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using DocumentFormat.OpenXml.Bibliography;
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using Elastic.Clients.Elasticsearch.Tasks;
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using Furion.Logging;
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using IoTClient;
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using Microsoft.AspNetCore.SignalR;
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using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
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using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
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using System.Data;
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using System.Reflection.Emit;
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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 ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
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private static readonly IHubContext<TaskLogHub, ITaskLogHub> _taskLogHubContext;
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static PLCService()
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{
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_taskLogHubContext = App.GetService<IHubContext<TaskLogHub, ITaskLogHub>>();
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}
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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("PLC值为" + mod.Value);
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switch (mod.Type)
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{
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case PLCTypeEnum.StackingMachine:
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StackingMachine(mod);
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break;
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case PLCTypeEnum.ConveyorLine:
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ConveyorLine(mod);
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break;
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case PLCTypeEnum.AGV:
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AGV(mod);
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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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/// 跺机业务处理
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/// </summary>
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/// <param name="modDevice"></param>
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private static void StackingMachine(WcsDeviceDto modDevice)
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{
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var plcConn = modDevice.PLCUtil;
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switch (modDevice.Value.ToString())
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{
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case "820":
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// 跺机空闲，获取出库任务、移库任务
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{
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// 获取任务信息
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var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
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.First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
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&& s.StartRoadway == modDevice.StationNum);
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if (modTask == null)
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{
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break;
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}
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// 根据目标地址和巷道获取放货工位对应的排列层
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PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
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modTask.StartRoadway, modTask.EndRoadway);
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// 目标工位不为null，需先判断放货工位是否空闲
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if (!string.IsNullOrEmpty(taskInfo.EndStation))
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{
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// 打开对应的输送线连接
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var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
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if (plcConveyorConn.Connected)
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{
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// 获取放货工位配置信息
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var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
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&& m.DeviceType == DeviceTypeEnum.Business);
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var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
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if (result.IsSucceed)
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{
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if (value.ToString() != "720") // 720:放货空位空闲，可放货
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{
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Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
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break;
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}
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}
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else
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{
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break;
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}
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}
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else
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{
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break;
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}
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}
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// 获取转换后的起始排列层
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PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartLocate.Substring(1, 2),
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modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
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modTask.StartLocate.Substring(6, 2));
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// 给PLC写入任务数据
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var listResult = new List<Result>();
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// 任务号托盘号
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var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
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listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
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var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
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listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
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// 起始排列层
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var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
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listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
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var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
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listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
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var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
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listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
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// 目标放货工位(固定排列层)
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var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
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var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
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var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
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// 是否写入成功
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if (listResult.All(s => s.IsSucceed))
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{
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// 写入跺机任务下发完成
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plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
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// 将移库任务待执行改为正在执行
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_db.Updateable<WcsTask>()
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.SetColumns(s => s.Status == TaskStatusEnum.Doing)
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.Where(s => s.Id == modTask.Id)
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.ExecuteCommand();
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WcsTaskMonitor modInsertTaskMonitor;
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if (string.IsNullOrEmpty(taskInfo.EndStation))
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{
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// 同巷道移库
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modInsertTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice.Id,
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PlcName = modDevice.Text,
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InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{modTask.EndLocate}储位。",
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete,
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StartLocat = modTask.StartLocate,
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EndLocat = modTask.EndLocate,
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};
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}
