XS202408319330/DispatchSystem7515.cs

using AGV_WPF.Tools;
using AGV_WPF_Global;
using HslCommunication;
using HslCommunication.LogNet;
using Newtonsoft.Json.Linq;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.ComponentModel;
using System.Configuration;
using System.Data;
using System.Data.OleDb;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using WCS.API;
using WCS.API.Model;

namespace AGV_WPF
{
    public partial class DispatchSystem7515 : Form
    {
        public static DataTable dtStation = new DataTable();
        public static DataTable dtStation1 = new DataTable();
        public static DataTable dtStationPLC = new DataTable();
        public static DataTable dtType = new DataTable();
        static LogNetDateTime logNetDateTimeSPS;
        private static object portLock1 = new object();
        private delegate void InvokeDelegate();
        List<string> listTypeRoutes = new List<string>();
        List<string> listTypes = new List<string>();
        List<Button> listTypeBtns = new List<Button>();
        public static DataTable dtCombineTraffic = new DataTable();
        public static DataTable dtCombineTrafficPLC = new DataTable();
        static LogNetDateTime logNetDateTimeCJYTraffic;
        static LogNetDateTime logNetDateTimeCTraffic;
        DataTable DtTraffic = new DataTable();
        LogNetDateTime logNetTraffic;
        static LogNetDateTime logNetDateTimeError;
        LogNetDateTime logNetTraffic2;
        DataTable DtRedGreenBox = new DataTable();
        public DispatchSystem7515()
        {
            InitializeComponent();
        }

        private void DispatchSystem7515_Load(object sender, EventArgs e)
        {



            if (!Directory.Exists("D:/Logs/工位放行记录"))
            {
                Directory.CreateDirectory("D:/Logs/工位放行记录");
            }
            logNetDateTimeSPS = new LogNetDateTime("D:/Logs/工位放行记录", GenerateMode.ByEveryDay);
            if (!Directory.Exists("D:/Logs/调度报错记录"))
            {
                Directory.CreateDirectory("D:/Logs/调度报错记录");
            }
            logNetDateTimeError = new LogNetDateTime("D:/Logs/调度报错记录", GenerateMode.ByEveryDay);
            if (!Directory.Exists("D:/Logs/井源联合管制记录"))
            {
                Directory.CreateDirectory("D:/Logs/井源联合管制记录");
            }
            logNetDateTimeCJYTraffic = new LogNetDateTime("D:/Logs/井源联合管制记录", GenerateMode.ByEveryDay);
            if (!Directory.Exists("D:/Logs/联合管制记录"))
            {
                Directory.CreateDirectory("D:/Logs/联合管制记录");
            }
            logNetDateTimeCTraffic = new LogNetDateTime("D:/Logs/联合管制记录", GenerateMode.ByEveryDay);
            string path = "管制点记录";
            if (!Directory.Exists("D:/AGVLogs/" + path))
            {
                Directory.CreateDirectory("D:/AGVLogs/" + path);
            }
            logNetTraffic = new LogNetDateTime("D:/AGVLogs/" + path, GenerateMode.ByEveryDay);

            string path2 = "管制点记录2";
            if (!Directory.Exists("D:/AGVLogs/" + path2))
            {
                Directory.CreateDirectory("D:/AGVLogs/" + path2);
            }

            logNetTraffic2 = new LogNetDateTime("D:/AGVLogs/" + path2, GenerateMode.ByEveryDay);


            this.FormClosing += DispatchSystem7515_FormClosing;
            StartHttpServer();
            LoadConfig();
            Task.Factory.StartNew(() => ScanLogFilesDateTime());

        }

        void ScanLogFilesDateTime()
        {
            while (true)
            {
                try
                {
                    string m_Directory = @"Exception";
                    string[] logNetExceptionFiles = Directory.GetFiles(m_Directory);
                    if (logNetExceptionFiles != null && logNetExceptionFiles.Length > 7)
                    {
                        foreach (var file in logNetExceptionFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }

                    string m_DirectoryLog = @"Log";
                    if (!System.IO.Directory.Exists(m_DirectoryLog))
                    {
                        System.IO.Directory.CreateDirectory(m_DirectoryLog);
                    }
                    string[] logNetFiles = Directory.GetFiles(m_DirectoryLog);
                    if (logNetFiles != null && logNetFiles.Length > 7)
                    {
                        foreach (var file in logNetFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }

                    string[] logNetBoxFiles = Directory.GetFiles("D:/Logs/对接盒记录");
                    if (logNetBoxFiles != null && logNetBoxFiles.Length > 7)
                    {
                        foreach (var file in logNetBoxFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }

                    string[] logNetStationReleaseAGVFiles = Directory.GetFiles("D:/Logs/工位放行记录");
                    if (logNetStationReleaseAGVFiles != null && logNetStationReleaseAGVFiles.Length > 7)
                    {
                        foreach (var file in logNetStationReleaseAGVFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }

                    string[] logNetErrorFiles = Directory.GetFiles("D:/Logs/调度报错记录");
                    if (logNetErrorFiles != null && logNetErrorFiles.Length > 7)
                    {
                        foreach (var file in logNetErrorFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }

                    string[] logNetJYUnionTrafficFiles = Directory.GetFiles("D:/Logs/井源联合管制记录");
                    if (logNetJYUnionTrafficFiles != null && logNetJYUnionTrafficFiles.Length > 7)
                    {
                        foreach (var file in logNetJYUnionTrafficFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }

                    string[] logNetUnionTrafficFiles = Directory.GetFiles("D:/Logs/联合管制记录");
                    if (logNetUnionTrafficFiles != null && logNetUnionTrafficFiles.Length > 7)
                    {
                        foreach (var file in logNetUnionTrafficFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }

                    string path2 = "管制点记录2";
                    string[] logNetTraffic2Files = Directory.GetFiles("D:/AGVLogs/" + path2);
                    if (logNetTraffic2Files != null && logNetTraffic2Files.Length > 7)
                    {
                        foreach (var file in logNetTraffic2Files)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }
                    string path = "管制点记录";
                    string[] logNetTrafficFiles = Directory.GetFiles("D:/AGVLogs/" + path);
                    if (logNetTrafficFiles != null && logNetTrafficFiles.Length > 7)
                    {
                        foreach (var file in logNetTrafficFiles)
                        {
                            if (File.GetLastWriteTime(file) < DateTime.Now.AddDays(-7))
                            {
                                File.Delete(file);
                            }
                        }

                    }
                }
                catch
                {

                }
                Thread.Sleep(60000);
            }
        }

        private void DispatchSystem7515_FormClosing(object sender, FormClosingEventArgs e)
        {
            e.Cancel = true;
        }
        ConcurrentDictionary<string, TrafficCombineConnector> dictTrafficCombineConnector = new ConcurrentDictionary<string, TrafficCombineConnector>();
        ConcurrentDictionary<int, Button> dictRegionLockButton = new ConcurrentDictionary<int, Button>();
        public void LoadConfig()
        {
            string currPath = System.AppDomain.CurrentDomain.BaseDirectory;
            string dataPath = currPath + @"data";
            string dataFile = dataPath + @"\物料信息表.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 [放行配置表$]", oleDC);
                oleDDA1.Fill(dtStation);
                OleDbDataAdapter oleDDA2 = new OleDbDataAdapter("Select * From [自动工位表$]", oleDC);
                oleDDA2.Fill(dtStationPLC);
                OleDbDataAdapter oleDDA3 = new OleDbDataAdapter("Select * From [类型配置表$]", oleDC);
                oleDDA3.Fill(dtType);
                OleDbDataAdapter oleDDA4 = new OleDbDataAdapter("Select * From [联合管制表$]", oleDC);
                oleDDA4.Fill(dtCombineTraffic);
                OleDbDataAdapter oleDDA5 = new OleDbDataAdapter("Select * From [放行盒配置表$]", oleDC);
                oleDDA5.Fill(dtStation1);
                OleDbDataAdapter oleDDA22 = new OleDbDataAdapter("Select * From [管制配置表$]", oleDC);
                oleDDA22.Fill(DtTraffic);
                OleDbDataAdapter oleDDA222 = new OleDbDataAdapter("Select * From [红绿灯配置$]", oleDC);
                oleDDA222.Fill(DtRedGreenBox);
                try
                {
                    OleDbDataAdapter oleDDA40 = new OleDbDataAdapter("Select * From [井源联合管制表$]", oleDC);
                    oleDDA40.Fill(dtCombineTrafficPLC);
                }
                catch (Exception ex)
                {
                    //MessageBox.Show(ex.StackTrace);
                }
                oleDC.Close();

                //foreach (DataColumn dcol in dtCombineTrafficPLC.Columns)
                //{
                //    if (dcol.ColumnName.Contains("DB"))// && !dcol.ColumnName.Contains("心跳"))
                //    {
                //        DataGridViewCheckBoxColumn col = new DataGridViewCheckBoxColumn();
                //        col.HeaderText = dcol.ColumnName;
                //        col.Name = dcol.ColumnName;
                //        col.ReadOnly = true;
                //        col.Resizable = DataGridViewTriState.True;
                //        col.SortMode = DataGridViewColumnSortMode.Automatic;
                //        dataGridView2.Columns.Add(col);
                //    }
                //}
                //for (int i = 0; i < dtCombineTrafficPLC.Rows.Count; i++)
                //{
                //    if (dtCombineTrafficPLC.Columns.Contains("PLC地址"))
                //    {
                //        int index = dataGridView2.Rows.Add();
                //        dataGridView2.Rows[index].Cells[0].Value = dtCombineTrafficPLC.Rows[i][0].ToString();

