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Administrator
4 天以前 8bc65cd3363d7148c356fe2eecca3590a9a3b4e0 
 Admin.NET/WCS.Application/PLC/PLCService.cs


@@ -8,7 +8,9 @@


using Elastic.Clients.Elasticsearch.Snapshot;


using Furion.Logging;


using IoTClient;


using MessagePack;


using NewLife.Reflection;


using Newtonsoft.Json;


using Org.BouncyCastle.Ocsp;


using SixLabors.ImageSharp.ColorSpaces;


using WCS.Application.Entity;


@@ -40,7 +42,7 @@


                    AGV(mod);                                       // AGV调度


                    break;


                case PLCTypeEnum.ShuttleCar: //穿梭车


                    //if (mod.PlcIdIP == "10.26.254.28") 


                    //if (mod.PlcIdIP == "10.26.254.28")


                    //{


                    //    break;


                    //}


@@ -191,6 +193,30 @@


                            } 


                            if (carTask != null && carTask.Status != TaskStatusEnum.Complete)


                            {


                                //查找该任务的上一条子任务完成时间和当前时间间隔，如果间隔时间太短说明有问题，等3秒后再执行


                                var carTaskAfter = _db.Queryable<WcsCarTasks>().First(m => m.IsDelete == false && m.Status == TaskStatusEnum.Complete && m.CarTaskNo == valueTaskStr - 1


                                && m.CarNo == modDevice.PlcIdIP && m.TaskNo == carTask.TaskNo);


                                if (carTaskAfter != null)


                                {


                                    if (carTaskAfter.Status != TaskStatusEnum.Complete || carTaskAfter.UpdateTime == null)


                                    {


                                        Log.Error($"四向车第二条子任务反馈完成时间异常:{carTaskNext.TaskNo}");


                                        Thread.Sleep(3000);


                                        break;


                                    }


                                    else


                                    {


                                        TimeSpan difference = DateTime.Now - Convert.ToDateTime(carTaskAfter.UpdateTime);


                                        double seconds = difference.TotalSeconds;


                                        if (seconds < 3)


                                        {


                                            Log.Error($"四向车第二条子任务反馈完成时间异常:{carTaskNext.TaskNo}");


                                            Thread.Sleep(3000);


                                            break;


                                        }


                                    }                                        


                                }




                                carTask.Status = TaskStatusEnum.Complete;


                                carTask.UpdateTime = DateTime.Now;


                                _db.Updateable(carTask).ExecuteCommand();


@@ -209,6 +235,19 @@


                            }


                            //获取路径2的任务 下发


                            carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();


                            //carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing && m.CarTaskNo != valueTaskStr).OrderBy(m => m.CreateTime).First();


                            if (carTaskNext != null)


                            {


                                if (carTaskNext.CarTaskNo != null && carTaskNext.CarTaskNo < valueTaskStr)


                                {


                                    carTaskNext.Status = TaskStatusEnum.Complete;


                                    carTaskNext.UpdateTime = DateTime.Now;


                                    _db.Updateable(carTaskNext).ExecuteCommand();




                                    carTaskNext = null;


                                    Log.Error($"四向车第一条子任务没自动完成:{carTaskNext.TaskNo}");


                                }


                            }


                            //总任务下没有其他未执行小车的任务 变更总任务信息


                            if (carTaskNext == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)


                            {


@@ -542,18 +581,23 @@




                    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))


                    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");


                        var carnew = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();




                        if (carnew == null) 


                        {


                            //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();




@@ -1430,10 +1474,17 @@


            


            if (taskModel.taskType == "DPJRK")


            {


                //var code = "[{\"type\":\"SITE\",\"code\":\"B100101\"},{\"type\":\"PILE_COUNT\",\"code\":\"8\"}]";


                var code = new List<object>()


                {


                    new {type = "SITE" , code = modTask.StartLocate},


                    new { type = "PILE_COUNT", code = modTask.Qty }


                };


                


                taskModel.targetRoute.Add(new targetRoute() { 


                    seq = 0,


                    type = "MIX_CONDITION",


                   // code = "[{\"type":\"SITE", code = modTask.StartLocate },new { type = "PILE_COUNT", code = modTask.Qty }]"


                    code = JsonConvert.SerializeObject(code) // "[{\"type":\"SITE", code = modTask.StartLocate },new { type = "PILE_COUNT", code = modTask.Qty }]"






                });