DTJA_WCS_PRODUCT/SocketsTCPIP/CSendDeviceOrder.cs

using System;
using System.Collections.Generic;
using System.Text;
using System.Data;
using System.Threading;
using Microsoft.VisualBasic;
using DBFactory;
using ICommLayer;

namespace SocketsTCPIP
{
    /// <summary>
    /// 使用SocketsTCPIP的客户端进行通讯
    /// 发送设备命令类
    /// 创建者：Richard.Liu
    /// 20110104升级与AGV控制台通讯协议
    /// </summary>
    public class CSendDeviceOrder : ISendDeviceOrder
    {//20230811richard.liu周期内按S7连接批量发送，重构CControl.cs\文件夹Communication、Common内通讯CSendDeviceOrder: ISendDeviceOrder相关文件
        string _commLayerError;
        StringBuilder sql = new StringBuilder();
        public string CommLayerError
        {
            get { return _commLayerError; }
            set { _commLayerError = value; }
        }

        DBOperator dbo = CClientTCPIP.dbo;
        string AGVAllowSingleFork = CommonClassLib.AppSettings.GetValue("AGVAllowSingleFork");
        public CSendDeviceOrder()
        {
            dbo.Open();
        }
        


        /// <summary>
        ///序号	通讯种类	            方向	            通讯格式	                      格式说明
        ///1	监控调度通讯连接建立	监控调度->AGV控制台	60001	
        ///2	监控调度通讯连接断开	监控调度->AGV控制台	60002	
        ///3	下达任务	            监控调度->AGV控制台	60003[T1][T2][T][P][K][A] [F][C]
        ///[N1][O]
        ///[N2][O]
        ///……
        ///[CK]	T1为管理任务号,T2为监控任务号;
        ///T为任务类型;65535
        ///P为优先级(取值范围2-10,越大优先级越高);2
        ///K为车辆类型;65535
        ///A为车辆编号;65535
        ///F为后续任务标识(1-有后续任务,0-无后续任务);
        ///C为节点数量;
        ///N1、N2为节点号;
        ///O为动作设备编号(AGV控制台提供);
        ///CK校验码(以上所有任务码按无符号作加法)
        ///4	下达任务确认	AGV控制台->监控调度	60003[T1][T2] [CK]	T1为管理任务号,T2为监控任务号;
        ///5	AGV任务开始	AGV控制台->监控调度	60004[T1][T2][A] [CK]	A为车辆编号;
        ///6	任务开始确认	监控调度->AGV控制台	60004[T1][T2] [CK]	
        ///7	AGV任务完成	AGV控制台->监控调度	60005[T1][T2] [A] [CK]	
        ///8	任务完成确认	监控调度->AGV控制台	60005[T1][T2] [CK]	
        ///9	监控申请删除任务	监控调度->AGV控制台	60006[T1][T2] [CK]	
        ///10	监控申请删除任务回复	AGV控制台->监控调度	60006[T1][T2][A] [CK]	A为允许状态(0-不允许,1-允许)
        ///11
        ///控制台申请删除任务	AGV控制台->监控调度	60007[T1][T2] [CK]	
        ///12	控制台申请删除任务确认	监控调度->AGV控制台	60007[T1][T2] [CK]	
        ///13	监控查询AGV状态	监控调度->AGV控制台	60008 [A][CK]	A为车辆编号;
        ///14	查询AGV状态确认	AGV控制台->监控调度	60008 [C] [CK]	C为车辆数目;
        ///15	控制台上报AGV状态	AGV控制台->监控调度	60009[A][T1][S] [E] [W][B]
        ///[N][O][CK]	A为车辆编号;
        ///T1为管理任务号;
        ///S为当前路段起点;
        ///E为当前路段终点;
        ///W为工作状态；
        ///B为电池状态；
        ///N为目标节点；
        ///O为操作码；
        ///16	确认AGV状态	监控调度->AGV控制台	60009[A] [CK]	A为车辆编号;
        ///17	监控发送信息	监控调度->AGV控制台	60007[T1][T2]	
        ///18	监控调度申请删除任务回复	AGV控制台->监控调度	60006[T1][T2][A]	A为允许状态(0-不允许,1-允许)
        ///19	AGV申请进入特殊节点	AGV控制台->监控调度	60058[N][A]	N为节点; A为车号
        ///20	AGV报告位置状态	AGV控制台->监控调度	60059[A][S][X][Y][G]	A为车号;S为状态(0-正常，1-故障);X为X坐标;
        ///Y为Y坐标;G为角度
        ///21	AGV故障报告	AGV控制台->监控调度	60060[T1][T2][A][C]	A为车号; C为故障代码
        ///AGV控制台向监控调度系统发送的应答信号可根据情况确定,通讯格式为600xx[T1][T2],对不同的信号采用不同的标识进行应答