                //        var dr = dtCombineTrafficPLC.Rows[i];
                //        string ip = dr["PLC地址"].ToString();
                //        string agvheartbitdb = dr["AGV心跳DB"].ToString();
                //        string plcheartbitdb = dr["PLC心跳DB"].ToString();
                //        if (!string.IsNullOrEmpty(ip) && IPAddress.TryParse(ip, out IPAddress iPAddress))
                //        {
                //            if (!dictTrafficCombineConnector.ContainsKey(ip))
                //            {
                //                dictTrafficCombineConnector[ip] = new TrafficCombineConnector(ip, agvheartbitdb, plcheartbitdb);
                //            }
                //            Task.Factory.StartNew(() => TrafficCombine(dr, dictTrafficCombineConnector[ip]));
                //            Thread.Sleep(50);
                //        }
                //    }
                //}
                if (dtCombineTraffic.Rows.Count > 0)
                {
                    DAL.ZSql zSql = new DAL.ZSql();
                    foreach (DataRow dr in dtCombineTraffic.Rows)
                    {
                        string sql = "if not exists (select 1 from T_TrafficCombine where TrafficCombineID = " + dr["管制区号"].ToString() + ") " +
                    "INSERT INTO T_TrafficCombine(TrafficCombineID) VALUES(" + dr["管制区号"].ToString() + ")";
                        zSql.Open(sql);

                    }
                    zSql.Close();
                }

                //for (int i = 0; i < dtTraffic.Rows.Count; i++)
                //{
                //    MyTest.ManagedThreadPoolcs.ManagedThreadPool.QueueUserWorkItem(new WaitCallback(TrafficByDispatch), dtTraffic.Rows[i]);
                //}

                {
                    //listTypeRoutes.AddRange(dtType.Rows[2][1].ToString().Split(';'));
                    //listTypes.AddRange(dtType.Rows[1][1].ToString().Split(';'));
                    int X = 10, Y = 10;
                    GroupBox gp = new GroupBox();
                    //    for (int a = 0; a < dtType.Rows.Count; a++)
                    {
                        //gp = new GroupBox();
                        //gp.Text = "类型";
                        //gp.Location = new Point(X, Y);
                        //gp.AutoSize = true;
                        //tabPage3.Controls.Add(gp);
                        //int x = 10, y = 50;
                        //listTypeRoutes = dtType.Rows[2][1].ToString().Split(';').ToList();
                        //var listType = dtType.Rows[1][1].ToString().Split(';');
                        //listTypes = listType.ToList();
                        //for (int i = 0; i < listType.Length; i++)
                        //{
                        //    Button btn = new Button();
                        //    btn.Text = listType[i].ToString();
                        //    btn.Location = new Point(x, y);
                        //    btn.Font = new Font("宋体", 12);
                        //    btn.Size = new Size(100, 80);
                        //    btn.Tag = listTypeRoutes[i];
                        //    btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                        //    if (listType[i] == GlobalPara.Type.ToString())
                        //    {
                        //        btn.BackColor = Color.FromKnownColor(KnownColor.Green);
                        //    }
                        //    btn.Click += new EventHandler(Btn_Click1);
                        //    gp.Controls.Add(btn);
                        //    x += btn.Size.Width + 20;
                        //    listTypeBtns.Add(btn);
                        //}
                    }

                    Button btnShiled = new Button();
                    btnShiled.Text = GlobalPara.CombineTrafficShield ? "联合管制区屏蔽模式" : "联合管制区申请模式";
                    btnShiled.Location = new Point(X, Y);
                    btnShiled.Font = new Font("宋体", 15);
                    btnShiled.Size = new Size(360, 80);
                    //btn.Tag = trafficid;
                    btnShiled.Click += BtnShiled_Click; ;
                    //btn.MouseClick += Btn_MouseClick;
                    btnShiled.BackColor = GlobalPara.CombineTrafficShield ? Color.Red : Color.Green;
                    tabPage3.Controls.Add(btnShiled);
                    X = 10; Y = 150;
                    if (dtCombineTraffic.Rows.Count > 0)
                    {
                        foreach (DataRow dr in dtCombineTraffic.Rows)
                        {
                            //List<string> listIn = dr["进管制地标"].ToString().Split(';').ToList();
                            //List<string> listTraffic = dr["管制区内地标"].ToString().Split(';').ToList();
                            //List<string> listOut = dr["出管制地标"].ToString().Split(';').ToList();
                            int.TryParse(dr["管制区号"].ToString(), out int trafficid);
                            if (trafficid <= 0)
                            {
                                continue;
                            }

                            Button btn = new Button();
                            string regionarrange = "(双击释放)";
                            btn.Text = "联合管制区" + trafficid + regionarrange;
                            btn.Location = new Point(X, Y);
                            btn.Font = new Font("宋体", 15);
                            btn.Size = new Size(360, 80);
                            btn.Tag = trafficid;
                            btn.Click += BtnHuaXiao_Click;//Btn_Click
                            //btn.MouseClick += Btn_MouseClick;
                            btn.BackColor = Color.FromKnownColor(KnownColor.Control);
                            X += btn.Size.Width + 20;
                            tabPage3.Controls.Add(btn);
                            dictRegionLockButton[trafficid] = btn;
                            //if (j % 8 == 0)
                            //{
                            //    X = 10; Y += btn.Height + 20;
                            //}
                        }
                    }
                    //Task.Factory.StartNew(() => TypeThread());
                    new Task(() => ScanHuaXiaoRegionLockButtons()).Start();//ScanRegionLockButtons
                }

                //foreach (DataColumn dcol in dtStationPLC.Columns)
                //{
                //    if (dcol.ColumnName.Contains("DB"))// && !dcol.ColumnName.Contains("心跳"))
                //    {
                //        DataGridViewCheckBoxColumn col = new DataGridViewCheckBoxColumn();
                //        col.HeaderText = dcol.ColumnName;
                //        col.Name = dcol.ColumnName;
                //        col.ReadOnly = true;
                //        col.Resizable = DataGridViewTriState.True;
                //        col.SortMode = DataGridViewColumnSortMode.Automatic;
                //        dataGridView1.Columns.Add(col);
                //    }
                //}
                //for (int i = 0; i < dtStationPLC.Rows.Count; i++)
                //{
                //    int index = dataGridView1.Rows.Add();
                //    dataGridView1.Rows[index].Cells[0].Value = dtStationPLC.Rows[i][0].ToString();
                //    dataGridView1.Rows[index].Cells[1].Value = dtStationPLC.Rows[i][1].ToString();
                //    dataGridView1.Rows[index].Cells[1].ToolTipText = dtStationPLC.Rows[i]["PLC地址"].ToString();
                //    var dr = dtStationPLC.Rows[i];
                //    //    MyTest.ManagedThreadPoolcs.ManagedThreadPool.QueueUserWorkItem(new WaitCallback(Test), dtStation.Rows[i]);
                //    Task.Factory.StartNew(() => Test(dr));
                //    Thread.Sleep(50);
                //}
                for (int i = 0; i < dtCombineTraffic.Rows.Count; i++)
                {
                    var dr = dtCombineTraffic.Rows[i];
                    Task.Factory.StartNew(() => TrafficCombineRequest(dr));//TrafficCombineItself
                    Thread.Sleep(50);
                }
                for (int i = 0; i < dtStation1.Rows.Count; i++)
                {
                    var dr = dtStation1.Rows[i];
                    Task.Factory.StartNew(() => ReleaseThread(dr));
                    Thread.Sleep(50);
                }
                for (int i = 0; i < DtTraffic.Rows.Count; i++)
                {
                    var a = i;
                    Task.Factory.StartNew(() => TrafficByDispatch(a));
                    Thread.Sleep(50);
                }
                Task.Factory.StartNew(ThreadProc2);
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.StackTrace);
            }
        }

        private void BtnShiled_Click(object sender, EventArgs e)
        {
            Button btn = sender as Button;
            if (GlobalPara.CombineTrafficShield)
            {
                if (MessageBox.Show("是否切换为联合管制申请模式", "提示", MessageBoxButtons.YesNo) == DialogResult.Yes)
                {
                    GlobalPara.CombineTrafficShield = false;
                    Configuration cfa = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);

                    cfa.AppSettings.Settings["CombineTrafficShield"].Value = GlobalPara.CombineTrafficShield.ToString();
                    cfa.Save();
                    btn.Text = GlobalPara.CombineTrafficShield ? "联合管制区屏蔽模式" : "联合管制区申请模式";
                    string temp0 = $"按钮切换为联合管制申请模式";
                    AddLog(temp0, "联合管制");
                }
            }
            else
            {
                if (MessageBox.Show("是否切换为联合管制屏蔽模式", "提示", MessageBoxButtons.YesNo) == DialogResult.Yes)
                {
                    GlobalPara.CombineTrafficShield = true;
                    Configuration cfa = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);

                    cfa.AppSettings.Settings["CombineTrafficShield"].Value = GlobalPara.CombineTrafficShield.ToString();
                    cfa.Save();
                    btn.Text = GlobalPara.CombineTrafficShield ? "联合管制区屏蔽模式" : "联合管制区申请模式";
                    string temp0 = $"按钮切换为联合管制屏蔽模式";
                    AddLog(temp0, "联合管制");
                }
            }
            btn.BackColor = GlobalPara.CombineTrafficShield ? Color.Red : Color.Green;
        }

        DateTime datetimeClick = DateTime.Now;
        private void Btn_Click(object sender, EventArgs e)
        {
            if (datetimeClick.AddSeconds(0.6) > DateTime.Now)
            {
                datetimeClick = DateTime.Now;
                Button btn = sender as Button;
                if (btn != null)
                {
                    btn.Invoke(new InvokeDelegate(delegate
                    {

                        int regionlockid = (int)btn.Tag;
                        if (regionlockid > 0)
                        {
                            JObject objCombineTrafficState = new JObject();
                            objCombineTrafficState["TrafficID"] = regionlockid;
                            string resultCombineTrafficStateStr = GlobalPara.PostUrl(objCombineTrafficState.ToString(), GlobalPara.CombineTrafficStateURL);
                            JObject objResult = JObject.Parse(resultCombineTrafficStateStr);
                            string str = objResult["RequestTime"].ToString();

