using Admin.NET.Core.Service;
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using DocumentFormat.OpenXml.Bibliography;
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using DocumentFormat.OpenXml.Drawing;
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using DocumentFormat.OpenXml.Drawing.Charts;
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using Elastic.Clients.Elasticsearch.Snapshot;
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using Furion.Logging;
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using Microsoft.AspNetCore.SignalR;
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using NewLife.Serialization;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Logical;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
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using OnceMi.AspNetCore.OSS;
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using Qiniu.Storage;
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using System;
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using System.Drawing.Drawing2D;
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using System.Net.NetworkInformation;
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using WCS.Application.Entity;
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using WCS.Application.Util;
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using static SKIT.FlurlHttpClient.Wechat.Api.Models.CgibinExpressIntracityUpdateStoreRequest.Types;
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//using WCS.Application.Util;
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namespace WCS.Application;
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public static class PLCTaskAction
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{
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//服务运行状态
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public static bool boRunningState = false;
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//脱机模式
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public static bool boOffline = false;
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//自刷新
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public static bool boRefresh = false;
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//演示模式
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public static bool boDemo = false;
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//滚筒反转
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public static bool boDrumReversal = false;
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//出库锁定
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public static bool boOutLock = false;
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//入库锁定
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public static bool boEnterLock = false;
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public static List<PlcPositionInfo> listPositionInfo = new List<PlcPositionInfo>();
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private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
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private static readonly SysCacheService sysCacheService = App.GetRequiredService<SysCacheService>();
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private static readonly SysConfigService _sysConfigService = App.GetService<SysConfigService>();
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private static readonly WcsTaskService _taskService = App.GetService<WcsTaskService>();
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private static List<WcsPlc> listPlc = new List<WcsPlc>();
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private static List<WcsDevice> listPlcDevice = new List<WcsDevice>();
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private static List<WcsPosition> listPlcPosition = new List<WcsPosition>();
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private static List<WcsAlarmInfo> listAlarmInfo = new List<WcsAlarmInfo>();
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private static List<PLCUtil> listPlcUtil = new List<PLCUtil>();
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private static CancellationTokenSource cts = new CancellationTokenSource();//取消线程标识
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private static List<ModbusUtil> listModbusUtil = new List<ModbusUtil>();
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public static List<ModbusUtil> modbusUtilConn
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{
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get { return listModbusUtil; }
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}
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//对外公布连接状态
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public static List<PLCUtil> listPlcConn
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{
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get { return listPlcUtil; }
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}
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// 交互点集合
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public static List<WcsDevice> plcDevices
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{
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get { return listPlcDevice; }
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}
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public static List<WcsPosition> plcPositions
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{
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get { return listPlcPosition; }
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}
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public static List<WcsPlc> plcs
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{
