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<string, CFDClass> dicReleaseArea = new Dictionary<string, CFDClass>();
        public int CurCFDRoute = -1;
        Dictionary<string, bool> InitOK = new Dictionary<string, bool>();
        List<int> CFDRoutes = new List<int>();
        int index = 0;
        int CFDWaitTimes = 15;
        int CFDCheckTimes = 0;
        Dictionary<string, List<string>> dicCheck = new Dictionary<string, List<string>>();
        DataTable DtTraffic = new DataTable();
        List<string> listTra = new List<string>();
        byte PLCHeartBitCount = 0;
        bool HeartBitFlag = true;
        OperateResult<byte> PLCResult;
        bool IsPLCChangeOff = false;
        DataTable LineDt = new DataTable();
        bool DockingOK = false;
        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 = 10;
                GlobalPara.s7.ReceiveTimeOut = 10;
                
                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);
               
                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>();
                    if (lineName == "充放电测试")
                    {
                        DataView dv = temp2.DefaultView;
                        dv.Sort = " 优先级 asc";
                        temp2 = dv.ToTable();
                    }
                    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);
                            }
                        }
                        if (temp2.Columns.Contains("判断地标"))
                        {
                            if (temp2.Rows[j - 1]["判断地标"] != null && !string.IsNullOrEmpty(temp2.Rows[j - 1]["判断地标"].ToString()))
                            {
                                if (!dicCheck.ContainsKey(temp2.Rows[j - 1]["工位地标"].ToString()))
                                {
                                    dicCheck.Add(temp2.Rows[j - 1]["工位地标"].ToString(), temp2.Rows[j - 1]["判断地标"].ToString().Split(',').ToList());
                                }
                            }
                        }
                        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.Click
                            += new EventHandler(btn_Click);
                        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);
                        if (lineName == "充放电测试")
                        {
                            if (!CFDRoutes.Contains(int.Parse(temp2.Rows[j - 1]["放行路线"].ToString())))
                            {
                                CFDRoutes.Add(int.Parse(temp2.Rows[j - 1]["放行路线"].ToString()));
                            }
                        }
                    }
                    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;
                    if (lineName == "充放电测试")
                    {
                        CurCFDRoute = CFDRoutes[index];
                    }
                    listThread.Add(new Thread(new ParameterizedThreadStart(DockingOpeare0)), obj);//.Start(listBtn);
                    //  DockingOpeare0(obj);
                    //    if (lineName == "充放电测试") { tabControl1.SelectedTab = tb; }

                }
                OleDbDataAdapter oleDDA3 = new OleDbDataAdapter("Select * From [管制信息$]", oleDC);

                oleDDA3.Fill(DtTraffic);
                if (File.Exists(@"Exception\管制点放行信息.txt"))
                {
                    string[] texts = File.ReadAllLines(@"Exception\管制点放行信息.txt");
                    listTra.AddRange(texts.ToList());
                    if (listTra.Count < DtTraffic.Rows.Count)
                    {
                        for (int i = 0; i < DtTraffic.Rows.Count - listTra.Count; i++)
                        {
                            listTra.Add("0");
                        }
                    }
                }
                else
                {
                    if (DtTraffic.Rows.Count > 0)
                    {
                        listTra = new List<string>(DtTraffic.Rows.Count);
                        for (int i = 0; i < DtTraffic.Rows.Count; i++)
                        {
                            listTra.Add("0");
                        }
                    }
                }
                foreach (Thread t in listThread.Keys)
                {
                    t.Priority = ThreadPriority.Highest;
                    t.Start(listThread[t]);

                }
                //  Thread.Sleep(8000);
              //Thread t2 =  new Thread(new ThreadStart(checkingOperate));
              //t2.Priority = ThreadPriority.BelowNormal;
              //t2.Start();
                //   new Thread(new ThreadStart(CFDCheck)).Start();
              //  new Thread(new ThreadStart(checkingRelease2)).Start();
              //Thread t3 = new Thread(new ThreadStart(TrafficByDispatch));
              //t3.Priority = ThreadPriority.AboveNormal;
              //t3.Start();