                            if (DateTime.TryParse(str, out DateTime dtRequestTime))
                            {
                                int.TryParse(objResult["TrafficAGV"].ToString(), out int trafficagv);
                                int.TryParse(objResult["RequestID"].ToString(), out int occupyID);
                                string occupyCompany = occupyID == 1 ? "佳顺" : occupyID >= 1 ? "华晓" : "未知";
                                if (occupyID > 0 && trafficagv > 0)
                                {

                                    JObject obj = new JObject();
                                    obj["RequestID"] = objResult["RequestID"].ToString();
                                    obj["TrafficAGV"] = objResult["TrafficAGV"].ToString();
                                    obj["Step"] = 2;
                                    obj["TrafficID"] = regionlockid;
                                    obj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                                    string temp = $"强制是释放{occupyCompany}AGV{trafficagv}占用的管制区:{obj["TrafficID"]}";
                                    AddLog(temp.ToString(), "联合管制");
                                    string resultStr = GlobalPara.PostUrl(obj.ToString(), GlobalPara.CombineTrafficURL);
                                    JObject objResult1 = JObject.Parse(resultStr);
                                    if (bool.TryParse(objResult1["Success"].ToString(), out bool result) && result)
                                    {
                                        temp = $"强制释放{occupyCompany}AGV{trafficagv}占用的管制区:{obj["TrafficID"]}成功";
                                        AddLog(temp.ToString(), "联合管制");
                                    }
                                    else
                                    {
                                        temp = $"强制释放{occupyCompany}AGV{trafficagv}占用的管制区:{obj["TrafficID"]}失败";
                                        AddLog(temp.ToString(), "联合管制");
                                    }

                                }
                            }

                        }
                    }));
                }
            }
            else
            {
                datetimeClick = DateTime.Now;
            }


        }
        void ScanRegionLockButtons()
        {
            while (true)
            {
                try
                {
                    if (dictRegionLockButton != null)
                    {
                        foreach (var item in dictRegionLockButton)
                        {
                            int trafficid = item.Key;
                            JObject objCombineTrafficState = new JObject();
                            objCombineTrafficState["TrafficID"] = trafficid;
                            string resultCombineTrafficStateStr = GlobalPara.PostUrl(objCombineTrafficState.ToString(), GlobalPara.CombineTrafficStateURL);
                            JObject objResult = JObject.Parse(resultCombineTrafficStateStr);
                            string str = objResult["RequestTime"].ToString();
                            int.TryParse(objResult["TrafficAGV"].ToString(), out int trafficagv);
                            int.TryParse(objResult["RequestID"].ToString(), out int occupyID);
                            string occupyCompany = occupyID == 1 ? "佳顺" : occupyID >= 1 ? "华晓" : "未知";
                            string msg = objResult["Msg"].ToString();// = "未知";
                            string regionarrange = "(双击释放)";
                            if (string.IsNullOrEmpty(msg))
                            {


                                string tip = "联合管制区" + trafficid + regionarrange;
                                if (occupyID > 0)
                                {
                                    tip = tip + "\r\n" + "occupyCompany" + "AGV" + trafficagv + "占用";
                                }
                                else
                                {
                                    tip = tip + "\r\n未占用";
                                }

                                if (dictRegionLockButton.ContainsKey(trafficid))
                                {
                                    Button btn = dictRegionLockButton[trafficid];
                                    btn.Invoke(new InvokeDelegate(delegate
                                    {
                                        btn.Text = tip;
                                    }));
                                }
                            }
                            else
                            {
                                string tip = "联合管制区" + trafficid + regionarrange;
                                if (occupyID > 0)
                                {
                                    tip = tip + "\r\n" + msg;
                                }
                            }
                        }
                    }
                }
                catch
                {

                }
                Thread.Sleep(1000);
            }
        }
        private void BtnHuaXiao_Click(object sender, EventArgs e)
        {
            if (datetimeClick.AddSeconds(0.6) > DateTime.Now)
            {
                datetimeClick = DateTime.Now;
                Button btn = sender as Button;
                if (btn != null)
                {
                    btn.Invoke(new InvokeDelegate(delegate
                    {
                        int Areacode = (int)btn.Tag;
                        if (Areacode > 0 && btn.Text.Contains("双击释放"))
                        {
                            try
                            {
                                string resultCombineTrafficStateStr = GlobalPara.GetUrl(GlobalPara.HuaXiaoCombineTrafficStateURL + "/" + Areacode);
                                if (!string.IsNullOrEmpty(resultCombineTrafficStateStr))
                                {
                                    JObject objResult = JObject.Parse(resultCombineTrafficStateStr);
                                    int code = (int)objResult["code"];
                                    if (code == 200)
                                    {
                                        string strData = objResult["data"].ToString();
                                        if (!string.IsNullOrEmpty(strData))
                                        {
                                            JObject objData = JObject.Parse(strData);
                                            int.TryParse(objData["AgvNum"].ToString(), out int agvnum);
                                            bool.TryParse(objData["IsLocked"].ToString(), out bool islocked);
                                            if (islocked)
                                            {
                                                JObject obj = new JObject();
                                                obj["mapid"] = 1;
                                                obj["passingagv"] = agvnum;
                                                obj["areacode"] = Areacode;
                                                //obj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                                                string temp = $"双击按钮强制释放AGV:{agvnum}占用联合管制区:{Areacode}";
                                                AddLog(temp.ToString(), "联合管制");
                                                AddLog("请求内容:" + obj.ToString(), "联合管制");
                                                string resultStr = GlobalPara.PostUrl(obj.ToString(), GlobalPara.HuaXiaoCombineTrafficUnLockURL);
                                                AddLog("响应内容:" + resultStr, "联合管制");
                                                JObject objResult1 = JObject.Parse(resultStr);
                                                if ((int)objResult1["code"] == 200&& (bool)objResult1["code"])
                                                {
                                                    temp = $"双击按钮强制释放AGV:{agvnum}占用联合管制区:{Areacode}成功";
                                                    AddLog(temp, "联合管制");
                                                }
                                                else
                                                {
                                                    temp = $"双击按钮强制释放AGV:{agvnum}占用联合管制区:{Areacode}失败";
                                                    AddLog(temp, "联合管制");
                                                }
                                            }
                                        }
                                        else
                                        {
                                            AddLog($"双击按钮强制释放，获取联合管制区{Areacode}占用状态data为空", "联合管制");
                                        }

                                    }
                                }
                                else
                                {
                                    AddLog($"双击按钮强制释放，获取联合管制区{Areacode}占用状态失败", "联合管制");
                                }
                            }
                            catch (Exception ex)
                            {
                                AddLog("双击按钮强制释放异常：" + ex.ToString(), "联合管制");
                            }
                        }
                    }));
                }
            }
            else
            {
                datetimeClick = DateTime.Now;
            }
        }
        void ScanHuaXiaoRegionLockButtons()
        {
            while (true)
            {
                try
                {
                    if (dictRegionLockButton != null)
                    {
                        foreach (var item in dictRegionLockButton)
                        {
                            int Areacode = item.Key;
                            string tip = "联合管制区" + Areacode;
                            string tipBellow = "";
                            try
                            {
                                string resultCombineTrafficStateStr = GlobalPara.GetUrl(GlobalPara.HuaXiaoCombineTrafficStateURL + "/" + Areacode);
                                if (!string.IsNullOrEmpty(resultCombineTrafficStateStr))
                                {
                                    JObject objResult = JObject.Parse(resultCombineTrafficStateStr);
                                    int code = (int)objResult["code"];
                                    if (code == 200)
                                    {
                                        string strData = objResult["data"].ToString();
                                        if (!string.IsNullOrEmpty(strData))
                                        {
                                            JObject objData = JObject.Parse(strData);
                                            int.TryParse(objData["AgvNum"].ToString(), out int agvnum);
                                            bool.TryParse(objData["IsLocked"].ToString(), out bool islocked);
                                            if (!islocked)
                                            {
                                                tipBellow = "未占用";
                                            }
                                            else if (islocked && agvnum < 10000)
                                            {
                                                tip = tip + "(双击释放)";
                                                tipBellow = "佳顺AGV" + agvnum + "占用";
                                            }
                                            if (islocked && agvnum > 10000)
                                            {
                                                tip = tip + "(双击释放)";
                                                tipBellow = "华晓AGV" + agvnum + "占用";

                                            }
                                        }
                                        else
                                        {
                                            tipBellow = "区域状态返回data为空";
                                        }
                                    }
                                }
                                else
                                {
                                    tipBellow = $"获取联合管制区占用状态失败";
                                }
                            }
                            catch (Exception ex)
                            {
                                tipBellow = $"获取联合管制区占用状态接口异常";
                            }
                            tip = tip + "\r\n" + tipBellow;

                            if (dictRegionLockButton.ContainsKey(Areacode))
                            {
                                Button btn = dictRegionLockButton[Areacode];
                                btn.Invoke(new InvokeDelegate(delegate
                                {
                                    btn.Text = tip;
                                }));
                            }

                        }
                    }
                }
                catch
                {

                }
                Thread.Sleep(1000);
            }
        }
        public void ThreadProc2()
        {
            while (true)
            {
                try
                {
                    var infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true).ToList();
                    for (int i = 0; i < DtRedGreenBox.Rows.Count; i++)
                    {
                        var info = infos.Find(o => DtRedGreenBox.Rows[i][2].ToString().Split(';').Contains(o.MARKNUM.ToString()));
                        if (info != null)
                        {
                            Tools.DispatcherTool.AlarmStartOrStop(1, int.Parse(DtRedGreenBox.Rows[i][0].ToString()), DtRedGreenBox.Rows[i][3].ToString());
                        }
                        else
                        {
                            Tools.DispatcherTool.AlarmStartOrStop(2, int.Parse(DtRedGreenBox.Rows[i][0].ToString()), DtRedGreenBox.Rows[i][3].ToString());
                        }
                    }

