using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Net.NetworkInformation;
using System.Data;
using System.Drawing;
using System.Threading;
using System.Windows.Forms;
using Crossing;
using System.Data.SqlClient;
using Siemens_S200_Serial; //2
using Siemens_net_Protocol;//3
using SCM_Protocol;        //4 
using Omron_Serial_Fins;   //1
using Omron_Serial_Hostlink;//0
using Protocol.Socket_Uart.S7_200_PPI;
using BllSql;
using AGVSystem.Cls;
using AGVSystem.A17168;
using HxBusiness;

namespace AGVSystem
{
    public class Cls_A17168
    {
        static Thread[] th_getData;
        public static DataSet ds_mileage = new DataSet();
        public DataSet ds_Mileage
        {
            get { return ds_mileage; }
            set { ds_mileage = value; }
        }


        static string connectStr = "";
        public string ConnectStr
        {
            get { return connectStr; }
            set { connectStr = value; }
        }

        static bool startFlag = false;
        /// <summary>
        /// AGV调度启动标志
        /// </summary>
        public bool StartFlag
        {
            get { return startFlag; }
            set { startFlag = value; }
        }

        static int closedFlag = -1;
        /// <summary>
        /// AGV调度关闭标志
        /// </summary>
        public int ClosedFlag
        {
            get { return closedFlag; }
            set { closedFlag = value; }
        }
        public Thread[] th_GetData
        {
            get { return th_getData; }
            set { th_getData = value; }
        }


        public static BllBase bBllBase = new BllBase();


        public void AGV_start(object agvinfo)
        {
            agv newagv = new agv();
            Cls.AgvInfo temp = (Cls.AgvInfo)agvinfo;
            if (temp.Type == 6)
            {
                th_GetData[temp.Agv_ID - 1] = new Thread(newagv.AGV_Data);
            }
            else
            {
                th_GetData[temp.Agv_ID - 1] = new Thread(newagv.AGV_Data_PLC);
            }
            th_GetData[temp.Agv_ID - 1].IsBackground = true;
            th_GetData[temp.Agv_ID - 1].Start(agvinfo);
        }
        public class agv
        {
            /// <summary>
            /// 单片机
            /// </summary>
            /// <param name="agvinfo"></param>
            public void AGV_Data(object agvinfo)
            {
                Cls.AgvInfo temp = (Cls.AgvInfo)agvinfo;
                int location_temp = 0;
                int location_value = 0;
                int[] param_info = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
                byte[] Write_re = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
                int lockCode = 0;
                int errorcount = 0;
                int t = 0, t_temp = 0;
                Ping pingAgv = new Ping();
                Soc_Client Link_To_PC = new Soc_Client(temp.IP, temp.Port);
                temp.Soc = Link_To_PC.clientSocket;
                string[] warn_info = { "", "", "", "", "", "", "", "" };
                closedFlag = -1;



                while (true)
                {
                    if (!temp.Enable)
                    {
                        Thread.Sleep(3000);
                        if (temp.Location_Display != 0)
                        {
                            Crossing.Crossing.BlockCross(temp.AssemblyLine, 0, temp.Agv_ID, mainfrm.ds_CrossInfo);
                        }
                        temp.Location_Display = 0;
                        temp.Cross_Location_Go = 0;
                        continue;
                    }
                    if (!startFlag)
                    {
                        Thread.Sleep(500);
                        continue;
                    }
                    try
                    {
                        if (temp.bPlcLinked || pingAgv.Send(temp.IP, 150).Status == IPStatus.Success)
                        {
                            //来到这里，表示PING成功。
                            if (!temp.bPlcLinked)
                            {
                                if (Link_To_PC.OpenLinkPLC())
                                {   //来到这里，表示链路成功打开
                                    temp.bPlcLinked = true;
                                }
                                else
                                {   //来到这里，表示要重新建立链路
                                    temp.bPlcLinked = false;
                                    Link_To_PC.CloseLinkPLC();
                                    Link_To_PC = new Soc_Client(temp.IP, temp.Port);
                                    temp.Soc = Link_To_PC.clientSocket;
                                    errorcount = 0;
                                }
                            }
                            else
                            {
                                param_info[0] = 0;

