XS202408319330/Models/AGVInfoService.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using AGV_WPF.Models;
using System.Configuration;
using AGV_WPF_Global;
using System.Threading;
using System.ComponentModel;
using AGV_WPF.NewCotent;
using TrafficDll;

namespace AGV_WPF.DataControl
{
    public class AGVInfoService : IDisposable
    {

        #region 初始化缓存表
        Traffic kwtraffic;
        public void InitTraffic()
        {
            //kwtraffic = new Traffic();
            ////traffic_1 = new Traffic();
            //Thread GetTrafficAgvThread = new Thread(new ThreadStart(getTrafficAgvServer));
            //GetTrafficAgvThread.Start();

        }
        /// <summary>
        /// 初始化AGV缓存表数据
        /// </summary>
        /// <param name="AGVNUM_MAX"></param>
        public void InitAgvBuffer()
        {

            int AGVNUM_MAX = Convert.ToInt16(ConfigurationManager.AppSettings["AGVNUM_MAX"]);
            AGVInfoModel agv = null;
            IDictionary<int, AGVInfoModel> AgvDictionary = GlobalPara.AgvInfoDic;
            AgvDictionary.Clear();
            for (int i = 1; i <= AGVNUM_MAX; i++)
            {
                agv = new AGVInfoModel(i);

                AgvDictionary.Add(i, agv);
            }
        }

        #endregion

        #region 数据库增删改查操作
        /// <summary>
        /// 新增AGV信息
        /// </summary>
        /// <param name="agv"></param>
        /// <returns></returns>
        public void Add(AGVInfoModel agv)
        {
            DAL.ZSql sqlDelete = new DAL.ZSql();//数据库访问变量定义
            sqlDelete.Open("Insert into BAS_AGVINFO (AGVNUM,AGVNAME,MARKNUM,MARKFUN,RUNSTATUS,ROUTENUM,SPEEDLEVEL,ALARMCODE,ALARMINFO,"
                    + "ConnectStatus,OffLineCount,IsMainAgv,TrafficNum,TrafficAgv) VALUES ("
                + agv.AGVNUM.ToString() + ",'" + agv.AGVNAME + "'," + agv.MARKNUM + ",'" + agv.MARKFUN + "',"
                + agv.RUNSTATUS + "," + agv.ROUTENUM + "," + agv.SPEEDLEVEL + "," + agv.ALARMCODE + ",'" + agv.ALARMINFO
                + agv.ConnectStatus + "," + agv.OffLineCount + "," + agv.IsMainAgv + "," + agv.TRAFFICNUM + "," + agv.TRAFFICAGV + "')");
            sqlDelete.Close();

        }

        /// <summary>
        /// 删除AGV信息
        /// </summary>
        /// <param name="agv"></param>
        /// <returns></returns>
        public bool Delete(AGVInfoModel agv)
        {
            DAL.ZSql sqlDelete = new DAL.ZSql();//数据库访问变量定义
            sqlDelete.Open("delete BAS_AGVINFO where AGVNUM='" + agv.AGVNUM.ToString() + "'");

            if (sqlDelete.rowcount > 0)
            {
                sqlDelete.Close();
                return true;
            }
            else
            {
                sqlDelete.Close();
                return false;
            }
        }

        /// <summary>
        /// 删除AGV信息
        /// </summary>
        /// <param name="agvnum"></param>
        /// <returns></returns>
        public bool Delete(int agvnum)
        {
            DAL.ZSql sqlDelete = new DAL.ZSql();//数据库访问变量定义
            sqlDelete.Open("delete BAS_AGVINFO where AGVNUM='" + agvnum.ToString() + "'");

            if (sqlDelete.rowcount > 0)
            {
                sqlDelete.Close();
                return true;
            }
            else
            {
                sqlDelete.Close();
                return false;
            }
        }

        /// <summary>
        /// 更新AGVINFO表信息
        /// </summary>
        /// <param name="agv"></param>
        public void Update(AGVInfoModel agv)
        {
            DAL.ZSql sqlUpdate = new DAL.ZSql();//数据库访问变量定义

            sqlUpdate.Open("Update BAS_AGVINFO(AGVNUM,AGVNAME,MARKNUM,MARKFUN,RUNSTATUS,ROUTENUM,SPEEDLEVEL,ALARMCODE,ALARMINFO,"
                + "ConnectStatus,OffLineCount,IsMainAgv,TrafficNum,TrafficAgv) VALUES ("
                + agv.AGVNUM.ToString() + ",'" + agv.AGVNAME + "'," + agv.MARKNUM + "," + agv.MARKFUN + "," + agv.RUNSTATUS
                + "," + agv.ROUTENUM + "," + agv.SPEEDLEVEL + "," + agv.ALARMCODE + ",'" + agv.ALARMINFO + "',"
                + agv.ConnectStatus + "," + agv.OffLineCount + "," + agv.IsMainAgv + "," + agv.TRAFFICNUM + "," + agv.TRAFFICAGV + "");
            sqlUpdate.Close();

        }

        /// <summary>
        /// 获取AGV信息数据
        /// </summary>
        /// <param name="agvnum"></param>
        /// <returns></returns>
        public AGVInfoModel GetAGVINFO(int agvnum)
        {
            DAL.ZSql dtAgvInfo = new DAL.ZSql();//数据库访问变量定义
            dtAgvInfo.Open("select AGVNUM,AGVNAME,MARKNUM,MARKFUN,RUNSTATUS,ROUTENUM,SPEEDLEVEL,ALARMCODE,ALARMINFO,"
                    + "ConnectStatus,OffLineCount,IsMainAgv,TrafficNum,TrafficAgv from BAS_AGVINFO where AGVNUM='" + agvnum.ToString() + "'");
            AGVInfoModel agv = new AGVInfoModel();
            if (dtAgvInfo.rowcount > 0)
            {
                #region 数据字段赋值

                agv.AGVNUM = Convert.ToByte(dtAgvInfo.Rows[0]["AGVNUM"].ToString());
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["AGVNAME"].ToString()))
                {
                    agv.AGVNAME = dtAgvInfo.Rows[0]["AGVNAME"].ToString();
                }
                else
                {
                    agv.AGVNAME = "";
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["MARKNUM"].ToString()))
                {
                    agv.MARKNUM = Convert.ToByte(dtAgvInfo.Rows[0]["MARKNUM"]);
                }
                else
                {
                    agv.MARKNUM = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["MARKFUN"].ToString()))
                {
                    agv.MARKFUN = Convert.ToByte(dtAgvInfo.Rows[0]["MARKFUN"]);
                }
                else
                {
                    agv.MARKFUN = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["RUNSTATUS"].ToString()))
                {
                    agv.RUNSTATUS = Convert.ToByte(dtAgvInfo.Rows[0]["RUNSTATUS"]);
                }
                else
                {
                    agv.RUNSTATUS = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["ROUTENUM"].ToString()))
                {
                    agv.ROUTENUM = Convert.ToByte(dtAgvInfo.Rows[0]["ROUTENUM"]);
                }
                else
                {
                    agv.ROUTENUM = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["SPEEDLEVEL"].ToString()))
                {
                    agv.SPEEDLEVEL = Convert.ToByte(dtAgvInfo.Rows[0]["SPEEDLEVEL"]);
                }
                else
                {
                    agv.SPEEDLEVEL = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["ALARMCODE"].ToString()))
                {
                    agv.ALARMCODE = dtAgvInfo.Rows[0]["ALARMCODE"].ToString();
                }
                else
                {
                    agv.ALARMCODE = "无";
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["ALARMINFO"].ToString()))
                {
                    agv.ALARMINFO = dtAgvInfo.Rows[0]["ALARMINFO"].ToString();
                }
                else
                {
                    agv.ALARMINFO = "无";
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["ConnectStatus"].ToString()))
                {
                    agv.ConnectStatus = Convert.ToBoolean(dtAgvInfo.Rows[0]["ConnectStatus"]);
                }
                else
                {
                    agv.ConnectStatus = false;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["OffLineCount"].ToString()))
                {
                    agv.OffLineCount = Convert.ToInt16(dtAgvInfo.Rows[0]["OffLineCount"]);
                }
                else
                {
                    agv.OffLineCount = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["OffLineCount"].ToString()))
                {
                    agv.IsMainAgv = Convert.ToBoolean(dtAgvInfo.Rows[0]["IsMainAgv"]);
                }
                else
                {
                    agv.IsMainAgv = false;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["TRAFFICNUM"].ToString()))
                {
                    int anum = Convert.ToInt16(dtAgvInfo.Rows[0]["TrafficNum"]);
                    agv.TRAFFICNUM.Add(GlobalPara.TrafficBuffer[anum]);
                }
                else
                {
                    agv.TRAFFICNUM.Clear();
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[0]["TRAFFICAGV"].ToString()))
                {

                    int anum = Convert.ToInt16(dtAgvInfo.Rows[0]["TrafficAgv"]);
                    agv.TRAFFICAGV = GlobalPara.AgvInfoDic[anum];

                }
                else
                {
                    agv.TRAFFICAGV = null;
                }
                #endregion
            }
            dtAgvInfo.Close();
            return agv;
        }