        /// </summary>
        /// <param name="MessageIndex">消息编号</param>
        /// <param name="TaskIndex">任务编号</param>
        /// <param name="Order">AGV命令字</param>
        /// <param name="DeviceIndex">设备编号</param>
        /// <param name="StartX">[N1]:取货点</param>
        /// <param name="StartY"></param>
        /// <param name="StartZ"></param>
        /// <param name="EndX">[N2]:放货点</param>
        /// <param name="EndY"></param>
        /// <param name="EndZ"></param>
        /// <returns>发送AGV命令是否成功</returns>
        /// //YHC20160412  这个函数全替换掉
        public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int StartX, int StartY, int StartZ, int EndX, int EndY, int EndZ, out StringBuilder[] _itemnames, out StringBuilder[] _itemvalues)
        {


            //StartX取设备索引 EndX送设备索引
            //20100413根据StartX（取设备索引）获得前（距离车尾远）叉、后（距离车尾近）叉
            //站在车尾沿着行进方向的左、右方向；
            //判断关联双叉是否同步运行
            char useAwayFork = '0';
            char channelLeft = '0';
            int AGVAddress = 0;
            string LogAddress = "";
            int dorder = 0;
            int _device = GetAGVNoFromMonitor(TaskIndex);
            int Fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(TaskIndex);
            //byte goodsID = GetGoodsIDfromManage(Fid);   // 从管理任务得到产品类型
            byte[] _Sdata;
            int NextOrder = 0; // 下一个动作编码，运动时候给AGV发送;  0没有下一个动作；2取货，送货；
            int HaveNextTask = IfHaveNextTask(TaskIndex, DeviceIndex, ref NextOrder);
            int forkNo = 0; int ck = 0;
            bool retvalue = false;
            int FPALLETBARCODE = GetFPALLETBARCODEfromManage(Fid);//lyyyyy0928
            int FREMARK = GetFREMARKfromManage(Fid);
            
            try
            {
                if (MessageIndex != 1)
                {
                    return false;

                }
                switch (Order)
                {
                    case 1://运动命令 StartX取设备索引
                        #region 运动命令

                        GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);// 运动命令按照起点设备查找AGV地标点

                         _Sdata = new byte[28];
                            
                        _Sdata[0] = Convert.ToByte(10003 & 255); //帧头
                        _Sdata[1] = Convert.ToByte((10003 >> 8) & 255);

                        _Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
                        _Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
                        _Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
                        _Sdata[5] = Convert.ToByte((Fid >> 24) & 255);

                        _Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
                        _Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);

                        _Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
                        _Sdata[9] = Convert.ToByte((65535 >> 8) & 255);

                        _Sdata[10] = Convert.ToByte(65535 & 255);//产品类型
                        _Sdata[11] = Convert.ToByte((65535 >> 8) & 255);
                       

                        _Sdata[12] = 2;//优先级
                        _Sdata[13] = 0;

                        _Sdata[14] = 0;//车辆类型 
                        _Sdata[15] = 0;

                        _Sdata[16] =  0;//车辆编号
                        _Sdata[17] =  0;

                        _Sdata[18] = 1;//后续任务
                        _Sdata[19] = 0;

                        _Sdata[20] = 2;//参数数量
                        _Sdata[21] = 0;

                        _Sdata[22] = Convert.ToByte(AGVAddress & 255);//取货节点号
                        _Sdata[23] = Convert.ToByte((AGVAddress >> 8) & 255);

                       // dorder = 65535;
                        _Sdata[24] = Convert.ToByte(Order & 255);//Convert.ToByte(Order & 255);//设备动作编号，无动作65535 --Convert.ToByte(NextOrder);
                        _Sdata[25] = Convert.ToByte((Order >> 8) & 255); // 高位FF03


                        for (int i = 0; i <= 25; i++)
                        {
                            ck += Convert.ToInt32(_Sdata[i]);
                        }
                        _Sdata[26] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
                        _Sdata[27] = Convert.ToByte((ck >> 8) & 255);
                        
