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using Dm.filter;
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using DocumentFormat.OpenXml.Bibliography;
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using DocumentFormat.OpenXml.Drawing.Charts;
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using Elastic.Clients.Elasticsearch.Snapshot;
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using Elastic.Clients.Elasticsearch.Tasks;
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using Flurl.Util;
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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 NewLife.Reflection;
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using Qiniu.Storage;
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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;
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using System.Data;
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using System.Reflection.Emit;
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using WCS.Application.Entity;
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using WCS.Application.Service.WcsDevice.Dto;
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using WCS.Application.Util;
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using static SKIT.FlurlHttpClient.Wechat.Api.Models.CgibinExpressIntracityUpdateStoreRequest.Types;
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using static SKIT.FlurlHttpClient.Wechat.Api.Models.NontaxInsertBillRequest.Types.CardExtra.Types.BillCard.Types;
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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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private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
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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); // 跺机
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break;
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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.BoxConveyorLine:
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BoxConveyorLine(mod); // 码垛机器人
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break;
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case PLCTypeEnum.StackingRobot:
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StackingRobot(mod); //拆垛机器人
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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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string ledText = "";
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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.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime)
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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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//判断出库锁定是否打开
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if (PLCTaskAction.boOutLock)
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{
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break;//出库锁定打开则不执行出库任务
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}
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PlcTaskInfo taskInfo = new PlcTaskInfo();
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if (modTask.TaskType == TaskTypeEnum.Move)
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{
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taskInfo = PLCCommon.GetEndPai(modTask.EndRoadway.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
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modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
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modTask.EndLocate.Substring(6, 2));
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}
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else
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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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taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)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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else if (value.ToString() == "720")
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{
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// 若空闲提前占用此工位，同工位出入公用口 放开此程序
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// var ret = plcConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "730");
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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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}
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// 获取转换后的起始排列层 06010101
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PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartRoadway.Substring(1, 2), modTask.StartLocate.Substring(2, 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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var ret = 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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HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
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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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HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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//修改led屏信息
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var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
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ledText += $"任务类型:{modTask.TaskType.GetDescription()}\n\n";
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ledText += $"任务号:{modTask.TaskNo}\n";
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ledText += $"托盘号:{modTask.PalletNo}\n\n";
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ledText += $"起始位:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
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ledText += $"目标位:{modTask.EndRoadway + " " + modTask.EndLocate}";
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LedDisplay(ledDevice.LedIP, ledText);
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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, modPosEndStation.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 == false);
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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.Short, 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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PLCUtil plcConveyorConn = PLCCommon.GetPlcIp(startStationVal.ToString());
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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.ToString()
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&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
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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.ToString(),
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EndLocat = modTask.EndLocate // 目标储位地址
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};
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// 读取wcs控制字
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var (ress, va1s) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos);
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if (va1s.ToString() == "630")
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{
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modcTaskMonitor.InteractiveMsg = string.Format("工位：{0},写入取货完成:640", startStationVal);
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// 插入交互日志
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_db.Insertable(modcTaskMonitor).ExecuteCommand();
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var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
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if (!retc.IsSucceed)
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{
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modcTaskMonitor.InteractiveMsg = string.Format("工位：{0},写入取货完成640失败", 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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HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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break;
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}
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//下发任务日志
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HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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}
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// 读取wcs控制字
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var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
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if (va1ss.ToString() == "830")
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{
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modInsertTaskMonitor.InteractiveMsg = string.Format("工位：{0}跺机取货完成写入850", 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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}
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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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modInsertTaskMonitor.InteractiveMsg = string.Format("工位：{0}跺机取货完成写入850失败,等待再次写入。", 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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break; // 写入失败跳出等待再次写入
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}
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//下发任务日志
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HubUtil.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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// 读取wcs控制字
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var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
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if (va1ss.ToString() == "830")
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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}取货完成写入850", modTask.StartLocate);
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modInsertTaskMonitor.EndLocat = endStation; // 放货工位
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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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modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成写入850失败,等待再次写入。", modTask.StartLocate);
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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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break; // 写入失败跳出等待再次写入
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}
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//下发任务日志
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HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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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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// 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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HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
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}
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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 == false);
