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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 System.Data;
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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.ToString())
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{
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case "820":
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{
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var modTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Wait && s.TaskType == TaskTypeEnum.Out && 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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var modTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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StartLocat = modTask.StartLocate,
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EndLocat = modTask.EndLocate,
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PalletNo = modTask.PalletNo,
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};
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// 根据跺机号确认放货工位
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string outStationNum = "0";
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string endRow = "", endColumn = "", endStorey = "";
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switch (modDevice.StationNum)
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{
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case "R01":
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outStationNum = "11";
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endRow = "1";
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endColumn = "100";
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endStorey = "1";
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break;
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case "R02":
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outStationNum = "7";
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endRow = "1";
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endColumn = "100";
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endStorey = "1";
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break;
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default: break;
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}
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var modD = modDevice.listDevice.FirstOrDefault();
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if (modD == null)
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{
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Log.Error($"IP{modDevice.PlcId}.设备id：{modDevice.Id}缺少工位级别设备信息");
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break;
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}
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var (result, value) = plcConn.GetPlcDBValue(modD.PosType, modD.DbNumber, modD.PlcPos);
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if (result.IsSucceed)
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{
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if (value == 120)// 放货工位空闲 可放货
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{
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if (int.Parse(outStationNum) > 0)
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{
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var row = int.Parse(modTaskMonitor.StartLocat.Substring(0, 2)).ToString();
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var column = int.Parse(modTaskMonitor.StartLocat.Substring(2, 2)).ToString();
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var layer = int.Parse(modTaskMonitor.StartLocat.Substring(4, 2)).ToString();
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var deep = int.Parse(modTaskMonitor.StartLocat.Substring(6, 2)).ToString();
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if (int.Parse(row) > 2) //大于4
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{
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row = (int.Parse(row) - 2).ToString();
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}
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else
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{
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// 起始储位地址为空，跳过 写入任务明细表
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modTaskMonitor.StartLocat = "";
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modTaskMonitor.InteractiveMsg = "起始储位为空!";
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_db.Insertable(modTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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break;
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}
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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 = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
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listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTaskMonitor.TaskNo));
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//托盘号
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var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "PalletNo");
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listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTaskMonitor.PalletNo));
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//起始排
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var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "StartRow");
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listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, row));
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// 起始列
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var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "StartColumn");
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listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, column));
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// 起始层
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var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "StartLayer");
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listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, layer));
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// 目标放货工位
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var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "EndRow");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, endRow));
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var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "EndColumn");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, endColumn));
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var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "EndLayer");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, endColumn));
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//全部写入成功
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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.Value, modDevice.DbNumber, modDevice.WcsPos, "10");
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// 将出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.FinishDate == DateTime.Now)
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.SetColumns(s => s.Status == TaskStatusEnum.Doing)
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.SetColumns(s => s.Levels == 2)
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.Where(s => s.Id == modTask.Id)
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.ExecuteCommand();
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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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InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{outStationNum}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 = outStationNum,
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};
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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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}
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}
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else
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{
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Log.Error(string.Join(',', result.ErrList));
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}
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}
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break;
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case "20":
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{
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var modPosPlcTask = modDevice.listStation.FirstOrDefault(s => s.Text == "PlcTaskNo");
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var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
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var (result, TaskNo) = plcConn.GetPlcDBValue(modPosPlcTask.PosType, modDevice.DbNumber, modPosPlcTask.PlcPos);
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if (!result.IsSucceed)
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break;
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string taskNo = Convert.ToString(TaskNo);
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var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
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if (modTask == null)
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{
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Log.Error("【跺机】当前托盘号不存在对应的任务");
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break;
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}
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if (modTask.TaskType.Value == TaskTypeEnum.In)
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{
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//入库任务
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var res = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo);
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if (!res.IsSucceed)
