrive3fRobotLocation
        //>
        //> 参数: 
        //>> - robotIndex=机器人编号,IP为51的机器人为1, 52的机器人为2, 53的机器人为3
        //>
        //> 返回: 
        //>>``
        //private static string Addr_arrive3fRobotLocation = "/rest/api/qisda/device/arrive3fRobotLocation";
        //public static string arrive3fRobotLocation(string deviceName, int robotIndex, string barcode)
        //{
        //    string msg = "";
        //    if (string.IsNullOrEmpty(serverAddr))
        //    {
        //        LogUtil.error(deviceName + "arrive3fRobotLocation   [" + robotIndex + "][" + barcode + "]  :未找到服务器地址");
        //        return msg;
        //    }
        //    try
        //    {
        //        if (robotIndex <= 0)
        //        {
        //            return "robotIndex=" + robotIndex;
        //        }
        //        DateTime startTime = DateTime.Now;
        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("robotIndex", robotIndex.ToString());//rfid   
        //        paramMap.Add("barcode", barcode);
        //        string server = GetAddr(Addr_arrive3fRobotLocation, paramMap);
        //        string resultStr = HttpHelper.Post(server, "");
        //        LogUtil.info(deviceName + "arrive3fRobotLocation      " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
        //    }
        //    catch (Exception ex)
        //    {
        //        msg = deviceName + " " + ex.ToString();
        //        LogUtil.error(deviceName + " " + ex.ToString());
        //    }
        //    return msg;
        //}


        //        分盘料/紧急料放上料串或料架时调用 /rest/api/qisda/device/afterPutCut
        //private static string Addr_afterPutCut = "/rest/api/qisda/device/afterPutCut";
        //public static string afterPutCut(string deviceName, string rfid, string barcode, string cid, int rfidLoc, out TaskData afterData)
        //{
        //    afterData = null;
        //    string msg = "";
        //    if (string.IsNullOrEmpty(serverAddr))
        //    {
        //        LogUtil.error(deviceName + "afterPutCut   [" + rfid + "][" + barcode + "][" + cid + "][" + rfidLoc + "] :未找到服务器地址");
        //        return msg;
        //    }
        //    try
        //    {
        //        //参数:
        //        //cid:  料仓cid,流水线可传入空
        //        //barcode : 条码
        //        //rfid :  RFID
        //        //rfidLoc: 料架位置,流水线可传-1

        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("barcode", barcode);      // 参数: barcode=料盘的条码
        //        paramMap.Add("rfid", rfid);                     // rfid = 料架的RFID信息
        //        paramMap.Add("rfidLoc", rfidLoc.ToString());     // rfidLoc=料架的架位信息 
        //        paramMap.Add("cid", cid);     // 料仓cid,流水线可传入空
        //        string server = GetAddr(Addr_afterPutCut, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        string resultStr = HttpHelper.Post(server, "");
        //        if (barcode != "")
        //        {
        //            LogUtil.info(deviceName + "afterPutCut    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");
        //        }
        //        else
        //        {
        //            LogUtil.debug(deviceName + "afterPutCut    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");
        //        }
        //        //>   返回: 
        //        //>>` {"code": 0, "msg":"ok", "data":{"cutPackageTask":"0","urgentPackageTask":"20","cutTask":"21","urgentTask":"22"}} `
        //        //>>
        //        //>> - code: 0为正常,其他为异常, 
        //        //>> - msg:消息, 
        //        //>> - data:为包装料仓的空闲仓位数(key为与客户端一致的料仓标识, value为空闲仓位)
        //        //>> - cutPackageTask: 表示当前包装仓的分盘任务数
        //        //>> - urgentPackageTask: 表示当前包装仓的紧急料任务数
        //        //>> - cutTask: 表示流水线分盘任务数
        //        //>> - urgentTask: 表示流水线紧急料任务数
        //        AfterPutData serverResult = JsonHelper.DeserializeJsonToObject<AfterPutData>(resultStr);

