RCS / RiZhaoXingYeAcs · Files

using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
using XingYe_ACS.WebApi;
using System;
using System.Collections.Generic;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace XingYe_ACS.Business
{
    public class UpdateManage
    {
        /// <summary>
        /// 更新AGV信息
        /// </summary>
        /// <param name="clientMsg">小车客户端信息</param>
        /// <returns></returns>
        public static bool UpdateClientMsg(ClientMsg clientMsg)
        {
            try
            {
                string sqlUpdate = "";
                Agv agv = clientMsg.msgAgv;
                agv.strBarcode = clientMsg.strBarcode;
                agv.agvMap = App.PointList.Find(a => a.strBarcode == agv.strBarcode).AreaType.ToString();
                agv.agvState = (EnumMsg.State)clientMsg.intState;
                agv.heightState = (EnumMsg.HeightState)clientMsg.intHeightState;
                agv.currentCharge = clientMsg.intVoltage;
                agv.agvHeart = DateTime.Now;
                agv.strAgvError = ComnMethod.GetAgvError(clientMsg.ErrorList);
                if (agv.heightState == EnumMsg.HeightState.中位 && agv.agvTask != null 
                    && agv.agvTask.sonTaskList[0].sonTaskType == EnumMsg.AgvTaskType.行走) agv.strAgvError += "agv处于中位异常";
                if (agv.agvState == EnumMsg.State.自动无码) agv.strAgvError += "agv未读到二维码";
                if (agv.agvTask != null && agv.strStopReason.Contains("行走任务需载货")) { agv.strAgvError += "agv行走任务需载货架，小车状态必须是高位；"; }
                agv.agvErrorCode = clientMsg.ErrorList[0];
                agv.agvOri = clientMsg.agvDirection;
                agv.dialOri = clientMsg.dialDirection;
                agv.intRunDistance = clientMsg.intRunDistance;
                agv.isCarry = clientMsg.isCarry == 0 ? false : true;
                #region 注释
                agv.nextPoint = "";
                agv.beforePoint = "";
                if (agv.agvTask != null && agv.agvTask.sonTaskList.Count != 0 && agv.agvTask.sonTaskList[0].pathPointList.Count != 0)
                {
                    Point oldPoint = App.PointList.FirstOrDefault(a => a.strBarcode == agv.strBarcode);
                    string xuniBarcode = "";
                    //当前点所在路径点
                    PathPoint pathPoints = agv.agvTask.sonTaskList[0].pathPointList.FirstOrDefault(a => a.point.strBarcode == agv.strBarcode);
                    PathPoint nextPoint = null;
                    if (pathPoints != null)
                    {
                        PathPoint beforePathPoint = agv.agvTask.sonTaskList[0].pathPointList.FirstOrDefault(a => a.intSerialNo == pathPoints.intSerialNo - 1);
                        //下个路径点
                        nextPoint = ComnMethod.GetNextPathPoint(agv, pathPoints);
                        if (nextPoint != null)
                        {
                            if (nextPoint.point.pointType == EnumMsg.PointType.虚拟点 && !nextPoint.isCorner)
                            {
                                //虚拟点下个路径点
                                xuniBarcode = nextPoint.point.strBarcode;
                                nextPoint = ComnMethod.GetNextPathPoint(agv, nextPoint);
                            }
                            agv.nextPoint = nextPoint.point.strBarcode;
                            agv.pointLength = ComnMethod.GetDistance(agv.strBarcode, nextPoint.point.strBarcode, xuniBarcode);
                        }
                        if (beforePathPoint != null) 
                        {
                            agv.beforePoint = beforePathPoint.point.strBarcode;
                        }
                    }
                }
                #endregion

                //20181030将有异常小车插入异常小车表中
                if (agv.strAgvError != "")
                {
                    if (!App.errAgv.Contains(agv.strAgvNo) && !agv.strAgvError.Contains("agv"))
                    {
                        if (agv.strAgvError.Contains("充电") && agv.currentCharge > 30)
                        {
                            App.ExFile.MessageLog("CheckAgvState" + agv.strAgvNo, "获取电梯内AGV出错误！");
                        }
                        else
                        {
                            SqlErrAgv(agv, "insert");
                        }
                        App.errAgv.Add(agv.strAgvNo);
                    }
                }
                else
                {
