NX_WCS/NX_WcsBiz/WcsBusiness/Crn_Biz.cs

using NX_CommonClassLibrary;
using NX_LogClassLibrary;
using NX_ModelClassLibrary.BaseModel;
using NX_ModelClassLibrary.Common;
using NX_ModelClassLibrary.CrnModel;
using NX_ModelClassLibrary.CustomEnum;
using NX_ModelClassLibrary.CustomEvent;
using NX_ModelClassLibrary.OpcModel;
using NX_ModelClassLibrary.WmsTask;
using NX_OpcUaClientLibrary;
using NX_WcsBiz.CommonBusiness;
using NX_WcsBiz.WcsDispatch;
using NX_WcsDal.CommonBusiness;
using NX_WcsDal.WcsBusiness;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace NX_WcsBiz.WcsBusiness
{
    public class Crn_Biz
    {
        #region 单例模式
        /// <summary>
        /// 单例模式对象
        /// </summary>
        private static Crn_Biz _instance = null;
        private static readonly object lockObj = new object();
        /// <summary>
        /// 单例模式方法
        /// </summary>
        public static Crn_Biz Instance
        {
            get
            {
                if (_instance == null)
                {
                    lock (lockObj)
                    {
                        if (_instance == null)
                        {
                            _instance = new Crn_Biz();
                        }
                    }
                }
                return _instance;
            }
        }
        #endregion

        #region 全局变量
        /// <summary>
        /// 堆垛机设备所属PLC信息列表
        /// </summary>
        public List<BasWcsPlcMd> crnBasPlcMdList;
        /// <summary>
        /// 堆垛机设备列表
        /// </summary>
        public List<BasWcsDevMd> crnDevList;
        /// <summary>
        /// 堆垛机设备类型
        /// </summary>
        public BasWcsDevTypeMd crnDevTypeMd;
        /// <summary>
        /// 堆垛机当前作业指令集合信息。
        /// </summary>
        public Hashtable CurrentWorkingCmdList;
        /// <summary>
        /// 堆垛机当前作业指令状态集合信息。
        /// </summary>
        public Hashtable CrnCurrentWorkingStatusList;
        /// <summary>
        /// 日志显示帮助类对象
        /// </summary>
        public ShowLogToFrmHelper showLogToFrm = new ShowLogToFrmHelper();
        /// <summary>
        /// 日志头部
        /// </summary>
        private readonly string LogHeadText = "堆垛机业务类 ==>> ";
        #endregion

        #region 堆垛机主业务
        /// <summary>
        /// 初始化堆垛机业务类
        /// </summary>
        /// <returns></returns>
        public bool Init()
        {
            try
            {
                crnDevTypeMd = BasCommon_Biz.Instance.basWcsDevTypeMdList.FirstOrDefault(x => x.DevTypeCode == "CrnType");
                crnDevList = BasCommon_Biz.Instance.basWcsDevMdList.FindAll(x => x.DevTypeCode == crnDevTypeMd.DevTypeCode);
                crnBasPlcMdList = new List<BasWcsPlcMd>();
                CurrentWorkingCmdList = Hashtable.Synchronized(new Hashtable());
                CrnCurrentWorkingStatusList = Hashtable.Synchronized(new Hashtable());
                foreach (BasWcsDevMd item in crnDevList)
                {
                    BasWcsPlcMd tmpMd = crnBasPlcMdList.FirstOrDefault(x => x.PlcCode == item.DevPlcNo);
                    if (tmpMd != null)
                    {
                        crnBasPlcMdList.Add(tmpMd);
                    }
                    CurrentWorkingCmdList.Add(item, new WcsCrnCmdMd());
                    CrnCurrentWorkingStatusList.Add(item, CrnDevWorkStatusEnumExt.待机);
                }
                ShowLogToForm($"初始化堆垛机业务类成功！", true, LogTypeEnum.Run);
                return true;
            }
            catch (Exception ex)
            {
                ShowLogToForm($"初始化堆垛机业务类发生异常！【{ex.Message}】", true, LogTypeEnum.Err);
                return false;
            }
        }
        /// <summary>
        /// 堆垛机主业务函数
        /// </summary>
        /// <param name="basWcsDevMd"></param>
        public void CrnMainBizRunFunc(BasWcsDevMd basWcsDevMd)
        {
            try
            {
                WcsCrnCmdMd currTmpCmd = CurrentWorkingCmdList[basWcsDevMd] == null ? null : (WcsCrnCmdMd)CurrentWorkingCmdList[basWcsDevMd];
                if (currTmpCmd == null || currTmpCmd.CrnCmdId == 0)
                {
                    //加载当前堆垛机未完成指令
                    currTmpCmd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, true, null);
                }

                if (currTmpCmd == null || currTmpCmd.CrnCmdId == 0)
                {
                    //加载空闲指令
                    //currTmpCmd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.IN.ToString());
                    //if (currTmpCmd != null && currTmpCmd.CrnCmdId > 0)
                    //{
                    //    ShowLogToForm(GetCrnBizRunLog("堆垛机加载空闲指令数据成功！", currTmpCmd), true, LogTypeEnum.Run);
                    //}
                    currTmpCmd = CrnCmdDynamicHandle(basWcsDevMd);
                }

                if (currTmpCmd != null && currTmpCmd.CmdNo > 0)
                {
                    if (!CurrentWorkingCmdList.ContainsValue(currTmpCmd))
                    {
                        CurrentWorkingCmdList[basWcsDevMd] = currTmpCmd;
                    }
                    CurrPlcProtocolEnum plcProtocolEnum = EnumExtensionHelper.GetEnumObj<CurrPlcProtocolEnum>(AppConfigHelper.Get("CurrPlcProtocol"));
                    switch (plcProtocolEnum)
                    {
                        case CurrPlcProtocolEnum.第一版:
                            switch (currTmpCmd.CmdStatus)
                            {
                                case CrnCmdStatusEnum.初始创建:
                                    SendPlcCrnCmd((WcsCrnCmdMd)CurrentWorkingCmdList[basWcsDevMd], basWcsDevMd);
                                    break;
                                case CrnCmdStatusEnum.已下发PLC:
                                    UpdateCurrCrnCmdWorking((WcsCrnCmdMd)CurrentWorkingCmdList[basWcsDevMd], basWcsDevMd);
                                    break;
                                case CrnCmdStatusEnum.执行中:
                                    FinishCurrCrnCmd((WcsCrnCmdMd)CurrentWorkingCmdList[basWcsDevMd], basWcsDevMd);
                                    break;
                                default:
                                    break;
                            }
                            break;
                        case CurrPlcProtocolEnum.第二版:
                            currTmpCmd = DoubleBinMoveTaskHandle(currTmpCmd);
                            switch (currTmpCmd.CmdStatus)
                            {
                                case CrnCmdStatusEnum.初始创建:
                                    SendPlcCrnCmd_Version2((WcsCrnCmdMd)CurrentWorkingCmdList[basWcsDevMd], basWcsDevMd);
                                    break;
                                case CrnCmdStatusEnum.已下发PLC:
                                    UpdateCurrCrnCmdWorkingd_Version2((WcsCrnCmdMd)CurrentWorkingCmdList[basWcsDevMd], basWcsDevMd);
                                    break;
                                case CrnCmdStatusEnum.执行中:
                                    FinishCurrCrnCmd_Version2((WcsCrnCmdMd)CurrentWorkingCmdList[basWcsDevMd], basWcsDevMd);
                                    break;
                                default:
                                    break;
                            }
                            break;
                        case CurrPlcProtocolEnum.第三版:
                            break;
                        default:
                            break;
                    }
                }
            }
            catch (Exception ex)
            {
                ShowLogToForm($"堆垛机主业务函数运行发生异常！【{ex.Message}】", true, LogTypeEnum.Err);
            }
        }

