using System;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using System.Net.NetworkInformation;
using System.Threading;
using AGVSystem.A17168;
using AGVSystem.Cls;
using BllSql;
using Crossing;
using HxBusiness;
using Protocol.Socket_Uart.S7_200_PPI;

namespace AGVSystem
{
	// Token: 0x02000002 RID: 2
	public class Cls_A17168
	{
		// Token: 0x17000001 RID: 1
		// (get) Token: 0x06000001 RID: 1 RVA: 0x00002050 File Offset: 0x00000250
		// (set) Token: 0x06000002 RID: 2 RVA: 0x00002067 File Offset: 0x00000267
		public DataSet ds_Mileage
		{
			get
			{
				return Cls_A17168.ds_mileage;
			}
			set
			{
				Cls_A17168.ds_mileage = value;
			}
		}

		// Token: 0x17000002 RID: 2
		// (get) Token: 0x06000003 RID: 3 RVA: 0x00002070 File Offset: 0x00000270
		// (set) Token: 0x06000004 RID: 4 RVA: 0x00002087 File Offset: 0x00000287
		public string ConnectStr
		{
			get
			{
				return Cls_A17168.connectStr;
			}
			set
			{
				Cls_A17168.connectStr = value;
			}
		}

		// Token: 0x17000003 RID: 3
		// (get) Token: 0x06000005 RID: 5 RVA: 0x00002090 File Offset: 0x00000290
		// (set) Token: 0x06000006 RID: 6 RVA: 0x000020A7 File Offset: 0x000002A7
		public bool StartFlag
		{
			get
			{
				return Cls_A17168.startFlag;
			}
			set
			{
				Cls_A17168.startFlag = value;
			}
		}

		// Token: 0x17000004 RID: 4
		// (get) Token: 0x06000007 RID: 7 RVA: 0x000020B0 File Offset: 0x000002B0
		// (set) Token: 0x06000008 RID: 8 RVA: 0x000020C7 File Offset: 0x000002C7
		public int ClosedFlag
		{
			get
			{
				return Cls_A17168.closedFlag;
			}
			set
			{
				Cls_A17168.closedFlag = value;
			}
		}

		// Token: 0x17000005 RID: 5
		// (get) Token: 0x06000009 RID: 9 RVA: 0x000020D0 File Offset: 0x000002D0
		// (set) Token: 0x0600000A RID: 10 RVA: 0x000020E7 File Offset: 0x000002E7
		public Thread[] th_GetData
		{
			get
			{
				return Cls_A17168.th_getData;
			}
			set
			{
				Cls_A17168.th_getData = value;
			}
		}

		// Token: 0x0600000B RID: 11 RVA: 0x000020F0 File Offset: 0x000002F0
		public void AGV_start(object agvinfo)
		{
			Cls_A17168.agv @object = new Cls_A17168.agv();
			AgvInfo agvInfo = (AgvInfo)agvinfo;
			bool flag = agvInfo.Type == 6;
			if (flag)
			{
				this.th_GetData[agvInfo.Agv_ID - 1] = new Thread(new ParameterizedThreadStart(@object.AGV_Data));
			}
			else
			{
				this.th_GetData[agvInfo.Agv_ID - 1] = new Thread(new ParameterizedThreadStart(@object.AGV_Data_PLC));
			}
			this.th_GetData[agvInfo.Agv_ID - 1].IsBackground = true;
			this.th_GetData[agvInfo.Agv_ID - 1].Start(agvinfo);
		}

		// Token: 0x0600000C RID: 12 RVA: 0x0000218C File Offset: 0x0000038C
		public static int GetAreaAGVNum(int[] num)
		{
			int num2 = 0;
			for (int i = 0; i < num.Length; i++)
			{
				num2 += (int)Cls_A17168.Agv_Land_Count(num[i]);
			}
			return num2;
		}

		// Token: 0x0600000D RID: 13 RVA: 0x000021C0 File Offset: 0x000003C0
		private static void Warn_Deal(AgvInfo temp, string sWarn)
		{
			bool flag = temp.Warn_ID != sWarn;
			if (flag)
			{
				int num = 0;
				string[] array = new string[]
				{
					"",
					"",
					"",
					"",
					"",
					"",
					"",
					""
				};
				temp.Warn_ID = sWarn;
				Cls_A17168.WarnInfo(temp.Warn_ID, out array, out num);
				temp.Warn_info = "";
				temp.Warn_Level = num;
				bool flag2 = num == 1;
				if (flag2)
				{
					temp.Warn_info = "正常";
					Func.Agv_Alarm_Insert(temp.Agv_ID, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, "正常", temp.Agv_ID);
				}
				else
				{
					for (byte b = 0; b < 8; b += 1)
					{
						bool flag3 = array[(int)b] != "";
						if (flag3)
						{
							temp.Warn_info = temp.Warn_info + array[(int)b] + "\r\n";
							Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, array[(int)b], temp.Agv_ID);
						}
					}
				}
			}
		}

		// Token: 0x0600000E RID: 14 RVA: 0x00002310 File Offset: 0x00000510
		private static void Warn_Deal_Plc(AgvInfo temp, string sWarn)
		{
			bool flag = temp.Warn_ID != sWarn;
			if (flag)
			{
				int num = 0;
				string[] array = new string[]
				{
					"",
					"",
					"",
					"",
					"",
					"",
					"",
					""
				};
				temp.Warn_ID = sWarn;
				Cls_A17168.WarnInfo_PLC(temp.Warn_ID, out array, out num);
				temp.Warn_info = "";
				temp.Warn_Level = num;
				bool flag2 = num == 1;
				if (flag2)
				{
					temp.Warn_info = "正常";
					Func.Agv_Alarm_Insert(temp.Agv_ID, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, "正常", temp.Agv_ID);
				}
				else
				{
					for (byte b = 0; b < 8; b += 1)
					{
						bool flag3 = array[(int)b] != "";
						if (flag3)
						{
							temp.Warn_info = temp.Warn_info + array[(int)b] + "\r\n";
							Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, array[(int)b], temp.Agv_ID);
						}
					}
				}
			}
		}

