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Administrator
2025-06-10 13a442afefdddf1ec9ecd1e22c81735bf5c6a465 
 Admin.NET/WCS.Application/PLC/PLCTaskAction.cs


@@ -332,7 +332,7 @@








                        Thread.Sleep(5000);


                        Thread.Sleep(2000);


                    }


                    catch (OperationCanceledException)


                    {


@@ -407,29 +407,31 @@




                        var text = "";


                        var devStation = "";


                        var ip = "";


                        var carcon = new carConverModel();


                        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 modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);


                            //var modConn = new PLCUtil(modPlc);


                            var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);


                            var modDevice = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);


                            var (plcResult, palletVal) = modConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);


                            if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) != 720)


                            {


                                continue;//放货工位没有读取成功或不是空闲


                            }


                            modConn.Close();




                            var gongwei = carcon.conveyorRuKu[endLocate];


                            //判断任务


@@ -493,6 +495,12 @@


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


                                    }


                                }


                                var modCarPall = plcPosition.FirstOrDefault(s => s.Text == "托盘检测");


                                var (resultPall, valuePall) = modbusUtil.GetDBValue(modCarPall.PosType, modCarPall.PlcPos);


                                if (resultPall.IsSucceed && valuePall  == 1)  //1有托盘 2无托盘


                                {


                                    break; //暂缓分配 


                                }


                                //小车空闲加入集合


                                if (value == 1)


                                {