                                //来到这里，表示PLC的链路已经打开，可以直接读写数据
                                if ((temp.Type == 6 && 0 != Link_To_PC.ReadInfo(out param_info)))
                                {
                                    //来到这里，表示读数据失败    
                                    errorcount++;

                                    if (errorcount >= 5)
                                    {
                                        //来到这里，表示一再失败，要重新建立链路                                    
                                        temp.bPlcLinked = false;
                                        errorcount = 0;
                                        Link_To_PC.CloseLinkPLC();
                                        Link_To_PC = new Soc_Client(temp.IP, temp.Port);
                                        temp.Soc = Link_To_PC.clientSocket;
                                        temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                                        temp.Warn_Level = 4;
                                        temp.Warn_info = "网络异常";
                                        //Func.db_conn.Command("INSERT INTO [Net_Log] ([dt] ,[AGV_ID] ,[Type]) VALUES  ('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "','" + temp.Agv_ID + "','Read Fail')");
                                        string strsql = "INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "', '" + temp.Agv_ID + "', 'Read Fail')";
                                        UPDateDBList.sqlList.Add(strsql);
                                    }
                                }
                                else
                                {
                                    errorcount = 0;
                                    location_value = temp.Type == 6 ? param_info[3] * 256 + param_info[2] : param_info[0];
                                    location_temp = Func.GetLandMarkId(temp.AssemblyLine, location_value);
                                    if (temp.Location_Display != location_temp && location_temp != 0)
                                    {
                                        WriteTxt.SaveLog1("AGV经过地标：" + location_temp, temp.Agv_ID + "#Agv", "地标日志");
                                        //地标信息
                                        temp.Location_Display = location_temp;
                                        temp.Read_dt = DateTime.Now;
                                        UPDateDBList.upDbList.Add(new Location_Log(DateTime.Now, temp.Agv_ID, temp.Location_Display, location_value, 0, 0, 0));
                                    }
                                    WriteTxt.SaveLog1("=========》（11）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                    #region 路口放行判断
                                    if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
                                    {
                                        
                                        #region 发动机限流 152
                                        if (temp.AssemblyLine == 1 && temp.Location_Display == 152)
                                        {
                                            if (Agv_Land_Count(152) == 1)
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 仪表线限流 136
                                        else if (temp.AssemblyLine == 3 && temp.Location_Display == 136)
                                        {
                                            if (Agv_Land_Count(136) == 1)
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 内饰一线 106 182 ,196
                                        else if (temp.AssemblyLine == 5 && new int[] { 106, 182, 196 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 106 && Agv_Land_Count(106) == 1 && Agv_Land_Count(167) == 0)
                                                || (temp.Location_Display == 182 && Agv_Land_Count(182) == 1 && Agv_Land_Count(196) == 0)
                                                || (temp.Location_Display == 196 && Agv_Land_Count(196) == 1 && Agv_Land_Count(195) == 0))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 内饰二线 180
                                        else if (temp.AssemblyLine == 6 && new int[] { 180 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 180 && Agv_Land_Count(180) == 1))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 最终线限流 500,174,156,154,216
                                        else if (temp.AssemblyLine == 7 && new int[] { 500, 174, 156, 154, 216, 504 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 500 && Agv_Land_Count(500) == 1)
                                                || (temp.Location_Display == 174 && Agv_Land_Count(174) == 1)
                                                || (temp.Location_Display == 154 && Agv_Land_Count(154) == 1 && Agv_Land_Count(156) == 0)
                                                || (temp.Location_Display == 156 && Agv_Land_Count(156) == 1)
                                                || (temp.Location_Display == 216 && Agv_Land_Count(216) == 1)
                                                || (temp.Location_Display == 504 && Agv_Land_Count(504) == 1))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 新增限流
                                        else if (new int[] { 316, 328, 332, 300, 314, 310, 342 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 316 && GetAreaAGVNum(new int[] { 316, 320, 321 }) == 1)
                                                || (temp.Location_Display == 328 && GetAreaAGVNum(new int[] { 328, 332 }) == 1)
                                                || (temp.Location_Display == 332 && GetAreaAGVNum(new int[] { 332 }) == 1)
                                                || (temp.Location_Display == 300 && GetAreaAGVNum(new int[] { 300 }) == 1)
                                                || (temp.Location_Display == 310 && GetAreaAGVNum(new int[] { 310,312,313 }) == 1)
                                                || (temp.Location_Display == 342 && GetAreaAGVNum(new int[] { 342,304,305 }) == 1)
                                                || (temp.Location_Display == 314 && GetAreaAGVNum(new int[] { 314 }) == 1))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 海康交管
                                        else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
                                        {
                                            WriteTxt.SaveLog1("=========》（12）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                            if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                            if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                            if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                            bool flg = false;
                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
                                            //2秒请求一次
                                            if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                            {
                                                flg = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
                                                WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
                                            }

