JC34WCS.git - Gitblit

			@@ -39,6 +39,10 @@
			AGV(mod); // AGV调度
			break;
			case PLCTypeEnum.ShuttleCar: //穿梭车
			//if (mod.PlcIdIP == "10.26.254.28")
			//{
			// break;
			//}
			ShuttleCar(mod);
			break;
			case PLCTypeEnum.RobotPalletizer:
			@@ -222,33 +226,38 @@
			var devStation = ""; //工位
			var endLocate = modFinshTask.EndRoadway;
			var carcon = new carConverModel();
			var ip = "";
			if ( carcon.conveyorBei.Keys.Contains(endLocate))
			{
			text = "输送线北";
			ip = "10.26.254.10";
			devStation = carcon.conveyorBei[endLocate];
			}
			else if (carcon.conveyorNan.Keys.Contains(endLocate))
			{
			text = "输送线南";
			ip = "10.26.254.11";
			devStation = carcon.conveyorNan[endLocate];
			}
			if (text != "")
			{
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
			var modConn = new PLCUtil(modPlc);

			var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
			//PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
			//var modConn = new PLCUtil(modPlc);

			var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
			var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
			if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) != 730)
			{
			modConn.Close();
			//modConn.Close();
			return;//放货工位没有读取成功或不是空闲
			}

			var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "740");
			if (!plcResult.IsSucceed)
			{
			modConn.Close();
			//modConn.Close();
			return;
			}
			//添加任务明细
			@@ -260,7 +269,36 @@
			InteractiveMsg = $"写入指令740：托盘到达{modFinshTask.EndRoadway}"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			modConn.Close();

			//改变任务状态
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();

			var locateOut = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
			if (locateOut != null && locateOut.Make == "1")
			{
			locateOut.PalletNo = "";
			_db.Updateable(locateOut).ExecuteCommand();
			}

			//反馈WMS系统任务完成
			if (modFinshTask.Origin == "WMS")
			{
			HttpService httpService = new HttpService();
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = modFinshTask.TaskNo,
			PalletNo = modFinshTask.PalletNo,
			TaskType = ((int)modFinshTask.TaskType).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			modFinshTask.IsSuccess = TaskSuccessEnum.Success;
			_db.Updateable(modFinshTask).ExecuteCommand();
			HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
			}

			}


			@@ -271,6 +309,24 @@
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();

			if (modFinshTask.TaskType == TaskTypeEnum.Move)
			{
			var locatemove = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
			if (locatemove != null && locatemove.Make == "1")
			{
			locatemove.PalletNo = "";
			_db.Updateable(locatemove).ExecuteCommand();
			}
			}

			var locateIn = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.EndLocate);
			if (locateIn != null && locateIn.Make == "1")
			{
			locateIn.PalletNo = string.IsNullOrWhiteSpace(modFinshTask.PalletNo) ? "pall" : modFinshTask.PalletNo;
			_db.Updateable(locateIn).ExecuteCommand();
			}

			//反馈WMS系统任务完成
			if (modFinshTask.Origin == "WMS")
			{
			@@ -287,6 +343,9 @@
			_db.Updateable(modFinshTask).ExecuteCommand();
			HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
			}



			}

			//判断任务是否充电任务,下发开始充电命令
			@@ -476,12 +535,24 @@
			return;//前置任务未完成
			}
			}

			//小车状态
			var (resultCar, valueCar) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);

			//先复位
			var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
			var modPosTaskStatus2 = modDevice.listStation.FirstOrDefault(s => s.Text == "任务状态");
			var (resultTaskStatus2, valueTaskStatus2) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
			if (resultCar.IsSucceed && valueCar == 1 && resultTaskStatus2.IsSucceed && (valueTaskStatus2 == 0 \|\| valueTaskStatus2 == 1))
			{
			//先复位
			var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
			}
			else
			{
			return;
			}

			List<Result> listResult = new List<Result>();
			List<Result> listResult = new List<Result>();
			//获取小车任务号
			var carTaskNo = FourWayCarUtil.GetTaskNo();

			@@ -494,7 +565,7 @@
			}

			var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "写入任务号");
			listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));
			listResult.Add(plcConn.SetDBValueRepeat(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));

			var modNodeX = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标X");
			var modNodeY = modDevice.listStation.FirstOrDefault(s => s.Text == "节点坐标Y");
			@@ -528,19 +599,19 @@
			var epathz = ePath.Substring(4, 2);
			var epathn = ePath.Substring(6, 1);
			//写入交互位置
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), epathx));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), epathy));
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), epathz));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), epathn));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), epathx));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), epathy));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), epathz));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), epathn));
			}