                }
                catch (Exception)
                {

                }
                Thread.Sleep(200);
            }
        }
        public void ThreadProc3(DataRow dr)
        {
            while (true)
            {
                try
                {
                    var infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true).ToList();
                    {
                        var info = infos.Find(o => dr["放行盒地标"].ToString().Equals(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                        if (info != null)
                        {
                            Tools.DispatcherTool.AgvReadOnStop(info.MARKNUM, info.ROUTENUM, 0, dr["IP地址"].ToString());
                        }
                        else
                        {
                            Tools.DispatcherTool.AgvReleasedOnStop(int.Parse(dr["放行盒地标"].ToString()), 0, 0, dr["IP地址"].ToString());
                        }
                    }

                }
                catch (Exception)
                {

                }
                Thread.Sleep(1000);
            }
        }
        private void Btn_Click1(object sender, EventArgs e)
        {
            Button btn = (Button)sender;
            if (btn.BackColor == SystemColors.Control)
            {
                if (MessageBox.Show("是否切换类型为:" + btn.Text, "提示", MessageBoxButtons.YesNo) == DialogResult.Yes)
                {
                    btn.BackColor = Color.Green;
                    //       GlobalPara.TypeRoute = int.Parse(btn.Tag.ToString());
                    GlobalPara.Type = btn.Text;
                    Configuration cfa = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);

                    cfa.AppSettings.Settings[GlobalPara.strType].Value = btn.Text.ToString();
                    cfa.Save();
                    for (int i = 0; i < listTypeBtns.Count; i++)
                    {
                        if (listTypeBtns[i].Text != btn.Text)
                        {
                            listTypeBtns[i].BackColor = SystemColors.Control;
                        }
                    }
                }

            }

        }

        public void ReleaseThread(DataRow dr)
        {
            while (true)
            {
                try
                {
                    var Infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true);
                    var info = Infos.Find(o => dr["放行地标"].ToString().Equals(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                    if (info != null)
                    {
                        DispatcherTool.AgvReadOnStop(info.MARKNUM, info.ROUTENUM, dr["IP地址"].ToString());
                    }
                    else
                    {
                        DispatcherTool.AgvReleasedOnStop(int.Parse(dr["放行地标"].ToString()), 0, dr["IP地址"].ToString());
                    }
                }
                catch (Exception)
                {

                }
                Thread.Sleep(500);
            }
        }

        public void TypeThread()
        {
            while (true)
            {
                try
                {
                    var infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true && o.AGVNUM > 0).ToList();
                    var info = infos.Find(o => o.MARKNUM.ToString() == dtType.Rows[0][1].ToString() && o.RUNSTATUS_Cur == 0x41);
                    if (info != null)
                    {
                        if (listTypes.Contains(GlobalPara.Type))
                        {
                            int route = int.Parse(listTypeRoutes[listTypes.IndexOf(GlobalPara.Type)]);
                            DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, route);
                        }
                    }
                }
                catch (Exception)
                {

                }
                Thread.Sleep(500);
            }
        }

        public void TrafficCombine(DataRow dr)
        {
            HslCommunication.Profinet.Siemens.SiemensS7Net s7 = null;
            {
                {
                    {
                        s7 = new HslCommunication.Profinet.Siemens.SiemensS7Net(HslCommunication.Profinet.Siemens.SiemensPLCS.S200Smart,
            dr["PLC地址"].ToString());
                    }
                }
                s7.ConnectTimeOut = 1200;
                s7.ReceiveTimeOut = 1200;
                s7.SetPersistentConnection();
            }
            while (true)
            {

                try
                {
                    var Infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true);
                    var info = Infos.Find(o => dr["进管制地标"].ToString().Split(';').Contains(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                    if (info != null)
                    {
                        var result0 = s7.ReadBool(dr["进管制DB"].ToString());
                        if (result0.Content != true)
                        {
                            s7.Write(dr["进管制DB"].ToString(), true);
                            string str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},写入请求信号", info.AGVNUM, info.MARKNUM, info.ROUTENUM, dr["管制区号"].ToString());
                            AddLog(str, "井源联合管制");
                        }
                        var result = s7.ReadBool(dr["允许进入DB"].ToString());
                        if (result.Content == true)
                        {
                            DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0, 0, 10);
                            string str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},收到允许进入信号", info.AGVNUM, info.MARKNUM, info.ROUTENUM, dr["管制区号"].ToString());
                            AddLog(str, "井源联合管制");
                            Thread.Sleep(2000);
                            var info2 = GlobalPara.AgvInfoDic.Values.ToList().Find(o => o.AGVNUM == info.AGVNUM && o.RUNSTATUS_Cur == 0x40 && o.ConnectStatus == true);
                            if (info2 != null)
                            {
                                s7.Write(dr["管制区DB"].ToString(), true);
                                str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},写入管制区有车信号(AGV在请求卡已被放行)", info.AGVNUM, info.MARKNUM, info.ROUTENUM, dr["管制区号"].ToString());
                                AddLog(str, "井源联合管制");
                            }
                        }
                    }
                    else
                    {
                        var result0 = s7.ReadBool(dr["进管制DB"].ToString());
                        if (result0.Content != false)
                        {
                            s7.Write(dr["进管制DB"].ToString(), false);
                            string str = string.Format("管制区编号:{0},无车在请求卡停止,清除请求信息", dr["管制区号"].ToString());
                            AddLog(str, "井源联合管制");
                        }
                    }
                    info = Infos.Find(o => dr["管制区内地标"].ToString().Split(';').Contains(o.MARKNUM.ToString()));
                    if (info != null)
                    {
                        var result0 = s7.ReadBool(dr["管制区DB"].ToString());
                        if (result0.Content != true)
                        {
                            s7.Write(dr["管制区DB"].ToString(), true);
                            string str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},写入管制区有车信号(AGV在读到管制区内的卡)", info.AGVNUM, info.MARKNUM, info.ROUTENUM, dr["管制区号".ToString()]);
                            AddLog(str, "井源联合管制");
                        }
                    }
                    else
                    {
                        var result0 = s7.ReadBool(dr["管制区DB"].ToString());
                        if (result0.Content != false)
                        {
                            s7.Write(dr["管制区DB"].ToString(), false);
                            string str = string.Format("管制区编号:{0},无车在管制区内,清除管制区有车信息", dr["管制区号"].ToString());
                            AddLog(str, "井源联合管制");
                        }
                    }

                }
                catch (Exception)
                {

                }
                Thread.Sleep(500);
            }
        }
        //void TrafficCombine(DataRow dr, TrafficCombineConnector trafficCombineConnector)
        //{
        //    int index = dtCombineTrafficPLC.Rows.IndexOf(dr);
        //    while (true)
        //    {
        //        try
        //        {
        //            //读取PLC值显示

        //            foreach (DataColumn dcol in dtCombineTrafficPLC.Columns)
        //            {
        //                if (dcol.ColumnName.Contains("DB") && !string.IsNullOrEmpty(dr[dcol.ColumnName].ToString()))
        //                {
        //                    var result = trafficCombineConnector.ReadBool(dr[dcol.ColumnName].ToString());
        //                    if (dataGridView2.IsHandleCreated && this.IsHandleCreated)
        //                    {
        //                        dataGridView2.Invoke(new InvokeDelegate(delegate
        //                        {
        //                            dataGridView2.Rows[index].Cells[dcol.ColumnName].Value = result;
        //                            if (dataGridView2.Rows[index].Cells[dcol.ColumnName].ToolTipText != dr[dcol.ColumnName].ToString())
        //                            {
        //                                dataGridView2.Rows[index].Cells[dcol.ColumnName].ToolTipText = dr[dcol.ColumnName].ToString();
        //                            }
        //                        }));
        //                    }
        //                }

        //            }
        //            if (!trafficCombineConnector.PLCAlive)
        //            {
        //                AddLog("PLC连接断开", "井源联合管制");
        //                continue;
        //            }
        //            bool entering = false;
        //            var Infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true);

        //            var infoAtRequestIn = Infos.Find(o => dr["进管制地标"].ToString().Split(';').Contains(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur != 0x41);
        //            if (infoAtRequestIn != null)
        //            {
        //                entering = true;
        //            }

        //            var infoInRegion = Infos.Find(o => dr["管制区内地标"].ToString().Split(';').Contains(o.MARKNUM.ToString()));
        //            if (infoInRegion != null|| entering)//正在进入或者，管制区内有车
        //            {
        //                var result0 = trafficCombineConnector.ReadBool(dr["管制区DB"].ToString());
        //                if (result0 != true)
        //                {
        //                    trafficCombineConnector.Write(dr["进管制DB"].ToString(), true);
        //                    trafficCombineConnector.Write(dr["管制区DB"].ToString(), true);
        //                    string str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},写入管制区有车信号(AGV在读到管制区内的卡)", infoInRegion.AGVNUM, infoInRegion.MARKNUM, infoInRegion.ROUTENUM, dr["管制区号".ToString()]);
        //                    AddLog(str, "井源联合管制");
        //                }
        //            }
        //            else
        //            {
        //                var info = Infos.Find(o => dr["进管制地标"].ToString().Split(';').Contains(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
        //                if (info != null)
        //                {
        //                    //entering = true;
        //                    var result0 = trafficCombineConnector.ReadBool(dr["进管制DB"].ToString());
        //                    if (result0 != true)
        //                    {
        //                        trafficCombineConnector.Write(dr["进管制DB"].ToString(), true);
        //                        string str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},写入请求信号", info.AGVNUM, info.MARKNUM, info.ROUTENUM, dr["管制区号"].ToString());
        //                        AddLog(str, "井源联合管制");
        //                    }
        //                    var result = trafficCombineConnector.ReadBool(dr["允许进入DB"].ToString());
        //                    if (result == true)
        //                    {
        //                        trafficCombineConnector.Write(dr["管制区DB"].ToString(), true);
        //                        DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0, 0, 10);//info.AGVNUM,
        //                        string str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},收到允许进入信号,放行AGV", info.AGVNUM, info.MARKNUM, info.ROUTENUM, dr["管制区号"].ToString());
        //                        AddLog(str, "井源联合管制");
        //                        //Thread.Sleep(2000);
        //                        //var info2 = GlobalPara.AgvInfoDic.Values.ToList().Find(o => o.AGVNUM == info.AGVNUM && o.RUNSTATUS_Cur == 0x40 && o.ConnectStatus == true);
        //                        //if (info2 != null)
        //                        //{
        //                        //    //trafficCombineConnector.Write(dr["管制区DB"].ToString(), true);
        //                        //    str = string.Format("AGV编号{0},地标:{1},路线:{2},管制区编号:{3},写入管制区有车信号(AGV在请求卡已被放行)", info.AGVNUM, info.MARKNUM, info.ROUTENUM, dr["管制区号"].ToString());
        //                        //    AddLog(str, "联合管制");
        //                        //}