                                            //放行
                                            if (flg)
                                            {
                                                WriteTxt.SaveLog1("=========》（13）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                                //登记第三方交管路口占用
                                                TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
                                                if (trafficModel != null)
                                                {
                                                    trafficModel.agvId = temp.Agv_ID;
                                                    trafficModel.InArea = DateTime.Now;
                                                }
                                                WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
                                                if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                {
                                                    Frm_A17168.leavedDic[temp.Agv_ID] = 0;
                                                    WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
                                                    t_temp = 0;
                                                    temp.Cross_Location_Go = location_temp;
                                                    lockCode = location_temp;

                                                }

                                            }
                                            Frm_A17168.leavedDic[temp.Agv_ID]++;
                                        }
                                        // else if (location_temp == 271 || location_temp == 273)
                                        //{
                                        else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
                                        {
                                            WriteTxt.SaveLog1("=========》（14）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                            if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                            if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                            if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                            bool flg = false;
                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");

                                            if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                            {
                                                flg = 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" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
                                            }
                                            //归还
                                            if (flg)
                                            {
                                                WriteTxt.SaveLog1("=========》（15）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                                Frm_A17168.leavedDic[temp.Agv_ID] = 0;
                                                temp.Cross_Location_Go = location_temp;
                                                lockCode = location_temp;
                                                //清除第三方交管路口占用
                                                TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
                                                if (trafficModel2 != null)
                                                {
                                                    trafficModel2.agvId = 0;
                                                }
                                                WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
                                            }
                                            Frm_A17168.leavedDic[temp.Agv_ID]++;
                                        }
                                        #endregion
                                        else
                                        {
                                            t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                            if (t >= 0)
                                            {
                                                if (location_temp % 2 == 0)
                                                {
                                                    WriteTxt.SaveLog1("准备放行" + location_temp, temp.Agv_ID + "#Agv", "AGV");
                                                    if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        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, location_value);
                                                    temp.Cross_Location_Go = location_temp;
                                                    t_temp = 0;
                                                }
                                            }
                                            else if (t < 0)
                                            {
                                                if (t != t_temp)
                                                {
                                                    t_temp = t;
                                                    Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                }
                                            }
                                        }
                                    }
                                    #endregion

                                    #region 状态信息
                                    string sWarn = Convert.ToString(param_info[11], 2).PadLeft(8, '0') +
                                                    Convert.ToString(param_info[10], 2).PadLeft(8, '0') +
                                                    Convert.ToString(param_info[9], 2).PadLeft(8, '0') +
                                                    Convert.ToString(param_info[8], 2).PadLeft(8, '0') +
                                                    Convert.ToString(param_info[7], 2).PadLeft(8, '0') +
                                                    Convert.ToString(param_info[6], 2).PadLeft(8, '0') +
                                                    Convert.ToString(param_info[5], 2).PadLeft(8, '0') +
                                                    Convert.ToString(param_info[4], 2).PadLeft(8, '0');
                                    ThreadPool.QueueUserWorkItem(delegate
                                    {
                                        Thread.Sleep(100);
                                        Warn_Deal(temp, sWarn);
                                    });
                                    #endregion
                                }
                            }
                        }
                        else
                        {
                            if (temp.bPlcLinked)
                            {
                                errorcount++;
                                if (errorcount > 10)
                                {
                                    temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                                    temp.Warn_Level = 4;
                                    temp.Warn_info = "网络异常";
                                    errorcount = 0;
                                    temp.bPlcLinked = false;
                                    Link_To_PC.CloseLinkPLC();
                                }
                            }
                        }
                    }
                    catch (Exception Err)
                    {
                        if (Err.TargetSite.Name.ToString() == "ConnectAsync")
                        {
                            temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                            temp.Warn_Level = 4;
                            temp.Warn_info = "网络异常";
                            errorcount = 0;
                            temp.bPlcLinked = false;
                            Link_To_PC.CloseLinkPLC();
                        }
                        if (temp.bPlcLinked)
                        {
                            errorcount++;
                            if (errorcount > 10)
                            {
                                temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                                temp.Warn_Level = 4;
                                temp.Warn_info = "网络异常";
                                errorcount = 0;
                                temp.bPlcLinked = false;
                                Link_To_PC.CloseLinkPLC();
                                //Crossing.Crossing.BlockCross(0, 0, temp.Agv_ID, true, ds_crossInfo, false);
                            }
                        }
                        Thread.Sleep(5000);
                    }
                    Thread.Sleep(1000);
                }
            }