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get { return listPlc; }
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}
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public static event EventHandler DeviceValueChangeEvent;
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static PLCTaskAction()
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{
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//订阅事件
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DeviceValueChangeEvent += PLCService.OnChangeEvent;
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boRunningState = _sysConfigService.GetConfigValue<bool>("sys_RunningState").Result;
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boOffline = _sysConfigService.GetConfigValue<bool>("sys_Offline").Result;
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boRefresh = _sysConfigService.GetConfigValue<bool>("sys_Refresh").Result;
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boDemo = _sysConfigService.GetConfigValue<bool>("sys_demo").Result;
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boDrumReversal = _sysConfigService.GetConfigValue<bool>("sys_DrumReversal").Result;
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boOutLock = _sysConfigService.GetConfigValue<bool>("sys_BoOutLock").Result;
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boEnterLock = _sysConfigService.GetConfigValue<bool>("sys_BoEnterLock").Result;
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}
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/// <summary>
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/// 初始化PLC连接
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/// </summary>
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public static void Init()
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{
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cts.Cancel();
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listPlc = _db.Queryable<WcsPlc>()
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//.Where(s => s.Type == PLCTypeEnum.ShuttleCar || s.Type == PLCTypeEnum.ConveyorLine || s.Type == PLCTypeEnum.AGV)
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.Where(s => s.Enable == YesNoEnum.Y)
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.ToList();
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listPlcDevice = _db.Queryable<WcsDevice>().ToList();
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listPlcPosition = _db.Queryable<WcsPosition>().ToList();
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listAlarmInfo = _db.Queryable<WcsAlarmInfo>().ToList();
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//等待几秒钟，把已有线程取消掉再连接
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//Thread.Sleep(5000);
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foreach (var modPlcUtil in listPlcUtil)
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{
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modPlcUtil.Close();
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}
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listPlcUtil.Clear();
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foreach (var modPlc in listPlc)
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{
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switch (modPlc.PLCType)
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{
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case PLCEnum.None:
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break;
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case PLCEnum.S7_200:
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case PLCEnum.S7_200Smart:
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case PLCEnum.S7_300:
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case PLCEnum.S7_400:
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case PLCEnum.S7_1200:
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case PLCEnum.S7_1500:
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var plc = new PLCUtil(modPlc);
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listPlcUtil.Add(plc);
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break;
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case PLCEnum.ModBusTcp:
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var modbus = new ModbusUtil(modPlc);
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listModbusUtil.Add(modbus);
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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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HubUtil.UpdateService(new PLCServiceModel()
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{
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BoRunningState = boRunningState,
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BoOffline = boOffline,
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BoRefresh = boRefresh
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});
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if (boRunningState)
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{
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cts = new CancellationTokenSource();
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StartRead();
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ConnectionStatus();
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StartWatchAlarm();
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AssignTasks();
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//StartWatchPosition();
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}
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}
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/// <summary>
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/// 开启读取plc线程
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/// </summary>