		// Token: 0x0600000F RID: 15 RVA: 0x00002460 File Offset: 0x00000660
		private static void Voltage_Deal(AgvInfo temp, string sValue)
		{
		}

		// Token: 0x06000010 RID: 16 RVA: 0x00002460 File Offset: 0x00000660
		private static void Speed_Bank_Deal(AgvInfo temp, string sValue)
		{
		}

		// Token: 0x06000011 RID: 17 RVA: 0x00002460 File Offset: 0x00000660
		private static void Direction_Run_Deal(AgvInfo temp, string sValue)
		{
		}

		// Token: 0x06000012 RID: 18 RVA: 0x00002460 File Offset: 0x00000660
		private static void Move_Forward(AgvInfo temp, string sValue)
		{
		}

		// Token: 0x06000013 RID: 19 RVA: 0x00002464 File Offset: 0x00000664
		private static byte Agv_Count_Area(int worktype, int[] landmark)
		{
			byte b = 0;
			byte b2 = 0;
			while ((int)b2 < Func.AgvInfo.Length)
			{
				bool flag = Func.AgvInfo[(int)b2].WorkType == worktype;
				if (flag)
				{
					byte b3 = 0;
					while ((int)b3 < landmark.Length)
					{
						bool flag2 = Func.AgvInfo[(int)b2].Location_Display == landmark[(int)b3];
						if (flag2)
						{
							b += 1;
						}
						b3 += 1;
					}
				}
				b2 += 1;
			}
			return b;
		}

		// Token: 0x06000014 RID: 20 RVA: 0x000024E0 File Offset: 0x000006E0
		private static byte Agv_Land_Count(int landmark)
		{
			byte b = 0;
			byte b2 = 0;
			while ((int)b2 < Func.AgvInfo.Length)
			{
				bool flag = Func.AgvInfo[(int)b2].Location_Display == landmark;
				if (flag)
				{
					b += 1;
				}
				b2 += 1;
			}
			return b;
		}

		// Token: 0x06000015 RID: 21 RVA: 0x00002528 File Offset: 0x00000728
		private static byte Agv_Go_Count(int landmark)
		{
			byte b = 0;
			byte b2 = 0;
			while ((int)b2 < Func.AgvInfo.Length)
			{
				bool flag = Func.AgvInfo[(int)b2].Cross_Location_Go == landmark;
				if (flag)
				{
					b += 1;
				}
				b2 += 1;
			}
			return b;
		}

		// Token: 0x06000016 RID: 22 RVA: 0x00002570 File Offset: 0x00000770
		private static void LostConnect(ref int iStatus)
		{
			object sem_LOST_CONNECT = Cls_A17168.SEM_LOST_CONNECT;
			lock (sem_LOST_CONNECT)
			{
				bool flag2 = iStatus >= 0;
				if (flag2)
				{
					iStatus = -1;
				}
				else
				{
					iStatus--;
				}
			}
		}

		// Token: 0x06000017 RID: 23 RVA: 0x000025C8 File Offset: 0x000007C8
		private static void WarnInfo(string str, out string[] info, out int level)
		{
			int num = 0;
			info = new string[8];
			level = 1;
			for (byte b = 0; b < 8; b += 1)
			{
				info[(int)b] = "";
			}
			bool flag = str == "0000000000000000000000000000000000000000000000000000000000000000";
			if (flag)
			{
				info[0] = "正常";
			}
			else
			{
				for (byte b2 = 0; b2 < 64; b2 += 1)
				{
					bool flag2 = str.Substring((int)(63 - b2), 1) == "1";
					if (flag2)
					{
						bool flag3 = mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][2].ToString() != "0";
						if (flag3)
						{
							info[num] = mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][1].ToString();
							bool flag4 = level < (int)Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][2].ToString());
							if (flag4)
							{
								level = (int)Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[(int)b2][2].ToString());
							}
							num++;
						}
						bool flag5 = num >= 8;
						if (flag5)
						{
							break;
						}
					}
				}
			}
		}

		// Token: 0x06000018 RID: 24 RVA: 0x00002740 File Offset: 0x00000940
		private static void WarnInfo_PLC(string str, out string[] info, out int level)
		{
			int num = 0;
			info = new string[8];
			level = 1;
			for (byte b = 0; b < 8; b += 1)
			{
				info[(int)b] = "";
			}
			bool flag = str == "0000000000000000000000000000000000000000000000000000000000000000";
			if (flag)
			{
				info[0] = "正常";
			}
			else
			{
				for (byte b2 = 0; b2 < 64; b2 += 1)
				{
					bool flag2 = str.Substring((int)(63 - b2), 1) == "1";
					if (flag2)
					{
						bool flag3 = mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][2].ToString() != "0";
						if (flag3)
						{
							info[num] = mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][1].ToString();
							bool flag4 = level < (int)Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][2].ToString());
							if (flag4)
							{
								level = (int)Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[(int)b2][2].ToString());
							}
							num++;
						}
						bool flag5 = num >= 8;
						if (flag5)
						{
							break;
						}
					}
				}
			}
		}