                    DataSet ds = DbHelperSQL.Query("SELECT strAgvNo FROM  T_Base_Agv WHERE ErrorTime IS NOT NULL AND strAgvError='' AND strAgvNo='" + agv.strAgvNo + "'");
                    if (ds.Tables[0].Rows.Count > 0) SqlErrAgv(agv, "update");
                    if (App.errAgv.Contains(agv.strAgvNo))
                    {
                        App.errAgv.Remove(agv.strAgvNo);
                    }
                }
                AcsPushBuild.PushAgv(agv);
                sqlUpdate = string.Format(@"UPDATE  T_Base_AGV SET strBarcode = '{1}',agvState = '{2}',heightState = '{3}',currentCharge = '{4}',agvHeart = '{5}' ,strAgvError = '{6}',agvmap = '{7}',offAct = '{8}'
                                        WHERE strAgvNo = '{0}';", clientMsg.strAddress, clientMsg.strBarcode, clientMsg.intState, clientMsg.intHeightState, clientMsg.intVoltage, DateTime.Now.ToString()
                                       , ComnMethod.GetAgvError(clientMsg.ErrorList), agv.agvMap, clientMsg.isCarry);
                DbHelperSQL.ExecuteSql(sqlUpdate);
                return true;
            }
            catch (Exception Ex)
            {
                throw new Exception("UpdateClientMsg:" + Ex.Message.Replace(Environment.NewLine, ""+clientMsg.msgAgv.strAgvNo));
            }
        }

        /// <summary>
        /// 更新点信息
        /// </summary>
        /// <param name="clientMsg">小车客户端信息</param>
        /// <returns></returns>
        public static bool SqlPointMsg(Point point,string type)
        {
            try
            {
                string sql = "";
                if (type == "insert")
                {
                    sql = string.Format(@"INSERT INTO  T_Base_Point(pointAreaType,strBarcode,intX,intY,isXpos,isXNeg,isYPos,isYNeg,isEnable,pointType,XPosLength,XNegLength,YPosLength,YNegLength,isOccupy,strOccupyAgvNo,oriAgv,oriDial,strRegionName,isRegionApply,strRegionApplyAgvNo,stopTime,isStop,intStopLevel)VALUES
                                      ('{0}','{1}','{2}','{3}','{4}','{5}','{6}','{7}','{8}','{9}','{10}','{11}','{12}','{13}','0','',0,0,'{14}','0','','{15}','{16}','{17}');"
                                     , point.AreaType, point.strBarcode, point.intX / 30 + 1, point.intY / 30 + 1, point.isXPos == false ? "0" : "1", point.isXNeg == false ? "0" : "1", point.isYPos == false ? "0" : "1", point.isYNeg == false ? "0" : "1", "1", (int)point.pointType, point.XPosLength, point.XNegLength, point.YPosLength, point.YNegLength, point.strRegionName, point.stopTime,point.isStop == false ? "0" : "1", point.intStopLevel);
                }
                else
                {
                    string querySql = string.Format("SELECT * FROM T_Base_Point WHERE pointAreaType = '{0}';", point.AreaType);
                    DataSet ds = DbHelperSQL.Query(querySql);
                    if (ds.Tables[0].Rows.Count < 1) return true;
                    // AND pointType = 1
                    sql = string.Format(@"DELETE FROM T_Base_Point WHERE pointAreaType = '{0}';", point.AreaType);
                    sql += string.Format(@"DELETE FROM  T_Base_Station WHERE stationArea = '{0}' AND stationType <> 8;", point.AreaType);
                    //sql += string.Format(@"DELETE FROM  T_Config_Point WHERE AreaType = '{0}';", point.AreaType);
                }
                int intSqlResult = DbHelperSQL.ExecuteSql(sql);
                if (intSqlResult < 1) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("SqlPointMsg:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// 更新Demo点信息
        /// </summary>
        /// <param name="point"></param>
        /// <param name="type"></param>
        /// <returns></returns>
        public static bool SqlDemoPointMsg(Point point, string type)
        {
            try
            {
                string sql = "";
                if (type == "simInsert")
                {
                    sql = string.Format(@"INSERT INTO  T_Base_DemoPoint(pointAreaType,strBarcode,intX,intY,isXpos,isXNeg,isYPos,isYNeg,isEnable,pointType,XPosLength,XNegLength,YPosLength,YNegLength,isOccupy,strOccupyAgvNo,oriAgv,oriDial,strRegionName,isRegionApply,strRegionApplyAgvNo)VALUES
                                      ('{0}','{1}','{2}','{3}','{4}','{5}','{6}','{7}','{8}','{9}','{10}','{11}','{12}','{13}','0','',0,0,'{14}','0','');"
                                     , point.AreaType, point.strBarcode, point.intX / 30 + 1, point.intY / 30 + 1, point.isXPos == false ? "0" : "1", point.isXNeg == false ? "0" : "1", point.isYPos == false ? "0" : "1", point.isYNeg == false ? "0" : "1", "1", (int)point.pointType, point.XPosLength, point.XNegLength, point.YPosLength, point.YNegLength, point.strRegionName);