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public static void StartRead()
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{
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Console.WriteLine("开启读取plc线程");
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foreach (var modPlc in listPlc)
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{
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Task.Run(() =>
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{
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var _modplc = modPlc;
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while (true)
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{
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//取消线程 关闭PLC连接
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if (cts.Token.IsCancellationRequested)
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{
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foreach (var modPlcUtil in listPlcUtil)
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{
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if (modPlcUtil != null && modPlcUtil.Connected)
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modPlcUtil.Close();
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}
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break;
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//throw new OperationCanceledException();
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}
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try
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{
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switch (_modplc.PLCType)
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{
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case PLCEnum.None:
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break;
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case PLCEnum.S7_200:
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case PLCEnum.S7_200Smart:
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case PLCEnum.S7_300:
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case PLCEnum.S7_400:
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case PLCEnum.S7_1200:
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case PLCEnum.S7_1500:
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{
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var modPlcUtil = listPlcUtil.FirstOrDefault(s => s != null && s.PlcId == modPlc.Id);
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if (modPlcUtil == null)
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{
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Console.WriteLine($"连接plc{modPlc.IP}");
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modPlcUtil = new PLCUtil(modPlc);
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listPlcUtil.Add(modPlcUtil);
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if (modPlcUtil.Connected)
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Console.WriteLine($"连接plc{modPlc.IP}成功");
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}
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if (!modPlcUtil.Connected)
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{
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Thread.Sleep(100);
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modPlcUtil.Open();
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continue;
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}
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var listDevice = listPlcDevice
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.Where(s => s.PlcId == _modplc.Id && s.DeviceType == DeviceTypeEnum.Business)
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.WhereIF(modPlc.Type == PLCTypeEnum.ConveyorLine, s => s.Level == DeviceLevelEnum.DB)
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.ToList();
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//循环读设备
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foreach (var modDevice in listDevice)
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{
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var (result, value) = modPlcUtil.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
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if (result.IsSucceed)
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{
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////如果是穿梭车，这里发送心跳
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//if (modPlc.Type == PLCTypeEnum.ShuttleCar)
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//{
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// var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
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// if (modHeart != null)
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// {
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// modPlcUtil.SetPlcDBValue(modHeart.PosType, modHeart.PlcPos, "1");
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// }
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//}
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//无流程跳出
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if (Convert.ToInt32(value) == 0)
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continue;
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var dto = modDevice.Adapt<WcsDeviceDto>();
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dto.Value = value;
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dto.Type = _modplc.Type;
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dto.PLCUtil = modPlcUtil;
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dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
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dto.listDevice = listDevice.Where(s => s.StationNum == modDevice.StationNum && s.Level == DeviceLevelEnum.Station).ToList();