        #region 第一版PLC交互协议的控制逻辑
        /// <summary>
        /// 下发堆垛机PLC指令信息
        /// </summary>
        /// <param name="wcsCrnCmdMd">堆垛机指令对象</param>
        /// <param name="basWcsDevMd">堆垛机基础信息对象</param>
        private void SendPlcCrnCmd(WcsCrnCmdMd wcsCrnCmdMd, BasWcsDevMd basWcsDevMd)
        {
            WcsOpcItemMd WorkModelOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkModel");
            WcsOpcItemMd WorkStatuslOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkStatus");
            WcsOpcItemMd AlarmNoOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "AlarmNo");
            WcsOpcItemMd ForkOriginSignalOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "ForkOriginSignal");

            CrnDevWorkModeEnum WorkModel = EnumExtensionHelper.GetEnumObj<CrnDevWorkModeEnum>(WorkModelOpcItemMd.OpcItemValue);

            CrnDevWorkStatusEnum WorkStatus = EnumExtensionHelper.GetEnumObj<CrnDevWorkStatusEnum>(WorkStatuslOpcItemMd.OpcItemValue);

            int AlarmNo = Convert.ToInt32(WorkStatuslOpcItemMd.OpcItemValue ?? "0");

            bool ForkOriginSignal = Convert.ToBoolean(ForkOriginSignalOpcItemMd.OpcItemValue ?? "False");

            if (WorkModel == CrnDevWorkModeEnum.联机自动 &&
               WorkStatus == CrnDevWorkStatusEnum.待机 &&
               AlarmNo == 0 &&
               ForkOriginSignal)
            {
                #region 下发PLC指令
                WcsOpcItemMd WCS_WorkCmd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_WorkCmd");
                WcsOpcItemMd WCS_TaskNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_TaskNo");
                WcsOpcItemMd WCS_S_WorkRowNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_S_WorkRowNo");
                WcsOpcItemMd WCS_S_WorkColNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_S_WorkColNo");
                WcsOpcItemMd WCS_S_WorkLayerNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_S_WorkLayerNo");
                WcsOpcItemMd WCS_E_WorkRowNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_E_WorkRowNo");
                WcsOpcItemMd WCS_E_WorkColNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_E_WorkColNo");
                WcsOpcItemMd WCS_E_WorkLayerNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_E_WorkLayerNo");

                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_S_WorkRowNo, wcsCrnCmdMd.SbinRow))
                {
                    //TODO：后续增加LOG
                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业排数据：【{wcsCrnCmdMd.SbinRow}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_S_WorkColNo, wcsCrnCmdMd.SbinCol))
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业列数据：【{wcsCrnCmdMd.SbinCol}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_S_WorkLayerNo, wcsCrnCmdMd.SbinLayer))
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业层数据：【{wcsCrnCmdMd.SbinLayer}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_E_WorkRowNo, wcsCrnCmdMd.EbinRow))
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC终点作业排数据：【{wcsCrnCmdMd.EbinRow}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_E_WorkColNo, wcsCrnCmdMd.EbinCol))
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC终点作业列数据：【{wcsCrnCmdMd.EbinCol}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_E_WorkLayerNo, wcsCrnCmdMd.EbinLayer))
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC终点作业层数据：【{wcsCrnCmdMd.EbinLayer}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_TaskNo, wcsCrnCmdMd.CmdNo))
                                        {
                                            //TODO：后续增加LOG
                                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)WcsWriteCrnCmdTypeEnum.取放货))
                                            {
                                                //TODO：后续增加LOG
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnum.取放货}-{(int)WcsWriteCrnCmdTypeEnum.取放货}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);

                                                wcsCrnCmdMd.CmdStatus = CrnCmdStatusEnum.已下发PLC;
                                                //更新数据库指令状态信息
                                                Crn_Dal.Instance.UpdateCrnCmdStatus(wcsCrnCmdMd);
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】下发PLC：【{WcsWriteCrnCmdTypeEnum.取放货}】指令成功！", wcsCrnCmdMd), true, LogTypeEnum.Run);
                                            }
                                            else
                                            {
                                                //TODO：后续增加LOG
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnum.取放货}-{(int)WcsWriteCrnCmdTypeEnum.取放货}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                            }
                                        }
                                        else
                                        {
                                            //TODO：后续增加LOG
                                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                        }
                                    }
                                    else
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC终点作业层数据：【{wcsCrnCmdMd.EbinLayer}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    }
                                }
                                else
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC终点作业列数据：【{wcsCrnCmdMd.EbinCol}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                }
                            }
                            else
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC终点作业排数据：【{wcsCrnCmdMd.EbinRow}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            }
                        }
                        else
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业层数据：【{wcsCrnCmdMd.SbinLayer}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                        }
                    }
                    else
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】OPC起始作业列数据：【{wcsCrnCmdMd.SbinCol}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                    }
                }
                else
                {
                    //TODO：后续增加LOG
                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业排数据：【{wcsCrnCmdMd.SbinRow}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                }
                #endregion
            }
        }
        /// <summary>
        /// 更新堆垛机指令作业中数据
        /// </summary>
        /// <param name="wcsCrnCmdMd">堆垛机指令对象</param>
        /// <param name="basWcsDevMd">堆垛机基础信息对象</param>
        private void UpdateCurrCrnCmdWorking(WcsCrnCmdMd wcsCrnCmdMd, BasWcsDevMd basWcsDevMd)
        {
            WcsOpcItemMd WorkModelOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkModel");
            WcsOpcItemMd WorkStatuslOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkStatus");
            WcsOpcItemMd AlarmNoOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "AlarmNo");
            CrnDevWorkModeEnum WorkModel = EnumExtensionHelper.GetEnumObj<CrnDevWorkModeEnum>(WorkModelOpcItemMd.OpcItemValue);