            public void AGV_Data_PLC(object agvinfo)
            {
                bool All_Agv_Stop = false;//一键停止
                bool All_Agv_Close = false;//一键关机
                Cls.AgvInfo temp = (Cls.AgvInfo)agvinfo;
                int location_temp = 0;
                int location_value = 0;
                int[] param_info = { 0 };
                int[] Write_re = { 0 };
                int lockCode = 0;
                int errorcount = 0;
                int t = 0, t_temp = 0;
                Ping pingAgv = new Ping();
                S7_200SocketClient Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
                temp.Soc = Link_To_PLC.clientSocket;
                string[] warn_info = { "", "", "", "", "", "", "", "" };
                closedFlag = -1;



                while (true)
                {
                    if (!temp.Enable)
                    {
                        Thread.Sleep(3000);
                        continue;
                    }
                    if (!startFlag)
                    {
                        Thread.Sleep(500);
                        continue;
                    }
                    try
                    {
                        if (pingAgv.Send(temp.IP, 150).Status == IPStatus.Success)
                        {
                            //来到这里，表示PING成功。
                            if (!temp.bPlcLinked)
                            {
                                if (Link_To_PLC.OpenLinkPLC())
                                {   //来到这里，表示链路成功打开
                                    temp.bPlcLinked = true;
                                }
                                else
                                {   //来到这里，表示要重新建立链路
                                    temp.bPlcLinked = false;
                                    Link_To_PLC.CloseLinkPLC();
                                    Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
                                    temp.Soc = Link_To_PLC.clientSocket;
                                    errorcount = 0;
                                }
                            }
                            else
                            {
                                param_info[0] = 0;

                                //来到这里，表示PLC的链路已经打开，可以直接读写数据
                                if (0 != Link_To_PLC.ReadVW(2, 1, 104, out param_info))
                                {
                                    //来到这里，表示读数据失败    
                                    errorcount--;

                                    if (Math.Abs(errorcount) >= 5)
                                    {
                                        //来到这里，表示一再失败，要重新建立链路                                    
                                        temp.bPlcLinked = false;
                                        errorcount = 0;
                                        Link_To_PLC.CloseLinkPLC();
                                        Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
                                        temp.Soc = Link_To_PLC.clientSocket;
                                        temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                                        temp.Warn_Level = 4;
                                        temp.Warn_info = "网络异常";
                                        //Func.db_conn.Command("INSERT INTO [Net_Log] ([dt] ,[AGV_ID] ,[Type]) VALUES  ('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "','" + temp.Agv_ID + "','Read Fail')");
                                        string strsql = "INSERT INTO[Net_Log] ([dt],[AGV_ID],[Type]) VALUES('" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "', '" + temp.Agv_ID + "', 'Read Fail')";
                                        bBllBase.ExecuteNonQuery(strsql);
                                    }
                                }
                                else
                                {
                                    location_temp = Func.GetLandMarkId(temp.AssemblyLine, param_info[0]);
                                    location_value = param_info[0];
                                    if (temp.Location_Display != location_temp && location_temp != 0)
                                    {
                                        WriteTxt.SaveLog1("AGV经过地标：" + location_temp, temp.Agv_ID + "#Agv", "地标日志");
                                        //地标信息
                                        temp.Location_Display = location_temp;