        //                    }
        //                }
        //                else
        //                {
        //                    var result00 = trafficCombineConnector.ReadBool(dr["管制区DB"].ToString());
        //                    var result01 = trafficCombineConnector.ReadBool(dr["进管制DB"].ToString());
        //                    if (result00 || result01)
        //                    {
        //                        trafficCombineConnector.Write(dr["进管制DB"].ToString(), false);
        //                        trafficCombineConnector.Write(dr["管制区DB"].ToString(), false);
        //                        string str = string.Format("管制区编号:{0},无车在管制区内,且无车在请求进入卡,清除管制区有车信息", dr["管制区号"].ToString());
        //                        AddLog(str, "井源联合管制");
        //                    }
        //                }

        //            }
        //            //var result1 = trafficCombineConnector.ReadBool(dr["管制区DB"].ToString());
        //            //if (!result1)//管制区内无车
        //            //{

        //            //}




        //        }
        //        catch (Exception ex)
        //        {
        //            AddLog(ex.ToString(), "井源联合管制");
        //        }
        //        Thread.Sleep(500);
        //    }
        //}
        //public void Test(object Dr)
        //{
        //    if (Dr != null)
        //    {
        //        DataRow dr = (DataRow)Dr;
        //        int index = dtStationPLC.Rows.IndexOf(dr);
        //        HslCommunication.Profinet.Siemens.SiemensS7Net s7 = null;
        //        {
        //            if (dr.Table.Columns.Contains("PLC类型")&&!string.IsNullOrEmpty(dr["PLC类型"].ToString()))
        //            {
        //                if (dr["PLC类型"].ToString().Trim() == "2")
        //                {
        //                    s7 = new HslCommunication.Profinet.Siemens.SiemensS7Net(HslCommunication.Profinet.Siemens.SiemensPLCS.S200Smart,
        //        dr["PLC地址"].ToString());
        //                }
        //                if (dr["PLC类型"].ToString().Trim() == "1")
        //                {
        //                    s7 = new HslCommunication.Profinet.Siemens.SiemensS7Net(HslCommunication.Profinet.Siemens.SiemensPLCS.S1200,
        //        dr["PLC地址"].ToString());
        //                }
        //            }
        //            else
        //            {
        //                s7 = new HslCommunication.Profinet.Siemens.SiemensS7Net(HslCommunication.Profinet.Siemens.SiemensPLCS.S1200,
        //                 dr["PLC地址"].ToString());
        //                s7.Rack = (byte)0;
        //                s7.Slot = (byte)0;
        //            }
        //            s7.ConnectTimeOut = 1200;
        //            s7.ReceiveTimeOut = 1200;
        //            s7.SetPersistentConnection();
        //        }

        //        while (true)
        //        {
        //            try
        //            {

        //                //心跳
        //                if (!string.IsNullOrEmpty(dr["中控心跳DB"].ToString()))
        //                {
        //                    var HeartBit = s7.ReadBool(dr["中控心跳DB"].ToString());
        //                    if (!HeartBit.IsSuccess)
        //                    {
        //                        Thread.Sleep(1000);
        //                        continue;
        //                    }
        //                    {
        //                        s7.Write(dr["中控心跳DB"].ToString(), !HeartBit.Content);
        //                    }
        //                }

        //                var infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true && o.AGVNUM > 0).ToList();
        //                //进入
        //                {
        //                    var info = infos.Find(o => o.MARKNUM.ToString() == dr["请求进入地标"].ToString() && o.RUNSTATUS_Cur == 0x41);
        //                    if (info != null)
        //                    {
        //                        s7.Write(dr["请求进入DB"].ToString(), true);
        //                        var inResult = s7.ReadBool(dr["允许进入DB"].ToString());
        //                        if (inResult.Content == true)
        //                        {
        //                            DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
        //                        }
        //                    }
        //                    else
        //                    {
        //                        s7.Write(dr["请求进入DB"].ToString(), false);
        //                    }
        //                }
        //                //到位
        //                {
        //                    var info = infos.Find(o => o.MARKNUM.ToString() == dr["工位地标"].ToString()&& o.RUNSTATUS_Cur == 0x41);
        //                    if (info != null)
        //                    {
        //                        s7.Write(dr["到位DB"].ToString(), true);

        //                        var inResult = s7.ReadBool(dr["放行DB"].ToString());
        //                        if (inResult.Content == true)
        //                        {
        //                            DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
        //                        }
        //                    }
        //                    else
        //                    {
        //                        s7.Write(dr["到位DB"].ToString(), false);
        //                    }
        //                }
        //                //离开
        //                {
        //                    var info = infos.Find(o => o.MARKNUM.ToString() == dr["离开完成地标"].ToString()&& o.RUNSTATUS_Cur == 0x41);
        //                    if (info != null)
        //                    {
        //                        for (int i = 0; i < 5; i++)
        //                        {
        //                            s7.Write(dr["离开完成DB"].ToString(), true);
        //                            Thread.Sleep(300);
        //                        }
        //                        //if (info.RUNSTATUS_Cur == 0x41)
        //                        {
        //                            if(dr.Table.Columns.Contains("离开完成自动放行"))
        //                            {
        //                                if (dr["离开完成自动放行"].ToString().Trim() == "1")
        //                                {
        //                                    DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
        //                                }
        //                            }
        //                            else
        //                            {
        //                                DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
        //                            }
        //                        }
        //                    }
        //                    else
        //                    {
        //                        s7.Write(dr["离开完成DB"].ToString(), false);
        //                    }
        //                }

        //                {
        //                    if (dr.Table.Columns.Contains("安全DB"))
        //                    {
        //                        if(!string.IsNullOrEmpty(dr["安全DB"].ToString()))
        //                        {
        //                            var inResult = s7.ReadBool(dr["安全DB"].ToString());
        //                            if (inResult.Content == false)
        //                            {
        //                                var info1 = infos.Find(o => o.MARKNUM.ToString() == dr["请求进入地标"].ToString() && o.RUNSTATUS_Cur == 0x40);
        //                                var info2 = infos.Find(o => o.MARKNUM.ToString() == dr["工位地标"].ToString() && o.RUNSTATUS_Cur == 0x40);
        //                                if (info1 != null || info2 != null)
        //                                {
        //                                    var info = info1 == null ? info2 : info1;
        //                                    DispatcherTool.ControlAGVBy1071(info.AGVNUM, 1);

        //                                }
        //                            }
        //                            else if (inResult.Content == true)
        //                            {
        //                                var info1 = infos.Find(o => o.MARKNUM.ToString() == dr["请求进入地标"].ToString() && o.RUNSTATUS_Cur == 0x43);
        //                                var info2 = infos.Find(o => o.MARKNUM.ToString() == dr["工位地标"].ToString() && o.RUNSTATUS_Cur == 0x43);
        //                                if (info1 != null || info2 != null)
        //                                {
        //                                    var info = info1 == null ? info2 : info1;
        //                                    DispatcherTool.ControlAGVBy1071(info.AGVNUM, 0);

        //                                }
        //                            }
        //                        }
        //                    }
        //                }
        //                {
        //                    if (dr.Table.Columns.Contains("叫车DB")&& dr.Table.Columns.Contains("叫车地标"))
        //                    {
        //                        if (!string.IsNullOrEmpty(dr["叫车DB"].ToString())&& !string.IsNullOrEmpty(dr["叫车地标"].ToString()))
        //                        {
        //                            var inResult = s7.ReadBool(dr["叫车DB"].ToString());
        //                            if (inResult.Content == true)
        //                            {
        //                                var info1 = infos.Find(o => o.MARKNUM.ToString() == dr["叫车地标"].ToString() && (o.RUNSTATUS_Cur == 0x41|| o.RUNSTATUS_Cur == 0x44));
        //                                if (info1 != null )
        //                                {
        //                                    DispatcherTool.ReleaseAgvOnStop(info1.MARKNUM, 0);

        //                                }
        //                            }
        //                        }
        //                    }
        //                }

        //                //读取PLC值显示

        //                foreach (DataColumn dcol in dtStationPLC.Columns)
        //                {
        //                    if (dcol.ColumnName.Contains("DB")&&!string.IsNullOrEmpty(dr[dcol.ColumnName].ToString()))
        //                    {
        //                        var result = s7.ReadBool(dr[dcol.ColumnName].ToString());
        //                        if (dataGridView1.IsHandleCreated && this.IsHandleCreated)
        //                        {
        //                            dataGridView1.Invoke(new InvokeDelegate(delegate
        //                            {
        //                                dataGridView1.Rows[index].Cells[dcol.ColumnName].Value = result.Content;
        //                                if(dataGridView1.Rows[index].Cells[dcol.ColumnName].ToolTipText!= dr[dcol.ColumnName].ToString())
        //                                {
        //                                    dataGridView1.Rows[index].Cells[dcol.ColumnName].ToolTipText = dr[dcol.ColumnName].ToString();
        //                                }
        //                            }));
        //                        }
        //                    }