		// Token: 0x06000019 RID: 25 RVA: 0x000028B8 File Offset: 0x00000AB8
		public static float GetMileage(int point1, int point2)
		{
			object obj = Cls_A17168.obj_GetMileage;
			float result;
			lock (obj)
			{
				float num = 0f;
				int count = Cls_A17168.ds_mileage.Tables[0].Rows.Count;
				DataTable dataTable = new DataView(Cls_A17168.ds_mileage.Tables[0])
				{
					RowFilter = string.Concat(new string[]
					{
						"(Start_Point=",
						point1.ToString(),
						" or Start_Point=",
						point2.ToString(),
						") and (End_Point=  ",
						point1.ToString(),
						" or End_Point=  ",
						point2.ToString(),
						")"
					}),
					RowStateFilter = DataViewRowState.OriginalRows
				}.ToTable();
				int count2 = dataTable.Rows.Count;
				try
				{
					num = Convert.ToSingle(dataTable.Rows[0]["Distance"].ToString());
				}
				catch
				{
				}
				result = num;
			}
			return result;
		}

		// Token: 0x04000001 RID: 1
		private static Thread[] th_getData;

		// Token: 0x04000002 RID: 2
		public static DataSet ds_mileage = new DataSet();

		// Token: 0x04000003 RID: 3
		private static string connectStr = "";

		// Token: 0x04000004 RID: 4
		private static bool startFlag = false;

		// Token: 0x04000005 RID: 5
		private static int closedFlag = -1;

		// Token: 0x04000006 RID: 6
		public static BllBase bBllBase = new BllBase();

		// Token: 0x04000007 RID: 7
		private static object SEM_LOST_CONNECT = new object();

		// Token: 0x04000008 RID: 8
		private static object obj_GetMileage = new object();