        //        if (serverResult == null)
        //        {
        //            return msg = deviceName + "afterPutCut【 " + barcode + "】【" + rfid + "】【" + rfidLoc + "】没有收到服务器反馈";
        //        }
        //        else if (serverResult.code.Equals(0).Equals(false))
        //        {
        //            return msg = deviceName + " afterPutCut【 " + barcode + "】【" + rfid + "】【" + rfidLoc + "】  ：" + serverResult.msg;
        //        }
        //        afterData = serverResult.data;
        //        return "";
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(deviceName + " " + ex.ToString());
        //    }
        //    return msg;
        //}


        //        分盘料/紧急料启动时获取料架的虚拟RFID调用  地址:   /rest/api/qisda/device/findTempRfid
        //private static string Addr_findTempRfid = "/rest/api/qisda/device/findTempRfid";
        //public static string findTempRfid(string deviceName, string rfid, out string tempRfid)
        //{
        //    tempRfid = "";
        //    string msg = "";
        //    if (string.IsNullOrEmpty(serverAddr))
        //    {
        //        LogUtil.error(deviceName + "findTempRfid   [" + rfid + "] :未找到服务器地址");
        //        return msg;
        //    }
        //    try
        //    {
        //        //            参数:         rfid: RFID
        //        //           返回:       "code": 0, "msg":"ok", "data":{ "tempRfid":""}
        //        //                 code: 0为正常,其他为异常,
        //        //msg: 消息,
        //        //data:  tempRfid: 表示当前料架(料串)对应的虚拟RFID

        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("rfid", rfid);      // rfid: RFID

        //        string server = GetAddr(Addr_findTempRfid, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        string resultStr = HttpHelper.Post(server, "");
        //        LogUtil.info(deviceName + "findTempRfid    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");

        //        RfidData data = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);

        //        if (data == null)
        //        {
        //            return msg = deviceName + " findTempRfid【 " + rfid + "】 没有收到服务器反馈";
        //        }
        //        else if (data.code.Equals(0).Equals(false))
        //        {
        //            return msg = deviceName + " findTempRfid【 " + rfid + "】   ：" + data.msg;
        //        }
        //        if (data.data != null && data.data.ContainsKey("tempRfid"))
        //        {
        //            tempRfid = data.data["tempRfid"];
        //        }
        //        return "";
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(deviceName + " " + ex.ToString());
        //    }
        //    return msg;
        //}


        ////        取消任务地址:   /cancelPutInTask      //参数: barcode
        //private static string Addr_cancelPutInTask = "/rest/api/qisda/device/cancelPutInTask";
        //public static string cancelPutInTask(string deviceName, string barcode, bool disablePos)
        //{
        //    string msg = "";
        //    try
        //    {
        //        if (string.IsNullOrEmpty(serverAddr))
        //        {
        //            LogUtil.error(deviceName + "cancelPutInTask   [" + barcode + "] :未找到服务器地址");
        //            return msg;
        //        }

        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("barcode", barcode);
        //        paramMap.Add("disablePos", disablePos.ToString());

        //        string server = GetAddr(Addr_cancelPutInTask, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        string resultStr = HttpHelper.Post(server, "");
        //        LogUtil.info(deviceName + "cancelPutInTask    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");

        //        CancelData data = JsonHelper.DeserializeJsonToObject<CancelData>(resultStr);

        //        if (data == null)
        //        {
        //            return msg = deviceName + " cancelPutInTask【  " + barcode + "," + disablePos + "】 没有收到服务器反馈";
        //        }
        //        else if (data.code.Equals(0).Equals(false))
        //        {
        //            return msg = deviceName + " cancelPutInTask【  " + barcode + "," + disablePos + "】   ：" + data.msg;
        //        }

        //        return "";
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(deviceName + " " + ex.ToString());
        //    }
        //    return msg;
        //}

        //private static string Addr_clearOutTask = "/rest/api/qisda/device/clearOutTask";
        //public static string clearOutTask(string deviceName, string barcode)
        //{
        //    string msg = "";
        //    try
        //    {
        //        if (string.IsNullOrEmpty(serverAddr))
        //        {
        //            LogUtil.error(deviceName + "clearOutTask   [" + barcode + "] :未找到服务器地址");
        //            return msg;
        //        }

        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("barcode", barcode);