                        retvalue= SendData(DeviceIndex, _Sdata);
                        #endregion
                        break;
                    case 2://取货命令
                        #region 取货命令

                        GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);

                        int monitorsendaddress = MonitorSendAdderss(Fid);
                        int senadress = GetsendAGVAddress(monitorsendaddress);
                        LogAddress = senadress.ToString();
                        dorder = 2;//取货命令
                        //if (channelLeft == '1')
                        //{
                        //    dorder = 1;//左取
                        //}
                        //else
                        //{
                        //    dorder = 3;//右取
                        //}
                        if ((Model.CGeneralFunction.MutiForkIfSync(TaskIndex, DeviceIndex, 6) == null) && (AGVAllowSingleFork == "1"))//20100710
                        {//不能同步

                            if (useAwayFork == '1')//前叉
                            {

                                forkNo = 1;
                            }
                            else//后叉
                            {
                                forkNo = 2;
                            }

                        }
                        else
                        {//同步
                            forkNo = 4;

                        }
                         _Sdata = new byte[35];

                        _Sdata[0] = Convert.ToByte(10003 & 255); //帧头
                        _Sdata[1] = Convert.ToByte((10003 >> 8) & 255);

                        _Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
                        _Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
                        _Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
                        _Sdata[5] = Convert.ToByte((Fid >> 24) & 255);

                        _Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
                        _Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);

                        _Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
                        _Sdata[9] = Convert.ToByte((65535 >> 8) & 255);

                        _Sdata[10] = Convert.ToByte(FPALLETBARCODE & 255);//产品类型
                        _Sdata[11] = Convert.ToByte((FPALLETBARCODE >> 8) & 255);

                        _Sdata[12] = 2;//优先级
                        _Sdata[13] = 0;//LSP20161002

                        //_Sdata[14] = goodsID;//车辆类型   -- 传入货物类型bba 13\14时空托盘 低位
                        //_Sdata[15] = 0;
                        _Sdata[14] = Convert.ToByte(65535 & 255);//车辆类型
                        _Sdata[15] = Convert.ToByte((65535 >> 8) & 255);

                        _Sdata[16] = 0;//车辆编号
                        _Sdata[17] = 0;

                        _Sdata[18] = 0;//后续动作
                        _Sdata[19] = 0;

                        _Sdata[20] = 2;//参数数量,节点 + 动作  + 送货节点 + 条码
                        _Sdata[21] = 0;

                        _Sdata[22] = Convert.ToByte(AGVAddress & 255);//节点号
                        _Sdata[23] = Convert.ToByte((AGVAddress >> 8) & 255);

                        _Sdata[24] = Convert.ToByte(Order & 255);//设备动作编号
                        _Sdata[25] = Convert.ToByte((Order >> 8) & 255);

                        //_Sdata[26] = Convert.ToByte(senadress & 255);
                        //_Sdata[27] = Convert.ToByte((senadress >>8) & 255);//送货的目的地址

                        //int FPALLETBARCODE = GetFPALLETBARCODEfromManage(Fid);   // 从管理任务得到产品类型
                        //_Sdata[28] = Convert.ToByte(FPALLETBARCODE & 255);//设备动作编号
                        //_Sdata[29] = Convert.ToByte((FPALLETBARCODE >> 8) & 255);

                        for (int i = 0; i <= 25; i++)
                        {
                            ck += Convert.ToInt32(_Sdata[i]);
                        }
                        _Sdata[26] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
                        _Sdata[27] = Convert.ToByte((ck >> 8) & 255);
                        retvalue = SendData(DeviceIndex, _Sdata);

                        #endregion
                        break;
                    case 3://送货
                        #region 送货

                        GetDeviceInfoFromAGVGate(EndX, ref channelLeft, ref useAwayFork, ref AGVAddress);


                        int FindNextTask = GetFindNextTask();
                        int nextaddress = GetsendAGVAddress(FindNextTask);
                        LogAddress = nextaddress.ToString();
                        dorder = 3;//送货
                        //if (channelLeft == '1')
                        //{
                        //    dorder = 2;//左送
                        //}
                        //else
                        //{
                        //    dorder = 4;//右送
                        //}
                        if ((Model.CGeneralFunction.MutiForkIfSync(TaskIndex, DeviceIndex, 6) == null) && (AGVAllowSingleFork == "1"))//20100710
                        {//不能同步