              Thread t4 = new Thread(new ThreadStart(PLCHeartBit));
              t4.Priority = ThreadPriority.Lowest;
              t4.Start();
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.StackTrace);
            }
        }

        void btn_Click(object sender, EventArgs e)
        {
            //throw new NotImplementedException();
            Button btn = (Button)sender;
            if (btn.BackColor == Color.Blue)
            {
                if (MessageBox.Show("该工位已被分配锁定,是否解除锁定?", "警告", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
                {
                    btn.Invoke(new InvokeDelegate(delegate
                    {

                        if (AGVIDWithPosByCheckPos.ContainsValue(int.Parse(btn.Tag.ToString())))
                        {
                            int num = AGVIDWithPosByCheckPos.Keys.ToList()[AGVIDWithPosByCheckPos.Values.ToList().IndexOf(int.Parse(btn.Tag.ToString()))];
                            if (AGVIDWithPosByCheckPos.ContainsKey(num))
                            {
                                lock (AGVIDWithPosByCheckPos)
                                {
                                    AGVIDWithPosByCheckPos.Remove(num);
                                }
                            }
                            if (AGVIDWithRouteByCheckPos.ContainsKey(num))
                            {
                                lock (AGVIDWithRouteByCheckPos)
                                {
                                    AGVIDWithRouteByCheckPos.Remove(num);
                                }
                            }
                            btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                        }
                        else
                        {
                            int num = int.Parse(btn.Tag.ToString());
                            if (AGVIDWithPosByCheckPos.Values.Contains(num))
                            {
                                lock (AGVIDWithPosByCheckPos)
                                {
                                    var temp = AGVIDWithPosByCheckPos.First(o => o.Value == num);
                                    if (AGVIDWithPosByCheckPos.ContainsKey(temp.Key))
                                    {
                                        AGVIDWithPosByCheckPos.Remove(temp.Key);
                                    }
                                }
                            }
                            if (AGVIDWithRouteByCheckPos.Values.Contains(num))
                            {
                                lock (AGVIDWithRouteByCheckPos)
                                {
                                    var temp = AGVIDWithRouteByCheckPos.First(o => o.Value == num);
                                    if (AGVIDWithRouteByCheckPos.ContainsKey(temp.Key))
                                    {
                                        AGVIDWithRouteByCheckPos.Remove(temp.Key);
                                    }
                                }
                            }
                            btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                        }
                    }
                    ));
                }
                else if (btn.BackColor == Color.Red)
                {
                    if (MessageBox.Show("该工位AGV已故障,是否解除状态，并将AGV移到故障?", "警告", MessageBoxButtons.YesNo) == System.Windows.Forms.DialogResult.Yes)
                    {
                        List<AGVInfoModel> listModel = GlobalPara.AgvInfoDic.Values.ToList();
                        IEnumerable<AGVInfoModel> temp = listModel.Where(o => o.MARKNUM.ToString() == btn.Tag.ToString());
                        if (temp.Count() > 0)
                        {
                            AGVInfoModel info = temp.ToList()[0];
                            info.MARKNUM = 0;
                            GlobalPara.AgvInfoDic[info.AGVNUM] = info;
                        }
                        btn.Invoke(new InvokeDelegate(delegate
                        {
                            btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                        }));
                    }
                }
            }
        }
        /// <summary>
        /// 记录放行后的情况
        /// </summary>
        public void recordReleaseInfo()
        {
            if (AGVIDWithPosByCheckPos.Count > 0)
            {
                string[] textArray = new string[AGVIDWithPosByCheckPos.Count];
                int aryIndex = 0;
                foreach (int num in AGVIDWithPosByCheckPos.Keys)
                {
                    if (AGVIDWithPosByCheckPos.ContainsKey(num))
                    {
                        textArray[aryIndex] = num + "," + AGVIDWithPosByCheckPos[num];
                    }
                    if (AGVIDWithRouteByCheckPos.ContainsKey(num))
                    {
                        textArray[aryIndex] += "," + AGVIDWithRouteByCheckPos[num];
                    }
                    ++aryIndex;
                }
                File.WriteAllLines(@"Exception\判断点放行信息.txt", textArray);
            }
        }