		// Token: 0x02000037 RID: 55
		public class agv
		{
			// Token: 0x060002C9 RID: 713 RVA: 0x00054170 File Offset: 0x00052370
			public void AGV_Data(object agvinfo)
			{
				AgvInfo temp = (AgvInfo)agvinfo;
				int location_temp = 0;
				int[] array = new int[24];
				byte[] array2 = new byte[24];
				int num = 0;
				int num2 = 0;
				Ping ping = new Ping();
				Soc_Client soc_Client = new Soc_Client(temp.IP, temp.Port);
				temp.Soc = soc_Client.clientSocket;
				string[] array3 = new string[]
				{
					"",
					"",
					"",
					"",
					"",
					"",
					"",
					""
				};
				Cls_A17168.closedFlag = -1;
				Predicate<TrafficModel> <>9__1;
				Predicate<TrafficModel> <>9__2;
				for (;;)
				{
					bool flag = !temp.Enable;
					if (flag)
					{
						Thread.Sleep(3000);
						bool flag2 = temp.Location_Display != 0;
						if (flag2)
						{
							Crossing.BlockCross(temp.AssemblyLine, 0, temp.Agv_ID, mainfrm.ds_CrossInfo);
						}
						temp.Location_Display = 0;
						temp.Cross_Location_Go = 0;
					}
					else
					{
						bool flag3 = !Cls_A17168.startFlag;
						if (flag3)
						{
							Thread.Sleep(500);
						}
						else
						{
							try
							{
								bool flag4 = temp.bPlcLinked || ping.Send(temp.IP, 150).Status == IPStatus.Success;
								if (flag4)
								{
									bool flag5 = !temp.bPlcLinked;
									if (flag5)
									{
										bool flag6 = soc_Client.OpenLinkPLC();
										if (flag6)
										{
											temp.bPlcLinked = true;
										}
										else
										{
											temp.bPlcLinked = false;
											soc_Client.CloseLinkPLC();
											soc_Client = new Soc_Client(temp.IP, temp.Port);
											temp.Soc = soc_Client.clientSocket;
											num = 0;
										}
									}
									else
									{
										array[0] = 0;
										bool flag7 = temp.Type == 6 && soc_Client.ReadInfo(out array) != 0;
										if (flag7)
										{
											num++;
											bool flag8 = num >= 5;
											if (flag8)
											{
												temp.bPlcLinked = false;
												num = 0;
												soc_Client.CloseLinkPLC();
												soc_Client = new Soc_Client(temp.IP, temp.Port);
												temp.Soc = soc_Client.clientSocket;
												temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
												temp.Warn_Level = 4;
												temp.Warn_info = "网络异常";
												string item = string.Concat(new string[]
												{
													"INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('",
													DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
													"', '",
													temp.Agv_ID.ToString(),
													"', 'Read Fail')"
												});
												UPDateDBList.sqlList.Add(item);
											}
										}
										else
										{
											num = 0;
											int num3 = (temp.Type == 6) ? (array[3] * 256 + array[2]) : array[0];
											location_temp = Func.GetLandMarkId(temp.AssemblyLine, num3);
											bool flag9 = temp.Location_Display != location_temp && location_temp != 0;
											if (flag9)
											{
												WriteTxt.SaveLog1("AGV经过地标：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "地标日志");
												temp.Location_Display = location_temp;
												temp.Read_dt = DateTime.Now;
												UPDateDBList.upDbList.Add(new Location_Log(DateTime.Now, temp.Agv_ID, temp.Location_Display, num3, 0, 0, 0));
											}
											WriteTxt.SaveLog1("=========》（11）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
											bool flag10 = temp.Cross_Location_Go != location_temp && num3 > 0 && num3 < 2000;
											if (flag10)
											{
												bool flag11 = temp.AssemblyLine == 1 && temp.Location_Display == 152;
												if (flag11)
												{
													bool flag12 = Cls_A17168.Agv_Land_Count(152) == 1;
													if (flag12)
													{
														int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
														bool flag13 = num4 >= 0;
														if (flag13)
														{
															bool flag14 = soc_Client.WriteInfo(1, 0, 0) == 0;
															if (flag14)
															{
																num2 = 0;
																Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																temp.Cross_Location_Go = location_temp;
															}
														}
														else
														{
															bool flag15 = num4 != num2;
															if (flag15)
															{
																num2 = num4;
																Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
															}
														}
													}
												}
												else
												{
													bool flag16 = temp.AssemblyLine == 3 && temp.Location_Display == 136;
													if (flag16)
													{
														bool flag17 = Cls_A17168.Agv_Land_Count(136) == 1;
														if (flag17)
														{
															int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
															bool flag18 = num4 >= 0;
															if (flag18)
															{
																bool flag19 = soc_Client.WriteInfo(1, 0, 0) == 0;
																if (flag19)
																{
																	num2 = 0;
																	Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																	temp.Cross_Location_Go = location_temp;
																}
															}
															else
															{
																bool flag20 = num4 != num2;
																if (flag20)
																{
																	num2 = num4;
																	Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																}
															}
														}
													}
													else
													{
														bool flag21 = temp.AssemblyLine == 5 && Enumerable.Contains<int>(new int[]
														{
															106,
															182,
															196
														}, location_temp);
														if (flag21)
														{
															bool flag22 = (temp.Location_Display == 106 && Cls_A17168.Agv_Land_Count(106) == 1 && Cls_A17168.Agv_Land_Count(167) == 0) || (temp.Location_Display == 182 && Cls_A17168.Agv_Land_Count(182) == 1 && Cls_A17168.Agv_Land_Count(196) == 0) || (temp.Location_Display == 196 && Cls_A17168.Agv_Land_Count(196) == 1 && Cls_A17168.Agv_Land_Count(195) == 0);
															if (flag22)
															{
																int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																bool flag23 = num4 >= 0;
																if (flag23)
																{
																	bool flag24 = soc_Client.WriteInfo(1, 0, 0) == 0;
																	if (flag24)
																	{
																		num2 = 0;
																		Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																		temp.Cross_Location_Go = location_temp;
																	}
																}
																else
																{
																	bool flag25 = num4 != num2;
																	if (flag25)
																	{
																		num2 = num4;
																		Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																	}
																}
															}
														}
														else
														{
															bool flag26 = temp.AssemblyLine == 6 && Enumerable.Contains<int>(new int[]
															{
																180
															}, location_temp);
															if (flag26)
															{
																bool flag27 = temp.Location_Display == 180 && Cls_A17168.Agv_Land_Count(180) == 1;
																if (flag27)
																{
