using System;
using System.Collections.Generic;
using System.Text;
using System.Threading;
using System.Net;
using System.Net.Sockets;
using System.Data.SqlClient;
using CommonLib;
using DBFactory;
using System.Data;
namespace WcfControlMonitorLib
{
    static class CGeneralFunction
    {
        static StringBuilder sql = new StringBuilder();
        static DBOperator dbo = CListenAGVState.dbo;
        
        /// <summary>
        /// 多叉关联任务是否能同步运行
        /// </summary>
        /// <param name="monitorIndex">设备指令索引</param>
        /// <returns></returns>
        public static bool DoubleForkIfSync(int monitorIndex, int devIndex, int devKind)
        {//查找关联的调度任务（主任务或者辅助任务）；输送机与堆垛机区别对待
            //如果只能找到关联任务未被拆分，那么认为能同步运行20100323
            int mankind = GetManageTaskKindIndexFromMonitor(monitorIndex);
            int FID = GetManageTaskIndexfromMonitor(monitorIndex);
            int devOrder = GetDeviceOrderFromMonitor(monitorIndex);
            int dfx = GetDoubleForkX(mankind, FID, devIndex, devOrder);
            int mx = GetXCoorFromMonitor(monitorIndex, devIndex, devOrder);
            int dfy = GetDoubleForkY(mankind, FID, devIndex, devOrder);
            int my = GetYCoorFromMonitor(monitorIndex, devIndex, devOrder);
            int dfz = GetDoubleForkZ(mankind, FID, devIndex, devOrder);
            int mz = GetZCoorFromMonitor(monitorIndex, devIndex, devOrder);
            if (GetDoubleForkUnIntoStep(monitorIndex) == true) return true;

            switch (devKind)
            {
                case 1:
                    //如果主任务和副任务的列数都是1列，则是1121、1122顶升机构，可以同步
                    if (1 == GetDoubleForkX(mankind, FID, devIndex, devOrder) && (GetXCoorFromMonitor(monitorIndex, devIndex, devOrder) == 1))
                    {
                        return true;
                    }

                    //堆垛机的同排，同层，临列可以同步并且ST_CELL的FDoubleFork值匹配


                    if ((Math.Abs(dfx - mx) == 1) && (dfy == my) && (mz == dfz))
                    {
                        if (EqualMonitorDoubleFork(mankind, FID, devIndex, devOrder) == true)
                        {
                            return true;
                        }
                        else
                        {
                            return false;
                        }
                    }
                    else
                    {
                        return false;
                    }

                case 2:
                    //输送机同步
                    return true;
                case 6:
                    //AGV临列可以同步并且ST_CELL的F_UseAwayFork值匹配


                    if (Math.Abs(dfx - mx) == 1)
                    {
                        if (EqualAGVGateDoubleFork(mankind, FID, devIndex, devOrder) == true)
                        {
                            return true;
                        }
                        else
                        {
                            return false;
                        }
                    }
                    else
                    {
                        return false;
                    }


                default:
                    return false;
            }

        }
        /// <summary>
        /// 获得双叉控制的堆垛机的送货任务（已经分配远货叉或者近货叉的任务）的值
        /// </summary>
        /// <param name="monitorIndex">设备指令索引</param>
        /// <returns></returns>
        public static string GetUseAwayFork(int monitorIndex)
        {
            sql.Remove(0, sql.Length);
            sql.Append("SELECT F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIndex ).Append( ")");
            DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
            if (dv.Count > 0)
            {
                return dv[0][0].ToString();
            }
            else
            {
                return "-";
            }
        }

        /// <summary>
        /// 获取双叉控制的堆垛机的取货任务（尚未指定应该使用哪个货叉）是否使用远货叉（主货叉）：0，近货叉；1远货叉
        /// </summary>
        /// <param name="z">排</param>
        /// <param name="x">列</param>
        /// <param name="y">层</param>
        /// <param name="FWAREHOUSE">库房索引</param>
        /// <param name="Mankind">任务类型</param>
        /// <param name="ManFID">调度任务索引</param>
        /// <param name="devIndex">设备索引</param>
        /// <param name="devOrder">指令</param>
        /// <returns></returns>
        public static int GetUseAwayFork(int monitorIndex, int devIndex, int devOrder)
        {
            int z = GetZCoorFromMonitor(monitorIndex, devIndex, devOrder);
            int x = GetXCoorFromMonitor(monitorIndex, devIndex, devOrder);
            int y = GetYCoorFromMonitor(monitorIndex, devIndex, devOrder);

            string FWAREHOUSE = GetWAREHOUSEFromSTCELL(devIndex);
            int Mankind = GetManageTaskKindIndexFromMonitor(monitorIndex);
            int ManFID = GetManageTaskIndexfromMonitor(monitorIndex);

            DataView dv; int UseAwayFork = 1;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT FDoubleFork FROM ST_CELL WHERE (FWAREHOUSE='" ).Append( FWAREHOUSE
                ).Append( "') and (F_Z = " ).Append( z ).Append( ") AND (F_X = " ).Append( x ).Append( ") AND (F_Y = " ).Append( y ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    UseAwayFork = Convert.ToInt32(dv[0][0]);
                }
                else
                {
                    UseAwayFork = 0;
                }
                switch (UseAwayFork)
                {
                    case 0://可用任何一个货叉:
                        int xcoor = GetDoubleForkX(Mankind, ManFID, devIndex, devOrder);
                        if (xcoor != -1)
                        {
                            //根据关联任务的货位判断使用近货叉（列坐标小）或者远货叉（列坐标大）
                            if (xcoor != x)
                            {
                                if (xcoor < x)
                                {
                                    UseAwayFork = 1;
                                }
                                else
                                {
                                    UseAwayFork = 0;
                                }
                            }
                            else
                            {
                                //列坐标相同的，判断层坐标，近货叉（层坐标小）或者远货叉（层坐标大）
                                int ycoor = GetDoubleForkY(Mankind, ManFID, devIndex, devOrder);
                                if (ycoor != -1)
                                {
                                    if (ycoor != y)
                                    {
                                        if (ycoor < y)
                                        {
                                            UseAwayFork = 1;
                                        }
                                        else
                                        {
                                            UseAwayFork = 0;
                                        }
                                    }
                                    else
                                    {
                                        //列和层都相同的，判断排坐标，近货叉（排坐标小）或者远货叉（排坐标大）
                                        int zcoor = GetDoubleForkZ(Mankind, ManFID, devIndex, devOrder);
                                        if (zcoor != -1)
                                        {
                                            if (zcoor != z)
                                            {
                                                if (zcoor < z)
                                                {
                                                    UseAwayFork = 1;
                                                }
                                                else
                                                {
                                                    UseAwayFork = 0;
                                                }
                                            }

                                        }
                                    }
                                }
                            }
                        }
                        else
                        {
                            UseAwayFork = 1;
                        }
                        break;
                    case 1://只能用近叉
                        UseAwayFork = 0;
                        break;
                    case 2://只能用远叉
                        UseAwayFork = 1;
                        break;
                }
                return UseAwayFork;
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }

        public static int GetDoubleForkFromST_CELL(int z, int x, int y, string FWAREHOUSE)
        {
            DataView dv; int UseAwayFork = 1;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT FDoubleFork FROM ST_CELL WHERE (FWAREHOUSE='" ).Append( FWAREHOUSE
                ).Append( "') and (F_Z = " ).Append( z ).Append( ") AND (F_X = " ).Append( x ).Append( ") AND (F_Y = " ).Append( y ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    UseAwayFork = Convert.ToInt32(dv[0][0]);
                }
                else
                {
                    UseAwayFork = 0;
                }

                return UseAwayFork;
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }


        public static string GetWAREHOUSEFromSTCELL(int stackIndex)
        {
            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT FWAREHOUSE FROM ST_CELL WHERE  (FStack = " ).Append( stackIndex ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return dv[0][0].ToString();
                }
                else
                {
                    return "";
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally { dv = null; }
        }
        /// <summary>
        /// 查找多叉关联任务的列坐标
        /// </summary>
        /// <param name="mankind">任务类型</param>
        /// <param name="fid">调度任务索引</param>
        /// <param name="devIdx">设备索引</param>
        /// <param name="devOrder">设备指令</param>
        /// <returns></returns>
        public static int GetDoubleForkX(int mankind, int fid, int devIdx, int devOrder)
        {
            DataView dv;
            string xc = "F_NumParam2";
            if (GetDeviceKindIdx(devIdx) == 1)
            {
                if (devOrder == 4)
                {
                    xc = "F_NumParam2";
                }
                else if (devOrder == 5)
                {
                    xc = "F_NumParam5";
                }
            }
            try
            {
                //查找被关联辅助设备指令索引的列坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( xc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][xc]);
                }

                //查找关联自己的主设备指令索引的列坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( xc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (F_RELATIVECONTORLID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][xc]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }

        }
        /// <summary>
        /// 查找多叉关联任务的层坐标
        /// </summary>
        /// <param name="mankind">任务类型</param>
        /// <param name="fid">调度任务索引</param>
        /// <param name="devIdx">设备索引</param>
        /// <param name="devOrder">设备指令</param>
        /// <returns></returns>
        public static int GetDoubleForkY(int mankind, int fid, int devIdx, int devOrder)
        {
            DataView dv;
            string yc = "F_NumParam3";
            if (GetDeviceKindIdx(devIdx) == 1)
            {
                if (devOrder == 4)
                {
                    yc = "F_NumParam3";
                }
                else if (devOrder == 5)
                {
                    yc = "F_NumParam6";
                }
            }
            try
            {
                //查找被关联辅助设备指令索引的层坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( yc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][yc]);
                }

                //查找关联自己的主设备指令索引的层坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( yc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (F_RELATIVECONTORLID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")"); 
                ;
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][yc]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }

        }
        /// <summary>
        /// 查找多叉关联任务的排坐标
        /// </summary>
        /// <param name="mankind">任务类型</param>
        /// <param name="fid">调度任务索引</param>
        /// <param name="devIdx">设备索引</param>
        /// <param name="devOrder">设备指令</param>
        /// <returns></returns>
        public static int GetDoubleForkZ(int mankind, int fid, int devIdx, int devOrder)
        {
            DataView dv;
            string zc = "F_NumParam1";
            if (GetDeviceKindIdx(devIdx) == 1)
            {
                if (devOrder == 4)
                {
                    zc = "F_NumParam1";
                }
                else if (devOrder == 5)
                {
                    zc = "F_NumParam4";
                }
            }
            try
            {
                //查找被关联辅助设备指令索引的排坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( zc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][zc]);
                }

                //查找关联自己的主设备指令索引的排坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( zc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (F_RELATIVECONTORLID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][zc]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }

        }

        /// <summary>
        /// 查找多叉关联任务的ST_CELL表的使用哪个货叉属性是否相同
        /// </summary>
        /// <param name="mankind">任务类型</param>
        /// <param name="fid">调度任务索引</param>
        /// <param name="devIdx">设备索引</param>
        /// <param name="devOrder">设备指令</param>
        /// <returns></returns>
        public static bool EqualMonitorDoubleFork(int mankind, int fid, int devIdx, int devOrder)
        {
            DataView dv; char DoubleFork = '0', DoubleFork1 = '0';
            string xc = "F_NumParam2"; string yc = "F_NumParam3"; string zc = "F_NumParam1";
            if (GetDeviceKindIdx(devIdx) == 1)
            {
                if ((devOrder == 4) || (devOrder == 2))
                {
                    xc = "F_NumParam2";
                    yc = "F_NumParam3";
                    zc = "F_NumParam1";
                }
                else if ((devOrder == 5) || (devOrder == 3))
                {
                    xc = "F_NumParam5";
                    yc = "F_NumParam6";
                    zc = "F_NumParam4";
                }
            }


            try
            {

                int z = 0, x = 0, y = 0, z1 = 0, x1 = 0, y1 = 0;
                //查找被关联辅助设备指令索引的列坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( zc ).Append( "," ).Append( xc ).Append( "," ).Append( yc ).Append( ",F_UseAwayFork FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    z = Convert.ToInt32(dv[0][zc]);
                    x = Convert.ToInt32(dv[0][xc]);
                    y = Convert.ToInt32(dv[0][yc]);
                    DoubleFork = Convert.ToChar(dv[0]["F_UseAwayFork"]);
                }
                else
                {
                    //查找关联自己的主设备指令索引的列坐标
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT " ).Append( zc ).Append( "," ).Append( xc ).Append( "," ).Append( yc ).Append( ",F_UseAwayFork FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                        " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (F_RELATIVECONTORLID = " ).Append(
                        fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")"); 
                    ;
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        z = Convert.ToInt32(dv[0][zc]);
                        x = Convert.ToInt32(dv[0][xc]);
                        y = Convert.ToInt32(dv[0][yc]);
                        DoubleFork = Convert.ToChar(dv[0]["F_UseAwayFork"]);
                    }

