using Admin.NET.Core.Service;
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using COSXML.Network;
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using DocumentFormat.OpenXml.Bibliography;
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using DocumentFormat.OpenXml.Drawing;
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using DocumentFormat.OpenXml.Spreadsheet;
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using Furion.Logging;
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using IoTClient;
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using WCS.Application.Util;
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namespace WCS.Application;
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public static class PLCService
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{
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private static readonly object OLock = new object();
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public static bool AGVStatus = false;
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private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
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private static readonly WcsTaskService _taskService = App.GetService<WcsTaskService>();
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private static readonly SysCacheService sysCacheService = App.GetRequiredService<SysCacheService>();
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private static readonly SysConfigService _sysConfigService = App.GetRequiredService<SysConfigService>();
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private static Dictionary<string, string> dicTaskNo = new Dictionary<string, string>();
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public static void OnChangeEvent(object sender, EventArgs e)
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{
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try
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{
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var mod = sender as WcsDeviceDto;
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//Console.WriteLine($"{mod.Text}值为" + mod.Value);
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switch (mod.Type)
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{
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case PLCTypeEnum.ConveyorLine:
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ConveyorLine(mod); // 托盘输送线
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break;
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case PLCTypeEnum.AGV:
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AGV(mod); // AGV调度
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break;
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case PLCTypeEnum.ShuttleCar: //穿梭车
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ShuttleCar(mod);
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break;
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case PLCTypeEnum.RobotPalletizer:
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RobotPalletizer(mod);//码垛机器人
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break;
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case PLCTypeEnum.PalletMachine:
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PalletMachine(mod);
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break;
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default:
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break;
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}
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}
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catch (Exception ex)
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{
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Log.Error(ex.Message, ex);
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}
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}
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/// <summary>
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/// 拆托机
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/// </summary>
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/// <param name="modDevice"></param>
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private static void PalletMachine(WcsDeviceDto modDevice)
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{
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if (modDevice.Value)
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{
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//检测到缺托信号执行这里，如果没有取托任务的话就添加一个（储位-拆托机）
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if (!_db.Queryable<WcsTask>()
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.Where(s => s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing &&
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s.EndLocate == AGVStaionEnum.D1.ToString()).Any())
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{
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WcsTask modTask = new WcsTask()
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{
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TaskNo = _taskService.GetTaskCode(),
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TaskType = TaskTypeEnum.Move,
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Type = PLCTypeEnum.AGV,
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StartLocate = AGVStorageUtil.GetPalletOutStorage(),
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EndLocate = AGVStaionEnum.D1.ToString(),
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PalletNo = "",
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Status = TaskStatusEnum.Wait,
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Levels = 3,
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Origin = "WCS"
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};
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if (modTask.StartLocate.IsNullOrEmpty())
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return;
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_db.Insertable(modTask).ExecuteCommand();
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HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
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}
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}
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}
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/// <summary>
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/// 码垛机器人业务处理
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/// </summary>
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private static void RobotPalletizer(WcsDeviceDto modDevice)
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{