                                        temp.Read_dt = DateTime.Now;
                                        //Func.db_conn.Command("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 + "," + location_temp + "," + location_value + "," + 0 + "," + 0 + "," + 0 + ")");
                                        string strsql = "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 + "," + location_temp + "," + location_value + "," + 0 + "," + 0 + "," + 0 + ")";

                                        UPDateDBList.sqlList.Add(strsql);

                                    }

                                    if (Math.Abs(errorcount) > 0) errorcount = 0;

                                    WriteTxt.SaveLog1("=========》（21）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");

                                    #region 路口放行判断
                                    if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
                                    {
                                        
                                        #region 发动机限流 152
                                        if (temp.AssemblyLine == 1 && temp.Location_Display == 152)
                                        {
                                            if (Agv_Land_Count(152) == 1)
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 仪表线限流 136
                                        else if (temp.AssemblyLine == 3 && temp.Location_Display == 136)
                                        {
                                            if (Agv_Land_Count(136) == 1)
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 内饰一线 106 182 ,196
                                        else if (temp.AssemblyLine == 5 && new int[] { 106, 182, 196 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 106 && Agv_Land_Count(106) == 1 && Agv_Land_Count(167) == 0)
                                                || (temp.Location_Display == 182 && Agv_Land_Count(182) == 1 && Agv_Land_Count(196) == 0)
                                                || (temp.Location_Display == 196 && Agv_Land_Count(196) == 1 && Agv_Land_Count(195) == 0))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 内饰二线 180
                                        else if (temp.AssemblyLine == 6 && new int[] { 180 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 180 && Agv_Land_Count(180) == 1))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 最终线限流 500,174,156,154,216
                                        else if (temp.AssemblyLine == 7 && new int[] { 500, 174, 156, 154, 216, 504 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 500 && Agv_Land_Count(500) == 1)
                                                || (temp.Location_Display == 174 && Agv_Land_Count(174) == 1)
                                                || (temp.Location_Display == 154 && Agv_Land_Count(154) == 1 && Agv_Land_Count(156) == 0)
                                                || (temp.Location_Display == 156 && Agv_Land_Count(156) == 1)
                                                || (temp.Location_Display == 216 && Agv_Land_Count(216) == 1)
                                                || (temp.Location_Display == 504 && Agv_Land_Count(504) == 1))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 新增限流
                                        else if (new int[] { 316, 328, 332, 300, 314 }.Contains(location_temp))
                                        {
                                            if ((temp.Location_Display == 316 && GetAreaAGVNum(new int[] { 316, 320 }) == 1)
                                                || (temp.Location_Display == 328 && GetAreaAGVNum(new int[] { 328, 332 }) == 1)
                                                || (temp.Location_Display == 332 && GetAreaAGVNum(new int[] { 332 }) == 1)
                                                || (temp.Location_Display == 300 && GetAreaAGVNum(new int[] { 300 }) == 1)
                                                || (temp.Location_Display == 314 && GetAreaAGVNum(new int[] { 314 }) == 1))
                                            {
                                                t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                                if (t >= 0)
                                                {
                                                    if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        temp.Cross_Location_Go = location_temp;
                                                    }
                                                }
                                                else
                                                {
                                                    if (t != t_temp)
                                                    {
                                                        t_temp = t;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                    }
                                                }
                                            }
                                        }
                                        #endregion
                                        #region 海康交管
                                        else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
                                        {
                                            WriteTxt.SaveLog1("=========》（22）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                            if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                            if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                            if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                            bool flg = false;
                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
                                            //2秒请求一次
                                            if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                            {
                                                flg = Frm_A17168.businessCtrl.RequestLeaved(temp.Agv_ID.ToString(), location_temp.ToString());
                                                WriteTxt.SaveLog1(location_temp.ToString() + "请求离开返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
                                            }

                                            //放行
                                            if (flg)
                                            {
                                                // if (Link_To_PLC.WriteGo(temp.Agv_ID) == 0)
                                                // {
                                                //    Frm_A17168.leavedDic[temp.Agv_ID] = 0;
                                                //   WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
                                                //   t_temp = 0;
                                                //    temp.Cross_Location_Go = location_temp;
                                                // }

