blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
chengsc
2025-04-29 08eb1d72105662b301275fefd876be18df1b9fec 
 Admin.NET/WCS.Application/PLC/PLCTaskAction.cs


@@ -9,6 +9,7 @@


using OfficeOpenXml.FormulaParsing.Excel.Functions.Logical;


using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;


using OnceMi.AspNetCore.OSS;


using Qiniu.Storage;


using System;


using System.Drawing.Drawing2D;


using System.Net.NetworkInformation;


@@ -377,7 +378,7 @@


                try


                {


                    // 获取密集库未执行任务 根据创建时间排序


                    var waitTask = _db.Queryable<WcsTask>().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(s => s.CreateTime).First();


                    var waitTask = _db.Queryable<WcsTask>().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(s => new {s.Levels, s.CreateTime}).First();


                    if (waitTask == null)


                    {


                        continue;


@@ -386,7 +387,7 @@


                    var taskpai = int.Parse(waitTask.StartLocate.Substring(0, 2));


                    var tasklie = int.Parse(waitTask.StartLocate.Substring(2, 2));


                    var taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));




                    


                    #region 获取当前任务所在层所有空闲小车




                    // 获取有任务的小车编号


@@ -412,6 +413,19 @@


                            {


                                //获取工位WCSPLCPosition信息


                                var plcPosition = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();


                                if (value == 3)


                                {


                                    var modCarDl = plcPosition.FirstOrDefault(s => s.Text == "电池电量");


                                    var (resultDl, valueDl) = modbusUtil.GetDBValue(modCarDl.PosType, modCarDl.PlcPos);


                                    if (resultDl.IsSucceed && valueDl> (int)FourWayCarDLEnum.Dl3) 


                                    {


                                        //写入结束充电命令


                                        var modCdEnd = plcPosition.FirstOrDefault(s => s.Text == "充电命令");


                                        var resultDl22 = modbusUtil.SetDBValue(modCdEnd.PosType, modCdEnd.PlcPos.ToString(), "3") ;


                                        carErr = true;


                                        break; //暂缓分配，防止同层小车关机或失联导致阻挡路径


                                    }


                                }


                                //小车空闲加入集合


                                if (value == 1)


                                {


@@ -490,9 +504,16 @@


                            }


                        }


                    }


                    var typeStr = "1";


                    var typeStr2 = 1;


                    if (waitTask.Levels  == 888 )


                    {


                        typeStr = "0";//小车任务是充电任务


                        typeStr2 = 0;


                    }


                    //获取小车去放货储位任务路径


                    var data2 = FourWayCarUtil.GetCarPath(waitTask.StartLocate, waitTask.EndLocate, "1");


                    var datas2 = FourWayCarUtil.GetCarPathUp(data2, 1);


                    var data2 = FourWayCarUtil.GetCarPath(waitTask.StartLocate, waitTask.EndLocate, typeStr);


                    var datas2 = FourWayCarUtil.GetCarPathUp(data2, typeStr2);


                    


                    if (datas2 == null) 


                    {