| | |
|---|
| | | try |
|---|
| | | { |
|---|
| | | // 获取密集库未执行任务 根据创建时间排序 |
|---|
| | | var waitTask = _db.Queryable<WcsTask>().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(s => new {s.Levels, s.CreateTime}).First(); |
|---|
| | | var waitTask = _db.Queryable<WcsTask>().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar && string.IsNullOrWhiteSpace(s.StartLocate) && string.IsNullOrWhiteSpace(s.EndLocate)).OrderBy(s => new {s.Levels, s.CreateTime}).First(); |
|---|
| | | if (waitTask == null) |
|---|
| | | { |
|---|
| | | continue; |
|---|
| | |
|---|
| | | { |
|---|
| | | var modCarDl = plcPosition.FirstOrDefault(s => s.Text == "电池电量"); |
|---|
| | | var (resultDl, valueDl) = modbusUtil.GetDBValue(modCarDl.PosType, modCarDl.PlcPos); |
|---|
| | | if (resultDl.IsSucceed && valueDl> (int)FourWayCarDLEnum.Dl3) |
|---|
| | | if (resultDl.IsSucceed && valueDl> (int)FourWayCarDLEnum.Dl) |
|---|
| | | { |
|---|
| | | //写入结束充电命令 |
|---|
| | | var modCdEnd = plcPosition.FirstOrDefault(s => s.Text == "充电命令"); |
|---|