        /// <summary>
        /// 调度管制
        /// </summary>
        public void TrafficByDispatch()
        {
            if (DtTraffic.Rows.Count > 0)
            {
                bool b = true;
                while (b)
                {
                    try
                    {
                        List<AGVInfoModel> listModel = GlobalPara.AgvInfoDic.Values.ToList();
                        for (int i = 0; i < DtTraffic.Rows.Count; i++)
                        {
                            List<string> listIn = DtTraffic.Rows[i][0].ToString().Split(',').ToList();
                            List<string> listTraffic = DtTraffic.Rows[i][1].ToString().Split(',').ToList();
                            //List<AGVInfoModel> results = listModel.FindAll(o => listTra[i].Equals(o.MARKNUM.ToString()) && o.ConnectStatus == true);
                            //if (results != null && results.Count > 0)
                            //{

                            //}
                            //else
                           // {
                            List<AGVInfoModel> results = listModel.FindAll(o => listIn.Contains(o.MARKNUM.ToString()) && o.ConnectStatus == true);
                          //  }
                            if (results != null && results.Count > 0)
                            {
                                AGVInfoModel result = results.OrderBy(o => o.LastModifyMarkTime).ToList()[0];
                                List<AGVInfoModel> results2 = listModel.FindAll(o => listTraffic.Contains(o.MARKNUM.ToString()) && o.ConnectStatus == true);
                                if (listIn.Count == 1 && results.Count > 1)
                                {
                                    continue;
                                }
                                if (results == null || results2.Count <= 0)
                                {
                                    List<AGVInfoModel> results3 = listModel.FindAll(o => result.MARKNUM == o.MARKNUM && o.RUNSTATUS_Cur != 0x43 && o.ConnectStatus == true);
                                    if (results3 != null && results3.Count <= 0)
                                    {
                                        int route = 0; int targetMark = 0;
                                        if (AGVIDWithPosByCheckPos.Keys.Contains(result.AGVNUM))
                                        {
                                            targetMark = AGVIDWithPosByCheckPos[result.AGVNUM];
                                        }
                                        if (AGVIDWithRouteByCheckPos.Keys.Contains(result.AGVNUM))
                                        {
                                            route = AGVIDWithRouteByCheckPos[result.AGVNUM];
                                        }
                                        DispatcherTool.ReleaseAgvOnStop(result.MARKNUM, route, targetMark, 1);
                                        if (listTra[i] != result.MARKNUM.ToString())
                                        {
                                            listTra[i] = result.MARKNUM.ToString();
                                            File.WriteAllLines(@"Exception\管制点放行信息.txt", listTra.ToArray());
                                        }
                                        WriteFile("管制记录" + DateTime.Now.ToString("yyyy-MM-dd"), result.AGVNUM + "号AGV符合放行条件，地标为：" + result.MARKNUM + "，路线为" + route + "，目的地标为" + targetMark);
                                    }
                                }
                            }
                        }
                    }
                    catch (Exception)
                    {
                        b = false;
                        //Thread.Sleep(200);
                        //new Thread(new ThreadStart(TrafficByDispatch)).Start();
                    }
                    finally
                    {
                        if (!b)
                        {
                            Thread.Sleep(500);
                            Thread t2 = new Thread(new ThreadStart(TrafficByDispatch));
                            t2.Priority = ThreadPriority.AboveNormal;
                            t2.Start();
                            WriteFile("线程重启", "TrafficByDispatch报错，已重启!");
                        }
                    }
                    Thread.Sleep(500);
                }
            }
        }