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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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HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
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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.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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};
|
if (modTask.Origin == "WMS")
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{
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// 反馈WMS
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var requestMode = new TaskRequestWMS()
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{
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TaskNo = modTask.TaskNo,
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PalletNo = modTask.PalletNo,
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TaskType = ((int)TaskTypeEnum.In).ToString(),
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TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
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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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modTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
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}
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else
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{
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Log.Error(string.Format("c：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
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}
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}
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// 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。
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modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
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// 插入交互日志
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_db.Insertable(modTaskMonitor).ExecuteCommand();
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//下发任务日志
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HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
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// led显示内容
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var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.StartLocate && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
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ledText += $"入库完成\n\n";
|
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ledText += $"任务号:{modTask.TaskNo}\n";
|
ledText += $"托盘号:{modTask.PalletNo}\n\n";
|
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ledText += $"起始位:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
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ledText += $"目标位:{modTask.EndRoadway + " " + modTask.EndLocate}";
|
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LedDisplay(ledDevice.LedIP, ledText);
|
// 此处添加不空跑业务
|
}
|
break;
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case TaskTypeEnum.Out: // 出库任务
|
{
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string roadway = modTask.StartRoadway;
|
// 从出库任务获取放货工位
|
string outCode = modTask.EndLocate;
|
// 根据工位号获取对应的输送线IP
|
var plcConveyorConn = PLCCommon.GetPlcIp(outCode);
|
if (plcConveyorConn.Connected)
|
{
|
// 根据目标地址和巷道获取放货工位对应的排列层
|
PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
|
modTask.StartRoadway, modTask.EndRoadway);
|
// 根据工位号获取工位信息
|
var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
|
// 读取当前工位各偏移量值
|
var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();
|
|
// 给PLC写入任务数据
|
var listResult = new List<Result>();
|
//任务号
|
var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务号");
|
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosTask.PosType, wcsDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
|
//任务类型
|
var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
|
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosTaskType.PosType, wcsDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
|
//托盘号
|
var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
|
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosPalletNo.PosType, wcsDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
|
//起始工位
|
var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
|
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosLocatNo.PosType, wcsDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
|
// 目标工位
|
var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
|
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosEndLocatNo.PosType, wcsDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
|
|
// 是否写入成功
|
if (listResult.All(s => s.IsSucceed))
|
{
|
var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");
|
|
if (result.IsSucceed)
|
{
|
// 写入跺机wcs控制字 返回垛机执行完成
|
result = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
|
if (result.IsSucceed)
|
{
|
var modcTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = wcsDevice.Id,
|
PlcName = wcsDevice.Text,
|
PalletNo = modTask.PalletNo,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = taskInfo.EndStation,
|
EndLocat = outCode,
|
InteractiveMsg = $"写入指令：收到跺机放货完成；放货{taskInfo.EndStation}工位===》{outCode}出库口"
|
};
|
// 插入交互日志
|
_db.Insertable(modcTaskMonitor).ExecuteCommand();
|
//下发任务日志
|
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
|
break;
|
}
|
}
|
}
|
//此处添加不空跑业务
|
}
|
}
|
break;
|
case TaskTypeEnum.Move: // 移库任务
|
{
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
var result = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
|
if (!result.IsSucceed)
|
{
|
Log.Error($"{modDevice.Text}写入任务号失败");
|
break;
|
}
|
result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
|
if (!result.IsSucceed)
|
{
|
Log.Error($"{modDevice.Text}控制字写入870失败");
|
break;
|
}
|
// 改变任务状态
|
modTask.Status = TaskStatusEnum.Complete;
|
modTask.FinishDate = DateTime.Now;
|
modTask.Levels = 999;
|
_db.Updateable(modTask).ExecuteCommand();
|
//下发任务日志
|
HubUtil.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 = $"任务完成"
|
};
|
if (modTask.Origin == "WMS")
|
{
|
// 反馈WMS
|
var requestMode = new TaskRequestWMS()
|
{
|
TaskNo = modTask.TaskNo,
|
PalletNo = modTask.PalletNo,
|
TaskType = ((int)TaskTypeEnum.Move).ToString(),
|
TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
|
};
|
HttpService httpService = new HttpService();
|
var modResponseTask = httpService.RequestTask(requestMode).Result;
|
if (modResponseTask.StatusCode == 0)
|
{
|
modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
|
//修改储位信息 任务类型 执行状态 起始位置 目标位置
|
}
|
else
|
{
|
Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
|
}
|
}
|
// 插入交互日志
|
_db.Insertable(modcTaskMonitor).ExecuteCommand();
|
//下发任务日志
|
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
|
// 此处添加不空跑业务
|
}
|
break;
|
default: break;
|
}
|
}
|
}
|
break;
|
case "841":
|
{
|
|
}
|
break;
|
case "843":
|
{
|
//空取货异常
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
if (!result.IsSucceed)
|
break;
|
string taskNo = Convert.ToString(TaskNo);
|
var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
|
if (modTask == null)
|
{
|
Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{TaskNo}");
|
break;
|
}
|
var res = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "844");
|
if (!res.IsSucceed)
|
break;
|
modTask.Status = TaskStatusEnum.Exception;
|
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
Log.Information($"【堆垛机】wcs任务变更空取异常，任务号：{modTask.TaskNo}");
|
var modTaskRequest = modTask.Adapt<TaskRequest>();
|
HttpService httpService = new HttpService();
|
var modResponseTask = httpService.RequestEmptyException(modTaskRequest).Result;
|
if (modResponseTask.StatusCode == "0")
|
{
|
//请求成功
|
modTask.IsSuccess = TaskSuccessEnum.Success;
|
_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
|
//下发任务日志
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
}
|
else
|
{
|
//请求失败
|
modTask.IsSuccess = TaskSuccessEnum.Fail;
|
modTask.Information = modResponseTask.Message;
|
_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
}
|
}
|
break;
|
case "861":
|
{
|
//满放货异常
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
|
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
if (!result.IsSucceed)
|
break;
|
string taskNo = Convert.ToString(TaskNo);
|
var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
|
if (modTask == null)
|
{
|
Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{TaskNo}");
|
break;
|
}
|
modTask.Status = TaskStatusEnum.Exception;
|
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
Log.Information($"【堆垛机】wcs任务变更满取异常，任务号：{modTask.TaskNo}");
|
var modTaskRequest = modTask.Adapt<TaskRequest>();
|
HttpService httpService = new HttpService();
|
var modResponseTask = httpService.RequestFullException(modTaskRequest).Result;
|
if (modResponseTask.StatusCode == "0")
|
{
|
//修改任务为正在执行
|
modTask.Status = TaskStatusEnum.Doing;
|
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
|
// 起始排列层
|
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
|
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
|
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
|
// 目标放货工位
|
var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
|
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
|
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
|
string endLocat = modResponseTask.TaskList.EndLocate;
|
string row = int.Parse(endLocat.Substring(0, 2)).ToString();
|
string column = int.Parse(endLocat.Substring(2, 2)).ToString();
|
string storey = int.Parse(endLocat.Substring(4, 2)).ToString();
|
|
// 给PLC写入任务数据
|
//var listResult = new List<Result>();
|
//// 任务号托盘号
|
//listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
|
//listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
|
//// 起始排列层
|
//listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
|
//listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
|
//listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
|
//listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
|
//listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
|
//listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));
|
|
PlcTaskInfo taskInfo = new PlcTaskInfo();
|
taskInfo = PLCCommon.GetEndPai(modTask.EndRoadway.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
|
modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
|
modTask.EndLocate.Substring(6, 2));
|
|
// 给PLC写入任务数据
|
var listResult = new List<Result>();
|
// 任务号托盘号
|
modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
|
modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
|
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
|
// 目标放货工位(固定排列层)
|
modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
|
listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
|
modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
|
listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
|
modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
|
listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
|
|
// 是否写入成功
|
if (listResult.All(s => s.IsSucceed))
|
{
|
// 向跺机写入控制流程字
|
var res = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.WcsPos, "862");
|
var modcTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
PalletNo = modTask.PalletNo,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum,
|
EndLocat = endLocat,
|
InteractiveMsg = $"写入指令：{modDevice.StationNum}工位====》" + endLocat + "储位地址!"