                }
                else
                {
                    string querySql = string.Format("SELECT * FROM  T_Base_DemoPoint WHERE pointAreaType = '{0}';", point.AreaType);
                    DataSet ds = DbHelperSQL.Query(querySql);
                    if (ds.Tables[0].Rows.Count < 1) return true;
                    sql = string.Format(@"DELETE FROM  T_Base_DemoPoint WHERE pointAreaType = '{0}';", point.AreaType);
                }
                int intSqlResult = DbHelperSQL.ExecuteSql(sql);
                if (intSqlResult < 1) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("SqlDemoPointMsg:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// 更新小车信息
        /// </summary>
        /// <param name="clientMsg">小车客户端信息</param>
        /// <returns></returns>
        public static bool UpdateAgvMsg(Agv agv)
        {
            try
            {
                string sqlUpdate = string.Format(@"UPDATE  T_Base_Agv SET strBarcode = '{1}',isEnable = '{2}',strChooseStation = '{3}',agvMilage='{4}'
                                   ,agvAreaType='{5}',agvGroup='{6}',startCharges='{7}',agvState='{8}',agvmap='{9}'
                     WHERE strAgvNo = '{0}';"
                    , agv.strAgvNo, agv.strBarcode, agv.isEnable == false ? "0" : "1", agv.strChooseStation, agv.agvMilage, agv.agvAreaType, agv.agvGroup, agv.startCharges, (int)agv.agvState, agv.agvMap);
                int intSqlResult = DbHelperSQL.ExecuteSql(sqlUpdate);
                if (intSqlResult < 1) return false;
                return true;
            }
            catch (Exception Ex)
            {
                throw new Exception("UpdateAgvMsg:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 更新主任务信息
        /// </summary>
        /// <param name="task">主任务信息</param>
        /// <returns></returns>
        public static bool UpdateFTask(FTask task)
        {
            try
            {
                string sqlUpdate = string.Format(@"UPDATE  T_Task SET strTaskNo = '{1}'  ,strTaskID = '{2}' ,strTaskGroup = '{3}' ,intTaskLevel = '{4}'
                        ,strInitial = '{5}' ,strTarget = '{6}' ,startPoint = '{7}' ,endPoint = '{8}' ,strAcceptTime = '{9}' ,isTaskSubmit = '{10}' ,strTaskAgv = '{11}'
                        ,strBeginTime = '{12}'  ,strEndTime = '{13}', direction = '{14}',strTaskState = '{15}' WHERE strTaskNo = '{0}';"
                        , task.strTaskNo, task.strTaskNo, task.strTaskID, task.strTaskGroup, task.intTaskLevel
                        , task.strInitial, task.strTarget, task.startPoint.strBarcode, task.endPoint.strBarcode, task.strAcceptTime, task.isTaskSubmit == false ? "0" : "1", task.strTaskAgv
                        , task.strBeginTime == "" ? "null" : task.strBeginTime, task.strEndTime == "" ? "null" : task.strEndTime, (int)task.direction, task.taskState);
                if (task.strEndTime != "")
                {
                    sqlUpdate += string.Format("DELETE FROM  T_Task WHERE strTaskNo = '{0}';", task.strTaskNo);
                }
                bool isSqleResult = false;
                while (true)
                {
                    isSqleResult = DbHelperSQL.SqlTransOperator(sqlUpdate);
                    if (isSqleResult) break;
                }
                return true;
            }
            catch (Exception Ex)
            {
                throw new Exception("UpdateFTask:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 更新子任务信息
        /// </summary>
        /// <param name="clientMsg">小车客户端信息</param>
        /// <returns></returns>
        public static bool UpdateSonTask(SonTask sonTask)
        {
            try
            {
                string sqlUpdate = "";
                int flag = 0;
                if (sonTask.sonTaskState == EnumMsg.SonTaskState.已完成)
                {
                    sqlUpdate += string.Format("DELETE FROM  T_Base_PathPoint WHERE intSonTaskNo = '{0}';", sonTask.intSonTaskNo);
                    sqlUpdate += string.Format("DELETE FROM  T_SonTask WHERE intSonTaskNo = '{0}'AND strTaskNo='{1}';", sonTask.intSonTaskNo, sonTask.strTaskNo);
                    flag = 99;
                }
                else
                {
                    sqlUpdate += string.Format(@"UPDATE  T_SonTask SET intSonTaskNo = '{1}' ,strTaskNo = '{2}' ,sonTaskType = '{3}' ,startPoint = '{4}' ,endPoint = '{5}'