        /// <summary>
        /// 收到PLC放行信号继续发送放行
        /// </summary>
        public void checkingRelease()
        {
            bool b = true;
            while (b)
            {
                try
                {
                    if (!GlobalPara.IsOneKeySleep)
                    {
                        if (result != null && result.IsSuccess)
                        {
                            for (int j = 0; j < tabControl1.TabPages.Count; j++)
                            {
                                if (tabControl1.TabPages[j].Tag != null)
                                {
                                    TabPageTag tt = (TabPageTag)tabControl1.TabPages[j].Tag;
                                    for (int k = 0; k < tt.Table.Rows.Count; k++)
                                    {
                                        DataRow dr = tt.Table.Rows[k];
                                        string releaseAddress = dr["放行DB"].ToString();
                                        if (!string.IsNullOrEmpty(releaseAddress))
                                        {
                                            OperateResult<byte> resultRead = GlobalPara.s7.ReadByte(releaseAddress);
                                            if (resultRead != null && result.IsSuccess)
                                            {
                                                if (resultRead.Content == (byte)GlobalPara.DBControlValues.OKRelease)
                                                {
                                                    DispatcherTool.ReleaseAgvOnStop(int.Parse(dr["工位地标"].ToString()), 0, int.Parse(dr["目的地标"].ToString()));
                                                }
                                                else if (resultRead.Content == (byte)GlobalPara.DBControlValues.NGRelease)
                                                {
                                                    DispatcherTool.ReleaseAgvOnStop(int.Parse(dr["工位地标"].ToString()), int.Parse(dr["NG路线"].ToString()));
                                                }
                                            }
                                        }
                                        Thread.Sleep(10);
                                    }
                                }
                            }
                        }
                    }
                }
                catch (Exception)
                {
                    b = false;
                    //Thread.Sleep(500);
                    //new Thread(new ThreadStart(checkingRelease)).Start();
                }
                finally
                {
                    if (!b)
                    {
                        Thread.Sleep(500);
                        Thread t2 = new Thread(new ThreadStart(checkingRelease));
                        t2.Priority = ThreadPriority.BelowNormal;
                        t2.Start();
                        WriteFile("线程重启", "checkingRelease报错，已重启!");
                    }
                }
                Thread.Sleep(500);
            }
        }

        /// <summary>
        /// 收到PLC放行信号继续发送放行
        /// </summary>
        public void checkingRelease2()
        {
            bool b = true;
            while (b)
            {
                try
                {
                    if (result != null && result.IsSuccess)
                    {
                        List<string> keys = DBWithByteValue.Keys.ToList();
                        for (int i = 0; i < keys.Count; i++)
                        {
                            if (DBWithByteValue[keys[i]] == (byte)GlobalPara.DBControlValues.OKRelease ||
                                DBWithByteValue[keys[i]] == (byte)GlobalPara.DBControlValues.NGRelease)
                            {
                                for (int j = 0; j < tabControl1.TabPages.Count; j++)
                                {
                                    if (tabControl1.TabPages[j].Tag != null)
                                    {
                                        TabPageTag tt = (TabPageTag)tabControl1.TabPages[j].Tag;
                                        DataRow[] drs = tt.Table.Select("放行DB='" + keys[i] + "'");
                                        if (drs != null && drs.Length > 0)
                                        {
                                            if (DBWithByteValue[keys[i]] == (byte)GlobalPara.DBControlValues.OKRelease)
                                            {
                                                DispatcherTool.ReleaseAgvOnStop(int.Parse(drs[0]["工位地标"].ToString()), 0, int.Parse(drs[0]["目的地标"].ToString()));
                                                break;
                                            }
                                            else if (DBWithByteValue[keys[i]] == (byte)GlobalPara.DBControlValues.NGRelease)
                                            {
                                                DispatcherTool.ReleaseAgvOnStop(int.Parse(drs[0]["工位地标"].ToString()), int.Parse(drs[0]["NG路线"].ToString()));
                                                break;
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
                catch (Exception)
                {
                    b = false;
                    //Thread.Sleep(500);
                    //new Thread(new ThreadStart(checkingRelease2)).Start();
                }
                finally
                {
                    if (!b)
                    {
                        Thread.Sleep(500);
                        new Thread(new ThreadStart(checkingRelease2)).Start();
                        WriteFile("线程重启", "checkingRelease报错，已重启!");
                    }
                }
                Thread.Sleep(500);
            }
        }

        /// <summary>
        /// 判断点事件
        /// </summary>
        public void checkingOperate()
        {
            bool bb = false;
            Stopwatch sw2 = new Stopwatch();
            List<AGVInfoModel> listModel = GlobalPara.AgvInfoDic.Values.ToList();
            ParallelLoopResult result;