            CrnDevWorkStatusEnum WorkStatus = EnumExtensionHelper.GetEnumObj<CrnDevWorkStatusEnum>(WorkStatuslOpcItemMd.OpcItemValue);

            int AlarmNo = Convert.ToInt32(AlarmNoOpcItemMd.OpcItemValue ?? "0");
            if (WorkModel == CrnDevWorkModeEnum.联机自动 &&
               WorkStatus == CrnDevWorkStatusEnum.运行中 &&
               AlarmNo == 0)
            {
                wcsCrnCmdMd.CmdStatus = CrnCmdStatusEnum.执行中;
                //更新数据库指令状态信息
                Crn_Dal.Instance.UpdateCrnCmdStatus(wcsCrnCmdMd);
                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】指令状态更新为执行中！", wcsCrnCmdMd), true, LogTypeEnum.Run);
            }
        }
        /// <summary>
        /// 堆垛机指令完成函数
        /// </summary>
        /// <param name="wcsCrnCmdMd">堆垛机指令对象</param>
        /// <param name="basWcsDevMd">堆垛机基础信息对象</param>
        private void FinishCurrCrnCmd(WcsCrnCmdMd wcsCrnCmdMd, BasWcsDevMd basWcsDevMd)
        {
            WcsOpcItemMd WorkModelOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkModel");
            WcsOpcItemMd WorkStatuslOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkStatus");
            WcsOpcItemMd AlarmNoOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "AlarmNo");
            WcsOpcItemMd ForkOriginSignalOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "ForkOriginSignal");
            WcsOpcItemMd TaskNoOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "TaskNo");

            CrnDevWorkModeEnum WorkModel = EnumExtensionHelper.GetEnumObj<CrnDevWorkModeEnum>(WorkModelOpcItemMd.OpcItemValue);

            CrnDevWorkStatusEnum WorkStatus = EnumExtensionHelper.GetEnumObj<CrnDevWorkStatusEnum>(WorkStatuslOpcItemMd.OpcItemValue);

            int AlarmNo = Convert.ToInt32(AlarmNoOpcItemMd.OpcItemValue ?? "0");

            bool ForkOriginSignal = Convert.ToBoolean(ForkOriginSignalOpcItemMd.OpcItemValue ?? "False");

            int TaskNo = Convert.ToInt32(TaskNoOpcItemMd.OpcItemValue ?? "0");

            if (WorkModel == CrnDevWorkModeEnum.联机自动 &&
               WorkStatus == CrnDevWorkStatusEnum.放货完成 &&
               AlarmNo == 0 &&
               ForkOriginSignal &&
               TaskNo == wcsCrnCmdMd.CmdNo)
            {
                #region 下发PLC确认收到放货完成信号
                WcsOpcItemMd WCS_WorkCmd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_WorkCmd");
                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)WcsWriteCrnCmdTypeEnum.确认收到取放货任务完成))
                {
                    //TODO：后续增加LOG
                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC 确认收到取放货任务完成数据：【{WcsWriteCrnCmdTypeEnum.确认收到取放货任务完成}-{(int)WcsWriteCrnCmdTypeEnum.确认收到取放货任务完成}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);

                    wcsCrnCmdMd.CmdStatus = CrnCmdStatusEnum.完成;
                    //更新数据库指令状态信息
                    Crn_Dal.Instance.UpdateCrnCmdStatus(wcsCrnCmdMd);

                    if (Convert.ToInt32(AppConfigHelper.Get("CrnAutoTest")) == 0)
                    {
                        #region 调用任务反馈，完成堆垛机指令。生成下一步的数据。
                        //调用任务反馈，完成堆垛机指令。生成下一步的数据。
                        BasBinMd eBinMd = Crn_Dal.Instance.GetBinMdOfCode(wcsCrnCmdMd.EbinNo);
                        BasWcsLocMd eLocMd;
                        if (eBinMd.BinType == BasBinTypeEnum.出库口)
                        {
                            eLocMd = BasCommon_Biz.Instance.allWcsLocList.FirstOrDefault(x => x.LocTypeCode == "OutLoc" && x.RegionCode == wcsCrnCmdMd.RegionCode && x.LocBinExtMsg == eBinMd.BinCode);
                        }
                        else
                        {
                            eLocMd = BasCommon_Biz.Instance.allWcsLocList.FirstOrDefault(x => x.LocTypeCode == "RegionLoc" && x.LocBinExtMsg == wcsCrnCmdMd.RegionCode);
                        }
                        DispUntilityReturnMd retmd = TaskResponse_Disp.Instance.TaskResponseHandleFunc(new TaskResponseMd
                        {
                            TrayCode = wcsCrnCmdMd.TrayCode,
                            PalletCode = wcsCrnCmdMd.PalletCode,
                            TaskNo = wcsCrnCmdMd.TaskNo,
                            CmdNo = wcsCrnCmdMd.CmdNo,
                            CurrentLocNo = eLocMd.LocCode,
                            TaskResponseType = DispatchResponseHandleTypeEnum.堆垛机指令反馈完成
                        });
                        if (retmd.IsSuccess)
                        {
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】指令结束成功！【{retmd.RetMsg}】", wcsCrnCmdMd), true, LogTypeEnum.Run);
                            CurrentWorkingCmdList[basWcsDevMd] = null;
                        }
                        else
                        {
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】指令结束失败！【{retmd.RetMsg}】", wcsCrnCmdMd), true, LogTypeEnum.Err);
                        }
                        #endregion
                    }
                    else
                    {
                        CurrentWorkingCmdList[basWcsDevMd] = null;
                        //插入一条新的空闲堆垛机指令
                        Crn_Dal.Instance.InsertTestCrnCmd(basWcsDevMd.DevCode);
                    }
                }
                else
                {
                    //TODO：后续增加LOG
                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC 确认收到取放货任务完成数据：【{WcsWriteCrnCmdTypeEnum.确认收到取放货任务完成}-{(int)WcsWriteCrnCmdTypeEnum.确认收到取放货任务完成}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                }
                #endregion