|
};
|
// 插入交互日志
|
_db.Insertable(modcTaskMonitor).ExecuteCommand();
|
//下发任务日志
|
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
|
}
|
//else
|
//{
|
// //请求失败
|
// modTask.IsSuccess = TaskSuccessEnum.Fail;
|
// modTask.Information = modResponseTask.Message;
|
// _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
|
//}
|
}
|
break;
|
default:
|
break;
|
}
|
}
|
/// <summary>
|
/// 不空跑
|
/// </summary>
|
/// <param name="modTask">操作完成的任务</param>
|
/// <param name="plcConn">plc连接</param>
|
/// <param name="modDevice">设备信息</param>
|
private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn, WcsDeviceDto modDevice)
|
{
|
// 查询所有待执行的任务
|
var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
|
WcsTask modNextTask = null;
|
switch (modTask.TaskType)
|
{
|
case TaskTypeEnum.In:
|
{
|
// 先找出对应排列层的入库任务
|
var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
|
.Select(s => s.EndLocate.Substring(0, 6))
|
.ToHashSet();
|
|
// 找出库任务，对应巷道的任务
|
var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modTask.EndRoadway).ToList();
|
|
foreach (var modNext in listNextTask)
|
{
|
// 如果有对应排列层的入库任务，那就不能优先执行
|
if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
|
{
|
continue;
|
}
|
|
// todo: 写入modNext任务信息给plc
|
Console.WriteLine($"入库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
|
modNextTask = modNext;
|
break;
|
}
|
}
|
break;
|
case TaskTypeEnum.Out:
|
{
|
// 先找出对应排列层的出库任务
|
var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out)
|
.Select(s => s.EndLocate.Substring(0, 6))
|
.ToHashSet();
|
|
// 找入库任务，对应巷道的任务
|
var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In && s.StartRoadway == modTask.EndRoadway).ToList();
|
|
foreach (var modNext in listNextTask)
|
{
|
// 如果有对应排列层的出库任务，那就不能优先执行
|
if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
|
{
|
continue;
|
}
|
|
// todo: 写入modNext任务信息给plc
|
Console.WriteLine($"出库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
|
modNextTask = modNext;
|
break;
|
}
|
}
|
break;
|
case TaskTypeEnum.Move:
|
{
|
var modDevicePos = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
|
var (result, value) = plcConn.GetPlcDBValue(modDevicePos.PosType, modDevicePos.DbNumber, modDevicePos.PlcPos);
|
//当前堆垛机所在位置
|
var height = Math.Round(value / 790000d * 200).ToInt();
|
//todo:这里看能不能找到堆垛机所在位置在哪个排列层，优先寻找附近的任务？
|
}
|
break;
|
}
|
if (modNextTask != null)
|
{
|
// 获取转换后的起始排列层 06010101
|
PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartRoadway.Substring(1, 2), modTask.StartLocate.Substring(2, 2),
|
modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
|
modTask.StartLocate.Substring(6, 2));
|
|
// 给PLC写入任务数据
|
var listResult = new List<Result>();
|
// 任务号托盘号
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
|
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
|
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
|
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
|
// 起始排列层
|
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
|
listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
|
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
|
listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
|
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
|
listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
|
// 目标放货工位(固定排列层)
|
PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
|
modTask.StartRoadway, modTask.EndRoadway);
|
var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
|
listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
|
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
|
listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
|
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
|
listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
|
|
// 是否写入成功
|
if (listResult.All(s => s.IsSucceed))
|
{
|
// 写入跺机任务下发完成
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
|
|
// 将移库任务待执行改为正在执行
|
_db.Updateable<WcsTask>()
|
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
|
.Where(s => s.Id == modTask.Id)
|
.ExecuteCommand();
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
WcsTaskMonitor modInsertTaskMonitor;
|
if (string.IsNullOrEmpty(taskInfo.EndStation))
|
{
|
// 同巷道移库
|
modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{modTask.EndLocate}储位。",
|
PalletNo = modTask.PalletNo,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modTask.StartLocate,
|
EndLocat = modTask.EndLocate,
|
};
|
}
|
else
|
{
|
// 出库任务 跨巷道移库
|
modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = modTask.TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{taskInfo.EndStation}工位。",
|
PalletNo = modTask.PalletNo,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modTask.StartLocate,
|
EndLocat = modTask.EndLocate,
|
};
|
}
|
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
//下发任务日志
|
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
//修改led屏信息
|
//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
|
}
|
}
|
}
|
|
/// <summary>
|
/// 输送线业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void ConveyorLine(WcsDeviceDto modDevice)
|
{
|
var plcConn = modDevice.PLCUtil;
|
// 获取楼层数ceshi
|
var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
|
if (louCeng == "")
|
{
|
return;
|
}
|
var ledText = "";
|
switch (modDevice.Value.ToString())
|
{
|
case "320":
|
{
|
// 申请巷道
|
string strMsg = "";
|
string taskModel = "";
|
|
// 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);
|
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.SetPlcDBValue(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.SetPlcDBValue(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 = "";
|
|
//根据工位判断是否为叠托机工位申请空托盘跺入库，是：向WMS申请空托盘跺组托
|
string groupMsg = "";
|
if (modDevice.StationNum == "27")
|
{
|
var Qty = plcConn.GetPlcDBValue(PLCDataTypeEnum.Int,"DB135.0").ToString();//获取叠托机叠托数量
|
groupMsg = http.BindPlnInHouseWcs(Qty, palletVal);
|
|
if (!groupMsg.Contains("-1"))
|
{
|
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.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
|
if (ret.IsSucceed)
|
{
|
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
|
}
|
}
|
break;
|
}
|
string IsBale = "0";
|
strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, 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();
|
|
//判断是否裹包
|
var gbPos = modDevice.listStation.FirstOrDefault(s => s.Text == "Element_1");
|
strMsg = new HttpService().RequestPackWcs(palletVal);
|
if (strMsg == "1")
|
{
|
//写入裹包指令
|
ret = plcConn.SetPlcDBValue(gbPos.PosType, modDevice.DbNumber, gbPos.PlcPos, "2");
|
}
|
else
|
{
|
ret = plcConn.SetPlcDBValue(gbPos.PosType, modDevice.DbNumber, gbPos.PlcPos, "1");
|
}
|
|
// 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.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
|
if (ret.IsSucceed)
|
{
|
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
|
}
|
}
|
}
|
break;
|
case "330":
|
{
|
// 写入任务 托盘移动 340
|
|
// 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);
|
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.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
|
}
|
|
// 获取巷道口入库工位
|
string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
|
// 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.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
|
var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务类型");
|
var taskTypeStr = (int)modTask.TaskType;
|
listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
|
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
|
listResult.Add(plcConn.SetPlcDBValue(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.SetPlcDBValue(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
|
var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
|
listResult.Add(plcConn.SetPlcDBValue(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 = "";
|
var taskModel = "";
|
// 判断是否演示模式
|
if (PLCTaskAction.boDemo)
|
{
|
// 演示模式
|
taskModel = "1";
|
}
|
// 根据工位号获取巷道号
|
var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
|
if (roadway == "")
|
{
|
break;
|
}
|
// 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);
|
if (!res.IsSucceed)
|
{
|
break;
|
}
|
var http = new HttpService();
|
string TaskNo = "";
|
// 向WMS申请储位信息
|
strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, 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 += $"{strMsg}\n";
|
LedDisplay(modDevice.LedIP, ledText);
|
}
|
|
}
|
break;
|
case "630":
|
{
|
#region 写入跺机取货任务 640
|
|
// 获取工位托盘码信息
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
|
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
// 获取工位任务号信息
|
var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
|
if (!res.IsSucceed || !taskRes.IsSucceed)
|
{
|
break;
|
}
|
string pallet = palletVal.ToString();
|
string taskNo = taskNoVal.ToString();
|
// 获取任务信息
|
var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
|
if (modTask == null)
|
{
|
// 此托盘没有对应的转移任务 led显示
|
break;
|
}
|
|
var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
|
if (string.IsNullOrWhiteSpace(sInfo.Ip))
|
{
|
//需加上LED显示
|
Log.Error(string.Format($"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);
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = taskVal,
|
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 = starVal,
|
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>());
|
|
// 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 == modInsertTaskMonitor.TaskNo);
|
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
|
// 写入450
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
|
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);
|
|
string tasknoVal = taskVal.ToString();
|
var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
|
if (modTask == null)
|
{
|
Log.Error(string.Format("输送线440:未找到对应的任务。"));
|
break;
|
}
|
// 改变任务状态
|
modTask.Status = TaskStatusEnum.Complete;
|
modTask.FinishDate = DateTime.Now;
|
modTask.Levels = 999;
|
_db.Updateable(modTask).ExecuteCommand();
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
// 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}出库完成",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = starVal.ToString(),
|
EndLocat = modDevice.StationNum,
|
};
|
if (modTask.Origin == "WMS")
|
{
|
// 反馈WMS
|
var requestMode = new TaskRequestWMS()
|
{
|
TaskNo = modTask.TaskNo + modTask.EndLocate ,
|
PalletNo = modTask.PalletNo,
|
TaskType = ((int)TaskTypeEnum.Out).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>());
|
// led显示内容
|
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:{modTask.TaskNo}\n";
|
ledText += $"托盘号:{modTask.PalletNo}\n\n";
|
ledText += $"起始位:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
|
ledText += $"目标位:{modTask.EndRoadway + " " + modTask.EndLocate}";
|
LedDisplay(ledDevice.LedIP, ledText);
|
}
|
#endregion
|
}
|
break;
|
|
#endregion
|
|
#region 叫空托盘跺
|
case "50":
|
// plc申请空托
|
{
|
// 防止重复叫空托跺
|
var (res, palletVal) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
|
if (palletVal != 0)
|
{
|
break;
|
}
|
|
// 调用WMS空托出库接口，返回出库任务存入出库表
|
var strMsg = "";
|
var http = new HttpService();
|
strMsg = http.IssuePlnOutHouseWcs("1", "205");
|
if (!strMsg.Contains("-1"))
|
{
|
// 写入plc流程字60
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
|
}
|
else
|
{
|
// 申请巷道失败！LED显示
|
Log.Error(string.Format($"工位号：{modDevice.StationNum}申请空托跺失败:{strMsg};"));
|
}
|
}
|
break;
|
case "80":
|
// 空托盘跺已到位
|
{
|
// 调用wms任务出库任务完成
|
// 获取跺机点位配置
|
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (res, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
// 根据任务号获取任务信息
|
if (res.IsSucceed)
|
{
|
string tasknoVal = val.ToString();
|
var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
|
if (modTask == null)
|
{
|
//Log.Error(string.Format($"工位号：{modDevice.StationNum}空托盘到达，未找到对应的任务!任务号{tasknoVal};"));
|
break;
|
}
|
// 写入plc流程字90
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "90");
|
if (ret.IsSucceed)
|
{
|
// 改变任务状态
|
modTask.Status = TaskStatusEnum.Complete;
|
modTask.FinishDate = DateTime.Now;
|
modTask.Levels = 999;
|
_db.Updateable(modTask).ExecuteCommand();
|
|
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
|
var modTaskMonitor = 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 TaskRequestWMS()
|
{
|
TaskNo = modTask.TaskNo + modTask.EndLocate ,
|
PalletNo = modTask.PalletNo,
|