            try
            {
                
                    result = Parallel.ForEach<int>(checkPosDic.Keys, new ParallelOptions { MaxDegreeOfParallelism = 2 }, pos =>
                    {
                        if (!GlobalPara.IsOneKeySleep)
                        {
                            IEnumerable<AGVInfoModel> temp = listModel.Where(o => o.MARKNUM == pos && (o.RUNSTATUS_Cur == 0x43 || o.RUNSTATUS_Cur == 0x47 || o.ALARMCODE == "9") && !AGVIDWithPosByCheckPos.ContainsKey(o.AGVNUM) && o.ConnectStatus == true);
                            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;
                                            {
                                                drs = tag.Table.Select("优先级>0", "优先级 asc");
                                            }
                                            for (int j = 0; j < drs.Length; j++)
                                            {
                                                //  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)
                                                {
                                                    //找到目的站点，放行路线
                                                    bool b = true;
                                                    if (dicCheck.ContainsKey(drs[j]["工位地标"].ToString()))
                                                    {
                                                        List<string> tempList = dicCheck[drs[j]["工位地标"].ToString()];
                                                        for (int a = 0; a < tempList.Count; a++)
                                                        {
                                                            int iindex = listModel.FindIndex(o => o.MARKNUM.ToString() == tempList[a]);
                                                            if (iindex > -1)
                                                            {
                                                                b = false;
                                                                break;
                                                            }
                                                        }
                                                    }
                                                    if (b)
                                                    {
                                                        AGVIDWithPosByCheckPos.Add(num, int.Parse(drs[j]["工位地标"].ToString()));
                                                        AGVIDWithRouteByCheckPos.Add(num, int.Parse(drs[j]["放行路线"].ToString()));
                                                        recordReleaseInfo();
                                                        DispatcherTool.ReleaseAgvOnStop(pos, int.Parse(drs[j]["放行路线"].ToString()), int.Parse(drs[j]["工位地标"].ToString()));
                                                        WriteFile("判断点记录-" + DateTime.Now.ToString("yyyy-MM-dd"), "(判断点地标：" + pos + ",放行路线：" + drs[j]["放行路线"].ToString() + ",目的地标:" + int.Parse(drs[j]["工位地标"].ToString()) + ",车号:" + num + ") ");

                                                        btn.Invoke(new InvokeDelegate(delegate
                                                        {
                                                            if (btn.BackColor != Color.FromKnownColor(KnownColor.Blue))
                                                            {
                                                                btn.BackColor = Color.Blue;
                                                                if (btn.Text.Contains("("))
                                                                {
                                                                    int textIndex = btn.Text.LastIndexOf("(");
                                                                    string orignName = btn.Text.Substring(0, textIndex).Replace("\n", "");
                                                                    btn.Text = orignName + "\n" + "(" + num + ")";
                                                                }
                                                                else
                                                                {
                                                                    btn.Text = btn.Text.Replace("\n", "") + "\n" + "(" + num + ")";
                                                                }
                                                            }
                                                        }));
                                                        break;
                                                    }
                                                }
                                            }
                                        }



                                    }
                                }
                            }
                        }
                    });
                
                if (result.IsCompleted)
                {
                    sw2.Stop();
                    Console.WriteLine("判断点任务总共花费{0}s.", sw.Elapsed.TotalSeconds);
                    Thread.Sleep(500);
                    Thread t2 = new Thread(new ThreadStart(checkingOperate));
                    t2.Priority = ThreadPriority.BelowNormal;
                       t2 .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();
                }
                bb = true;
                //Thread.Sleep(500);
                //new Thread(new ThreadStart(checkingOperate)).Start();
            }
            finally
            {
                if (bb)
                {
                    Thread.Sleep(500);
                    Thread t2 = new Thread(new ThreadStart(checkingOperate));
                    t2.Priority = ThreadPriority.BelowNormal;
                        t2.Start();
                    WriteFile("线程重启", "checkingOperate报错，已重启!");
                }
            }
        }