            }
        }
        #endregion 第一版PLC交互协议的控制逻辑

        #region 第二版PLC交互协议的控制逻辑

        private WcsCrnCmdMd DoubleBinMoveTaskHandle(WcsCrnCmdMd wcsCrnCmdMd)
        {
            if (wcsCrnCmdMd.CmdType == CrnCmdTypeEnum.IN && wcsCrnCmdMd.EExtensionIdx == 2)
            {
                WmsBalanceMd balanceMd = Crn_Dal.Instance.GetIntroversionBinBalanceMd(wcsCrnCmdMd.EExtensionGroup, wcsCrnCmdMd.EExtensionIdx - 1, wcsCrnCmdMd.RegionCode);
                if (balanceMd != null)
                {
                    WmsTskTaskMd tskTaskMd = Crn_Dal.Instance.GetIntroversionBinMoveWmsTaskMd(balanceMd);
                    if (tskTaskMd != null)
                    {
                        return null;
                    }
                    else
                    {
                        BasWcsLocMd RegiongLocNo = BasCommon_Biz.Instance.allWcsLocList.FirstOrDefault(x => x.LocTypeCode == "RegionLoc");
                        BasRegionMd regionMd = Crn_Dal.Instance.GetRegionMd(wcsCrnCmdMd.RegionCode);
                        BasBinMd CurrBinMd = Crn_Dal.Instance.GetBinMdOfCode(balanceMd.BinCode);
                        List<BasShelfMd> DistributableShelfLst = BasCommon_Biz.Instance.GetCrnRelationShelfLst(CurrBinMd);
                        BasBinMd emptyBin = BasCommon_Biz.Instance.GetDoubleExtensionEmptyBinMd(regionMd.RegionCode, DistributableShelfLst, balanceMd.TrayCode);
                        Crn_Dal.Instance.InsertIntroversionBinMoveWmsTask(RegiongLocNo, regionMd, balanceMd, emptyBin);
                        return null;
                    }
                }
            }
            if (wcsCrnCmdMd.CmdType == CrnCmdTypeEnum.OUT && wcsCrnCmdMd.SExtensionIdx == 2)
            {
                WmsBalanceMd balanceMd = Crn_Dal.Instance.GetIntroversionBinBalanceMd(wcsCrnCmdMd.SExtensionGroup, wcsCrnCmdMd.SExtensionIdx - 1, wcsCrnCmdMd.RegionCode);
                if (balanceMd != null)
                {
                    WmsTskTaskMd tskTaskMd = Crn_Dal.Instance.GetIntroversionBinMoveWmsTaskMd(balanceMd);
                    if (tskTaskMd != null)
                    {
                        return null;
                    }
                    else
                    {
                        BasWcsLocMd RegiongLocNo = BasCommon_Biz.Instance.allWcsLocList.FirstOrDefault(x => x.LocTypeCode == "RegionLoc");
                        BasRegionMd regionMd = Crn_Dal.Instance.GetRegionMd(wcsCrnCmdMd.RegionCode);
                        BasBinMd CurrBinMd = Crn_Dal.Instance.GetBinMdOfCode(balanceMd.BinCode);
                        List<BasShelfMd> DistributableShelfLst = BasCommon_Biz.Instance.GetCrnRelationShelfLst(CurrBinMd);
                        BasBinMd emptyBin = BasCommon_Biz.Instance.GetDoubleExtensionEmptyBinMd(regionMd.RegionCode, DistributableShelfLst, balanceMd.TrayCode);
                        Crn_Dal.Instance.InsertIntroversionBinMoveWmsTask(RegiongLocNo, regionMd, balanceMd, emptyBin);
                        return null;
                    }
                }
            }
            return wcsCrnCmdMd;
        }

        private void SendPlcCrnCmd_Version2(WcsCrnCmdMd wcsCrnCmdMd, BasWcsDevMd basWcsDevMd)
        {
            WcsOpcItemMd WorkModelOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkModel");
            WcsOpcItemMd WorkStatuslOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkStatus");
            WcsOpcItemMd AlarmNoOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "AlarmNo");
            WcsOpcItemMd LevelStopAccuracyOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "LevelStopAccuracy");
            WcsOpcItemMd ForkOriginOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "ForkOrigin");
            WcsOpcItemMd ForkStaticStatusOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "ForkStaticStatus");

            CrnDevWorkModeEnum WorkModel = EnumExtensionHelper.GetEnumObj<CrnDevWorkModeEnum>(WorkModelOpcItemMd.OpcItemValue);

            CrnDevWorkStatusEnumExt WorkStatus = EnumExtensionHelper.GetEnumObj<CrnDevWorkStatusEnumExt>(WorkStatuslOpcItemMd.OpcItemValue);

            int AlarmNo = Convert.ToInt32(WorkStatuslOpcItemMd.OpcItemValue ?? "0");

            bool ForkOriginSignal = Convert.ToBoolean(ForkOriginOpcItemMd.OpcItemValue ?? "False");

            bool LevelStopAccuracySignal = Convert.ToBoolean(LevelStopAccuracyOpcItemMd.OpcItemValue ?? "False");

            bool ForkStaticStatusSignal = Convert.ToBoolean(ForkStaticStatusOpcItemMd.OpcItemValue ?? "False");

            //联机自动 待机 无报警 货叉原位 水平停准 货叉静止
            if (WorkModel == CrnDevWorkModeEnum.联机自动 && 
               WorkStatus == CrnDevWorkStatusEnumExt.待机 &&
               AlarmNo == 0 &&
               ForkOriginSignal &&
               LevelStopAccuracySignal &&
               ForkStaticStatusSignal)
            {
                #region 下发PLC指令
                WcsOpcItemMd WCS_WorkCmd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_WorkCmd");
                WcsOpcItemMd WCS_TaskNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_TaskNo");
                WcsOpcItemMd WCS_PalletCode = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_PalletCode");
                WcsOpcItemMd WorkRowNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkRowNo");
                WcsOpcItemMd WorkColNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkColNo");
                WcsOpcItemMd WorkLayerNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkLayerNo");

                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkRowNo, wcsCrnCmdMd.SbinRow))
                {
                    //TODO：后续增加LOG
                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业排数据：【{wcsCrnCmdMd.SbinRow}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkColNo, wcsCrnCmdMd.SbinCol))
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业列数据：【{wcsCrnCmdMd.SbinCol}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkLayerNo, wcsCrnCmdMd.SbinLayer))
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业层数据：【{wcsCrnCmdMd.SbinLayer}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_TaskNo, wcsCrnCmdMd.CmdNo))
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_PalletCode, wcsCrnCmdMd.PalletCode))
                                {
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC托盘号数据：【{wcsCrnCmdMd.CmdNo}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)WcsWriteCrnCmdTypeEnumExt.取货))
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnumExt.取货}-{(int)WcsWriteCrnCmdTypeEnumExt.取货}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);

                                        wcsCrnCmdMd.CmdStatus = CrnCmdStatusEnum.已下发PLC;
                                        //更新数据库指令状态信息
                                        Crn_Dal.Instance.UpdateCrnCmdStatus(wcsCrnCmdMd);
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】下发PLC：【{WcsWriteCrnCmdTypeEnumExt.取货}】指令成功！", wcsCrnCmdMd), true, LogTypeEnum.Run);
                                    }
                                    else
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnumExt.取货}-{(int)WcsWriteCrnCmdTypeEnumExt.取货}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    }
                                }
                                else
                                {
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC托盘号数据：【{wcsCrnCmdMd.CmdNo}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                }
                            }
                            else
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            }
                        }
                        else
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业层数据：【{wcsCrnCmdMd.SbinLayer}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                        }
                    }
                    else
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】OPC作业列数据：【{wcsCrnCmdMd.SbinCol}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                    }
                }
                else
                {
                    //TODO：后续增加LOG
                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业排数据：【{wcsCrnCmdMd.SbinRow}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                }
                #endregion
            }
        }
        private void UpdateCurrCrnCmdWorkingd_Version2(WcsCrnCmdMd wcsCrnCmdMd, BasWcsDevMd basWcsDevMd)
        {
            WcsOpcItemMd WorkModelOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkModel");
            WcsOpcItemMd WorkStatuslOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkStatus");
            WcsOpcItemMd AlarmNoOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "AlarmNo");
            CrnDevWorkModeEnum WorkModel = EnumExtensionHelper.GetEnumObj<CrnDevWorkModeEnum>(WorkModelOpcItemMd.OpcItemValue);