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//这里触发值变更事件
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DeviceValueChangeEvent?.Invoke(dto, EventArgs.Empty);
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}
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else if (!modPlcUtil.Connected)
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{
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//重新打开连接
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modPlcUtil.Open();
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}
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}
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}
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break;
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case PLCEnum.ModBusTcp:
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{
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var modbusUtil = listModbusUtil.FirstOrDefault(s => s != null && s.PlcId == _modplc.Id);
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if (modbusUtil == null)
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{
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Console.WriteLine($"连接ModBus{modPlc.IP}");
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modbusUtil = new ModbusUtil(modPlc);
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listModbusUtil.Add(modbusUtil);
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if (modbusUtil.Connected)
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Console.WriteLine($"连接ModBus{modPlc.IP}成功");
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}
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if (!modbusUtil.Connected)
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{
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Thread.Sleep(100);
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modbusUtil.Open();
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continue;
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}
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var listDevice = listPlcDevice
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.Where(s => s.PlcId == _modplc.Id && s.DeviceType == DeviceTypeEnum.Business)
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.WhereIF(modPlc.Type == PLCTypeEnum.ConveyorLine, s => s.Level == DeviceLevelEnum.DB)
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.ToList();
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//循环读设备
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foreach (var modDevice in listDevice)
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{
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var (result, value) = modbusUtil.GetDBValue(modDevice.PosType, modDevice.PlcPos);
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if (result.IsSucceed)
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{
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//如果是穿梭车，这里发送心跳
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if (modPlc.Type == PLCTypeEnum.ShuttleCar)
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{
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var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
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if (modHeart != null)
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{
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modbusUtil.SetDBValue(modHeart.PosType, modHeart.PlcPos, "1");
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}
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}
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//无流程跳出
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if (value == 0)
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continue;
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var dto = modDevice.Adapt<WcsDeviceDto>();
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dto.Value = value;
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dto.PlcIdIP = modPlc.IP;
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dto.Type = _modplc.Type;
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dto.modbusUtil = modbusUtil;
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dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
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dto.listDevice = listDevice.Where(s => s.StationNum == modDevice.StationNum && s.Level == DeviceLevelEnum.Station).ToList();
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//这里触发值变更事件
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DeviceValueChangeEvent?.Invoke(dto, EventArgs.Empty);
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}
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else if (!modbusUtil.Connected)
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{
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//重新打开连接
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modbusUtil.Open();
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}
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}
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}
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break;
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case PLCEnum.HTTP:
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{
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Ping pingSender = new Ping();
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try
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{
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// 发送Ping请求，并等待回复
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PingReply reply = pingSender.Send(_modplc.IP);
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if (reply.Status == IPStatus.Success)
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{