        /// <summary>
        /// 获取所有AGVinfo信息
        /// </summary>
        /// <param name="agvnum"></param>
        /// <returns></returns>
        public List<AGVInfoModel> GetALL()
        {
            DAL.ZSql dtAgvInfo = new DAL.ZSql();//数据库访问变量定义
            dtAgvInfo.Open("select AGVNUM,AGVNAME,MARKNUM,MARKFUN,RUNSTATUS,ROUTENUM,SPEEDLEVEL,ALARMCODE,ALARMINFO,"
                    + "ConnectStatus,OffLineCount,IsMainAgv,TrafficNum,TrafficAgv from BAS_AGVINFO");
            List<AGVInfoModel> listagv = new List<AGVInfoModel>(); //存放所有AGVINFO的列表
            AGVInfoModel agv = null;//存放1台rowcountAGV的对象
            int agvnum = 0;
            for (int i = 0; i < dtAgvInfo.rowcount; i++)
            {
                agv = new AGVInfoModel();
                agvnum = Convert.ToInt16(dtAgvInfo.Rows[i]["AGVNUM"]);
                #region 数据字段赋值

                agv.AGVNUM = agvnum;
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["AGVNAME"].ToString()))
                {
                    agv.AGVNAME = dtAgvInfo.Rows[i]["AGVNAME"].ToString();
                }
                else
                {
                    agv.AGVNAME = "";
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["MARKNUM"].ToString()))
                {
                    agv.MARKNUM = Convert.ToByte(dtAgvInfo.Rows[i]["MARKNUM"]);
                }
                else
                {
                    agv.MARKNUM = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["MARKFUN"].ToString()))
                {
                    agv.MARKFUN = Convert.ToByte(dtAgvInfo.Rows[i]["MARKFUN"]);
                }
                else
                {
                    agv.MARKFUN = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["RUNSTATUS"].ToString()))
                {
                    agv.RUNSTATUS = Convert.ToByte(dtAgvInfo.Rows[i]["RUNSTATUS"]);
                }
                else
                {
                    agv.RUNSTATUS = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["ROUTENUM"].ToString()))
                {
                    agv.ROUTENUM = Convert.ToByte(dtAgvInfo.Rows[i]["ROUTENUM"]);
                }
                else
                {
                    agv.ROUTENUM = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["SPEEDLEVEL"].ToString()))
                {
                    agv.SPEEDLEVEL = Convert.ToByte(dtAgvInfo.Rows[i]["SPEEDLEVEL"]);
                }
                else
                {
                    agv.SPEEDLEVEL = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["ALARMCODE"].ToString()))
                {
                    agv.ALARMCODE = dtAgvInfo.Rows[i]["ALARMCODE"].ToString();
                }
                else
                {
                    agv.ALARMCODE = "无";
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["ALARMINFO"].ToString()))
                {
                    agv.ALARMINFO = dtAgvInfo.Rows[i]["ALARMINFO"].ToString();
                }
                else
                {
                    agv.ALARMINFO = "无";
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["ConnectStatus"].ToString()))
                {
                    agv.ConnectStatus = Convert.ToBoolean(dtAgvInfo.Rows[i]["ConnectStatus"]);
                }
                else
                {
                    agv.ConnectStatus = false;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["OffLineCount"].ToString()))
                {
                    agv.OffLineCount = Convert.ToInt16(dtAgvInfo.Rows[i]["OffLineCount"]);
                }
                else
                {
                    agv.OffLineCount = 0;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["OffLineCount"].ToString()))
                {
                    agv.IsMainAgv = Convert.ToBoolean(dtAgvInfo.Rows[i]["IsMainAgv"]);
                }
                else
                {
                    agv.IsMainAgv = false;
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["TRAFFICNUM"].ToString()))
                {
                    int tnum = Convert.ToInt16(dtAgvInfo.Rows[0]["TrafficNum"]);
                    agv.TRAFFICNUM.Add(GlobalPara.TrafficBuffer[tnum]);
                }
                else
                {
                    agv.TRAFFICNUM.Clear();
                }
                if (!string.IsNullOrEmpty(dtAgvInfo.Rows[i]["TRAFFICAGV"].ToString()))
                {
                    int num = Convert.ToInt16(dtAgvInfo.Rows[0]["TrafficAgv"]);
                    agv.TRAFFICAGV = GlobalPara.AgvInfoDic[num];
                }
                else
                {
                    agv.TRAFFICAGV = null;
                }
                #endregion
                if (agv != null)
                {
                    listagv.Add(agv);
                }
            }
            dtAgvInfo.Close();
            return listagv;
        }

        #endregion

        #region 更新缓存区AGV数据11
        /// <summary>
        /// 更新缓存区AGV运行数据
        /// </summary>
        /// <param name="agvdata">agv回复中控的数据</param>
        //public void UpdateBuffer(byte[] agvdata)
        //{
        //    if (agvdata.Count() >=10)
        //    {
        //        int agvnum = agvdata[2];//agv编号
        //        if (GlobalPara.AgvInfoDic.ContainsKey(agvnum))
        //        {
        //            //agv类
        //            AGVInfoModel agvinfo = GlobalPara.AgvInfoDic[agvnum];
        //            agvinfo.AGVNUM = agvnum;

        //            //地标卡号
        //            int markNum = Convert.ToInt16(agvdata[3] | ((agvdata[7] & 0xC0) << 2));
        //            agvinfo.MARKNUM = markNum;

        //            {
        //                #region 管制区
        //                TrafficAreaService trafficService = new TrafficAreaService();
        //                //上一管制区号
        //                int lastTrafficNum = agvinfo.PTRAFFICNUM;
        //                //当前管制区号
        //                int currentTrafficNum;

        //                //获取当前地标位置是否在管制区内
        //                TrafficAreaModel traffic = trafficService.GetTraffic(markNum);
        //                if (traffic != null)
        //                {
        //                    currentTrafficNum = traffic.TrafficNum;
        //                }
        //                else
        //                {
        //                    currentTrafficNum = 0;
        //                }
        //                TrafficAreaModel lastTraffic = null;
        //                //获取上一管制区
        //                if(GlobalPara.TrafficBuffer.Keys.Contains(lastTrafficNum))
        //                {
        //                    lastTraffic = GlobalPara.TrafficBuffer[lastTrafficNum];
        //                }

        //                if (traffic != null)
        //                {
        //                    #region 管制区内的情况
        //                    if (lastTrafficNum == 0)
        //                    {
        //                        #region agv从管制区外进入管制区内

        //                        traffic.InTraffic(agvinfo);//AGV加入管制区
        //                        //agvinfo.TRAFFICNUM = traffic.TrafficNum;
        //                        #endregion
        //                    }
        //                    else if (lastTrafficNum != 0)
        //                    {
        //                        if (lastTrafficNum != currentTrafficNum)
        //                        {
        //                            if (lastTraffic != null)
        //                            {
        //                                #region 从管制区A进入管制区B内
        //                                if (lastTraffic.OutTraffic(agvinfo))
        //                                {
        //                                    traffic.InTraffic(agvinfo);
        //                                    agvinfo.PTRAFFICNUM = agvinfo.PTRAFFICNUM;
        //                                    //agvinfo.TRAFFICNUM = traffic.TrafficNum;
        //                                }
        //                                #endregion
        //                            }
        //                        }
        //                    }
        //                    #endregion
        //                    //agvinfo.TRAFFICNUM = traffic.TrafficNum;//当前管制区
        //                }
        //                else 
        //                {
        //                    #region 管制区外的情况
        //                    if (lastTrafficNum != 0 && currentTrafficNum == 0)
        //                    {
        //                        //agv从管制区内驶出管制区外
        //                        if(lastTraffic!=null) lastTraffic.OutTraffic(agvinfo);
        //                    }
        //                    #endregion
        //                    agvinfo.TRAFFICNUM = new List<TrafficAreaModel>();//当前管制区
        //                }
        //                #endregion
        //            }


        //            //当前地标功能
        //            if (agvdata[4] > 0 && agvdata[4] < 32)
        //            {
        //                agvinfo.MARKFUN = agvdata[4];
        //            }

        //            agvinfo.RUNSTATUS = agvdata[5];
        //            //报警信息处理
        //            switch (agvdata[5])
        //            {
        //                #region 异常分类
        //                case 1:
        //                    agvinfo.ALARMCODE = "1";
        //                    agvinfo.ALARMINFO = "无异常";
        //                    break;
        //                case 2:
        //                    agvinfo.ALARMCODE = "2";
        //                    agvinfo.ALARMINFO = "急停报警";
        //                    break;
        //                case 3:
        //                    agvinfo.ALARMCODE = "3";
        //                    agvinfo.ALARMINFO = "防撞报警";
        //                    break;
        //                case 4:
        //                    agvinfo.ALARMCODE = "4";
        //                    agvinfo.ALARMINFO = "牵引棒报警";
        //                    break;
        //                case 5:
        //                    agvinfo.ALARMCODE = "5";
        //                    agvinfo.ALARMINFO = "障碍物";
        //                    break;
        //                case 6:
        //                    agvinfo.ALARMCODE = "6";
        //                    agvinfo.ALARMINFO = "跑错路线";
        //                    break;
        //                case 7:
        //                    agvinfo.ALARMCODE = "7";
        //                    agvinfo.ALARMINFO = "电压报警";
        //                    break;
        //                case 8:
        //                    agvinfo.ALARMCODE = "8";
        //                    agvinfo.ALARMINFO = "脱轨报警";
        //                    break;
        //                case 9:
        //                    agvinfo.ALARMCODE = "9";
        //                    agvinfo.ALARMINFO = "低电压报警";
        //                    break;
        //                case 10:
        //                    agvinfo.ALARMCODE = "10";
        //                    agvinfo.ALARMINFO = "低电压停机";
        //                    break;
        //                case 11:
        //                    agvinfo.ALARMCODE = "11";
        //                    agvinfo.ALARMINFO = "超载报警";
        //                    break;
        //                default:
        //                    agvinfo.ALARMCODE = "-1";
        //                    agvinfo.ALARMINFO = "未知异常";
        //                    break;
        //                #endregion
        //            }
        //            agvinfo.ROUTENUM = agvdata[6];