            CrnDevWorkStatusEnumExt WorkStatus = EnumExtensionHelper.GetEnumObj<CrnDevWorkStatusEnumExt>(WorkStatuslOpcItemMd.OpcItemValue);

            int AlarmNo = Convert.ToInt32(AlarmNoOpcItemMd.OpcItemValue ?? "0");
            if (WorkModel == CrnDevWorkModeEnum.联机自动 &&
               WorkStatus == CrnDevWorkStatusEnumExt.取货中 &&
               AlarmNo == 0)
            {
                wcsCrnCmdMd.CmdStatus = CrnCmdStatusEnum.执行中;
                CrnCurrentWorkingStatusList[basWcsDevMd] = CrnDevWorkStatusEnumExt.取货中;
                //更新数据库指令状态信息
                Crn_Dal.Instance.UpdateCrnCmdStatus(wcsCrnCmdMd);
                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】指令状态更新为执行中！", wcsCrnCmdMd), true, LogTypeEnum.Run);
            }
        }
        private void FinishCurrCrnCmd_Version2(WcsCrnCmdMd wcsCrnCmdMd, BasWcsDevMd basWcsDevMd)
        {
            WcsOpcItemMd WorkModelOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkModel");
            WcsOpcItemMd WorkStatuslOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkStatus");
            WcsOpcItemMd AlarmNoOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "AlarmNo");
            WcsOpcItemMd LevelStopAccuracyOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "LevelStopAccuracy");
            WcsOpcItemMd ForkOriginOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "ForkOrigin");
            WcsOpcItemMd ForkStaticStatusOpcItemMd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "ForkStaticStatus");

            CrnDevWorkModeEnum WorkModel = EnumExtensionHelper.GetEnumObj<CrnDevWorkModeEnum>(WorkModelOpcItemMd.OpcItemValue);

            CrnDevWorkStatusEnumExt WorkStatus = EnumExtensionHelper.GetEnumObj<CrnDevWorkStatusEnumExt>(WorkStatuslOpcItemMd.OpcItemValue);

            int AlarmNo = Convert.ToInt32(WorkStatuslOpcItemMd.OpcItemValue ?? "0");

            bool ForkOriginSignal = Convert.ToBoolean(ForkOriginOpcItemMd.OpcItemValue ?? "False");

            bool LevelStopAccuracySignal = Convert.ToBoolean(LevelStopAccuracyOpcItemMd.OpcItemValue ?? "False");

            bool ForkStaticStatusSignal = Convert.ToBoolean(ForkStaticStatusOpcItemMd.OpcItemValue ?? "False");


            WcsOpcItemMd WCS_WorkCmd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_WorkCmd");
            WcsOpcItemMd WCS_TaskNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_TaskNo");
            WcsOpcItemMd WCS_PalletCode = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_PalletCode");
            WcsOpcItemMd WorkRowNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkRowNo");
            WcsOpcItemMd WorkColNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkColNo");
            WcsOpcItemMd WorkLayerNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WorkLayerNo");

            CrnDevWorkStatusEnumExt currCrnWorkStatus = (CrnDevWorkStatusEnumExt)CrnCurrentWorkingStatusList[basWcsDevMd];

            switch (currCrnWorkStatus)
            {
                case CrnDevWorkStatusEnumExt.取货中:
                    //联机自动 取货完成 无报警 货叉原位 水平停准 货叉静止
                    if (WorkModel == CrnDevWorkModeEnum.联机自动 &&
                       WorkStatus == CrnDevWorkStatusEnumExt.取货完成 &&
                       AlarmNo == 0 &&
                       ForkOriginSignal &&
                       LevelStopAccuracySignal &&
                       ForkStaticStatusSignal)
                    {
                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkRowNo, wcsCrnCmdMd.EbinRow))
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业排数据：【{wcsCrnCmdMd.EbinRow}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkColNo, wcsCrnCmdMd.EbinCol))
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业列数据：【{wcsCrnCmdMd.EbinCol}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkLayerNo, wcsCrnCmdMd.EbinLayer))
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业层数据：【{wcsCrnCmdMd.EbinLayer}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_TaskNo, wcsCrnCmdMd.CmdNo))
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_PalletCode, wcsCrnCmdMd.PalletCode))
                                        {
                                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC托盘号数据：【{wcsCrnCmdMd.CmdNo}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)WcsWriteCrnCmdTypeEnumExt.放货))
                                            {
                                                CrnCurrentWorkingStatusList[basWcsDevMd] = CrnDevWorkStatusEnumExt.放货中;
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnumExt.放货}-{(int)WcsWriteCrnCmdTypeEnumExt.放货}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】下发PLC：【{WcsWriteCrnCmdTypeEnumExt.放货}】指令成功！", wcsCrnCmdMd), true, LogTypeEnum.Run);
                                            }
                                            else
                                            {
                                                //TODO：后续增加LOG
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnumExt.放货}-{(int)WcsWriteCrnCmdTypeEnumExt.放货}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                            }
                                        }
                                        else
                                        {
                                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC托盘号数据：【{wcsCrnCmdMd.CmdNo}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                        }
                                    }
                                    else
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    }
                                }
                                else
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业层数据：【{wcsCrnCmdMd.EbinLayer}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                }
                            }
                            else
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】OPC作业列数据：【{wcsCrnCmdMd.EbinCol}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            }
                        }
                        else
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业排数据：【{wcsCrnCmdMd.EbinRow}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                        }
                    }
                    break;
                case CrnDevWorkStatusEnumExt.放货中:
                    //联机自动 放货完成 无报警 货叉原位 水平停准 货叉静止
                    if (WorkModel == CrnDevWorkModeEnum.联机自动 &&
                       WorkStatus == CrnDevWorkStatusEnumExt.放货完成 &&
                       AlarmNo == 0 &&
                       ForkOriginSignal &&
                       LevelStopAccuracySignal &&
                       ForkStaticStatusSignal)
                    {
                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkRowNo, wcsCrnCmdMd.EbinRow))
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业排数据：【{wcsCrnCmdMd.EbinRow}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkColNo, wcsCrnCmdMd.EbinCol))
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业列数据：【{wcsCrnCmdMd.EbinCol}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WorkLayerNo, wcsCrnCmdMd.EbinLayer))
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC起始作业层数据：【{wcsCrnCmdMd.EbinLayer}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_TaskNo, wcsCrnCmdMd.CmdNo))
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_PalletCode, wcsCrnCmdMd.PalletCode))
                                        {
                                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC托盘号数据：【{wcsCrnCmdMd.CmdNo}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)WcsWriteCrnCmdTypeEnumExt.确认收到放货完成))
                                            {
                                                CrnCurrentWorkingStatusList[basWcsDevMd] = CrnDevWorkStatusEnumExt.放货完成;
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnumExt.确认收到放货完成}-{(int)WcsWriteCrnCmdTypeEnumExt.确认收到放货完成}】成功！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】下发PLC：【{WcsWriteCrnCmdTypeEnumExt.确认收到放货完成}】指令成功！", wcsCrnCmdMd), true, LogTypeEnum.Run);
                                            }
                                            else
                                            {
                                                //TODO：后续增加LOG
                                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业指令类型数据：【{WcsWriteCrnCmdTypeEnumExt.放货}-{(int)WcsWriteCrnCmdTypeEnumExt.放货}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                            }
                                        }
                                        else
                                        {
                                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC托盘号数据：【{wcsCrnCmdMd.CmdNo}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                        }
                                    }
                                    else
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC指令号数据：【{wcsCrnCmdMd.CmdNo}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                    }
                                }
                                else
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业层数据：【{wcsCrnCmdMd.EbinLayer}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                                }
                            }
                            else
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】OPC作业列数据：【{wcsCrnCmdMd.EbinCol}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                            }
                        }
                        else
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】写入OPC作业排数据：【{wcsCrnCmdMd.EbinRow}】失败！", wcsCrnCmdMd), false, LogTypeEnum.OPCRun);
                        }
                    }
                    break;
                case CrnDevWorkStatusEnumExt.放货完成:
                    wcsCrnCmdMd.CmdStatus = CrnCmdStatusEnum.完成;
                    //更新数据库指令状态信息
                    Crn_Dal.Instance.UpdateCrnCmdStatus(wcsCrnCmdMd);