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var listDevice = listPlcDevice
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.Where(s => s.PlcId == _modplc.Id && s.DeviceType == DeviceTypeEnum.Business)
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.ToList();
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foreach (var modDevice in listDevice)
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{
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var dto = modDevice.Adapt<WcsDeviceDto>();
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dto.modPlc = _modplc;
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dto.Type = _modplc.Type;
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dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
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dto.listDevice = listDevice.Where(s => s.StationNum == modDevice.StationNum && s.Level == DeviceLevelEnum.Station).ToList();
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//这里触发值变更事件
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DeviceValueChangeEvent?.Invoke(dto, EventArgs.Empty);
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}
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}
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else
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{
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Console.WriteLine($"连接不到主机: {_modplc.IP} {reply.Status}");
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}
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}
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catch (Exception ex)
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{
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Console.WriteLine(ex.Message);
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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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Thread.Sleep(3000);
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}
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catch (OperationCanceledException)
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{
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Console.WriteLine("中止线程");
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}
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catch (Exception ex)
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{
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Log.Error("读取PLC线程发生异常", ex);
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}
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}
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}, cts.Token);
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}
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}
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/// <summary>
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/// 四向车任务分配
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/// </summary>
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private static void AssignTasks()
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{
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Task.Run(() =>
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{
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while (true)
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{
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Console.WriteLine("开启四向车任务自分配");
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//取消线程 关闭PLC连接
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if (cts.Token.IsCancellationRequested)
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{
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foreach (var modModBusUtil in listModbusUtil)
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{
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if (modModBusUtil != null && modModBusUtil.Connected)
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modModBusUtil.Close();
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}
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break;
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}
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try
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{
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// 获取密集库未执行任务 根据创建时间排序
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var waitTask = _db.Queryable<WcsTask>().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(s => new {s.Levels, s.CreateTime}).First();
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if (waitTask == null)
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{
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continue;
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}
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//01010101: 01排 01列 01层 01深度-此项目不做判断
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var taskpai = int.Parse(waitTask.StartLocate.Substring(0, 2));
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var tasklie = int.Parse(waitTask.StartLocate.Substring(2, 2));
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var taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));
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#region 获取当前任务所在层所有空闲小车
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// 获取有任务的小车编号
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var taskCarList = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.Status == TaskStatusEnum.Wait).Select(m => m.CarNo).Distinct().ToList();
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// 获取当前任务所在层所有空闲小车（根据小车任务表是否有任务和小车状态共同判断小车是否空闲)
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var kXCarList = new List<CarInfo>();
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var carErr = false;//小车是否有失联的