                            if (useAwayFork == '1')//前叉
                            {

                                forkNo = 1;
                            }
                            else//后叉
                            {
                                forkNo = 2;
                            }

                        }
                        else
                        {//同步
                            forkNo = 4;

                        }

                        _Sdata = new byte[30];

                        _Sdata[0] = Convert.ToByte(10003 & 255); //帧头
                        _Sdata[1] = Convert.ToByte((10003 >> 8) & 255);

                        _Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
                        _Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
                        _Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
                        _Sdata[5] = Convert.ToByte((Fid >> 24) & 255);

                        _Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
                        _Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);

                        _Sdata[8] = Convert.ToByte(65535 & 255);//任务类型
                        _Sdata[9] = Convert.ToByte((65535 >> 8) & 255);

                        _Sdata[10] = Convert.ToByte(FPALLETBARCODE & 255);//产品类型
                        _Sdata[11] = Convert.ToByte((FPALLETBARCODE >> 8) & 255);

                        _Sdata[12] = 2;//优先级
                        _Sdata[13] = 0;

                        _Sdata[14] = Convert.ToByte(65535 & 255);//车辆类型
                        _Sdata[15] = Convert.ToByte((65535 >> 8) & 255);

                        _Sdata[16] = 0;//车辆编号
                        _Sdata[17] = 0;

                        _Sdata[18] = 0;//后续任务标识
                        _Sdata[19] = 0;

                        _Sdata[20] = 2;//参数数量 取货节点号+设备动作编号+送货节点号
                        _Sdata[21] = 0;

                        _Sdata[22] = Convert.ToByte(AGVAddress & 255);//节点号
                        _Sdata[23] = Convert.ToByte((AGVAddress >> 8) & 255);

                        _Sdata[24] = Convert.ToByte(Order & 255);//设备动作编号
                        _Sdata[25] = Convert.ToByte((Order >> 8) & 255);

                        //_Sdata[26] = Convert.ToByte(nextaddress & 255);//送货节点号
                        //_Sdata[27] = Convert.ToByte((nextaddress >> 8)& 255);//节点号
                        for (int i = 0; i <= 25; i++)
                        {
                            ck += Convert.ToInt32(_Sdata[i]);
                        }
                        _Sdata[26] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
                        _Sdata[27] = Convert.ToByte((ck >> 8) & 255);

                        retvalue = SendData(DeviceIndex, _Sdata);

                        #endregion
                        break;
                    case 4://取送货
                        #region 取送货

                        //GetDeviceInfoFromAGVGate(StartX, ref channelLeft, ref useAwayFork, ref AGVAddress);

                        int agvGetAddress = GetsendAGVAddress(StartX);
                        int agvSendAddress = GetsendAGVAddress(EndX);
                        LogAddress = agvGetAddress.ToString() + "," + agvSendAddress.ToString();
                        dorder = 4;//取货命令
                        
                         _Sdata = new byte[30];

                        _Sdata[0] = Convert.ToByte(10003 & 255); //帧头
                        _Sdata[1] = Convert.ToByte((10003 >> 8) & 255);

                        _Sdata[2] = Convert.ToByte(Fid & 255);//管理任务号
                        _Sdata[3] = Convert.ToByte((Fid >> 8) & 255);
                        _Sdata[4] = Convert.ToByte((Fid >> 16) & 255);
                        _Sdata[5] = Convert.ToByte((Fid >> 24) & 255);

                        _Sdata[6] = Convert.ToByte(TaskIndex & 255);//调度任务号
                        _Sdata[7] = Convert.ToByte((TaskIndex >> 8) & 255);

                        _Sdata[8] = 0;//任务类型
                        _Sdata[9] = 0;

                        _Sdata[10] = Convert.ToByte(FREMARK & 255);//产品类型
                        _Sdata[11] = Convert.ToByte((FREMARK >> 8) & 255);

                        _Sdata[12] = 2;//优先级
                        _Sdata[13] = 0;//LSP20161002

                        //_Sdata[14] = goodsID;//车辆类型   -- 传入货物类型bba 13\14时空托盘 低位
                        //_Sdata[15] = 0;
                        _Sdata[14] = Convert.ToByte(65535 & 255);//车辆类型
                        _Sdata[15] = Convert.ToByte((65535 >> 8) & 255);

                        _Sdata[16] = 0;//车辆编号
                        _Sdata[17] = 0;