        //            //速度等级
        //            int SpeedGrade = agvdata[7] & 0x3F;
        //            if (SpeedGrade > 0 && SpeedGrade < 6)
        //            {
        //                agvinfo.SPEEDLEVEL = SpeedGrade;
        //            }

        //            agvinfo.OffLineCount = 0;
        //            agvinfo.ConnectStatus = true;


        //        }
        //    }
        //}
        #endregion

        #region 更新缓存区AGV数据22
        public void UpdateBufferOld(List<byte> agvdata)
        {
            string a = "";
            if (agvdata.Count >= 10)
            {
                int agvnum = agvdata[2];//agv编号
                if (GlobalPara.AgvInfoDic.ContainsKey(agvnum))
                {
                    #region 属性更新
                    //agv类
                    AGVInfoModel agvinfo = GlobalPara.AgvInfoDic[agvnum];
                    agvinfo.AGVNUM = agvnum;
                    //----------------------------------------------------------------------
                    /**修改人：胡文辉
                     * 修改日期：2017-10-14
                     * 修改内容：由于协议更改，获取地标卡号和路线编号的位置做了调整。
                     * */
                    //agvinfo.MARKNUM = agvdata[3] | ((agvdata[9] & 0xFF) << 8);
                    if (!GlobalPara.UseNewProtrol)
                    {
                        agvinfo.MARKNUM = Convert.ToInt16(agvdata[3] | ((agvdata[7] & 0xC0) << 2));
                        agvinfo.ROUTENUM = agvdata[6];
                        if (agvdata[4] > 0 && agvdata[4] < 32)
                        {
                            agvinfo.MARKFUN = agvdata[4];
                        }
                        agvinfo.RUNSTATUS = agvdata[5];
                        //报警信息处理
                        switch (agvdata[5])
                        {
                            #region 异常分类
                            case 1:
                                agvinfo.ALARMCODE = "1";
                                agvinfo.ALARMINFO = "无异常";
                                break;
                            case 2:
                                agvinfo.ALARMCODE = "2";
                                agvinfo.ALARMINFO = "急停报警";
                                break;
                            case 3:
                                agvinfo.ALARMCODE = "3";
                                agvinfo.ALARMINFO = "防撞报警";
                                break;
                            case 4:
                                agvinfo.ALARMCODE = "4";
                                agvinfo.ALARMINFO = "牵引棒报警";
                                break;
                            case 5:
                                agvinfo.ALARMCODE = "5";
                                agvinfo.ALARMINFO = "障碍物";
                                break;
                            case 6:
                                agvinfo.ALARMCODE = "6";
                                agvinfo.ALARMINFO = "跑错路线";
                                break;
                            case 7:
                                agvinfo.ALARMCODE = "7";
                                agvinfo.ALARMINFO = "电压报警";
                                break;
                            case 8:
                                agvinfo.ALARMCODE = "8";
                                agvinfo.ALARMINFO = "脱轨报警";
                                break;
                            case 9:
                                agvinfo.ALARMCODE = "9";
                                agvinfo.ALARMINFO = "低电压报警";
                                break;
                            case 10:
                                agvinfo.ALARMCODE = "10";
                                agvinfo.ALARMINFO = "低电压停机";
                                break;
                            case 11:
                                agvinfo.ALARMCODE = "11";
                                agvinfo.ALARMINFO = "超载报警";
                                break;
                            default:
                                agvinfo.ALARMCODE = "-1";
                                agvinfo.ALARMINFO = "未知异常";
                                break;
                            #endregion
                        }
                        //速度等级
                        int SpeedGrade = agvdata[7] & 0x3F;
                        if (SpeedGrade > 0 && SpeedGrade < 6)
                        {
                            agvinfo.SPEEDLEVEL = SpeedGrade;
                        }
                        agvinfo.OffLineCount = 0;
                        agvinfo.ConnectStatus = true;
                    }
                    else
                    {
                        //19位数据解析
                        if (agvdata.Count >= 19)
                        {
                            agvinfo.MARKNUM = ((int)agvdata[3] << 8 | agvdata[4]);
                            agvinfo.ROUTENUM = ((int)agvdata[8] << 8 | agvdata[9]);
                            if (agvdata[5] > 0 && agvdata[5] < 32)
                            {
                                agvinfo.MARKFUN = agvdata[5];
                            }
                            agvinfo.RUNSTATUS = agvdata[7];
                            switch (agvdata[6])
                            {
                                #region 异常分类
                                case 1:
                                    agvinfo.ALARMCODE = "1";
                                    agvinfo.ALARMINFO = "无异常";
                                    break;
                                case 2:
                                    agvinfo.ALARMCODE = "2";
                                    agvinfo.ALARMINFO = "急停报警";
                                    break;
                                case 3:
                                    agvinfo.ALARMCODE = "3";
                                    agvinfo.ALARMINFO = "防撞报警";
                                    break;
                                case 4:
                                    agvinfo.ALARMCODE = "4";
                                    agvinfo.ALARMINFO = "牵引棒报警";
                                    break;
                                case 5:
                                    agvinfo.ALARMCODE = "5";
                                    agvinfo.ALARMINFO = "障碍物";
                                    break;
                                case 6:
                                    agvinfo.ALARMCODE = "6";
                                    agvinfo.ALARMINFO = "跑错路线";
                                    break;
                                case 7:
                                    agvinfo.ALARMCODE = "7";
                                    agvinfo.ALARMINFO = "电压报警";
                                    break;
                                case 8:
                                    agvinfo.ALARMCODE = "8";
                                    agvinfo.ALARMINFO = "脱轨报警";
                                    break;
                                case 9:
                                    agvinfo.ALARMCODE = "9";
                                    agvinfo.ALARMINFO = "低电压报警";
                                    break;
                                case 10:
                                    agvinfo.ALARMCODE = "10";
                                    agvinfo.ALARMINFO = "低电压停机";
                                    break;
                                case 11:
                                    agvinfo.ALARMCODE = "11";
                                    agvinfo.ALARMINFO = "超载报警";
                                    break;
                                default:
                                    agvinfo.ALARMCODE = "-1";
                                    agvinfo.ALARMINFO = "未知异常";
                                    break;
                                #endregion
                            }
                            if (agvdata[6] != 0)
                            {
                                agvinfo.RUNSTATUS = agvdata[6];
                            }
                            //agvinfo.ALARMCODE = ((int)agvdata[6]).ToString() ;
                            int SpeedGrade = agvdata[10];
                            if (SpeedGrade > 0 && SpeedGrade < 6)
                            {
                                agvinfo.SPEEDLEVEL = SpeedGrade;
                            }
                            agvinfo.OffLineCount = 0;
                            agvinfo.ConnectStatus = true;
                            agvinfo.Bttery_Voltage = (decimal)(((int)agvdata[3] << 11 | agvdata[12]) / 100.0);
                            agvinfo.Battery_Electricity = (decimal)(((int)agvdata[13] << 11 | agvdata[14]) / 100.0);

                        }
                    }
                    #endregion
                    #region 管制区逻辑处理部分
                    TrafficAreaService trafficService = new TrafficAreaService();
                    //前管制区号
                    //拷贝一份另存为
                    if (agvinfo.PTRAFFICNUM != agvinfo.TRAFFICNUM)
                    {
                        agvinfo.PTRAFFICNUM.Clear();
                        agvinfo.PTRAFFICNUM.AddRange(agvinfo.TRAFFICNUM);
                    }
                    //最新管制区号
                    //获取当前地标位置是否在管制区内
                    List<TrafficAreaModel> newTrafficList = trafficService.GetTrafficList(agvinfo.MARKNUM, agvinfo.ROUTENUM, agvnum);
                    List<TrafficAreaModel> outTrafficList = new List<TrafficAreaModel>();
                    outTrafficList.AddRange(agvinfo.PTRAFFICNUM);
                    bool isChange = CheckChange(agvinfo.TRAFFICNUM, newTrafficList);
                    //检查旧管制区与新管制区是否有变化，有变化才需要检查AGV的管制状态的逻辑变化。                   
                    if (isChange)
                    {
                        #region 管制区数据更新
                        if (newTrafficList.Count > 0)
                        {
                            #region 标明进入了管制区（交叉管制区或独立管制区）
                            {
                                foreach (TrafficAreaModel traffic in newTrafficList)
                                {
                                    //添加AGV的管制区对象列表
                                    if (!agvinfo.TRAFFICNUM.Contains(traffic))
                                    {
                                        //添加最新的管制区
                                        agvinfo.TRAFFICNUM.Add(traffic);
                                        //管制区有AGV进入
                                        traffic.AGVINTER(agvinfo, false);
                                    }
                                    if (outTrafficList.Contains(traffic))
                                    {
                                        outTrafficList.Remove(traffic);
                                    }
                                }
                            }
                            //循环把AGV已经退出的管制区给处理一下。
                            foreach (TrafficAreaModel traffic in outTrafficList)
                            {
                                //管制区有AGV离开
                                agvinfo.TRAFFICNUM.Remove(traffic);
                                traffic.AGVLEAVE(agvinfo);
                                if (traffic.listAgvQueue.Count > 0)
                                {
                                    traffic.ReleaseAgv(); //调用放行事件
                                }
                            }
                            #endregion
                        }
                        else
                        {
                            #region 表示AGV现在不在任何管制区
                            foreach (TrafficAreaModel traffic in outTrafficList)
                            {
                                agvinfo.TRAFFICNUM.Remove(traffic);
                                traffic.AGVLEAVE(agvinfo);
                                if (traffic.listAgvQueue.Count > 0)
                                {
                                    traffic.ReleaseAgv(); //调用放行事件
                                }
                            }
                            if (agvinfo.TrafficFlag)
                            {
                                agvinfo.TrafficFlag = false;
                                agvinfo.TRAFFICAGV = null;
                            }
                            #endregion
                        }
                        #endregion