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else
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{
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// 出库任务 跨巷道移库
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modInsertTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice.Id,
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PlcName = modDevice.Text,
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InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{taskInfo.EndStation}工位。",
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete,
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StartLocat = modTask.StartLocate,
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EndLocat = modTask.EndLocate,
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};
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}
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// 插入交互日志
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_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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//修改led屏信息
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//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
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}
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}
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break;
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case "840":
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// 取货完成
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{
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// 获取跺机点位配置
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var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
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var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
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var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工位");
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var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
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if (res.IsSucceed)
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{
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// 获取任务信息
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string tasknoVal = val.ToString();
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var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
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if (modTask == null)
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{
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Log.Error(string.Format("PLC控制字840:未找到对应的任务。"));
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break;
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}
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// 记录任务明细
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var modInsertTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice.Id,
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PlcName = modDevice.Text,
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete,
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StartLocat = modTask.StartLocate,
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};
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if (modTask.TaskType == TaskTypeEnum.In)
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{
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// 获取跺机起始工位点位配置,读取起始工位
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var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
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var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosStartStation.PlcPos);
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if (startStationRes.IsSucceed)
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{
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// 根据工位号获取对应的输送线IP
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var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
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if (plcConveyorConn.Connected)
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{
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// 向取货工位写入流程字640 取货已完成
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var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal
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&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == true);
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var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
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var modcTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = ConveyorMod.Id,
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PlcName = ConveyorMod.Text,
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete,
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StartLocat = startStationVal,
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EndLocat = modTask.EndLocate // 目标储位地址
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};
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if (!retc.IsSucceed)
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{
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modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640失败等待在次写入", startStationVal);
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// 插入交互日志
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_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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break;
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}
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modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640成功", startStationVal);
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// 插入交互日志
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_db.Insertable(modcTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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// 写入流程控制字
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var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
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if (!ret.IsSucceed)
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{
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break; // 写入失败跳出等待再次写入
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}
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modInsertTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0}跺机取货完成850成功", startStationVal);
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modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
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// 插入交互日志
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_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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}
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else if (modTask.TaskType == TaskTypeEnum.Out)
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{
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// 写入流程控制字
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var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
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if (!ret.IsSucceed)
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{
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break; // 写入失败跳出等待再次写入
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}
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// 记录任务明细
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modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
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modInsertTaskMonitor.EndLocat = endStation; // 放货工位
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}
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else
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{
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// 写入流程控制字
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var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
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if (!ret.IsSucceed)
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{
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break; // 写入失败跳出等待再次写入
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}
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modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
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modInsertTaskMonitor.EndLocat = endStation; // 目标储位
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}
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// 插入交互日志
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_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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//修改led屏信息
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//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
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}
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}
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break;
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case "860":
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{
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// 获取跺机点位配置
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var modPos860Task = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
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var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPos860Task.PlcPos);
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// 根据任务号获取任务信息
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if (res.IsSucceed)
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{
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string tasknoVal = val.ToString();
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var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
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if (modTask == null)
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{