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var plcConn = modDevice.modbusUtil;
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string station = "B" + modDevice.StationNum;
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string value = Convert.ToString(modDevice.Value);
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if (value == "1")
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{
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if (modDevice.Level == DeviceLevelEnum.DB)
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{
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//生产工位缺托盘信号，生成任务叫小车去拉空托盘
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if (!_db.Queryable<WcsTask>().Where(s => s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing
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&& s.StartLocate == AGVStaionEnum.D1.ToString() && s.EndLocate == station.ToString()).Any())
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{
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WcsTask modTask = new WcsTask()
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{
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TaskNo = _taskService.GetTaskCode(),
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TaskType = TaskTypeEnum.Move,
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Type = PLCTypeEnum.AGV,
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StartLocate = AGVStaionEnum.D1.ToString(),
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EndLocate = station,
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PalletNo = "",
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Status = TaskStatusEnum.Wait,
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Levels = 4,
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Origin = "WCS"
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};
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_db.Insertable(modTask).ExecuteCommand();
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HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
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}
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}
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else if (modDevice.Level == DeviceLevelEnum.Station)
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{
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//如果读到信号通知AGV小车拉货(满跺)
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var endLocate = "C" + modDevice.StationNum;
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if (!_db.Queryable<WcsTask>().Where(s => s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing && s.StartLocate == station.ToString()).Any())
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{
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WcsTask modTask = new WcsTask()
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{
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TaskNo = _taskService.GetTaskCode(),
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TaskType = TaskTypeEnum.Move,
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Type = PLCTypeEnum.AGV,
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StartLocate = station.ToString(),
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EndLocate = endLocate,
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PalletNo = "",
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Status = TaskStatusEnum.Wait,
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Levels = 2,
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Origin = "WCS"
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};
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_db.Insertable(modTask).ExecuteCommand();
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HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
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}
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}
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}
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}
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/// <summary>
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/// 穿梭车业务处理
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/// </summary>
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/// <param name="modDevice"></param>
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private static void ShuttleCar(WcsDeviceDto modDevice)
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{
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var plcConn = modDevice.modbusUtil;
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switch (modDevice.Value.ToString())
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{
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case "0":
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sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, -1);
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break;
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case "1":
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{
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sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, -1);
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var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
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var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
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if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
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{
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var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
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var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
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string valueTaskStr = Convert.ToString(valueTask);
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string strNo = "";
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var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
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if (valueTaskStr != "0" && strNo != valueTaskStr)
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{
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var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
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if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
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{
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//12.4出库改成调用WMS完成任务接口；WMS操控PDA托盘下架后，WCS任务状态才完成（避免小车继续跑）
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if (modFinshTask.TaskType == TaskTypeEnum.In)
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{