                        #region 管制区的数据更新后,判定AGV的管制状态
                        //AGV只有在所有管制区成为主机的情况下，才能不被管制
                        bool isTraffic = false;//标识AGV是否应该被管制，true表示应该不管制；false表示不应该不管制
                        //int agv=0;
                        #region 遍历AGV现在的管制区，寻找是否有某个管制区还管制着本AGV（我自己）
                        foreach (var traffic in agvinfo.TRAFFICNUM)
                        {
                            //一旦发现AGV在某个管制区还不是主机，则把AGV管制住
                            if (agvinfo != traffic.MainAgv)
                            {
                                if (traffic.listAgvQueue.Contains(traffic.MainAgv))
                                {
                                    traffic.MainAgv = agvinfo;
                                    agvinfo.TrafficFlag = false;
                                    isTraffic = false;
                                    break;
                                }
                                else
                                {
                                    isTraffic = true;
                                    agvinfo.TRAFFICAGV = traffic.MainAgv;//---LG修改方便查看主机
                                    break;
                                }
                            }
                        }
                        #endregion

                        #region 发现AGV需要被管制
                        if (isTraffic)
                        {
                            agvinfo.TrafficFlag = true;

                        }
                        else
                        {
                            agvinfo.TrafficFlag = false;
                            agvinfo.TRAFFICAGV = null;
                            foreach (var traffic in outTrafficList)
                            {
                                if (traffic.MainAgv != null)
                                {
                                    traffic.ReleaseMainAgv();
                                }
                                else
                                {
                                    if (traffic.listAgvQueue.Count > 0)
                                    {
                                        traffic.ReleaseAgv(traffic.listAgvQueue[0]);
                                    }
                                }
                            }
                        }
                        #endregion

                        #endregion

                        #region 管制区数据更新日志记录
                        //StringBuilder a1 = new StringBuilder();

                        //foreach (var n in agvinfo.TRAFFICNUM)
                        //{
                        //    a1.Append("->"+n.TrafficNum);
                        //}
                        //if (a1.Length > 1)
                        //{
                        //    a1.Remove(0, 2);
                        //    a1.Append("|");
                        //}
                        //else
                        //{
                        //    a1.Append("无");
                        //}
                        //string marktime = DateTime.Now.ToString("HH:mm:ss");
                        //a = string.Format("{5} : AGV编号：{0} --AGV管制状态:{1} --当前地标：{2} --当前路线：{3}  --当前管制区:{4}  --当前AGV管制区主机：{6}", agvinfo.AGVNUM, agvinfo.TrafficFlag, agvinfo.MARKNUM, agvinfo.ROUTENUM, a1, marktime,agvinfo.TRAFFICAGV);
                        //ErrorLog.WriteErrorLogagv(a);
                        #endregion
                    }
                    #endregion
                    #region  罗国--预防管制区只有一辆车还被管制住。
                    bool SigleFlag = false;
                    bool SigleFlag1 = false;
                    if (agvinfo.TrafficFlag)
                    {
                        foreach (var agvtrffic in agvinfo.TRAFFICNUM)
                        {
                            if (agvinfo.TRAFFICAGV == null)//没有主机的时候不放行
                            {
                                if (agvtrffic.listAgvQueue.Count == 0)
                                {
                                    SigleFlag = true;
                                }
                                else if (agvtrffic.listAgvQueue.Count == 1)
                                {
                                    if (agvtrffic.listAgvQueue[0] == agvinfo)
                                    {
                                        SigleFlag = true;
                                    }
                                }
                                else
                                {
                                    SigleFlag = false;
                                    break;
                                }
                            }
                            else//有主机不放行
                            {
                                foreach (var agvtraffic1 in agvinfo.TRAFFICAGV.TRAFFICNUM)
                                {
                                    if (agvtraffic1 == agvtrffic)//有相同的区域
                                    {
                                        SigleFlag1 = false;
                                        break;
                                    }
                                    else
                                    {
                                        SigleFlag1 = true;
                                    }
                                }

                                if (!SigleFlag1)
                                {
                                    break;
                                }

                            }

                        }

                        if (SigleFlag)//确定只有一台AGV把AGV
                        {

                            agvinfo.TrafficFlag = false;
                            foreach (var traffic1 in agvinfo.TRAFFICNUM)//清空队列中所有的AGV
                            {
                                traffic1.MainAgv = agvinfo;
                                if (traffic1.listAgvQueue.Contains(agvinfo))
                                {
                                    traffic1.listAgvQueue.Remove(agvinfo);
                                }
                            }
                        }

                        if (SigleFlag1)//有主机的处理,且主机不在管制区域内
                        {
                            agvinfo.TrafficFlag = false;
                            foreach (var traffic2 in agvinfo.TRAFFICNUM)//清空队列中AGV的主机
                            {
                                traffic2.MainAgv = agvinfo;
                                if (traffic2.listAgvQueue.Contains(agvinfo.TRAFFICAGV))
                                {
                                    traffic2.listAgvQueue.Remove(agvinfo.TRAFFICAGV);
                                }
                            }
                        }

                    }
                    #endregion

                    #region  罗国--预防多管制区里互相管制
                    if (agvinfo.TrafficFlag)//在被管制的前提下
                    {
                        if (agvinfo.TRAFFICNUM.Count >= 2)//在多个管制区的互相管制随机放行
                        {
                            if (agvinfo.TRAFFICAGV.TRAFFICAGV == agvinfo)//主机的主机等于主机说明互相管制了
                            {
                                agvinfo.TrafficFlag = false;
                                foreach (var traffic1 in agvinfo.TRAFFICNUM)//清空队列中所有的AGV
                                {
                                    traffic1.MainAgv = agvinfo;
                                    if (traffic1.listAgvQueue.Contains(agvinfo))
                                    {
                                        traffic1.listAgvQueue.Remove(agvinfo);
                                    }
                                    if (traffic1.listAgvQueue.Contains(agvinfo.TRAFFICAGV))//把被管制的agv放在各个管制区的队列第一位
                                    {
                                        traffic1.listAgvQueue.Remove(agvinfo.TRAFFICAGV);
                                        traffic1.listAgvQueue.Insert(0, agvinfo.TRAFFICAGV);
                                    }
                                }
                            }
                        }
                    }

                    #endregion

                    #region  避免关机重启后管制状态还保留，导致放行不了
                    if (agvinfo.TRAFFICNUM.Count == 0)
                    {
                        agvinfo.TrafficFlag = false;
                        agvinfo.TRAFFICAGV = null;
                    }
                    #endregion

                    #region  在管制区中平行的时候就不管制了
                    if (GlobalPara.IsEnablePallel)
                    {
                        agvinfo.ParallelFlag = CheckRouteFlag(agvinfo.MARKNUM, agvinfo.ROUTENUM, agvinfo.AGVNUM);//实时检查AGV所在的地标和路线是否处于平行的时候
                        agvinfo.Direction = CheckDirectionFlag(agvinfo.MARKNUM, agvinfo.ROUTENUM, agvinfo.AGVNUM);//实时检查AGV所在路线上的放向
                        if (agvinfo.TrafficFlag)
                        {
                            bool falg1 = false;
                            bool falg2 = false;
                            int indexrow = 0;
                            for (int j = 0; j < agvinfo.TRAFFICNUM.Count; j++)
                            {
                                if (agvinfo.TRAFFICNUM[j].MainAgv != null)//如果等零的话
                                {
                                    if (agvinfo.TRAFFICNUM[j].MainAgv != agvinfo)
                                    {
                                        if (agvinfo.ParallelFlag && agvinfo.TRAFFICNUM[j].MainAgv.ParallelFlag)
                                        {
                                            falg1 = true;
                                        }
                                        else
                                        {
                                            falg1 = false;
                                            break;
                                        }
                                    }
                                }
                            }
                            for (int j = 0; j < agvinfo.TRAFFICNUM.Count; j++)
                            {
                                if (agvinfo.TRAFFICNUM[j].MainAgv != null)//如果等零的话
                                {
                                    if (agvinfo.TRAFFICNUM[j].MainAgv != agvinfo)
                                    {
                                        for (int i = 0; i < agvinfo.Direction.Count; i++)
                                        {
                                            if (agvinfo.TRAFFICNUM[j].MainAgv.Direction.Contains(agvinfo.Direction[i]))//方向相同则放行
                                            {
                                                falg2 = true;
                                                break;
                                            }
                                            else
                                            {
                                                falg2 = false;

