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Administrator

2025-05-25 5818ac31e7d82e611fa98c35e9a353319bebd3c3

 Admin.NET/WCS.Application/PLC/PLCService.cs

@@ -271,6 +271,22 @@
                                    modFinshTask.Status = TaskStatusEnum.Complete;
                                    modFinshTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modFinshTask).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>());
                                    }
                                }
                                
                                //判断任务是否充电任务,下发开始充电命令
@@ -281,19 +297,6 @@
                                    plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "2");
                                }

                                //反馈WMS系统 任务完成
                                //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>());
                            
                            }
                        }
@@ -541,14 +544,6 @@
                    }
                    if (listResult.All(s => s.IsSucceed))
                    {
                        var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "启动命令");
                        var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
                        if (result.IsSucceed)
                        {
                            carTaskNext.Status = TaskStatusEnum.Doing;
                            carTaskNext.CarTaskNo = carTaskNo;
                            _db.Updateable(carTaskNext).ExecuteCommand();

                            if (modTask.TaskType == TaskTypeEnum.Out)
                            {
                                #region 输送线 写入PLC 730
@@ -583,15 +578,15 @@

                                    //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.SetPlcDBValue(modPosConverTask.PosType, modDeviceConver.DbNumber, modPosConverTask.PlcPos, modTask.TaskId.ToString()));
                                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.SetPlcDBValue(modPosConverPallet.PosType, modDeviceConver.DbNumber, modPosConverPallet.PlcPos, modTask.PalletNo.ToString()));
                                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.SetPlcDBValue(modPosConverStrLocat.PosType, modDeviceConver.DbNumber, modPosConverStrLocat.PlcPos, modDeviceConver.StationNum));
                                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.SetPlcDBValue(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));
                                listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));

                                    if (listResultcon.All(s => s.IsSucceed))
                                    {
@@ -618,6 +613,16 @@

                                #endregion
                            }

                        var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "启动命令");
                        var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
                        if (result.IsSucceed)
                        {
                            carTaskNext.Status = TaskStatusEnum.Doing;
                            carTaskNext.CarTaskNo = carTaskNo;
                            _db.Updateable(carTaskNext).ExecuteCommand();

                            
                             
                            //清除小车空闲时间
                            var carTimeClear = _db.Queryable<WcsCarTime>().First(m=>m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
@@ -758,7 +763,7 @@
                        }

                        // 写入输送线退回指令
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
                        var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
                        if (ret.IsSucceed)
                        {
                            plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
@@ -779,7 +784,7 @@
                        }

                        // 写入输送线退回指令
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
                        var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
                        if (ret.IsSucceed)
                        {
                            plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
@@ -854,7 +859,7 @@
                        }

                        // 写入输送线退回指令
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
                        var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
                        if (ret.IsSucceed)
                        {
                            plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
@@ -899,17 +904,17 @@
                    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.TaskId.ToString()));
                    listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskId.ToString()));
                    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()));
                    listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
                    var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘条码");
                    listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                    listResult.Add(plcConn.SetPlcDBValueRepeat(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));
                    listResult.Add(plcConn.SetPlcDBValueRepeat(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));
                    listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));


                    if (listResult.All(s => s.IsSucceed))
@@ -1185,12 +1190,18 @@
                        var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);

                        int taskNoVal = Convert.ToInt32(taskVal);
                        var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskId == taskNoVal);
                        var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskId == taskNoVal && w.TaskType == TaskTypeEnum.Out);
                        if (taskInfo == null)
                        {
                            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>());
                        // 插入任务明细 
                        var modInsertTaskMonitor = new WcsTaskMonitor()
                        {
@@ -1203,6 +1214,27 @@
                            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));
                            }
                        }

                        // 插入交互日志
                        _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
@@ -1250,66 +1282,30 @@
                        

                        int tasknoVal = Convert.ToInt32(taskVal);
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.IsDelete == false && m.TaskId == tasknoVal);
                        var modTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.TaskId == tasknoVal);
                        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",
                            InteractiveMsg = $"写入指令450：{modDevice.StationNum}托盘离开工位",
                            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
                }
@@ -1376,7 +1372,7 @@
            }
        };
        var response = new HttpService().GenAgvSendTask(taskModel).Result;
        if (response.code == "0")
        if (response.code == "SUCCESS")
        {
            modTask.Status = TaskStatusEnum.Doing;
            _db.Updateable(modTask).ExecuteCommand();