XS202306098555/DispatchSystem - 副本.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Threading;
using AGV_WPF_Global;
using System.Data.OleDb;
using System.Xml.Serialization;
using System.IO;
using System.Threading.Tasks;
using AGV_WPF.Models;
using HslCommunication;
using AGV_WPF.Tools;
using System.Diagnostics;


namespace AGV_WPF
{
    public partial class DispatchSystem : Form
    {
        DataTable dtConfig = new DataTable();
        HslCommunication.OperateResult result;
        int HeartBitCount = 1;
        private delegate void InvokeDelegate();
        Dictionary<int, string> checkPosDic = new Dictionary<int, string>();
        Dictionary<int, int> AGVIDWithPosByCheckPos = new Dictionary<int, int>();
        Dictionary<int, int> AGVIDWithRouteByCheckPos = new Dictionary<int, int>();
        Dictionary<string, byte> DBWithByteValue = new Dictionary<string, byte>();
        private static object portLock = new object();
        Stopwatch sw = new Stopwatch();
        Dictionary<int, CFDClass> dicReleaseArea = new Dictionary<int, CFDClass>();
        public int CurCFDRoute = -1;
        Dictionary<string, bool> InitOK = new Dictionary<string, bool>();
        public DispatchSystem()
        {
            InitializeComponent();
        }

        private void DispatchSystem_Load(object sender, EventArgs e)
        {
            LoadConfig();
            this.FormClosing += new FormClosingEventHandler(DispatchSystem_FormClosing);
            Thread thread2 = new Thread(HeartBit);
            thread2.Start();
            Thread thread = new Thread(Analzye);
            thread.Start();

        }

        void DispatchSystem_FormClosing(object sender, FormClosingEventArgs e)
        {
            e.Cancel = true;
        }


        /// <summary>
        /// 加载配置
        /// </summary>
        public void LoadConfig()
        {
            sw.Restart();
            tabControl1.TabPages.Clear();
            物料设置ToolStripMenuItem.DropDownItems.Clear();
            checkPosDic.Clear();
            AGVIDWithPosByCheckPos.Clear();
            DBWithByteValue.Clear();
            HeartBitCount = 1;
            XmlSerializer deserializer1 = new XmlSerializer(GlobalPara.gs_configInfo.GetType());
            try
            {
                using (TextReader tr = new StreamReader("CConfig.xml"))
                {
                    GlobalPara.gs_configInfo = (AGV_WPF.Tools.CConfigData)deserializer1.Deserialize(tr);
                }
            }
            catch (Exception ex)
            { }
            string currPath = System.AppDomain.CurrentDomain.BaseDirectory;
            string dataPath = currPath + @"data";
            string dataFile = dataPath + @"\基础配置表.xls";
            try
            {

                string confStr1 = @"Provider=Microsoft.ACE.OLEDB.12.0;";
                string confStr2 = @"Persist Security Info=false;";
                string confStr3 = @"Data Source=" + dataFile + ";";
                string confStr4 = @"Extended Properties=" + "'Excel 12.0;HDR=YES;IMEX=1'";
                string connStr = confStr1 + confStr2 + confStr3 + confStr4;

                OleDbConnection oleDC = new OleDbConnection(connStr);
                OleDbDataAdapter oleDDA1 = new OleDbDataAdapter("Select * From [参数配置$]", oleDC);
                oleDDA1.Fill(dtConfig);
                OleDbDataAdapter oleDDA2 = new OleDbDataAdapter("Select * From [物料类型$]", oleDC);
                DataTable temp = new DataTable();
                oleDDA2.Fill(temp);

                if (temp.Rows.Count > 0)
                {
                    for (int i = 0; i < temp.Rows.Count; i++)
                    {

                        ToolStripMenuItem tsm = new ToolStripMenuItem(temp.Rows[i][1].ToString());
                        物料设置ToolStripMenuItem.DropDownItems.Add(tsm);
                        tsm.Font = new Font("黑体", 15);
                        if (GlobalPara.gs_configInfo.CurrentMatName == temp.Rows[i][1].ToString())
                        {
                            tsm.CheckState = CheckState.Checked;
                        }
                        tsm.Click += new EventHandler(tsm_Click);
                    }
                }
                tabControl1.DrawMode = TabDrawMode.Normal;
                tabControl1.SizeMode = TabSizeMode.Fixed;
                tabControl1.DrawItem += new DrawItemEventHandler(tabControl1_DrawItem);
                GlobalPara.s7 = new HslCommunication.Profinet.Siemens.SiemensS7Net(HslCommunication.Profinet.Siemens.SiemensPLCS.S1500,
                dtConfig.Rows[0][1].ToString());
                GlobalPara.s7.Rack = (byte)Convert.ToInt16(dtConfig.Rows[2][1].ToString());
                GlobalPara.s7.Slot = (byte)Convert.ToInt16(dtConfig.Rows[3][1].ToString());
                GlobalPara.s7.ConnectTimeOut = 200;
                GlobalPara.s7.ReceiveTimeOut = 200;
                result = GlobalPara.s7.ConnectServer();
                sw.Stop();
                Console.WriteLine("配置初始化总共花费{0}s.", sw.Elapsed.TotalSeconds);
                sw.Restart();
                InitView();
                sw.Stop();
                Console.WriteLine("界面初始化总共花费{0}s.", sw.Elapsed.TotalSeconds);

            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.StackTrace);
            }
        }

        void tsm_Click(object sender, EventArgs e)
        {
            for (int i = 0; i < 物料设置ToolStripMenuItem.DropDownItems.Count; i++)
            {
                if (((ToolStripMenuItem)物料设置ToolStripMenuItem.DropDownItems[i]).Text == ((ToolStripMenuItem)sender).Text
                    && ((ToolStripMenuItem)sender).CheckState == CheckState.Checked)
                {
                    return;
                }
                ((ToolStripMenuItem)物料设置ToolStripMenuItem.DropDownItems[i]).CheckState = CheckState.Unchecked;