																	int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																	bool flag28 = num4 >= 0;
																	if (flag28)
																	{
																		bool flag29 = soc_Client.WriteInfo(1, 0, 0) == 0;
																		if (flag29)
																		{
																			num2 = 0;
																			Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																			temp.Cross_Location_Go = location_temp;
																		}
																	}
																	else
																	{
																		bool flag30 = num4 != num2;
																		if (flag30)
																		{
																			num2 = num4;
																			Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																		}
																	}
																}
															}
															else
															{
																bool flag31 = temp.AssemblyLine == 7 && Enumerable.Contains<int>(new int[]
																{
																	500,
																	174,
																	156,
																	154,
																	216,
																	504
																}, location_temp);
																if (flag31)
																{
																	bool flag32 = (temp.Location_Display == 500 && Cls_A17168.Agv_Land_Count(500) == 1) || (temp.Location_Display == 174 && Cls_A17168.Agv_Land_Count(174) == 1) || (temp.Location_Display == 154 && Cls_A17168.Agv_Land_Count(154) == 1 && Cls_A17168.Agv_Land_Count(156) == 0) || (temp.Location_Display == 156 && Cls_A17168.Agv_Land_Count(156) == 1) || (temp.Location_Display == 216 && Cls_A17168.Agv_Land_Count(216) == 1) || (temp.Location_Display == 504 && Cls_A17168.Agv_Land_Count(504) == 1);
																	if (flag32)
																	{
																		int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																		bool flag33 = num4 >= 0;
																		if (flag33)
																		{
																			bool flag34 = soc_Client.WriteInfo(1, 0, 0) == 0;
																			if (flag34)
																			{
																				num2 = 0;
																				Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																				temp.Cross_Location_Go = location_temp;
																			}
																		}
																		else
																		{
																			bool flag35 = num4 != num2;
																			if (flag35)
																			{
																				num2 = num4;
																				Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																			}
																		}
																	}
																}
																else
																{
																	bool flag36 = Enumerable.Contains<int>(new int[]
																	{
																		316,
																		328,
																		332,
																		300,
																		314,
																		310,
																		342
																	}, location_temp);
																	if (flag36)
																	{
																		bool flag37 = (temp.Location_Display == 316 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			316,
																			320,
																			321
																		}) == 1) || (temp.Location_Display == 328 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			328,
																			332
																		}) == 1) || (temp.Location_Display == 332 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			332
																		}) == 1) || (temp.Location_Display == 300 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			300
																		}) == 1) || (temp.Location_Display == 310 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			310,
																			312,
																			313
																		}) == 1) || (temp.Location_Display == 342 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			342,
																			304,
																			305
																		}) == 1) || (temp.Location_Display == 314 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			314
																		}) == 1);
																		if (flag37)
																		{
																			int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																			bool flag38 = num4 >= 0;
																			if (flag38)
																			{
																				bool flag39 = soc_Client.WriteInfo(1, 0, 0) == 0;
																				if (flag39)
																				{
																					num2 = 0;
																					Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																					temp.Cross_Location_Go = location_temp;
																				}
																			}
																			else
																			{
																				bool flag40 = num4 != num2;
																				if (flag40)
																				{
																					num2 = num4;
																					Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																				}
																			}
																		}
																	}
																	else
																	{
																		bool flag41 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(new char[]
																		{
																			','
																		}), location_temp.ToString());
																		if (flag41)
																		{
																			WriteTxt.SaveLog1("=========》（12）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																			bool flag42 = Frm_A17168.businessCtrl == null;
																			if (flag42)
																			{
																				Frm_A17168.businessCtrl = new BusinessManage();
																			}
																			bool flag43 = Frm_A17168.leavedDic == null;
																			if (flag43)
																			{
																				Frm_A17168.leavedDic = new Dictionary<int, int>();
																			}
																			bool flag44 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
																			if (flag44)
																			{
																				Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
																			}
																			bool flag45 = false;
																			WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																			bool flag46 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
																			if (flag46)
																			{
																				flag45 = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
																				WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flag45.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																			}
																			bool flag47 = flag45;
																			if (flag47)
																			{
																				WriteTxt.SaveLog1("=========》（13）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																				List<TrafficModel> autoLeavedDic = Frm_A17168.autoLeavedDic;
																				Predicate<TrafficModel> match;
																				if ((match = <>9__1) == null)
																				{
																					match = (<>9__1 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
																				}
																				TrafficModel trafficModel = autoLeavedDic.Find(match);
																				bool flag48 = trafficModel != null;
																				if (flag48)
																				{
																					trafficModel.agvId = temp.Agv_ID;
																					trafficModel.InArea = DateTime.Now;
																				}
																				WriteTxt.SaveLog1(string.Concat(new string[]
																				{
																					location_temp.ToString(),
																					"路口添加",
																					(trafficModel != null) ? trafficModel.areaCode : null,
