using Admin.NET.Core.Service;
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using AngleSharp.Io;
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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 DocumentFormat.OpenXml.Wordprocessing;
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using Elastic.Clients.Elasticsearch.Snapshot;
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using Furion.Logging;
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using IoTClient;
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using NewLife.Reflection;
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using Org.BouncyCastle.Ocsp;
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using SixLabors.ImageSharp.ColorSpaces;
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using WCS.Application.Entity;
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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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//if (mod.PlcIdIP == "10.26.254.28")
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//{
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// break;
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//}
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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 = "",
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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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// 四向车状态 0:未空闲,1:空闲,2:异常 3：充电中
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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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//判断读取任务状态是否成功 并且任务状态是1 0:无任务,1:任务完成,2:任务取消,3:任务暂停，4：任务异常 5：任务执行中
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WcsCarTasks carTaskNext = null;//null 新任务 not null 当前小车&&当前任务 下一节任务
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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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//读取任务号
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int valueTaskStr = Convert.ToInt32(valueTask);
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//获取任务信息 根据 任务号、小车编号
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var carTask = _db.Queryable<WcsCarTasks>().First(m=>m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.CarTaskNo == valueTaskStr && m.CarNo == modDevice.PlcIdIP);
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if (carTask != null)
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{
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//var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
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//plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//没有找到任务 复位
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var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
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if (modFinshTask == null)
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{
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break;//没有查询到总任务
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}
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if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
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{
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carTask.Status = TaskStatusEnum.Complete;
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carTask.UpdateTime = DateTime.Now;
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_db.Updateable(carTask).ExecuteCommand();
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//添加任务明细
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var taskMonitor = new WcsTaskMonitor()
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{
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TaskNo = carTask.TaskNo,
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PlcName = modDevice.Text,
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Status = TaskStatusEnum.Complete,
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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.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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//获取路径2的任务 下发
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carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();
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//总任务下没有其他未执行小车的任务 变更总任务信息
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if (carTaskNext == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
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{
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if (modFinshTask.TaskType == TaskTypeEnum.Out)
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{
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//#region 任务变更成输送线任务
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//modFinshTask.Status = TaskStatusEnum.Wait;
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//modFinshTask.Type = PLCTypeEnum.ConveyorLine;
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//_db.Updateable(modFinshTask).ExecuteCommand();
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//#endregion
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#region 输送线 写入PLC 740
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var text = "";
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var devStation = ""; //工位
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var endLocate = modFinshTask.EndRoadway;
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var carcon = new carConverModel();
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var ip = "";
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if ( carcon.conveyorBei.Keys.Contains(endLocate))
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{