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modFinshTask.Status = TaskStatusEnum.Complete;
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modFinshTask.FinishDate = DateTime.Now;
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_db.Updateable(modFinshTask).ExecuteCommand();
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var taskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modFinshTask.TaskNo,
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PlcName = modDevice.Text,
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InteractiveMsg = $"穿梭车反馈任务完成"
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};
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_db.Insertable(taskMonitor).ExecuteCommand();
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//下发任务日志
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HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
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HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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HttpService httpService = new HttpService();
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var requestMode = new TaskRequestWMS()
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{
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TaskNo = modFinshTask.TaskNo,
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PalletNo = modFinshTask.PalletNo,
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TaskType = ((int)modFinshTask.TaskType).ToString(),
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TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
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};
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var modResponseTask = httpService.RequestTask(requestMode).Result;
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modFinshTask.IsSuccess = TaskSuccessEnum.Success;
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_db.Updateable(modFinshTask).ExecuteCommand();
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if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
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dicTaskNo.Remove(modDevice.Id.ToString());
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dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
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}
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}
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}
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var modStationX = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(X)");
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var (resultx, valuex) = plcConn.GetDBValue(modStationX.PosType, modStationX.PlcPos);
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var modStationY = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Y)");
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var (resulty, valuey) = plcConn.GetDBValue(modStationY.PosType, modStationY.PlcPos);
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var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
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var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);
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// 获取任务信息
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var stationStart = ((int)valuex).ToString().PadLeft(2, '0');
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var stationEnd = ((int)valuez).ToString().PadLeft(2, '0') + "01";
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var listTask = _db.Queryable<WcsTask>().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime)
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.Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar
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&& s.StartLocate.StartsWith(stationStart) && s.StartLocate.EndsWith(stationEnd)).ToList();
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var modTask = listTask.FirstOrDefault();
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//return;
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if (modTask == null)
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return;
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if (modTask.StartLocate == modTask.EndLocate)
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{
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modTask.Status = TaskStatusEnum.Doing;
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_db.Updateable(modTask).ExecuteCommand();
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HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
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return;
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}
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if (modTask.Status == TaskStatusEnum.Doing)
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{
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Thread.Sleep(3000);
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return;
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}
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//先复位
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var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
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plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
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List<Result> listResult = new List<Result>();
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//写入任务号Id的末4位，2个小车一起跑有极低概率重复
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var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "写入任务号");
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listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, modTask.Id.ToString().Substring(modTask.Id.ToString().Length - 4)));
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var modNodeX = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标X");
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var modNodeY = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Y");
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var modNodeZ = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Z");
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var modNodeStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "节点举升状态");
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int posX = Convert.ToInt32(modNodeX.PlcPos);
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int posY = Convert.ToInt32(modNodeY.PlcPos);
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int posZ = Convert.ToInt32(modNodeZ.PlcPos);
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int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);
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if (Convert.ToInt32(valuey) != Convert.ToInt32(modTask.StartLocate.Substring(2, 2)))
