WCSNet6.git - Gitblit

			@@ -665,15 +665,12 @@
			/// </summary>
			/// <param name="modTask">操作完成的任务</param>
			/// <param name="plcConn">plc连接</param>
			private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn)
			/// <param name="modDevice">设备信息</param>
			private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn, WcsDeviceDto modDevice)
			{
			//列 todo:上面代码拿来的，这里不理解为啥是1,2 不是2,2？
			int col = modTask.EndLocate.Substring(1, 2).ToInt();
			int row = modTask.EndLocate.Substring(0, 2).ToInt();
			int storey = modTask.EndLocate.Substring(4, 2).ToInt();
			int deep = modTask.EndLocate.Substring(6, 2).ToInt();
			// 查询所有待执行的任务
			var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
			WcsTask modNextTask = null;
			switch (modTask.TaskType)
			{
			case TaskTypeEnum.In:
			@@ -696,6 +693,7 @@

			// todo: 写入modNext任务信息给plc
			Console.WriteLine($"入库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
			modNextTask = modNext;
			break;
			}
			}
			@@ -720,21 +718,106 @@

			// todo: 写入modNext任务信息给plc
			Console.WriteLine($"出库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
			modNextTask = modNext;
			break;
			}
			}
			break;
			case TaskTypeEnum.Move:
			{
			var modDevice = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
			var (result, value) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
			var modDevicePos = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
			var (result, value) = plcConn.GetPlcDBValue(modDevicePos.PosType, modDevicePos.DbNumber, modDevicePos.PlcPos);
			//当前堆垛机所在位置
			var height = Math.Round(value / 790000d * 200).ToInt();
			//todo:这里看能不能找到堆垛机所在位置在哪个排列层，优先寻找附近的任务？
			}
			break;
			}
			if (modNextTask != null)
			{
			// 获取转换后的起始排列层 06010101
			PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartRoadway.Substring(1, 2), modTask.StartLocate.Substring(2, 2),
			modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
			modTask.StartLocate.Substring(6, 2));

			// 给PLC写入任务数据
			var listResult = new List<Result>();
			// 任务号托盘号
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
			var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
			listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
			// 起始排列层
			var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
			listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
			var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
			listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
			var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
			listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
			// 目标放货工位(固定排列层)
			PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
			modTask.StartRoadway, modTask.EndRoadway);
			var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
			var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
			var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
			listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));

			// 是否写入成功
			if (listResult.All(s => s.IsSucceed))
			{
			// 写入跺机任务下发完成
			var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");

			// 将移库任务待执行改为正在执行
			_db.Updateable<WcsTask>()
			.SetColumns(s => s.Status == TaskStatusEnum.Doing)
			.Where(s => s.Id == modTask.Id)
			.ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			WcsTaskMonitor modInsertTaskMonitor;
			if (string.IsNullOrEmpty(taskInfo.EndStation))
			{
			// 同巷道移库
			modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{modTask.EndLocate}储位。",
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			};
			}
			else
			{
			// 出库任务跨巷道移库
			modInsertTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.Id,
			PlcName = modDevice.Text,
			InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{taskInfo.EndStation}工位。",
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Complete,
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			};
			}

			// 插入交互日志
			_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
			//下发任务日志
			HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			//修改led屏信息
			//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
			}
			}
			}


			/// <summary>
			/// 输送线业务处理