                                                WriteTxt.SaveLog1("=========》（23）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                                //登记第三方交管路口占用
                                                TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
                                                if (trafficModel != null)
                                                {
                                                    trafficModel.agvId = temp.Agv_ID;
                                                    trafficModel.InArea = DateTime.Now;
                                                }
                                                WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
                                                if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                {
                                                    Frm_A17168.leavedDic[temp.Agv_ID] = 0;
                                                    WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
                                                    t_temp = 0;
                                                    temp.Cross_Location_Go = location_temp;
                                                    lockCode = location_temp;

                                                }

                                            }
                                            Frm_A17168.leavedDic[temp.Agv_ID]++;
                                        }
                                        // else if (location_temp == 271 || location_temp == 273)
                                        //{
                                        else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
                                        {
                                            WriteTxt.SaveLog1("=========》（24）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                            if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                            if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                            if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                            bool flg = false;
                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");

                                            if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                            {
                                                flg = 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" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
                                            }
                                            //归还
                                            if (flg)
                                            {
                                                WriteTxt.SaveLog1("=========》（25）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                                Frm_A17168.leavedDic[temp.Agv_ID] = 0;
                                                temp.Cross_Location_Go = location_temp;
                                                lockCode = location_temp;
                                                //清除第三方交管路口占用
                                                TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
                                                if (trafficModel2 != null)
                                                {
                                                    trafficModel2.agvId = 0;
                                                }
                                                WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
                                            }
                                            Frm_A17168.leavedDic[temp.Agv_ID]++;
                                        }
                                        #endregion
                                        else
                                        {
                                            t = Crossing.Crossing.BlockCross(temp.AssemblyLine, location_temp, temp.Agv_ID, mainfrm.ds_CrossInfo);
                                            if (t >= 0)
                                            {
                                                if (location_temp % 2 == 0)
                                                {
                                                    WriteTxt.SaveLog1("准备放行" + location_temp, temp.Agv_ID + "#Agv", "AGV");
                                                    if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                    {
                                                        t_temp = 0;
                                                        Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "已放行", temp.Agv_ID, location_value);
                                                        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, location_value);
                                                    temp.Cross_Location_Go = location_temp;
                                                    t_temp = 0;
                                                }
                                            }
                                            else if (t < 0)
                                            {
                                                if (t != t_temp)
                                                {
                                                    t_temp = t;
                                                    Func.CrossInfo_Insert(temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, location_temp, "AGV" + t.ToString() + "占用路口", temp.Agv_ID, location_value);
                                                }
                                            }
                                        }
                                    }
                                    #endregion

                                    #region 状态信息
                                    int[] WarnRead = new int[2] { 0, 0 };
                                    Link_To_PLC.ReadVW(2, 2, 3002, out WarnRead);

                                    string sWarn = (Convert.ToString(WarnRead[0], 2).PadLeft(8, '0') + Convert.ToString(WarnRead[1], 2).PadLeft(8, '0')).PadLeft(64, '0');

                                    ThreadPool.QueueUserWorkItem(delegate
                                    {
                                        Thread.Sleep(100);
                                        Warn_Deal_Plc(temp, sWarn);
                                    });
                                    #endregion
                                }
                            }
                        }
                        else
                        {
                            if (temp.bPlcLinked)
                            {
                                errorcount--;
                                if (Math.Abs(errorcount) > 50)
                                {
                                    temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                                    temp.Warn_Level = 4;
                                    temp.Warn_info = "网络异常";
                                    errorcount = 0;
                                    temp.bPlcLinked = false;
                                    Link_To_PLC.CloseLinkPLC();
                                }
                            }
                        }
                    }
                    catch (Exception Err)
                    {
                        if (Err.TargetSite.Name.ToString() == "ConnectAsync")
                        {
                            temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                            temp.Warn_Level = 4;
                            temp.Warn_info = "网络异常";
                            errorcount = 0;
                            temp.bPlcLinked = false;
                            Link_To_PLC.CloseLinkPLC();
                            Link_To_PLC = new S7_200SocketClient(temp.IP, temp.Port);
                            temp.Soc = Link_To_PLC.clientSocket;
                        }
                        if (temp.bPlcLinked)
                        {
                            errorcount--;
                            if (Math.Abs(errorcount) > 50)
                            {
                                temp.Warn_ID = "0000000000000000000000000000000010000000000000000000000000000000";
                                temp.Warn_Level = 4;
                                temp.Warn_info = "网络异常";
                                errorcount = 0;
                                temp.bPlcLinked = false;
                                Link_To_PLC.CloseLinkPLC();
                                //Crossing.Crossing.BlockCross(0, 0, temp.Agv_ID, true, ds_crossInfo, false);
                            }
                        }
                        Thread.Sleep(3000);
                    }
                    Thread.Sleep(800);
                }
            }