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text = "输送线北";
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ip = "10.26.254.10";
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devStation = carcon.conveyorBei[endLocate];
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}
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else if (carcon.conveyorNan.Keys.Contains(endLocate))
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{
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text = "输送线南";
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ip = "10.26.254.11";
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devStation = carcon.conveyorNan[endLocate];
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}
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if (text != "")
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{
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var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
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//PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
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//var modConn = new PLCUtil(modPlc);
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var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
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var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
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if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) != 730)
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{
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//modConn.Close();
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return;//放货工位没有读取成功或不是空闲
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}
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var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "740");
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if (!plcResult.IsSucceed)
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{
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//modConn.Close();
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return;
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}
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//添加任务明细
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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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Status = TaskStatusEnum.Complete,
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InteractiveMsg = $"写入指令740：托盘到达{modFinshTask.EndRoadway}"
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};
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_db.Insertable(taskMonitor).ExecuteCommand();
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//改变任务状态
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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 locateOut = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
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if (locateOut != null && locateOut.Make == "1")
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{
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locateOut.PalletNo = "";
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_db.Updateable(locateOut).ExecuteCommand();
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}
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//反馈WMS系统 任务完成
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if (modFinshTask.Origin == "WMS")
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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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HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
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}
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}
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#endregion
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}
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else
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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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if (modFinshTask.TaskType == TaskTypeEnum.Move)
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{
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var locatemove = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
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if (locatemove != null && locatemove.Make == "1")
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{
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locatemove.PalletNo = "";
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_db.Updateable(locatemove).ExecuteCommand();
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}
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}
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var locateIn = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.EndLocate);
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if (locateIn != null && locateIn.Make == "1")
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{
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locateIn.PalletNo = string.IsNullOrWhiteSpace(modFinshTask.PalletNo) ? "pall" : modFinshTask.PalletNo;
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_db.Updateable(locateIn).ExecuteCommand();
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}
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//反馈WMS系统 任务完成
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if (modFinshTask.Origin == "WMS")
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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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HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
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}