                }
                if ((z == 0) && (x == 0) && (y == 0))
                {
                    return false;
                }
                else
                {
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT " ).Append( zc ).Append( "," ).Append( xc ).Append( "," ).Append( yc ).Append( ",F_UseAwayFork FROM T_Monitor_Task Where ( F_ManageTASKKINDINDEX = " ).Append( mankind ).Append( ") AND (F_ManageTaskIndex = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")"); 
                    
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        z1 = Convert.ToInt32(dv[0][zc]);
                        x1 = Convert.ToInt32(dv[0][xc]);
                        y1 = Convert.ToInt32(dv[0][yc]);
                        DoubleFork1 = Convert.ToChar(dv[0]["F_UseAwayFork"]);
                        if (((x1 > x) && (DoubleFork1 > DoubleFork)) || ((x > x1) && (DoubleFork > DoubleFork1)))
                        {
                            return true;
                        }
                        else
                        {
                            return false;
                        }
                    }
                    else
                    {
                        return false;
                    }
                }


            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }

        }

        /// <summary>
        /// 查找多叉关联任务的T_Base_AGV_Gate表的货叉属性是否匹配
        /// </summary>
        /// <param name="mankind">任务类型</param>
        /// <param name="fid">调度任务索引</param>
        /// <param name="devIdx">设备索引</param>
        /// <param name="devOrder">设备指令</param>
        /// <returns></returns>
        public static bool EqualAGVGateDoubleFork(int mankind, int fid, int devIdx, int devOrder)
        {
            //20110110   1运行,2取货,3送货,4取送货,5允许AGV移载
            DataView dv;
            string xc = "F_NumParam2";
            if (GetDeviceKindIdx(devIdx) == 6)
            {
                if (devOrder == 1)
                {
                    xc = "F_NumParam5";
                }
                else if ((devOrder == 2) || (devOrder == 5))
                {
                    xc = "F_NumParam2";
                }
                else if (devOrder == 3)
                {
                    xc = "F_NumParam5";
                }
            }

            try
            {

                int x = 0, x1 = 0;
                int channelleft = 0, channelleft1 = 0, xd = 0, xd1 = 0;
                //查找被关联辅助设备指令索引的列坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( xc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                ;
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {

                    xd = Convert.ToInt32(dv[0][xc]);
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = " ).Append( xd ).Append( ")");
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        x = Convert.ToInt32(dv[0]["F_Sequence"]);
                    }
                    else
                    {
                        x = 0;
                    }
                }
                else
                {
                    //查找关联自己的主设备指令索引的列坐标
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT " ).Append( xc ).Append( " FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                        " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (F_RELATIVECONTORLID = " ).Append(
                        fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")"); 
                    ;
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        xd = Convert.ToInt32(dv[0][xc]);
                        sql.Remove(0, sql.Length);
                        sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = " ).Append( xd ).Append( ")");
                        dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                        if (dv.Count > 0)
                        {
                            x = Convert.ToInt32(dv[0]["F_Sequence"]);
                        }
                        else
                        {
                            x = 0;
                        }
                    }

                }
                if (x == 0)
                {
                    return false;
                }
                else
                {
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT " ).Append( xc ).Append( " FROM T_Monitor_Task Where ( F_ManageTASKKINDINDEX = " ).Append( mankind ).Append( ") AND (F_ManageTaskIndex = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")");
                    ;
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        xd1 = Convert.ToInt32(dv[0][xc]);
                        sql.Remove(0, sql.Length);
                        sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = " ).Append( xd1 ).Append( ")");
                        dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                        if (dv.Count > 0)
                        {
                            x1 = Convert.ToInt32(dv[0]["F_Sequence"]);
                        }
                        else
                        {
                            x1 = 0;
                        }
                        int DoubleFork = 0, DoubleFork1 = 0;
                        sql.Remove(0, sql.Length);
                        sql.Append("SELECT F_UseAwayFork,F_IfChannelLeft FROM T_Base_AGV_Gate WHERE F_AGVGateDeviceIndex =" ).Append( xd);
                        dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                        if (dv.Count > 0)
                        {
                            DoubleFork = Convert.ToInt32(dv[0]["F_UseAwayFork"]);
                            channelleft = Convert.ToInt32(dv[0]["F_IfChannelLeft"]);
                        }
                        else
                        {
                            return false;
                        }
                        sql.Remove(0, sql.Length);
                        sql.Append("SELECT F_UseAwayFork,F_IfChannelLeft FROM T_Base_AGV_Gate WHERE F_AGVGateDeviceIndex =" ).Append( xd1);
                        dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                        if (dv.Count > 0)
                        {
                            DoubleFork1 = Convert.ToInt32(dv[0]["F_UseAwayFork"]);
                            channelleft1 = Convert.ToInt32(dv[0]["F_IfChannelLeft"]);
                        }
                        else
                        {
                            return false;
                        }
                        if ((((x1 > x) && (DoubleFork1 > DoubleFork)) || ((x > x1) && (DoubleFork > DoubleFork1))) && (channelleft == channelleft1))
                        {
                            return true;
                        }
                        else
                        {
                            return false;
                        }
                    }
                    else
                    {
                        return false;
                    }
                }


            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }

        }

        /// <summary>
        /// 在设备指令队列表获取Z 排坐标
        /// </summary>
        /// <param name="monitorIndex">设备指令索引</param>
        /// <returns></returns>
        public static int GetZCoorFromMonitor(int monitorIndex, int devIdx, int devOrder)
        {
            DataView dv;
            string zc = "F_NumParam1";
            if (GetDeviceKindIdx(devIdx) == 1)
            {
                if (devOrder == 4)
                {
                    zc = "F_NumParam1";
                }
                else if (devOrder == 5)
                {
                    zc = "F_NumParam4";
                }
            }
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( zc ).Append( " FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIndex ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][0]);
                }
                else
                {
                    return -1;
                }

            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }

        /// <summary>
        /// 在设备指令队列表获取X 列坐标
        /// </summary>
        /// <param name="monitorIndex">设备指令索引</param>
        /// <returns></returns>
        public static int GetXCoorFromMonitor(int monitorIndex, int devIdx, int devOrder)
        {
            DataView dv;
            string xc = "F_NumParam2";
            if (GetDeviceKindIdx(devIdx) == 1)
            {
                if (devOrder == 4)
                {
                    xc = "F_NumParam2";
                }
                else if (devOrder == 5)
                {
                    xc = "F_NumParam5";
                }
            }
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( xc ).Append( " FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIndex ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][0]);
                }
                else
                {
                    return -1;
                }

            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }
        /// <summary>
        /// 在设备指令队列表获取Y 层坐标
        /// </summary>
        /// <param name="monitorIndex">设备指令索引</param>
        /// <returns></returns>
        public static int GetYCoorFromMonitor(int monitorIndex, int devIdx, int devOrder)
        {
            DataView dv;
            string yc = "F_NumParam3";
            if (GetDeviceKindIdx(devIdx) == 1)
            {
                if (devOrder == 4)
                {
                    yc = "F_NumParam3";
                }
                else if (devOrder == 5)
                {
                    yc = "F_NumParam6";
                }
            }
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT " ).Append( yc ).Append( " FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIndex ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0][0]);
                }
                else
                {
                    return -1;
                }

            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }

        /// <summary>
        /// 返回多叉关联设备指令信息：【0】设备指令索引【1】提前检测【2】设备索引【3】路径
        /// </summary>
        /// <param name="monitorIndex">设备指令索引</param>
        /// <param name="devIdx">设备索引</param>
        /// <returns></returns>
        public static string[] GetDoubleForkMonitorInfo(int monitorIndex, int devIdx)
        {
            DataView dv;

            string[] rr = null;
            try
            {
                int mankind = GetManageTaskKindIndexFromMonitor(monitorIndex);
                int fid = GetManageTaskIndexfromMonitor(monitorIndex);
                int devOrder = GetDeviceOrderFromMonitor(monitorIndex);
                //查找被关联辅助设备指令索引的列坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_MonitorIndex,F_AheadDetect,F_DeviceIndex,F_RouteID FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.F_RELATIVECONTORLID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                    " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")"); 
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    rr = new string[4];
                    rr[0] = dv[0]["F_MonitorIndex"].ToString();
                    rr[1] = dv[0]["F_AheadDetect"].ToString();
                    rr[2] = dv[0]["F_DeviceIndex"].ToString();
                    rr[3] = dv[0]["F_RouteID"].ToString();
                }
                else
                {
                    //查找关联自己的主设备指令索引的列坐标
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT F_MonitorIndex,F_AheadDetect,F_DeviceIndex,F_RouteID FROM T_Manage_Task,T_Monitor_Task Where (T_Manage_Task.FID = T_Monitor_Task.F_ManageTaskIndex " ).Append(
                        " AND T_Manage_Task.F_ManageTaskKindIndex = T_Monitor_Task.F_ManageTASKKINDINDEX) and ( T_Monitor_Task.F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (F_RELATIVECONTORLID = " ).Append(
                        fid ).Append( ") and (F_DeviceIndex=" ).Append( devIdx ).Append( " and F_DeviceCommandIndex=" ).Append( devOrder ).Append( ")"); 
                    
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        rr = new string[4];
                        rr[0] = dv[0]["F_MonitorIndex"].ToString();
                        rr[1] = dv[0]["F_AheadDetect"].ToString();
                        rr[2] = dv[0]["F_DeviceIndex"].ToString();
                        rr[3] = dv[0]["F_RouteID"].ToString();
                    }
                    else
                    {
                        return null;
                    }
                }
                return rr;
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
                rr = null;
            }
        }

        /// <summary>
        /// 返回未拆分的多叉关联设备指令,true 代表有未拆分的多叉关联设备指令
        /// </summary>
        /// <param name="monitorIndex">设备指令索引</param>
        /// <returns></returns>
        public static bool GetDoubleForkUnIntoStep(int monitorIndex)
        {
            DataView dv;
            try
            {
                int mankind = GetManageTaskKindIndexFromMonitor(monitorIndex);
                int fid = GetManageTaskIndexfromMonitor(monitorIndex);
                //查找被关联辅助设备指令索引的列坐标
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_RELATIVECONTORLID FROM T_Manage_Task Where (T_Manage_Task.F_RELATIVECONTORLID <>-1 ) and ( F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    fid ).Append( ")");
                
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT FID FROM T_Manage_Task Where ( F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                    dv[0][0] ).Append( " and FIntoStepOK<>'1')");
                    
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        return true;
                    }




                }
                else
                {
                    //查找关联自己的主设备指令索引的列坐标
                    sql.Remove(0, sql.Length);
                    sql.Append("SELECT FID FROM T_Manage_Task Where ( F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (F_RELATIVECONTORLID = " ).Append(
                        fid ).Append( ")");
                    
                    dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                    if (dv.Count > 0)
                    {
                        sql.Remove(0, sql.Length);
                        sql.Append("SELECT FID FROM T_Manage_Task Where ( F_ManageTaskKindIndex = " ).Append( mankind ).Append( ") AND (FID = " ).Append(
                        dv[0][0] ).Append( " and FIntoStepOK<>'1')"); 
                        