        }//class agv

        public static int GetAreaAGVNum(int[] num)
        {
            int CarNum = 0;
            for (int i = 0; i < num.Length; i++)
            {
                CarNum += Agv_Land_Count(num[i]);
            }
            return CarNum;
        }

        //报警读取处理
        private static void Warn_Deal(Cls.AgvInfo temp, string sWarn)
        {
            if (temp.Warn_ID != sWarn)
            {
                int warn_level = 0;
                string[] warn_info = { "", "", "", "", "", "", "", "" };

                temp.Warn_ID = sWarn;
                WarnInfo(temp.Warn_ID, out warn_info, out warn_level);
                temp.Warn_info = "";
                temp.Warn_Level = warn_level;
                if (warn_level == 1)
                {
                    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 i = 0; i < 8; i++)
                    {
                        if (warn_info[i] != "")
                        {
                            temp.Warn_info = temp.Warn_info + warn_info[i] + "\r\n";
                            Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, warn_info[i], temp.Agv_ID);
                        }
                    }
                }
            }
        }

        private static void Warn_Deal_Plc(Cls.AgvInfo temp, string sWarn)
        {
            if (temp.Warn_ID != sWarn)
            {
                int warn_level = 0;
                string[] warn_info = { "", "", "", "", "", "", "", "" };

                temp.Warn_ID = sWarn;
                WarnInfo_PLC(temp.Warn_ID, out warn_info, out warn_level);
                temp.Warn_info = "";
                temp.Warn_Level = warn_level;
                if (warn_level == 1)
                {
                    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 i = 0; i < 8; i++)
                    {
                        if (warn_info[i] != "")
                        {
                            temp.Warn_info = temp.Warn_info + warn_info[i] + "\r\n";
                            Func.Agv_Alarm_Insert(0, temp.AssemblyName, temp.AssemblyLine.ToString(), temp.Internal_ID, warn_info[i], temp.Agv_ID);
                        }
                    }
                }
            }
        }

        //电量获取
        private static void Voltage_Deal(Cls.AgvInfo temp, string sValue)
        {
            //if (temp.Voltage != param_info[12] + param_info[13] / 10)
            //{
            //    //电压
            //    temp.Voltage = param_info[12] + param_info[13] / 10;
            //}

            //if (temp.Voltage_precent != param_info[2])
            //{
            //    //电量剩余百分比
            //    temp.Voltage_precent = param_info[14];
            //}
        }

        //速度\障碍物获取
        private static void Speed_Bank_Deal(Cls.AgvInfo temp, string sValue)
        {
            //if (temp.Run_Speed != param_info[0])
            //{
            //    //AGV速度
            //    temp.Run_Speed = Convert.ToByte(param_info[0]);
            //}
            //if (temp.Bank_Model != param_info[1])
            //{
            //    //障碍物模式
            //    temp.Bank_Model = Convert.ToByte(param_info[1]);
            //}            
        }

        //方向、运动状态获取
        private static void Direction_Run_Deal(Cls.AgvInfo temp, string sValue)
        {
            //if (temp.Go_Direction != param_info[0])
            //{
            //    //定义：1-直行/2-左转/3-右转
            //    temp.Go_Direction = Convert.ToByte(param_info[0]);
            //}