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}
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//判断任务是否充电任务,下发开始充电命令
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if (modFinshTask.Levels == 888)
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{
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//写入开始充电
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var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
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plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "2");
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}
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}
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}
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}
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WcsTask modTask;
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//要下发路径2任务
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if (carTaskNext != null)
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{
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modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTaskNext.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP);
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carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
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}
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else
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{
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// 获取任务信息
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modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP).OrderBy(m => m.Levels).OrderBy(m => m.CreateTime).First();
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if (modTask != null)
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{
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carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
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}
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}
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//读取小车位置
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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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var carXYZ = valuex.ToString().PadLeft(2, '0') + valuey.ToString().PadLeft(2, '0') + valuez.ToString().PadLeft(2, '0');
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if (modTask == null)
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{
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//读取小车电量
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var modPosCarDl = modDevice.listStation.FirstOrDefault(s => s.Text == "电池电量");
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var (resultDl, valueDl) = plcConn.GetDBValue(modPosCarDl.PosType, modPosCarDl.PlcPos);
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if (resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl)
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{
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var endLocateCar = "";
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if (valuez == 1)
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{
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endLocateCar = "011201";
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}
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else if (valuez == 2)
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{
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endLocateCar = "011202"; //
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}
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else
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{
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return; // 层数错误
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}
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var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
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if (getCdTask == null)
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{
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var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
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if (resultDlLock.IsSucceed && valueDlLock!=3 && carXYZ != endLocateCar)
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{
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//添加小车充电位置
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WcsTask modCarTask = 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.ShuttleCar,
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StartLocate = carXYZ,
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EndLocate = endLocateCar,
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PalletNo = "",
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Status = TaskStatusEnum.Wait,
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Levels = 888, //充电等级优先任务等级
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Origin = "WCS",
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CarIp = modDevice.PlcIdIP
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};
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_db.Insertable(modCarTask).ExecuteCommand();
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HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
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}
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}
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}
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else if(resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl2)
|
{
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//判断小车是否有空闲时间记录 没有：添加 有：判断当前时间与记录时间是否满足5分钟 满足：添加让小车去充电任务
|