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foreach (var modbusUtil in listModbusUtil)
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{
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//如果小车有未执行的任务，跳出
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if (taskCarList.Contains(modbusUtil.PlcIP))
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{
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continue;
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}
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//获取小车的WcsDevice信息
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var listDevice = listPlcDevice.Where(s => s.PlcId == modbusUtil.PlcId && s.DeviceType == DeviceTypeEnum.Business).ToList();
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//循环读设备
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foreach (var modDevice in listDevice)
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{
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var (result, value) = modbusUtil.GetDBValue(modDevice.PosType, modDevice.PlcPos);
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if (result.IsSucceed)
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{
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//获取工位WCSPLCPosition信息
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var plcPosition = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
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if (value == 3)
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{
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var modCarDl = plcPosition.FirstOrDefault(s => s.Text == "电池电量");
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var (resultDl, valueDl) = modbusUtil.GetDBValue(modCarDl.PosType, modCarDl.PlcPos);
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if (resultDl.IsSucceed && valueDl> (int)FourWayCarDLEnum.Dl3)
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{
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//写入结束充电命令
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var modCdEnd = plcPosition.FirstOrDefault(s => s.Text == "充电命令");
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var resultDl22 = modbusUtil.SetDBValue(modCdEnd.PosType, modCdEnd.PlcPos.ToString(), "3") ;
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carErr = true;
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break; //暂缓分配，防止同层小车关机或失联导致阻挡路径
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}
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}
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//小车空闲加入集合
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if (value == 1)
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{
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var modStationX = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(X)");
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var (resultx, valuex) = modbusUtil.GetDBValue(modStationX.PosType, modStationX.PlcPos);
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var modStationY = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(Y)");
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var (resulty, valuey) = modbusUtil.GetDBValue(modStationY.PosType, modStationY.PlcPos);
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var modStationZ = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(Z)");
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var (resultz, valuez) = modbusUtil.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);
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//小车当前层
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var carZ = (int)valuez;
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//任务层与小车层相同
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if (taskceng == carZ)
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{
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if (!kXCarList.Any(m => m.CarPlcIp == modbusUtil.PlcIP))
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{
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var carVal = ((int)valuex).ToString().PadLeft(2, '0') + ((int)valuey).ToString().PadLeft(2, '0') + ((int)valuez).ToString().PadLeft(2, '0');
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//小车到取货储位路径
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var d = FourWayCarUtil.GetCarPath(carVal, waitTask.StartLocate);
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kXCarList.Add(new CarInfo()
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{
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CarPlcIp = modbusUtil.PlcIP,
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X = (int)valuex,
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Y = (int)valuey,
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Z = (int)valuez,
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Level = d.Count,
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});
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}
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}
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}
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}
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else
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{
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Console.WriteLine($"读取四向车{modbusUtil.PlcIP}状态失败");
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carErr = true;
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break;//有一个小车读取失败跳出方法，暂缓分配，防止同层小车关机或失联导致阻挡路径
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}
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}
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//有小车失联，不分配任务
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if (carErr)
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{