			//这里是把后面的坐标全写0（为了防止上次任务坐标没被覆盖）
			while (posX <= 43097)
			{
			listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), "0"));
			listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), "0"));
			}
			if (listResult.All(s => s.IsSucceed))
			{
			@@ -552,62 +623,67 @@
			var devStation = "";
			var endLocate = modTask.EndRoadway;
			var carcon = new carConverModel();
			var ip = "";
			if (carcon.conveyorBei.Keys.Contains(endLocate))
			{
			text = "输送线北";
			ip = "10.26.254.10";
			devStation = carcon.conveyorBei[endLocate];
			}
			else if (carcon.conveyorNan.Keys.Contains(endLocate))
			{
			text = "输送线南";
			ip = "10.26.254.11";
			devStation = carcon.conveyorNan[endLocate];
			}
			if (text != "")
			{
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
			var modConn = new PLCUtil(modPlc);
			var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
			//var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
			//var modConn = new PLCUtil(modPlc);

			var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
			var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
			if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) != 720)
			if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) == 720)
			{
			modConn.Close();
			return;//放货工位没有读取成功或不是空闲
			}
			var listResultcon = new List<Result>();
			var listResultcon = new List<Result>();

			//任务号与托盘条码
			var modPosConverTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "任务号");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverTask.PosType, modDeviceConver.DbNumber, modPosConverTask.PlcPos, modTask.TaskId.ToString()));
			var modPosConverPallet = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "托盘条码");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverPallet.PosType, modDeviceConver.DbNumber, modPosConverPallet.PlcPos, modTask.PalletNo.ToString()));
			//任务号与托盘条码
			var modPosConverTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "任务号");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverTask.PosType, modDeviceConver.DbNumber, modPosConverTask.PlcPos, modTask.TaskId.ToString()));
			var modPosConverPallet = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "托盘条码");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverPallet.PosType, modDeviceConver.DbNumber, modPosConverPallet.PlcPos, modTask.PalletNo.ToString()));

			// 起始工位、目的工位
			var modPosConverStrLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "起始工位");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverStrLocat.PosType, modDeviceConver.DbNumber, modPosConverStrLocat.PlcPos, modDeviceConver.StationNum));
			var modPosConverEndLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "目的工位");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));
			// 起始工位、目的工位
			var modPosConverStrLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "起始工位");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverStrLocat.PosType, modDeviceConver.DbNumber, modPosConverStrLocat.PlcPos, modDeviceConver.StationNum));
			var modPosConverEndLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "目的工位");
			listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));

			if (listResultcon.All(s => s.IsSucceed))
			{
			var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "730");
			if (!plcResult.IsSucceed)
			if (listResultcon.All(s => s.IsSucceed))
			{
			modConn.Close();
			return;
			var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "730");
			if (!plcResult.IsSucceed)
			{
			//modConn.Close();
			return;
			}
			//添加任务明细
			var taskMonitor2 = new WcsTaskMonitor()
			{
			TaskNo = carTaskNext.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"写入指令730：工位是{modDeviceConver.StationNum}"
			};
			_db.Insertable(taskMonitor2).ExecuteCommand();
			}
			//添加任务明细
			var taskMonitor2 = new WcsTaskMonitor()
			{
			TaskNo = carTaskNext.TaskNo,
			PlcName = modDevice.Text,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"写入指令730：工位是{modDeviceConver.StationNum}"
			};
			_db.Insertable(taskMonitor2).ExecuteCommand();
			}

			modConn.Close();
			else if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) != 730)
			{
			return;
			}

			}


			@@ -1196,12 +1272,12 @@
			Log.Error(string.Format("输送线430:未找到对应的任务。"));
			break;
			}
			// 改变任务状态
			taskInfo.Status = TaskStatusEnum.Complete;
			taskInfo.FinishDate = DateTime.Now;
			//modTask.Levels = 999;
			_db.Updateable(taskInfo).ExecuteCommand();
			HubUtil.PublicTask(taskInfo.Adapt<WcsTaskOutput>());
			//// 改变任务状态
			//taskInfo.Status = TaskStatusEnum.Complete;
			//taskInfo.FinishDate = DateTime.Now;
			////modTask.Levels = 999;
			//_db.Updateable(taskInfo).ExecuteCommand();
			//HubUtil.PublicTask(taskInfo.Adapt<WcsTaskOutput>());
			// 插入任务明细
			var modInsertTaskMonitor = new WcsTaskMonitor()
			{
			@@ -1214,28 +1290,28 @@
			StartLocat = Convert.ToString(starVal),
			EndLocat = modDevice.StationNum,
			};
			if (taskInfo.Origin == "WMS")
			{
			// 反馈WMS
			var requestMode = new TaskRequestWMS()
			{
			TaskNo = taskInfo.TaskNo,
			PalletNo = taskInfo.PalletNo,
			TaskType = ((int)taskInfo.TaskType).ToString(),
			TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			};
			HttpService httpService = new HttpService();
			var modResponseTask = httpService.RequestTask(requestMode).Result;
			if (modResponseTask.StatusCode == 0)
			{
			modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完成";
			}
			else
			{
			Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			}
			}

			//if (taskInfo.Origin == "WMS")
			//{
			// // 反馈WMS
			// var requestMode = new TaskRequestWMS()
			// {
			// TaskNo = taskInfo.TaskNo,
			// PalletNo = taskInfo.PalletNo,
			// TaskType = ((int)taskInfo.TaskType).ToString(),
			// TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			// };
			// HttpService httpService = new HttpService();
			// var modResponseTask = httpService.RequestTask(requestMode).Result;
			// if (modResponseTask.StatusCode == 0)
			// {
			// modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完成";
			// }
			// else
			// {
			// Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
			// }
			//}

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();