            }
            ((ToolStripMenuItem)sender).Checked = true;
            GlobalPara.gs_configInfo.CurrentMatName = ((ToolStripMenuItem)sender).Text;
            XmlSerializer serializer2 = new XmlSerializer(GlobalPara.gs_configInfo.GetType());
            using (TextWriter tw = new StreamWriter("CConfig.xml"))
            {
                serializer2.Serialize(tw, GlobalPara.gs_configInfo);
            }
            this.DispatchSystem_Load(null, null);
        }

        void tsm_CheckedChanged(object sender, EventArgs e)
        {


            //throw new NotImplementedException();
        }

        void tsm_CheckStateChanged(object sender, EventArgs e)
        {
            //throw new NotImplementedException();
        }



        /// <summary>
        /// 界面初始化
        /// </summary>
        /// <param name="temp"></param>
        public void InitView()
        {
            string currPath = System.AppDomain.CurrentDomain.BaseDirectory;
            string dataPath = currPath + @"data\";
            string dataFile = dataPath + GlobalPara.gs_configInfo.CurrentMatName + ".xls";
            if (false == File.Exists(dataFile))
            {
                DirectoryInfo di = new DirectoryInfo(dataPath);
                foreach (FileInfo f in di.GetFiles())
                {
                    if (f.Name != "基础配置表" && f.Extension.Contains(".xls"))
                    {
                        GlobalPara.gs_configInfo.CurrentMatName = f.Name.Replace(".xls", "");
                        for (int i = 0; i < 物料设置ToolStripMenuItem.DropDownItems.Count; i++)
                        {

                            if (物料设置ToolStripMenuItem.DropDownItems[i].Text == GlobalPara.gs_configInfo.CurrentMatName)
                            {
                                ((ToolStripMenuItem)物料设置ToolStripMenuItem.DropDownItems[i]).CheckState = CheckState.Checked;
                            }
                        }
                        dataFile = f.FullName;
                        break;
                    }
                }
            }
            try
            {

                string confStr1 = @"Provider=Microsoft.ACE.OLEDB.12.0;";
                string confStr2 = @"Persist Security Info=false;";
                string confStr3 = @"Data Source=" + dataFile + ";";
                string confStr4 = @"Extended Properties=" + "'Excel 12.0;HDR=YES;IMEX=1'";
                string connStr = confStr1 + confStr2 + confStr3 + confStr4;

                OleDbConnection oleDC = new OleDbConnection(connStr);
                OleDbDataAdapter oleDDA2 = new OleDbDataAdapter("Select * From [线体信息$]", oleDC);
                DataTable LineDt = new DataTable();
                oleDDA2.Fill(LineDt);
                Dictionary<Thread, object[]> listThread = new Dictionary<Thread, object[]>();
                for (int i = 0; i < LineDt.Rows.Count; i++)
                {

                    string lineName = LineDt.Rows[i]["线体名称"].ToString();
                    TabPage tb = new TabPage(lineName);
                    tb.Font = new System.Drawing.Font("楷体", tb.Font.Size + 5);

                    oleDDA2 = new OleDbDataAdapter("Select * From [" + lineName + "$]", oleDC);
                    DataTable temp2 = new DataTable();
                    temp2.TableName = lineName;
                    oleDDA2.Fill(temp2);
                    if (LineDt.Rows[i]["判断点"] != null && !string.IsNullOrEmpty(LineDt.Rows[i]["判断点"].ToString()) && LineDt.Rows[i]["判断点"].ToString() != "0")
                    {
                        if (!checkPosDic.ContainsKey(int.Parse(LineDt.Rows[i]["判断点"].ToString())))
                        {
                            checkPosDic.Add(int.Parse(LineDt.Rows[i]["判断点"].ToString()), lineName);
                        }
                    }

                    int X = 10, Y = 10;
                    List<Button> listBtn = new List<Button>();
                    for (int j = 1; j <= temp2.Rows.Count; j++)
                    {
                        if (temp2.Columns.Contains("组号") && !dicReleaseArea.ContainsKey(int.Parse(temp2.Rows[j - 1]["组号"].ToString())))
                        {
                            dicReleaseArea.Add(int.Parse(temp2.Rows[j - 1]["组号"].ToString()), null);
                        }
                        if (temp2.Rows[j - 1]["放行DB"] != null && !string.IsNullOrEmpty(temp2.Rows[j - 1]["放行DB"].ToString()) && temp2.Rows[j - 1]["放行DB"].ToString() != "0")
                        {
                            if (!DBWithByteValue.ContainsKey((temp2.Rows[j - 1]["放行DB"].ToString())))
                            {
                                DBWithByteValue.Add((temp2.Rows[j - 1]["放行DB"].ToString()), (byte)255);
                            }
                        }
                        Button btn = new Button();
                        btn.Text = temp2.Rows[j - 1][1].ToString();
                        btn.Location = new Point(X, Y);
                        btn.Font = new Font("宋体", 15);
                        btn.Size = new Size(100, 80);

                        btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                        X += btn.Size.Width + 20;
                        if (j % 6 == 0)
                        {
                            X = 10; Y += btn.Height + 20;
                        }
                        btn.Tag = temp2.Rows[j - 1][2].ToString();
                        tb.Controls.Add(btn);

                        listBtn.Add(btn);
                    }
                    Tools.TabPageTag tt = new Tools.TabPageTag();
                    tt.Table = temp2.Copy();
                    tt.ListBtn = new List<Button>();
                    tt.ListBtn.AddRange(listBtn);
                    tb.Tag = tt;
                    tabControl1.TabPages.Add(tb);
                    object[] obj = new object[3];
                    obj[0] = listBtn; obj[1] = 0; obj[2] = lineName;
                    listThread.Add(new Thread(new ParameterizedThreadStart(DockingOpeare0)), obj);//.Start(listBtn);
                  //  DockingOpeare0(obj);
                    //    if (lineName == "充放电测试") { tabControl1.SelectedTab = tb; }
                }
                foreach (Thread t in listThread.Keys)
                {
                    t.Start(listThread[t]);