var carTime = _db.Queryable<WcsCarTime>().First(m => m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
|
if (carTime == null)
|
{
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var carTimeAdd = new WcsCarTime()
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{
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CarIp = modDevice.PlcIdIP,
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CarTime = DateTime.Now
|
};
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_db.Insertable(carTimeAdd).ExecuteCommand();
|
}
|
else
|
{
|
if (carTime.CarTime == null)
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{
|
carTime.CarTime = DateTime.Now;
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carTime.UpdateTime = DateTime.Now;
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_db.Updateable(carTime).ExecuteCommand();
|
}
|
else
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{
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var date1 = DateTime.Now;
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var data2 = (DateTime)carTime.CarTime;
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TimeSpan interval = date1 - data2;
|
if (interval.TotalMinutes >= 5)
|
{
|
var endLocateCar = "";
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if (valuez == 1)
|
{
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endLocateCar = "011201";
|
}
|
else if (valuez == 2)
|
{
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endLocateCar = "011202";
|
}
|
else
|
{
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return; // 层数错误
|
}
|
var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
|
if (getCdTask == null)
|
{
|
var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
|
if (resultDlLock.IsSucceed && valueDlLock != 3 && carXYZ != endLocateCar)
|
{
|
//添加小车充电位置
|
WcsTask modCarTask = new WcsTask()
|
{
|
TaskNo = _taskService.GetTaskCode(),
|
TaskType = TaskTypeEnum.Move,
|
Type = PLCTypeEnum.ShuttleCar,
|
StartLocate = carXYZ,
|
EndLocate = endLocateCar,
|
PalletNo = "",
|
Status = TaskStatusEnum.Wait,
|
Levels = 888, //充电等级优先任务等级
|
Origin = "WCS",
|
CarIp = modDevice.PlcIdIP
|
};
|
_db.Insertable(modCarTask).ExecuteCommand();
|
HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
|
}
|
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}
|
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}
|
}
|
|
|
}
|
}
|
|
|
return;
|
}
|
if (carTaskNext == null)
|
{
|
return;
|
}
|
if (carTaskNext.Status == TaskStatusEnum.Doing)
|
{
|
Thread.Sleep(3000);
|
return;
|
}
|
|
//判断当前任务是否还有前置任务未完成
|
var preStrs = carTaskNext.PreId.Split(';');
|
foreach (var preStr in preStrs)
|
{
|
if (string.IsNullOrWhiteSpace(preStr))
|
{
|
continue;
|
}
|
var preId = long.Parse(preStr);
|
var CarTaskPre = _db.Queryable<WcsCarTasks>().First(m => m.Id == preId);
|
if (CarTaskPre.Status <= TaskStatusEnum.Doing)
|
{
|
return;//前置任务未完成
|
}
|
}
|
|
//小车状态
|
var (resultCar, valueCar) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
|
|
var modPosTaskStatus2 = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
|
var (resultTaskStatus2, valueTaskStatus2) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
|
if (resultCar.IsSucceed && valueCar == 1 && resultTaskStatus2.IsSucceed && (valueTaskStatus2 == 0 || valueTaskStatus2 == 1))
|
{
|
//先复位
|
var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
|
plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
|
}
|
else
|
{
|
return;
|
}
|
|
List<Result> listResult = new List<Result>();
|
//获取小车任务号
|
var carTaskNo = FourWayCarUtil.GetTaskNo();
|
|
//判断任务是否充电任务
|
if (modTask.Levels == 888)
|
{
|
//写入充电命令
|
var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
|
listResult.Add(plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "1"));
|
}
|
|
var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "写入任务号");
|
listResult.Add(plcConn.SetDBValueRepeat(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));
|
|
var modNodeX = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标X");
|
var modNodeY = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Y");
|
var modNodeZ = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Z");
|
var modNodeStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "节点举升状态");
|
int posX = Convert.ToInt32(modNodeX.PlcPos);
|
int posY = Convert.ToInt32(modNodeY.PlcPos);
|
int posZ = Convert.ToInt32(modNodeZ.PlcPos);
|
int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);
|
|
//交互路径
|
var execuPath = carTaskNext.ExecutionPath.Split(';');
|
if (Convert.ToInt32(valuex) != Convert.ToInt32(execuPath[0].Substring(0, 2)) || Convert.ToInt32(valuey) != Convert.ToInt32(execuPath[0].Substring(2, 2)) || Convert.ToInt32(valuez) != Convert.ToInt32(execuPath[0].Substring(4, 2)))
|
{
|
return; //小车位置与路径起始位置不同
|
////写入小车当前位置
|
//listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), Convert.ToString(valuex)));
|
//listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), Convert.ToString(valuey)));
|
//listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), Convert.ToString(valuez)));
|
//listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
|
}
|
|
foreach (var ePath in execuPath)
|
{
|
if (string.IsNullOrWhiteSpace(ePath))
|
{
|
continue;
|
}
|
var epathx = ePath.Substring(0, 2);
|
var epathy = ePath.Substring(2, 2);
|
var epathz = ePath.Substring(4, 2);
|
var epathn = ePath.Substring(6, 1);
|
//写入交互位置
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), epathx));
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), epathy));
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), epathz));
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), epathn));
|
}
|
|
//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）
|
while (posX <= 43097)
|
{
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), "0"));
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), "0"));