                        dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                        if (dv.Count > 0)
                        {
                            return true;
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }

        public static int GetManageTaskIndexfromMonitor(int monitorIdx)
        {
            //20100108
            DataView dv;
            try
            {
                //20100108
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_ManageTaskIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIdx ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_ManageTaskIndex"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {//20100108
                throw ex;
            }
            finally
            {//20100108
                dv = null;
            }
        }
        public static int GetManageTaskKindIndexFromMonitor(int monitorIdx)
        {//20100108
            DataView dv;
            try
            {
                //20100108
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_ManageTaskKindIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIdx ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_ManageTaskKindIndex"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {//20100108
                throw ex;
            }
            finally
            {//20100108
                dv = null;

            }


        }

        /// <summary>
        /// 在调度队列中找到设备命令
        /// </summary>
        /// <param name="MonitorIndex">调度所引</param>
        /// <returns></returns>
        public static int GetDeviceOrderFromMonitor(int MonitorIndex)
        {
            //20100108
            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("select F_DeviceCommandIndex from T_Monitor_Task where (F_DeviceCommandIndex IS NOT NULL) and F_MonitorIndex=" ).Append( MonitorIndex); 
                ;
                //20100108
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_DeviceCommandIndex"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }

        public static int GetDeviceKindIdx(int devIdx)
        {
            object ob;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_DeviceKindIndex FROM T_Base_Device WHERE (F_DeviceIndex = " ).Append( devIdx ).Append( ")");
                ob = dbo.GetSingle(sql.ToString());
                
                if (ob != null)
                {
                    return Convert.ToInt32(ob);
                }
                else
                {
                    return -1;
                }

            }
            catch (Exception ex)
            {
                throw ex;
            }
        }

        public static int GetDeviceIndexFromMonitor(int MonitorIndex)
        {
            //20100108
            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("select F_DeviceIndex from T_Monitor_Task where (F_DeviceIndex IS NOT NULL) and F_MonitorIndex=" ).Append( MonitorIndex);
             
                //20100108
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_DeviceIndex"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;
            }
        }

       

    }
   
    /// <summary>
    /// Creator:Richard.liu
    /// 独立线程，监听AGV反馈的数据，并进行解析
    /// </summary>
    public static class CListenAGVState
    {
        public static event CDataSourceChangeEventHandler DataChange;
        public static event CUpdateDBEventHandler UpdateDB;

        public static void OnDataChange(CDataChangeEventArgs e)
        {
            if (DataChange != null)
            {
                DataChange(null, e);
            }
        }
        public static void OnUpdateDB(CUpdateDBChangeEventArgs e)
        {
            if (UpdateDB != null)
            {
                UpdateDB(null,e);
            }
        }
        
        //记录AGV操作地址号
        static ushort[] AgvActive = new ushort[4];
        //static bool _exitThread = false;
        static string _tcpServerError="";
       
        /// <summary>
        /// 监听接收AGV发送的数据时发生的故障
        /// </summary>
        public static string TcpServerError
        {
            get { return CListenAGVState._tcpServerError; }
            set { CListenAGVState._tcpServerError = value; }
        }
        static string _receiveOK = null;
        /// <summary>
        /// 监听到该AGV车的所有队列完成
        /// </summary>
        public static string ReceiveOK
        {
            get { return CListenAGVState._receiveOK; }
            set { CListenAGVState._receiveOK = value; }
        }
        static StringBuilder sql = new StringBuilder();
        static Thread mythread;
        static Socket Localsocket;
        static bool exitThread = false;//20091107
        static bool ConnectedServer = false;
        static byte[] _GetData = new byte[8192];
        public static DBOperator dbo = new DBOperator();
        static DBOperator dboM = new DBOperator("ManConnString", "ManDBFactory");
        

        /// <summary>
        /// 开始监听接收到的数据
        /// </summary>
        private static void BeginListen()
        {
            //20091107
            while (!exitThread )
            {
                
                try
                {
                    int gcount = 0;
                    if (ConnectedServer == false)
                    {
                        if (ConnectTcpIPServer() == false)
                        {
                            Thread.Sleep(200);//20100710
                            continue;
                        }
                    }

                    Localsocket.Listen(1);
                    try

                    {
                        //20090920
                        if (SocketsTCPIP.CClientTCPIP.ClientSocket.Connected == true)
                        {

                            gcount = SocketsTCPIP.CClientTCPIP.ClientSocket.Receive(_GetData);
                        }
                        else
                        {
                            SocketsTCPIP.CClientTCPIP.IfInit = false;
                            ConnectedServer = false;
                        }
                        if (gcount == 0)
                        {//20091107
                            SocketsTCPIP.CClientTCPIP.IfInit = false;
                            ConnectedServer = false;
                            Thread.Sleep(200);//20100710
                            continue;
                        }
                        
                    }
                    catch (SocketException ex)
                    {
                        _tcpServerError = "CListenAGVState.BeginListen:" + ex.Message;
                        SocketsTCPIP.CClientTCPIP.IfInit = false;
                        ConnectedServer = false;
                        Thread.Sleep(200);//20100710
                        continue;
                    }

                    //处理接收到数据:根据gcount在_GetData中查找各个帧头，按帧拆分
                    //帧的每两个字节（一个字）代表一个含义
                    byte[] chatnew;
                    chatnew = new byte[gcount];
                    Array.Copy(_GetData,0,  chatnew,0, gcount);
                    //将byte数组转换成UInt16数组
                    UInt16[] newData = ConvertByteToUInt16(chatnew);
                    CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "1000", chatnew);
                    
                    
                    //处理收到的消息
                    DisposeReceivedMessage(newData);
                    chatnew = null;//20100127
                    
                }
                catch (SocketException ex)
                {
                    ConnectedServer = false;
                    _tcpServerError = "CListenAGVState.BeginListen:" + ex.Message;
                }
                Thread.Sleep(200);//20100710
            }
        }

        #region 将BYTE数组转换为UInt16数组
        /// <summary>
        /// 将BYTE数组转换为UInt16数组
        /// </summary>
        /// <param name="srcData">需要处理的byte数组</param>
        /// <returns>返回UInt16数组</returns>
        private static UInt16[] ConvertByteToUInt16(byte[] srcData)
        {
            byte[] chat = null;
            //判断srcData数组的维数是否为奇数，如果为奇数则舍弃最后一位
            if (srcData.Length % 2 == 1)
            {
                chat = new byte[srcData.Length - 1];
                Array.Copy(srcData,0, chat,0, srcData.Length - 1);
                //Buffer.BlockCopy(srcData, 0, chat, 0, srcData.Length - 1);
            }
            else
            {
                chat = new byte[srcData.Length];
                Array.Copy(srcData,0, chat,0, srcData.Length);
                //Buffer.BlockCopy(srcData, 0, chat, 0, srcData.Length);
            }

            UInt16[] newData = new UInt16[chat.Length / 2];

            int temp = 0;
            for (int i = 0; i < newData.Length; i++)
            {
                newData[i] = (UInt16)((chat[temp+ 1] << 8) + chat[temp ]);//C#版：0是低位，1是高位；VC++版：1是低位，0是高位；
                temp += 2;
            }

            return newData;
        }
        #endregion

        #region 处理收到的消息
        /// <summary>
        /// 处理收到的消息
        /// </summary>
        /// <param name="message">消息数组</param>
        private static void DisposeReceivedMessage(UInt16[] message)
        {
            StringBuilder AheadDetect = new StringBuilder();
            ushort[] chatnew;
            byte[] _Sdata = new byte[6];
            try
            {
                for (int i = 0; i < message.Length; )
                {

                    switch (message[i])
                    {
                        case 60080://监控下达任务的应答60080[T1][T2](对60003[T1][T2][K][P][S][C]的应答)
                            #region 60080AGV对监控下达任务的应答

                            if (message.Length >= 3)//
                            {
                                if (message.Length <= (i + 2)) break;
                                try
                                {
                                    sql.Remove(0, sql.Length);
                                    sql.Append("UPDATE T_Monitor_Task SET F_ErrorCode='', F_Status=2  WHERE F_MonitorIndex = ").Append(message[i + 2]).Append("");//20110505
                                    SQLString(dbo, sql);
                                    //20110608dbo.ExecuteSql(sql.ToString());
                                    #region 多叉关联任务可以同步的一同报开始
                                    if (CGeneralFunction.DoubleForkIfSync(message[i + 2], 1001, 6) == true)
                                    {
                                        string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001);
                                        if (df != null)
                                        {
                                            sql.Remove(0, sql.Length);
                                            sql.Append("UPDATE T_Monitor_Task SET F_ErrorCode='',F_Status=2  WHERE F_MonitorIndex = ").Append(Convert.ToInt32(df[0]));//20110505
                                            SQLString(dbo, sql);
                                            //20110608dbo.ExecuteSql( sql.ToString());
                                            
                                            
                                        }
                                    }
                                    #endregion
                                    DataSourceChange();//20110405
                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:任务进入消息队列，" + ex.Message;
                                }
                                chatnew = new ushort[3];
                                Array.Copy(message, i, chatnew, 0, 3);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV任务进入消息队列", chatnew);
                                i += 3;
                            }
                            break;

                            #endregion
                        case 60081://允许AGV移载的应答:60081[T1][T2](对60005[T1][T2][N] [E] [O]的应答)
                            #region 60081允许AGV移载的应答

                            if (message.Length >= 3)
                            {
                                if (message.Length <= (i + 2)) break;
                                try
                                {
                                    

                                    ///////////////////////message[i + 2]对应F_AGVNextTask，求得F_MonitorIndex
                                    object ob = dbo.GetSingle("select F_MonitorIndex from T_Monitor_Task where F_AGVNextTask=" + message[i + 2]);
                                    if (ob != null)
                                    {
                                        int fid = message[i + 1];
                                        int mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(ob));
                                        ///////////////////////
                                        string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(Convert.ToInt32(ob), 1001);
                                        bool snyc = CGeneralFunction.DoubleForkIfSync(Convert.ToInt32(ob), 1001, 6);
                                        ActionFinish(1001, Convert.ToInt32(ob), 0);
                                        //20110608ActionComplete(1001, Convert.ToInt32(ob), 0);
                                        //刷新监控中心显示
                                        #region 多叉关联任务，能同步的同时报告完成；异步的直接执行关联的命令
                                        //20100323
                                        if (df != null)//20100702
                                        {
                                            //20100817 zhangxy 修改
                                            fid = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0]));
                                            mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0]));

                                            ///////////////////////
                                            if (snyc == true)//20100702
                                            {
                                                ActionFinish(1001, Convert.ToInt32(df[0]), 1);
                                                //20110608ActionComplete(1001, Convert.ToInt32(df[0]), 1);//20100702

                                            }

                                        }
                                        #endregion
                                        DataSourceChange();//20110405
                                    }
                                    
                                        
                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:允许AGV移载的应答，" + ex.Message;
                                }
                                chatnew = new ushort[3];
                                Array.Copy(message, i, chatnew, 0, 3);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "允许AGV移载的应答", chatnew);
                                i += 3;
                            }
                            break;

                            #endregion
                        case 60050://60050[T1][T2][A] ;AGV控制台开始分配AGV车号
                            #region AGV控制台开始分配AGV车号
                            if (message.Length >= 4)
                            {
                                if (message.Length <= (i + 3)) break;
                                try
                                {
                                    int fid = message[i + 1];
                                    int mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]);
                                    
                                    if (mankind == 1)
                                    {//20100714
                                        SQLString(dboM,new StringBuilder ( "update IO_CONTROL set CONTROL_STATUS=11 where CONTROL_ID=" + fid ));
                                        //20110608dboM.ExecuteSql("update IO_CONTROL set CONTROL_STATUS=11 where CONTROL_ID=" + fid + "");
                                    }

