修改问题晚上充电逻辑

chengsc

2025-04-29 9a7c4fea85f85824dddeac9e6ce6ebb75ccee679

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

@@ -6,6 +6,7 @@
using Furion.Logging;
using IoTClient;
using NewLife.Reflection;
using SixLabors.ImageSharp.ColorSpaces;
using WCS.Application.Entity;
using WCS.Application.Util;

@@ -34,7 +35,7 @@
                    AGV(mod);                                       // AGV调度
                    break;
                case PLCTypeEnum.ShuttleCar: //穿梭车
                    //ShuttleCar(mod);
                    ShuttleCar(mod);
                    break;
                case PLCTypeEnum.RobotPalletizer:
                    RobotPalletizer(mod);//码垛机器人
@@ -169,70 +170,67 @@
                        int valueTaskStr = Convert.ToInt32(valueTask);
                        //获取任务信息 根据  任务号、小车编号
                        var carTask = _db.Queryable<WcsCarTasks>().First(m=>m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.CarTaskNo == valueTaskStr && m.CarNo == modDevice.PlcIdIP);
                        if (carTask == null)
                        if (carTask != null)
                        {
                            var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
                            plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//没有找到任务  复位
                            return;
                        }
                         
                        var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
                        if (modFinshTask == null)
                        {
                            break;//没有查询到总任务
                        }
                        //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();
                        
                        if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
                        {
                            carTask.Status = TaskStatusEnum.Complete;
                            carTask.UpdateTime = DateTime.Now;
                            _db.Updateable(carTask).ExecuteCommand();
                            //添加任务明细
                            var taskMonitor = new WcsTaskMonitor()
                            //var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
                            //plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//没有找到任务  复位
                            
                            var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
                            if (modFinshTask == null)
                            {
                                TaskNo = carTask.TaskNo,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"穿梭车反馈任务完成"
                            };
                            _db.Insertable(taskMonitor).ExecuteCommand();
                            //下发任务日志
                                break;//没有查询到总任务
                            } 
                            if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
                            {
                                carTask.Status = TaskStatusEnum.Complete;
                                carTask.UpdateTime = DateTime.Now;
                                _db.Updateable(carTask).ExecuteCommand();
                                //添加任务明细
                                var taskMonitor = new WcsTaskMonitor()
                                {
                                    TaskNo = carTask.TaskNo,
                                    PlcName = modDevice.Text,
                                    InteractiveMsg = $"穿梭车反馈任务完成"
                                };
                                _db.Insertable(taskMonitor).ExecuteCommand();
                                //下发任务日志
                            
                            HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                        //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)
                        {
                            modFinshTask.Status = TaskStatusEnum.Complete;
                            modFinshTask.FinishDate = DateTime.Now;
                            _db.Updateable(modFinshTask).ExecuteCommand();
                                HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
                            }
                            //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();
                            //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)
                            {
                                modFinshTask.Status = TaskStatusEnum.Complete;
                                modFinshTask.FinishDate = DateTime.Now;
                                _db.Updateable(modFinshTask).ExecuteCommand();
                            
                            //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>());
                            
                        }
                        
                    }
                    
                    var modStationX = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(X)");
                    var (resultx, valuex) = plcConn.GetDBValue(modStationX.PosType, modStationX.PlcPos);
                    var modStationY = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Y)");
                    var (resulty, valuey) = plcConn.GetDBValue(modStationY.PosType, modStationY.PlcPos);
                    var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
                    var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);
                                //判断任务是否充电任务,下发开始充电命令
                                if (modFinshTask.Levels == 888)
                                {
                                    //写入开始充电
                                    var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
                                    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>());
                            
                            }
                        }
                    }
                    
                    WcsTask modTask;
                    //要下发路径2任务
@@ -246,25 +244,144 @@
                    {
                        // 获取任务信息
                        modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP).OrderBy(m => m.Levels).OrderBy(m => m.CreateTime).First();
                        if (modTask == null)
                        if (modTask != null)
                        {
                            return;
                            carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
                        }
                        carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
                    }