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), "0"));
|
listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), "0"));
|
}
|
if (listResult.All(s => s.IsSucceed))
|
{
|
if (modTask.TaskType == TaskTypeEnum.Out)
|
{
|
#region 输送线 写入PLC 730
|
|
var text = "";
|
var devStation = "";
|
var endLocate = modTask.EndRoadway;
|
var carcon = new carConverModel();
|
var ip = "";
|
if (carcon.conveyorBei.Keys.Contains(endLocate))
|
{
|
text = "输送线北";
|
ip = "10.26.254.10";
|
devStation = carcon.conveyorBei[endLocate];
|
}
|
else if (carcon.conveyorNan.Keys.Contains(endLocate))
|
{
|
text = "输送线南";
|
ip = "10.26.254.11";
|
devStation = carcon.conveyorNan[endLocate];
|
}
|
if (text != "")
|
{
|
var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
|
//var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
|
//var modConn = new PLCUtil(modPlc);
|
|
var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
|
var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
|
if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) == 720)
|
{
|
var listResultcon = new List<Result>();
|
|
//任务号与托盘条码
|
var modPosConverTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "任务号");
|
listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverTask.PosType, modDeviceConver.DbNumber, modPosConverTask.PlcPos, modTask.TaskId.ToString()));
|
var modPosConverPallet = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "托盘条码");
|
listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverPallet.PosType, modDeviceConver.DbNumber, modPosConverPallet.PlcPos, modTask.PalletNo.ToString()));
|
|
// 起始工位、目的工位
|
var modPosConverStrLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "起始工位");
|
listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverStrLocat.PosType, modDeviceConver.DbNumber, modPosConverStrLocat.PlcPos, modDeviceConver.StationNum));
|
var modPosConverEndLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "目的工位");
|
listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));
|
|
if (listResultcon.All(s => s.IsSucceed))
|
{
|
var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "730");
|
if (!plcResult.IsSucceed)
|
{
|
//modConn.Close();
|
return;
|
}
|
//添加任务明细
|
var taskMonitor2 = new WcsTaskMonitor()
|
{
|
TaskNo = carTaskNext.TaskNo,
|
PlcName = modDevice.Text,
|
Status = TaskStatusEnum.Complete,
|
InteractiveMsg = $"写入指令730：工位是{modDeviceConver.StationNum}"
|
};
|
_db.Insertable(taskMonitor2).ExecuteCommand();
|
}
|
}
|
else if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) != 730)
|
{
|
return;
|
}
|
|
}
|
|
|
#endregion
|
}
|
|
var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "启动命令");
|
var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
|
if (result.IsSucceed)
|
{
|
carTaskNext.Status = TaskStatusEnum.Doing;
|
carTaskNext.CarTaskNo = carTaskNo;
|
_db.Updateable(carTaskNext).ExecuteCommand();
|
|
|
|
//清除小车空闲时间
|
var carTimeClear = _db.Queryable<WcsCarTime>().First(m=>m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
|
if (carTimeClear!= null)
|
{
|
carTimeClear.CarTime = null;
|
carTimeClear.UpdateTime = DateTime.Now;
|
_db.Updateable(carTimeClear).ExecuteCommand();
|
}
|
var taskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = carTaskNext.TaskNo,
|
PlcName = modDevice.Text,
|
Status = TaskStatusEnum.Complete,
|
InteractiveMsg = $"向穿梭车下发任务{carTaskNext.TaskNo}"
|
};
|
_db.Insertable(taskMonitor).ExecuteCommand();
|
//下发任务日志
|
HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
}
|
}
|
break;
|
case "2":
|
{
|
//小车状态异常
|
var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
|
var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
|
|
if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
|
{
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
|
string valueTaskStr = Convert.ToString(valueTask);
|
string strNo = "";
|
var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
|
if (valueTaskStr != "0" && strNo != valueTaskStr)
|
{
|
var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
|
if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
|
{
|
HttpService httpService = new HttpService();
|
var requestMode = new TaskRequestWMS()
|
{
|
TaskNo = modFinshTask.TaskNo,
|
PalletNo = modFinshTask.PalletNo,
|
TaskType = ((int)modFinshTask.TaskType).ToString(),
|
TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
|
};
|
var modResponseTask = httpService.RequestTask(requestMode).Result;
|
modFinshTask.IsSuccess = TaskSuccessEnum.Success;
|
_db.Updateable(modFinshTask).ExecuteCommand();
|
//下发任务日志
|
//HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
|
//HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
|
|
if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
|
dicTaskNo.Remove(modDevice.Id.ToString());
|
dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
|
}
|
}
|
|
}
|
|
Console.WriteLine($"穿梭车{modDevice.PlcIdIP}异常");
|
var modPosError = modDevice.listStation.FirstOrDefault(s => s.Text == "错误码");
|
var (result, valueError) = plcConn.GetDBValue(modPosError.PosType, modPosError.PlcPos);
|
if (result.IsSucceed)
|
{
|
sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, Convert.ToInt32(valueError));
|
}
|
}
|
break;
|
default:
|
break;
|
}
|
}
|
/// <summary>
|
/// 输送线业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void ConveyorLine(WcsDeviceDto modDevice)
|
{
|
var plcConn = modDevice.PLCUtil;
|
|
var ledText = "";
|
switch (modDevice.Value.ToString())
|
{
|
case "120": //空闲，AGV可放货
|
{
|
var task = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.IsComple == "1");
|
if (task != null)
|
{
|
//没有出库业务
|
var res = new HttpService().GenAgvContinueTask(task.TaskNo).Result;
|
if (res.code == "0")
|
{
|
var modTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = task.TaskNo,
|
PlcId = modDevice.modPlc.Id,
|
PlcName = modDevice.modPlc.IP,
|