																					"(",
																					trafficModel.agvId.ToString(),
																					")"
																				}), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				bool flag49 = soc_Client.WriteInfo(1, 0, 0) == 0;
																				if (flag49)
																				{
																					Frm_A17168.leavedDic[temp.Agv_ID] = 0;
																					WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																					num2 = 0;
																					temp.Cross_Location_Go = location_temp;
																					int location_temp2 = location_temp;
																				}
																			}
																			Dictionary<int, int> leavedDic = Frm_A17168.leavedDic;
																			int num5 = temp.Agv_ID;
																			int num6 = leavedDic[num5];
																			leavedDic[num5] = num6 + 1;
																		}
																		else
																		{
																			bool flag50 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(new char[]
																			{
																				','
																			}), location_temp.ToString());
																			if (flag50)
																			{
																				WriteTxt.SaveLog1("=========》（14）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																				bool flag51 = Frm_A17168.businessCtrl == null;
																				if (flag51)
																				{
																					Frm_A17168.businessCtrl = new BusinessManage();
																				}
																				bool flag52 = Frm_A17168.leavedDic == null;
																				if (flag52)
																				{
																					Frm_A17168.leavedDic = new Dictionary<int, int>();
																				}
																				bool flag53 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
																				if (flag53)
																				{
																					Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
																				}
																				bool flag54 = false;
																				WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				bool flag55 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
																				if (flag55)
																				{
																					flag54 = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
																					WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flag54.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				}
																				bool flag56 = flag54;
																				if (flag56)
																				{
																					WriteTxt.SaveLog1("=========》（15）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																					Frm_A17168.leavedDic[temp.Agv_ID] = 0;
																					temp.Cross_Location_Go = location_temp;
																					int location_temp2 = location_temp;
																					List<TrafficModel> autoLeavedDic2 = Frm_A17168.autoLeavedDic;
																					Predicate<TrafficModel> match2;
																					if ((match2 = <>9__2) == null)
																					{
																						match2 = (<>9__2 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
																					}
																					TrafficModel trafficModel2 = autoLeavedDic2.Find(match2);
																					bool flag57 = trafficModel2 != null;
																					if (flag57)
																					{
																						trafficModel2.agvId = 0;
																					}
																					WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				}
																				Dictionary<int, int> leavedDic2 = Frm_A17168.leavedDic;
																				int num6 = temp.Agv_ID;
																				int num5 = leavedDic2[num6];
																				leavedDic2[num6] = num5 + 1;
																			}
																			else
																			{
																				int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																				bool flag58 = num4 >= 0;
																				if (flag58)
																				{
																					bool flag59 = location_temp % 2 == 0;
																					if (flag59)
																					{
																						WriteTxt.SaveLog1("准备放行" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "AGV");
																						bool flag60 = soc_Client.WriteInfo(1, 0, 0) == 0;
																						if (flag60)
																						{
																							num2 = 0;
																							Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																							temp.Cross_Location_Go = location_temp;
																						}
																					}
																					else
																					{
																						Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "路口已复位", temp.Agv_ID, num3);
																						temp.Cross_Location_Go = location_temp;
																						num2 = 0;
																					}
																				}
																				else
																				{
																					bool flag61 = num4 < 0;
																					if (flag61)
																					{
																						bool flag62 = num4 != num2;
																						if (flag62)
																						{
																							num2 = num4;
																							Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																						}
																					}
																				}
																			}
																		}
																	}
																}
															}
														}
													}
												}
											}
											string sWarn = string.Concat(new string[]
											{
												Convert.ToString(array[11], 2).PadLeft(8, '0'),
												Convert.ToString(array[10], 2).PadLeft(8, '0'),
												Convert.ToString(array[9], 2).PadLeft(8, '0'),
												Convert.ToString(array[8], 2).PadLeft(8, '0'),
												Convert.ToString(array[7], 2).PadLeft(8, '0'),
												Convert.ToString(array[6], 2).PadLeft(8, '0'),
												Convert.ToString(array[5], 2).PadLeft(8, '0'),
												Convert.ToString(array[4], 2).PadLeft(8, '0')
											});
											ThreadPool.QueueUserWorkItem(delegate(object o)
											{
												Thread.Sleep(100);
												Cls_A17168.Warn_Deal(temp, sWarn);
											});
										}
									}
								}
								else
								{
									bool bPlcLinked = temp.bPlcLinked;
									if (bPlcLinked)
									{
										num++;
										bool flag63 = num > 10;
										if (flag63)
										{
											temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
											temp.Warn_Level = 4;
											temp.Warn_info = "网络异常";
											num = 0;
											temp.bPlcLinked = false;
											soc_Client.CloseLinkPLC();
										}
									}
								}
							}
							catch (Exception ex)
							{
								bool flag64 = ex.TargetSite.Name.ToString() == "ConnectAsync";
								if (flag64)
								{
									temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
									temp.Warn_Level = 4;
									temp.Warn_info = "网络异常";
									num = 0;
									temp.bPlcLinked = false;
									soc_Client.CloseLinkPLC();
								}
								bool bPlcLinked2 = temp.bPlcLinked;
								if (bPlcLinked2)
								{
									num++;
									bool flag65 = num > 10;
									if (flag65)
									{
										temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
										temp.Warn_Level = 4;
										temp.Warn_info = "网络异常";
										num = 0;
										temp.bPlcLinked = false;
										soc_Client.CloseLinkPLC();
									}
								}
								Thread.Sleep(5000);
							}
							Thread.Sleep(1000);
						}
					}
				}
			}