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kXCarList.Clear();//清楚空车记录
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break;
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}
|
}
|
|
#endregion
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|
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// 获取适合执行当前任务的小车 生成路径（需考虑小车阻阻挡）
|
var assignCar = kXCarList.OrderBy(m => m.Level).FirstOrDefault();
|
if (assignCar == null)
|
{
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continue;//没有空闲小车
|
}
|
|
if (assignCar.Level != 1)
|
{
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//判断小车位置是否与任务的起始储位相同,不相同：获取小车到取货储位路径
|
var carLocate = assignCar.X.ToString().PadLeft(2, '0')+assignCar.Y.ToString().PadLeft(2, '0')+ assignCar.Z.ToString().PadLeft(2, '0');
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//获取小车去取货储位任务路径
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var data1 = FourWayCarUtil.GetCarPath(carLocate, waitTask.StartLocate);
|
var datas1 = FourWayCarUtil.GetCarPathUp(data1, 0);
|
if (datas1 == null)
|
{
|
continue;
|
}
|
else
|
{
|
var bl = FourWayCarUtil.AddCarTask(datas1, kXCarList, assignCar, waitTask,0);
|
//分配错误，删除分配信息
|
if (!bl)
|
{
|
var carTask = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == waitTask.TaskNo).ToList();
|
_db.Deleteable(carTask).ExecuteCommand();
|
}
|
}
|
}
|
var typeStr = "1";
|
var typeStr2 = 1;
|
if (waitTask.Levels == 888 )
|
{
|
typeStr = "0";//小车任务是充电任务
|
typeStr2 = 0;
|
}
|
//获取小车去放货储位任务路径
|
var data2 = FourWayCarUtil.GetCarPath(waitTask.StartLocate, waitTask.EndLocate, typeStr);
|
var datas2 = FourWayCarUtil.GetCarPathUp(data2, typeStr2);
|
|
if (datas2 == null)
|
{
|
continue;
|
}
|
else
|
{
|
var bl = FourWayCarUtil.AddCarTask(datas2,kXCarList,assignCar,waitTask,1);
|
//分配错误，删除分配信息
|
if (!bl)
|
{
|
waitTask.Status = TaskStatusEnum.Wait;
|
_db.Updateable(waitTask).ExecuteCommand();
|
var carTask = _db.Queryable<WcsCarTasks>().Where(m=>m.IsDelete == false && m.TaskNo == waitTask.TaskNo).ToList();
|
_db.Deleteable(carTask).ExecuteCommand();
|
}
|
}
|
|
|
|
Thread.Sleep(3000);
|
}
|
catch (Exception ex)
|
{
|
Log.Error("任务分配发生异常", ex);
|
}
|
}
|
},cts.Token);
|
}
|
|
|
/// <summary>
|
/// 连接状态线程
|
/// </summary>
|
public static void ConnectionStatus()
|
{
|
Task.Run(() =>
|
{
|
try
|
{
|
Console.WriteLine("连接状态线程");
|
while (true)
|
{
|
//取消线程 关闭PLC连接
|
if (cts.Token.IsCancellationRequested)
|
{
|
foreach (var modPlcUtil in listPlcUtil)
|
{
|
if (modPlcUtil != null && modPlcUtil.Connected)
|
modPlcUtil.Close();
|
}
|
break;
|
//throw new OperationCanceledException();
|
}
|
//获取每个PLC连接状态
|
foreach (var modPlc in listPlc)
|
{
|
switch (modPlc.PLCType)
|
{
|
case PLCEnum.None:
|
break;
|
case PLCEnum.S7_200:
|
case PLCEnum.S7_200Smart:
|
case PLCEnum.S7_300:
|
case PLCEnum.S7_400:
|
case PLCEnum.S7_1200:
|
case PLCEnum.S7_1500:
|
{
|
var modPlcUtil = listPlcUtil.FirstOrDefault(s => s.PlcId == modPlc.Id);
|
if (modPlcUtil == null)
|
modPlc.IsConn = false;
|
else
|
modPlc.IsConn = modPlcUtil.Connected;
|
if (sysCacheService.ExistKey("PLCCONN:" + modPlc.Id))
|
{
|
var cachePlc = sysCacheService.Get<WcsPlc>("PLCCONN:" + modPlc.Id);
|
if (cachePlc.IsConn != modPlc.IsConn)
|
{
|
//连接状态变更 通知前端
|
Console.WriteLine($"通知前端变更{modPlc.Text} {modPlc.IsConn}");
|
HubUtil.PublicPlcConn(modPlc);
|
}
|
sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc);
|
}
|
else
|
{
|
sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc);
|
HubUtil.PublicPlcConn(modPlc);
|
}
|
}
|
break;
|
case PLCEnum.ModBusTcp:
|
{
|
var modbudUtil = listModbusUtil.FirstOrDefault(s => s.PlcId == modPlc.Id);
|
if (modbudUtil == null)
|
modPlc.IsConn = false;
|
else
|
modPlc.IsConn = modbudUtil.Connected;
|
if (sysCacheService.ExistKey("PLCCONN:" + modPlc.Id))
|
{
|
var cachePlc = sysCacheService.Get<WcsPlc>("PLCCONN:" + modPlc.Id);
|
if (cachePlc.IsConn != modPlc.IsConn)
|
{
|
//连接状态变更 通知前端
|
Console.WriteLine($"通知前端变更{modPlc.Text} {modPlc.IsConn}");
|
HubUtil.PublicPlcConn(modPlc);
|
}
|
sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc);
|
}
|
else
|
{
|
sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc);
|
HubUtil.PublicPlcConn(modPlc);
|
}
|
}
|
break;
|
default:
|
break;
|
}
|
|
}
|
Thread.Sleep(10000);
|
}
|
}
|
catch (OperationCanceledException)
|
{
|
sysCacheService.RemoveByPrefixKey("PLCCONN");
|
Console.WriteLine("中止线程");
|
}
|
catch (Exception ex)
|
{
|
Log.Error("连接状态线程发生异常", ex);
|
}
|
|
}, cts.Token);
|
|
}
|
|
/// <summary>
|
/// 开启报警监控
|
/// </summary>
|
public static void StartWatchAlarm()
|
{
|
Task.Run(() =>
|
{
|
var listPlc = listAlarmInfo.GroupBy(s => new { s.PlcIP, s.PlcPort, s.Type }).Select(s => s.Key).ToList();
|
List<PLCUtil> listPlcUtil = new List<PLCUtil>();
|
List<ModbusUtil> listModbusUtil = new List<ModbusUtil>();
|
int i = 0;
|
foreach (var modPlc in listPlc.Where(s => s.Type != PLCTypeEnum.ShuttleCar))
|
{
|
listPlcUtil.Add(new PLCUtil(new WcsPlc() { Id = i++, IP = modPlc.PlcIP, Port = modPlc.PlcPort, PLCType = PLCEnum.S7_1500 }));
|
}
|
foreach (var modPlc in listPlc.Where(s => s.Type == PLCTypeEnum.ShuttleCar))
|
{
|
listModbusUtil.Add(new ModbusUtil(new WcsPlc() { Id = i++, IP = modPlc.PlcIP, Port = modPlc.PlcPort, PLCType = PLCEnum.ModBusTcp }));
|
}
|
while (true)
|
{
|
//取消线程 关闭PLC连接
|
if (cts.Token.IsCancellationRequested)
|
{
|
foreach (var modPlcUtil in listPlcUtil)
|
{
|
if (modPlcUtil != null && modPlcUtil.Connected)
|
modPlcUtil.Close();
|
}
|
foreach (var modModbusUtil in listModbusUtil)
|
{
|
if (modModbusUtil != null && modModbusUtil.Connected)
|
modModbusUtil.Close();
|
}
|
break;
|
//throw new OperationCanceledException();
|
}
|
try
|
{
|
var listPulish = new List<WcsAlarmInfo>();
|
foreach (var modUtil in listPlcUtil)
|
{
|
//报警点位
|
var listAlarm = listAlarmInfo.Where(s => s.PlcIP == modUtil.PlcIP.ToString()).ToList();
|
var listaddress = new Dictionary<string, PLCDataTypeEnum>();