InteractiveMsg = "向AGV小车下发继续执行任务"
|
};
|
_db.Insertable(modTaskMonitor).ExecuteCommand();
|
|
//下发任务日志
|
HubUtil.PublicTask(task.Adapt<WcsTaskOutput>());
|
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
}
|
}
|
break;
|
case "320":
|
{
|
// 申请密集库组
|
string strMsg = "";
|
|
// 获取工位托盘码信息
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
|
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
if (!res.IsSucceed)
|
{
|
break;
|
}
|
var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
|
|
//判断入库锁定是否打开
|
if (PLCTaskAction.boEnterLock)
|
{
|
var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
if (res350.IsSucceed && palletVal350 != "350")
|
{
|
ledText += $"申请入库失败\n\n";
|
ledText += $"托盘号:{palletVal}\n";
|
ledText += $"入库任务已锁定，请解锁后重试!\n";
|
LedDisplay(modDevice.LedIP, ledText);
|
}
|
|
// 写入输送线退回指令
|
var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
|
if (ret.IsSucceed)
|
{
|
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
|
}
|
|
break;
|
}
|
|
if (palletVal == null)
|
{
|
var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
if (res350.IsSucceed && palletVal350 != "350")
|
{
|
ledText += $"申请入库失败\n\n";
|
ledText += $"托盘号:{palletVal}\n";
|
ledText += $"扫描托盘号失败!\n";
|
LedDisplay(modDevice.LedIP, ledText);
|
}
|
|
// 写入输送线退回指令
|
var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
|
if (ret.IsSucceed)
|
{
|
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
|
}
|
|
break;
|
}
|
|
var http = new HttpService();
|
string TaskNo = "", EndLocate = "";
|
strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, ref EndLocate, ref TaskNo);
|
if (!strMsg.Contains("-1"))
|
{
|
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
|
var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
|
modDevice.LedIP = _db.Queryable<WcsDevice>()
|
.Where(w => w.StationNum == taskInfo.StartLocate)
|
.Select(s => s.LedIP).First();
|
|
// 写入330
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");
|
if (ret.IsSucceed)
|
{
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令330：{modDevice.StationNum}工位申请巷道",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum,
|
EndLocat = EndLocate,
|
};
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
|
|
// 通知任务界面任务已存在更新 请更新界面
|
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
// led显示内容
|
try
|
{
|
ledText += $"任务类型:{taskInfo.TaskType.GetDescription()}\n\n";
|
|
ledText += $"任务号:{taskInfo.TaskNo}\n";
|
ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
|
|
ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
|
ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
|
LedDisplay(modDevice.LedIP, ledText);
|
|
}
|
catch (Exception ex)
|
{
|
Log.Error(ex.Message);
|
}
|
|
}
|
|
}
|
else
|
{
|
var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
if (res350.IsSucceed && palletVal350 != "350")
|
{
|
ledText += $"申请入库失败\n\n";
|
ledText += $"托盘号:{palletVal}\n";
|
ledText += $"{strMsg}\n";
|
LedDisplay(modDevice.LedIP, ledText);
|
}
|
|
// 写入输送线退回指令
|
var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
|
if (ret.IsSucceed)
|
{
|
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
|
}
|
}
|
}
|
break;
|
case "330":
|
{
|
// 获取工位托盘码信息
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
|
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
if (!res.IsSucceed)
|
{
|
break;
|
}
|
string pallet = palletVal.ToString();
|
// 获取任务信息
|
var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false
|
&& s.PalletNo == pallet
|
&& s.Type == PLCTypeEnum.ConveyorLine
|
&& (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing)
|
&& s.TaskType == TaskTypeEnum.In);
|
|
if (modTask == null)
|
{
|
// 此托盘没有对应的转移任务 led显示
|
break;
|
}
|
//判断入库锁定是否打开
|
if (PLCTaskAction.boEnterLock)
|
{
|
break;//入库锁定打开则不执行入库任务
|
}
|
|
// 获取四项车取货工位
|
string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, modDevice.StationNum.PadLeft(3,'0'));
|
|
|
|
// 给PLC写入任务数据
|
var listResult = new List<Result>();
|
// 任务号、任务类型、托盘号
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskId.ToString()));
|
var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务类型");
|
var taskTypeStr = (int)modTask.TaskType;
|
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
|
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘条码");
|
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
|
// 起始工位、目的工位
|
var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "起始工位");
|
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
|
var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
|
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
|
|
|
if (listResult.All(s => s.IsSucceed))
|
{
|
// 将任务状态变更为正在执行
|
_db.Updateable<WcsTask>()
|
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
|
.Where(s => s.Id == modTask.Id)
|
.ExecuteCommand();
|
// 写入流程字 330 340
|
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");
|
|
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
|
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
|
|
if (ret.IsSucceed)
|
{
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令340：{modDevice.StationNum}储位====》{endLocatVlue}工位",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum,
|
EndLocat = endLocatVlue,
|
};
|
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
|
// 通知任务界面任务已存在更新 请更新界面
|
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
}
|
}
|
break;
|
case "620":
|
{
|
// 申请储位 更新入库任务(储位地址) 630
|
var strMsg = "";
|
|
// 获取工位任务号信息
|
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (resTask, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
if (!resTask.IsSucceed)
|
{
|
break;
|
}
|
// 获取工位托盘码信息
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
|
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
if (!res.IsSucceed)
|
{
|
break;
|
}
|
|
string TaskNo = "";
|
// 向WMS申请储位信息
|
strMsg = new HttpService().RequestLocate(palletVal, taskVal,ref TaskNo);
|
|
if (!strMsg.Contains("-1"))
|
{
|