                }
              //  Thread.Sleep(8000);
                new Thread(new ThreadStart(checkingOperate)).Start();
                new Thread(new ThreadStart(CFDCheck)).Start();
          //      new Thread(new ThreadStart(checkingRelease)).Start();
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.StackTrace);
            }
        }

        /// <summary>
        /// 判断点发送5次仍未放行的问题
        /// </summary>
        public void checkingRelease()
        {
            while (true)
            {
                if (AGVIDWithRouteByCheckPos.Count > 0)
                {
                    List<AGVInfoModel> listModel = GlobalPara.AgvInfoDic.Values.ToList();
                    ParallelLoopResult result = Parallel.ForEach<int>(AGVIDWithRouteByCheckPos.Keys, new ParallelOptions { MaxDegreeOfParallelism = 2 }, pos =>
                    {
                        IEnumerable<AGVInfoModel> temp = listModel.Where(o => o.AGVNUM == pos && (o.RUNSTATUS_Cur == 0x40)
                              && AGVIDWithRouteByCheckPos.ContainsKey(o.AGVNUM) && AGVIDWithPosByCheckPos.ContainsKey(o.AGVNUM));
                        if (temp.Count() > 0)
                        {
                            lock (AGVIDWithRouteByCheckPos)
                            {
                                if (AGVIDWithRouteByCheckPos.ContainsKey(pos))
                                {
                                    AGVIDWithRouteByCheckPos.Remove(pos);
                                }
                            }
                        }
                        else
                        {
                            temp = listModel.Where(o => o.AGVNUM == pos && (o.RUNSTATUS_Cur == 0x43 || o.ALARMCODE == "9")
                               && AGVIDWithRouteByCheckPos.ContainsKey(o.AGVNUM) && AGVIDWithPosByCheckPos.ContainsKey(o.AGVNUM));
                            if (temp.Count() > 0)
                            {
                                int agvNum = temp.ToList()[0].AGVNUM;
                                int mark = temp.ToList()[0].MARKNUM;
                                DispatcherTool.ReleaseAgvOnStop(mark, AGVIDWithRouteByCheckPos[agvNum], AGVIDWithPosByCheckPos[agvNum]);
                            }
                        }
                    });
                    if (result.IsCompleted)
                    {
                        Console.WriteLine("判断点放行任务总共花费{0}s.", sw.Elapsed.TotalSeconds);
                   //     new Thread(new ThreadStart(checkingRelease)).Start();
                    }
                }
                else
                {
                    //      new Thread(new ThreadStart(checkingRelease)).Start();
                }
                Thread.Sleep(200);
            }
        }

        /// <summary>
        /// 判断点事件
        /// </summary>
        public void checkingOperate()
        {
            Stopwatch sw2 = new Stopwatch();
            List<AGVInfoModel> listModel = GlobalPara.AgvInfoDic.Values.ToList();
            ParallelLoopResult result = Parallel.ForEach<int>(checkPosDic.Keys, new ParallelOptions { MaxDegreeOfParallelism = 2 }, pos =>
            {
                IEnumerable<AGVInfoModel> temp = listModel.Where(o => o.MARKNUM == pos && (o.RUNSTATUS_Cur == 0x43 || o.ALARMCODE == "9") && !AGVIDWithPosByCheckPos.ContainsKey(o.AGVNUM));
                if (temp.Count() > 0)
                {
                    int num = temp.ToList()[0].AGVNUM;
                    if (!AGVIDWithPosByCheckPos.ContainsKey(num))
                    {
                        string lineName = checkPosDic[pos];
                        for (int i = 0; i < this.tabControl1.TabPages.Count; i++)
                        {
                            if (this.tabControl1.TabPages[i].Text == lineName && InitOK.ContainsKey(lineName)&&InitOK[lineName])
                            {
                                TabPageTag tag = this.tabControl1.TabPages[i].Tag as TabPageTag;
                                DataRow[] drs = null;
                                if (lineName != "充放电测试")
                                {
                                    drs = tag.Table.Select("优先级>0", "优先级 asc");
                                }
                                else
                                {
                                    if (CurCFDRoute < 0)
                                    {
                                        drs = tag.Table.Select("优先级>0", "优先级 asc");
                                    }
                                    else
                                    {
                                        drs = tag.Table.Select("优先级>0 and 放行路线='" + CurCFDRoute + "'", "优先级 asc");
                                    }
                                }
                                List<string> ChannelDB = new List<string>();
                                bool b = false;
                                bool b3 = false;
                                for (int j = 0; j < drs.Length; j++)
                                {
                                    if (tag.Table.Columns.Contains("通道DB"))
                                    {
                                        string releaseAddress = drs[j]["通道DB"].ToString();
                                        if (releaseAddress != "0")
                                        {
                                            if (!ChannelDB.Contains(releaseAddress))
                                            {
                                                OperateResult<byte> resultRead = GlobalPara.s7.ReadByte(releaseAddress);
                                                if (resultRead.IsSuccess)
                                                {
                                                    if (resultRead.Content == (byte)0)
                                                    {
                                                        b = true;
                                                    }
                                                    else
                                                    {

                                                        ChannelDB.Add(releaseAddress);
                                                        continue;
                                                    }
                                                }
                                            }
                                            else
                                            {
                                                continue;
                                            }
                                        }
                                        else { b = true; }
                                    }
                                    else
                                    {
                                        b = true;
                                    }
                                    if (b)
                                    {

                                        //  IEnumerable<DataRow> query =
                                        //from data in tag.Table.AsEnumerable()
                                        //group data by data["路线"] into g
                                        //select g.First();