                                    //20100817 zhangxy 修改
                                    sql.Remove(0, sql.Length);
                                    sql.Append("update T_Base_device set F_LockedState=").Append(message[i + 2]).Append(
                                        " where   F_DeviceIndex=").Append(message[i + 3]);
                                    SQLString(dbo, sql);
                                    //20110608dbo.ExceSQL(sql.ToString());
                                    sql.Remove(0, sql.Length);
                                    sql.Append("UPDATE T_Monitor_Task SET F_AgvNo=").Append(message[i + 3]).Append("  WHERE F_ManageTaskIndex=").Append(fid).Append(" and F_ManageTaskKindIndex=").Append(mankind).Append(" and F_DeviceIndex=1001 and (F_AgvNo is null) ");
                                    SQLString(dbo, sql);
                                    //20110608dbo.ExecuteSql(sql.ToString());
                                    #region 多叉关联任务一起分配车号
                                    string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001);
                                    if (df != null)
                                    {
                                        fid = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0]));
                                        mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0]));
                                        if (mankind == 1)
                                        {//20100714
                                            sql.Remove(0, sql.Length);
                                            sql.Append("update IO_CONTROL set CONTROL_STATUS=11 where CONTROL_ID=" ).Append( fid);
                                            SQLString(dboM, sql);
                                            //20110608dboM.ExecuteSql( sql.ToString());
                                            sql.Remove(0, sql.Length);
                                            sql.Append("UPDATE T_Monitor_Task SET F_AgvNo=").Append(message[i + 3]).Append("  WHERE F_ManageTaskIndex=").Append(fid).Append(" and F_ManageTaskKindIndex=").Append(mankind).Append(" and F_DeviceIndex=1001");
                                            SQLString(dbo, sql);
                                            //20110608dbo.ExecuteSql(sql.ToString());
                                        }

                                    }
                                    else
                                    {
                                        #region 给单一AGV任务配双叉任务
                                        
                                        //if ((ir > 0) &&(GetDeviceOrderFromMonitor(message[i + 1])==1)&&(GetFCONTROLTASKTYPEFromManageTask(GetManageTaskKindIndexFromMonitor(message[i + 1]),GetManageTaskIndexfromMonitor(message[i + 1])))==1)//第一次分配车号并且是入库任务的取货指令
                                        //{//查找一个后续位置的未发送的关联任务，可能会涉及到关联设备改道和重分配货叉
                                        //    int xCoor=CGeneralFunction.GetXCoorFromMonitor(message[i + 1], 1001, 1);
                                        //    int agvSquence = GetAgvSquence(xCoor);
                                        //    int useAwayfork = GetUseAwayFork(message[i + 1]);
                                        //    if (useAwayfork == 1)
                                        //    {
                                        //        useAwayfork = 0;
                                        //    }
                                        //    else
                                        //    {
                                        //        useAwayfork = 1;
                                        //    }
                                        //    DataView dv = dbo.ExceSQL(" SELECT TOP 1 T_Monitor_Task.F_ManageTaskIndex,T_Monitor_Task.F_ManageTASKKINDINDEX,T_Monitor_Task.F_MonitorIndex FROM T_Monitor_Task,T_Base_AGV_Gate,T_Manage_Task where T_Monitor_Task.F_NumParam2 = T_Base_AGV_Gate.F_AGVGateDeviceIndex and T_Monitor_Task.F_ManageTaskIndex = T_Manage_Task.FID AND  T_Monitor_Task.F_ManageTASKKINDINDEX = T_Manage_Task.F_ManageTaskKindIndex and (T_Monitor_Task.F_Status = 0) AND (T_Base_AGV_Gate.F_Sequence >" + agvSquence + ") AND(T_Monitor_Task.F_DeviceIndex = 1001) AND (T_Monitor_Task.F_DeviceCommandIndex = 1) AND (T_Manage_Task.F_RELATIVECONTORLID = - 1) and (FCONTROLTASKTYPE=1) and (F_UseAwayFork ='" + useAwayfork + "') and (F_AgvNo is null) ORDER BY F_Sequence asc").Tables[0].DefaultView;
                                        //    if (dv.Count > 0)
                                        //    {//找到一个合适的多叉关联任务
                                        //        fid = GetManageTaskIndexfromMonitor(message[i + 1]);
                                        //        mankind = GetManageTaskKindIndexFromMonitor(message[i + 1]);
                                        //        int fidr =Convert.ToInt32( dv[0]["F_ManageTaskIndex"]);
                                        //        int mankindr = Convert.ToInt32(dv[0]["F_ManageTASKKINDINDEX"]);
                                        //        dbo.TransBegin();
                                        //        try
                                        //        {
                                        //            //修改多叉关联任务；分配AGV车号
                                        //            dbo.ExecuteSql("update T_Manage_Task set F_RELATIVECONTORLID=" + fidr + " where FID=" + fid + " and F_ManageTaskKindIndex="+mankind+"");
                                        //            dbo.ExecuteSql("update T_Manage_Task set F_RELATIVECONTORLID=" + fid + " where FID=" + fidr + " and F_ManageTaskKindIndex=" + mankindr + "");
                                        //            dbo.ExecuteSql("UPDATE T_Monitor_Task SET F_AgvNo=" + message[i + 2] + "  WHERE F_ManageTaskIndex=" + fidr + " and F_ManageTaskKindIndex=" + mankindr + " and F_DeviceIndex=1001");
                                        //            dbo.TransCommit();
                                        //        }
                                        //        catch (Exception ex)
                                        //        {
                                        //            _tcpServerError = "CListenAGVState.DisposeReceivedMessage:分配AGV车号," + ex.Message;
                                        //            dbo.TransRollback();
                                        //        }

                                        //    }
                                        //    dv = null;
                                        //}

                                        #endregion
                                    }
                                    #endregion
                                    DataSourceChange();//20110405

                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV控制台开始分配AGV车号," + ex.Message;
                                }
                                chatnew = new ushort[4];
                                Array.Copy(message, i, chatnew, 0, 4);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV控制台开始分配AGV车号", chatnew);
                                i += 4;
                            }
                            break;
                            
                            #endregion
                        case 60051://60051[T1][T2][N节点] [E货叉设备号] [O动作类型] [A车号] O为动作类型( 1-左取, 2-左送,3右取,4-右送)
                            //AGV到位（即到交接点）：在入出库口输送机AGV到位后,AGV控制台询问监控系统地面是否准备好
                            #region AGV到位（即到交接点）在入出库口输送机AGV到位后,AGV控制台询问监控系统地面是否准备好

                            {

                                if (message.Length >= 7)//20110110
                                {
                                    if (message.Length <= (i + 6)) break;//20110110
                                    //AGV到位(即到交接点)的应答:60030[T1][T2](对60051[T1][T2][N] [E] [O] [A]的应答)
                                    sql.Remove(0, sql.Length);
                                    sql.Append("SELECT  F_DeviceIndex,F_DeviceKindIndex, F_LocalIP,  F_LocalPort, F_RemoteIP,  F_RemotePort  FROM T_Base_Device where F_DeviceIndex=1001");
                                    DataView dvc = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                                    if (dvc.Count > 0)
                                    {
                                        _Sdata = new byte[6];
                                        _Sdata[0] = Convert.ToByte(60030 & 255);
                                        _Sdata[1] = Convert.ToByte(60030 >> 8);

                                        _Sdata[2] = Convert.ToByte(message[i + 1] & 255);
                                        _Sdata[3] = Convert.ToByte(message[i + 1] >> 8);
                                        _Sdata[4] = Convert.ToByte(message[i + 2] & 255);
                                        _Sdata[5] = Convert.ToByte(message[i + 2] >> 8);
                                        SocketsTCPIP.CClientTCPIP.Send(dvc[0]["F_RemoteIP"].ToString(), Convert.ToInt32(dvc[0]["F_RemotePort"]), _Sdata);
                                    }
                                    dvc = null;
                                    try
                                    {
                                        int device = GetDeviceIndexFromAgvAddress(message[i + 3], message[i + 4]);//20110110
                                        
                                        if (GetDeviceOrderFromMonitor(message[i + 2]) == -1)//AGV反馈的任务号不存在
                                        {//地面移载故障60008[T1][T2][N][C]

                                        }
                                        else
                                        {
                                            if (GetDeviceKindIdx(device) == 2) 
                                            {
                                                 _Sdata = new byte[12];
                                                DataView dv;
                                                //任务状态：0，生成【顶升上升】；1，只生成【允许AGV取货移载】；2，只生成【允许AGV送货移载】；3，先生成【顶升下降】然后生成【允许AGV移载】
                                                
                                                #region 入口输送机送货，检测空闲，无货，逻辑无物
                                                if ((message[i + 5] == 2) || (message[i + 5] == 4))
                                                {
                                                    
                                                    #region 20110412【允许AGV送货移载】:输送机空闲、入口无货、逻辑无货
                                                    int ManFID = message[i + 1];
                                                    int Mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]);
                                                    
                                                    AheadDetect.Remove(0, AheadDetect.Length);
                                                    AheadDetect.Append("I").Append(Convert.ToString(device)).Append(";N").Append(Convert.ToString(device))
                                                        .Append(";D").Append(Convert.ToString(device)).Append(".0");
                                                    
                                                    if (DeviceAndOrderExitInMonitor(Mankind, ManFID, 1001, 5, device) == false)
                                                    {

                                                        #region 允许AGV送货移载
                                                        int mindex = message[i + 2] - 1;
                                                        dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", message[i + 2])).Tables[0].DefaultView;
                                                        
                                                        sql.Remove(0, sql.Length);
                                                        sql.Append("INSERT INTO T_Monitor_Task ").Append(
                                                            "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append(
                                                            " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append(
                                                            " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append(
                                                        "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"]
                                                            ).Append(",").Append(1001).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append(
                                                            ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(message[i + 2]).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')");
                                                        SQLString(dbo,sql);
                                                        #endregion
                                                    }

                                                    #endregion

                                                    #region 检查关联站台
                                                    string[] df=CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001) ;
                                                    if ((message[i + 4] == 3) && (df != null))//多叉关联
                                                    {//检查关联站台

                                                        device = GetCorrDeviceIndex(device);
                                                        ManFID = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0]));
                                                        Mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0]));

                                                        AheadDetect.Remove(0, AheadDetect.Length);
                                                        AheadDetect.Append("I").Append(Convert.ToString(device)).Append(";N").Append(Convert.ToString(device))
                                                        .Append(";D").Append(Convert.ToString(device)).Append(".0");

                                                        if (DeviceAndOrderExitInMonitor(Mankind, ManFID, 1001, 5, device) == false)
                                                        {
                                                            #region 允许AGV送货移载
                                                            int mindex = Convert.ToInt32(df[0]) - 1;
                                                            dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", Convert.ToInt32(df[0]))).Tables[0].DefaultView;

                                                            sql.Remove(0, sql.Length);
                                                            sql.Append("INSERT INTO T_Monitor_Task ").Append(
                                                                "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append(
                                                                " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append(
                                                                " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append(
                                                            "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"]
                                                                ).Append(",").Append(1001).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append(
                                                                ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(Convert.ToInt32(df[0])).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')");
                                                            SQLString(dbo,sql);
                                                            #endregion
                                                        }
                                                    }
                                                    #endregion
                                                    
                                                }
                                                #endregion

                                                #region 出口输送机取货，检测空闲，有货，顶升低位
                                                if ((message[i + 5] == 1) || (message[i + 5] == 3))
                                                {
                                                    int ManFID = message[i + 1];
                                                    int Mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]);
                                                    AheadDetect.Remove(0, AheadDetect.Length);
                                                    #region 20110412【允许AGV取货移载】:输送机空闲、顶升机空闲、顶升低位、出口有货
                                                    AheadDetect.Append("I").Append(Convert.ToString(device)).Append(
                                                        ";I").Append(Convert.ToString(device - 2)).Append(
                                                        ";D-").Append(device.ToString()).Append(".2").Append(
                                                        ";D-").Append((device-2).ToString()).Append(".0"); 
                                                    