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Log.Error(string.Format("跺机控制字860:未找到对应的任务。"));
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break;
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}
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switch (modTask.TaskType)
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{
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case TaskTypeEnum.In:
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{
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var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
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if (!res870.IsSucceed)
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{
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Log.Error(string.Format("跺机控制字860写入870失败!"));
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break;
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}
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// 改变任务状态
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modTask.Status = TaskStatusEnum.Complete;
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modTask.FinishDate = DateTime.Now;
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_db.Updateable(modTask).ExecuteCommand();
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var modcTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice.Id,
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PlcName = modDevice.Text,
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete,
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StartLocat = modTask.StartLocate,
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EndLocat = modTask.EndLocate,
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InteractiveMsg = $"任务完成"
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};
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if (modTask.Origin == "WMS")
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{
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// 反馈WMS
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var requestMode = new TaskRequest()
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{
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TaskNo = modTask.TaskNo,
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PalletNo = modTask.PalletNo,
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TaskType = TaskTypeEnum.In,
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TaskStatus = TaskStatusEnum.Complete
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};
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HttpService httpService = new HttpService();
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var modResponseTask = httpService.RequestTask(requestMode).Result;
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if (modResponseTask.StatusCode == "0")
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{
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modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
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}
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}
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// 插入交互日志
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_db.Insertable(modcTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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// 此处添加不空跑业务
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}
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break;
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case TaskTypeEnum.Out: // 出库任务
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{
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string roadway = modTask.StartRoadway;
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// 从出库任务获取放货工位
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string outCode = modTask.EndLocate;
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// 根据工位号获取对应的输送线IP
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var plcConveyorConn = PLCCommon.GetPlcIp(outCode);
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if (plcConveyorConn.Connected)
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{
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// 根据目标地址和巷道获取放货工位对应的排列层
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PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
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modTask.StartRoadway, modTask.EndRoadway);
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// 根据工位号获取工位信息
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var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
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// 读取当前工位各偏移量值
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var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();
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// 给PLC写入任务数据
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var listResult = new List<Result>();
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//任务号
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var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务号");
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listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
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//任务类型
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var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
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listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
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//托盘号
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var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
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listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
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//起始工位
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var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
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listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
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// 目标工位
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var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
|
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// 是否写入成功
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if (listResult.All(s => s.IsSucceed))
|
{
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var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");
|
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if (result.IsSucceed)
|
{
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// 写入跺机wcs控制字 返回垛机执行完成
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result = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
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if (result.IsSucceed)
|
{
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var modcTaskMonitor = new WcsTaskMonitor()
|
{
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TaskNo = modTask.TaskNo,
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PlcId = wcsDevice.Id,
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PlcName = wcsDevice.Text,
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete,
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StartLocat = taskInfo.EndStation,
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EndLocat = outCode,
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InteractiveMsg = $"写入指令：收到跺机放货完成；放货{taskInfo.EndStation}工位===》{outCode}出库口"
|
};
|
// 插入交互日志
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_db.Insertable(modcTaskMonitor).ExecuteCommand();
|
//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
break;
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}
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}
|
}
|
//此处添加不空跑业务
|
}
|
}
|
break;
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case TaskTypeEnum.Move: // 移库任务
|
{
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
var result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
|
if (!result.IsSucceed)
|
{
|
Log.Error($"{modDevice.Text}写入任务号失败");
|
break;
|
}
|
result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
|
if (!result.IsSucceed)
|
{
|
Log.Error($"{modDevice.Text}控制字写入30失败");
|
break;
|
}
|
// 改变任务状态
|
modTask.Status = TaskStatusEnum.Complete;
|
modTask.FinishDate = DateTime.Now;
|
_db.Updateable(modTask).ExecuteCommand();
|
//下发任务日志
|
_taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
|
var modcTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
PalletNo = modTask.PalletNo,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modTask.StartLocate,
|
EndLocat = modTask.EndLocate,
|
InteractiveMsg = $"任务完成"
|
};
|
if (modTask.Origin == "WMS")
|
{
|
// 反馈WMS
|
var requestMode = new TaskRequest()
|
{
|
TaskNo = modTask.TaskNo,
|
PalletNo = modTask.PalletNo,
|
TaskType = TaskTypeEnum.Move,
|
TaskStatus = TaskStatusEnum.Complete
|
};
|
HttpService httpService = new HttpService();
|
var modResponseTask = httpService.RequestTask(requestMode).Result;
|
if (modResponseTask.StatusCode == "0")
|
{
|
modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
|
//修改储位信息 任务类型 执行状态 起始位置 目标位置
|
|
}
|
}
|
// 插入交互日志
|
_db.Insertable(modcTaskMonitor).ExecuteCommand();
|
//下发任务日志
|
_taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
|
// 此处添加不空跑业务
|
}
|
break;
|
default: break;
|
}
|
}
|
}
|
break;
|
case "841":
|
{
|
|
}
|
break;
|
case "843":
|
{
|
|
}
|
break;
|
case "861":
|
{
|
|
}
|
break;
|
default:
|
break;
|
}
|
}
|
/// <summary>
|
/// 输送线业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void ConveyorLine(WcsDeviceDto modDevice)
|
{
|
|
}
|
/// <summary>
|
/// AGV业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void AGV(WcsDeviceDto modDevice)
|
{
|
|
}
|
/// <summary>
|
/// 叠托机业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void PalletMachine(WcsDeviceDto modDevice)
|
{
|
|
}
|
|
private static void Test(WcsDeviceDto modDevice)
|
{
|
//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)
|
{
|
|
}
|
}
|
|
|
|
}
|