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break;
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// 根据跺机号确认取货工位
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string outStationNum = "0";
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switch (modDevice.StationNum)
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{
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case "R01":
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outStationNum = "10";
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break;
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case "R02":
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outStationNum = "6";
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break;
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default: break;
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}
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var modDevice2 = modDevice.listDevice.Where(s => s.StationNum == outStationNum).FirstOrDefault();
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var modStation = _db.Queryable<WcsPosition>().First(s => s.DeviceId == modDevice2.Id && s.Text == "TaskNo");
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// 向取货工位写入任务号
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res = plcConn.SetPlcDBValue(modStation.PosType, modDevice2.DbNumber, modStation.PlcPos, taskNo);
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if (!res.IsSucceed)
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break;
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// 向取货工位写入流程控制字
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res = plcConn.SetPlcDBValue(modDevice2.PosType, modDevice2.DbNumber, modDevice2.WcsPos, "100");
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if (!res.IsSucceed)
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break;
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var modTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice2.PlcId,
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PlcName = modDevice2.Text,
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InteractiveMsg = "跺机取货完成",
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StartLocat = outStationNum,
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EndLocat = modTask.EndLocate,
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete
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};
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_db.Insertable(modTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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else if (modTask.TaskType.Value == TaskTypeEnum.Out)
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{
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//入库任务
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var res = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo);
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if (!res.IsSucceed)
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break;
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res = plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "20");
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if (!res.IsSucceed)
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break;
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// 根据跺机号确认取货工位
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string outStationNum = "0";
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switch (modDevice.StationNum)
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{
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case "R01":
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outStationNum = "11";
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break;
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case "R02":
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outStationNum = "7";
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break;
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default: break;
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}
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var modStation = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
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var modTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice.PlcId,
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PlcName = modDevice.Text,
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InteractiveMsg = "跺机取货完成",
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StartLocat = outStationNum,
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EndLocat = modTask.EndLocate,
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete
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};
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_db.Insertable(modTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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}
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break;
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case "30":
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{
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//操作完成（放货完成）
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var modPosPlcTask = modDevice.listStation.FirstOrDefault(s => s.Text == "PlcTaskNo");
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var (result, TaskNo) = plcConn.GetPlcDBValue(modPosPlcTask.PosType, modDevice.DbNumber, modPosPlcTask.PlcPos);
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if (!result.IsSucceed)
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break;
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string taskNo = Convert.ToString(TaskNo);
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var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
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if (modTask == null)
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{
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Log.Error("【跺机】当前托盘号不存在对应的任务");
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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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case TaskTypeEnum.PLC:
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{
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//入库任务
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var modStation = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
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// 写入plc任务号
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var res = plcConn.SetPlcDBValue(modStation.PosType, modDevice.DbNumber, modStation.PlcPos, taskNo);
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if (!res.IsSucceed)
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break;
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res = plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "30");
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if (!res.IsSucceed)
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break;
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//修改任务状态
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modTask.Status = TaskStatusEnum.Complete;
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_db.Updateable<WcsTask>()
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.SetColumns(s => s.Status == TaskStatusEnum.Complete)
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.Where(s => s.Id == modTask.Id)
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.ExecuteCommand();
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//反馈给WMS
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var modTaskRequest = modTask.Adapt<TaskRequest>();
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HttpService httpService = new HttpService();
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var modResponseTask = httpService.RequestTask(modTaskRequest).Result;
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if (modResponseTask.StatusCode == "0")
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{
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//请求成功
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modTask.IsSuccess = TaskSuccessEnum.Success;
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_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
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//todo:修改储位信息 任务类型 执行状态 起始位置 目标位置
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//
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//记录任务明细
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var modTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice.PlcId,
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PlcName = modDevice.Text,
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InteractiveMsg = "任务完成，返回给WMS任务完成",
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StartLocat = modTask.StartLocate,
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EndLocat = modTask.EndLocate,
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete
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};
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_db.Insertable(modTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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else
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{
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//请求失败
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modTask.IsSuccess = TaskSuccessEnum.Fail;
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modTask.Information = modResponseTask.Message;
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_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
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}
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//todo:垛机入库不空跑
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//todo:LED
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}
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break;
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case TaskTypeEnum.Out://出库
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// 从出库任务获取巷道号
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string num = ""; // 放货工位号