|
foreach (var modAlarm in listAlarm)
|
{
|
listaddress.Add(modAlarm.AlarmCode, PLCDataTypeEnum.Bit);
|
}
|
var result = modUtil.GetPlcBatchDBValue(listaddress);
|
foreach (var item in result.Value)
|
{
|
var value = Convert.ToBoolean(item.Value);
|
var modAlarm = listAlarm.FirstOrDefault(s => s.AlarmCode == item.Key);
|
var stationNum = modAlarm.StationNum;
|
if (value && modAlarm.Status == YesNoEnum.N)
|
{
|
//修改报警状态同时记录报警日志
|
modAlarm.AlarmTime = DateTime.Now;
|
modAlarm.Status = YesNoEnum.Y;
|
listPulish.Add(modAlarm);
|
}
|
//取消报警
|
else if (value && modAlarm.Status == YesNoEnum.Y)
|
{
|
modAlarm.AlarmTime = null;
|
modAlarm.Status = YesNoEnum.N;
|
listPulish.Add(modAlarm);
|
}
|
}
|
if (listPulish.Count > 0)
|
{
|
_db.Updateable(listPulish).ExecuteCommand();
|
var listLog = new List<WcsAlarmLog>();
|
foreach (var mod in listPulish.Where(s => s.Status == YesNoEnum.Y))
|
{
|
WcsAlarmLog modLog = mod.Adapt<WcsAlarmLog>();
|
modLog.Id = 0;
|
listLog.Add(modLog);
|
}
|
_db.Insertable(listLog).ExecuteCommand();
|
HubUtil.PublicAlarm(listPulish);
|
}
|
}
|
//穿梭车报警
|
var listCacheAlarm = sysCacheService.GetHashMap<int>("AlarmInfo_Car");
|
listPulish = new List<WcsAlarmInfo>();
|
foreach (var modCacheAlarm in listCacheAlarm)
|
{
|
if (modCacheAlarm.Value == -1)
|
{
|
//取消报警
|
var modAlarm = listAlarmInfo.FirstOrDefault(s => s.PlcIP == modCacheAlarm.Key && s.Status == YesNoEnum.Y);
|
if (modAlarm != null)
|
{
|
modAlarm.Status = YesNoEnum.N;
|
modAlarm.AlarmTime = null;
|
_db.Updateable(modAlarm).ExecuteCommand();
|
listPulish.Add(modAlarm);
|
}
|
}
|
else
|
{
|
var modAlarm = listAlarmInfo.FirstOrDefault(s => s.PlcIP == modCacheAlarm.Key && s.AlarmCode == modCacheAlarm.Value.ToString());
|
if (modAlarm != null && modAlarm.Status != YesNoEnum.Y)
|
{
|
modAlarm.Status = YesNoEnum.Y;
|
modAlarm.AlarmTime = DateTime.Now;
|
_db.Updateable(modAlarm).ExecuteCommand();
|
WcsAlarmLog modLog = new WcsAlarmLog()
|
{
|
PlcIP = modAlarm.PlcIP,
|
AlarmCode = modAlarm.AlarmCode,
|
AlarmName = modAlarm.AlarmName,
|
AlarmTime = modAlarm.AlarmTime,
|
};
|
_db.Insertable(modLog).ExecuteCommand();
|
listPulish.Add(modAlarm);
|
}
|
}
|
}
|
if (listPulish.Count > 0)
|
{
|
HubUtil.PublicAlarm(listPulish);
|
}
|
}
|
catch (Exception ex)
|
{
|
Log.Error("报警监控发生异常", ex);
|
}
|
Thread.Sleep(10000);
|
}
|
}, cts.Token);
|
}
|
/// <summary>
|
/// 开启位置监控
|
/// </summary>
|
public static void StartWatchPosition()
|
{
|
Console.WriteLine("开启位置监控");
|
Task.Run(() =>
|
{
|
while (true)
|
{
|
//取消线程 关闭PLC连接
|
if (cts.Token.IsCancellationRequested)
|
{
|
foreach (var modPlcUtil in listPlcUtil)
|
{
|
if (modPlcUtil != null && modPlcUtil.Connected)
|
modPlcUtil.Close();
|
}
|
break;
|
//throw new OperationCanceledException();
|
}
|
try
|
{
|
foreach (var modPlcUtil in listPlcUtil)
|
{
|
if (modPlcUtil == null)
|
continue;
|
var plcIp = modPlcUtil.PlcIP;
|
var listDevice = listPlcDevice.Where(s => s.PlcId == modPlcUtil.PlcId && s.DeviceType == DeviceTypeEnum.Show).ToList();
|
var modPlc = listPlc.FirstOrDefault(s => s.Id == modPlcUtil.PlcId);
|
var listaddress = new Dictionary<string, PLCDataTypeEnum>();
|
foreach (var modDevice in listDevice)
|
{
|
listaddress.Add(modDevice.DbNumber + "." + modDevice.PlcPos, modDevice.PosType);
|
}
|
//批量读
|
var result = modPlcUtil.GetPlcBatchDBValue(listaddress);
|
//测试用
|
//foreach (var modDevice in listDevice)
|
//{
|
// if (modPlc.Type == PLCTypeEnum.StackingMachine)
|
// result.Value.Add(modDevice.DbNumber + "." + modDevice.PlcPos, new Random().Next(790000));
|
// else if (modPlc.Type == PLCTypeEnum.ConveyorLine)
|
// result.Value.Add(modDevice.DbNumber + "." + modDevice.PlcPos, new Random().Next(2) == 0);
|
//}
|
foreach (var item in result.Value)
|
{
|
var modDevice = listDevice.FirstOrDefault(s => item.Key == (s.DbNumber + "." + s.PlcPos));
|
if (modDevice == null)
|
continue;
|
switch (modPlc.Type)
|
{
|
case PLCTypeEnum.StackingMachine:
|
{
|
var value = Convert.ToInt32(item.Value);
|
var height = Math.Round(value / 790000d * 200).ToInt();
|
var modPosition = listPlcPosition.FirstOrDefault(s => s.DeviceId == modDevice.Id && s.Text == "目的工位");
|
string EndLocat = "";
|
if (modPosition != null)
|
{
|
var (result2, value2) = modPlcUtil.GetPlcDBValue(modPosition.PosType, modDevice.DbNumber, modPosition.PlcPos);
|
if (result2.IsSucceed)
|
EndLocat = Convert.ToString(value2);
|
}
|
if (modDevice.BoxHeight != height || modDevice.EndLocat != EndLocat)
|
{
|
modDevice.EndLocat = EndLocat;
|
modDevice.BoxHeight = Math.Round(value / 790000d * 200).ToInt();
|
var modInfo = new PlcPositionInfo()
|
{
|
Type = modPlc.Type,
|
StationNum = modDevice.StationNum,
|
BoxHeight = modDevice.BoxHeight,
|
EndLocat = EndLocat,
|
};
|
HubUtil.PublicPosition(modInfo);
|
UpdatePosition(modInfo);
|
}
|
}
|
break;
|
case PLCTypeEnum.ConveyorLine:
|
{
|
var bl = false;
|
int value = Convert.ToInt32(item.Value);
|
if (value <= 30)
|
{
|
bl = false;
|
}
|
else
|
{
|
bl = true;
|
}
|
|
if (bl != modDevice.BoHaveItem)
|
{
|
modDevice.BoHaveItem = bl;
|
var modInfo = new PlcPositionInfo() { Type = modPlc.Type, StationNum = modDevice.StationNum.PadLeft(3, '0'), BoHaveItem = bl };
|
HubUtil.PublicPosition(modInfo);
|
UpdatePosition(modInfo);
|
}
|
}
|
break;
|
default:
|
break;
|
}
|
}
|
}
|
Thread.Sleep(3000);
|
}
|
catch (Exception ex)
|
{
|
Log.Error("位置监控发生异常", ex);
|
}
|
}
|
});
|
}
|
/// <summary>
|
/// 修改位置信息
|
/// </summary>
|
/// <param name="modInfo"></param>
|
private static void UpdatePosition(PlcPositionInfo modInfo)
|
{
|
var modTemp = listPositionInfo.FirstOrDefault(s => s.StationNum == modInfo.StationNum && modInfo.Type == s.Type);
|
if (modTemp == null)
|
{
|
listPositionInfo.Add(modInfo);
|
}
|
else
|
{
|
modTemp.BoHaveItem = modInfo.BoHaveItem;
|
}
|
}
|
/// <summary>
|
/// 停止服务
|
/// </summary>
|
public static void Stop()
|
{
|
cts.Cancel();
|
boRunningState = false;
|
}
|
}
|