                        ,isCarry = '{6}' ,taskRequestType = '{7}' ,dialDirection = '{8}' ,agvDirection = '{9}' ,sonTaskState = '{10}' 
                        ,strBeginTime = '{11}'  ,strEndTime = '{12}' WHERE intSonTaskNo = '{0}';", sonTask.intSonTaskNo
                            , sonTask.intSonTaskNo, sonTask.strTaskNo, (int)sonTask.sonTaskType, sonTask.startPoint.strBarcode, sonTask.endPoint.strBarcode
                            , sonTask.isCarry == false ? "0" : "1", (int)sonTask.taskRequestType, (int)sonTask.dialDirection, (int)sonTask.agvDirection, (int)sonTask.sonTaskState
                            , sonTask.strBeginTime == "" ? "null" : sonTask.strBeginTime, sonTask.strEndTime == "" ? "null" : sonTask.strEndTime);
                }
                if (flag == 99)
                {
                    bool isSqleResult = false;
                    while (true)
                    {
                        isSqleResult = DbHelperSQL.SqlTransOperator(sqlUpdate);
                        if (isSqleResult) break;
                    }
                }
                else
                {
                    DbHelperSQL.ExecuteSql(sqlUpdate);
                }
                return true;
            }
            catch (Exception Ex)
            {
                throw new Exception("UpdateSonTask:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 更新站台信息
        /// </summary>
        /// <param name="station"></param>
        /// <returns></returns>
        public static bool UpdateStation(Station station)
        {
            try
            {
                string sqlUpdate = string.Format("UPDATE  T_Base_Station SET isEnable = '{1}', isLocked = '{2}',stationState = '{3}' WHERE strStationNo = '{0}';", station.strStationNo, station.isEnable == false ? "0" : "1", station.isLocked == false ? "0" : "1", (int)station.stationState);
                int intSqlResult = DbHelperSQL.ExecuteSql(sqlUpdate);
                if (intSqlResult < 1) return false;
                return true;
            }
            catch (Exception Ex)
            {
                throw new Exception("UpdateStation:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 解除小车不应该lock的点
        /// </summary>
        /// <param name="lockedPoint">待lock的点</param>
        /// <param name="agv"></param>
        public static void relieveLocked(List<Point> lockedPoint, Agv agv)
        {
            try
            {
                List<Point> lockedList = App.PointList.Where(a => a.lockedAgv == agv).ToList();
                foreach (Point point in lockedList)
                {
                    if (lockedPoint.Contains(point)) continue;
                    point.lockedAgv = null;
                }
            }
            catch (Exception Ex)
            {
                throw new Exception("relieveLocked:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 重建路径
        /// 删除路径，更新子任务状态
        /// </summary>
        /// <param name="sonTask"></param>
        public static void ResetPath(SonTask sonTask)
        {
            try
            {
                if (sonTask.sonTaskType != EnumMsg.AgvTaskType.行走) return;
                string sqlDelete = string.Format(@"DELETE FROM  T_Base_PathPoint WHERE intSonTaskNo = '{0}';", sonTask.intSonTaskNo);
                string sqlUpdate = string.Format(@"UPDATE  T_SonTask SET sonTaskState = 5 WHERE intSonTaskNo = '{0}';", sonTask.intSonTaskNo);
                bool isSqlResult = DbHelperSQL.SqlTransOperator(sqlDelete + sqlUpdate);
                if (isSqlResult)
                {
                    sonTask.pathPointList.Clear();
                    sonTask.sonTaskState = EnumMsg.SonTaskState.重建路径中;
                }
            }
            catch (Exception Ex)
            {
                throw new Exception("ResetPath:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 将异常小车插入异常信息表和任务表中
        /// </summary>
        /// <param name="agv"></param>
        /// <returns></returns>
        public static bool SqlErrAgv(Agv agv, string type)
        {
            try
            {
                string sql = "";
                if (type == "insert")
                {
                    string taskNo = "";
                    if (agv.agvTask != null) taskNo = agv.agvTask.strTaskNo;
                    sql = string.Format(@"INSERT INTO  T_Config_agvErrTable (strAgvNo , strBarcode , agvErrMessage , startErrTime , strTaskNo)