                                            }
                                        }
                                    }
                                }
                            }
                            if (falg1 && falg2)//只有是平行线且方向一致时才不管制
                            {
                                agvinfo.TrafficFlag = false;
                                for (int i = 0; i < agvinfo.TRAFFICNUM.Count; i++)
                                {
                                    if (agvinfo.TRAFFICNUM[i].listAgvQueue.Contains(agvinfo))
                                    {
                                        agvinfo.TRAFFICNUM[i].listAgvQueue.Remove(agvinfo);
                                        agvinfo.TRAFFICNUM[i].listAgvQueue.Insert(0, agvinfo);//把放行的agv排到队列前面
                                    }
                                }

                            }
                        }
                    }
                    #endregion

                }
            }
        }

        /// <summary>
        /// 获取agv管制状态
        /// </summary>

        /// <summary>
        /// 检查管制区数据是否变化
        /// </summary>
        /// <param name="list"></param>
        /// <param name="newTrafficList"></param>
        /// <returns></returns>
        private bool CheckChange(List<TrafficAreaModel> list, List<TrafficAreaModel> newTrafficList)
        {
            if (list.Count != newTrafficList.Count)
            {
                return true;
            }
            else
            {
                if (list.Count == 0)
                {
                    return true;
                }
                else
                {
                    foreach (TrafficAreaModel tam in newTrafficList)
                    {
                        if (!list.Contains(tam))
                        {
                            return true;

                        }
                        // break;
                    }
                }
            }
            return false;
        }
        /// <summary>
        /// 检查路线是否平行
        /// </summary>
        /// <returns></returns>
        private bool CheckRouteFlag(int mark, int route, int agvnum)
        {
            DAL.ZSql sql1 = new DAL.ZSql();
            int trafficnum = 0;
            string a = "select  DISTINCT Parallel from T_Line where LineNum=" + route + "and  MarkID=(select ID from T_Mark where Mark=" + mark + "and WorkLine=(select WorkLine from T_WorkLine where CarID=" + agvnum + ")) ";
            sql1.Open(a);
            if (sql1.Rows.Count > 0)
            {
                trafficnum = Convert.ToInt32(sql1.m_table.Rows[0]["Parallel"]);
            }
            if (trafficnum == 1)
            {
                return true;
            }
            else
            {
                return false;
            }
        }

        /// <summary>
        /// 检查路线是否平行
        /// </summary>
        /// <returns></returns>
        private List<int> CheckDirectionFlag(int mark, int route, int agvnum)
        {
            List<int> Directionlist = new List<int>();
            DAL.ZSql sql1 = new DAL.ZSql();
            int trafficnum = -1;
            string a = "select  DISTINCT Direction from T_Line where LineNum=" + route + "and  MarkID=(select ID from T_Mark where Mark=" + mark + "and WorkLine=(select WorkLine from T_WorkLine where CarID=" + agvnum + ") )";
            sql1.Open(a);
            if (sql1.Rows.Count > 0)
            {
                for (int i = 0; i < sql1.m_table.Rows.Count; i++)
                {

                    if (!string.IsNullOrEmpty(sql1.m_table.Rows[i]["Direction"].ToString()))
                    {
                        trafficnum = Convert.ToInt32(sql1.m_table.Rows[i]["Direction"]);
                        Directionlist.Add(trafficnum);

                    }
                }
            }

            return Directionlist;
        }

        #endregion

        #region 功能性函数
        #region 把byte字符串转化成为AGVInfo对象(废弃)
        /// <summary>
        /// 把byte字符串转化成为AGVInfo对象
        /// </summary>
        /// <param name="tempBuffer"></param>
        /// <returns></returns>
        //public static AGVInfoModel ToAgvInfo(byte[] tempBuffer)
        //{
        //    AGVInfoModel agvinfo = new AGVInfoModel();
        //    if (DataHandle.DataCheck(tempBuffer) == 0)
        //    {
        //        agvinfo.AGVNUM = tempBuffer[2];
        //        //agvinfo.AGVNAME = "";
        //        agvinfo.MARKNUM = tempBuffer[3];
        //        agvinfo.MARKFUN = tempBuffer[4].ToString();
        //        agvinfo.RUNSTATUS = tempBuffer[5];
        //        switch (tempBuffer[5])
        //        {
        //            #region 异常分类
        //            case 1:
        //                agvinfo.ALARMCODE = 1;
        //                agvinfo.ALARMINFO = "无异常";
        //                break;
        //            case 2:
        //                agvinfo.ALARMCODE = 2;
        //                agvinfo.ALARMINFO = "急停报警";
        //                break;
        //            case 3:
        //                agvinfo.ALARMCODE = 3;
        //                agvinfo.ALARMINFO = "防撞报警";
        //                break;
        //            case 4:
        //                agvinfo.ALARMCODE = 4;
        //                agvinfo.ALARMINFO = "牵引棒报警";
        //                break;
        //            case 5:
        //                agvinfo.ALARMCODE = 5;
        //                agvinfo.ALARMINFO = "障碍物";
        //                break;
        //            case 6:
        //                agvinfo.ALARMCODE = 6;
        //                agvinfo.ALARMINFO = "跑错路线";
        //                break;
        //            case 7:
        //                agvinfo.ALARMCODE = 7;
        //                agvinfo.ALARMINFO = "电压报警";
        //                break;
        //            case 8:
        //                agvinfo.ALARMCODE = 8;
        //                agvinfo.ALARMINFO = "脱轨报警";
        //                break;
        //            case 9:
        //                agvinfo.ALARMCODE = 9;
        //                agvinfo.ALARMINFO = "低电压报警";
        //                break;
        //            case 10:
        //                agvinfo.ALARMCODE = 10;
        //                agvinfo.ALARMINFO = "低电压停机";
        //                break;
        //            case 11:
        //                agvinfo.ALARMCODE = 11;
        //                agvinfo.ALARMINFO = "超载报警";
        //                break;
        //            default:
        //                agvinfo.ALARMCODE = -1;
        //                agvinfo.ALARMINFO = "未知异常";
        //                break;
        //            #endregion
        //        }

        //        agvinfo.ROUTENUM = tempBuffer[6];
        //        agvinfo.SPEEDLEVEL = tempBuffer[7];

        //        #region 电池信息
        //        //agvinfo.batteryDatas.Add(tempBuffer[8].ToString());
        //        //agvinfo.batteryDatas.Add(tempBuffer[9].ToString());
        //        //agvinfo.batteryDatas.Add(tempBuffer[10].ToString());
        //        //agvinfo.batteryDatas.Add(tempBuffer[11].ToString());
        //        //agvinfo.batteryDatas.Add(tempBuffer[12].ToString());
        //        //agvinfo.batteryDatas.Add(tempBuffer[13].ToString());
        //        #endregion
        //    }

        //    return agvinfo;
        //}

        #endregion

        /// <summary>
        /// 存放字节数组的list
        /// </summary>
        public static List<byte[]> list = new List<byte[]>();
        /// <summary>
        /// 把字节数组中有效的协议数组拆分下来
        /// </summary>
        /// <param name="buffer"></param>
        public static void byteList(byte[] buffer)
        {
            #region 数据解析，拆分有用的字节数组

            if (buffer.Length == 10)
            {
                if (buffer[0] == 0x10)
                {
                    if (buffer[9] == 0x03 && buffer[8] == XOR_Check(buffer, 0, 8))
                    {
                        list.Add(buffer);
                    }
                }
            }
            else if (buffer.Length > 10)
            {
                if (buffer[0] == 0x10)
                {
                    if (buffer[9] == 0x03 && buffer[8] == XOR_Check(buffer, 0, 8))
                    {
                        byte[] temp = new byte[10];
                        byte[] last = new byte[buffer.Length - 10];

                        buffer.CopyTo(temp, 0);
                        buffer.CopyTo(last, 0);
                        list.Add(temp);
                        byteList(last);
                    }
                }
            }

            #endregion
        }

        /// <summary>
        /// 取异或校验码
        /// </summary>
        /// <param name="buf"></param>
        /// <param name="index"></param>
        /// <param name="length"></param>
        /// <returns></returns>
        public static byte XOR_Check(byte[] buf, int index, int length)
        {
            byte bcc = 0;
            if (index > length)
                return 0;
            for (int i = index; i < length; i++)
            {
                bcc ^= buf[i];
            }
            return Convert.ToByte(bcc);
        }