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{
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//写入小车当前位置
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listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), Convert.ToString(valuex)));
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listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), Convert.ToString(valuey)));
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listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), Convert.ToString(valuez)));
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listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
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}
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//写入起始位置取货
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listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.StartLocate.Substring(0, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), modTask.StartLocate.Substring(2, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.StartLocate.Substring(4, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "2"));
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//写入目标位置放货
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listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.EndLocate.Substring(0, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), modTask.EndLocate.Substring(2, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.EndLocate.Substring(4, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
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string endPos = "";
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if (modTask.StartLocate.Substring(0, 2).ToInt() >= 14)
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endPos = "01";
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else
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endPos = "21";
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if (listTask.Count == 1 && modTask.EndLocate.Substring(2, 2) != endPos)
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{
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//如果后续没有任务，就让小车回到原位
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listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.EndLocate.Substring(0, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), endPos));//todo:这里位置待定
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listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.EndLocate.Substring(4, 2)));
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listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
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}
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//这里是把后面的坐标全写0（为了防止上次任务坐标没被覆盖）
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while (posX <= 43097)
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{
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listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), "0"));
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listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), "0"));
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listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), "0"));
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listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "0"));
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}
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if (listResult.All(s => s.IsSucceed))
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{
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var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "启动命令");
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var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
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if (result.IsSucceed)
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{
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modTask.Status = TaskStatusEnum.Doing;
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_db.Updateable(modTask).ExecuteCommand();
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var taskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcName = modDevice.Text,
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InteractiveMsg = $"向穿梭车下发任务{modTask.TaskNo}"
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};
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_db.Insertable(taskMonitor).ExecuteCommand();
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//下发任务日志
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HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
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HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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}
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}
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break;
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case "2":
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{
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//小车状态异常
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var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
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var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
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{
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if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
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{
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var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
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var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
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string valueTaskStr = Convert.ToString(valueTask);
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string strNo = "";
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var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
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if (valueTaskStr != "0" && strNo != valueTaskStr)
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{
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var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
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if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
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{
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HttpService httpService = new HttpService();
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var requestMode = new TaskRequestWMS()
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{
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TaskNo = modFinshTask.TaskNo,