        //                }
        //                Thread.Sleep(500);
        //            }
        //            catch (Exception)
        //            {

        //            }
        //        }
        //    }
        //}
        public void StartHttpServer()
        {
            string address = "http://" + GlobalPara.HostIPSPS + ":" + GlobalPara.HostIPSPSPort;
            if (WcsServerHost.Instance.StartServer(address))
            {
                toolStripStatusLabel1.Text = $"Http服务启动成功，地址:{address}";
            }
            else
            {
                toolStripStatusLabel1.Text = $"Http服务启动失败，地址:{address}";
            }
        }
        public static void AddLog(string log, string FileName)
        {
            try
            {
                string content = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\t\t" + log;
                RichTextBox richTextBox = new RichTextBox();
                if (FileName.Contains("放行交互"))
                {
                    //richTextBox = richTextBox1;
                    //if (logNetDateTimeSPS != null)
                    //{
                    //    logNetDateTimeSPS.WriteInfo(log);
                    //}
                }
                else if (FileName.Contains("井源联合管制"))
                {
                    //richTextBox = richTextBox2;
                    //if (logNetDateTimeCJYTraffic != null)
                    //{
                    //    logNetDateTimeCJYTraffic.WriteInfo(log);
                    //}
                }
                else if (FileName.Contains("联合管制"))
                {
                    richTextBox = richTextBox2;
                    if (logNetDateTimeCTraffic != null)
                    {
                        logNetDateTimeCTraffic.WriteInfo(log);
                    }
                }
                else if (FileName.Contains("调度管制"))
                {
                    richTextBox = richTextBox3;

                }
                richTextBox.BeginInvoke((Action)(() =>
                {
                    if (richTextBox.Lines.Length > 1000)
                    {
                        richTextBox.Clear();
                    }

                    int textLength = richTextBox.TextLength;

                    richTextBox.AppendText(content);
                    richTextBox.AppendText(Environment.NewLine);

                    richTextBox.Select(textLength, 4);

                    {
                        richTextBox.ScrollToCaret();
                    }
                }));
            }
            catch (Exception e) { }
        }
        public static DataResponseSPS2 ReleaseAGV(Model.ReleaseInfo3 StationInfo)
        {
            DataResponseSPS2 dataResponse = new DataResponseSPS2();
            dataResponse.code = "E";
            var drs = dtStation.Select("boxParts='" + StationInfo.boxParts + "' and trigger='" + StationInfo.trigger + "'");
            if (drs != null && drs.Length > 0)
            {
                var Infos = GlobalPara.AgvInfoDic.Values.ToList();
                var infos = Infos.FindAll(o => o.MARKNUM.ToString() == drs[0]["工位地标"].ToString() && o.ConnectStatus);
                if (infos != null && infos.Count > 0)
                {
                    var info = infos.Find(o => o.RUNSTATUS_Cur == 0x41);
                    if (info != null)
                    {
                        DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                        dataResponse.code = "S";
                        dataResponse.desc = string.Format("AGV车号:{0},地标:{1},路线:{2},boxParts:{3},trigger:{5},状态:{4},放行成功", info.AGVNUM, info.MARKNUM, info.ROUTENUM, StationInfo.boxParts, info.RUNSTATUS_Cur, StationInfo.trigger);
                        //var temp = listReleaseInfos.Find(o => o.AGVNUM == info.AGVNUM && o.MARKNUM == info.MARKNUM);
                        //if (temp != null)
                        //{
                        //    listReleaseInfos.Remove(temp);
                        //}

                    }
                    else
                    {
                        dataResponse.desc = string.Format("AGV车号:{0},地标:{1},路线:{2},boxParts:{3},trigger:{5},状态:{4},AGV未处于停止状态，无法放行", info.AGVNUM, info.MARKNUM, info.ROUTENUM, StationInfo.boxParts, info.RUNSTATUS_Cur, StationInfo.trigger);
                    }
                }
                else
                {
                    dataResponse.desc = string.Format("无AGV在 boxParts:{0},trigger:{1} 上，无法放行", StationInfo.boxParts, StationInfo.trigger);
                }
            }
            else
            {
                dataResponse.desc = string.Format("无工位信息 boxParts:{0},trigger:{1}  ，无法放行", StationInfo.boxParts, StationInfo.trigger);
            }
            return dataResponse;
        }
        public void TrafficByDispatch(int i)
        {

            if (DtTraffic.Rows.Count > 0)
            {
                bool b = true;
                while (b)
                {
                    try
                    {
                        //          if (!GlobalPara.IsOneKeySleep)
                        {
                            var 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();
                                var results = listModel.FindAll(o => listIn.Contains(o.MARKNUM.ToString()) && o.ConnectStatus == true);
                                //  }
                                if (results != null && results.Count > 0)
                                {
                                    var result = results.OrderBy(o => o.LastModifyMarkTime).ToList()[0];
                                    var results2 = listModel.FindAll(o => listTraffic.Contains(o.MARKNUM.ToString()) && o.ConnectStatus == true);
                                    if (listIn.Count == 1 && results.Count > 1)
                                    {
                                        logNetTraffic2.WriteInfo("管制区号:" + DtTraffic.Rows[i][2].ToString() + ",管制区进卡有两台的车，重新判断,等待AGV车：(" + result.AGVNUM + "," + result.MARKNUM + ")");
                                        Thread.Sleep(500);
                                        continue;
                                    }
                                    if (results == null || results2.Count <= 0)
                                    {
                                        var results3 = listModel.FindAll(o => result.MARKNUM == o.MARKNUM && o.RUNSTATUS_Cur != 0x41 && o.ConnectStatus == true);
                                        if (results3 != null && results3.Count <= 0)
                                        {
                                            int route = 0; int targetMark = 0;

                                            DispatcherTool.ReleaseAgvOnStop(result.MARKNUM, route, targetMark, 1);
                                            lock (portLock1)
                                            {
                                                logNetTraffic.WriteInfo(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);
                                                string content = 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;
                                                AddLog(content, "调度管制");
                                            }
                                        }
                                        else
                                        {
                                            if (results3 != null && results3.Count > 0)
                                            {
                                                if (results3[0].AGVNUM == result.AGVNUM && result.RUNSTATUS_Cur == 0x41)
                                                {
                                                    int route = 0; int targetMark = 0;

                                                    DispatcherTool.ReleaseAgvOnStop(result.MARKNUM, route, targetMark, 1);
                                                    lock (portLock1)
                                                    {
                                                        logNetTraffic.WriteInfo(result.AGVNUM + "号AGV符合放行条件2，地标为：" + result.MARKNUM + "，路线为" + route + "，目的地标为" + targetMark);
                                                        string content = result.AGVNUM + "号AGV符合放行条件2，地标为：" + result.MARKNUM + "，路线为" + route + "，目的地标为" + targetMark;
                                                        AddLog(content, "调度管制");
                                                    }
                                                }
                                                else
                                                {
                                                    logNetTraffic2.WriteInfo("管制区号:" + DtTraffic.Rows[i][2].ToString() + ",管制点有车:(" + results3[0].AGVNUM + "," + results3[0].MARKNUM + ")，重新判断,等待AGV车：(" + result.AGVNUM + "," + result.MARKNUM + ")");
                                                }
                                            }
                                        }
                                    }
                                    else
                                    {
                                        if (results2 != null && results2.Count > 0)
                                        {
                                            logNetTraffic2.WriteInfo("管制区号:" + DtTraffic.Rows[i][2].ToString() + ",管制区有车:(" + results2[0].AGVNUM + "," + results2[0].MARKNUM + ")，重新判断,等待AGV车：(" + result.AGVNUM + "," + result.MARKNUM + ")");
                                        }
                                    }
                                }
                            }
                        }
                    }
                    catch (Exception e)
                    {
                        logNetDateTimeError.WriteInfo(e.StackTrace);
                    }
                    finally
                    {

                    }
                    Thread.Sleep(500);
                }
            }
        }
        public void TrafficByDispatch0(int i)
        {

            if (DtTraffic.Rows.Count > 0)
            {
                bool b = true;
                while (b)
                {
                    try
                    {
                        //          if (!GlobalPara.IsOneKeySleep)
                        {
                            var 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();
                                var results = listModel.FindAll(o => listIn.Contains(o.MARKNUM.ToString()) && o.ConnectStatus == true);
                                //  }
                                if (results != null && results.Count > 0)
                                {
                                    var result = results.OrderBy(o => o.LastModifyMarkTime).ToList()[0];
                                    var 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)
                                    {
                                        var results3 = listModel.FindAll(o => result.MARKNUM == o.MARKNUM && o.RUNSTATUS != 0x41 && o.ConnectStatus == true);
                                        if (results3 != null && results3.Count <= 0)
                                        {
                                            int route = result.ROUTENUM; int targetMark = 0;

                                            DispatcherTool.ReleaseAgvOnStop(result.MARKNUM, route, targetMark, 1);
                                            string content = 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;
                                            AddLog(content, "调度管制");
                                            logNetTraffic.WriteInfo(content);
                                        }
                                    }
                                }
                            }
                        }
                    }
                    catch (Exception e)
                    {