                        VALUES ('{0}','{1}','{2}','{3}','{4}');"
                           , agv.strAgvNo, agv.strBarcode, agv.strAgvError, agv.agvHeart.ToString(), taskNo);
                    sql += string.Format(@"UPDATE  T_Base_Agv SET ErrorTime='{1}' WHERE strAgvNo='{0}';", agv.strAgvNo, agv.agvHeart.ToString());
                    if (agv.agvTask != null)
                    {
                        sql += string.Format(@"UPDATE  T_Task SET agvErrorCode = '{1}',taskErrMsg = '{2}' WHERE strTaskNo = '{0}';", agv.agvTask.strTaskNo, agv.agvErrorCode, agv.strAgvError);
                    }
                }
                else
                {
                    sql = string.Format(@"UPDATE  T_Config_agvErrTable SET endErrTime='{1}' WHERE strAgvNo='{0}' AND endErrTime IS NULL;",
                                    agv.strAgvNo, agv.agvHeart.ToString());
                    sql += string.Format(@"UPDATE  T_Base_Agv SET ErrorTime = null WHERE strAgvNo='{0}';", agv.strAgvNo);
                    if (agv.agvTask != null)
                    {
                        sql += string.Format(@"UPDATE  T_Task SET agvErrorCode = 0,taskErrMsg = null WHERE strTaskNo = '{0}';", agv.agvTask.strTaskNo);
                    }
                }
                bool isSqlResult = DbHelperSQL.SqlTransOperator(sql);
                return isSqlResult;
            }
            catch (Exception Ex)
            {
                throw new Exception("SqlErrAgv:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 插入AGV状态变化
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="state"></param>
        /// <returns></returns>
        public static bool InsertAgvState(Agv agv,int state)
        {
            try
            {
                //获取最后一条的状态 SELECT 
                //更新上一条状态结束 UPDATE ACS_Wistron_MOVE. T_AgvState SET endTime='{1}' WHERE agvNo='{}' AND endTime IS NULL
                //插入新一条状态开始 INSERT 
                string sqlInsert = string.Format(@"INSERT INTO  T_AgvState (agvNo,agvState,startTime,endTime)VALUES('{0}','{1}','{2}','{3}');"
                                                    , agv.strAgvNo, state, DateTime.Now, "null");
                int intSqlResult = DbHelperSQL.ExecuteSql(sqlInsert);
                if (intSqlResult < 1) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("InsertAgvState:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// 插入AGV里程
        /// </summary>
        /// <param name="task"></param>
        /// <returns></returns>
        public static bool InsertAgvMilage(FTask task)
        {
            try
            {
                Agv agv = App.AgvList.FirstOrDefault(a => a.strAgvNo == task.strTaskAgv);
                if (agv == null) return true;
                string sqlInsert = string.Format(@"INSERT INTO T_Milage (strAgvNo, startpoint, endpoint, mileage, starttime, endtime, taskno, groupname)
                                                    VALUES('{0}','{1}','{2}','{3}','{4}','{5}','{6}','{7}');"
                                                    , agv.strAgvNo, task.startPoint.strBarcode, task.endPoint.strBarcode, agv.agvMilage, task.strBeginTime==""?"null":task.strBeginTime, task.strEndTime, agv.agvTask.strTaskID, agv.agvTask.strTaskGroup);
                string sqlUpdate = string.Format(@"UPDATE  T_Base_Agv SET agvMilage='0'WHERE strAgvNo = '{0}';", agv.strAgvNo);
                bool intSqlResult = DbHelperSQL.SqlTransOperator(sqlInsert + sqlUpdate);
                if (!intSqlResult) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("InsertAgvMilage:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// 插入充电记录
        /// </summary>
        /// <param name="task"></param>
        public static void InsertAgvCharge(FTask task)
        {
            try
            {
                string sqlInsert = "";
                Agv agv = App.AgvList.First(a => a.strAgvNo == task.strTaskAgv);
                if (task.strTaskID == "充电")
                {
                    sqlInsert = string.Format(@"INSERT INTO  T_Base_AgvCharge(strAgvNo, startCharge, startTime, endCharge, endTime)
                                                   VALUES('{0}','{1}','{2}','0','null');"
                                                       , agv.strAgvNo, (int)agv.currentCharge, task.strEndTime);
                }
                else
                {
                    sqlInsert = string.Format(@"UPDATE T_Base_AgvCharge SET endCharge = '{1}' ,endTime = '{2}'