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PalletNo = modFinshTask.PalletNo,
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TaskType = ((int)modFinshTask.TaskType).ToString(),
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TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
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};
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var modResponseTask = httpService.RequestTask(requestMode).Result;
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modFinshTask.IsSuccess = TaskSuccessEnum.Success;
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_db.Updateable(modFinshTask).ExecuteCommand();
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//下发任务日志
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//HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
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//HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
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if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
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dicTaskNo.Remove(modDevice.Id.ToString());
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dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
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}
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}
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}
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}
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Console.WriteLine($"穿梭车{modDevice.PlcIdIP}异常");
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var modPosError = modDevice.listStation.FirstOrDefault(s => s.Text == "错误码");
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var (result, valueError) = plcConn.GetDBValue(modPosError.PosType, modPosError.PlcPos);
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if (result.IsSucceed)
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{
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sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, Convert.ToInt32(valueError));
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}
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}
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break;
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default:
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break;
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}
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}
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/// <summary>
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/// 输送线业务处理
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/// </summary>
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/// <param name="modDevice"></param>
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private static void ConveyorLine(WcsDeviceDto modDevice)
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{
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var plcConn = modDevice.PLCUtil;
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switch (modDevice.Value.ToString())
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{
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case "20":
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{
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//小车请求开卷帘门 这里改成海康直接调用模块 这里不需要了
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string Devicelndex = "";
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if (modDevice.Text == "2号卷帘门")
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Devicelndex = "222";
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else if (modDevice.Text == "3号卷帘门")
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Devicelndex = "111";
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var modCallBack = sysCacheService.Get<AGVApplyLockInput>("OpenDoor" + Devicelndex);
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if (modCallBack != null)
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{
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var modAgvDevice = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == "AGV");
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AgvNotifyInput input = new AgvNotifyInput()
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{
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ActionStatus = "1",
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DeviceIndex = Devicelndex,
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UUID = modCallBack.UUID,
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};
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var response = new HttpService().NotifyExcuteResultInfo(input).Result;
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if (response.code == 0)
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{
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sysCacheService.Remove("OpenDoor" + Devicelndex);
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}
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}
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}
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break;
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case "100":
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{
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//工位对应 1=A 4=B 10=C
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string stationNum = "";
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if (modDevice.StationNum == "1" || modDevice.StationNum == "4")
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{
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stationNum = "10";
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//判断有没有小车到C口的任务，如果有就写120
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var countTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV && s.EndLocate == "A1").Count();
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if (countTask != 0)
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{
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var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
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Log.Information($"向plc{modDevice.PlcIdIP}写入120，结果：{ret.ToJson()}");
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return;
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}
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}
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string strPalletNo = "";
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if (modDevice.StationNum == "10" || modDevice.StationNum == "4")
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{