                        _Sdata[18] = 0;//后续动作
                        _Sdata[19] = 0;

                        _Sdata[20] = 2;//参数数量,取货节点 + 送货节点 
                        _Sdata[21] = 0;

                        _Sdata[22] = Convert.ToByte(agvGetAddress & 255);//取货节点
                        _Sdata[23] = Convert.ToByte((agvGetAddress >> 8) & 255);

                        _Sdata[24] = Convert.ToByte(agvSendAddress & 255);//送货节点 
                        _Sdata[25] = Convert.ToByte((agvSendAddress >> 8) & 255);

                        for (int i = 0; i <= 25; i++)
                        {
                            ck += Convert.ToInt32(_Sdata[i]);
                        }
                        if (ck >= 256)
                        {
                            ck = ck % 256;
                        }
                        _Sdata[26] = Convert.ToByte(ck & 255);//校验码(以上所有任务码按无符号作加法)
                        //_Sdata[27] = Convert.ToByte((ck >> 8) & 255);
                        retvalue = SendData(DeviceIndex, _Sdata);

                        #endregion
                        break;
                    default:
                        break;
                }


                return retvalue;
            }
            catch (Exception ex)
            {
                _commLayerError = this.ToString() + ":SendDeviceOrder---" + ex.Message;
                return false;
            }
            finally
            {
                _itemnames = null;
                _itemvalues= null;
                if (retvalue == true)
                {
                    writeDark(Fid, TaskIndex, DeviceIndex, dorder, LogAddress);
                }
            }

        }
        public byte GetGoodsIDfromManage(int fid)
        {
            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT GOODS_TEMPLATE_ID FROM T_MANAGE_TASK WHERE FID = ").Append(fid);
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    if (dv[0][0] == DBNull.Value)
                    {
                        return 0;
                    }
                    else
                    {
                        return Convert.ToByte(dv[0][0]);
                    }
                }
                else
                {
                    return 0;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }
        public int GetFPALLETBARCODEfromManage(int fid)//lyyyyy0928
        {
            DataView dv;
            try
            {
                int aaa = 0;
                sql.Remove(0, sql.Length);
                sql.Append("SELECT [FPALLETBARCODE] FROM T_MANAGE_TASK WHERE FID = ").Append(fid);
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    if (dv[0][0] == DBNull.Value)
                    {
                        return 0;
                    }
                    else if (dv[0][0].ToString().Length == 0)
                    {
                        return 0;
                    }
                    else
                    {
                        if (dv[0][0].ToString().Substring(0, 1) == "A")//F
                        {
                            aaa = Convert.ToInt32(dv[0][0].ToString().Substring(2, 4)) + 10000;
                            return aaa;
                        }
                        else if (dv[0][0].ToString().Substring(0, 1) == "B")//N
                        {
                            aaa = Convert.ToInt32(dv[0][0].ToString().Substring(2, 4)) + 20000;
                            return aaa;
                        }
                        else if (dv[0][0].ToString().Substring(0, 1) == "C")//
                        {
                            aaa = Convert.ToInt32(dv[0][0].ToString().Substring(2, 4)) + 30000;
                            return aaa;
                        }
                        else if (dv[0][0].ToString().Substring(0, 1) == "D")//
                        {
                            aaa = Convert.ToInt32(dv[0][0].ToString().Substring(2, 4)) + 40000;
                            return aaa;
                        }
                        return 0;
                    }
                }
                else
                {
                    return 0;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }
        public int GetFREMARKfromManage(int fid)
        {
            DataView dv;
            try
            {
                int aaa = 0;
                sql.Remove(0, sql.Length);
                sql.Append("SELECT FREMARK FROM T_MANAGE_TASK WHERE FID = ").Append(fid);
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    if (dv[0][0] == DBNull.Value)
                    {
                        return 0;
                    }
                    else
                    {
                        aaa = Convert.ToInt32(dv[0][0].ToString());
                        return aaa;
                    }
                }
                else
                {
                    return 0;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }
        public void writeDark(int Fid, int TaskIndex, int DeviceIndex, int dorder, string AGVAddress)
        {

            string barcode = string.Empty;
            StringBuilder sss = new StringBuilder("");
            sss.Remove(0, sss.Length);
            sss.Append("SELECT  F_TxtParam FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(TaskIndex).Append(")");
            DataView dvb = dbo.ExceSQL(sss.ToString()).Tables[0].DefaultView;
            if (dvb.Count > 0)
            {
                barcode = dvb[0]["F_TxtParam"].ToString();
            }
            else
            {
                barcode = "-";
            }
            sss.Remove(0, sss.Length);
            sss.Append("条码：").Append(barcode).Append("**写标志10003").Append("**管理任务：" + Fid.ToString()).Append("**设备指令索引：" + TaskIndex.ToString())
                                .Append("**命令字" + dorder.ToString()).Append("**位置" + AGVAddress.ToString());