TaskType = ((int)TaskTypeEnum.Out).ToString(),
|
TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
|
};
|
HttpService httpService = new HttpService();
|
var modResponseTask = httpService.RequestTask(requestMode).Result;
|
if (modResponseTask.StatusCode == 0)
|
{
|
modTaskMonitor.InteractiveMsg = "任务完成，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(modTaskMonitor).ExecuteCommand();
|
//下发任务日志
|
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
}
|
}
|
break;
|
#endregion
|
case "10":
|
{
|
#region 缠膜完成
|
// 获取工位托盘码信息
|
var strMsg = "";
|
var http = new HttpService();
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
|
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
|
//向WMS反馈托盘缠膜完成
|
strMsg = http.RequestPackedWcs(palletVal);
|
if (!strMsg.Contains("-1"))
|
{
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "11");//收到缠膜完成11
|
if (ret.IsSucceed)
|
{
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令11：{modDevice.StationNum}工位缠膜完成",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum
|
};
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
}
|
}
|
else
|
{
|
|
}
|
#endregion
|
}
|
break;
|
case "20":
|
{
|
#region 是否拆膜 21：否 22：是
|
// 获取工位托盘码信息
|
var strMsg = "";
|
var http = new HttpService();
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
|
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
|
// 获取托盘任务号
|
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
// 根据任务号获取任务信息,目的工位是009的再向WMS发出拆膜申请
|
if (res1.IsSucceed)
|
{
|
string tasknoVal = val.ToString();
|
var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
|
if (modTask == null)
|
{
|
break;
|
}
|
}
|
|
strMsg = http.RequestUnPackWcs(palletVal);
|
if (!strMsg.Contains("-1"))
|
{
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "22");
|
if (ret.IsSucceed)
|
{
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令22：{modDevice.StationNum}工位需要拆膜",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum
|
};
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
}
|
}
|
else
|
{
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "21");
|
if (ret.IsSucceed)
|
{
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令21：{modDevice.StationNum}工位不需要拆膜",
|
PalletNo = palletVal,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum
|
};
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
}
|
}
|
|
|
#endregion
|
|
}
|
break;
|
#region 小车可放信号
|
case "150":
|
{ // 获取工位任务号信息
|
var strMsg = "";
|
var http = new HttpService();
|
// 获取托盘任务号
|
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
if (res1.IsSucceed)
|
{
|
string tasknoVal = val.ToString();
|
var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
|
if (modTask == null)
|
{
|
//读取成功后写入151
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "151");//收到可放信号后写入151
|
if (ret.IsSucceed)
|
{
|
//回传WMS可放信号
|
strMsg = http.RequesContinueAgv(val.ToString(), modDevice.StationNum);
|
if (!strMsg.Contains("-1"))
|
{
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令151：{modDevice.StationNum}工位可接受AGV放货入库",
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum
|
};
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
}
|
}
|
break;
|
}
|
}
|
//
|
|
}
|
break;
|
#endregion
|
|
default: break;
|
}
|
|
}
|
/// <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)
|
{
|
var plcConn = modDevice.PLCUtil;
|
switch (modDevice.Value.ToString())
|
{
|
case "220":
|
// 注释1
|
{
|
|
}
|
break;
|
case "230":
|
// 注释2
|
{
|
|
}
|
break;
|
case "240":
|
{
|
|
}
|
break;
|
default: break;
|
}
|
}
|
|
/// <summary>
|
/// 件箱输送和码垛机器人业务处理 配置的是件箱输送
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static async void BoxConveyorLine(WcsDeviceDto modDevice)
|
{
|
var plcConn = modDevice.PLCUtil;
|
|
if (modDevice.DbNumber == "DB101")//&& modDevice.DbNumber == "DB102"&& (modDevice.DbNumber == "DB102"||modDevice.PlcIdIP == "10.18.51.110")
|
{
|
// 主扫交互流程
|
switch (modDevice.Value.ToString())
|
{
|
case "1":
|
// 主扫申请分道 wcs写入2
|
{
|
// 判断是否演示模式 true：演示模式 false:生产模式
|
if (PLCTaskAction.boDemo)
|
{
|
// 通道号
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");
|
|
// 演示模式直接写入分道号
|
Random random = new Random();
|
int ranNumber = random.Next(2) == 0 ? 1 : 5;
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, ranNumber.ToString());
|
if (ret.IsSucceed)
|
{
|
Log.Information(string.Format("分道成功，道号是：" + ranNumber));
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (!retVal.IsSucceed)
|
{
|
Log.Error("演示模式写入分道号失败!");
|
break;
|
}
|
}
|
}
|
else
|
{
|
// 通道号
|
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");
|
|
// 读取plc箱码
|
var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "箱码");
|
var (res, boxNo) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
|
if (string.IsNullOrWhiteSpace(boxNo.ToString()))
|
{
|
// 箱码为null写入剔除通道号
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("箱码为null进行剔除");
|
break;
|
}
|
}
|
}
|
else
|
{
|
// 根据箱码获取箱内信息
|
string boxNoVal = boxNo.ToString();
|
var boxInfo = _db.Queryable<WcsBoxInfo>().First(w => w.IsDelete == false && w.BoxNo == boxNoVal && string.IsNullOrEmpty(w.PalletNo));
|
if (boxInfo == null)
|
{
|
// 箱信息为null写入剔除通道号
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("箱码为null或已绑定托盘，进行剔除。");
|
break;
|
}
|
}
|
}
|
|
|
// 验证是否零箱
|
if (boxInfo.BitBoxMark == "1")
|
{
|
// 是零箱直接剔除，进行人工组托
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("零箱，进行剔除。");
|
break;
|
}
|
}
|
break;
|
}
|
|
|
// 根据箱内品种号获取码躲绑定工位及对应的分道号
|
var checkTaskInfo = _db.Queryable<WcsCheckTask>().First(w => w.SkuNo == boxInfo.SkuNo && w.SkuName == boxInfo.SkuName && w.LotNo == boxInfo.LotNo && w.Status == "1");
|
if (checkTaskInfo == null)
|
{
|
// 判断是否关联单据 wcsordertask
|
var orderModel = _db.Queryable<WcsOderTask>()
|
.First(m => m.SkuNo == boxInfo.SkuNo && m.Status== TaskStatusEnum.Wait && m.LotNo == boxInfo.LotNo && m.IsDelete == false);
|
if (orderModel != null)
|
{
|
// 根据boxinfo表产线字段自动绑定分道(1线产品只能绑定到8道)
|
if (boxInfo.LineNo != "1")
|
{// 绑定到除8道外其他道
|
|
// 获取未绑定道
|
var lineNoModels = _db.Queryable<WcsCheckTask>()
|
.Where(m => m.Status == "0" && m.LineNo != "8" && m.RoboatType == PLCTypeEnum.RobotPalletizer).ToList();
|
if (lineNoModels.Count > 0)
|
{
|