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
|
var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
|
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();
|
// 写入流程字 630
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");
|
|
if (ret.IsSucceed)
|
{
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令340：{modDevice.StationNum}工位申请储位",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum,
|
EndLocat = strMsg,
|
};
|
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
|
// 通知任务界面任务已存在更新 请更新界面
|
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
|
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
|
ledText += $"任务类型:{taskInfo.TaskType.GetDescription()}\n\n";
|
ledText += $"任务号:{taskInfo.TaskNo}\n";
|
ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
|
ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
|
ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
|
LedDisplay(modDevice.LedIP, ledText);
|
}
|
}
|
else
|
{
|
// 申请储位失败！LED显示
|
Log.Error(string.Format($"申请储位失败:{strMsg},读写plc错误"));
|
// led显示内容
|
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
|
ledText += $"申请入库失败\n\n";
|
ledText += $"{strMsg}\n";
|
LedDisplay(modDevice.LedIP, ledText);
|
}
|
|
}
|
break;
|
case "630":
|
{
|
#region plc光电扫描不到托盘后 自动清信息
|
|
//// 获取工位托盘码信息
|
//var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
|
//var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
//// 获取工位任务号信息
|
//var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
//var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
|
//if (!res.IsSucceed || !taskRes.IsSucceed)
|
//{
|
// break;
|
//}
|
//string pallet = palletVal.ToString();
|
//string taskNo = taskNoVal.ToString();
|
//// 获取任务信息
|
//var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
|
//if (modTask == null)
|
//{
|
// // 此托盘没有对应的转移任务 led显示
|
// break;
|
//}
|
|
//var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
|
//if (string.IsNullOrWhiteSpace(sInfo.Ip))
|
//{
|
// //需加上LED显示
|
// Log.Error(string.Format($"根据巷道获取跺机IP失败，请联系管理员"));
|
// break;
|
//}
|
//// 跺机连接
|
//var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
|
//if (plcStackeConn.Connected)
|
//{
|
// // 目标排列层
|
// var endLocate = modTask.EndLocate;
|
// if (string.IsNullOrWhiteSpace(modTask.EndLocate))
|
// {
|
// Log.Error(string.Format($"目标位置为空，请人工处理,读写plc错误"));
|
// break;
|
// }
|
|
// // 转换目标工位排列层 03010301
|
// var paiVal = PLCCommon.GetDjAdress(modTask.EndRoadway.Substring(1, 2), endLocate.Substring(0, 2), endLocate.Substring(6, 2));
|
// string pai = paiVal.ToString();
|
// string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
|
// string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();
|
|
// var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo.Ip);
|
|
// var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
|
// && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
|
// var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
|
// var djInfo = djInfos.First(m => m.Text == "PLC流程字");
|
|
// // 获取跺机当前状态
|
// var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
|
|
// if (!djRes.IsSucceed || djVal.ToString() != "820")
|
// {
|
// // 跺机非空闲等待
|
// break;
|
// }
|
// // 给PLC写入任务数据
|
// var listResult = new List<Result>();
|
|
// // 任务号、任务类型、托盘号
|
// var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务号");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
|
// var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
|
// var taskTypeStr = (int)modTask.TaskType;
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
|
// var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘码");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
|
|
// //起始工位
|
// var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工位");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));
|
|
// //取货排、列、层
|
// var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "取货排");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
|
// var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "取货列");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
|
// var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "取货层");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
|
// //放货排、列、层
|
// var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
|
// var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
|
// var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
|
// listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, ceng));
|
|
// if (listResult.All(s => s.IsSucceed))
|
// {
|
// // 写入跺机 830
|
// var retc2 = plcStackeConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");
|
|
// // 插入任务明细 任务明细实体类
|
// var modInsertTaskMonitor = new WcsTaskMonitor()
|
// {
|
// TaskNo = modTask.TaskNo,
|
// PlcId = modDevice.Id,
|
// PlcName = modDevice.Text,
|
// PalletNo = modTask.PalletNo,
|
// Status = TaskStatusEnum.Complete,
|
// StartLocat = modDevice.StationNum,
|
// EndLocat = modTask.EndLocate // 目标储位地址
|
// };
|
// if (!retc2.IsSucceed)
|
// {
|
// modInsertTaskMonitor.InteractiveMsg = $"输送线取货工位：{modDevice.StationNum},写入垛机取货任务830失败等待再次写入";
|
// // 插入交互日志
|
// _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
// //下发任务日志
|
// HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
// break;
|
|
// }
|
// modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}工位====》" + modTask.EndLocate + "储位地址!";
|
// // 插入交互日志
|
// _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
// if (PLCTaskAction.boRefresh)
|
// {
|
// //下发任务日志
|
// HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
// }
|
|
// }
|
|
|
|
|
//}
|
|
#endregion
|
}
|
break;
|
|
#region 出库交互
|
case "420":
|
{
|
#region 托盘到达拣选工位/出库口
|
// 出库口
|
// led显示托盘信息
|
// 写入430
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "430");
|
|
if (ret.IsSucceed)
|
{
|
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
|