        //        string server = GetAddr(Addr_clearOutTask, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        string resultStr = HttpHelper.Post(server, "");
        //        LogUtil.info(deviceName + "clearOutTask    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");

        //        CancelData data = JsonHelper.DeserializeJsonToObject<CancelData>(resultStr);

        //        if (data == null)
        //        {
        //            return msg = deviceName + " cancelPutInTask【  " + barcode + "】 没有收到服务器反馈";
        //        }
        //        else if (data.code.Equals(0).Equals(false))
        //        {
        //            return msg = deviceName + " cancelPutInTask【  " + barcode + "】   ：" + data.msg;
        //        }

        //        return "";
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(deviceName + " " + ex.ToString());
        //    }
        //    return msg;
        //}
        //14.异常看板

        //   > 地址: 
        //>>/ rest / api / qisda / device / updateDeviceAlarmMsg


        //    >
        //    > 参数:
        //>> deviceAlarmList : 异常列表Json字符串  `[{"name":"移栽5", "msgKey":"line.move5.timeOut", "msgValue":"运动超时"},{"name":"移栽4", "msgKey":"line.move4.timeOut", "msgValue":"误差过大"}]`
        //>>>name :  异常位置名称
        //>>>msgKey :  异常信息唯一标识
        //>>>msgValue :  异常信息
        //>
        //>   返回: 
        //>>` {"code":0,"msg":"ok","data":""}`
        //>>
        //>> - code: 0为正常,其他为异常, 
        //          >> - msg:消息, 
        //          >> - data:
        // private static string Addr_updateDeviceAlarmMsg = "/rest/api/qisda/device/updateDeviceAlarmMsg";
        //public static string updateDeviceAlarmMsg(List<AlarmMsg> msgList)
        //{
        //    string msg = "";
        //    try
        //    {
        //        if (string.IsNullOrEmpty(serverAddr))
        //        {
        //            return msg;
        //        }
        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        string msgListStr = JsonHelper.SerializeObject(msgList);
        //        paramMap.Add("deviceAlarmList", msgListStr);
        //        string server = GetAddr(Addr_updateDeviceAlarmMsg, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        string resultStr = HttpHelper.Post(server, "", 5000);
        //        LogUtil.debug("updateDeviceAlarmMsg    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");

        //        RfidData data = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);

        //        if (data == null)
        //        {
        //            return msg = " updateDeviceAlarmMsg 没有收到服务器反馈";
        //        }
        //        else if (data.code.Equals(0).Equals(false))
        //        {
        //            return msg = " updateDeviceAlarmMsg   【" + server + "】【" + resultStr + "】" + data.msg;
        //        }
        //        return "";
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error("  updateDeviceAlarmMsg Error:  " + ex.ToString());
        //    }
        //    return msg;
        //}
        //        流水线料盘移动到皮带线时进行判断: 地址：  /rest/api/qisda/device/canReelToBelt 参数:barcode: 料盘条码
        //private static string Addr_canReelToBelt = "/rest/api/qisda/device/canReelToBelt";
        //public static bool canReelToBelt(string deviceName, string barcode, bool defaultPut = true)
        //{
        //    //            返回:   //            { "code":0,"msg":"ok","data":true}
        //    //            code: 0为正常,其他为异常,(未传参数, 未找到有效条码, 多个有效条码)
        //    //            msg:消息,
        //    //data: true 可以放上皮带线 false 继续留在环形线。默认直接放到皮带线

        //    try
        //    {
        //        Dictionary<string, string> paramMap = new Dictionary<string, string>();
        //        paramMap.Add("barcode", barcode);

        //        string server = GetAddr(Addr_canReelToBelt, paramMap);
        //        DateTime startTime = DateTime.Now;
        //        string resultStr = HttpHelper.Post(server, "");
        //        LogUtil.debug($"{deviceName}canReelToBelt   {FormUtil.GetSpanStr(DateTime.Now - startTime)}  【{server}】【{resultStr}】");
        //        //{ "code":0,"msg":"ok","data":true}
        //        ReturnData data = JsonHelper.DeserializeJsonToObject<ReturnData>(resultStr);