                    }
                    finally
                    {

                    }
                    Thread.Sleep(500);
                }
            }
        }
        public static JObject TrafficCombineLock(JObject obj)
        {
            JObject resultObj = new JObject();
            resultObj["Status"] = "NG";
            resultObj["Message"] = "请求的主机无效";
            lock (portLock1)
            {
                try
                {
                    //int Step = (int)obj["Step"];
                    int TrafficID = (int)obj["AreaName"];
                    int TrafficFlag = (int)obj["EquipType"];
                    string AGVID = obj["EquipNumber"].ToString();
                    string RequestTime = DateTime.Now.ToString();
                    //if (Step == 1)
                    {
                        DAL.ZSql zsql = new DAL.ZSql();
                        string sql = "select * from T_TrafficCombine where TrafficCombineID=" + TrafficID;
                        zsql.Open(sql);
                        DataTable temp = zsql.m_table.Copy();
                        if (temp.Rows.Count > 0)
                        {
                            var dr = temp.Rows[0];
                            if (dr["TrafficFlag"].ToString() == "0" || dr["TrafficFlag"].ToString() == TrafficFlag.ToString() && dr["TrafficAGV"].ToString() == AGVID)
                            {
                                resultObj["Status"] = "OK";
                                resultObj["Message"] = "申请进入成功，请快速通过";
                                sql = "update T_TrafficCombine set TrafficFlag=" + TrafficFlag + ",LastInTime='" + RequestTime + "',TrafficAGV='" + AGVID + "' where TrafficCombineID=" + TrafficID;
                                zsql.Open(sql);
                            }
                            else
                            {
                                resultObj["Status"] = "NG4";
                                resultObj["Message"] = "该管制区内已有车";
                            }
                        }
                        else
                        {
                            resultObj["Status"] = "NG3";
                            resultObj["Message"] = "TrafficID不存在";
                        }
                        zsql.Close();
                    }
                }
                catch (Exception e)
                {
                    resultObj["Status"] = "NG1";
                    resultObj["Message"] = e.Message;
                }
            }
            return resultObj;
        }

        public static JObject TrafficCombineUnLock(JObject obj)
        {
            JObject resultObj = new JObject();
            resultObj["Status"] = "NG";
            resultObj["Message"] = "请求的主机无效";
            lock (portLock1)
            {
                try
                {
                    //int Step = (int)obj["Step"];
                    int TrafficID = (int)obj["AreaName"];
                    int TrafficFlag = (int)obj["EquipType"];
                    string AGVID = obj["EquipNumber"].ToString();
                    string RequestTime = DateTime.Now.ToString();
                    {
                        DAL.ZSql zsql = new DAL.ZSql();
                        string sql = "select * from T_TrafficCombine where TrafficCombineID=" + TrafficID;
                        zsql.Open(sql);
                        DataTable temp = zsql.m_table.Copy();
                        if (temp.Rows.Count > 0)
                        {
                            var dr = temp.Rows[0];
                            if (dr["TrafficFlag"].ToString() == TrafficFlag.ToString() && dr["TrafficAGV"].ToString() == AGVID)
                            {
                                resultObj["Status"] = "OK";
                                resultObj["Message"] = "申请离开成功，请快速离开";
                                sql = "update T_TrafficCombine set TrafficFlag=0,LastOutTime='" + RequestTime + "',TrafficAGV='NOAGV' where TrafficCombineID=" + TrafficID;
                                zsql.Open(sql);
                            }
                            else
                            {

                                resultObj["Status"] = "NG5";
                                resultObj["Message"] = "该车已离开管制区";
                            }
                        }
                        else
                        {
                            resultObj["Status"] = "NG3";
                            resultObj["Message"] = "TrafficID不存在";
                        }
                        zsql.Close();
                    }
                    //else
                    //{
                    //    resultObj["Status"] = "NG2";
                    //    resultObj["Message"] = "Step参数大于2，不合格";
                    //}
                }
                catch (Exception e)
                {
                    resultObj["Status"] = "NG1";
                    resultObj["Message"] = e.Message;
                }
            }
            return resultObj;
        }
        public static JObject TrafficCombine(JObject obj)
        {
            JObject resultObj = new JObject();
            resultObj["Code"] = 100;
            resultObj["Success"] = false;
            resultObj["Msg"] = "未知异常";
            lock (portLock1)
            {
                try
                {
                    int Step = (int)obj["Step"];
                    int TrafficID = (int)obj["TrafficID"];
                    int TrafficFlag = (int)obj["RequestID"];
                    string AGVID = obj["TrafficAGV"].ToString();
                    string RequestTime = obj["RequestTime"].ToString();
                    if (Step == 1)
                    {
                        DAL.ZSql zsql = new DAL.ZSql();
                        string sql = "select * from T_TrafficCombine where TrafficCombineID=" + TrafficID;
                        zsql.Open(sql);
                        DataTable temp = zsql.m_table.Copy();
                        if (temp.Rows.Count > 0)
                        {
                            var dr = temp.Rows[0];
                            if (dr["TrafficFlag"].ToString() == "0" || dr["TrafficFlag"].ToString() == TrafficFlag.ToString() && dr["TrafficAGV"].ToString() == AGVID)
                            {
                                resultObj["Code"] = 0;
                                resultObj["Success"] = true;
                                resultObj["Msg"] = "申请进入成功，请快速通过";
                                sql = "update T_TrafficCombine set TrafficFlag=" + TrafficFlag + ",LastInTime='" + RequestTime + "',TrafficAGV='" + AGVID + "' where TrafficCombineID=" + TrafficID;
                                zsql.Open(sql);
                            }
                            else
                            {
                                resultObj["Code"] = 4;
                                resultObj["Msg"] = "该管制区内已有车";
                            }
                        }
                        else
                        {
                            resultObj["Code"] = 3;
                            resultObj["Msg"] = "TrafficID不存在";
                        }
                        zsql.Close();
                    }
                    else if (Step == 2)
                    {
                        DAL.ZSql zsql = new DAL.ZSql();
                        string sql = "select * from T_TrafficCombine where TrafficCombineID=" + TrafficID;
                        zsql.Open(sql);
                        DataTable temp = zsql.m_table.Copy();
                        if (temp.Rows.Count > 0)
                        {
                            var dr = temp.Rows[0];
                            if (dr["TrafficFlag"].ToString() == TrafficFlag.ToString() && dr["TrafficAGV"].ToString() == AGVID)
                            {
                                resultObj["Code"] = 0;
                                resultObj["Success"] = true;
                                resultObj["Msg"] = "申请离开成功，请快速离开";
                                sql = "update T_TrafficCombine set TrafficFlag=0,LastOutTime='" + RequestTime + "',TrafficAGV='NOAGV' where TrafficCombineID=" + TrafficID;
                                zsql.Open(sql);
                            }
                            else
                            {
                                resultObj["Code"] = 5;
                                resultObj["Msg"] = "该车已离开管制区";
                            }
                        }
                        else
                        {
                            resultObj["Code"] = 3;
                            resultObj["Msg"] = "TrafficID不存在";
                        }
                        zsql.Close();
                    }
                    else
                    {
                        resultObj["Code"] = 2;
                        resultObj["Msg"] = "Step参数大于2，不合格";
                    }
                }
                catch (Exception e)
                {
                    resultObj["Code"] = 1;
                    resultObj["Msg"] = e.Message;
                }
            }
            return resultObj;
        }

        public static JObject TrafficCombineState(JObject obj)
        {
            //JObject resultObj = new JObject();
            //resultObj["Code"] = 100;
            //resultObj["Success"] = false;
            //resultObj["Msg"] = "未知异常";

            JObject resultObj = new JObject();
            resultObj["RequestID"] = "0";
            resultObj["TrafficAGV"] = "UnKown";
            //obj["Step"] = 1;
            resultObj["TrafficID"] = obj["TrafficID"].ToString();
            resultObj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
            resultObj["Msg"] = "未知";
            lock (portLock1)
            {
                try
                {
                    int TrafficID = (int)obj["TrafficID"];
                    DAL.ZSql zsql = new DAL.ZSql();
                    string sql = "select * from T_TrafficCombine where TrafficCombineID=" + TrafficID;
                    zsql.Open(sql);
                    DataTable temp = zsql.m_table.Copy();
                    if (temp.Rows.Count > 0)
                    {
                        var dr = temp.Rows[0];
                        resultObj["RequestID"] = dr["TrafficFlag"].ToString();
                        resultObj["TrafficAGV"] = dr["TrafficAGV"].ToString();
                        resultObj["RequestTime"] = dr["LastInTime"].ToString();
                        resultObj["Msg"] = "";
                    }
                    else
                    {
                        resultObj["Msg"] = "TrafficID不存在";
                    }
                    zsql.Close();
                }
                catch (Exception e)
                {
                    resultObj["Msg"] = "获取管制区:" + obj["TrafficID"] + "异常," + e.Message;
                }
            }
            return resultObj;
        }
        public void TrafficCombineItself(DataRow dr)
        {
            List<string> listIn = dr["进管制地标"].ToString().Split(';').ToList();
            List<string> listTraffic = dr["管制区内地标"].ToString().Split(';').ToList();
            List<string> listOut = dr["出管制地标"].ToString().Split(';').ToList();
            while (true)
            {
                try
                {
                    var infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true).ToList();
                    {
                        //var info = infos.Find(o => dr["进管制地标"].ToString().Equals(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                        var info = infos.Find(o => listIn.Contains(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                        if (info != null)
                        {
                            if (GlobalPara.CombineTrafficShield)
                            {
                                string temp0 = $"联合管制申请屏蔽，AGV{info.AGVNUM}自动放行进入联合管制区:{dr["管制区号"].ToString()}";
                                AddLog(temp0, "联合管制");
                                DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                            }
                            else
                            {
                                JObject obj = new JObject();
                                obj["RequestID"] = GlobalPara.CombineTrafficID;
                                obj["TrafficAGV"] = info.AGVNUM.ToString();
                                obj["Step"] = 1;
                                obj["TrafficID"] = int.Parse(dr["管制区号"].ToString());
                                obj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                                string temp = $"佳顺AGV:{info.AGVNUM}申请进入管制区:{obj["TrafficID"]},等待允许";
                                AddLog(temp.ToString(), "联合管制");
                                string resultStr = GlobalPara.PostUrl(obj.ToString(), GlobalPara.CombineTrafficURL);
                                JObject objResult = JObject.Parse(resultStr);
                                if ((int)objResult["Code"] == 0)
                                {
                                    temp = $"佳顺AGV:{info.AGVNUM}申请进入管制区:{obj["TrafficID"]},联合管制允许进入";
                                    AddLog(temp, "联合管制");
                                    DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                                }
                            }
                        }
                        //info = infos.Find(o => dr["出管制地标"].ToString().Equals(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                        //info = infos.Find(o => listOut.Contains(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                        //if (info != null)
                        //{
                        //    JObject obj = new JObject();
                        //    obj["RequestID"] = GlobalPara.CombineTrafficID;
                        //    obj["TrafficAGV"] = info.AGVNUM.ToString();
                        //    obj["Step"] = 2;
                        //    obj["TrafficID"] = int.Parse(dr["管制区号"].ToString());
                        //    obj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                        //    string resultStr = GlobalPara.PostUrl(obj.ToString(), GlobalPara.CombineTrafficURL);
                        //    JObject objResult = JObject.Parse(resultStr);
                        //    if ((int)objResult["Code"] == 0)
                        //    {
                        //        DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                        //    }
                        //}