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if (modTask.StartRoadway == "R01")
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{
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num = "11"; //交互工位
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}
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else if (modTask.StartRoadway == "R02")
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{
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num = "7"; //交互工位
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}
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var modDevice2 = modDevice.listDevice.FirstOrDefault(s => s.StationNum == num);
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if (modDevice2 == null)
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{
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Log.Error($"【跺机】找不到工位{num}设备信息");
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break;
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}
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// 根据目标口获取目标工位
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string outCode = modTask.EndLocate.IsNullOrEmpty() ? "-1" : modTask.EndLocate;
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var listStation = _db.Queryable<WcsPosition>().Where(s => s.DeviceId == modDevice2.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 = listStation.FirstOrDefault(s => s.Text == "TaskNo");
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listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
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//托盘号
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var modPosPalletNo = listStation.FirstOrDefault(s => s.Text == "PalletNo");
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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 = listStation.FirstOrDefault(s => s.Text == "StartLocatNo");
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listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, num));
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// 目标工位
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var modPosEndLocatNo = listStation.FirstOrDefault(s => s.Text == "EndLocatNo");
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listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
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//全部写入成功
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if (listResult.All(s => s.IsSucceed))
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{
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// 写入工位wcs控制字
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var res = plcConn.SetPlcDBValue(modDevice2.PosType, modDevice2.DbNumber, modDevice2.WcsPos, "120");
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if (!res.IsSucceed)
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break;
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//写入plc任务号
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var modStation = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
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res = plcConn.SetPlcDBValue(modStation.PosType, modDevice.DbNumber, modStation.PlcPos, modTask.TaskNo);
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if (!res.IsSucceed)
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break;
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//写入跺机wcs控制字流程30 返回垛机执行完成
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res = plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "30");
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if (!res.IsSucceed)
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break;
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//记录任务明细
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var modTaskMonitor = new WcsTaskMonitor()
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{
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TaskNo = modTask.TaskNo,
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PlcId = modDevice2.PlcId,
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PlcName = modDevice2.Text,
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InteractiveMsg = $"写入指令：收到跺机放货完成；放货{num}工位===》{outCode}出库口",
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PalletNo = modTask.PalletNo,
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Status = TaskStatusEnum.Complete,
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StartLocat = num, //起始位置
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EndLocat = outCode, //目标工位
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};
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_db.Insertable(modTaskMonitor).ExecuteCommand();
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//下发任务日志
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_taskLogHubContext.Clients.All.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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//todo:垛机出库不空跑
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}
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break;
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case TaskTypeEnum.Move:
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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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break;
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default:
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break;
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}
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}
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/// <summary>
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/// 输送线业务处理
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/// </summary>
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/// <param name="modDevice"></param>
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private static void ConveyorLine(WcsDeviceDto modDevice)
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{
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}
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/// <summary>
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/// AGV业务处理
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/// </summary>
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/// <param name="modDevice"></param>
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private static void AGV(WcsDeviceDto modDevice)
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{
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}
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/// <summary>
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/// 叠托机业务处理
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/// </summary>
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/// <param name="modDevice"></param>
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private static void PalletMachine(WcsDeviceDto modDevice)
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{
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}
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private static void Test(WcsDeviceDto modDevice)
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{
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//写死测试读string
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var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
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Console.WriteLine("DB100.64----" + val);
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//测试批量读取
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Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
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foreach (var modStation in modDevice.listStation)
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{
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listaddress.Add(modStation.PlcPos, modStation.PosType);
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}
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var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
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if (result.Value.Count > 0)
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{
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foreach (var value in result.Value)
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{
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Console.WriteLine("地址" + value.Key + "----值" + value, value);
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}
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}
|
if (!result.IsSucceed)
|
{
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foreach (var err in result.ErrList)
|
{
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Console.WriteLine(err);
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}
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if (result.Value.Count > 0)//有错误的也有成功的
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{
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}
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}
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if (modDevice.Value == 820)
|
{
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//测试写入830
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//var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
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////写入是否成功
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//if (result.IsSucceed)
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//{
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//}
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}
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else if (modDevice.Value == 840)
|
{
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}
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else if (modDevice.Value == 860)
|
{
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}
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}
|
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}
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