                    //return;
                    if (modTask == null || carTaskNext == null)
                    //读取小车位置
                    var modStationX = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(X)");
                    var (resultx, valuex) = plcConn.GetDBValue(modStationX.PosType, modStationX.PlcPos);
                    var modStationY = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Y)");
                    var (resulty, valuey) = plcConn.GetDBValue(modStationY.PosType, modStationY.PlcPos);
                    var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
                    var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);
                    var carXYZ = valuex.ToString().PadLeft(2, '0') + valuey.ToString().PadLeft(2, '0') + valuez.ToString().PadLeft(2, '0');
                    if (modTask == null)
                    {
                        //判断小车是否有空闲时间记录 没有：添加  有：判断当前时间与记录时间是否满足5分钟 满足：添加让小车去充电任务
                        //读取小车电量
                        var modPosCarDl = modDevice.listStation.FirstOrDefault(s => s.Text == "电池电量");
                        var (resultDl, valueDl) = plcConn.GetDBValue(modPosCarDl.PosType, modPosCarDl.PlcPos);
                        if (resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl)
                        {
                            var endLocateCar = "";
                            if (valuez == 1)
                            {
                                endLocateCar = "210401";
                            }
                            else if (valuez == 2)
                            {
                                endLocateCar = "210402"; //011202
                            }
                            else
                            {
                                return; // 层数错误
                            }
                            var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
                            if (getCdTask == null)
                            {
                                //添加小车充电位置
                                WcsTask modCarTask = new WcsTask()
                                {
                                    TaskNo = _taskService.GetTaskCode(),
                                    TaskType = TaskTypeEnum.Move,
                                    Type = PLCTypeEnum.ShuttleCar,
                                    StartLocate = carXYZ,
                                    EndLocate = endLocateCar,
                                    PalletNo = "",
                                    Status = TaskStatusEnum.Wait,
                                    Levels = 888, //充电等级优先任务等级
                                    Origin = "WCS",
                                    CarIp = modDevice.PlcIdIP
                                };
                                _db.Insertable(modCarTask).ExecuteCommand();
                                HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
                            }
                            
                        }
                        else if(resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl2)
                        {
                            //判断小车是否有空闲时间记录 没有：添加  有：判断当前时间与记录时间是否满足5分钟 满足：添加让小车去充电任务
                            var carTime = _db.Queryable<WcsCarTime>().First(m => m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
                            if (carTime == null)
                            {
                                var carTimeAdd = new WcsCarTime()
                                {
                                    CarIp = modDevice.PlcIdIP,
                                    CarTime = DateTime.Now
                                };
                                _db.Insertable(carTimeAdd).ExecuteCommand();
                            }
                            else
                            {
                                if (carTime.CarTime == null)
                                {
                                    carTime.CarTime = DateTime.Now;
                                    carTime.UpdateTime = DateTime.Now;
                                    _db.Updateable(carTime).ExecuteCommand();
                                }
                                else
                                {
                                    var date1 = DateTime.Now;
                                    var data2 = (DateTime)carTime.CarTime;
                                    TimeSpan interval = date1 - data2;
                                    if (interval.TotalMinutes >= 5)
                                    {
                                        var endLocateCar = "";
                                        if (valuez == 1)
                                        {
                                            endLocateCar = "210401";
                                        }
                                        else if (valuez == 2)
                                        {
                                            endLocateCar = "210402";
                                        }
                                        else
                                        {
                                            return; // 层数错误
                                        }
                                        var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
                                        if (getCdTask == null)
                                        {
                                            //添加小车充电位置
                                            WcsTask modCarTask = new WcsTask()
                                            {
                                                TaskNo = _taskService.GetTaskCode(),
                                                TaskType = TaskTypeEnum.Move,
                                                Type = PLCTypeEnum.ShuttleCar,
                                                StartLocate = carXYZ,
                                                EndLocate = endLocateCar,
                                                PalletNo = "",
                                                Status = TaskStatusEnum.Wait,
                                                Levels = 888, //充电等级优先任务等级
                                                Origin = "WCS",
                                                CarIp = modDevice.PlcIdIP
                                            };
                                            _db.Insertable(modCarTask).ExecuteCommand();
                                            HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
                                        }
                                       
                                    }
                                }


                            }
                        }
                         
                        
                        return;
                    }
                    
                    if (carTaskNext == null)
                    {
                        return;
                    }
                    if (carTaskNext.Status == TaskStatusEnum.Doing)
                    {
                        Thread.Sleep(3000);
                        return;
                    }
                    
                    //判断当前任务是否还有前置任务未完成
                    var preStrs = carTaskNext.PreId.Split(';');
                    foreach (var preStr in preStrs)
@@ -280,6 +397,7 @@
                            return;//前置任务未完成
                        }
                    }

                    //先复位
                    var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
                    plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
@@ -287,7 +405,15 @@
                    List<Result> listResult = new List<Result>();
                    //获取小车任务号
                    var carTaskNo = FourWayCarUtil.GetTaskNo();
                    

                    //判断任务是否充电任务
                    if (modTask.Levels == 888)
                    {
                        //写入充电命令
                        var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
                        listResult.Add(plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "1"));
                    }

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

@@ -347,6 +473,13 @@
                            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);
                            if (carTimeClear!= null)
                            {
                                carTimeClear.CarTime = null;
                                carTimeClear.UpdateTime = DateTime.Now;
                                _db.Updateable(carTimeClear).ExecuteCommand();
                            }
                            var taskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = carTaskNext.TaskNo,