                        info = infos.Find(o => listOut.Contains(o.MARKNUM.ToString()) || (listIn.Contains(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur != 0x41) || listTraffic.Contains(o.MARKNUM.ToString()));
                        if (info == null)
                        {
                            JObject objCombineTrafficState = new JObject();
                            objCombineTrafficState["TrafficID"] = int.Parse(dr["管制区号"].ToString());
                            string resultCombineTrafficStateStr = GlobalPara.PostUrl(objCombineTrafficState.ToString(), GlobalPara.CombineTrafficStateURL);
                            JObject objResult = JObject.Parse(resultCombineTrafficStateStr);
                            string str = objResult["RequestTime"].ToString();

                            //if (DateTime.TryParse(str, out DateTime dtRequestTime))
                            {
                                if (objResult["RequestID"].ToString() == GlobalPara.CombineTrafficID)//&& dtRequestTime.AddSeconds(3) <= DateTime.Now
                                {
                                    JObject obj = new JObject();
                                    obj["RequestID"] = GlobalPara.CombineTrafficID;
                                    obj["TrafficAGV"] = objResult["TrafficAGV"].ToString();
                                    obj["Step"] = 2;
                                    obj["TrafficID"] = int.Parse(dr["管制区号"].ToString());
                                    obj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                                    string temp = $"佳顺AGV:{objResult["TrafficAGV"]}申请离开管制区:{obj["TrafficID"]}";
                                    AddLog(temp.ToString(), "联合管制");
                                    string resultStr = GlobalPara.PostUrl(obj.ToString(), GlobalPara.CombineTrafficURL);

                                }
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    AddLog(ex.ToString(), "联合管制");
                }
                Thread.Sleep(1000);
            }
        }
        public void TrafficCombineRequest(DataRow dr)
        {
            List<string> listIn = dr["进管制地标"].ToString().Split(';').ToList();
            List<string> listTraffic = dr["管制区内地标"].ToString().Split(';').ToList();
            List<string> listOut = dr["出管制地标"].ToString().Split(';').ToList();
            int Areacode = int.Parse(dr["管制区号"].ToString());
            while (true)
            {
                try
                {
                    var infos = GlobalPara.AgvInfoDic.Values.ToList().FindAll(o => o.ConnectStatus == true).ToList();
                    {
                        //var info = infos.Find(o => dr["进管制地标"].ToString().Equals(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur == 0x41);
                        var info = infos.Find(o => listIn.Contains(o.MARKNUM.ToString())&& !o.TrafficFlag && o.RUNSTATUS_Cur == 0x41);
                        if (info != null)
                        {
                            if (GlobalPara.CombineTrafficShield)
                            {
                                string temp0 = $"当前为联合管制屏蔽模式，AGV{info.AGVNUM}自动放行进入联合管制区:{Areacode}";
                                AddLog(temp0, "联合管制");
                                DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                            }
                            else
                            {
                                JObject obj = new JObject();
                                obj["mapid"] = 1;
                                obj["passingagv"] = info.AGVNUM;
                                obj["specifiedagvunlock"] = true;
                                obj["areacode"] = Areacode;
                                //obj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                                string temp = $"佳顺AGV:{info.AGVNUM}申请进入管制区:{Areacode},等待允许";
                                AddLog(temp.ToString(), "联合管制");
                                AddLog("请求内容:"+obj.ToString(), "联合管制");
                                string resultStr = GlobalPara.PostUrl(obj.ToString(), GlobalPara.HuaXiaoCombineTrafficLockURL);
                                AddLog("响应内容:" + resultStr, "联合管制");
                                JObject objResult = JObject.Parse(resultStr);
                                if ((int)objResult["code"] == 200&& (bool)objResult["data"])
                                {
                                    temp = $"佳顺AGV:{info.AGVNUM}申请进入管制区:{Areacode},联合管制允许进入";
                                    AddLog(temp, "联合管制");
                                    DispatcherTool.ReleaseAgvOnStop(info.MARKNUM, 0);
                                    Thread.Sleep(3000);
                                    continue;
                                }
                                else
                                {
                                    temp = $"佳顺AGV:{info.AGVNUM}申请进入管制区:{Areacode},联合管制禁止进入，原因：{objResult["msg"].ToString()}";
                                    AddLog(temp, "联合管制");
                                }
                                

                            }
                        }
                        if (!GlobalPara.CombineTrafficShield)
                        {
                            info = infos.Find(o => (listIn.Contains(o.MARKNUM.ToString()) && o.RUNSTATUS_Cur != 0x41) || listTraffic.Contains(o.MARKNUM.ToString()));//listOut.Contains(o.MARKNUM.ToString()) || 
                            if (info == null)
                            {
                                string resultCombineTrafficStateStr = GlobalPara.GetUrl(GlobalPara.HuaXiaoCombineTrafficStateURL + "/" + Areacode);
                                if (!string.IsNullOrEmpty(resultCombineTrafficStateStr))
                                {
                                    JObject objResult = JObject.Parse(resultCombineTrafficStateStr);
                                    int code = (int)objResult["code"];
                                    if (code == 200)
                                    {
                                        string strData = objResult["data"].ToString();
                                        if (!string.IsNullOrEmpty(strData))
                                        {
                                            JObject objData = JObject.Parse(strData);
                                            int.TryParse(objData["AgvNum"].ToString(), out int agvnum);
                                            bool.TryParse(objData["IsLocked"].ToString(), out bool islocked);
                                            if (islocked && agvnum < 10000)
                                            {
                                                JObject obj = new JObject();
                                                obj["mapid"] = 1;
                                                obj["passingagv"] = agvnum;
                                                obj["areacode"] = Areacode;
                                                //obj["RequestTime"] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                                                string temp = $"佳顺AGV:{agvnum}上报离开管制区:{Areacode}";
                                                AddLog(temp.ToString(), "联合管制");
                                                AddLog("请求内容:" + obj.ToString(), "联合管制");
                                                string resultStr = GlobalPara.PostUrl(obj.ToString(), GlobalPara.HuaXiaoCombineTrafficUnLockURL);
                                                AddLog("响应内容:" + resultStr, "联合管制");
                                                JObject objResult1 = JObject.Parse(resultStr);
                                                if ((int)objResult1["code"] == 200&& (bool)objResult1["code"])
                                                {
                                                    temp = $"佳顺AGV:{agvnum}上报离开管制区:{Areacode}成功";
                                                    AddLog(temp, "联合管制");
                                                }
                                                else
                                                {
                                                    temp = $"佳顺AGV:{agvnum }上报离开管制区:{Areacode}失败";
                                                    AddLog(temp, "联合管制");
                                                }
                                            }
                                        }
                                        else
                                        {
                                            AddLog($"联合管制区{Areacode}占用状态data为空", "联合管制");
                                        }

                                    }
                                }
                                else
                                {
                                    AddLog($"获取联合管制区{Areacode}占用状态失败", "联合管制");
                                }
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    AddLog(ex.InnerException.ToString(), "联合管制");
                }
                Thread.Sleep(1000);
            }
        }
    }

    class TrafficCombineConnector
    {
        public HslCommunication.Profinet.Siemens.SiemensS7Net s7 = null;
        public string PLCIP;
        public string AGVHeartBitDB;
        public string PLCHeartBitDB;
        public TrafficCombineConnector(string plcip, string agvheartbitdb, string plcheartbitdb)
        {
            PLCIP = plcip;
            AGVHeartBitDB = agvheartbitdb;
            PLCHeartBitDB = plcheartbitdb;
            s7 = new HslCommunication.Profinet.Siemens.SiemensS7Net(HslCommunication.Profinet.Siemens.SiemensPLCS.S200Smart,
            PLCIP);
            s7.ConnectTimeOut = 1200;
            s7.ReceiveTimeOut = 1200;
            s7.SetPersistentConnection();
            Task.Factory.StartNew(() => ScanHeartBit());
        }
        public bool PLCAlive = false;
        void ScanHeartBit()
        {
            bool plcheartbit = false;
            bool agvheartbit = false;
            DateTime chageDateTime = DateTime.MinValue;
            while (true)
            {
                try
                {
                    agvheartbit = !agvheartbit;
                    s7.Write(AGVHeartBitDB, agvheartbit);
                    OperateResult operateResult = s7.ReadBool(PLCHeartBitDB);
                    if (s7.ReadBool(PLCHeartBitDB).IsSuccess)
                    {
                        if (plcheartbit != s7.ReadBool(PLCHeartBitDB).Content)
                        {
                            plcheartbit = !plcheartbit;
                            chageDateTime = DateTime.Now;
                        }
                    }
                    if (chageDateTime.AddSeconds(5) < DateTime.Now)
                    {
                        PLCAlive = false;
                    }
                    else
                    {
                        PLCAlive = true;
                    }
                }
                catch
                {

                }
                Thread.Sleep(500);
            }
        }

        public bool ReadBool(string db)
        {
            return s7.ReadBool(db).IsSuccess && s7.ReadBool(db).Content;
        }
        public bool Write(string db, bool value)
        {
            s7.Write(db, value);
            return s7.ReadBool(db).IsSuccess && (s7.ReadBool(db).Content == value);
        }
    }
}