        public void CFDCheck()
        {
            ParallelLoopResult result2;
            try
            {
                List<string> list = dicReleaseArea.Keys.ToList();
                result2 = Parallel.ForEach<string>(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;
                                    dicReleaseArea.Remove(key);
                                }
                                WriteFile("充放电记录", "(" + cfd.number + "," + cfd.numberInner + ") 组放行完成,已解锁");
                            }
                            else
                            {
                                for (int i = 0; i < listBtn.Count(); i++)
                                {
                                    if (listBtn[i].BackColor == Color.Yellow)
                                    {
                                        DispatcherTool.ReleaseAgvOnStop(int.Parse(listBtn[i].Tag.ToString()), 0);
                                    }
                                }
                            }
                        }
                    }
                });
                if (result2.IsCompleted)
                {
                    Thread.Sleep(200);
                    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();
                }
                Thread.Sleep(200);
                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;
            bool bb = false;
            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.MARKFUN == 1 && o.ALARMINFO == "低电压报警"))
                                        && o.ConnectStatus == true && o.AGVNUM != 0));
                                    if (temp2.Count() > 0)
                                    {
                                        List<AGVInfoModel> infos = temp2.ToList();
                                        AGVInfoModel info = infos[0];
                                        btn.Invoke(new InvokeDelegate(delegate
                                        {
                                            if (btn.BackColor != Color.FromKnownColor(KnownColor.Yellow))
                                            {


                                                if (AGVIDWithPosByCheckPos.ContainsKey(info.AGVNUM))
                                                {
                                                    AGVIDWithPosByCheckPos.Remove(info.AGVNUM);
                                                }
                                                if (AGVIDWithPosByCheckPos.ContainsKey(info.AGVNUM))
                                                {
                                                    int mark = AGVIDWithPosByCheckPos[info.AGVNUM];
                                                    AGVIDWithPosByCheckPos.Remove(info.AGVNUM);
                                                    if (AGVIDWithPosByCheckPos.ContainsValue(mark))
                                                    {
                                                        for (int ab = AGVIDWithPosByCheckPos.Keys.Count - 1; ab >= 0; ab--)
                                                        {
                                                            if (AGVIDWithPosByCheckPos[AGVIDWithPosByCheckPos.Keys.ToList()[ab]] == mark)
                                                            {
                                                                AGVIDWithPosByCheckPos.Remove(AGVIDWithPosByCheckPos.Keys.ToList()[ab]);
                                                            }
                                                        }
                                                    }
                                                    recordReleaseInfo();
                                                }
                                                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 (btn.Text.Contains("("))
                                                        {
                                                            int textIndex = btn.Text.LastIndexOf("(");
                                                            string orignName = btn.Text.Substring(0, textIndex).Replace("\n", "");
                                                            btn.Text = orignName + "\n" + "(" + info.AGVNUM + ")";
                                                        }
                                                        else
                                                        {
                                                            btn.Text = btn.Text.Replace("\n", "") + "\n" + "(" + info.AGVNUM + ")";
                                                        }
                                                    }
                                                }
                                                
                                            }
                                            else
                                            {
                                                //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 (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)
                                                {


                                                    {
                                                        DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                            0, int.Parse(query.ToList()[0]["目的地标"].ToString()),5);
                                                        lock (portLock)
                                                        {
                                                            DBWithByteValue[releaseAddress] = resultRead.Content;
                                                        }
                                                        WriteFile("工位点记录-" + DateTime.Now.ToString("yyyy-MM-dd"), "(放行地标：" + btn.Tag.ToString() + ",放行路线：0" + ",目的地标:" + (query.ToList()[0]["目的地标"].ToString()) + ",车号:" + info.AGVNUM + ") ");
                                                    }

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


                                                    {

                                                        DispatcherTool.ReleaseAgvOnStop(int.Parse(btn.Tag.ToString()),
                                                 int.Parse(query.ToList()[0]["NG路线"].ToString()),0,5);
                                                        lock (portLock)
                                                        {
                                                            DBWithByteValue[releaseAddress] = resultRead.Content;
                                                        }
                                                        WriteFile("工位点记录-" + DateTime.Now.ToString("yyyy-MM-dd"), "(放行地标：" + btn.Tag.ToString() + ",放行路线：" + query.ToList()[0]["NG路线"].ToString() + ",车号:" + info.AGVNUM + ") ");