// 获取当前物料品种号
|
var skuInfo = await _db.Queryable<WcsMateialPzInfo>().Where(w => w.SkuNo == boxInfo.SkuNo).FirstAsync();
|
if (skuInfo == null)
|
{
|
// 此产品若没设定品规，进行剔除处理。防止堵塞件箱线
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("没有空闲分道，进行剔除。");
|
break;
|
}
|
}
|
break;
|
}
|
|
foreach (var lineNoModel in lineNoModels)
|
{
|
// 读取设备验证是否绑定分道
|
var (respg, pzNo) = plcConn.GetPlcDBValue(lineNoModel.PosType, lineNoModel.DbNumber, lineNoModel.PlcPos);
|
if (respg.IsSucceed)
|
{
|
if (pzNo != 0)
|
{
|
// plc此分道未解绑
|
break;
|
}
|
else
|
{
|
// 自动绑定分道
|
lineNoModel.OrderNo = orderModel.OrderNo;
|
lineNoModel.LotNo = boxInfo.LotNo;
|
lineNoModel.SkuNo = boxInfo.SkuNo;
|
lineNoModel.SkuName = boxInfo.SkuName;
|
lineNoModel.Qty = orderModel.Qty;
|
lineNoModel.Status = "1";//已绑定
|
lineNoModel.PZNo = skuInfo.PZNo;
|
|
// 给PLC写入品规
|
var ret = plcConn.SetPlcDBValue(lineNoModel.PosType, lineNoModel.DbNumber, lineNoModel.PlcPos, skuInfo.PZNo);
|
if (ret.IsSucceed)
|
{
|
//写入流程字成功后更新分拣任务
|
_db.Updateable(lineNoModel).ExecuteCommand();
|
//更新WcsOderTask表
|
orderModel.Status = TaskStatusEnum.Doing;
|
_db.Updateable(orderModel).ExecuteCommand();
|
// Liudl 通知前端更新分拣任务
|
//下发分拣任务
|
HubUtil.PublicCheckTask(lineNoModel.Adapt<WcsDeviceTaskOrderDto>());
|
break;
|
}
|
else
|
{
|
throw Oops.Bah("与PCL交互失败，绑定失败！");
|
}
|
}
|
}
|
else
|
{
|
// 读取plc失败
|
break;
|
}
|
}
|
|
}
|
else
|
{
|
// 若没有空闲道，进行剔除处理。防止堵塞件箱线
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("没有空闲分道，进行剔除。");
|
break;
|
}
|
}
|
break;
|
}
|
}
|
else
|
{// 绑定到8道
|
// 获取未绑定道
|
var lineNo8Model = _db.Queryable<WcsCheckTask>()
|
.First(m => m.Status == "0" && m.LineNo == "8" && m.RoboatType == PLCTypeEnum.RobotPalletizer);
|
if (lineNo8Model != null)
|
{
|
// 获取当前物料品种号
|
var skuInfo = await _db.Queryable<WcsMateialPzInfo>().Where(w => w.SkuNo == boxInfo.SkuNo).FirstAsync();
|
if (skuInfo == null)
|
{
|
// 此产品若没设定品规，进行剔除处理。防止堵塞件箱线
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("没有空闲分道，进行剔除。");
|
break;
|
}
|
}
|
break;
|
}
|
|
|
// 读取设备验证是否绑定分道
|
var (respg, pzNo) = plcConn.GetPlcDBValue(lineNo8Model.PosType, lineNo8Model.DbNumber, lineNo8Model.PlcPos);
|
if (respg.IsSucceed)
|
{
|
if (pzNo != 0)
|
{
|
// plc此分道未解绑
|
break;
|
}
|
else
|
{
|
// 自动绑定分道
|
lineNo8Model.OrderNo = orderModel.OrderNo;
|
lineNo8Model.LotNo = boxInfo.LotNo;
|
lineNo8Model.SkuNo = boxInfo.SkuNo;
|
lineNo8Model.SkuName = boxInfo.SkuName;
|
lineNo8Model.Qty = orderModel.Qty;
|
lineNo8Model.Status = "1";//已绑定
|
lineNo8Model.PZNo = skuInfo.PZNo;
|
|
// 给PLC写入品规
|
var ret = plcConn.SetPlcDBValue(lineNo8Model.PosType, lineNo8Model.DbNumber, lineNo8Model.PlcPos, skuInfo.PZNo);
|
if (ret.IsSucceed)
|
{
|
//写入流程字成功后更新分拣任务
|
_db.Updateable(lineNo8Model).ExecuteCommand();
|
//更新WcsOderTask表
|
orderModel.Status = TaskStatusEnum.Doing;
|
_db.Updateable(orderModel).ExecuteCommand();
|
|
// Liudl 通知前端更新分拣任务
|
//下发分拣任务
|
HubUtil.PublicCheckTask(lineNo8Model.Adapt<WcsDeviceTaskOrderDto>());
|
break;
|
}
|
else
|
{
|
throw Oops.Bah("与PCL交互失败，绑定失败！");
|
}
|
}
|
}
|
else
|
{
|
// 读取plc失败
|
break;
|
}
|
|
|
}
|
else
|
{
|
// 没有空闲道，进行剔除处理。防止堵塞件箱线
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("没有空闲分道，进行剔除。");
|
break;
|
}
|
}
|
break;
|
}
|
}
|
}
|
else
|
{
|
// 不关联单据直接进行剔除处理
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("箱码未绑定分拣任务，进行剔除。");
|
break;
|
}
|
}
|
}
|
}
|
else
|
{
|
// 与plc交互写入分道号和流程控制字
|
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, checkTaskInfo.LineNo);
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
{ // liudl 此段程序不会执行 确认后直接删除
|
if (modDevice.DbNumber == "DB102")//1L拆跺分拣后需要回传箱码
|
{
|
var http = new HttpService();
|
IsBaleModel2 ret1 = http.RequestBoxno(boxNoVal);
|
if (ret1.Success == -1)
|
{
|
Log.Error("箱码分拣回传失败，需要手动拣货。失败箱码："+boxNoVal);
|
break;
|
}
|
}
|
}
|
break;
|
}
|
}
|
}
|
}
|
}
|
}
|
break;
|
default: break;
|
}
|
}
|
else
|
{
|
// 插码交互
|
switch (modDevice.Value.ToString())
|
{
|
case "1":
|
// 托盘条码可读
|
{
|
// 获取托盘条码配置
|
var modPalletNo = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
|
// 读取PLC托盘条码号
|
var (res, palletVal) = plcConn.GetPlcDBValue(modPalletNo.PosType, modDevice.DbNumber, modPalletNo.PlcPos);
|
string palletNo = palletVal.ToString();
|
if (string.IsNullOrEmpty(palletNo))
|
{
|
Log.Error(string.Format("{0}，读取的托盘号为null", modDevice.Text));
|
break;
|
}
|
|
// 根据工位号将托盘号保存在分道表
|
var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
|
if (checkTaskMedel == null)
|
{
|
Log.Error(string.Format("根据码垛工位{0}，获取分道失败!", modDevice.StationNum));
|
break;
|
}
|
checkTaskMedel.PalletNo = palletNo;
|
var rowCount = _db.Updateable(checkTaskMedel).ExecuteCommand();
|
if (rowCount > 0 )
|
{
|
// plc写入读取成功表示 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
// liudl 此处需添加
|
// 通知分拣码垛页更新
|
}
|
}
|
}
|
break;
|
case "20":
|
// 申请插码
|
{
|
// 获取托盘条码配置
|
var modAddCode = modDevice.listStation.FirstOrDefault(m => m.Text == "插码结果");
|
// 判断是否演示模式 true：演示模式 false:生产模式
|
if (PLCTaskAction.boDemo)
|
{
|
// 演示模式直接写入插码结果 1：成功
|
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");
|
break;
|
}
|
else
|
{
|
// 获取箱条码
|
// 获取箱条码配置
|
var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "箱条码");
|
var (res, boxVal) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
|
string boxNo = boxVal.ToString();
|
if (string.IsNullOrEmpty(boxNo))
|
{
|
Log.Error($"码垛工位{modDevice.StationNum}，箱码为null插码失败!请人工强制结批。" );
|
// 写入插入结果 2：插码失败
|
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
|
|
break;
|
}
|
// 验证箱码表是否存在此箱码
|
var boxInfo = _db.Queryable<WcsBoxInfo>().Where(w => w.IsDelete == false && w.BoxNo == boxNo).ToList();
|
if (boxInfo.Count == 0)
|
{
|
Log.Error($"码垛工位{modDevice.StationNum}，箱码{boxNo}不存在!请人工强制结批。");
|
// 写入插入结果 2：插码失败
|
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
|
break;
|
}
|
// 获取当前分道托盘号
|
var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
|
if (checkTaskMedel == null)
|
{
|
Log.Error(string.Format("根据码垛工位{0}，获取分道失败!", modDevice.StationNum));
|
break;
|
}
|
string palletNo = checkTaskMedel.PalletNo;
|
if (string.IsNullOrEmpty(palletNo))
|
{
|
Log.Error(string.Format("获取码垛工位{0}上的托盘号失败！",modDevice.StationNum));
|
break;
|
}
|
// 修改插码表