                                                WHERE strAgvNo='{0}' AND endCharge=0;"
                                   , agv.strAgvNo, (int)agv.currentCharge, task.strBeginTime);
                }
                int intSqlResult = DbHelperSQL.ExecuteSql(sqlInsert);
            }
            catch (Exception Ex)
            {
                throw new Exception("InsertAgvCharge:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
        }

        /// <summary>
        /// 插入删除agv信息
        /// </summary>
        /// <param name="agv"></param>
        /// <param name="type"></param>
        /// <returns></returns>
        public static bool SqlAgvMsg(Agv agv,string type)
        {
            try
            {
                string sql = "";
                if (type == "insert")
                {
                    sql = string.Format(@"INSERT INTO  T_Base_Agv(strAgvNo,agvGroup,agvAreaType,strBarcode,agvState,heightState,currentCharge,strChooseStation,isEnable,agvHeart,agvMilage,strAgvError,agvmap,startCharges)VALUES
                                          ('{0}','{1}','{2}','0','0','0',0,'{3}','{4}','{5}',0,'','{6}',0);"
                                        , agv.strAgvNo, agv.agvGroup,agv.agvAreaType, agv.strChooseStation, agv.isEnable == false ? "0" : "1", DateTime.Now,agv.agvMap);
                }
                else
                {
                    sql = string.Format(@"DELETE FROM  T_Base_Agv WHERE strAgvNo = '{0}';", agv.strAgvNo);
                }
                int intSqlResult = DbHelperSQL.ExecuteSql(sql);
                if (intSqlResult < 1) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("InsertAgvMsg:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// 插入删除站点信息
        /// </summary>
        /// <param name="station">站点信息</param>
        /// <param name="type">增删</param>
        /// <returns></returns>
        public static bool SqlStationMsg(Station station, string type)
        {
            try
            {
                string sql = "";
                if (type == "insert")
                {
                    sql = string.Format(@"INSERT INTO  T_Base_Station(stationType,stationArea,isEnable,isLocked,strBarcode,strPreBarcode,strStationNo,stationOri,stationLength)VALUES
                                                        ('{0}','{1}','{2}','{3}','{4}','{5}','{6}','{7}','{8}');"
                                                   , (int)station.stationType, station.stationArea, station.isEnable == false ? "0" : "1", station.isLocked == false ? "0" : "1", station.strBarcode, '0', station.strStationNo,(int)station.stationOri,station.stationLength);
                }
                else
                {
                    sql = string.Format(@"DELETE FROM  T_Base_Station WHERE stationArea = '{0}';", station.stationArea);
                }
                int intSqlResult = DbHelperSQL.ExecuteSql(sql);
                if (intSqlResult < 1) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("SqlStationMsg:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// AGV-任务群组绑定
        /// </summary>
        /// <param name="taskAgvGroup"></param>
        /// <param name="type"></param>
        /// <returns></returns>
        public static bool SqlTaskAgvGroup(TaskAgvGroup taskAgvGroup, string type)
        {
            try
            {
                string sql = "";
                if (type == "insert")
                {
                    sql = string.Format(@"INSERT INTO  T_Config_TaskAgvGroup (taskGroup ,agvGroup) VALUES ('{0}','{1}');", taskAgvGroup.taskGroup, taskAgvGroup.agvGroup);
                }
                else
                {
                    sql = string.Format(@"DELETE FROM  T_Config_TaskAgvGroup WHERE taskGroup = '{0}' AND agvGroup = '{1}';", taskAgvGroup.taskGroup, taskAgvGroup.agvGroup);
                }
                int intSqlResult = DbHelperSQL.ExecuteSql(sql);
                if (intSqlResult < 1) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("SqlTaskAgvGroup:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// 测试记录AGV历史电量
        /// </summary>
        /// <param name="agv"></param>
        /// <returns></returns>
        //public static bool InsertAgvChargeLog(Agv agv)
        //{
        //    try
        //    {
        //        //找到当前小车电量最后一次插入的时间
        //        //比对当前时间是否超过30秒
        //        //插入T_Charge_Log表中
        //        int intWaitTime = 0;