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

                                                }
                                            }
                                        }
                                    }
                                    else
                                    {
                                        IEnumerable<AGVInfoModel> temp3 = temp.Where(o => (o.RUNSTATUS_Cur == 0x41 || o.RUNSTATUS_Cur == 0x47 || (o.MARKFUN == 1 && o.ALARMINFO == "低电压停机")) && 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 && info.ALARMCODE != "")
                                                    {
                                                        OperateResult rs = GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)info.AGVNUM);
                                                        OperateResult rs2 = null;
                                                        if (info.ALARMCODE != "5" && info.ALARMCODE != "0" && info.ALARMCODE != "9")
                                                        {
                                                            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 (btn.Text.Contains("("))
                                                                {
                                                                    int textIndex = btn.Text.LastIndexOf("(");
                                                                    string orignName = btn.Text.Substring(0, textIndex).Replace("\n", "");
                                                                    btn.Text = orignName + "\n" + "(" + info.AGVNUM + ")";
                                                                }
                                                                else
                                                                {
                                                                    btn.Text = btn.Text.Replace("\n", "") + "\n" + "(" + info.AGVNUM + ")";
                                                                }
                                                            }
                                                        }
                                                    }
                                                }
                                                else
                                                {
                                                    //OperateResult rs = GlobalPara.s7.Write(query.ToList()[0]["AGVDB"].ToString(), (byte)info.AGVNUM);
                                                    //OperateResult rs2 = null;
                                                    //if (info.ALARMCODE != "5" && info.ALARMCODE != "0" && info.ALARMCODE != "9")
                                                    //{
                                                    //    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 (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("工位点记录" + DateTime.Now.ToString("yyyy-MM-dd"), 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 (btn.Text.Contains("("))
                                                                    {
                                                                        int textIndex = btn.Text.LastIndexOf("(");
                                                                        string orignName = btn.Text.Substring(0, textIndex).Replace("\n", "");
                                                                        btn.Text = orignName + "\n" + "(" + info.AGVNUM + ")";
                                                                    }
                                                                    else
                                                                    {
                                                                        btn.Text = btn.Text.Replace("\n", "") + "\n" + "(" + info.AGVNUM + ")";
                                                                    }
                                                                }
                                                            }
                                                        }
                                                    }
                                                    else
                                                    {
                                                        //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 (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
                                                            {
                                                                lock (portLock)
                                                                {
                                                                    DBWithByteValue[releaseAddress] = (byte)resultRead.Content;
                                                                }
                                                            }
                                                        }
                                                    }
                                                }
                                            }
                                            else
                                            {
                                                btn.Invoke(new InvokeDelegate(delegate
                                                {
                                                    if (tag >= 1)
                                                    {

                                                        if (AGVIDWithPosByCheckPos.ContainsValue(int.Parse(query.ToList()[0]["工位地标"].ToString())))
                                                        {
                                                            List<int> keys = AGVIDWithPosByCheckPos.Keys.ToList();
                                                            for (int a = 0; a < keys.Count; a++)
                                                            {
                                                                if (AGVIDWithPosByCheckPos[keys[a]] == int.Parse(query.ToList()[0]["工位地标"].ToString()))
                                                                {
                                                                    btn.Text = query.ToList()[0]["工位名称"].ToString() + "\n(" + keys[a] + ")";
                                                                    btn.BackColor = Color.Blue;
                                                                    break;
                                                                }
                                                            }
                                                        }
                                                        else
                                                        {
                                                            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);
                                                                        if (btn.Text.Contains("("))
                                                                        {
                                                                            int textIndex = btn.Text.LastIndexOf("(");
                                                                            string orignName = btn.Text.Substring(0, textIndex).Replace("\n", "");
                                                                            btn.Text = orignName;
                                                                        }