                                                    if (DeviceAndOrderExitInMonitor(Mankind, ManFID, 1001, 5, device) == false)
                                                    {
                                                        #region 允许AGV取货移载
                                                        int mindex = message[i + 2] - 1;
                                                        dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", message[i + 2])).Tables[0].DefaultView;
                                                        sql.Remove(0, sql.Length);
                                                        sql.Append("INSERT INTO T_Monitor_Task ").Append(
                                                            "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append(
                                                            " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append(
                                                            " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append(
                                                        "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"]
                                                            ).Append(",").Append(1001).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append(
                                                            ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(message[i + 2]).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')");
                                                        SQLString(dbo, sql);
                                                        #endregion
                                                    }
                                                    #endregion
                                                    #region 检查关联站台
                                                    string[] df=CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001);
                                                    if ((message[i + 4] == 3) && ( df!= null))//多叉关联
                                                    {//检查关联站台
                                                        device = GetCorrDeviceIndex(device);
                                                        ManFID = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0]));
                                                        Mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0]));
                                                        AheadDetect.Remove(0, AheadDetect.Length);
                                                        #region 20110412【允许AGV取货移载】:输送机空闲、顶升机空闲、顶升低位、出口有货
                                                        AheadDetect.Append("I").Append(Convert.ToString(device)).Append(
                                                            ";I").Append(Convert.ToString(device - 2)).Append(
                                                            ";D-").Append(device.ToString()).Append(".2").Append(
                                                            ";D-").Append((device - 2).ToString()).Append(".0");

                                                        if (DeviceAndOrderExitInMonitor(Mankind, ManFID, 1001, 5, device) == false)
                                                        {
                                                            #region 允许AGV取货移载
                                                            int mindex = Convert.ToInt32(df[0]) - 1;
                                                            dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel,F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", message[i + 2])).Tables[0].DefaultView;
                                                            sql.Remove(0, sql.Length);
                                                            sql.Append("INSERT INTO T_Monitor_Task ").Append(
                                                                "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append(
                                                                " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam2, F_NumParam5,").Append(
                                                                " F_AheadDetect,F_TxtParam,F_AGVNextTask,F_UseAwayFork)").Append(
                                                            "VALUES (").Append(ManFID).Append(",").Append(Mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"]
                                                                ).Append(",").Append(1001).Append(",5,").Append(dv[0]["F_RouteID"]).Append(",0,").Append(device).Append(",0").Append(
                                                                ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("',").Append(Convert.ToInt32(df[0])).Append(",'").Append(dv[0]["F_UseAwayFork"]).Append("')");
                                                            SQLString(dbo,sql);
                                                            #endregion
                                                        }
                                                        #endregion
                                                    }
                                                    #endregion

                                                }
                                                #endregion
                                                dv = null;
                                            }
                                            else
                                            {//地面移载故障60008[T1][T2][N][C]

                                            }
                                        }
                                        chatnew = new ushort[7];//20110110
                                        Array.Copy(message, i, chatnew, 0, 7);//20110110
                                        CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "在输送机："+device.ToString()+"，AGV询问是否可移载", chatnew);
                                        DataSourceChange();//20110405
                                    }
                                    catch (Exception ex)
                                    {
                                        _tcpServerError = "CListenAGVState.DisposeReceivedMessage:入库口输送机，AGV询问是否可移载," + ex.Message;
                                    }
                                    i += 7;//20110110
                                }

                            }
                            break;

                            #endregion

                        case 60052://60052[T1][T2][N节点] [E货叉设备号] [O动作类型] [A车号]  
                            #region AGV移载开始
                            if (message.Length >= 7)//
                            {
                                if (message.Length <= (i + 6)) break;
                                //20110412AGV暂时不反馈
                                //try
                                //{
                                //    int devicegate = GetDeviceIndexFromAgvAddress(message[i + 3], message[i + 4]);//20110110
                                //    sql.Remove(0, sql.Length);
                                //    sql.Append("update T_Base_device set F_LockedState=").Append(message[i + 2]).Append(
                                //        " where   F_DeviceIndex=").Append(devicegate);
                                //    dbo.ExceSQL(sql.ToString());
                                //    if ((message[i + 4] == 3) && (CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001) != null))//多叉关联
                                //    {//检查关联站台

                                //        int deviceCorr = GetCorrDeviceIndex(devicegate);
                                //        sql.Remove(0, sql.Length);
                                //        sql.Append("update T_Base_device set F_LockedState=").Append(message[i + 2]).Append(
                                //            " where   F_DeviceIndex=").Append(deviceCorr);
                                //        dbo.ExceSQL(sql.ToString());
                                //    }

                                //}
                                //catch (Exception ex)
                                //{
                                //    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV移载开始，" + ex.Message;
                                //}
                                chatnew = new ushort[7];
                                Array.Copy(message, i, chatnew, 0, 7);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV移载开始", chatnew);
                                i += 7;
                                
                            }
                            break;
                            #endregion

                        case 60053://60053[T1][T2][N节点] [E货叉设备号] [O动作类型] [A车号] (动作类型： 1-左取, 2-左送,3右取,4-右送)

                            #region AGV移载结束
                            if (message.Length >= 7)//
                            {
                                if (message.Length <= (i + 6)) break;
                                //20110412AGV暂时不反馈
                                //try
                                //{
                                //    sql.Remove(0, sql.Length);//20110110
                                //    sql.Append("update T_Base_device set F_LockedState=0").Append(
                                //        " where F_LockedState=").Append(message[i + 2]);
                                //    dbo.ExceSQL(sql.ToString());
                                //    #region 取货移栽完成，插入顶升机 顶升指令
                                //    if ((message[i + 5] == 1) || (message[i + 5] == 3))//左取 右取
                                //    {
                                //        //任务状态：0，生成【顶升上升】；1，只生成【允许AGV取货移载】；2，只生成【允许AGV送货移载】；3，先生成【顶升下降】然后生成【允许AGV移载】
                                //        int device = GetDeviceIndexFromAgvAddress(message[i + 3], message[i + 4]);
                                //        int deviceCorr = 0;DataView dv;
                                //        int LifterIndex1 = -1; int MonitorIndex1 = -1; int taskStatus1 = -1;
                                //        #region 检查关联站台

                                //        if ((message[i + 4] == 3) && (CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001) != null))//多叉关联
                                //        {//检查关联站台

                                //            deviceCorr = GetCorrDeviceIndex(device);
                                //            LifterIndex1 = deviceCorr;
                                //            MonitorIndex1 = Convert.ToInt32(CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001)[0]);
                                //            taskStatus1 = 0;
                                //        }
                                //        #endregion

                                //        //插入顶升机 顶升
                                //        sql.Remove(0, sql.Length);
                                //        sql.Append("select F_Pending_ID from T_Base_Pending_Lifter where F_MonitorIndex=").Append(message[i + 2]).Append(" or F_MonitorIndex1=").Append(message[i + 2]);
                                //        dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                                //        if (dv.Count <= 0)
                                //        {
                                //            sql.Remove(0, sql.Length);
                                //            sql.Append("INSERT INTO T_Base_Pending_Lifter( ")
                                //                .Append(" F_LifterIndex, F_MonitorIndex, F_Status,")
                                //                .Append(" F_LifterIndex1, F_MonitorIndex1, F_Status1)VALUES (")
                                //                .Append(device).Append(",").Append(message[i + 2]).Append(",0,")
                                //                .Append(LifterIndex1).Append(",").Append(MonitorIndex1).Append(",").Append(taskStatus1).Append(")");
                                //            dbo.ExecuteSql(sql.ToString());
                                //        }
                                //        dv = null;
                                        
                                //    }
                                //    DataSourceChange();//20110405
                                //    #endregion
                                    

                                //}
                                //catch (Exception ex)
                                //{
                                //    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV移载结束，" + ex.Message;
                                //}
                                chatnew = new ushort[7];
                                Array.Copy(message, i, chatnew, 0, 7);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV移载结束", chatnew);
                                i += 7;
                                
                            }
                            break;
                            #endregion
                        case 60054://60054[T1][T2][N] [C故障码] [A] 
                            #region AGV移载故障
                            if (message.Length >= 6)//
                            {
                                if (message.Length <= (i + 5)) break;
                                try
                                {
                                    //有过记录的故障设备的任务号，不再重复处理
                                    sql.Remove(0, sql.Length);
                                    sql.Append("SELECT F_DeviceIndex FROM T_Base_Device where F_DeviceIndex=").Append(message[i + 5]).Append(" and F_ErrorTaskNo=").Append(message[i + 2]);

                                    //20100108
                                    DataTable dt = dbo.ExceSQL(sql.ToString()).Tables[0];
                                    if (dt.Rows.Count >= 1)
                                    {
                                        sql.Remove(0, sql.Length);
                                        sql.Append("update T_Monitor_Task set F_Status= ").Append((message[i + 4]+30)).Append("  where (F_MonitorIndex= ").Append(message[i + 2]).Append(") and ((F_Status<> ").Append((message[i + 4]+30)).Append(") and (F_Status<> 3))");
                                        SQLString(dbo, sql);
                                        //20110608dbo.ExceSQL(sql.ToString());
                                        DataSourceChange();//20110405
                                    }
                                    dt = null;
                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV移载故障，" + ex.Message;
                                }
                                chatnew = new ushort[6];
                                Array.Copy(message, i, chatnew, 0, 6);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV移载故障", chatnew);
                                i += 6;
                                
                            }
                            break;
                            #endregion
                        case 60055://60055[T1][T2]  AGV完成任务；调度需要发送应答帧，待定
                            #region AGV完成任务

                            if (message.Length >= 3)
                            {
                                if (message.Length <= (i + 2)) break;
                                try
                                {
                                    int fid = message[i + 1];
                                    int mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]);
                                    int fid1 = 0;
                                    int mankind1 =0;
                                    ///////////////////////
                                    string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001);
                                    bool snyc = CGeneralFunction.DoubleForkIfSync(message[i + 2], 1001, 6);
                                    //根据DeviceIndex,得到Sockets通讯的初始设置
                                    sql.Remove(0, sql.Length);
                                    sql.Append("SELECT  F_DeviceIndex,F_DeviceKindIndex, F_LocalIP,  F_LocalPort, F_RemoteIP,  F_RemotePort  FROM T_Base_Device where F_DeviceIndex=1001");
                                    DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                                    if (dv.Count > 0)
                                    {//AGV任务完成的应答:60031[T1][T2](对60055[T1][T2]的应答)
                                        _Sdata = new byte[6];
                                        _Sdata[0] = Convert.ToByte(60031 & 255);
                                        _Sdata[1] = Convert.ToByte(60031 >> 8);

                                        _Sdata[2] = Convert.ToByte(message[i + 1] & 255);
                                        _Sdata[3] = Convert.ToByte(message[i + 1] >> 8);
                                        _Sdata[4] = Convert.ToByte(message[i + 2] & 255);
                                        _Sdata[5] = Convert.ToByte(message[i + 2] >> 8);
                                        if (SocketsTCPIP.CClientTCPIP.Send(dv[0]["F_RemoteIP"].ToString(), Convert.ToInt32(dv[0]["F_RemotePort"]), _Sdata) == true)
                                        {
                                            //20110412任务状态：0，生成【顶升上升】；1，只生成【允许AGV取货移载】；2，只生成【允许AGV送货移载】；3，先生成【顶升下降】然后生成【允许AGV移载】
                                            int device = 0; 
                                            int devorder=GetDeviceOrderFromMonitor(message[i + 2]);
                                            int MonitorIndex1 = -1;
                                            dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", message[i + 2])).Tables[0].DefaultView ;
                                            if (dv.Count >0)
                                            {
                                                device = Convert.ToInt32(dv[0]["F_NumParam2"]);
                                            }
                                            ///////////////////////
                                            ActionFinish(1001, message[i + 2], 0);
                                            #region 顶升机顶升
                                            AheadDetect.Clear();
                                            AheadDetect.Append("I").Append(Convert.ToString(device - 2)).Append(";D").Append(Convert.ToString(device-2))
                                                .Append(".0;I").Append(Convert.ToString(device));
                                            