                                        Button btn = tag.ListBtn.Find(o => o.Tag.ToString() == drs[j]["工位地标"].ToString() && !AGVIDWithPosByCheckPos.ContainsValue(int.Parse(o.Tag.ToString()))
                                              && (o.BackColor == Color.FromKnownColor(KnownColor.Control)
                                              || o.BackColor == Color.FromKnownColor(KnownColor.Green)) && o.BackColor != Color.FromKnownColor(KnownColor.Blue));
                                        if (btn != null)
                                        {
                                            if (lineName == "充放电测试")
                                            {
                                                DataRow[] temp2 = tag.Table.Select("放行路线='" + drs[j]["放行路线"].ToString() + "'", "ID asc");
                                                if (temp2.Count() > 1)
                                                {
                                                    int indexFirst = tag.Table.Rows.IndexOf(temp2[0]);
                                                    if (indexFirst >= 0 && indexFirst != j)
                                                    {
                                                        Button btn2 = tag.ListBtn.Find(o => o.Tag.ToString() == tag.Table.Rows[indexFirst]["工位地标"].ToString() &&
                                                           (o.BackColor == Color.Yellow || o.BackColor == Color.Blue));
                                                        if (btn2 == null)
                                                        {
                                                            continue;
                                                        }
                                                    }
                                                    else if (indexFirst >= 0 && indexFirst == j)
                                                    {
                                                        bool b2 = true;
                                                        for (int a = 1; a < temp2.Length; a++)
                                                        {
                                                            Button btn2 = tag.ListBtn.Find(o => o.Tag.ToString() == temp2[a]["工位地标"].ToString()
                                                                && o.BackColor == Color.FromKnownColor(KnownColor.Control));
                                                            if (btn2 == null) { b2 = false; break; }
                                                        }
                                                        if (!b2)
                                                        {
                                                            continue;
                                                        }
                                                    }
                                                }
                                            }
                                            //找到目的站点，放行路线
                                            AGVIDWithPosByCheckPos.Add(num, int.Parse(drs[j]["工位地标"].ToString()));
                                            AGVIDWithRouteByCheckPos.Add(num, int.Parse(drs[j]["放行路线"].ToString()));
                                            DispatcherTool.ReleaseAgvOnStop(pos, int.Parse(drs[j]["放行路线"].ToString()), int.Parse(drs[j]["工位地标"].ToString()));
                                            if (btn.BackColor != Color.FromKnownColor(KnownColor.Blue))
                                            {
                                                btn.BackColor = Color.Blue;
                                            }
                                            if (lineName == "充放电测试")
                                            {
                                                CurCFDRoute = int.Parse(drs[j]["放行路线"].ToString());
                                            }
                                            b3 = true;
                                            break;
                                        }
                                    }
                                    else
                                    {
                                        if (lineName == "充放电测试")
                                        {
                                            CurCFDRoute = -1;
                                        }
                                    }
                                }
                                if (!b3)
                                {
                                    if (lineName == "充放电测试")
                                    {
                                        CurCFDRoute = -1;
                                    }
                                }
                            }
                        }
                    }
                }

            });
            if (result.IsCompleted)
            {
                sw2.Stop();
                Console.WriteLine("判断点任务总共花费{0}s.", sw.Elapsed.TotalSeconds);
             
                new Thread(new ThreadStart(checkingOperate)).Start();
            }

        }

        public void CFDCheck()
        {
            ParallelLoopResult result2;
            try
            {
                List<int> list = dicReleaseArea.Keys.ToList();
                result2 = Parallel.ForEach<int>(list, new ParallelOptions { MaxDegreeOfParallelism = 2 }, key =>
                {
                    if (dicReleaseArea[key] != null)
                    {
                        List<Button> listBtn = dicReleaseArea[key].btns;
                        if (listBtn != null && listBtn.Count > 0)
                        {
                            var result = listBtn.AsParallel().Where(o => o.BackColor == Color.FromKnownColor(KnownColor.Control));
                            if (result != null && result.Count() == listBtn.Count)
                            {
                                CFDClass cfd = dicReleaseArea[key];

                                lock (dicReleaseArea)
                                {
                                    dicReleaseArea[key] = null;
                                }
                                WriteFile("充放电记录", "(" + cfd.number + "," + cfd.numberInner + ") 组放行完成,已解锁");
                            }
                        }
                    }
                });
                if (result2.IsCompleted)
                {
                    new Thread(new ThreadStart(CFDCheck)).Start();
                }
            }
            catch (Exception ex)
            {
                DateTime time = DateTime.Now;
                //MessageBox.Show("线程异常:"+e.ExceptionObject);
                FileStream stream = File.Open(@"Exception\调度程序异常.txt", FileMode.Append, FileAccess.Write);
                StreamWriter writer = new StreamWriter(stream);

                if (ex != null)
                {
                    string msg = string.Format("[{0}]Test:\r\nMessage:{1}\r\nStackTrace:\r\n{2}", time.ToString("yyyy-MM-dd HH:mm:ss"), ex.Message, ex.StackTrace);
                    writer.WriteLine(msg);
                    writer.Close();
                    stream.Close();
                }
              
                new Thread(new ThreadStart(CFDCheck)).Start();
            }
        }

        public void DockingOpeare0(object o)
        {
            object[] obj = (object[])o;
            DockingOpeare((List<Button>)obj[0], (int)obj[1],(string)obj[2]);
        }

        /// <summary>
        /// 工位事件
        /// </summary>
        /// <param name="listBtn"></param>
        public void DockingOpeare(List<Button> listBtn, int tag,string lineName)
        {
            ParallelLoopResult result2;

            try
            {
                Stopwatch sw2 = new Stopwatch();
                List<Button> list = (List<Button>)listBtn;
                //   TabPageTag tag = this.tabControl1.TabPages[i].Tag as TabPageTag;
                DataTable dt = (list[0].Parent.Tag as TabPageTag).Table;
                List<AGVInfoModel> listModel = GlobalPara.AgvInfoDic.Values.ToList();
                List<int> list2 = AGVIDWithPosByCheckPos.Values.ToList();
                // while (true)
                {
                    //       for (int i = 0; i < list.Count; i++)
                    result2 = Parallel.ForEach<Button>(list, new ParallelOptions { MaxDegreeOfParallelism = 2 }, btn =>
                    {
                        //if (list2.Contains((int)btn.Tag))
                        //{
                        //    IEnumerable<AGVInfoModel> temp = listModel.Where(o => o.MARKNUM.ToString() == btn.Tag.ToString() && o.ConnectStatus == true);
                        //    btn.Invoke(new InvokeDelegate(delegate
                        //    {
                        //        if (btn.BackColor != Color.FromKnownColor(KnownColor.Blue))
                        //        {
                        //            btn.BackColor = Color.Blue;