        //        if (data != null)
        //        {
        //            bool result = Convert.ToBoolean(data.data);
        //            if (data.code.Equals(0))
        //            {
        //                return result;
        //            }
        //            else if (!data.code.Equals(0))
        //            {
        //                LogUtil.error($"{deviceName}canReelToBelt【 {barcode}】 返回错误 ：{data.msg}={data.msg}");
        //            }
        //        }
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error(deviceName + " " + ex.ToString());
        //    }
        //    return defaultPut;
        //}
        #endregion
    }
    public class AgvStatus
    {
        /// <summary>
        /// 小车名称
        /// </summary>
        public string name { get; set; }
        /// <summary>
        /// 小车电量
        /// </summary>
        public string elec { get; set; }
        /// <summary>
        /// 小车位置
        /// </summary>
        public string loc { get; set; }
        /// <summary>
        /// 错误消息
        /// </summary>
        public string message { get; set; }
        public int type { get; set; }
    }
    public class OutTaskData
    {
        /// <summary>
        /// 二维码
        /// </summary>
        public string barcode { get; set; }
        /// <summary>
        /// 库位码
        /// </summary>
        public string slotCode { get; set; }
        /// <summary>
        /// 任务状态
        /// </summary>
        public string status { get; set; }
    }
    /// <summary>
    /// 任务状态
    /// </summary>
    public class TaskStatus
    {
        /// <summary>
        /// 初始状态
        /// </summary>
        public const string WAIT = "WAIT";
        /// <summary>
        /// 已发送给AGV
        /// </summary>
        public const string EXECUTING = "EXECUTING";
        /// <summary>
        ///入库时，人员推上线体
        /// </summary>
        public const string IN_ON_LINE = "IN_ON_LINE";
        /// <summary>
        /// 入库时，AGV从线体上抓起料箱
        /// </summary>
        public const string IN_ON_AGV = "IN_ON_AGV";
        /// <summary>
        /// 出库时,AGV将料箱从库位中取出
        /// </summary>
        public const string OUT_ON_AGV = "OUT_ON_AGV";
        /// <summary>
        ///  出库时,AGV将料箱放上线体，
        /// </summary>
        public const string OUT_ON_LINE = "OUT_ON_LINE";
        /// <summary>
        /// 任务完成
        /// 入库时，AGV将料箱放入库位
        /// 出库时，料箱到达工位
        /// </summary>
        public const string FINISHED = "FINISHED";
        /// <summary>
        /// 任务异常
        /// </summary>
        public const string ERROR = "ERROR";
        /// <summary>
        /// 出库时，料箱到达工位前
        /// </summary>
        public const string NEED_AWAY = "NEED_AWAY";
    }
    public class AlarmMsg
    {

        //>>>name :  异常位置名称
        public string name = "";
        //>>>msgKey :  异常信息唯一标识
        public string msgKey = "";
        //>>>msgValue :  异常信息
        public string msgValue = "";

        public AlarmMsg(string n, string key, string value)
        {
            this.name = n;
            this.msgKey = key;
            this.msgValue = value;
        }
    }
    public class ContainerTarget
    {
        public string slotCode { get; set; } = "";
        public string barcode { get; set; } = "";
    }
    public class ServerData
    {
        //{"code":0,"msg":"ok","data":"7"} 
        public int code { get; set; }

        public string msg { get; set; }

        public string data { get; set; }
    }
    public class ServerData1
    {
        public int code { get; set; }

        public string msg { get; set; }
        public Dictionary<string, object> data { get; set; }
    }
    public class ServerData2
    {
        public int code { get; set; }

        public string msg { get; set; }
        public object data { get; set; }
    }
    public class ServerData3
    {
        public int code { get; set; }

        public string msg { get; set; }
        public NeedInStation data { get; set; }
    }
    public class NeedInStation
    {
        public List<string> needInStation { get; set; }
    }
    public class ServerData4
    {
        public int code { get; set; }

        public string msg { get; set; }
        public List<OutTaskData> data { get; set; }
    }
    public class ServerData5
    {
        public int code { get; set; }

        public string msg { get; set; }
        public ContainerTarget data { get; set; }
    }
}