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var modPosPallet = modDevice.listStation.First(s => s.Text == "托盘条码");
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//todo:这里读码器老读不到条码信息 先写死 读码器问题解决了可以注释掉
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plcConn.SetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, "T2400001");
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var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
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if (!res.IsSucceed || palletNo == "")
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{
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var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
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Log.Information($"向plc{modDevice.PlcIdIP}写入120，结果：{ret.ToJson()}");
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return;
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}
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strPalletNo = Convert.ToString(palletNo);
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}
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if (modDevice.StationNum == "10")
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{
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if (strPalletNo.Substring(0, 1) == "T")
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stationNum = "4";
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else
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stationNum = "1";
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}
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// 写入托盘输送线码垛工位
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var listResult = new List<Result>();
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// 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功
|
var posModel = modDevice.listStation.First(m => m.Text == "起始工位");
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listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos, modDevice.StationNum));
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var posModel2 = modDevice.listStation.First(m => m.Text == "目标工位");
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listResult.Add(plcConn.SetPlcDBValue(posModel2.PosType, modDevice.DbNumber, posModel2.PlcPos, stationNum));
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string taskNo = _taskService.GetTaskCode("WCS");
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var modPosTask = modDevice.listStation.First(s => s.Text == "任务号");
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listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo));
|
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if (listResult.All(s => s.IsSucceed))
|
{
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "130");
|
Log.Information($"向plc{modDevice.PlcIdIP}写入130，结果：{ret.ToJson()}");
|
if (ret.IsSucceed)
|
{
|
AddWcsTaskInput modTask = new AddWcsTaskInput()
|
{
|
TaskNo = taskNo,
|
TaskType = TaskTypeEnum.In,
|
PalletNo = strPalletNo,
|
Status = TaskStatusEnum.Doing,
|
IsSuccess = TaskSuccessEnum.Fail,
|
StartLocate = modDevice.StationNum,
|
EndLocate = stationNum,
|
Type = PLCTypeEnum.ConveyorLine,
|
};
|
_taskService.Add(modTask);
|
WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.PlcId,
|
PlcName = modDevice.Text,
|
StartLocat = modDevice.StationNum,
|
EndLocat = stationNum,
|
Status = TaskStatusEnum.Doing,
|
InteractiveMsg = $"向{modDevice.Text}写入指令130，结果{ret.IsSucceed}",
|
};
|
_db.Insertable(modTaskMonitor).ExecuteCommand();
|
|
//下发任务日志
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
}
|
}
|
break;
|
case "140":
|
{
|
var modPosTask = modDevice.listStation.First(m => m.Text == "任务号");
|
var (result, taskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modPosTask.StringLength);
|
var modPosPallet = modDevice.listStation.First(m => m.Text == "托盘条码");
|
var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
|
WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor();
|
WcsTask modTask = new WcsTask();
|
if (!result.IsSucceed)
|
{
|
Log.Error($"{plcConn.PlcIP}读取任务号失败");
|
return;
|
}
|
if (modDevice.StationNum == "10")
|
{
|
var posModel = modDevice.listStation.First(m => m.Text == "起始工位");
|
var (resultS, station) = plcConn.GetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos);
|
if (resultS.IsSucceed)
|
{
|
if (station == 1)
|
{
|
WcsTask modInsertTask = new WcsTask()
|
{
|
TaskNo = _taskService.GetTaskCode(),
|
TaskType = TaskTypeEnum.Move,
|
Type = PLCTypeEnum.AGV,
|
StartLocate = AGVStaionEnum.A2.ToString(),
|
EndLocate = AGVStaionEnum.F1.ToString(),
|
PalletNo = modTask.PalletNo,
|
Status = TaskStatusEnum.Wait,
|
Levels = 5,
|
Origin = "WCS"
|
};
|
_db.Insertable(modInsertTask).ExecuteCommand();
|
HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
|
}
|
else if (station == 4)
|
{
|
WcsTask modInsertTask = new WcsTask()
|
{
|
TaskNo = _taskService.GetTaskCode(),
|
TaskType = TaskTypeEnum.Move,
|
Type = PLCTypeEnum.AGV,
|
StartLocate = AGVStaionEnum.A2.ToString(),
|
EndLocate = AGVStorageUtil.GetPalletInStorage(),
|
PalletNo = modTask.PalletNo,
|
Status = TaskStatusEnum.Wait,
|
Levels = 5,
|
Origin = "WCS"
|
};
|
_db.Insertable(modInsertTask).ExecuteCommand();
|
HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
|
}
|
}
|
else
|
{
|
Log.Error("获取起始工位失败，失败原因" + resultS.Err);
|
return;
|
}
|
}
|
var ledText = "";
|
if (modDevice.StationNum == "4")
|
{
|
//todo:led
|
ledText += "任务类型:入库\n\n";
|
ledText += $"任务号:{taskNo}\n";
|
ledText += $"托盘号:{palletNo}\n\n";
|
//ledText += $"起始位:10\n";
|
//ledText += $"目标位:4";
|
LedDisplay(modDevice.LedIP, ledText);
|
}
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "150");
|
Log.Information($"向plc{modDevice.PlcIdIP}写入150，结果：{ret.ToJson()}");
|
if (ret.IsSucceed)
|
{
|
string strTaskNo = taskNo;
|
modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == strTaskNo);
|
if (modTask != null)
|
{
|
modTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.PlcId,
|
PlcName = modDevice.Text,
|
StartLocat = modTask.StationNum,
|
EndLocat = modTask.EndLocate,
|
InteractiveMsg = $"向{modDevice.Text}写入指令150，结果{ret.IsSucceed}",
|
};
|
modTaskMonitor.Status = TaskStatusEnum.Complete;
|
_db.Insertable(modTaskMonitor).ExecuteCommand();
|
modTask.FinishDate = DateTime.Now;
|
modTask.Status = TaskStatusEnum.Complete;
|
_db.Updateable(modTask).ExecuteCommand();
|
|
//下发任务日志
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
}
|
}
|
break;
|
|
default: break;
|
}
|
|
}
|
|
/// <summary>
|
/// AGV业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void AGV(WcsDeviceDto modDevice)
|
{
|
if (AGVStatus)
|
{
|
return;
|
}
|
//这里找出来AGV待执行和正在执行的任务，如果有正在执行的任务就跳出，没有的话就按照优先级下发一个任务给AGV
|
var listTask = _db.Queryable<WcsTask>()
|
.Where(s => (s.Status == TaskStatusEnum.Doing || s.Status == TaskStatusEnum.Wait) && s.Type == PLCTypeEnum.AGV)
|
.OrderBy(s => s.Levels).ToList();