                        //        }
                        //    }));
                        //}
                        //else
                        {
                            //          Button btn = list[i];
                            //   if (btn.Tag != null)
                            {
                                IEnumerable<AGVInfoModel> temp = listModel.Where(o => o.MARKNUM.ToString() == btn.Tag.ToString() && o.ConnectStatus == true);
                                IEnumerable<DataRow> query =
                                         from order in dt.AsEnumerable()
                                         where order["工位地标"].ToString() == btn.Tag.ToString()
                                         select order;
                                if (temp.Count() > 0)
                                {
                                  
                                    IEnumerable<AGVInfoModel> temp2 = temp.Where(o => ((o.RUNSTATUS_Cur == 0x43 || o.RUNSTATUS_Cur == 0x44)
                                        && o.ConnectStatus == true && o.AGVNUM != 0));
                                    if (temp2.Count() > 0)
                                    {
                                        List<AGVInfoModel> infos = temp2.ToList();
                                        btn.Invoke(new InvokeDelegate(delegate
                                        {
                                            if (btn.BackColor != Color.FromKnownColor(KnownColor.Yellow))
                                            {

                                                AGVInfoModel info = infos[0];
                                                if (AGVIDWithPosByCheckPos.ContainsKey(info.AGVNUM))
                                                {
                                                    AGVIDWithPosByCheckPos.Remove(info.AGVNUM);
                                                }
                                                if (AGVIDWithRouteByCheckPos.ContainsKey(info.AGVNUM))
                                                {
                                                    AGVIDWithRouteByCheckPos.Remove(info.AGVNUM);
                                                }
                                                if (result != null && result.IsSuccess)
                                                {
                                                    OperateResult rs = GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)info.AGVNUM);
                                                    OperateResult rs2 = null;
                                                    if (info.ALARMCODE != "5")
                                                    {
                                                        rs2 = GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.StopOnStation);
                                                    }
                                                    else //在工位上时 障碍物的状态也给停站状态
                                                    {
                                                        rs2 = GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.StopOnStation);
                                                    }
                                                    GlobalPara.s7.Write(query.ToList()[0]["故障DB"].ToString(), (byte)(int.Parse(info.ALARMCODE) - 1));
                                                    if (rs.IsSuccess && rs2.IsSuccess)
                                                    {
                                                        btn.BackColor = Color.Yellow;
                                                    }
                                                }
                                            }
                                        }));
                                        if (result != null && result.IsSuccess)
                                        {
                                            string releaseAddress = query.ToList()[0]["放行DB"].ToString();
                                            OperateResult<byte> resultRead = GlobalPara.s7.ReadByte(releaseAddress);
                                            if (resultRead.IsSuccess && DBWithByteValue.Keys.Contains(releaseAddress) &&
                                               DBWithByteValue[releaseAddress] != resultRead.Content)
                                            {
                                                if (resultRead.Content == (byte)GlobalPara.DBControlValues.OKRelease)
                                                {

                                                    if (dt.TableName != "充放电测试")
                                                    {
                                                        DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                            0, int.Parse(query.ToList()[0]["目的地标"].ToString()));
                                                        lock (portLock)
                                                        {
                                                            DBWithByteValue[releaseAddress] = resultRead.Content;
                                                        }
                                                    }
                                                    else
                                                    {
                                                        WriteFile("充放电记录-信号切换", btn.Text + " 放行信号改变,原值为 " + DBWithByteValue[releaseAddress] + " ,新值为 " +
                                                     resultRead.Content.ToString() + ",放行地址为 " + releaseAddress + ",地标为:" + btn.Tag.ToString());
                                                        int number = int.Parse(query.ToList()[0]["组号"].ToString());
                                                        int numberInner = int.Parse(query.ToList()[0]["组内号"].ToString());
                                                        if (dicReleaseArea.ContainsKey(number))
                                                        {
                                                            if (dicReleaseArea[number] == null)
                                                            {

                                                                CFDClass cfd = new CFDClass();
                                                                cfd.number = number;
                                                                IEnumerable<int> query2 =
                                              from order in dt.AsEnumerable()
                                              where order["组内号"].ToString() == numberInner.ToString() && order["组号"].ToString() == number.ToString()
                                              select int.Parse(order["工位地标"].ToString());
                                                                if (query2 != null && query2.Count() > 0)
                                                                {
                                                                    cfd.btns = new List<Button>();
                                                                    foreach (int mark in query2.ToList())
                                                                    {
                                                                        cfd.btns.Add(list.AsParallel().First(o => o.Tag.ToString() == mark.ToString()));
                                                                    }
                                                                }
                                                                cfd.number = number;
                                                                cfd.numberInner = int.Parse(query.ToList()[0]["组内号"].ToString());
                                                                DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                               0, int.Parse(query.ToList()[0]["目的地标"].ToString()));
                                                                lock (dicReleaseArea)
                                                                {
                                                                    dicReleaseArea[number] = cfd;
                                                                    WriteFile("充放电记录", "(" + cfd.number + "," + cfd.numberInner + ") 组开始放行,已上锁,当前放行地标:" + btn.Tag.ToString());
                                                                }
                                                                lock (portLock)
                                                                {
                                                                    DBWithByteValue[releaseAddress] = resultRead.Content;
                                                                }
                                                            }
                                                            else
                                                            {
                                                                CFDClass cfd = dicReleaseArea[number];
                                                                if (cfd.numberInner == numberInner && cfd.number == number)
                                                                {

                                                                    DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                             0, int.Parse(query.ToList()[0]["目的地标"].ToString()));
                                                                    lock (portLock)
                                                                    {
                                                                        DBWithByteValue[releaseAddress] = resultRead.Content;
                                                                    }
                                                                    WriteFile("充放电记录", "(" + cfd.number + "," + cfd.numberInner + ") 组继续放行,已上锁,当前放行地标:" + btn.Tag.ToString());
                                                                }
                                                            }
                                                        }

                                                    }
                                                    //走OK放行路线
                                                }
                                                else if (resultRead.Content == (byte)GlobalPara.DBControlValues.NGRelease)
                                                {