|
foreach (WcsBoxInfo item in boxInfo)
|
{
|
item.PalletNo = palletNo;
|
item.UpdateTime = DateTime.Now;
|
}
|
|
var rowCount = _db.Updateable(boxInfo).ExecuteCommand();
|
Log.Information(string.Format("插码成功，箱码是："+ boxNo, modDevice.StationNum));
|
if (rowCount > 0)
|
{
|
// 插码成功
|
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");
|
|
//是否结批箱
|
if (boxInfo[0].EndLotFlag == "1" && retVal.IsSucceed)
|
{
|
// 触发结批 分道变为结批中
|
AutoEndLot(boxInfo[0].LotNo, plcConn, "2");
|
}
|
}
|
else
|
{
|
// 插码失败
|
Log.Error($"箱码{boxNo};码垛工位{modDevice.StationNum}，插码失败，请强制结批");
|
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
|
if (retVal.IsSucceed)
|
{
|
// 触发结批 不解绑分道
|
AutoEndLot(boxInfo[0].LotNo, plcConn, "1");
|
}
|
}
|
}
|
}
|
break;
|
case "40":
|
// 请求组托，申请入库
|
{
|
lock (OLock)
|
{
|
// 根据工位号，获取托盘号
|
var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
|
// 根据工位号获取 托盘线该工位号的配置信息
|
var numModel = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId != modDevice.PlcId);
|
var posModel = PLCTaskAction.plcPositions.First(m => m.DeviceId == numModel.Id && m.Text == "目的工位" && m.IsDelete == false);
|
if (checkTaskMedel == null)
|
{
|
Log.Error(string.Format("组托失败根据码垛工位{0}，获取托盘号失败!", modDevice.StationNum));
|
|
// 写入交互工位目标地址
|
var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, "234");
|
if (retVal.IsSucceed)
|
{
|
// 写入组托回复流程字
|
retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
|
}
|
break;
|
}
|
|
// 码垛工位托盘号
|
string palletNo = checkTaskMedel.PalletNo;
|
|
// 是否演示模式
|
if (PLCTaskAction.boDemo)
|
{
|
// 直接箱wms申请巷道
|
var http = new HttpService();
|
string TaskNo = "", EndLocate = "";
|
string strMsg = http.RequestRoadWay(palletNo, modDevice.StationNum, "1", "2", ref EndLocate, ref TaskNo);
|
if (strMsg.Contains("-1"))
|
{
|
Log.Error(string.Format("申请巷道失败，码垛工位{0};原因{1}", modDevice.StationNum, strMsg));
|
break;
|
}
|
else
|
{
|
// 获取入库任务信息
|
var taskModel = _db.Queryable<WcsTask>().First(m => m.TaskNo == TaskNo && m.IsDelete == false && (m.Status == TaskStatusEnum.Wait || m.Status == TaskStatusEnum.Doing));
|
if (taskModel != null)
|
{
|
// 获取入库取货工位
|
string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");
|
|
var listResult = new List<Result>();
|
|
// 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
|
listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue)); // 目标工位
|
var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
|
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
|
var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
|
var taskTypeStr = (int)taskModel.TaskType;
|
listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
|
|
if (listResult.All(s => s.IsSucceed))
|
{
|
// 写入组托回复流程字
|
var retVal1 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
|
if (retVal1.IsSucceed)
|
{
|
// 将入库任务由正在执行改为正在执行
|
taskModel.Status = TaskStatusEnum.Doing;
|
_db.Updateable(taskModel).ExecuteCommand();
|
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令50：申请巷道成功",
|
PalletNo = palletNo,
|
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>());
|
}
|
}
|
|
//// 写入托盘输送线码垛工位 目的工位，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
|
//var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue);
|
//if (retVal.IsSucceed)
|
//{
|
// // 写入码垛交互-组托回复流程字
|
// retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
|
|
// // 将入库任务由正在执行改为正在执行
|
// taskModel.Status = TaskStatusEnum.Doing;
|
// _db.Updateable(taskModel).ExecuteCommand();
|
//}
|
}
|
}
|
}
|
else
|
{
|
// 根据托盘号，将组托信息插入boxinfolog表 并删除boxinfo表数据
|
var boxInfoList = _db.Queryable<WcsBoxInfo>().Where(w => w.IsDelete == false && w.PalletNo == palletNo).ToList();
|
if (boxInfoList.Count <= 0)
|
{
|
Log.Error(string.Format("申请巷道失败，码垛工位{0}，箱码信息不存在", modDevice.StationNum));
|
|
// 写入交互工位目标地址
|
var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, "234");
|
if (retVal.IsSucceed)
|
{
|
// 写入组托回复流程字
|
retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
|
}
|
break;
|
}
|
// 组托成功后将信息存到log表
|
string sqlStr = $"insert into WCSBoxInfoLog select * from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
|
int insertCount = _db.Ado.ExecuteCommand(sqlStr);
|
if (insertCount > 0)
|
{
|
string sqlStr2 = $"delete from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
|
_db.Ado.ExecuteCommand(sqlStr2);
|
}
|
|
// 向WMS申请巷道
|
var http = new HttpService();
|
string TaskNo = "", EndLocate = "";
|
string strMsg = http.BindRequestRoadWay(checkTaskMedel.OrderNo,palletNo, checkTaskMedel.BoxCount.ToDecimal(),"0", checkTaskMedel.SkuNo, checkTaskMedel.LotNo, "","", boxInfoList,
|
modDevice.StationNum, "1", "2", ref EndLocate, ref TaskNo);
|
if (strMsg.Contains("-1"))
|
{
|
Log.Error(string.Format("申请巷道失败，码垛工位{0};原因{1}", modDevice.StationNum, strMsg));
|
break;
|
}
|
else
|
{
|
//判断是否结批中
|
var (res, jiepi) = plcConn.GetPlcDBValue(checkTaskMedel.PosType, modDevice.DbNumber, checkTaskMedel.PosLot);
|
if (jiepi == 2)//结批中
|
{
|
// 分道解绑，抓箱品种写入0
|
var ret1 = plcConn.SetPlcDBValue(checkTaskMedel.PosTypeLot, modDevice.DbNumber, checkTaskMedel.PlcPos, "0");
|
if (ret1.IsSucceed)
|
{
|
//写入流程字成功后更新分拣任务 liudl 最后一托盘申请完入库才可清空
|
checkTaskMedel.OrderNo = "";
|
checkTaskMedel.TaskNo = "";
|
checkTaskMedel.LotNo = "";
|
checkTaskMedel.SkuNo = "";
|
checkTaskMedel.SkuName = "";
|
checkTaskMedel.BoxType = "";
|
checkTaskMedel.Qty = 0;
|
checkTaskMedel.PZNo = "";
|
checkTaskMedel.Status = "0"; // 绑定分道 0：解绑 1：绑定
|
|
//更新分拣任务
|
_db.Updateable(checkTaskMedel).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
|
}
|
}
|
// 获取入库任务信息
|
var taskModel = _db.Queryable<WcsTask>().First(m => m.TaskNo == TaskNo && m.IsDelete == false && m.Status == TaskStatusEnum.Wait);
|
if (taskModel != null)
|
{
|
// 获取入库取货工位
|
string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");
|
|
var listResult = new List<Result>();
|
// 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
|
listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue)); // 目标工位
|
var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
|
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
|
var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
|
var taskTypeStr = (int)taskModel.TaskType;