                    if (Convert.ToInt32(AppConfigHelper.Get("CrnAutoTest")) == 0)
                    {
                        #region 调用任务反馈，完成堆垛机指令。生成下一步的数据。
                        //调用任务反馈，完成堆垛机指令。生成下一步的数据。
                        BasBinMd eBinMd = Crn_Dal.Instance.GetBinMdOfCode(wcsCrnCmdMd.EbinNo);
                        BasWcsLocMd eLocMd;
                        if (eBinMd.BinType == BasBinTypeEnum.出库口)
                        {
                            eLocMd = BasCommon_Biz.Instance.allWcsLocList.FirstOrDefault(x => x.LocTypeCode == "OutLoc" && x.RegionCode == wcsCrnCmdMd.RegionCode && x.LocBinExtMsg == eBinMd.BinCode);
                        }
                        else
                        {
                            eLocMd = BasCommon_Biz.Instance.allWcsLocList.FirstOrDefault(x => x.LocTypeCode == "RegionLoc" && x.LocBinExtMsg == wcsCrnCmdMd.RegionCode);
                        }
                        DispUntilityReturnMd retmd = TaskResponse_Disp.Instance.TaskResponseHandleFunc(new TaskResponseMd
                        {
                            TrayCode = wcsCrnCmdMd.TrayCode,
                            PalletCode = wcsCrnCmdMd.PalletCode,
                            TaskNo = wcsCrnCmdMd.TaskNo,
                            CmdNo = wcsCrnCmdMd.CmdNo,
                            CurrentLocNo = eLocMd.LocCode,
                            TaskResponseType = DispatchResponseHandleTypeEnum.堆垛机指令反馈完成
                        });
                        if (retmd.IsSuccess)
                        {
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】指令结束成功！【{retmd.RetMsg}】", wcsCrnCmdMd), true, LogTypeEnum.Run);
                            CurrentWorkingCmdList[basWcsDevMd] = null;
                            CrnCurrentWorkingStatusList[basWcsDevMd] = CrnDevWorkStatusEnumExt.待机;
                        }
                        else
                        {
                            ShowLogToForm(GetCrnBizRunLog($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【自动】指令结束失败！【{retmd.RetMsg}】", wcsCrnCmdMd), true, LogTypeEnum.Err);
                        }
                        #endregion
                    }
                    else
                    {
                        CurrentWorkingCmdList[basWcsDevMd] = null;
                        CrnCurrentWorkingStatusList[basWcsDevMd] = CrnDevWorkStatusEnumExt.待机;
                        //插入一条新的空闲堆垛机指令
                        Crn_Dal.Instance.InsertTestCrnCmd(basWcsDevMd.DevCode);
                    }
                    break;
                default:
                    break;
            }
        }
        #endregion 第二版PLC交互协议的控制逻辑

        /// <summary>
        /// 获取出库口输送线有货状态
        /// </summary>
        /// <returns></returns>
        private bool GetOutBinLocTranHaveGoodsStatus()
        {
            BasWcsLocMd locMd = BasCommon_Biz.Instance.allWcsLocList.FirstOrDefault(x => x.LocTypeCode == "OutLoc");
            BasWcsDevMd basWcsTranDevMd = BasCommon_Biz.Instance.basWcsDevMdList.FirstOrDefault(x => x.DevCode == locMd.LocExtMsg);
            WcsOpcItemMd tmpFrontHaveGoodsFlagOpcItem = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsTranDevMd.DevCode && x.PlcCode == basWcsTranDevMd.DevPlcNo && x.OpcItemCode == "FrontHaveGoodsFlag");
            WcsOpcItemMd tmpBackEndHaveGoodsFlagOpcItem = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsTranDevMd.DevCode && x.PlcCode == basWcsTranDevMd.DevPlcNo && x.OpcItemCode == "BackEndHaveGoodsFlag");
            return Convert.ToBoolean(tmpFrontHaveGoodsFlagOpcItem.OpcItemValue) || Convert.ToBoolean(tmpBackEndHaveGoodsFlagOpcItem.OpcItemValue);
        }