                                                    if (dt.TableName != "充放电测试")
                                                    {

                                                        DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                 int.Parse(query.ToList()[0]["NG路线"].ToString()));
                                                        lock (portLock)
                                                        {
                                                            DBWithByteValue[releaseAddress] = resultRead.Content;
                                                        }
                                                    }
                                                    else
                                                    {
                                                        int number = int.Parse(query.ToList()[0]["组号"].ToString());
                                                        int numberInner = int.Parse(query.ToList()[0]["组内号"].ToString());
                                                        if (dicReleaseArea.ContainsKey(number))
                                                        {
                                                            if (dicReleaseArea[number] == null)
                                                            {
                                                                CFDClass cfd = new CFDClass();
                                                                cfd.number = number;
                                                                IEnumerable<int> query2 =
                                              from order in dt.AsEnumerable()
                                              where order["组内号"].ToString() == numberInner.ToString() && order["组号"].ToString() == number.ToString()
                                              select int.Parse(order["工位地标"].ToString());
                                                                if (query2 != null && query2.Count() > 0)
                                                                {
                                                                    cfd.btns = new List<Button>();
                                                                    foreach (int mark in query2.ToList())
                                                                    {
                                                                        cfd.btns.Add(list.Find(o => o.Tag.ToString() == mark.ToString()));
                                                                    }
                                                                }
                                                                cfd.numberInner = int.Parse(query.ToList()[0]["组内号"].ToString());
                                                                DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                 int.Parse(query.ToList()[0]["NG路线"].ToString()));
                                                                lock (dicReleaseArea)
                                                                {
                                                                    dicReleaseArea[number] = cfd;
                                                                }
                                                                lock (portLock)
                                                                {
                                                                    DBWithByteValue[releaseAddress] = resultRead.Content;
                                                                }
                                                            }
                                                            else
                                                            {
                                                                CFDClass cfd = dicReleaseArea[number];
                                                                if (cfd.numberInner == numberInner && cfd.number == number)
                                                                {
                                                                    DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                 int.Parse(query.ToList()[0]["NG路线"].ToString()));
                                                                    lock (portLock)
                                                                    {
                                                                        DBWithByteValue[releaseAddress] = resultRead.Content;
                                                                    }
                                                                }
                                                            }
                                                        }
                                                    }
                                                    //走NG放行路线
                                                }
                                                else
                                                {
                                                    if (resultRead.Content != (byte)GlobalPara.DBControlValues.StopImmediate)
                                                    {
                                                        DBWithByteValue[releaseAddress] = resultRead.Content;
                                                    }
                                                }
                                            }
                                        }
                                    }
                                    else
                                    {
                                        IEnumerable<AGVInfoModel> temp3 = temp.Where(o => o.RUNSTATUS_Cur == 0x41 && o.ConnectStatus == true && o.AGVNUM != 0);
                                        if (temp3.Count() > 0)
                                        {
                                            AGVInfoModel info = temp3.ToList()[0];
                                            btn.Invoke(new InvokeDelegate(delegate
                                            {
                                                if (btn.BackColor != Color.FromKnownColor(KnownColor.Red))
                                                {

                                                    if (AGVIDWithPosByCheckPos.ContainsKey(info.AGVNUM))
                                                    {
                                                        AGVIDWithPosByCheckPos.Remove(info.AGVNUM);
                                                    }
                                                    if (AGVIDWithRouteByCheckPos.ContainsKey(info.AGVNUM))
                                                    {
                                                        AGVIDWithRouteByCheckPos.Remove(info.AGVNUM);
                                                    }
                                                    if (result != null && result.IsSuccess)
                                                    {
                                                        OperateResult rs = GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)info.AGVNUM);
                                                        OperateResult rs2 = null;
                                                        if (info.ALARMCODE != "5")
                                                        {
                                                            rs2 = GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.Pause);
                                                        }
                                                        else
                                                        {
                                                            rs2 = GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.Running);
                                                        }
                                                        GlobalPara.s7.Write(query.ToList()[0]["故障DB"].ToString(), (byte)(int.Parse(info.ALARMCODE) - 1));
                                                        if (btn.BackColor != Color.FromKnownColor(KnownColor.Blue))
                                                        {
                                                            if (rs.IsSuccess && rs2.IsSuccess)
                                                            {
                                                                btn.BackColor = Color.Red;
                                                            }
                                                        }
                                                    }
                                                }
                                            }));
                                            if (info.ALARMCODE == "1")
                                            {
                                                if (result != null && result.IsSuccess)
                                                {
                                                    string releaseAddress = query.ToList()[0]["放行DB"].ToString();
                                                    OperateResult<byte> resultRead = GlobalPara.s7.ReadByte(releaseAddress);
                                                    if (resultRead.IsSuccess && DBWithByteValue.Keys.Contains(releaseAddress) &&
                                                       DBWithByteValue[releaseAddress] != resultRead.Content)
                                                    {
                                                        if (resultRead.Content == (byte)GlobalPara.DBControlValues.StopRelease)
                                                        {
                                                            lock (portLock)
                                                            {
                                                                DBWithByteValue[releaseAddress] = resultRead.Content;
                                                            }
                                                            DispatcherTool.ControlAGVBy1071(info.AGVNUM, 0);
                                                            //放行被暂停的车
                                                            WriteFile("急停记录", btn.Text + "工位被放行,已生成消息,当前放行地标:" + btn.Tag.ToString() + ",车号为:" + info.AGVNUM);
                                                        }
                                                        else if (resultRead.Content == (byte)GlobalPara.DBControlValues.OKRelease)
                                                        {
                                                            lock (portLock)
                                                            {
                                                                DBWithByteValue[releaseAddress] = resultRead.Content;
                                                            }
                                                            DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                 int.Parse(query.ToList()[0]["放行路线"].ToString()));
                                                            //放行被暂停的车
                                                            WriteFile("充电点记录", btn.Text + "工位被放行,已生成消息,当前放行地标:" + btn.Tag.ToString() + ",车号为:" + info.AGVNUM);
                                                        }
                                                        else
                                                        {
                                                            DBWithByteValue[releaseAddress] = resultRead.Content;
                                                        }
                                                    }
                                                }
                                            }
                                        }
                                        else
                                        {
                                            IEnumerable<AGVInfoModel> temp4 = temp.Where(o => o.RUNSTATUS_Cur == 0x40 && o.ConnectStatus == true && o.AGVNUM != 0);
                                            if (temp4.Count() > 0)
                                            {
                                                AGVInfoModel info = temp4.ToList()[0];
                                                btn.Invoke(new InvokeDelegate(delegate
                                                {
                                                    if (btn.BackColor != Color.FromKnownColor(KnownColor.Green))
                                                    {