        #endregion

        #region 管制逻辑

        public bool RequestTrafficState(AGVInfoModel agv, TrafficAreaModel traffic)
        {
            int lastTrafficNum = agv.TRAFFICNUM.Count();
            int currentTrafficNum;
            bool AgvtrafficFlag = false;

            if (traffic != null)
            {
                currentTrafficNum = traffic.TrafficNum;
            }
            else
            {
                currentTrafficNum = 0;
            }
            if (lastTrafficNum == 0 && currentTrafficNum != 0)
            {
                #region agv从管制区外进入管制区内

                return InTraffic(traffic, agv);//AGV加入管制区

                #endregion
            }
            else if (lastTrafficNum != 0 && currentTrafficNum == 0)
            {
                #region agv从管制区内驶出管制区外
                if (OutTraffic(lastTrafficNum, agv))
                {
                    return AgvtrafficFlag = false;
                }
                #endregion
            }
            else if (lastTrafficNum != 0 && currentTrafficNum != 0 && lastTrafficNum != currentTrafficNum)
            {
                #region 从管制区A进入管制区B
                if (OutTraffic(lastTrafficNum, agv))
                {
                    //trafficAgvNum = traffic.MainAgv;

                    return InTraffic(traffic, agv);
                }
                #endregion
            }
            else
            {
                //未知情况
            }
            return AgvtrafficFlag;
        }

        public bool OutTraffic(int trafficNum, AGVInfoModel agv)
        {
            if (agv == null)
            {
                return false;
            }

            if (GlobalPara.TrafficBuffer.Keys.Contains(trafficNum))
            {
                TrafficAreaModel outttraffic = GlobalPara.TrafficBuffer[trafficNum];
                //if (lasttraffic != null)
                {
                    //把我从就管制区的agv列表中删除
                    if (GlobalPara.TrafficBuffer[trafficNum].listAgvQueue.Contains(agv))
                    {
                        GlobalPara.TrafficBuffer[trafficNum].listAgvQueue.Remove(agv);
                    }
                    //我是旧管制区的主机,更新旧管制区数据
                    if (GlobalPara.TrafficBuffer[trafficNum].MainAgv == agv)
                    {
                        if (GlobalPara.TrafficBuffer[trafficNum].listAgvQueue.Count > 0)
                        {
                            GlobalPara.TrafficBuffer[trafficNum].MainAgv = GlobalPara.TrafficBuffer[trafficNum].listAgvQueue[0];
                            GlobalPara.TrafficBuffer[trafficNum].IsTraffic = true;
                            AGVInfoModel newMainAgv = GlobalPara.TrafficBuffer[trafficNum].MainAgv;

                            newMainAgv.TRAFFICAGV = null;
                            newMainAgv.TrafficFlag = false;

                        }
                        else
                        {
                            GlobalPara.TrafficBuffer[trafficNum].IsTraffic = false;
                            GlobalPara.TrafficBuffer[trafficNum].MainAgv = null;

                        }
                    }

                    if (agv.TRAFFICNUM.Contains(outttraffic))
                    {
                        agv.TRAFFICNUM.Remove(outttraffic);//更新agv管制区编号
                    }
                    agv.TrafficFlag = false;
                    agv.TRAFFICAGV = null;
                    return true;
                }
            }
            return false;
        }

        public bool InTraffic(TrafficAreaModel traffic, AGVInfoModel agv)
        {
            if (traffic != null && agv != null)
            {
                //加入管制区agv列表
                if (!traffic.listAgvQueue.Contains(agv))
                {
                    traffic.listAgvQueue.Add(agv);
                }
                //判断管制区是否有主机
                if (traffic.MainAgv == null)
                {
                    //把队列中的第一位变成agv
                    traffic.MainAgv = traffic.listAgvQueue[0];
                    //检查管制区管制状态
                    if (!traffic.IsTraffic)
                    {
                        traffic.IsTraffic = true;
                    }
                }
                else
                {
                    //判断我是不是主机
                    if (traffic.MainAgv != agv)
                    {
                        //非主机：返回管制状态为true，管制agv为管制区主机agv编号
                        agv.TRAFFICAGV = traffic.MainAgv;
                        agv.TrafficFlag = true;
                        return true;
                    }
                    else
                    {
                        //是主机：管制状态为false，管制agv为0
                        agv.TRAFFICAGV = null;
                        agv.TrafficFlag = false;
                        return false;
                    }
                }
            }

            return agv.TrafficFlag;
        }

        public bool InTraffic(int trafficNum, AGVInfoModel agv)
        {
            if (GlobalPara.TrafficBuffer.Keys.Contains(trafficNum))
            {
                TrafficAreaModel newtraffic = GlobalPara.TrafficBuffer[trafficNum];

                if (newtraffic != null)
                {
                    //agv.TRAFFICNUM = newtraffic.TrafficNum;//更新agv管制区编号
                    //加入管制区agv列表
                    if (!newtraffic.listAgvQueue.Contains(agv))
                    {
                        newtraffic.listAgvQueue.Add(agv);
                    }
                    //判断管制区是否有主机
                    if (newtraffic.MainAgv == null)
                    {
                        //把队列中的第一位变成agv
                        newtraffic.MainAgv = newtraffic.listAgvQueue[0];
                        //检查管制区管制状态
                        if (!newtraffic.IsTraffic)
                        {
                            newtraffic.IsTraffic = true;
                        }
                    }
                    else
                    {
                        //判断我是不是主机
                        if (newtraffic.MainAgv != agv)
                        {
                            //非主机：返回管制状态为true，管制agv为管制区主机agv编号
                            agv.TRAFFICAGV = newtraffic.MainAgv;
                            agv.TrafficFlag = true;
                        }
                        else
                        {
                            //是主机：管制状态为false，管制agv为0
                            agv.TRAFFICAGV = null;
                            agv.TrafficFlag = false;
                        }
                    }
                    return true;
                }
            }
            return false;
        }

        #endregion

        public void Dispose()
        {
            //throw new NotImplementedException();
        }
        private static void ArrangeBuffer(List<byte> bufferList, byte targetByte)
        {
            int delBytes = 1;

            for (int i = 1; i < bufferList.Count; i++)
            {
                if (bufferList[i] == targetByte)
                {
                    break;
                }
                else
                {
                    delBytes++;
                }
            }

            try
            {
                lock (portLock)
                {
                    bufferList.RemoveRange(0, delBytes);
                }
            }
            catch (Exception ex)
            {
                //MessageBox.Show(ex.Message);
            }
        }
        private static object portLock = new object();
        public void UpdateBuffer(List<byte> receiveBuffer)
        {
            List<byte> frameFuncList = new List<byte> { 0x41, 0x42, 0x46, 0x32, 0x33, 0x35, 0x38 };
            while (receiveBuffer.Count >= 10)
            {
               
                byte frameHead = 0x10;          // 帧头
                byte frameTaig = 0x03;
               
               
                    if ((receiveBuffer[0] == frameHead) && (receiveBuffer.Count >= 14) && frameFuncList.Contains(receiveBuffer[1]))
                    {
                        byte checkSum = 0x00;
                        for (int i = 0; i < 12; i++)
                        {
                            checkSum ^= receiveBuffer[i];
                        }
                        if (checkSum == receiveBuffer[12] && frameTaig == receiveBuffer[13])
                        {
                            byte[] data = new byte[14];
                            for (int i = 0; i < 14; i++)
                            {
                                data[i] = receiveBuffer[i];
                            }
                            lock (portLock)
                            {
                                receiveBuffer.RemoveRange(0, 14);
                            }
                            //data丢到调度板块去处理
                            GlobalPara.dispatchList.Add(data);
                        }
                        else
                        {
                            ArrangeBuffer(receiveBuffer, frameHead);
                        }
                    }
                else if ((receiveBuffer[0] == frameHead) && (receiveBuffer.Count >= 12) && receiveBuffer[1] == 0x64)
                {
                    byte checkSum = 0x00;
                    for (int i = 0; i < 10; i++)
                    {
                        checkSum ^= receiveBuffer[i];
                    }
                    if (checkSum == receiveBuffer[10] && frameTaig == receiveBuffer[11])
                    {
                        byte[] agvdata = new byte[12];
                        for (int i = 0; i < 12; i++)
                        {
                            agvdata[i] = receiveBuffer[i];
                        }
                        lock (portLock)
                        {
                            receiveBuffer.RemoveRange(0, 12);
                        }
                        //解析新协议
                         int agvnum = agvdata[2];
                         if (GlobalPara.AgvInfoDic.ContainsKey(agvnum))
                         {
                             #region 属性更新
                             AGVInfoModel agvinfo = GlobalPara.AgvInfoDic[agvnum];
                             agvinfo.AGVNUM = agvnum;
                             agvinfo.MARKNUM = Convert.ToInt32(agvdata[4] | ((agvdata[3] & 0x1F) ));
                             agvinfo.ROUTENUM = Convert.ToInt32(agvdata[9] | ((agvdata[8] & 0x1F) ));
                             if (agvdata[5] > 0 && agvdata[5] < 32)
                             {
                                 agvinfo.MARKFUN = agvdata[5];
                             }
                             agvinfo.FPS = (int)((agvdata[3] & 0xE0) >> 5);


                             if (agvinfo.FPS == 1)
                             {
                                 agvinfo.RUNSTATUS_Cur = agvinfo.RUNSTATUS = (((agvdata[8] & 0xE0) >> 5) + 0x40);