|
if (listTask.Count == 0)
|
return;
|
if (listTask.Any(s => s.Status == TaskStatusEnum.Doing))
|
{
|
//有任务执行中 暂不下发任务
|
return;
|
}
|
//WcsTask modTask = listTask.FirstOrDefault();
|
foreach (var modTask in listTask)
|
{
|
//入缓存区时，检验一下缓存区位置
|
if (modTask.EndLocate.Substring(0, 1) == "Z")
|
{
|
if (modTask.EndLocate.Substring(1, 1) == "5")
|
{
|
string end = AGVStorageUtil.GetPalletInStorage(modTask.TaskNo);
|
if (end.IsNullOrEmpty())
|
continue;
|
if (modTask.EndLocate != end)
|
{
|
modTask.EndLocate = end;
|
}
|
}
|
else
|
{
|
string end = AGVStorageUtil.GetProductInStorage(modTask.TaskNo);
|
if (end.IsNullOrEmpty())
|
continue;
|
if (modTask.EndLocate != end)
|
{
|
modTask.EndLocate = end;
|
}
|
}
|
}
|
//出缓存区时，检验一下缓存区位置
|
if (modTask.StartLocate.Substring(0, 1) == "Z")
|
{
|
if (modTask.StartLocate.Substring(1, 1) == "5")
|
{
|
string start = AGVStorageUtil.GetPalletOutStorage();
|
if (start.IsNullOrEmpty())
|
continue;
|
if (modTask.StartLocate != start)
|
{
|
modTask.StartLocate = start;
|
}
|
}
|
else
|
{
|
string start = AGVStorageUtil.GetProductOutStorage();
|
if (start.IsNullOrEmpty())
|
continue;
|
if (modTask.StartLocate != start)
|
{
|
modTask.StartLocate = start;
|
}
|
}
|
}
|
//把托盘拉到缓存位 先判断这里有没有
|
if (modTask.EndLocate.Substring(0, 1) == "C")
|
{
|
var bo = _sysConfigService.GetConfigValue<bool>("cache_" + modTask.EndLocate).Result;
|
if (bo)
|
continue;
|
}
|
//如果拉托盘去成品工位，先检查有没有缺托
|
if (modTask.StartLocate.Substring(0, 1) == "D" && modTask.EndLocate.Substring(0, 1) == "B")
|
{
|
if (listTask.Any(s => s.EndLocate.Substring(0, 1) == "D"))
|
continue;
|
}
|
if (modTask.EndLocate == AGVStaionEnum.F1.ToString())
|
{
|
if (_sysConfigService.GetConfigValue<bool>("cache_Materal").Result)
|
continue;
|
}
|
//if (modTask.StartLocate == AGVStaionEnum.F1.ToString())
|
//{
|
// if (!_sysConfigService.GetConfigValue<bool>("cache_Materal").Result)
|
// continue;
|
//}
|
if (modTask.StartLocate == AGVStaionEnum.D1.ToString())
|
{
|
var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.PalletMachine);
|
var modDevice2 = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Text == "拆托机");
|
var modConn = new PLCUtil(modPlc);
|
//是否缺托信号
|
var modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "允许取托");
|
var (result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
|
if (result.IsSucceed)
|
{
|
if (value)
|
{
|
//如果未完成就判断下取托信号有没有写，完成就叫小车取托盘
|
modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "取托信号");
|
(result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
|
//如果没写入取托信号，就写入
|
if (result.IsSucceed && !value)
|
{
|
result = modConn.SetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos, "1");
|
WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice2.PlcId,
|
PlcName = modPos.PlcPos,
|
Status = TaskStatusEnum.Doing,
|
InteractiveMsg = $"向{modDevice2.Text}写入取托信号1，结果{result.IsSucceed}",
|
};
|
_db.Insertable(modTaskMonitor).ExecuteCommand();
|
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
Thread.Sleep(5000);
|
}
|
break;
|
|
}
|
else
|
{
|
modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "准备完成");
|
(result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
|
if (!value)
|
{
|
continue;
|
}
|
}
|
}
|
else
|
{
|
Console.WriteLine("连接拆托机信号失败");
|
continue;
|
}
|
}
|
if (modTask.EndLocate == AGVStaionEnum.A1.ToString())
|
{
|
if (_db.Queryable<WcsTask>().Where(s => s.Type == PLCTypeEnum.ConveyorLine && s.Status == TaskStatusEnum.Doing).Any())
|
continue;
|
}
|
|
AgvTaskInput input = new AgvTaskInput()
|
{
|
ReqCode = modTask.Id.ToString(),
|
TaskCode = modTask.TaskNo,
|
CtnrCode = modTask.PalletNo,
|
PositionCodePath = new List<PositionCodePathItem>()
|
{
|
new PositionCodePathItem(){ PositionCode = modTask.StartLocate },
|
new PositionCodePathItem(){ PositionCode = modTask.EndLocate }
|
}
|
};
|
input.TaskTyp = "1" + modTask.StartLocate.Substring(0, 1) + modTask.EndLocate.Substring(0, 1);
|
var response = new HttpService().GenAgvSchedulingTask(input).Result;
|
if (response.code == "0")
|
{
|
AGVStatus = true;
|
modTask.Status = TaskStatusEnum.Doing;
|
_db.Updateable(modTask).ExecuteCommand();
|
var modTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.modPlc.Id,
|
PlcName = modDevice.modPlc.IP,
|
InteractiveMsg = "向AGV小车下发任务"
|
};
|
_db.Insertable(modTaskMonitor).ExecuteCommand();
|
|
//下发任务日志
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
Console.WriteLine(response.ToJson());
|
return;
|
}
|
Thread.Sleep(3000);
|
}
|
|
/// <summary>
|
/// Led屏展示信息
|
/// </summary>
|
/// <param name="ip">地址</param>
|
/// <param name="top">上方区域</param>
|
/// <param name="content">中间区域</param>
|
/// <param name="foot">底部区域</param>
|
private static void LedDisplay(string ip, string top, string content, string foot)
|
{
|
try
|
{
|
LedDll Led = new LedDll();
|
Led.LEDstr(ip, top, content, foot);
|
}
|
catch (Exception ex)
|
{
|
Log.Error(ex.Message);
|
}
|
}
|
/// <summary>
|
/// LED信息展示
|
/// </summary>
|
/// <param name="ip"></param>
|
/// <param name="text"></param>
|
private static void LedDisplay(string ip, string text)
|
{
|
try
|
{
|
LedDll Led = new LedDll();
|
Led.ConsoleLeds(ip, text);
|
// 设置实例
|
//Led.ConsoleLeds("10.18.51.238", $"任务类型:{TaskTypeEnum.Move.GetDescription()}\n\n任务号:TK2024102100001\n托盘号:LN000145\n\n起始位:033\n目标位:R01-02010102");
|
}
|
catch (Exception ex)
|
{
|
Log.Error(ex.Message);
|
}
|
}
|
|
|
private static void Test(WcsDeviceDto modDevice)
|
{
|
//卷帘门2申请打开
|
//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1152", "10");
|
//卷帘门2申请关闭
|
//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1152", "30");
|
|
//卷帘门3申请打开
|
//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1154", "10");
|
//卷帘门3申请关闭
|
//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1154", "30");
|
|
//C口AGV放托盘完成申请入库
|
var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1156", "100");
|
|
////写死测试读string
|
//var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
|
//Console.WriteLine("DB100.64----" + val);
|
////测试批量读取
|
//Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
|
//foreach (var modStation in modDevice.listStation)
|
//{
|
// listaddress.Add(modStation.PlcPos, modStation.PosType);
|
//}
|
//var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
|
//if (result.Value.Count > 0)
|
//{
|
// foreach (var value in result.Value)
|
// {
|
// Console.WriteLine("地址" + value.Key + "----值" + value, value);
|
// }
|
//}
|
//if (!result.IsSucceed)
|
//{
|
// foreach (var err in result.ErrList)
|
// {
|
// Console.WriteLine(err);
|
// }
|
// if (result.Value.Count > 0)//有错误的也有成功的
|
// {
|
|
// }
|
//}
|
//if (modDevice.Value == 820)
|
//{
|
// //测试写入830
|
// //var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
|
// ////写入是否成功
|
// //if (result.IsSucceed)
|
// //{
|
|
// //}
|
//}
|
//else if (modDevice.Value == 840)
|
//{
|
|
//}
|
//else if (modDevice.Value == 860)
|
//{
|
|
//}
|
}
|
|
|
|
}
|