                                                        if (AGVIDWithPosByCheckPos.ContainsKey(info.AGVNUM))
                                                        {
                                                            AGVIDWithPosByCheckPos.Remove(info.AGVNUM);
                                                        }
                                                        if (AGVIDWithRouteByCheckPos.ContainsKey(info.AGVNUM))
                                                        {
                                                            AGVIDWithRouteByCheckPos.Remove(info.AGVNUM);
                                                        }
                                                        // if (info.AGVNUM != 0)
                                                        //{
                                                        if (result != null && result.IsSuccess)
                                                        {
                                                            OperateResult rs = GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)info.AGVNUM);
                                                            OperateResult rs2 = null;
                                                            rs2 = GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.Running);
                                                            GlobalPara.s7.Write(query.ToList()[0]["故障DB"].ToString(), (byte)(int.Parse(info.ALARMCODE) - 1));

                                                            //}
                                                            if (btn.BackColor != Color.FromKnownColor(KnownColor.Blue))
                                                            {
                                                                if (rs.IsSuccess && rs2.IsSuccess)
                                                                {
                                                                    btn.BackColor = Color.Green;
                                                                }
                                                            }
                                                        }
                                                    }
                                                }));
                                                if (query.ToList()[0]["放行DB"].ToString() == "DB200.2")
                                                {
                                                    //           MessageBox.Show(info.AGVNUM.ToString() + ":" + info.RUNSTATUS_Cur.ToString());
                                                }
                                                if (info.RUNSTATUS_Cur == 0x40 && info.ALARMCODE == "1")
                                                {
                                                    if (result != null && result.IsSuccess)
                                                    {
                                                        string releaseAddress = query.ToList()[0]["放行DB"].ToString();
                                                        OperateResult<byte> resultRead = GlobalPara.s7.ReadByte(releaseAddress);
                                                        if (resultRead.IsSuccess && DBWithByteValue.Keys.Contains(releaseAddress) &&
                                                           DBWithByteValue[releaseAddress] != resultRead.Content)
                                                        {
                                                            if (resultRead.Content == (byte)GlobalPara.DBControlValues.StopImmediate)
                                                            {
                                                                lock (portLock)
                                                                {
                                                                    DBWithByteValue[releaseAddress] = resultRead.Content;
                                                                }
                                                                DispatcherTool.ControlAGVBy1071(info.AGVNUM, 1);
                                                                //立刻暂停行驶中的车
                                                                WriteFile("急停记录", btn.Text + "工位被暂停,已生成消息,当前急停地标:" + btn.Tag.ToString() + ",车号为:" + info.AGVNUM);
                                                            }
                                                            else
                                                            {
                                                                DBWithByteValue[releaseAddress] = resultRead.Content;
                                                            }
                                                        }
                                                    }
                                                }
                                            }
                                            else
                                            {
                                                btn.Invoke(new InvokeDelegate(delegate
                                                {
                                                    if (tag == 1)
                                                    {
                                                        if (btn.BackColor != Color.FromKnownColor(KnownColor.Control))
                                                        {
                                                            OperateResult rs = GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)0);
                                                            OperateResult rs2 =
                                                            GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.Unknow);
                                                            GlobalPara.s7.Write(query.ToList()[0]["故障DB"].ToString(), (byte)0);
                                                            if (btn.BackColor != Color.FromKnownColor(KnownColor.Blue))
                                                            {
                                                                if (rs.IsSuccess && rs2.IsSuccess)
                                                                {
                                                                    btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                                                                }
                                                            }
                                                        }
                                                    }
                                                    else if (tag == 0)
                                                    {

                                                        btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                                                        if (result != null && result.IsSuccess)
                                                        {
                                                            GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)0);
                                                            GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.Unknow);
                                                            GlobalPara.s7.Write(query.ToList()[0]["故障DB"].ToString(), (byte)0);
                                                        }
                                                    }
                                                }));
                                                if (result != null && result.IsSuccess)
                                                {
                                                    string releaseAddress = query.ToList()[0]["放行DB"].ToString();
                                                    OperateResult<byte> resultRead = GlobalPara.s7.ReadByte(releaseAddress);
                                                    if (resultRead.IsSuccess && DBWithByteValue.Keys.Contains(releaseAddress) &&
                                                       DBWithByteValue[releaseAddress] != resultRead.Content)
                                                    {

                                                        {
                                                            if (resultRead.Content != (byte)GlobalPara.DBControlValues.StopImmediate)
                                                            {
                                                                DBWithByteValue[releaseAddress] = resultRead.Content;
                                                            }
                                                        }
                                                    }
                                                }
                                            }
                                        }
                                    }