            //if (temp.Run_Status != param_info[1])
            //{
            //    //定义：1-运动、2-停止、0-未启动
            //    temp.Run_Status = Convert.ToByte(param_info[1]);
            //}
        }

        private static void Move_Forward(Cls.AgvInfo temp, string sValue)
        {
            //if (temp.Run_Direction != param_info[0])
            //{
            //    //定义：1-前进/2-后退
            //    temp.Run_Direction = Convert.ToByte(param_info[0]);
            //}
        }

        private static byte Agv_Count_Area(int worktype, int[] landmark)
        {
            byte count = 0;
            for (byte i = 0; i < Func.AgvInfo.Length; i++)
            {
                if (Func.AgvInfo[i].WorkType == worktype)
                {
                    for (byte j = 0; j < landmark.Length; j++)
                    {
                        if (Func.AgvInfo[i].Location_Display == landmark[j])
                            count++;
                    }
                }
            }
            return count;
        }

        private static byte Agv_Land_Count(int landmark)
        {
            byte count = 0;
            for (byte i = 0; i < Func.AgvInfo.Length; i++)
            {
                if (Func.AgvInfo[i].Location_Display == landmark)
                    count++;
            }
            return count;
        }
        private static byte Agv_Go_Count(int landmark)
        {
            byte count = 0;
            for (byte i = 0; i < Func.AgvInfo.Length; i++)
            {
                if (Func.AgvInfo[i].Cross_Location_Go == landmark)
                    count++;
            }
            return count;
        }
        //本函数为AGV的失联计数器。负几表示失联几次
        private static object SEM_LOST_CONNECT = new object();
        private static void LostConnect(ref int iStatus)    //AGV的状态
        {
            lock (SEM_LOST_CONNECT)
            {
                if (iStatus >= 0)
                    iStatus = -1;
                else
                    iStatus--;
            }
        }

        private static void WarnInfo(string str, out string[] info, out int level)
        {
            int count = 0;
            info = new string[8];
            level = 1;
            for (byte i = 0; i < 8; i++)
            {
                info[i] = "";
            }
            if (str == "0000000000000000000000000000000000000000000000000000000000000000")
            {
                info[0] = "正常";
                return;
            }

            for (byte i = 0; i < 64; i++)
            {
                if (str.Substring(63 - i, 1) == "1")
                {
                    if (mainfrm.ds_WarnList.Tables[0].Rows[i][2].ToString() != "0")
                    {
                        info[count] = mainfrm.ds_WarnList.Tables[0].Rows[i][1].ToString();
                        if (level < Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[i][2].ToString()))
                        {
                            level = Convert.ToInt16(mainfrm.ds_WarnList.Tables[0].Rows[i][2].ToString());
                        }
                        count++;
                    }
                    if (count >= 8)
                        return;
                }
            }
        }

        private static void WarnInfo_PLC(string str, out string[] info, out int level)
        {
            int count = 0;
            info = new string[8];
            level = 1;
            for (byte i = 0; i < 8; i++)
            {
                info[i] = "";
            }
            if (str == "0000000000000000000000000000000000000000000000000000000000000000")
            {
                info[0] = "正常";
                return;
            }

            for (byte i = 0; i < 64; i++)
            {
                if (str.Substring(63 - i, 1) == "1")
                {
                    if (mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][2].ToString() != "0")
                    {
                        info[count] = mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][1].ToString();
                        if (level < Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][2].ToString()))
                        {
                            level = Convert.ToInt16(mainfrm.ds_WarnList_Plc.Tables[0].Rows[i][2].ToString());
                        }
                        count++;
                    }
                    if (count >= 8)
                        return;
                }
            }
        }


        private static object obj_GetMileage = new object();
        public static float GetMileage(int point1, int point2)
        {
            lock (obj_GetMileage)
            {
                float mileage = 0;
                int t = ds_mileage.Tables[0].Rows.Count;
                DataView rowfilter = new DataView(ds_mileage.Tables[0]);
                rowfilter.RowFilter = "(Start_Point=" + point1 + " or Start_Point=" + point2 + ") and (End_Point=  " + point1 + " or End_Point=  " + point2 + ")";
                rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
                DataTable dt = rowfilter.ToTable();
                int t1 = dt.Rows.Count;
                try
                {
                    mileage = Convert.ToSingle(dt.Rows[0]["Distance"].ToString());
                }
                catch
                {
                }
                return mileage;
            }
        }


    }
}