        /// <summary>
        /// 动态调度堆垛机执行的指令
        /// </summary>
        /// <param name="basWcsDevMd">堆垛机设备对象</param>
        /// <returns></returns>
        private WcsCrnCmdMd CrnCmdDynamicHandle(BasWcsDevMd basWcsDevMd)
        {
            if (AppConfigHelper.Get("CrnCurrentWorkingCmdType") == "0") //当前准备执行入库指令
            {
                int crnCurrColumn = Convert.ToInt32(ReadCrnOpcItem(basWcsDevMd.DevCode, "WorkRow"));
                //执行入库任务时，判断堆垛机当前列的位置，如果当前列大于10，就去寻找能否捎带一个出库任务。
                if (crnCurrColumn > 10)
                {
                    WcsCrnCmdMd tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.OUT.ToString());
                    if (tmpCrmCmdMd != null)
                    {                        
                        if (GetOutBinLocTranHaveGoodsStatus())
                        {
                            tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.IN.ToString());
                            if (tmpCrmCmdMd != null)
                            {
                                //更新下一次堆垛机指令执行的任务类型。
                                AppConfigHelper.Update("CrnCurrentWorkingCmdType", "1");
                                return tmpCrmCmdMd;
                            }
                        }
                        else
                        {
                            return tmpCrmCmdMd;
                        }
                    }
                    else 
                    {
                        tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.IN.ToString());
                        if (tmpCrmCmdMd != null)
                        {
                            //更新下一次堆垛机指令执行的任务类型。
                            AppConfigHelper.Update("CrnCurrentWorkingCmdType", "1");
                            return tmpCrmCmdMd;
                        }
                        else
                        {
                            tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.OUT.ToString());
                            if (tmpCrmCmdMd != null)
                            {
                                if (!GetOutBinLocTranHaveGoodsStatus())
                                {
                                    return tmpCrmCmdMd;
                                }
                            }
                        }
                    }
                }
                else
                {
                    WcsCrnCmdMd tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.IN.ToString());
                    if (tmpCrmCmdMd != null)
                    {
                        //更新下一次堆垛机指令执行的任务类型。
                        AppConfigHelper.Update("CrnCurrentWorkingCmdType", "1");
                        return tmpCrmCmdMd;
                    }
                    else
                    {
                        tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.OUT.ToString());
                        if (tmpCrmCmdMd != null)
                        {
                            if (!GetOutBinLocTranHaveGoodsStatus())
                            {
                                return tmpCrmCmdMd;
                            }
                        }
                    }
                }
            }
            else //当前准备执行出库指令
            {
                WcsCrnCmdMd tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.OUT.ToString());
                if (tmpCrmCmdMd != null)
                {
                    if (!GetOutBinLocTranHaveGoodsStatus())
                    {
                        //更新下一次堆垛机指令执行的任务类型。
                        AppConfigHelper.Update("CrnCurrentWorkingCmdType", "0");
                        return tmpCrmCmdMd;
                    }
                    else
                    {
                        tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.IN.ToString());
                        if (tmpCrmCmdMd != null)
                        {
                            return tmpCrmCmdMd;
                        }
                    }
                }
                else
                {
                    tmpCrmCmdMd = Crn_Dal.Instance.LoadCrnUnFinishedCmd(basWcsDevMd, false, CrnCmdTypeEnum.IN.ToString());
                    if (tmpCrmCmdMd != null)
                    {
                        return tmpCrmCmdMd;
                    }
                }
            }
            return null;
        }
        #endregion

        #region 桌面显示Log、记录log到文本
        /// <summary>
        /// 桌面显示Log、记录log到文本
        /// </summary>
        /// <param name="msg">log内容</param>
        /// <param name="isShowFormFlag">是否输出到桌面日志端。true：输出桌面；false：只记录文本</param>
        /// <param name="logTypeEnum">日志类型枚举</param>
        private void ShowLogToForm(string msg, bool isShowFormFlag, LogTypeEnum logTypeEnum)
        {
            if (isShowFormFlag)
            {
                showLogToFrm.ShowLog(new ShowLogToFrmEventArgs(LogHeadText + msg));
            }
            LogHelper.WriteLog(LogHeadText + msg, logTypeEnum);
        }
        private string GetCrnBizRunLog(string prefixStr, WcsCrnCmdMd wcsCrnCmdMd)
        {
            return $"{prefixStr} -- 任务号：【{wcsCrnCmdMd.TaskNo}】指令号：【{wcsCrnCmdMd.CmdNo}】组盘码：【{wcsCrnCmdMd.TrayCode}】托盘号：【{wcsCrnCmdMd.PalletCode}】起始库位：【{wcsCrnCmdMd.SbinNo}】起始排：【{wcsCrnCmdMd.SbinRow}】起始列：【{wcsCrnCmdMd.SbinCol}】起始层：【{wcsCrnCmdMd.SbinLayer}】终点库位：【{wcsCrnCmdMd.EbinNo}】终点排：【{wcsCrnCmdMd.EbinRow}】终点列：【{wcsCrnCmdMd.EbinCol}】终点层：【{wcsCrnCmdMd.EbinLayer}】指令类型：【{wcsCrnCmdMd.CmdType}】动作类型：【{wcsCrnCmdMd.ActiveType}】指令状态：【{wcsCrnCmdMd.CmdStatus}】异常标识：【{wcsCrnCmdMd.ErrFlag}】指令Log：【{wcsCrnCmdMd.CmdLog}】异常Log：【{wcsCrnCmdMd.ErrLog}】";
        }
        #endregion

        #region 测试代码
        public void ThRunFun()
        {
            Random rm = new Random();
            showLogToFrm.ShowLog(new ShowLogToFrmEventArgs(rm.Next().ToString()));
        }
        #endregion

        public List<WcsCrnCmdMd> LoadCurrentWorkingCrnCmd()
        {
            return Crn_Dal.Instance.LoadCurrentWorkingCrnCmd();
        }