var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
|
var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
|
var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
|
|
int taskNoVal = Convert.ToInt32(taskVal);
|
var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskId == taskNoVal && w.TaskType == TaskTypeEnum.Out);
|
if (taskInfo == null)
|
{
|
Log.Error(string.Format("输送线430:未找到对应的任务。"));
|
break;
|
}
|
//// 改变任务状态
|
//taskInfo.Status = TaskStatusEnum.Complete;
|
//taskInfo.FinishDate = DateTime.Now;
|
////modTask.Levels = 999;
|
//_db.Updateable(taskInfo).ExecuteCommand();
|
//HubUtil.PublicTask(taskInfo.Adapt<WcsTaskOutput>());
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = taskInfo.TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令430：托盘到达{modDevice.StationNum}工位",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = Convert.ToString(starVal),
|
EndLocat = modDevice.StationNum,
|
};
|
//if (taskInfo.Origin == "WMS")
|
//{
|
// // 反馈WMS
|
// var requestMode = new TaskRequestWMS()
|
// {
|
// TaskNo = taskInfo.TaskNo,
|
// PalletNo = taskInfo.PalletNo,
|
// TaskType = ((int)taskInfo.TaskType).ToString(),
|
// TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
|
// };
|
// HttpService httpService = new HttpService();
|
// var modResponseTask = httpService.RequestTask(requestMode).Result;
|
// if (modResponseTask.StatusCode == 0)
|
// {
|
// modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完成";
|
// }
|
// else
|
// {
|
// Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
|
// }
|
//}
|
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
|
// 通知任务界面任务已存在更新 请更新界面
|
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
|
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();
|
|
// led显示内容
|
// 根据目标工位号获取对应的LEDIP地址
|
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId == modDevice.PlcId);
|
|
ledText += $"出库完成\n\n";
|
ledText += $"任务号:{taskInfo.TaskNo}\n";
|
ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
|
ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
|
ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
|
LedDisplay(ledDevice.LedIP, ledText);
|
}
|
// 反馈WMS出库完成
|
//TaskReques taskReques = new TaskReques();
|
//taskReques.taskNo = TaskNo;
|
//taskReques.TaskType = "1";
|
//taskReques.TaskStatus = "2";
|
//bool bl = wcsMySql.RequestTasks(taskReques);
|
#endregion
|
}
|
break;
|
case "440":
|
{
|
#region 拣选完成,托盘离开工位
|
|
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
|
var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
|
var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
|
var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
|
|
// 写入450
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
|
if (ret.IsSucceed)
|
{
|
|
|
int tasknoVal = Convert.ToInt32(taskVal);
|
var modTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.TaskId == tasknoVal);
|
if (modTask == null)
|
{
|
Log.Error(string.Format("输送线440:未找到对应的任务。"));
|
break;
|
}
|
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令450：{modDevice.StationNum}托盘离开工位",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = starVal.ToString(),
|
EndLocat = modDevice.StationNum,
|
};
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
|
// 通知任务界面任务已存在更新 请更新界面
|
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
#endregion
|
}
|
break;
|
|
#endregion
|
default: break;
|
}
|
}
|
|
/// <summary>
|
/// AGV业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void AGV(WcsDeviceDto modDevice)
|
{
|
|
//这里找出来AGV待执行的任务、按照优先级、创建时间下发一个任务给AGV
|
var modTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.AGV).OrderBy(s => new { s.Levels ,s.CreateTime}).First();
|
if (modTask == null)
|
{
|
return;
|
}
|
|
|
if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
|
{
|
return; // 有目的位置一致且正在执行的任务
|
}
|
|
//下发AGV任务
|
var taskTypeModel = AGVStorageUtil.GetTaskModle(modTask.StartLocate, modTask.EndLocate,out string type1,out string type2, out string jiebo);
|
if (string.IsNullOrWhiteSpace(taskTypeModel))
|
{
|
Console.WriteLine("获取AGV任务模板失败：请核实任务起始目标储位是否正确");
|
return;
|
}
|
AgvTaskSend taskModel = new AgvTaskSend();
|
taskModel.robotTaskCode = modTask.TaskNo;
|
taskModel.taskType = taskTypeModel;
|
if (jiebo == "")
|
{
|
|
taskModel.targetRoute = new List<targetRoute>();
|
|
if (taskModel.taskType == "DPJRK")
|
{
|
taskModel.targetRoute.Add(new targetRoute() {
|
seq = 0,
|
type = "MIX_CONDITION",
|
code = new List<object>() {
|
new { type = "SITE", code = modTask.StartLocate },
|
new { type = "PILE_COUNT", code = modTask.Qty }
|
}
|
|
});
|
taskModel.targetRoute.Add(new targetRoute() { seq = 1, type = type2, code = modTask.EndLocate });
|
}
|
else
|
{
|
taskModel.targetRoute.Add(new targetRoute() { seq = 0, type = type1, code = modTask.StartLocate });
|
taskModel.targetRoute.Add(new targetRoute() { seq = 1, type = type2, code = modTask.EndLocate });
|
}
|
|
}
|
else
|
{
|
taskModel.targetRoute = new List<targetRoute>()
|
{
|
new targetRoute(){seq = 0,type = type1,code = modTask.StartLocate},
|
new targetRoute(){seq = 1,type = "ZONE",code = jiebo},
|
new targetRoute(){seq = 2,type = type2,code = modTask.EndLocate}
|
};
|
}
|
|
taskModel.extra = new extra();
|
|
if (taskModel.taskType != "DPJRK")
|
{
|
taskModel.extra.carrierInfo = new List<carrierInfo>()
|
{
|
new carrierInfo(){ carrierType = "TP",carrierCode = modTask.PalletNo}
|
};
|
}
|
|
|
|
var response = new HttpService().GenAgvSendTask(taskModel).Result;
|
if (response.code == "SUCCESS")
|
{
|
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());
|
Thread.Sleep(3000);
|
return;
|
|
}
|
|
/// <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)
|
{
|
|
var ledText = $"申请入库失败\n\n";
|
ledText += $"托盘号:T2300001\n";
|
ledText += $"入库任务已锁定，请解锁后重试!\n";
|
LedDisplay("10.26.254.31", ledText);
|
//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)
|
//{
|
|
//}
|
}
|
|
|
|
}
|