|
listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
|
|
if (listResult.All(s => s.IsSucceed))
|
{
|
// 写入组托回复流程字
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
|
if (retVal.IsSucceed)
|
{
|
// 将入库任务由正在执行改为正在执行
|
taskModel.Status = TaskStatusEnum.Doing;
|
_db.Updateable(taskModel).ExecuteCommand();
|
|
// 插入任务明细
|
var modInsertTaskMonitor = new WcsTaskMonitor()
|
{
|
TaskNo = TaskNo,
|
PlcId = modDevice.Id,
|
PlcName = modDevice.Text,
|
InteractiveMsg = $"写入指令50：申请巷道成功",
|
PalletNo = palletNo,
|
Status = TaskStatusEnum.Complete,
|
StartLocat = modDevice.StationNum,
|
EndLocat = strMsg,
|
};
|
// 插入交互日志
|
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
|
// 通知任务界面任务已存在更新 请更新界面
|
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
break;
|
default:break;
|
}
|
}
|
}
|
|
/// <summary>
|
/// 出库件箱输送和拆垛机器人业务处理
|
/// </summary>
|
/// <param name="modDevice"></param>
|
private static void StackingRobot(WcsDeviceDto modDevice)
|
{
|
var plcConn = modDevice.PLCUtil;
|
if (modDevice.DbNumber == "DB131" || modDevice.DbNumber == "DB132" || modDevice.DbNumber == "DB133" || modDevice.DbNumber == "DB134")
|
{
|
switch (modDevice.Value.ToString())
|
{
|
case "10"://10 plc请求wcs读托盘码 20 wcs读取ok wcs 写入数量及规格 30
|
var strMsg = "";
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "20");
|
if (ret.IsSucceed)
|
{
|
//获取托盘码
|
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
|
var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
|
// 获取托盘任务号
|
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
|
var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
|
string tasknoVal = val.ToString();
|
|
// 根据任务号获取任务信息
|
if (res1.IsSucceed)
|
{
|
var modTask = _db.Queryable<WcsTask>().First(m => m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
|
if (modTask == null)
|
{
|
Log.Error(string.Format($"出库任务未下发，请人工处理，无法拆垛！"));
|
break;
|
}
|
|
//通过任务号和托盘号向WMS申请此托盘的拆垛信息
|
var http = new HttpService();
|
RequestBoxInfoCheckAll tasklist = http.RequestBoxCheckinfo(palletVal, tasknoVal);
|
if (tasklist.Success != -1)
|
{
|
//获取拆垛物料品种(需要增加物料判断，同一个物料号可能会出现不同的码垛规则)
|
var pz = _db.Queryable<WcsMateialPzInfo>().First(m => m.SkuNo == tasklist.data.SkuNo);
|
//下发拆托规格，拆箱数和托盘上总箱数（不绑定机器人，拆垛任务信息只下发一次）
|
// 给PLC写入任务数据
|
var listResult = new List<Result>();
|
// 获取托盘规则
|
var Standard = modDevice.listStation.FirstOrDefault(m => m.Text == "规格");
|
listResult.Add(plcConn.SetPlcDBValue(Standard.PosType, modDevice.DbNumber, Standard.PlcPos, pz.PZNo));
|
//抓箱数
|
var qty = modDevice.listStation.FirstOrDefault(m => m.Text == "拆箱数量");
|
listResult.Add(plcConn.SetPlcDBValue(qty.PosType, modDevice.DbNumber, qty.PlcPos, tasklist.data.Qty.ToString()));
|
//总箱数
|
var qtycount = modDevice.listStation.FirstOrDefault(m => m.Text == "总箱数");
|
listResult.Add(plcConn.SetPlcDBValue(qtycount.PosType, modDevice.DbNumber, qtycount.PlcPos, tasklist.data.QtyCount.ToString()));
|
|
|
// 是否写入成功
|
if (listResult.All(s => s.IsSucceed))
|
{
|
var ret1 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
|
|
}
|
else
|
{
|
Log.Error(string.Format($"码垛信息未写入！托盘号：" + palletVal + "，码垛位：" + modDevice.StationNum));
|
break;
|
}
|
}
|
}
|
}
|
|
break;
|
default:
|
break;
|
}
|
}
|
else
|
{
|
switch (modDevice.Value.ToString())
|
{
|
case "1":
|
// 1楼件箱PLC请求WCS读码
|
{
|
// 读取plc箱码
|
var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "主扫条码");
|
var (res, boxNo) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
|
if (string.IsNullOrWhiteSpace(boxNo.ToString()))
|
{
|
|
// 箱信息为null写入剔除通道号:0
|
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("箱码为null或已绑定托盘，进行剔除。");
|
break;
|
}
|
}
|
}
|
else
|
{
|
// 箱码
|
string boxNoVal = boxNo.ToString();
|
// 通道号
|
var modLineNo = modDevice.listStation.FirstOrDefault(m => m.Text == "通道号");
|
|
// 调用wms接口验证箱码是否可拣货并返回装车口
|
var http = new HttpService();
|
RequestloadingAddre requesModel = http.ResultBoxInfoExportWcs(boxNoVal);
|
if (requesModel.Success != "0")
|
{
|
// 箱信息为null写入剔除通道号:0
|
var ret = plcConn.SetPlcDBValue(modLineNo.PosType, modDevice.DbNumber, modLineNo.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
Log.Error("出库分拣根据箱码获取装车口失败，进行剔除。" + requesModel.Message);
|
break;
|
}
|
}
|
}
|
else
|
{
|
// 写入出库分道号
|
var ret = plcConn.SetPlcDBValue(modLineNo.PosType, modDevice.DbNumber, modLineNo.PlcPos, requesModel.loadingAddre);
|
if (ret.IsSucceed)
|
{
|
// 写入流程控制字 2
|
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
|
if (retVal.IsSucceed)
|
{
|
break;
|
}
|
}
|
}
|
}
|
};break;
|
case "10":
|
// 1楼件箱PLC读码失败，WCS不做处理直接剔除手持拣货。
|
{
|
|
};break;
|
default:
|
break;
|
}
|
}
|
|
}
|
|
/// <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);
|
}
|
}
|
|
/// <summary>
|
/// 自动结批 并 解绑分道
|
/// </summary>
|
/// <param name="lotNo">批次号</param>
|
/// <param name="plcConn">Plc连接</param>
|
/// <param name="status">是否解绑分道 0：解绑 1：绑定</param>
|
private static void AutoEndLot(string lotNo,PLCUtil plcConn,string status)
|
{
|
try
|
{
|
if (string.IsNullOrWhiteSpace(lotNo))
|
{
|
Console.WriteLine("批次号为nul");
|
}
|
var checkTaskList = _db.Queryable<WcsCheckTask>().Where(w => w.LotNo == lotNo && w.Status == "1").ToList();
|
if (checkTaskList.Count <= 0)
|
{
|
Console.WriteLine("未找到分道绑定信息");
|
}
|
foreach (var item in checkTaskList)
|
{
|
#region#给PLC写入结批批次号
|
// 写入结批信号
|
var ret = plcConn.SetPlcDBValue(item.PosTypeLot, item.DbNumber, item.PosLot, "1");
|
// 分道解绑，抓箱品种写入0
|
//var ret1 = plcConn.SetPlcDBValue(item.PosTypeLot, item.DbNumber, item.PlcPos, "0");
|
if (ret.IsSucceed)
|
{
|
//写入流程字成功后更新分拣任务 liudl 最后一托盘申请完入库才可清空
|
//item.OrderNo = "";
|
//item.TaskNo = "";
|
//item.LotNo = "";
|
//item.SkuNo = "";
|
//item.SkuName = "";
|
//item.BoxType = "";
|
//item.Qty = 0;
|
item.PZNo = "";
|
item.Status = status; // 绑定分道 0：解绑 1：绑定 2:结批中
|
|
//更新分拣任务
|
_db.Updateable(item).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
|
}
|
#endregion
|
}
|
}
|
catch (Exception ex)
|
{
|
Log.Error(ex.Message);
|
throw;
|
}
|
}
|
|
private static void Test(WcsDeviceDto modDevice)
|
{
|
//var strMsg = new HttpService().RequestPackWcs("LN000001");
|
////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)
|
//{
|
|
//}
|
}
|
|
|
|
}
|