                                            if (DeviceAndOrderExitInMonitor(mankind, fid, (device), 9, 0) == false)
                                            {
                                                int mindex = message[i + 2] - 1;
                                                sql.Remove(0, sql.Length);
                                                sql.Append("INSERT INTO T_Monitor_Task ").Append(
                                                    "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append(
                                                    " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam1, F_NumParam4,").Append(
                                                    " F_AheadDetect,F_TxtParam)").Append(
                                                "VALUES (").Append(fid).Append(",").Append(mankind).Append(",").Append(mindex).Append(",").Append(dv[0]["F_MonitorTaskLevel"]
                                                    ).Append(",").Append((device)).Append(",9,").Append(dv[0]["F_RouteID"]).Append(",0,").Append((device)).Append(",0").Append(
                                                    ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("')");
                                                SQLString(dbo, sql);
                                                
                                            }
                                            #endregion
                                            
                                            #region 多叉关联任务，能同步的同时报告完成；异步的直接执行关联的命令
                                            //20100323
                                            if (df != null)//20100702
                                            {
                                                //20100817 zhangxy 修改
                                                fid1 = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0]));
                                                mankind1 = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0]));

                                                ///////////////////////
                                                if (snyc == true)//20100702
                                                {
                                                    
                                                    #region 20110412检查关联站台
                                                    dv = dbo.ExceSQL(string.Format("SELECT F_NumParam2,F_RouteID,F_TxtParam,F_MonitorTaskLevel FROM T_Monitor_Task WHERE (F_MonitorIndex = {0})", Convert.ToInt32(df[0]))).Tables[0].DefaultView;
                                                    if (dv.Count > 0)
                                                    {
                                                        device = Convert.ToInt32(dv[0]["F_NumParam2"]);
                                                    }
                                                    MonitorIndex1 = Convert.ToInt32(df[0])-1;
                                                    
                                                    #endregion
                                                    ActionFinish(1001, Convert.ToInt32(df[0]), 1);
                                                    #region 顶升机顶升
                                                    AheadDetect.Clear();
                                                    AheadDetect.Append("I").Append(Convert.ToString(device - 2)).Append(";D").Append(Convert.ToString(device - 2))
                                                        .Append(".0;I").Append(Convert.ToString(device));

                                                    if (DeviceAndOrderExitInMonitor(mankind1, fid1, device, 9, 0) == false)
                                                    {

                                                        sql.Remove(0, sql.Length);
                                                        sql.Append("INSERT INTO T_Monitor_Task ").Append(
                                                            "(F_ManageTaskIndex, F_ManageTASKKINDINDEX, F_MonitorIndex,F_MonitorTaskLevel,").Append(
                                                            " F_DeviceIndex, F_DeviceCommandIndex, F_RouteID, F_Status,F_NumParam1, F_NumParam4,").Append(
                                                            " F_AheadDetect,F_TxtParam)").Append(
                                                        "VALUES (").Append(fid).Append(",").Append(mankind).Append(",").Append(MonitorIndex1).Append(",").Append(dv[0]["F_MonitorTaskLevel"]
                                                            ).Append(",").Append((device)).Append(",9,").Append(dv[0]["F_RouteID"]).Append(",0,").Append((device)).Append(",0").Append(
                                                            ",'").Append(AheadDetect).Append("','").Append(dv[0]["F_TxtParam"]).Append("')");
                                                        SQLString(dbo, sql);

                                                    }
                                                    #endregion

                                                }
                                                
                                            }
                                            #endregion


                                        }
                                        else
                                        {
                                            _tcpServerError = "向AGV反馈任务：" + message[i + 1] + "的应答时，发送失败！";
                                        }
                                        DataSourceChange();//20110405

                                    }


                                    chatnew = new ushort[3];
                                    Array.Copy(message, i, chatnew, 0, 3);
                                    CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV完成任务", chatnew);

                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV完成任务," + ex.Message;
                                }

                                i += 3;
                            }
                            break;

                            #endregion
                        case 60056://60056[T1][T2]
                            #region AGV控制台任务删除申请
                            if (message.Length >= 3)//
                            {
                                if (message.Length <= (i + 2)) break;
                                
                                try
                                {
                                    int fid = 0;
                                    int mankind = 0;
                                    int tasktype = 0;


                                    sql.Remove(0, sql.Length);
                                    sql.Append("SELECT * FROM T_Monitor_Task where F_MonitorIndex = ").Append(message[i + 2]);
                                    DataView dvMonintor = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                                    if (dvMonintor.Count > 0)
                                    {
                                        fid = message[i + 1];
                                        mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]);
                                        tasktype = GetFCONTROLTASKTYPEFromManageTask(mankind, fid);
                                        if ((tasktype != 1) && ((tasktype != 4)))
                                        {

                                            i += 3;
                                            break;
                                        }
                                        
                                    }
                                    //根据DeviceIndex,得到Sockets通讯的初始设置
                                    sql.Remove(0, sql.Length);
                                    sql.Append("SELECT  F_DeviceIndex,F_DeviceKindIndex, F_LocalIP,  F_LocalPort, F_RemoteIP,  F_RemotePort  FROM T_Base_Device where F_DeviceIndex=1001");
                                    DataView dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                                    if (dv.Count > 0)
                                    {
                                        _Sdata = new byte[6];
                                        _Sdata[0] = Convert.ToByte(60009 & 255);
                                        _Sdata[1] = Convert.ToByte(60009 >> 8);

                                        _Sdata[2] = Convert.ToByte(message[i + 1] & 255);
                                        _Sdata[3] = Convert.ToByte(message[i + 1] >> 8);
                                        _Sdata[4] = Convert.ToByte(message[i + 2] & 255);
                                        _Sdata[5] = Convert.ToByte(message[i + 2] >> 8);
                                        SocketsTCPIP.CClientTCPIP.Send(dv[0]["F_RemoteIP"].ToString(), Convert.ToInt32(dv[0]["F_RemotePort"]), _Sdata);


                                    }
                                    dv = null;    
                                    
                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV控制台任务删除申请，" + ex.Message;
                                }
                                chatnew = new ushort[3];
                                Array.Copy(message, i, chatnew, 0, 3);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV控制台任务删除申请", chatnew);
                                i += 3;
                                
                            }
                            break;
                            #endregion
                        case 60057://60057[T1][T2][A] A为允许状态(0-不允许,1-允许)
                            #region 对监控调度申请删除任务的回复
                            if (message.Length >= 4)//
                            {
                                if (message.Length <= (i + 3)) break;
                                try
                                {
                                    if (message[i + 3] == 0)//0-不允许
                                    {
                                        i += 4;
                                        break;
                                    }
                                    int fid = 0;
                                    int mankind = 0;
                                    int tasktype = 0;


                                    sql.Remove(0, sql.Length);
                                    sql.Append("SELECT * FROM T_Monitor_Task where F_MonitorIndex = ").Append(message[i + 2]);
                                    DataView dvMonintor = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                                    if (dvMonintor.Count > 0)
                                    {
                                        fid = message[i + 1];
                                        mankind = GetManageTaskKindIndexFromMonitor(message[i + 2]);
                                        tasktype = GetFCONTROLTASKTYPEFromManageTask(mankind, fid);
                                        if ((tasktype != 1) && ((tasktype != 4)))
                                        {
                                            i += 4;
                                            break;
                                        }
                                        DataView dv;

                                    AAA:
                                        string[] df = CGeneralFunction.GetDoubleForkMonitorInfo(message[i + 2], 1001);
                                        SQLString(dbo, new StringBuilder("update T_Manage_Task set FExceptionNO=" + Model.CGeneralFunction.TASKDELETE + " where (F_ManageTaskKindIndex = " + mankind + ") AND (FID = " + fid + ")"));
                                        //20110608dbo.ExceSQL("update T_Manage_Task set FExceptionNO=" + Model.CGeneralFunction.TASKDELETE + " where (F_ManageTaskKindIndex = " + mankind + ") AND (FID = " + fid + ")");
                                        SQLString(dbo, new StringBuilder("update T_Monitor_Task set F_STATUS=-1 where F_ManageTaskKindIndex=" + mankind + " and F_ManageTaskIndex=" + fid + " and F_STATUS=0"));
                                        //20110608dbo.ExceSQL("update T_Monitor_Task set F_STATUS=-1 where F_ManageTaskKindIndex=" + mankind + " and F_ManageTaskIndex=" + fid + " and F_STATUS=0");
                                        dv = dbo.ExceSQL("SELECT F_ManageTaskKindIndex, F_ManageTaskIndex,F_DeviceIndex,F_MonitorIndex,F_Status,F_DeviceCommandIndex " +
                                            ",F_NumParam2,F_NumParam5,F_TxtParam FROM T_Monitor_Task Where  F_ManageTaskIndex=" + fid + " and F_ManageTaskKindIndex= " +
                                            mankind).Tables[0].DefaultView;
                                        if (dv.Count > 0)
                                        {
                                            //20100108
                                            CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive AGV撤销任务", "托盘条码：" + dvMonintor[0]["F_TxtParam"], "调度任务索引:" + fid.ToString());
                                            for (int j = 0; j < dv.Count; j++)
                                            {
                                                ActionFinish(Convert.ToInt32(dv[j]["F_DeviceIndex"]), Convert.ToInt32(dv[j]["F_MonitorIndex"]), Model.CGeneralFunction.TASKDELETE);
                                                //20110608ActionComplete(Convert.ToInt32(dv[j]["F_DeviceIndex"]), Convert.ToInt32(dv[j]["F_MonitorIndex"]), Model.CGeneralFunction.TASKDELETE);
                                            }
                                        }
                                        dv = null;

                                        if (df != null)
                                        {
                                            fid = GetManageTaskIndexfromMonitor(Convert.ToInt32(df[0]));
                                            mankind = GetManageTaskKindIndexFromMonitor(Convert.ToInt32(df[0]));
                                            goto AAA;

                                        }
                                        DataSourceChange();//20110405
                                    }
                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV对监控调度申请删除任务的回复，" + ex.Message;
                                }
                                chatnew = new ushort[4];
                                Array.Copy(message, i, chatnew, 0, 4);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV对监控调度申请删除任务的回复", chatnew);
                                i += 4;
                                
                            }
                            break;
                            #endregion
                        case 60058://60058[N][A]
                            #region AGV申请进入特殊节点
                            if (message.Length >= 3)//
                            {
                                if (message.Length <= (i + 2)) break;
                                try
                                {

                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV申请进入特殊节点，" + ex.Message;
                                }
                                chatnew = new ushort[3];
                                Array.Copy(message, i, chatnew, 0, 3);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV申请进入特殊节点", chatnew);
                                i += 3;
                                
                            }
                            break;
                            #endregion
                        case 60059://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

                            #region AGV报告位置状态
                            if (message.Length >= 6)//
                            {
                                if (message.Length <= (i + 5)) break;

                                try
                                {

                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV报告位置状态，" + ex.Message;
                                }
                                chatnew = new ushort[6];
                                Array.Copy(message, i, chatnew, 0, 6);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV报告位置状态", chatnew);
                                i += 6;
                                
                            
                            }
                            break;
                            #endregion
                        case 60060://60060[T1][T2][A][C]
                            #region AGV故障报告
                            if (message.Length >= 5)//
                            {
                                if (message.Length <= (i + 4)) break;
                                try
                                {
                                    //有过记录的故障设备的任务号，不再重复处理
                                    sql.Remove(0, sql.Length);
                                    sql.Append("SELECT F_DeviceIndex FROM T_Base_Device where F_DeviceIndex=").Append(message[i + 3]).Append(" and F_ErrorTaskNo=").Append(message[i + 2]);