			// Token: 0x060002CA RID: 714 RVA: 0x000560C8 File Offset: 0x000542C8
			public void AGV_Data_PLC(object agvinfo)
			{
				AgvInfo temp = (AgvInfo)agvinfo;
				int location_temp = 0;
				int[] array = new int[1];
				int[] array2 = new int[1];
				int num = 0;
				int num2 = 0;
				Ping ping = new Ping();
				S7_200SocketClient s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
				temp.Soc = s7_200SocketClient.clientSocket;
				string[] array3 = new string[]
				{
					"",
					"",
					"",
					"",
					"",
					"",
					"",
					""
				};
				Cls_A17168.closedFlag = -1;
				Predicate<TrafficModel> <>9__1;
				Predicate<TrafficModel> <>9__2;
				for (;;)
				{
					bool flag = !temp.Enable;
					if (flag)
					{
						Thread.Sleep(3000);
					}
					else
					{
						bool flag2 = !Cls_A17168.startFlag;
						if (flag2)
						{
							Thread.Sleep(500);
						}
						else
						{
							try
							{
								bool flag3 = ping.Send(temp.IP, 150).Status == IPStatus.Success;
								if (flag3)
								{
									bool flag4 = !temp.bPlcLinked;
									if (flag4)
									{
										bool flag5 = s7_200SocketClient.OpenLinkPLC();
										if (flag5)
										{
											temp.bPlcLinked = true;
										}
										else
										{
											temp.bPlcLinked = false;
											s7_200SocketClient.CloseLinkPLC();
											s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
											temp.Soc = s7_200SocketClient.clientSocket;
											num = 0;
										}
									}
									else
									{
										array[0] = 0;
										bool flag6 = s7_200SocketClient.ReadVW(2, 1, 104, out array) != 0;
										if (flag6)
										{
											num--;
											bool flag7 = Math.Abs(num) >= 5;
											if (flag7)
											{
												temp.bPlcLinked = false;
												num = 0;
												s7_200SocketClient.CloseLinkPLC();
												s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
												temp.Soc = s7_200SocketClient.clientSocket;
												temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
												temp.Warn_Level = 4;
												temp.Warn_info = "网络异常";
												string sql = string.Concat(new string[]
												{
													"INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('",
													DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
													"', '",
													temp.Agv_ID.ToString(),
													"', 'Read Fail')"
												});
												Cls_A17168.bBllBase.ExecuteNonQuery(sql);
											}
										}
										else
										{
											location_temp = Func.GetLandMarkId(temp.AssemblyLine, array[0]);
											int num3 = array[0];
											bool flag8 = temp.Location_Display != location_temp && location_temp != 0;
											if (flag8)
											{
												WriteTxt.SaveLog1("AGV经过地标：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "地标日志");
												temp.Location_Display = location_temp;
												temp.Read_dt = DateTime.Now;
												string item = string.Concat(new string[]
												{
													"INSERT INTO [Location_Log] ([Dt] ,[Agv_ID] ,[Loc_ID] ,[Value] ,[Loc_ID2]  ,[Value2],[Value3])  VALUES ('",
													DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"),
													"',",
													temp.Agv_ID.ToString(),
													",",
													location_temp.ToString(),
													",",
													num3.ToString(),
													",",
													0.ToString(),
													",",
													0.ToString(),
													",",
													0.ToString(),
													")"
												});
												UPDateDBList.sqlList.Add(item);
											}
											bool flag9 = Math.Abs(num) > 0;
											if (flag9)
											{
												num = 0;
											}
											WriteTxt.SaveLog1("=========》（21）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
											bool flag10 = temp.Cross_Location_Go != location_temp && num3 > 0 && num3 < 2000;
											if (flag10)
											{
												bool flag11 = temp.AssemblyLine == 1 && temp.Location_Display == 152;
												if (flag11)
												{
													bool flag12 = Cls_A17168.Agv_Land_Count(152) == 1;
													if (flag12)
													{
														int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
														bool flag13 = num4 >= 0;
														if (flag13)
														{
															bool flag14 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
															if (flag14)
															{
																num2 = 0;
																Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																temp.Cross_Location_Go = location_temp;
															}
														}
														else
														{
															bool flag15 = num4 != num2;
															if (flag15)
															{
																num2 = num4;
																Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
															}
														}
													}
												}
												else
												{
													bool flag16 = temp.AssemblyLine == 3 && temp.Location_Display == 136;
													if (flag16)
													{
														bool flag17 = Cls_A17168.Agv_Land_Count(136) == 1;
														if (flag17)
														{
															int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
															bool flag18 = num4 >= 0;
															if (flag18)
															{
																bool flag19 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
																if (flag19)
																{
																	num2 = 0;
																	Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																	temp.Cross_Location_Go = location_temp;
																}
															}
															else
															{
																bool flag20 = num4 != num2;
																if (flag20)
																{
																	num2 = num4;
																	Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																}
															}
														}
													}
													else
													{
														bool flag21 = temp.AssemblyLine == 5 && Enumerable.Contains<int>(new int[]
														{
															106,
															182,
															196
														}, location_temp);
														if (flag21)
														{
															bool flag22 = (temp.Location_Display == 106 && Cls_A17168.Agv_Land_Count(106) == 1 && Cls_A17168.Agv_Land_Count(167) == 0) || (temp.Location_Display == 182 && Cls_A17168.Agv_Land_Count(182) == 1 && Cls_A17168.Agv_Land_Count(196) == 0) || (temp.Location_Display == 196 && Cls_A17168.Agv_Land_Count(196) == 1 && Cls_A17168.Agv_Land_Count(195) == 0);
															if (flag22)
															{
																int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																bool flag23 = num4 >= 0;
																if (flag23)
																{
																	bool flag24 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
																	if (flag24)
																	{
																		num2 = 0;
																		Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																		temp.Cross_Location_Go = location_temp;
																	}
																}
																else
																{
																	bool flag25 = num4 != num2;
																	if (flag25)
																	{
																		num2 = num4;
																		Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																	}
																}
															}
														}
														else
														{
															bool flag26 = temp.AssemblyLine == 6 && Enumerable.Contains<int>(new int[]
															{
																180
															}, location_temp);
															if (flag26)
															{
																bool flag27 = temp.Location_Display == 180 && Cls_A17168.Agv_Land_Count(180) == 1;
																if (flag27)
																{
																	int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																	bool flag28 = num4 >= 0;
																	if (flag28)
																	{
																		bool flag29 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
																		if (flag29)
																		{
																			num2 = 0;
																			Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																			temp.Cross_Location_Go = location_temp;
																		}
																	}
																	else
																	{
																		bool flag30 = num4 != num2;
																		if (flag30)
																		{
																			num2 = num4;
																			Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																		}
																	}
																}
															}
															else
															{
																bool flag31 = temp.AssemblyLine == 7 && Enumerable.Contains<int>(new int[]
																{
																	500,
																	174,
																	156,
																	154,
																	216,
																	504
																}, location_temp);
																if (flag31)
																{
																	bool flag32 = (temp.Location_Display == 500 && Cls_A17168.Agv_Land_Count(500) == 1) || (temp.Location_Display == 174 && Cls_A17168.Agv_Land_Count(174) == 1) || (temp.Location_Display == 154 && Cls_A17168.Agv_Land_Count(154) == 1 && Cls_A17168.Agv_Land_Count(156) == 0) || (temp.Location_Display == 156 && Cls_A17168.Agv_Land_Count(156) == 1) || (temp.Location_Display == 216 && Cls_A17168.Agv_Land_Count(216) == 1) || (temp.Location_Display == 504 && Cls_A17168.Agv_Land_Count(504) == 1);
																	if (flag32)
																	{
																		int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																		bool flag33 = num4 >= 0;
																		if (flag33)
																		{
																			bool flag34 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
																			if (flag34)
																			{
																				num2 = 0;
																				Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																				temp.Cross_Location_Go = location_temp;
																			}
																		}
																		else
																		{
																			bool flag35 = num4 != num2;
																			if (flag35)
																			{
																				num2 = num4;
																				Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																			}
																		}
																	}
																}
																else
																{
																	bool flag36 = Enumerable.Contains<int>(new int[]
																	{
																		316,
																		328,
																		332,
																		300,
																		314
																	}, location_temp);
																	if (flag36)
																	{
																		bool flag37 = (temp.Location_Display == 316 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			316,
																			320
																		}) == 1) || (temp.Location_Display == 328 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			328,
																			332
																		}) == 1) || (temp.Location_Display == 332 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			332
																		}) == 1) || (temp.Location_Display == 300 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			300