        public string CrnManualControl(string crnDevNo,int sBinRow,int sBinCol,int sBinLayer,int eBinRow, int eBinCol, int eBinLayer, WcsWriteCrnCmdTypeEnum workingType)
        {
            BasWcsDevMd basWcsDevMd = BasCommon_Biz.Instance.basWcsDevMdList.FirstOrDefault(x => x.DevCode == crnDevNo);
            WcsOpcItemMd WCS_WorkCmd = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_WorkCmd");
            WcsOpcItemMd WCS_TaskNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_TaskNo");
            WcsOpcItemMd WCS_S_WorkRowNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_S_WorkRowNo");
            WcsOpcItemMd WCS_S_WorkColNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_S_WorkColNo");
            WcsOpcItemMd WCS_S_WorkLayerNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_S_WorkLayerNo");
            WcsOpcItemMd WCS_E_WorkRowNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_E_WorkRowNo");
            WcsOpcItemMd WCS_E_WorkColNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_E_WorkColNo");
            WcsOpcItemMd WCS_E_WorkLayerNo = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == "WCS_E_WorkLayerNo");
            string cmdNo = BasCommon_Dal.Instance.GetSysSequence("Cmd_No");
            if (workingType == WcsWriteCrnCmdTypeEnum.取放货)
            {
                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_S_WorkRowNo, sBinRow))
                {
                    //TODO：后续增加LOG
                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC起始作业排数据成功！", false, LogTypeEnum.OPCRun);
                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_S_WorkColNo, sBinCol))
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC起始作业列数据：【{sBinCol}】成功！", false, LogTypeEnum.OPCRun);
                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_S_WorkLayerNo, sBinLayer))
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC起始作业层数据：【{sBinLayer}】成功！", false, LogTypeEnum.OPCRun);
                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_E_WorkRowNo, eBinRow))
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC终点作业排数据：【{eBinRow}】成功！", false, LogTypeEnum.OPCRun);
                                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_E_WorkColNo, eBinCol))
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC终点作业列数据：【{eBinCol}】成功！", false, LogTypeEnum.OPCRun);
                                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_E_WorkLayerNo, eBinLayer))
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC终点作业层数据：【{eBinLayer}】成功！", false, LogTypeEnum.OPCRun);
                                        if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_TaskNo, cmdNo))
                                        {
                                            //TODO：后续增加LOG
                                            ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC指令号数据：【{cmdNo}】成功！", false, LogTypeEnum.OPCRun);
                                            if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)workingType))
                                            {
                                                //TODO：后续增加LOG
                                                ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC作业指令类型数据：【{workingType}-{(int)workingType}】成功！", false, LogTypeEnum.OPCRun);
                                                ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC：【{workingType}】指令成功！指令号：【{cmdNo}】指令类型：【{workingType}-{(int)workingType}】起始排：【{sBinRow}】起始列：【{sBinCol}】起始层：【{sBinLayer}】终点排：【{eBinRow}】终点列：【{eBinCol}】终点层：【{eBinLayer}】", false, LogTypeEnum.Run);
                                                return $"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC：【{workingType}】指令成功！指令号：【{cmdNo}】指令类型：【{workingType}-{(int)workingType}】起始排：【{sBinRow}】起始列：【{sBinCol}】起始层：【{sBinLayer}】终点排：【{eBinRow}】终点列：【{eBinCol}】终点层：【{eBinLayer}】";
                                            }
                                            else
                                            {
                                                //TODO：后续增加LOG
                                                ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC作业指令数据：【{workingType}-{(int)workingType}】失败！", false, LogTypeEnum.OPCRun);
                                            }
                                        }
                                        else
                                        {
                                            //TODO：后续增加LOG
                                            ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC指令号数据：【{cmdNo}】失败！", false, LogTypeEnum.OPCRun);
                                        }
                                    }
                                    else
                                    {
                                        //TODO：后续增加LOG
                                        ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC终点作业层数据：【{eBinRow}】失败！", false, LogTypeEnum.OPCRun);
                                    }
                                }
                                else
                                {
                                    //TODO：后续增加LOG
                                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC终点作业列数据：【{eBinCol}】失败！", false, LogTypeEnum.OPCRun);
                                }
                            }
                            else
                            {
                                //TODO：后续增加LOG
                                ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC终点作业排数据：【{eBinRow}】失败！", false, LogTypeEnum.OPCRun);
                            }
                        }
                        else
                        {
                            //TODO：后续增加LOG
                            ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC起始作业层数据：【{sBinLayer}】失败！", false, LogTypeEnum.OPCRun);
                        }
                    }
                    else
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC起始作业列数据：【{sBinCol}】失败！", false, LogTypeEnum.OPCRun);
                    }
                }
                else
                {
                    //TODO：后续增加LOG
                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC起始作业排数据：【{sBinRow}】失败！", false, LogTypeEnum.OPCRun);
                }
                return $"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC：【{workingType}】指令失败！指令号：【{cmdNo}】指令类型：【{workingType}-{(int)workingType}】起始排：【{sBinRow}】起始列：【{sBinCol}】起始层：【{sBinLayer}】终点排：【{eBinRow}】终点列：【{eBinCol}】终点层：【{eBinLayer}】";
            }
            else if (workingType == WcsWriteCrnCmdTypeEnum.确认收到取放货任务完成)
            {
                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_TaskNo, cmdNo))
                {
                    //TODO：后续增加LOG
                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC指令号数据：【{cmdNo}】成功！", false, LogTypeEnum.OPCRun);
                    if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)workingType))
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC作业指令类型数据：【{workingType}-{(int)workingType}】成功！", false, LogTypeEnum.OPCRun);
                        ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC【{workingType}】指令成功！指令号：【{cmdNo}】指令类型：【{workingType}-{(int)workingType}】", true, LogTypeEnum.Run);
                        return $"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC【{workingType}】指令成功！指令号：【{cmdNo}】指令类型：【{workingType}-{(int)workingType}】";
                    }
                    else
                    {
                        //TODO：后续增加LOG
                        ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC作业指令类型数据：【{workingType}-{(int)workingType}】失败！", false, LogTypeEnum.OPCRun);
                    }
                }
                else
                {
                    //TODO：后续增加LOG
                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC指令号数据：【{cmdNo}】失败！", false, LogTypeEnum.OPCRun);
                }
                return $"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC【{workingType}】指令失败！指令号：【{cmdNo}】指令类型：【{workingType}-{(int)workingType}】";
            }
            else
            {
                if (LeadOpcUaClientHelper.Instance.WriteOpcItemValue(WCS_WorkCmd, (int)workingType))
                {
                    //TODO：后续增加LOG
                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC作业指令类型数据：【{workingType}-{(int)workingType}】成功！", false, LogTypeEnum.OPCRun);
                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC：【{workingType}】指令成功！指令类型：【{workingType}-{(int)workingType}】", true, LogTypeEnum.Run);
                    return $"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】下发PLC：【{workingType}】指令成功！指令类型：【{workingType}-{(int)workingType}】";
                }
                else
                {
                    //TODO：后续增加LOG
                    ShowLogToForm($"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】【手动】写入OPC作业指令类型数据：【{workingType}-{(int)workingType}】失败！", false, LogTypeEnum.OPCRun);
                    return $"堆垛机：【{basWcsDevMd.DevCode}-{basWcsDevMd.DevName}】--【手动】下发PLC：【{workingType}】指令成功！指令类型：【{workingType}-{(int)workingType}】";
                }
            }
        }
        public List<WcsCrnCmdMd> LoadAllCrnCmd(WcsCrnCmdSearchMd searchMd)
        {
            return Crn_Dal.Instance.LoadAllCrnCmd(searchMd);
        }
        public object ReadCrnOpcItem(string crnDevNo,string opcItemCode)
        {
            BasWcsDevMd basWcsDevMd = BasCommon_Biz.Instance.basWcsDevMdList.FirstOrDefault(x => x.DevCode == crnDevNo);
            WcsOpcItemMd tmpOpcItem = BasCommon_Biz.Instance.allOpcItemList.FirstOrDefault(x => x.DevCode == basWcsDevMd.DevCode && x.PlcCode == basWcsDevMd.DevPlcNo && x.OpcItemCode == opcItemCode);
            return tmpOpcItem.OpcItemValue;
        }
        public void InsertTestCrnCmd(string dev_no)
        {
            Crn_Dal.Instance.InsertTestCrnCmd(dev_no);
        }
        public void DeleteTestCrnCmd()
        {
            Crn_Dal.Instance.DeleteTestCrnCmd();
        }



    }
}