                                    //20100108
                                    DataTable dt = dbo.ExceSQL(sql.ToString()).Tables[0];
                                    if (dt.Rows.Count >= 1)
                                    {
                                        sql.Remove(0, sql.Length);
                                        sql.Append("update T_Monitor_Task set F_Status= ").Append((message[i + 4]+30)).Append("  where (F_MonitorIndex= ").Append(message[i + 2]).Append(") and ((F_Status<> ").Append((message[i + 4]+30)).Append(") and (F_Status<> 3))");
                                        SQLString(dbo, sql);
                                        //20110608dbo.ExceSQL(sql.ToString());
                                        DataSourceChange();//20110405
                                    }
                                    dt = null;
                                }
                                catch (Exception ex)
                                {
                                    _tcpServerError = "CListenAGVState.DisposeReceivedMessage:AGV故障报告，" + ex.Message;
                                }
                                chatnew = new ushort[5];
                                Array.Copy(message, i, chatnew, 0, 5);
                                CCarryConvert.WriteDarkCasket("ReceiveAGV", "SocketsTCPIP.CConnectTCPIP", "Receive", "AGV故障报告", chatnew);
                                i += 5;
                                
                            }
                            break;
                            #endregion
                        
                    }
                }
            }
            catch (Exception ex)
            {
                _tcpServerError = "CConnectTCPIP.DisposeReceiveMessage:" + ex.Message;
                
            }
            finally
            {//20100127
                chatnew  = null;
                
            }
        }
        #endregion
        public static int GetAgvSquence(int agvGate)
        {
            sql.Remove(0, sql.Length);
            sql.Append("SELECT F_Sequence FROM T_Base_AGV_Gate WHERE (F_AGVGateDeviceIndex = ").Append(agvGate).Append(")");
            object ob = dbo.GetSingle(sql.ToString());
            if (ob != null)
            {
                return Convert.ToInt32(ob);

            }
            else
            {
                return -1;
            }
        }
        public static int GetUseAwayFork(int taskno)
        {
            sql.Remove(0, sql.Length);
            sql.Append("SELECT F_UseAwayFork FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(taskno).Append(")");
            string obj = dbo.GetSingle(sql.ToString()).ToString();
            if (obj == "-")
            {
                return 0;
            }
            else
            {
                return Convert.ToInt32(obj);
            }
        }
        public static int GetFCONTROLTASKTYPEFromManageTask(int taskKindIndex, int Managefid)
        {
            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT FCONTROLTASKTYPE FROM T_Manage_Task WHERE (FID = " ).Append( Managefid ).Append( ") AND (F_ManageTaskKindIndex = " ).Append( taskKindIndex ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    if (dv[0]["FCONTROLTASKTYPE"] == DBNull.Value) return -1;
                    return Convert.ToInt32(dv[0]["FCONTROLTASKTYPE"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {
                dv = null;

            }
        }

        /// <summary>
        /// 连接远程主机和绑定本地主机端口
        /// </summary>
        /// <returns></returns>
        public static bool ConnectTcpIPServer()
        {
            string remoteIP; int remotePort; string localIP; int localPort;
            //20100127
            DataView dv;
            IPAddress ipAddress ;
            IPEndPoint EPlocal;
            try
            {
                //根据DeviceIndex,得到Sockets通讯的初始设置
                //20100127
                sql.Remove(0, sql.Length);
                sql.Append("SELECT  F_DeviceIndex,F_DeviceKindIndex, F_LocalIP,  F_LocalPort, F_RemoteIP,  F_RemotePort  FROM T_Base_Device where F_DeviceIndex=1001 and F_DeviceKindIndex=6");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;

                if (dv.Count == 0)
                {
                    return false;
                }
                else
                {
                    remoteIP = (dv[0]["F_RemoteIP"]).ToString();
                    localIP = (dv[0]["F_LocalIP"]).ToString();
                    remotePort = Convert.ToInt32(dv[0]["F_RemotePort"]);
                    localPort = Convert.ToInt32(dv[0]["F_LocalPort"]);
                }
                //20100127
                ipAddress = IPAddress.Parse(localIP);
                //20100127
                EPlocal = new IPEndPoint(ipAddress, localPort);


                // Create a TCP/IP socket.
                if (Localsocket == null)
                {
                    Localsocket = new Socket(AddressFamily.InterNetwork,
                        SocketType.Stream, ProtocolType.Tcp);
                    Localsocket.Bind((EndPoint)EPlocal);




                }



                if (SocketsTCPIP.CClientTCPIP.IfInit == false)
                {
                    if (SocketsTCPIP.CClientTCPIP.InitClientTCPIP(remoteIP, remotePort) == false)
                    {
                        _tcpServerError = SocketsTCPIP.CClientTCPIP.TcpError;
                        return false;
                    }
                }

                ConnectedServer = true;

                return ConnectedServer;

            }
            catch (Exception ex)
            {
                _tcpServerError = "CConnectTCPIP.ConnectTcpIPServer:" + ex.Message;
                return false;
            }
            finally
            {//20100127
                dv = null;
                ipAddress =null ;
                EPlocal = null;
                remoteIP = null;
                localIP = null;
            }
        }
        public static void EndListen()
        {//20091107
            exitThread=true ;
            if (SocketsTCPIP.CClientTCPIP.ClientSocket != null)
            {
                SocketsTCPIP.CClientTCPIP.ClientSocket.Close();
            }
            if (mythread != null)
            {
                mythread.Abort();
               
                mythread = null;
            }
        }

        public static void StartListen()
        {
            exitThread = false ;
            if (mythread == null)
            {
                mythread = new Thread(new ThreadStart(BeginListen));
                mythread.IsBackground = true;
            }
            if (mythread.ThreadState != ThreadState.Running)
            {
                mythread.Start();
            }
        }
        public static void ActionComplete(int DeviceIdx, int TaskIdx, int ClearZero)
        {
            int devKind = GetDeviceKindIdx(DeviceIdx);
            int order = GetDeviceOrderFromMonitor(TaskIdx);
            int fid = GetManageTaskIndexfromMonitor(TaskIdx);
            int mti = GetManageTaskKindIndexFromMonitor(TaskIdx);
            //20100710
            #region 取得AGV放货点输送机的编号（AGV通道内的停车点设备）
            
            int AgvNextConveyor = 0;
            sql.Remove(0, sql.Length);
            sql.Append("SELECT F_NumParam5 FROM T_Monitor_Task WHERE (F_MonitorIndex = ").Append(TaskIdx).Append(") ");
            object ob = dbo.GetSingle(sql.ToString());
            if (ob != null)
            {
                if (GetDeviceKindIdx(Convert.ToInt32(ob)) == 2)
                {
                    AgvNextConveyor = Convert.ToInt32(ob);
                }
            }//20100710

            #endregion


            string cap;
            int errrcode = GetExceptionNOFromManageTask(fid, mti);
            DataView dv;//20100127
            //dbo.TransBegin();
            try
            {
                //20100127
                sql.Remove(0, sql.Length);
                sql.Append("select count(F_MonitorIndex) as counts from T_Monitor_Task " ).Append(
                                    " where F_ManageTaskIndex =" ).Append( fid ).Append( " and F_ManageTaskKindIndex= " ).Append( mti);
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    if (Convert.ToInt32(dv[0]["counts"]) == 1) 
                    {
                        //固定路径模式
                        //调度任务的fid的最后一个监控分解任务完成

                        if (mti == 1)
                        {
                            cap = "调度任务";
                            //完成FSTATUS=999；970堆垛机送货重故障异常完成；980堆垛机取空故障异常完成；990条码扫描异常完成；调度撤销删除调度任务900
                            if (errrcode > 900)//异常完成
                            {
                                sql.Remove(0, sql.Length);
                                sql.Append("update IO_Control set Control_STATUS=" ).Append( errrcode ).Append( " where Control_ID=" ).Append( fid);
                                dboM.ExceSQL(sql.ToString());
                            }
                            else
                            {
                                if (ClearZero == Model.CGeneralFunction.TASKDELETE)//调度撤销删除调度任务900
                                {
                                    sql.Remove(0, sql.Length);
                                    sql.Append("update IO_Control set Control_STATUS=" ).Append( Model.CGeneralFunction.TASKDELETE ).Append( " where Control_ID=" ).Append( fid);
                                    dboM.ExceSQL(sql.ToString());
                                }
                                else//完成FSTATUS=999
                                {
                                    sql.Remove(0, sql.Length);
                                    sql.Append("update IO_Control set Control_STATUS=" ).Append( Model.CGeneralFunction.TASKFINISH ).Append( " where Control_ID=" ).Append( fid);
                                    dboM.ExceSQL(sql.ToString());
                                }
                            }
                        }
                        else if (mti == 4)
                        {
                            cap = "手工任务";
                        }
                        else
                        {
                            cap = "临时任务";
                        }
                        //回写管理表
                        if (ClearZero == Model.CGeneralFunction.TASKDELETE)//调度撤销删除调度任务900
                        {
                            ReturnManageInfo(fid, mti, cap, false);
                        }
                        else
                        {
                            ReturnManageInfo(fid, mti, cap, true);
                        }
                    }

                }
                #region AGV向输送机放货增加逻辑有物20110110
                if ((AgvNextConveyor > 0) && (order == 3) && (ClearZero != Model.CGeneralFunction.TASKDELETE))
                {
                    sql.Remove(0, sql.Length);
                    sql.Append("update T_Base_Device set F_HaveGoods=1 where F_DeviceIndex=" ).Append( AgvNextConveyor ).Append( " ");
                    dbo.ExceSQL(sql.ToString());
                }
                #endregion

                //被这个任务号锁定的设备全部解锁
                sql.Remove(0, sql.Length);
                sql.Append("update T_Base_Device set F_LockedState=0 where F_LockedState=" ).Append( TaskIdx);
                dbo.ExceSQL(sql.ToString());
                
                
                if (ClearZero == 1)
                {
                    
                    if (mti == 1)
                    {
                        sql.Remove(0, sql.Length);
                        sql.Append("UPDATE IO_CONTROL  SET  ERROR_TEXT =''  WHERE Control_ID=" ).Append( fid ).Append( " and Control_STATUS<900");
                        dboM.ExceSQL(sql.ToString());
                    }
                }
                sql.Remove(0, sql.Length);
                sql.Append("delete from T_Monitor_Task   where F_MonitorIndex=" ).Append( TaskIdx);
                dbo.ExceSQL(sql.ToString());