																		}) == 1) || (temp.Location_Display == 314 && Cls_A17168.GetAreaAGVNum(new int[]
																		{
																			314
																		}) == 1);
																		if (flag37)
																		{
																			int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																			bool flag38 = num4 >= 0;
																			if (flag38)
																			{
																				bool flag39 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
																				if (flag39)
																				{
																					num2 = 0;
																					Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																					temp.Cross_Location_Go = location_temp;
																				}
																			}
																			else
																			{
																				bool flag40 = num4 != num2;
																				if (flag40)
																				{
																					num2 = num4;
																					Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																				}
																			}
																		}
																	}
																	else
																	{
																		bool flag41 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(new char[]
																		{
																			','
																		}), location_temp.ToString());
																		if (flag41)
																		{
																			WriteTxt.SaveLog1("=========》（22）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																			bool flag42 = Frm_A17168.businessCtrl == null;
																			if (flag42)
																			{
																				Frm_A17168.businessCtrl = new BusinessManage();
																			}
																			bool flag43 = Frm_A17168.leavedDic == null;
																			if (flag43)
																			{
																				Frm_A17168.leavedDic = new Dictionary<int, int>();
																			}
																			bool flag44 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
																			if (flag44)
																			{
																				Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
																			}
																			bool flag45 = false;
																			WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																			bool flag46 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
																			if (flag46)
																			{
																				flag45 = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
																				WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flag45.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																			}
																			bool flag47 = flag45;
																			if (flag47)
																			{
																				WriteTxt.SaveLog1("=========》（23）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																				List<TrafficModel> autoLeavedDic = Frm_A17168.autoLeavedDic;
																				Predicate<TrafficModel> match;
																				if ((match = <>9__1) == null)
																				{
																					match = (<>9__1 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
																				}
																				TrafficModel trafficModel = autoLeavedDic.Find(match);
																				bool flag48 = trafficModel != null;
																				if (flag48)
																				{
																					trafficModel.agvId = temp.Agv_ID;
																					trafficModel.InArea = DateTime.Now;
																				}
																				WriteTxt.SaveLog1(string.Concat(new string[]
																				{
																					location_temp.ToString(),
																					"路口添加",
																					(trafficModel != null) ? trafficModel.areaCode : null,
																					"(",
																					trafficModel.agvId.ToString(),
																					")"
																				}), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				bool flag49 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
																				if (flag49)
																				{
																					Frm_A17168.leavedDic[temp.Agv_ID] = 0;
																					WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																					num2 = 0;
																					temp.Cross_Location_Go = location_temp;
																					int location_temp2 = location_temp;
																				}
																			}
																			Dictionary<int, int> leavedDic = Frm_A17168.leavedDic;
																			int num5 = temp.Agv_ID;
																			int num6 = leavedDic[num5];
																			leavedDic[num5] = num6 + 1;
																		}
																		else
																		{
																			bool flag50 = Enumerable.Contains<string>(Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(new char[]
																			{
																				','
																			}), location_temp.ToString());
																			if (flag50)
																			{
																				WriteTxt.SaveLog1("=========》（24）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																				bool flag51 = Frm_A17168.businessCtrl == null;
																				if (flag51)
																				{
																					Frm_A17168.businessCtrl = new BusinessManage();
																				}
																				bool flag52 = Frm_A17168.leavedDic == null;
																				if (flag52)
																				{
																					Frm_A17168.leavedDic = new Dictionary<int, int>();
																				}
																				bool flag53 = !Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID);
																				if (flag53)
																				{
																					Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
																				}
																				bool flag54 = false;
																				WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				bool flag55 = Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0;
																				if (flag55)
																				{
																					flag54 = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
																					WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flag54.ToString(), "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				}
																				bool flag56 = flag54;
																				if (flag56)
																				{
																					WriteTxt.SaveLog1("=========》（25）：" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "调试日志");
																					Frm_A17168.leavedDic[temp.Agv_ID] = 0;
																					temp.Cross_Location_Go = location_temp;
																					int location_temp2 = location_temp;
																					List<TrafficModel> autoLeavedDic2 = Frm_A17168.autoLeavedDic;
																					Predicate<TrafficModel> match2;
																					if ((match2 = <>9__2) == null)
																					{
																						match2 = (<>9__2 = ((TrafficModel _) => _.areaCode.Equals(location_temp.ToString())));
																					}
																					TrafficModel trafficModel2 = autoLeavedDic2.Find(match2);
																					bool flag57 = trafficModel2 != null;
																					if (flag57)
																					{
																						trafficModel2.agvId = 0;
																					}
																					WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + temp.Agv_ID.ToString(), "插件日志");
																				}
																				Dictionary<int, int> leavedDic2 = Frm_A17168.leavedDic;
																				int num6 = temp.Agv_ID;
																				int num5 = leavedDic2[num6];
																				leavedDic2[num6] = num5 + 1;
																			}
																			else
																			{
																				int num4 = Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
																				bool flag58 = num4 >= 0;
																				if (flag58)
																				{
																					bool flag59 = location_temp % 2 == 0;
																					if (flag59)
																					{
																						WriteTxt.SaveLog1("准备放行" + location_temp.ToString(), temp.Agv_ID.ToString() + "#Agv", "AGV");
																						bool flag60 = s7_200SocketClient.WriteVW(2, 116, temp.Location_Display) == 0;
																						if (flag60)
																						{
																							num2 = 0;
																							Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, num3);
																							temp.Cross_Location_Go = location_temp;
																						}
																					}
																					else
																					{
																						Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "路口已复位", temp.Agv_ID, num3);
																						temp.Cross_Location_Go = location_temp;
																						num2 = 0;
																					}
																				}
																				else
																				{
																					bool flag61 = num4 < 0;
																					if (flag61)
																					{
																						bool flag62 = num4 != num2;
																						if (flag62)
																						{
																							num2 = num4;
																							Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + num4.ToString() + "占用路口", temp.Agv_ID, num3);
																						}
																					}
																				}
																			}
																		}
																	}
																}
															}
														}
													}
												}
											}
											int[] array4 = new int[2];
											s7_200SocketClient.ReadVW(2, 2, 3002, out array4);
											string sWarn = (Convert.ToString(array4[0], 2).PadLeft(8, '0') + Convert.ToString(array4[1], 2).PadLeft(8, '0')).PadLeft(64, '0');
											ThreadPool.QueueUserWorkItem(delegate(object o)
											{
												Thread.Sleep(100);
												Cls_A17168.Warn_Deal_Plc(temp, sWarn);
											});
										}
									}
								}
								else
								{
									bool bPlcLinked = temp.bPlcLinked;
									if (bPlcLinked)
									{
										num--;
										bool flag63 = Math.Abs(num) > 50;
										if (flag63)
										{
											temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
											temp.Warn_Level = 4;
											temp.Warn_info = "网络异常";
											num = 0;
											temp.bPlcLinked = false;
											s7_200SocketClient.CloseLinkPLC();
										}
									}
								}
							}
							catch (Exception ex)
							{
								bool flag64 = ex.TargetSite.Name.ToString() == "ConnectAsync";
								if (flag64)
								{
									temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
									temp.Warn_Level = 4;
									temp.Warn_info = "网络异常";
									num = 0;
									temp.bPlcLinked = false;
									s7_200SocketClient.CloseLinkPLC();
									s7_200SocketClient = new S7_200SocketClient(temp.IP, temp.Port);
									temp.Soc = s7_200SocketClient.clientSocket;
								}
								bool bPlcLinked2 = temp.bPlcLinked;
								if (bPlcLinked2)
								{
									num--;
									bool flag65 = Math.Abs(num) > 50;
									if (flag65)
									{
										temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
										temp.Warn_Level = 4;
										temp.Warn_info = "网络异常";
										num = 0;
										temp.bPlcLinked = false;
										s7_200SocketClient.CloseLinkPLC();
									}
								}
								Thread.Sleep(3000);
							}
							Thread.Sleep(800);
						}
					}
				}
			}
		}
	}
}