JC34WCS.git - Gitblit

			@@ -53,6 +53,7 @@

			private static List<ModbusUtil> listModbusUtil = new List<ModbusUtil>();


			public static List<ModbusUtil> modbusUtilConn
			{
			get { return listModbusUtil; }
			@@ -87,6 +88,7 @@
			boDrumReversal = _sysConfigService.GetConfigValue<bool>("sys_DrumReversal").Result;
			boOutLock = _sysConfigService.GetConfigValue<bool>("sys_BoOutLock").Result;
			boEnterLock = _sysConfigService.GetConfigValue<bool>("sys_BoEnterLock").Result;

			}
			/// <summary>
			/// 初始化PLC连接
			@@ -210,15 +212,6 @@
			var (result, value) = modPlcUtil.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
			if (result.IsSucceed)
			{
			////如果是穿梭车，这里发送心跳
			//if (modPlc.Type == PLCTypeEnum.ShuttleCar)
			//{
			// var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
			// if (modHeart != null)
			// {
			// modPlcUtil.SetPlcDBValue(modHeart.PosType, modHeart.PlcPos, "1");
			// }
			//}
			//无流程跳出
			if (Convert.ToInt32(value) == 0)
			continue;
			@@ -339,7 +332,7 @@



			Thread.Sleep(3000);
			Thread.Sleep(2000);
			}
			catch (OperationCanceledException)
			{
			@@ -364,7 +357,7 @@
			{
			while (true)
			{
			Console.WriteLine("开启四向车任务自分配");
			//Console.WriteLine("开启四向车任务自分配");
			//取消线程关闭PLC连接
			if (cts.Token.IsCancellationRequested)
			{
			@@ -377,17 +370,93 @@
			}
			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();
			if (waitTask == null)
			{
			continue;
			}
			var starLocate = "";
			var endLocate = "";
			var taskceng = 0;
			//01010101: 01排 01列 01层 01深度-此项目不做判断
			var taskpai = int.Parse(waitTask.StartLocate.Substring(0, 2));
			var tasklie = int.Parse(waitTask.StartLocate.Substring(2, 2));
			var taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));

			if (waitTask.TaskType == TaskTypeEnum.In )
			{
			//入库任务起始巷道就是起始工位
			if (string.IsNullOrWhiteSpace(waitTask.StartRoadway) \|\| string.IsNullOrWhiteSpace(waitTask.EndLocate))
			{
			continue;
			}

			taskceng = int.Parse(waitTask.StartRoadway.Substring(4, 2));
			starLocate = waitTask.StartRoadway;
			endLocate = waitTask.EndLocate;
			}
			else if (waitTask.TaskType == TaskTypeEnum.Out)
			{
			taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));
			starLocate = waitTask.StartLocate;
			endLocate = waitTask.EndRoadway;

			#region 添加输送线与任务验证



			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 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
			}

			var gongwei = carcon.conveyorRuKu[endLocate];
			//判断任务
			var convarTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.StartLocate == gongwei
			&& m.Type == PLCTypeEnum.ConveyorLine && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing));
			if (convarTask != null)
			{
			continue;//放货工位有任务
			}
			}


			#endregion
			}
			else if (waitTask.TaskType == TaskTypeEnum.Move)
			{
			taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));
			starLocate = waitTask.StartLocate;
			endLocate = waitTask.EndLocate;
			}
			else
			{
			continue;
			}

			#region 获取当前任务所在层所有空闲小车

			// 获取有任务的小车编号
			@@ -417,7 +486,7 @@
			{
			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");
			@@ -425,6 +494,18 @@
			carErr = true;
			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);
			//var modCarju = plcPosition.FirstOrDefault(s => s.Text == "举升位置");
			//var (resultju, valueju) = modbusUtil.GetDBValue(modCarju.PosType, modCarju.PlcPos);
			//if (resultPall.IsSucceed && valuePall == 1 && resultPall.IsSucceed && valuePall != 1) //1顶货 2子通道 3主通道
			//{
			// break; //暂缓分配
			//}
			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)
			@@ -444,7 +525,7 @@
			{
			var carVal = ((int)valuex).ToString().PadLeft(2, '0') + ((int)valuey).ToString().PadLeft(2, '0') + ((int)valuez).ToString().PadLeft(2, '0');
			//小车到取货储位路径
			var d = FourWayCarUtil.GetCarPath(carVal, waitTask.StartLocate);
			var d = FourWayCarUtil.GetCarPath(carVal, starLocate);
			kXCarList.Add(new CarInfo()
			{
			CarPlcIp = modbusUtil.PlcIP,
			@@ -487,7 +568,7 @@
			//判断小车位置是否与任务的起始储位相同,不相同：获取小车到取货储位路径
			var carLocate = assignCar.X.ToString().PadLeft(2, '0')+assignCar.Y.ToString().PadLeft(2, '0')+ assignCar.Z.ToString().PadLeft(2, '0');
			//获取小车去取货储位任务路径
			var data1 = FourWayCarUtil.GetCarPath(carLocate, waitTask.StartLocate);
			var data1 = FourWayCarUtil.GetCarPath(carLocate, starLocate);
			var datas1 = FourWayCarUtil.GetCarPathUp(data1, 0);
			if (datas1 == null)
			{
			@@ -512,7 +593,7 @@
			typeStr2 = 0;
			}
			//获取小车去放货储位任务路径
			var data2 = FourWayCarUtil.GetCarPath(waitTask.StartLocate, waitTask.EndLocate, typeStr);
			var data2 = FourWayCarUtil.GetCarPath(starLocate, endLocate, typeStr);
			var datas2 = FourWayCarUtil.GetCarPathUp(data2, typeStr2);

			if (datas2 == null)