            }
            catch (Exception ex)
            {
                _tcpServerError = "CListenAGVState.ActionComplete:" + ex.Message;
            }
            finally
            {//20100127
                dv = null;
            }
        }
        static void ReturnManageInfo(int fid, int mti, string cap, bool IFOK)
        {
            //20100127
            DataView dv;
            try
            {
                //200906240111增加货位记录:入库1-结束位置有货；出库2-起始位置无货；倒库3-起始位置无货，结束位置有货
                //20100127
                sql.Remove(0, sql.Length);
                sql.Append("SELECT FID, F_ManageTaskKindIndex,FCONTROLTASKTYPE, FSTARTDEVICE,FSTARTCELL, FENDDEVICE,FENDCELL FROM T_Manage_Task where F_ManageTaskKindIndex=" ).Append( mti ).Append( " and FID=" ).Append( fid ).Append( "");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    switch (dv[0]["FCONTROLTASKTYPE"].ToString())
                    {
                        case "1":
                            sql.Remove(0, sql.Length);
                            sql.Append("UPDATE ST_CELL SET FCELLSTATUS = 1 WHERE (FLaneWay=" ).Append( dv[0]["FENDDEVICE"] ).Append( " and FCELLCODE = '" ).Append( dv[0]["FENDCELL"] ).Append( "')");
                            dbo.ExceSQL(sql.ToString());
                            break;
                        case "2":
                            sql.Remove(0, sql.Length);
                            sql.Append("UPDATE ST_CELL SET FCELLSTATUS =0 WHERE (FLaneWay=" ).Append( dv[0]["FSTARTDEVICE"] ).Append( " and FCELLCODE = '" ).Append( dv[0]["FSTARTCELL"] ).Append( "')");
                            dbo.ExceSQL(sql.ToString());
                            break;
                        case "3":
                            sql.Remove(0, sql.Length);
                            sql.Append("UPDATE ST_CELL SET FCELLSTATUS = 1 WHERE (FLaneWay=" ).Append( dv[0]["FENDDEVICE"] ).Append( " and FCELLCODE = '" ).Append( dv[0]["FENDCELL"] ).Append( "')");
                            dbo.ExceSQL(sql.ToString());
                            sql.Remove(0, sql.Length);
                            sql.Append("UPDATE ST_CELL SET FCELLSTATUS =0 WHERE (FLaneWay=" ).Append( dv[0]["FSTARTDEVICE"] ).Append( " and FCELLCODE = '" ).Append( dv[0]["FSTARTCELL"] ).Append( "')");
                            dbo.ExceSQL(sql.ToString());
                            break;
                        default:
                            break;
                    }

                }
                //20101028
                string dtime = DateTime.Now.ToString("u");//20101028
                dtime = dtime.Substring(0, dtime.Length - 1);//20101028
                sql.Remove(0, sql.Length);
                sql.Append("update T_Manage_Task set FSTATUS=999,FENDTIME='" ).Append( dtime ).Append( "'  where  FID=" ).Append( fid ).Append( " and F_ManageTaskKindIndex= " ).Append( mti);
                dbo.ExceSQL(sql.ToString());
                //20101028
                sql.Remove(0, sql.Length);
                sql.Append("INSERT INTO T_Manage_Task_BAK SELECT * FROM T_Manage_Task where  FID=" ).Append( fid ).Append( " and F_ManageTaskKindIndex<>1");
                dbo.ExecuteSql(sql.ToString());
                sql.Remove(0, sql.Length);
                sql.Append("delete from T_Manage_Task   where  FID=" ).Append( fid ).Append( " and F_ManageTaskKindIndex= " ).Append( mti);
                dbo.ExceSQL(sql.ToString());
                
            }
            catch (Exception ex)
            {//20100127
                throw ex;
            }
            finally
            {//20100127
                dv = null;
            }

        }
        public static int GetDeviceKindIdx(int devIdx)
        {
            try
            {

                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_DeviceIndex, F_DeviceKindIndex FROM T_Base_Device WHERE F_DeviceIndex=" + devIdx); 
                
                DataSet ds = dbo.ExceSQL(sql.ToString());
                DataView dv = ds.Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_DeviceKindIndex"]);
                }
                else
                    return 0;
            }
            catch (Exception ex)
            {
                throw ex;
            }
        }
        public static int GetManageTaskIndexfromMonitor(int monitorIdx)
        {
            //20100127
            DataView dv;
            try
            {//20100127
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_ManageTaskIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIdx ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_ManageTaskIndex"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {//20100127
                throw ex;
            }
            finally
            {//20100127
                dv = null;
            }
        }
        public static int GetManageTaskKindIndexFromMonitor(int monitorIdx)
        {
           //20100127
            DataView dv;
            try
            {//20100127
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_ManageTaskKindIndex FROM T_Monitor_Task WHERE (F_MonitorIndex = " ).Append( monitorIdx ).Append( ")");
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_ManageTaskKindIndex"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {//20100127
                dv = null;
            }
        }
        public static int GetDeviceOrderFromMonitor(int MonitorIndex)
        {
            //20100127
            DataView dv;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("select F_DeviceCommandIndex from T_Monitor_Task where (F_DeviceCommandIndex IS NOT NULL) and F_MonitorIndex=" ).Append( MonitorIndex);
                
                //20100127
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return Convert.ToInt32(dv[0]["F_DeviceCommandIndex"]);
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {
                throw ex;
            }
            finally
            {//20100127
                dv = null;
            }
        }
        public static int GetExceptionNOFromManageTask(int FID, int ManTaskKind)
        {
            //20100127
            DataTable dt;
            try
            {
                sql.Remove(0, sql.Length);
                sql.Append("SELECT FID, F_ManageTaskKindIndex, FExceptionNO FROM T_Manage_Task WHERE (FID = " ).Append( FID ).Append( ") AND (F_ManageTaskKindIndex = " ).Append( ManTaskKind ).Append( ") ");
                ;
                //20100127
                dt = dbo.ExceSQL(sql.ToString()).Tables[0];
                if (dt.Rows.Count > 0)
                {
                    if (dt.Rows[0]["FExceptionNO"] == DBNull.Value)
                    {
                        return -1;
                    }
                    else
                    {

                        return Convert.ToInt32(dt.Rows[0]["FExceptionNO"]);
                    }
                }
                else
                {
                    return -1;
                }
            }
            catch (Exception ex)
            {//20100127
                throw ex;
            }
            finally
            {//20100127
                dt = null;
            }

        }
        static int GetDeviceIndexFromAgvActive(int AgvActive)
        {
            //20100127AGV
            DataView dva;
            try
            {
                //20100127
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_AGVGateDeviceIndex, F_Address FROM T_Base_AGV_Gate WHERE (F_Active = " ).Append( AgvActive ).Append( ") ");
                dva = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dva.Count > 0)
                {
                    return Convert.ToInt32(dva[0]["F_AGVGateDeviceIndex"]);
                }
                else
                {
                    return 0;
                }
            }
            
            catch (Exception ex)
            {//20100127
                throw ex;
            }
            finally
            {//20100127
                dva = null;
            }
        }
        /// <summary>
        /// 
        /// </summary>
        /// <param name="AgvAddress"></param>
        /// <param name="ForkIndex">1,前叉；2后叉；3双叉</param>
        /// <returns></returns>
        static int GetDeviceIndexFromAgvAddress(int AgvAddress,int ForkIndex)
        {
            //20110110AGV
            DataView dva;
            try
            {
                string F_UseAwayFork = string.Empty;
                if (ForkIndex == 1)//前叉,远叉
                {
                    F_UseAwayFork=" and F_UseAwayFork = '1' ";
                }
                else if (ForkIndex == 2)
                {
                    F_UseAwayFork = " and F_UseAwayFork = '0' ";
                }
                else//3
                {
                    F_UseAwayFork = " and F_UseAwayFork <> '-' ";
                }
                //20100127
                sql.Remove(0, sql.Length);
                sql.Append("SELECT F_AGVGateDeviceIndex, F_Address FROM T_Base_AGV_Gate WHERE (F_Address = " ).Append( AgvAddress ).Append( ") ").Append(F_UseAwayFork);
                dva = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dva.Count > 0)
                {
                    return Convert.ToInt32(dva[0]["F_AGVGateDeviceIndex"]);
                }
                else
                {
                    return 0;
                }
            }
            catch (Exception ex)
            {//20100127
                throw ex;
            }
            finally
            {//20100127
                dva = null;
            }
        }
        
        
        /// <summary>
        /// 是否逻辑有物
        /// </summary>
        /// <param name="deviceindex"></param>
        /// <returns></returns>
        static bool  IfHaveLogicGoods(int deviceindex)
        {
            DataView dv = dbo.ExceSQL("SELECT F_HaveGoods FROM T_Base_Device where F_HaveGoods=1 and F_DeviceIndex=" + deviceindex).Tables[0].DefaultView;
            if (dv.Count > 0)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
        static int GetCorrDeviceIndex(int device)
        {//20110412
            int deviceCorr=0;
            if ((device % 2) == 1)
            {
                deviceCorr = device - 1;
            }
            else
            {
                deviceCorr = device + 1;
            }
            return deviceCorr;
        }
        static string GetDeviceS7Connection(int deviceindex)
        {
            DataView dv = dbo.ExceSQL("SELECT F_S7Connection FROM T_Base_Device WHERE (F_DeviceIndex = "+deviceindex+")").Tables[0].DefaultView;
            if (dv.Count > 0)
            {
                return dv[0]["F_S7Connection"].ToString();
            }
            else
            {
                return null;
            }
        }
        /// <summary>
        /// 20110405数据视图更新
        /// </summary>
        static void DataSourceChange()
        {
            sql.Remove(0, sql.Length);
            sql.Append("select * from V_Monitor_Task where ").Append(CStaticClass.Monstatus).Append(" order by 设备指令索引 asc ");
            DataView dvmon = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
            sql.Remove(0, sql.Length);
            sql.Append("select * from V_Manage_Task where ").Append(CStaticClass.Manstatus);
            DataView dvman = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
            CDataChangeEventArgs e = new CDataChangeEventArgs(dvman, dvmon);
            OnDataChange(e);
        }
        /// <summary>
        /// 20110608执行SQL语句数组
        /// </summary>
        /// <param name="sqlList"></param>
        static void SQLString(DBOperator dbo,StringBuilder sql)
        {
            
            CUpdateDBChangeEventArgs e = new CUpdateDBChangeEventArgs(dbo,sql);
            OnUpdateDB(e);
        }
        /// <summary>
        /// 20110608报告完成
        /// </summary>
        /// <param name="device"></param>
        /// <param name="task"></param>
        /// <param name="taskstate"></param>
        static void ActionFinish(int device, int task, int taskstate)
        {
            CUpdateDBChangeEventArgs e = new CUpdateDBChangeEventArgs(device,task,taskstate);
            OnUpdateDB(e);
        }
        /// <summary>
        /// 判断调度表T_Monitor_Task是否存在调度任务的设备和命令
        /// </summary>
        /// <param name="Mankind">调度任务类型</param>
        /// <param name="ManFID">调度任务索引</param>
        /// <param name="DeviceIndex">设备所引</param>
        /// <param name="Order">设备命令</param>
        /// <returns></returns>
        public static bool DeviceAndOrderExitInMonitor(int Mankind, int ManFID, int DeviceIndex, int Order, int ArrowAddress)
        {
            DataView dv;
            try
            {
                if (Order == -1) return true;
                sql.Remove(0, sql.Length);
                switch (GetDeviceKindIdx(DeviceIndex))
                {
                    case 1://堆垛机
                        sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append(
                        " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append(
                        " AND (F_DeviceCommandIndex = ").Append(Order).Append(")");
                        break;
                    case 2://输送机
                        sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append(
                        " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append(
                        " AND (F_DeviceCommandIndex = ").Append(Order).Append(")");
                        break;
                    case 4://RGV
                        sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append(
                        " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append(
                        " AND (F_DeviceCommandIndex = ").Append(Order).Append(") and F_NumParam1=").Append(ArrowAddress);
                        break;
                    case 6://AGV
                        sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append(
                        " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append(
                        " AND (F_DeviceCommandIndex = ").Append(Order).Append(")");
                        break;
                    default:
                        sql.Append("SELECT F_MonitorIndex FROM T_Monitor_Task WHERE (F_ManageTaskIndex = ").Append(ManFID).Append(")").Append(
                        " AND (F_ManageTASKKINDINDEX = ").Append(Mankind).Append(") AND (F_DeviceIndex = ").Append(DeviceIndex).Append(")").Append(
                        " AND (F_DeviceCommandIndex = ").Append(Order).Append(")");
                        break;
                }
                dv = dbo.ExceSQL(sql.ToString()).Tables[0].DefaultView;
                if (dv.Count > 0)
                {
                    return true;
                }
                else
                {
                    return false;
                }
            }
            catch (Exception ex)
            {
                _tcpServerError = "CListenAGVState.DeviceAndOrderExitInMonitor:" + ex.Message;
                return false;
            }
            finally
            {
                dv = null;

            }
        }
    }
    
}