                                }
                                else
                                {
                                    btn.Invoke(new InvokeDelegate(delegate
                                    {
                                        if (tag == 1)
                                        {
                                            if (btn.BackColor != Color.FromKnownColor(KnownColor.Control) &&
                                                btn.BackColor != Color.FromKnownColor(KnownColor.Blue))
                                            {
                                                OperateResult rs = GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)0);
                                                OperateResult rs2 =
                                                GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.Unknow);
                                                GlobalPara.s7.Write(query.ToList()[0]["故障DB"].ToString(), (byte)0);
                                                if (rs.IsSuccess && rs2.IsSuccess)
                                                {
                                                    btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                                                }
                                            }
                                        }
                                        else if (tag == 0)
                                        {
                                            btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                                            if (result != null && result.IsSuccess)
                                            {
                                                GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)0);
                                                GlobalPara.s7.Write(query.ToList()[0]["行驶状态DB"].ToString(), (byte)GlobalPara.DBRunValues.Unknow);
                                                GlobalPara.s7.Write(query.ToList()[0]["故障DB"].ToString(), (byte)0);
                                            }
                                        }
                                    }));
                                    if (result != null && result.IsSuccess)
                                    {
                                        string releaseAddress = query.ToList()[0]["放行DB"].ToString();
                                        OperateResult<byte> resultRead = GlobalPara.s7.ReadByte(releaseAddress);
                                        if (resultRead.IsSuccess && DBWithByteValue.Keys.Contains(releaseAddress) &&
                                           DBWithByteValue[releaseAddress] != resultRead.Content)
                                        {
                                            if (resultRead.Content != (byte)GlobalPara.DBControlValues.StopImmediate)
                                            {
                                                DBWithByteValue[releaseAddress] = resultRead.Content;
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    });
                    if (result2.IsCompleted)
                    {
                        sw2.Stop();
                        Console.WriteLine(dt.TableName + "任务总共花费{0}s.", sw.Elapsed.TotalSeconds);
                        object[] obj = new object[3];
                        obj[0] = listBtn; obj[1] = ++tag; obj[2] = lineName;
                        if (tag == 5)
                        {
                            if (!InitOK.ContainsKey(lineName))
                            {
                                InitOK.Add(lineName, true);
                              
                            }
                        }
                        if (tag > 10)
                        {
                            tag = 11;
                        }
                      
                        new Thread(new ParameterizedThreadStart(DockingOpeare0)).Start(obj);

                        // DockingOpeare(list);
                    }
                       
                }
            }
            catch (Exception ex)
            {
                DateTime time = DateTime.Now;
                //MessageBox.Show("线程异常:"+e.ExceptionObject);
                FileStream stream = File.Open(@"Exception\调度程序异常.txt", FileMode.Append, FileAccess.Write);
                StreamWriter writer = new StreamWriter(stream);

                if (ex != null)
                {
                    string msg = string.Format("[{0}]Test:\r\nMessage:{1}\r\nStackTrace:\r\n{2}", time.ToString("yyyy-MM-dd HH:mm:ss"), ex.Message, ex.StackTrace);
                    writer.WriteLine(msg);
                    writer.Close();
                    stream.Close();
                }
                object[] obj = new object[3];
                obj[0] = listBtn; obj[1] = 0; obj[2] = lineName;
                new Thread(new ParameterizedThreadStart(DockingOpeare0)).Start(obj);
            }

        }

        void WriteFile(string fileName, string context)
        {
            DateTime time = DateTime.Now;
            //MessageBox.Show("线程异常:"+e.ExceptionObject);
            FileStream stream = File.Open(@"Exception\" + fileName + ".txt", FileMode.Append, FileAccess.Write);
            StreamWriter writer = new StreamWriter(stream);


            {
                string msg = string.Format("[{0}]Test:\r\nMessage:{1}\r\n", time.ToString("yyyy-MM-dd HH:mm:ss"), context);
                writer.WriteLine(msg);
                writer.Close();
                stream.Close();
            }
        }

        void tabControl1_DrawItem(object sender, DrawItemEventArgs e)
        {
            Graphics g = e.Graphics;
            Font font = new Font("微软雅黑", 16f, System.Drawing.GraphicsUnit.Pixel);
            SolidBrush brush = new SolidBrush(Color.Black);
            if (e.Index == this.tabControl1.SelectedIndex)
            {
                brush = new SolidBrush(Color.Blue);
            }

            RectangleF rectangle = (RectangleF)(tabControl1.GetTabRect(e.Index));
            RectangleF rectangle2 = new RectangleF(rectangle.X, rectangle.Y, rectangle.Width, rectangle.Height);
            g.FillRectangle(new SolidBrush(SystemColors.ButtonHighlight), rectangle2);
            StringFormat sformat = new StringFormat();
            sformat.LineAlignment = StringAlignment.Center;
            sformat.Alignment = StringAlignment.Center;
            g.DrawString(((TabControl)sender).TabPages[e.Index].Text, font, brush, rectangle2, sformat);

        }

        /// <summary>
        /// 发送心跳包
        /// </summary>
        private void HeartBit()
        {
            while (true)
            {
                //更新心跳包
                if (result == null || !result.IsSuccess)
                {
                    if (GlobalPara.s7 != null)
                    {
                        result = GlobalPara.s7.ConnectServer();
                    }
                    statusStrip1.Invoke(new InvokeDelegate(delegate
                    {
                        toolStripStatusLabel1.Text = GlobalPara.s7.IpAddress + ", " + "PLC连接失败";
                    }));
                }
                else
                {
                    var tempResult = GlobalPara.s7.Write(dtConfig.Rows[1][1].ToString(), (byte)HeartBitCount);
                    if (tempResult.IsSuccess)
                    {
                        HeartBitCount++;
                        if (HeartBitCount > 0xFF)
                        {
                            HeartBitCount = 1;
                        }
                        statusStrip1.Invoke(new InvokeDelegate(delegate
                        {
                            toolStripStatusLabel1.Text = GlobalPara.s7.IpAddress + "," + " " + "PLC连接成功";
                        }
                        ));
                    }
                    else
                    {
                        this.Invoke(new InvokeDelegate(delegate
                       {
                           toolStripStatusLabel1.Text = GlobalPara.s7.IpAddress + "," + " " + "PLC连接失败";
                       }
                       ));
                    }
                }
              
            }
        }

        /// <summary>
        /// 处理调度的协议
        /// </summary>
        private void Analzye()
        {
            while (true)
            {
                if (GlobalPara.dispatchList.Count > 0)
                {
                    byte[] bytes = GlobalPara.dispatchList[0];
                    Console.WriteLine("调度模块收到数据:" + GlobalPara.ByteToHexString(bytes));
                    GlobalPara.dispatchList.Remove(bytes);
                }
                Thread.Sleep(20);
            }
        }
    }
}