            CommonClassLib.CCarryConvert.WriteDarkCasket(this.ToString(), "发送AGV指令", DeviceIndex.ToString(), sss.ToString());
           
        }
        /// <summary>
        /// 发送AGV命令
        /// </summary>
        /// <param name="MessageIndex">消息编号</param>
        /// <param name="TaskIndex">任务编号</param>
        /// <param name="Order">AGV命令字 ６１：MAN通知LC通讯连接建立；６２MAN通知LC通讯连接断开</param>
        /// <param name="DeviceIndex">设备编号</param>
        /// <returns>发送AGV设备命令是否成功</returns>
        public bool SendDeviceOrder(int MessageIndex, int TaskIndex, int Order, int DeviceIndex, int ArrowDeviceIndex, out StringBuilder[] _itemnames, out StringBuilder[] _itemvalues)
        {
            Model.MDevice devinfo = Model.CGetInfo.GetDeviceInfo(DeviceIndex);
            try
            {
                byte[] _Sdata = new byte[2];
                _Sdata[0] = Convert.ToByte(Order);
                _Sdata[1] = 0;
                _Sdata[2] = Convert.ToByte(TaskIndex & 255);//低八位
                _Sdata[3] = Convert.ToByte(TaskIndex >> 8);//高八位

                //根据DeviceIndex,得到Sockets通讯的初始设置



                if (devinfo == null)
                {
                    return false;
                }
                else
                {

                    CClientTCPIP.Send(devinfo.RemoteIP, devinfo.RemotePort, _Sdata);
                    return true;

                }

            }
            catch (Exception ex)
            {
                _commLayerError = this.ToString() + ":SendDeviceOrder---" + ex.Message;
                return false;
            }
            finally
            {
                _itemnames = null;
                _itemvalues = null;
                devinfo = null;
            }

        }
        /// <summary>
        /// 上位机给下位机发送烟箱按品牌码分道信息共15字节,有数据时写入实际数据，否则全部写零
        /// </summary>
        /// <param name="DeviceIndex">码垛位设备号索引</param>
        /// <param name="TobaccoCode">第1--13字节,烟箱码</param>
        /// <param name="HaveFirstProjectCode">第14字节,1-有一号工程码,0-无一号工程码</param>
        /// <param name="IfSmallTobacco">第15字节,1-小烟箱,0-正常烟箱</param>
        /// <returns></returns>
        public bool SendDeviceOrder(int DeviceIndex, string TobaccoCode, bool HaveFirstProjectCode, bool IfSmallTobacco,int Count)
        {
            return true;
        }
        bool SendData(int devID, byte[] _Sdata)
        {
            //根据DeviceIndex,得到Sockets通讯的初始设置
            Model.MDevice devinfo = Model.CGetInfo.GetDeviceInfo(devID);
            try
            {
                if (devinfo == null)
                {
                    return false;
                }
                else
                {

                    if (CClientTCPIP.Send(devinfo.RemoteIP, devinfo.RemotePort, _Sdata) == false)
                    {
                        if (CClientTCPIP.TcpError != null) _commLayerError = CClientTCPIP.TcpError;
                        return false;
                    }
                    return true;

                }
            }
            finally
            {
                devinfo = null;
            }
        }
        /// <summary>
        /// 向PLC的DB区写入数据
        /// </summary>
        /// <param name="ItemNames">标签变量名称数组</param>
        /// <param name="ItemValues">标签值数组</param>
        /// <returns></returns>
        public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues)
        {
            return true;
        }
        public bool WriteDBData(StringBuilder[] ItemNames, StringBuilder[] ItemValues, string PLCconnectionID)
        {
            return true;
        }
        void GetDeviceInfoFromAGVGate(int agvGateDevice,ref char channelLeft,ref char useAwayFork,ref int AGVAddress)
        {
            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT  F_Address,F_IfChannelLeft,F_UseAwayFork FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = ").Append(agvGateDevice).Append(")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    channelLeft = Convert.ToChar(dv[0]["F_IfChannelLeft"]);
                    useAwayFork = Convert.ToChar(dv[0]["F_UseAwayFork"]);
                    // AGVAddress = Convert.ToChar(dv[0]["F_Address"]);
                    AGVAddress = Convert.ToInt32(dv[0]["F_Address"]);
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }



        int MonitorSendAdderss(int manageidex)//查找agv送货任务的设备指令号
        {
            DataView LY = new DataView();
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("select F_NumParam5 from dbo.T_Monitor_Task where F_DeviceCommandIndex=3 and F_ManageTaskIndex=").Append(manageidex);
                LY = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (LY.Count > 0)
                {
                    return Convert.ToInt32(LY[0]["F_NumParam5"]);
                }
                else
                {
                    return 0;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                LY.Dispose();
            }
        }


        int GetsendAGVAddress(int adress)//查找agv送货任务的设备指令号
        {
            DataView dv = new DataView();
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT  F_Address FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = ").Append(adress).Append(")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_Address"]);
                }
                else
                {
                    //return 65535;
                    return adress;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv.Dispose();
            }
        }

        int GetFindNextTask()//查找agv送货任务后的取货任务的地址
        {
            DataView LY = new DataView();
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("select top 1 F_ManageTaskIndex ,F_NumParam2 from dbo.T_Monitor_Task where F_DeviceCommandIndex=2 and F_SendFlag ='0' and F_DeviceIndex =1001");
                LY = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (LY.Count > 0)
                {
                    return Convert.ToInt32(LY[0]["F_NumParam2"]);
                }
                else
                {
                    return 0;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                LY.Dispose();
            }
        }
        int GetAGVNoFromMonitor(int taskIndex)
        {

            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_AgvNo FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( taskIndex ).Append( ") and (F_AgvNo is not null)");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][0]);
                }
                else
                {
                    return 65535;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }
        int GetAGVTaskFromMonitor(int taskIndex)
        {

            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_AgvTask FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( taskIndex ).Append( ") and (F_AgvTask is not null)");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][0]);
                }
                else
                {
                    return 65535;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }
        /// <summary>
        /// 是否有后续任务：1，有；0，无
        /// </summary>
        /// <param name="taskindex"></param>
        /// <returns></returns>
        int IfHaveNextTask(int taskindex,int deviceindex)
        {
            int mankind = Model.CGeneralFunction.GetManageTaskKindIndexFromMonitor(taskindex);
            int fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(taskindex);
            sql.Remove(0, sql.Length);
            sql.Append("SELECT F_MonitorIndex  FROM T_Monitor_Task WHERE (F_DeviceCommandIndex != 5) AND (F_DeviceIndex = ").Append(deviceindex).Append(") AND (F_MonitorIndex != ").Append(taskindex).Append(") AND F_ManageTaskIndex=").Append(fid).Append(" AND F_ManageTASKKINDINDEX=").Append(mankind).Append(" ORDER BY F_MonitorIndex DESC");
            DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView ;
            if (dv.Count > 0)
            {
                dv = null;
                return 1;
            }
            else
            {
                dv = null;
                return 0;
            }

        }
        int IfHaveNextTask(int taskindex, int deviceindex, ref int NextOrder)
        {
            int mankind = Model.CGeneralFunction.GetManageTaskKindIndexFromMonitor(taskindex);
            int fid = Model.CGeneralFunction.GetManageTaskIndexfromMonitor(taskindex);
            sql.Remove(0, sql.Length);
            sql.Append("SELECT F_MonitorIndex, F_DEVICECOMMANDINDEX FROM T_Monitor_Task WHERE (F_DeviceCommandIndex != 5) AND (F_DeviceIndex = ").Append(deviceindex).Append(") AND (F_MonitorIndex != ").Append(taskindex).Append(") AND F_ManageTaskIndex=").Append(fid).Append(" AND F_ManageTASKKINDINDEX=").Append(mankind).Append(" ORDER BY F_MonitorIndex asc");
            DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
            if (dv.Count > 0)
            {
                NextOrder = Convert.ToInt32(dv[0]["F_DEVICECOMMANDINDEX"]);
                dv = null;
                return 1;
            }
            else
            {
                dv = null;
                return 0;
            }

        }
    }
}