                                 //报警信息处理
                                 switch (agvdata[6] + 1)
                                 {
                                     #region 异常分类
                                     case 1:
                                         agvinfo.ALARMCODE = "1";
                                         agvinfo.ALARMINFO = "无异常";
                                         break;
                                     case 2:
                                         agvinfo.ALARMCODE = "2";
                                         agvinfo.ALARMINFO = "急停报警";
                                         break;
                                     case 3:
                                         agvinfo.ALARMCODE = "3";
                                         agvinfo.ALARMINFO = "防撞报警";
                                         break;
                                     case 4:
                                         agvinfo.ALARMCODE = "4";
                                         agvinfo.ALARMINFO = "牵引棒报警";
                                         break;
                                     case 5:
                                         agvinfo.ALARMCODE = "5";
                                         agvinfo.ALARMINFO = "障碍物";
                                         break;
                                     case 6:
                                         agvinfo.ALARMCODE = "6";
                                         agvinfo.ALARMINFO = "路线异常";
                                         break;
                                     case 7:
                                         agvinfo.ALARMCODE = "7";
                                         agvinfo.ALARMINFO = "电压异常";
                                         break;
                                     case 8:
                                         agvinfo.ALARMCODE = "8";
                                         agvinfo.ALARMINFO = "脱轨报警";
                                         break;
                                     case 9:
                                         agvinfo.ALARMCODE = "9";
                                         agvinfo.ALARMINFO = "低电压报警";
                                         break;
                                     case 10:
                                         agvinfo.ALARMCODE = "10";
                                         agvinfo.ALARMINFO = "低电压停机";
                                         break;
                                     case 11:
                                         agvinfo.ALARMCODE = "11";
                                         agvinfo.ALARMINFO = "超载报警";
                                         break;
                                     default:
                                         agvinfo.ALARMCODE = "256";
                                         agvinfo.ALARMINFO = "未知异常";
                                         break;
                                     #endregion
                                 }
                                 if (agvdata[6] != 0)
                                 {
                                     agvinfo.RUNSTATUS = int.Parse(agvinfo.ALARMCODE) - 1;
                                 }
                                 //速度等级
                                 int SpeedGrade = (int)agvdata[7];
                                 if (SpeedGrade > 0 && SpeedGrade < 6)
                                 {
                                     agvinfo.SPEEDLEVEL = SpeedGrade;
                                 }
                                 Analyze(agvinfo);
                             }
                             else if(agvinfo.FPS==2)
                             {
                                 int BatteryEleInt = (int)(agvdata[5] << 8 | agvdata[6]);
                              //   int BatteryEleDecimal = (int)agvdata[5];
                                 int BatteryPowInt = (int)agvdata[7];
                                 if (((decimal)BatteryEleInt) / 100 <= 200)
                                 {
                                     agvinfo.Battery_Electricity = ((decimal)BatteryEleInt) / 100;
                                 }
                                 agvinfo.Battery_Power = (decimal)BatteryPowInt;
                             }
                             else if (agvinfo.FPS == 3)
                             {
                                 int BatteryVolInt = (int)((agvdata[5] << 4) | (agvdata[6]>>4));

                                 agvinfo.Bttery_Voltage = ((decimal)BatteryVolInt)/100;
                                 int BatteryTemInt = (int)(((agvdata[6]&0x0F) << 8) | (agvdata[7]));
                                 agvinfo.Battery_Temperature = ((decimal)BatteryTemInt) / 100;
                             }
                            
                             agvinfo.OffLineCount = 0;
                             agvinfo.ConnectStatus = true;
                             #endregion
                         }
                    }
                    else
                    {
                        ArrangeBuffer(receiveBuffer, frameHead);
                    }
                }
                else if ((receiveBuffer[0] == frameHead) && (receiveBuffer.Count >= 10) && receiveBuffer[1] == 0x62)
                {
                    byte checkSum = 0x00;
                    for (int i = 0; i < 8; i++)
                    {
                        checkSum ^= receiveBuffer[i];
                    }
                    if (checkSum == receiveBuffer[8] && frameTaig == receiveBuffer[9])
                    {
                        byte[] agvdata = new byte[10];
                        for (int i = 0; i < 10; i++)
                        {
                            agvdata[i] = receiveBuffer[i];
                        }
                        lock (portLock)
                        {
                            receiveBuffer.RemoveRange(0, 10);
                        }
                       //解析旧协议
                        int agvnum = agvdata[2];
                        if (GlobalPara.AgvInfoDic.ContainsKey(agvnum))
                        {
                            #region 属性更新
                            AGVInfoModel agvinfo = GlobalPara.AgvInfoDic[agvnum];
                            agvinfo.AGVNUM = agvnum;
                            agvinfo.MARKNUM = Convert.ToInt16(agvdata[3] | ((agvdata[7] & 0xC0) << 2));
                            agvinfo.ROUTENUM = agvdata[6];
                            if (agvdata[4] > 0 && agvdata[4] < 32)
                            {
                                agvinfo.MARKFUN = agvdata[4];
                            }
                            agvinfo.RUNSTATUS = agvdata[5];
                            //报警信息处理
                            switch (agvdata[5])
                            {
                                #region 异常分类
                                case 1:
                                    agvinfo.ALARMCODE = "1";
                                    agvinfo.ALARMINFO = "无异常";
                                    break;
                                case 2:
                                    agvinfo.ALARMCODE = "2";
                                    agvinfo.ALARMINFO = "急停报警";
                                    break;
                                case 3:
                                    agvinfo.ALARMCODE = "3";
                                    agvinfo.ALARMINFO = "防撞报警";
                                    break;
                                case 4:
                                    agvinfo.ALARMCODE = "4";
                                    agvinfo.ALARMINFO = "牵引棒报警";
                                    break;
                                case 5:
                                    agvinfo.ALARMCODE = "5";
                                    agvinfo.ALARMINFO = "障碍物";
                                    break;
                                case 6:
                                    agvinfo.ALARMCODE = "6";
                                    agvinfo.ALARMINFO = "跑错路线";
                                    break;
                                case 7:
                                    agvinfo.ALARMCODE = "7";
                                    agvinfo.ALARMINFO = "电压报警";
                                    break;
                                case 8:
                                    agvinfo.ALARMCODE = "8";
                                    agvinfo.ALARMINFO = "脱轨报警";
                                    break;
                                case 9:
                                    agvinfo.ALARMCODE = "9";
                                    agvinfo.ALARMINFO = "低电压报警";
                                    break;
                                case 10:
                                    agvinfo.ALARMCODE = "10";
                                    agvinfo.ALARMINFO = "低电压停机";
                                    break;
                                case 11:
                                    agvinfo.ALARMCODE = "11";
                                    agvinfo.ALARMINFO = "超载报警";
                                    break;
                                default:
                                    agvinfo.ALARMCODE = "-1";
                                    agvinfo.ALARMINFO = "未知异常";
                                    break;
                                #endregion
                            }
                            //速度等级
                            int SpeedGrade = agvdata[7] & 0x3F;
                            if (SpeedGrade > 0 && SpeedGrade < 6)
                            {
                                agvinfo.SPEEDLEVEL = SpeedGrade;
                            }
                            agvinfo.OffLineCount = 0;
                            agvinfo.ConnectStatus = true;
                            Analyze(agvinfo);
                            #endregion
                        }

                    }
                    else
                    {
                        ArrangeBuffer(receiveBuffer, frameHead);
                    }
                }
                else
                {
                    ArrangeBuffer(receiveBuffer, frameHead);
                }
            }
        }

        public void Analyze(AGVInfoModel agvinfo)
        {
            string a = "";
       //     if (agvdata.Count >= 10)
            {
               
                  
                    #region 管制区逻辑处理部分
                    TrafficAreaService trafficService = new TrafficAreaService();
                    //前管制区号
                    //拷贝一份另存为
                    if (agvinfo.PTRAFFICNUM != agvinfo.TRAFFICNUM)
                    {
                        agvinfo.PTRAFFICNUM.Clear();
                        agvinfo.PTRAFFICNUM.AddRange(agvinfo.TRAFFICNUM);
                    }
                    //最新管制区号
                    //获取当前地标位置是否在管制区内
                    List<TrafficAreaModel> newTrafficList = trafficService.GetTrafficList(agvinfo.MARKNUM, agvinfo.ROUTENUM, agvinfo.AGVNUM);
                    List<TrafficAreaModel> outTrafficList = new List<TrafficAreaModel>();
                    outTrafficList.AddRange(agvinfo.PTRAFFICNUM);
                    bool isChange = CheckChange(agvinfo.TRAFFICNUM, newTrafficList);
                    //检查旧管制区与新管制区是否有变化，有变化才需要检查AGV的管制状态的逻辑变化。                   
                    if (isChange)
                    {
                        #region 管制区数据更新
                        if (newTrafficList.Count > 0)
                        {
                            #region 标明进入了管制区（交叉管制区或独立管制区）
                            {
                                foreach (TrafficAreaModel traffic in newTrafficList)
                                {
                                    //添加AGV的管制区对象列表
                                    if (!agvinfo.TRAFFICNUM.Contains(traffic))
                                    {
                                        //添加最新的管制区
                                        agvinfo.TRAFFICNUM.Add(traffic);
                                        //管制区有AGV进入
                                        traffic.AGVINTER(agvinfo, false);
                                    }
                                    if (outTrafficList.Contains(traffic))
                                    {
                                        outTrafficList.Remove(traffic);
                                    }
                                }
                            }
                            //循环把AGV已经退出的管制区给处理一下。
                            foreach (TrafficAreaModel traffic in outTrafficList)
                            {
                                //管制区有AGV离开
                                agvinfo.TRAFFICNUM.Remove(traffic);
                                traffic.AGVLEAVE(agvinfo);
                                if (traffic.listAgvQueue.Count > 0)
                                {
                                    traffic.ReleaseAgv(); //调用放行事件
                                }
                            }
                            #endregion
                        }
                        else
                        {
                            #region 表示AGV现在不在任何管制区
                            foreach (TrafficAreaModel traffic in outTrafficList)
                            {
                                agvinfo.TRAFFICNUM.Remove(traffic);
                                traffic.AGVLEAVE(agvinfo);
                                if (traffic.listAgvQueue.Count > 0)
                                {
                                    traffic.ReleaseAgv(); //调用放行事件
                                }
                            }
                            if (agvinfo.TrafficFlag)
                            {
                                agvinfo.TrafficFlag = false;
                                agvinfo.TRAFFICAGV = null;
                            }
                            #endregion
                        }
                        #endregion