        //        string intSql = string.Format(@"SELECT TimeLog FROM  T_Charge_Log WHERE AgvNo = '{0}' ORDER BY TimeLog DESC LIMIT 1;", agv.strAgvNo);
        //        DataSet ds = DbHelperSQL.Query(intSql);
        //        if (ds.Tables[0].Rows.Count != 0)
        //        {
        //            intWaitTime = ComnMethod.DiffTime(DateTime.Parse(ds.Tables[0].Rows[0].ItemArray[0].ToString()));
        //        }
        //        if (ds.Tables[0].Rows.Count == 0 || intWaitTime > 5)
        //        {
        //            string intSqlResult = string.Format(@"INSERT INTO T_Charge_Log (AgvNo,CurrentCharge,TimeLog)VALUES('{0}','{1}','{2}');"
        //            , agv.strAgvNo, agv.currentCharge, DateTime.Now);
        //            int i = DbHelperSQL.ExecuteSql(intSqlResult);
        //        }
        //    }
        //    catch (Exception Ex)
        //    {
        //        throw new Exception("InsertAgvChargeLog:" + Ex.Message.Replace(Environment.NewLine, ""));
        //    }
        //    return true;
        //}

        /// <summary>
        /// 更新AGV的IP地址
        /// </summary>
        /// <returns></returns>
        public static void UpdateAgvIP(Config_ClientControl clientControl)
        {
            DataSet ds = DbHelperSQL.Query("SELECT Ip FROM  T_Base_Agv WHERE strAgvNo = '" + clientControl.strAgvNo + "';");
            string agvIP = ds.Tables[0].Rows[0].ItemArray[0].ToString();
            if (agvIP == "" || agvIP != clientControl.strClientIp)
            {
                string sqlUpdate = string.Format(@"UPDATE  T_Base_Agv SET Ip = '{1}' WHERE strAgvNo = '{0}';", clientControl.strAgvNo, clientControl.strClientIp);
                int intSqlResult = DbHelperSQL.ExecuteSql(sqlUpdate);
            }
        }

        /// <summary>
        /// 更新旋转点及其周围点
        /// </summary>
        /// <param name="point"></param>
        /// <param name="type"></param>
        /// <returns></returns>
        public static bool SqlConfigPointMsg(List<Point> point)
        {
            try
            {
                string sql = "";
                List<Point> points = new List<Point>();
                Dictionary<string, List<Point>> keyValues = new Dictionary<string, List<Point>>();
                foreach (Point turnPoint in point.FindAll(a => a.pointType == EnumMsg.PointType.整体旋转点 || a.pointType == EnumMsg.PointType.托盘旋转点))
                {
                    List<Point> aroundPoints = new List<Point>();
                    if (turnPoint.xPosPoint != null) { aroundPoints.Add(turnPoint.xPosPoint); }
                    if (turnPoint.xNegPoint != null) { aroundPoints.Add(turnPoint.xNegPoint); }
                    if (turnPoint.yPosPoint != null) { aroundPoints.Add(turnPoint.yPosPoint); }
                    if (turnPoint.yNegPoint != null) { aroundPoints.Add(turnPoint.yNegPoint); }
                    Point rightUpPoint = App.PointList.Find(a => a.intX == turnPoint.intX + 3 && a.intY == turnPoint.intY + 3);
                    if (rightUpPoint != null && rightUpPoint.pointType == EnumMsg.PointType.整体旋转点)
                    {
                        if (keyValues.ContainsKey(rightUpPoint.strBarcode)) continue;
                        aroundPoints.Add(rightUpPoint);
                    }
                    Point rightDownPoint = App.PointList.Find(a => a.intX == turnPoint.intX + 3 && a.intY == turnPoint.intY - 3);
                    if (rightDownPoint != null && rightDownPoint.pointType == EnumMsg.PointType.整体旋转点)
                    {
                        if (keyValues.ContainsKey(rightDownPoint.strBarcode)) continue;
                        aroundPoints.Add(rightDownPoint);
                    }
                    Point leftUpPoint = App.PointList.Find(a => a.intX == turnPoint.intX - 3 && a.intY == turnPoint.intY + 3);
                    if (leftUpPoint != null && leftUpPoint.pointType == EnumMsg.PointType.整体旋转点)
                    {
                        if (keyValues.ContainsKey(leftUpPoint.strBarcode)) continue;
                        aroundPoints.Add(leftUpPoint);
                    }
                    Point leftDownPoint = App.PointList.Find(a => a.intX == turnPoint.intX - 3 && a.intY == turnPoint.intY - 3);
                    if (leftDownPoint != null && (leftDownPoint.pointType == EnumMsg.PointType.整体旋转点 || leftDownPoint.intXLength < 1000))
                    {
                        if (keyValues.ContainsKey(leftDownPoint.strBarcode)) continue;