                                                                    }
                                                                }
                                                            }
                                                        }
                                                    }
                                                    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 (AGVIDWithPosByCheckPos.ContainsValue(int.Parse(query.ToList()[0]["工位地标"].ToString())))
                                                        {
                                                            List<int> keys = AGVIDWithPosByCheckPos.Keys.ToList();
                                                            for (int a = 0; a < keys.Count; a++)
                                                            {
                                                                if (AGVIDWithPosByCheckPos[keys[a]] == int.Parse(query.ToList()[0]["工位地标"].ToString()))
                                                                {
                                                                    btn.Text = query.ToList()[0]["工位名称"].ToString() + "\n(" + keys[a] + ")";
                                                                    btn.BackColor = Color.Blue;
                                                                    break;
                                                                }
                                                            }
                                                        }
                                                    }
                                                }));
                                                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);
                                                    if (btn.Text.Contains("("))
                                                    {
                                                        int textIndex = btn.Text.LastIndexOf("(");
                                                        string orignName = btn.Text.Substring(0, textIndex).Replace("\n", "");
                                                        btn.Text = orignName;
                                                    }
                                                }
                                            }
                                        }
                                        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 (AGVIDWithPosByCheckPos.ContainsValue(int.Parse(query.ToList()[0]["工位地标"].ToString())))
                                            {
                                                List<int> keys = AGVIDWithPosByCheckPos.Keys.ToList();
                                                for (int a = 0; a < keys.Count; a++)
                                                {
                                                    if (AGVIDWithPosByCheckPos[keys[a]] == int.Parse(query.ToList()[0]["工位地标"].ToString()))
                                                    {
                                                        btn.Text = query.ToList()[0]["工位名称"].ToString() + "\n(" + keys[a] + ")";
                                                        btn.BackColor = Color.Blue;
                                                        break;
                                                    }
                                                }
                                            }
                                        }
                                    }));
                                    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 == 10)
                        {
                            if (!InitOK.ContainsKey(lineName))
                            {
                                InitOK.Add(lineName, true);
                                //        tag = 1;
                            }
                        }
                        if (tag > 10)
                        {
                            tag = 11;
                        }
                        Thread.Sleep(100);
                        Thread t2 = new Thread(new ParameterizedThreadStart(DockingOpeare0));
                        t2.Priority = ThreadPriority.Highest;
                            t2.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();
                }
                bb = true;
                //object[] obj = new object[3];
                //obj[0] = listBtn; obj[1] = 0; obj[2] = lineName;
                //Thread.Sleep(500);
                //new Thread(new ParameterizedThreadStart(DockingOpeare0)).Start(obj);
            }
            finally
            {
                if (bb)
                {
                    object[] obj = new object[3];
                    obj[0] = listBtn; obj[1] = 0; obj[2] = lineName;
                    Thread.Sleep(500);
                    Thread t2 = new Thread(new ParameterizedThreadStart(DockingOpeare0));
                    t2.Priority = ThreadPriority.Highest;
                        t2.Start(obj);
                    WriteFile("线程重启", "DockingOpeare0报错，已重启!");
                }
                if (!DockingOK && InitOK.Count == LineDt.Rows.Count)
                {
                    DockingOK = true;
                    Thread t2 = new Thread(new ThreadStart(checkingOperate));
                    t2.Priority = ThreadPriority.BelowNormal;
                    t2.Start();
                    Thread t3 = new Thread(new ThreadStart(TrafficByDispatch));
                    t3.Priority = ThreadPriority.AboveNormal;
                    t3.Start();

                }
            }
        }


        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>
        /// 获取心跳包
        /// </summary>
        private void PLCHeartBit()
        {
            while (true)
            {
                PLCResult = GlobalPara.s7.ReadByte(dtConfig.Rows[4][1].ToString()); //PLC心跳记录
                if (PLCResult != null && PLCResult.IsSuccess)
                {
            //        OperateResult<byte> tempResult = GlobalPara.s7.ReadByte(dtConfig.Rows[1][4].ToString());
                    if (PLCResult != null && PLCResult.IsSuccess)
                    {
                        if (PLCResult.Content != PLCHeartBitCount)
                        {
                            result = GlobalPara.s7.ConnectServer();
                            PLCHeartBitCount = PLCResult.Content;
                            HeartBitFlag = true;
                            IsPLCChangeOff = false;
                        }
                        else
                        {
                            result = null;
                            GlobalPara.s7.ConnectServer();
                            HeartBitFlag = false;
                            IsPLCChangeOff = true;
                        }
                    }
                }
                else
                {
                    result = null;
                    GlobalPara.s7.ConnectServer();
                    HeartBitFlag = false;
                    IsPLCChangeOff = true;
                }
                Thread.Sleep(2000);
            }
        }

        /// <summary>
        /// 发送心跳包
        /// </summary>
        private void HeartBit()
        {
            while (true)
            {
                if (HeartBitFlag)
                {
                    //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
                    {
                        if (result != null && result.IsSuccess)
                        {
                            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";
                               }
                               ));
                            }
                        }
                    }
                }
                Thread.Sleep(500);
            }
        }

        /// <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);
            }
        }
    }
}