                        #region 管制区的数据更新后,判定AGV的管制状态
                        //AGV只有在所有管制区成为主机的情况下，才能不被管制
                        bool isTraffic = false;//标识AGV是否应该被管制，true表示应该不管制；false表示不应该不管制
                        //int agv=0;
                        #region 遍历AGV现在的管制区，寻找是否有某个管制区还管制着本AGV（我自己）
                        foreach (var traffic in agvinfo.TRAFFICNUM)
                        {
                            //一旦发现AGV在某个管制区还不是主机，则把AGV管制住
                            if (agvinfo != traffic.MainAgv)
                            {
                                if (traffic.listAgvQueue.Contains(traffic.MainAgv))
                                {
                                    traffic.MainAgv = agvinfo;
                                    agvinfo.TrafficFlag = false;
                                    isTraffic = false;
                                    break;
                                }
                                else
                                {
                                    isTraffic = true;
                                    agvinfo.TRAFFICAGV = traffic.MainAgv;//---LG修改方便查看主机
                                    break;
                                }
                            }
                        }
                        #endregion

                        #region 发现AGV需要被管制
                        if (isTraffic)
                        {
                            agvinfo.TrafficFlag = true;

                        }
                        else
                        {
                            agvinfo.TrafficFlag = false;
                            agvinfo.TRAFFICAGV = null;
                            foreach (var traffic in outTrafficList)
                            {
                                if (traffic.MainAgv != null)
                                {
                                    traffic.ReleaseMainAgv();
                                }
                                else
                                {
                                    if (traffic.listAgvQueue.Count > 0)
                                    {
                                        traffic.ReleaseAgv(traffic.listAgvQueue[0]);
                                    }
                                }
                            }
                        }
                        #endregion

                        #endregion

                        #region 管制区数据更新日志记录
                        //StringBuilder a1 = new StringBuilder();

                        //foreach (var n in agvinfo.TRAFFICNUM)
                        //{
                        //    a1.Append("->"+n.TrafficNum);
                        //}
                        //if (a1.Length > 1)
                        //{
                        //    a1.Remove(0, 2);
                        //    a1.Append("|");
                        //}
                        //else
                        //{
                        //    a1.Append("无");
                        //}
                        //string marktime = DateTime.Now.ToString("HH:mm:ss");
                        //a = string.Format("{5} : AGV编号：{0} --AGV管制状态:{1} --当前地标：{2} --当前路线：{3}  --当前管制区:{4}  --当前AGV管制区主机：{6}", agvinfo.AGVNUM, agvinfo.TrafficFlag, agvinfo.MARKNUM, agvinfo.ROUTENUM, a1, marktime,agvinfo.TRAFFICAGV);
                        //ErrorLog.WriteErrorLogagv(a);
                        #endregion
                    }
                    #endregion
                    #region  罗国--预防管制区只有一辆车还被管制住。
                    bool SigleFlag = false;
                    bool SigleFlag1 = false;
                    if (agvinfo.TrafficFlag)
                    {
                        foreach (var agvtrffic in agvinfo.TRAFFICNUM)
                        {
                            if (agvinfo.TRAFFICAGV == null)//没有主机的时候不放行
                            {
                                if (agvtrffic.listAgvQueue.Count == 0)
                                {
                                    SigleFlag = true;
                                }
                                else if (agvtrffic.listAgvQueue.Count == 1)
                                {
                                    if (agvtrffic.listAgvQueue[0] == agvinfo)
                                    {
                                        SigleFlag = true;
                                    }
                                }
                                else
                                {
                                    SigleFlag = false;
                                    break;
                                }
                            }
                            else//有主机不放行
                            {
                                foreach (var agvtraffic1 in agvinfo.TRAFFICAGV.TRAFFICNUM)
                                {
                                    if (agvtraffic1 == agvtrffic)//有相同的区域
                                    {
                                        SigleFlag1 = false;
                                        break;
                                    }
                                    else
                                    {
                                        SigleFlag1 = true;
                                    }
                                }

                                if (!SigleFlag1)
                                {
                                    break;
                                }

                            }

                        }

                        if (SigleFlag)//确定只有一台AGV把AGV
                        {

                            agvinfo.TrafficFlag = false;
                            foreach (var traffic1 in agvinfo.TRAFFICNUM)//清空队列中所有的AGV
                            {
                                traffic1.MainAgv = agvinfo;
                                if (traffic1.listAgvQueue.Contains(agvinfo))
                                {
                                    traffic1.listAgvQueue.Remove(agvinfo);
                                }
                            }
                        }

                        if (SigleFlag1)//有主机的处理,且主机不在管制区域内
                        {
                            agvinfo.TrafficFlag = false;
                            foreach (var traffic2 in agvinfo.TRAFFICNUM)//清空队列中AGV的主机
                            {
                                traffic2.MainAgv = agvinfo;
                                if (traffic2.listAgvQueue.Contains(agvinfo.TRAFFICAGV))
                                {
                                    traffic2.listAgvQueue.Remove(agvinfo.TRAFFICAGV);
                                }
                            }
                        }

                    }
                    #endregion

                    #region  罗国--预防多管制区里互相管制
                    if (agvinfo.TrafficFlag)//在被管制的前提下
                    {
                        if (agvinfo.TRAFFICNUM.Count >= 2)//在多个管制区的互相管制随机放行
                        {
                            if (agvinfo.TRAFFICAGV.TRAFFICAGV == agvinfo)//主机的主机等于主机说明互相管制了
                            {
                                agvinfo.TrafficFlag = false;
                                foreach (var traffic1 in agvinfo.TRAFFICNUM)//清空队列中所有的AGV
                                {
                                    traffic1.MainAgv = agvinfo;
                                    if (traffic1.listAgvQueue.Contains(agvinfo))
                                    {
                                        traffic1.listAgvQueue.Remove(agvinfo);
                                    }
                                    if (traffic1.listAgvQueue.Contains(agvinfo.TRAFFICAGV))//把被管制的agv放在各个管制区的队列第一位
                                    {
                                        traffic1.listAgvQueue.Remove(agvinfo.TRAFFICAGV);
                                        traffic1.listAgvQueue.Insert(0, agvinfo.TRAFFICAGV);
                                    }
                                }
                            }
                        }
                    }

                    #endregion

                    #region  避免关机重启后管制状态还保留，导致放行不了
                    if (agvinfo.TRAFFICNUM.Count == 0)
                    {
                        agvinfo.TrafficFlag = false;
                        agvinfo.TRAFFICAGV = null;
                    }
                    #endregion

                    #region  在管制区中平行的时候就不管制了
                    if (GlobalPara.IsEnablePallel)
                    {
                        agvinfo.ParallelFlag = CheckRouteFlag(agvinfo.MARKNUM, agvinfo.ROUTENUM, agvinfo.AGVNUM);//实时检查AGV所在的地标和路线是否处于平行的时候
                        agvinfo.Direction = CheckDirectionFlag(agvinfo.MARKNUM, agvinfo.ROUTENUM, agvinfo.AGVNUM);//实时检查AGV所在路线上的放向
                        if (agvinfo.TrafficFlag)
                        {
                            bool falg1 = false;
                            bool falg2 = false;
                            int indexrow = 0;
                            for (int j = 0; j < agvinfo.TRAFFICNUM.Count; j++)
                            {
                                if (agvinfo.TRAFFICNUM[j].MainAgv != null)//如果等零的话
                                {
                                    if (agvinfo.TRAFFICNUM[j].MainAgv != agvinfo)
                                    {
                                        if (agvinfo.ParallelFlag && agvinfo.TRAFFICNUM[j].MainAgv.ParallelFlag)
                                        {
                                            falg1 = true;
                                        }
                                        else
                                        {
                                            falg1 = false;
                                            break;
                                        }
                                    }
                                }
                            }
                            for (int j = 0; j < agvinfo.TRAFFICNUM.Count; j++)
                            {
                                if (agvinfo.TRAFFICNUM[j].MainAgv != null)//如果等零的话
                                {
                                    if (agvinfo.TRAFFICNUM[j].MainAgv != agvinfo)
                                    {
                                        for (int i = 0; i < agvinfo.Direction.Count; i++)
                                        {
                                            if (agvinfo.TRAFFICNUM[j].MainAgv.Direction.Contains(agvinfo.Direction[i]))//方向相同则放行
                                            {
                                                falg2 = true;
                                                break;
                                            }
                                            else
                                            {
                                                falg2 = false;

                                            }
                                        }
                                    }
                                }
                            }
                            if (falg1 && falg2)//只有是平行线且方向一致时才不管制
                            {
                                agvinfo.TrafficFlag = false;
                                for (int i = 0; i < agvinfo.TRAFFICNUM.Count; i++)
                                {
                                    if (agvinfo.TRAFFICNUM[i].listAgvQueue.Contains(agvinfo))
                                    {
                                        agvinfo.TRAFFICNUM[i].listAgvQueue.Remove(agvinfo);
                                        agvinfo.TRAFFICNUM[i].listAgvQueue.Insert(0, agvinfo);//把放行的agv排到队列前面
                                    }
                                }

                            }
                        }
                    }
                    #endregion

                }
            
        }

    }
}