                        aroundPoints.Add(leftDownPoint);
                    }
                    if (aroundPoints.Count < 4 && turnPoint.pointType == EnumMsg.PointType.整体旋转点) continue;
                    keyValues.Add(turnPoint.strBarcode, aroundPoints);
                }
                if (keyValues.Keys.Count == 0) return true;
                for (int i = 0; i < keyValues.Keys.Count; i++)
                {
                    int no = i + 1;
                    string turnBarcode = keyValues.ElementAt(i).Key;
                    Point turnPoint = App.PointList.First(a => a.strBarcode == turnBarcode);
                    //获取旋转点
                    sql += string.Format(@"INSERT INTO  T_Config_Point (No, intX, intY, strBarcode, AreaType, strRegionName)
                                                VALUES ('{0}','{1}','{2}','{3}','{4}','{5}');",
                                no, turnPoint.intX, turnPoint.intY, turnBarcode, turnPoint.AreaType, "");
                    for (int j = 0; j < keyValues.ElementAt(i).Value.Count; j++)
                    {
                        int num = keyValues.ElementAt(i).Value.Count;
                        //获取旋转周围附属点
                        Point aroundPoint = keyValues.ElementAt(i).Value.ElementAt(j);
                        sql += string.Format(@"INSERT INTO  T_Config_Point (No, intX, intY, strBarcode, AreaType, strRegionName)
                                                    VALUES ('{0}','{1}','{2}','{3}','{4}','{5}');",
                                no, aroundPoint.intX, aroundPoint.intY, aroundPoint.strBarcode, aroundPoint.AreaType, "");
                    }
                }
                int intSqlResult = DbHelperSQL.ExecuteSql(sql);
                if (intSqlResult < 1) return false;
            }
            catch (Exception Ex)
            {
                throw new Exception("SqlConfigPointMsg:" + Ex.Message.Replace(Environment.NewLine, ""));
            }
            return true;
        }

        /// <summary>
        /// 更新提升机信息
        /// </summary>
        /// <param name="hoister"></param>
        public static void UpdateHoister(Hoister hoister)
        {
            try
            {
                //string sqlUpdate = string.Format(@"UPDATE  T_Base_Hoister SET hoisterTarget = '{1}' ,hoisterState = '{2}' ,hoisterError = '{3}' 
                //         ,read_heart = '{4}' ,read_isGet = '{5}' ,read_isPutConfirm = '{6}' ,read_isAgvGetConfirm = '{7}' ,read_isPut = '{8}'
                //         ,read_isGetConfirm = '{9}' ,read_isAgvPutConfirm = '{10}' ,write_isGeting = '{11}' ,write_isGet = '{12}' 
                //         ,write_isGetConfirm = '{13}' ,write_isHoisterPutConfirm = '{14}' ,write_isAgvGetConfirm = '{15}' 
                //         ,write_isPut = '{16}' ,write_isPutConfirm = '{17}' ,write_isHoisterGetConfirm = '{18}' ,write_isAgvPutConfirm = '{19}'
                //         WHERE hoisterNo = '{0}';", hoister.hoisterNo, hoister.hoisterTarget, hoister.hoisterState, hoister.hoisterError, hoister.read_heart == false ? "0" : "1", hoister.read_isGet == false ? "0" : "1"
                //         , hoister.read_isPutConfirm == false ? "0" : "1", hoister.read_isAgvGetConfirm == false ? "0" : "1", hoister.read_isPut == false ? "0" : "1", hoister.read_isGetConfirm == false ? "0" : "1"
                //         , hoister.read_isAgvPutConfirm == false ? "0" : "1", hoister.write_isGeting == false ? "0" : "1", hoister.write_isGet == false ? "0" : "1", hoister.write_isGetConfirm == false ? "0" : "1", hoister.write_isHoisterPutConfirm == false ? "0" : "1"
                //         , hoister.write_isAgvGetConfirm == false ? "0" : "1", hoister.write_isPut == false ? "0" : "1", hoister.write_isPutConfirm == false ? "0" : "1", hoister.write_isHoisterGetConfirm == false ? "0" : "1", hoister.write_isAgvPutConfirm == false ? "0" : "1");
                //DbHelperSQL.ExecuteSql(sqlUpdate);
            }
            catch (Exception Ex)
            {

                throw new Exception("UpdateHoister:" + Ex.StackTrace);
            }
        }

        ///<summary>
        ///半小时未动  小车自动删除任务，建立充电任务
        /// </summary>
        public static void DeleteTask()
        {
            try
            {
                string sqlUpdate = string.Format("DELETE t_task  where strTaskID ='配送'");
                DbHelperSQL.ExecuteSql(sqlUpdate);
            }
            catch (Exception)
            {

                throw;
            }
        }

    }
}