修改测试问题

IPC-610

2024-09-24 2fa5c9b94f81fca759daee763bdf8189ec728a33

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

@@ -10,6 +10,7 @@
using System;
using System.Data;
using System.Reflection.Emit;
using WCS.Application.Entity;
using WCS.Application.Util;

namespace WCS.Application;
@@ -26,16 +27,16 @@
            switch (mod.Type)
            {
                case PLCTypeEnum.StackingMachine:
                    StackingMachine(mod);
                    StackingMachine(mod);                           // 跺机
                    break;
                case PLCTypeEnum.ConveyorLine:
                    ConveyorLine(mod);
                    ConveyorLine(mod);                              // 托盘输送线
                    break;
                case PLCTypeEnum.AGV:
                    AGV(mod);
                    AGV(mod);                                       // AGV调度
                    break;
                case PLCTypeEnum.PalletMachine:
                    PalletMachine(mod);
                case PLCTypeEnum.RobotPalletizer:
                    RobotPalletizer(mod);                             // 码垛机器人
                    break;
                case PLCTypeEnum.StackingRobot:
                    PalletMachine(mod);
@@ -332,7 +333,7 @@
                            //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);
                    }
@@ -397,7 +398,7 @@
                                        {
                                            modTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                        }
                                        else 
                                        else
                                        {
                                            Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
                                        }
@@ -697,15 +698,12 @@
    /// </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:
@@ -728,6 +726,7 @@

                        // 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;
                    }
                }
@@ -752,19 +751,103 @@

                        // 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);
            }
        }
    }

@@ -843,7 +926,7 @@
                break;
            case "330":
                {
                   

                    // 写入任务 托盘移动 340

                    // 获取工位托盘码信息
@@ -1279,7 +1362,143 @@
    /// <param name="modDevice"></param>
    private static void PalletMachine(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString()) 
        {
            case "220":
                // 注释1
                {
                    
                }
                break;
            case "230":
                // 注释2
                { 
                
                }
                break;
            case "240":
                {

                }
                break;
            default: break;
        }
    }

    /// <summary>
    /// 码垛机器人业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void RobotPalletizer(WcsDeviceDto modDevice) 
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString())
        {
            case "1":
                // 主扫申请分道 wcs写入2
                {

                    var taskModel = "";
                    // 判断是否演示模式
                    if (PLCTaskAction.boDemo)
                    {
                        // 演示模式
                        taskModel = "1";

                        // 直接
                    }
                    else 
                    {
                        // 通道号
                        var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");

                        // 读取plc箱码
                        var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "箱码");
                        var (res, boxNo) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modBoxNo.PlcPos);
                        if (string.IsNullOrWhiteSpace(boxNo.ToString()))
                        {
                            // 箱码为null写入剔除通道号
                            var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
                            if (ret.IsSucceed)
                            {
                                // 写入流程控制字 2
                                var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
                                if (retVal.IsSucceed)
                                {
                                    Log.Error("箱码为null进行剔除");
                                    break;
                                }
                            }
                        }
                        else 
                        {
                            // 根据箱码获取箱内信息
                            string boxNoVal = boxNo.ToString();
                            var boxInfo = _db.Queryable<WcsBoxInfo>().First(w => w.IsDelete == false && w.BoxNo == boxNoVal && string.IsNullOrEmpty(w.PalletNo));
                            if (boxInfo == null)
                            {
                                // 箱信息为null写入剔除通道号
                                var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
                                if (ret.IsSucceed)
                                {
                                    // 写入流程控制字 2
                                    var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
                                    if (retVal.IsSucceed)
                                    {
                                        Log.Error("箱码为null或已绑定托盘，进行剔除。");
                                        break;
                                    }
                                }
                            }
                            // 根据箱内品种号获取码躲绑定工位及对应的分道号
                            var checkTaskInfo = _db.Queryable<WcsCheckTask>().First(w => w.SkuNo == boxInfo.SkuNo && w.SkuName == boxInfo.SkuName && w.LotNo == boxInfo.LotNo);
                            if (checkTaskInfo == null)
                            {
                                // 绑定信息为null写入剔除通道号
                                var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
                                if (ret.IsSucceed)
                                {
                                    // 写入流程控制字 2
                                    var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
                                    if (retVal.IsSucceed)
                                    {
                                        Log.Error("箱码未绑定分拣任务，进行剔除。");
                                        break;
                                    }
                                }
                            }
                            else
                            {
                                // 与plc交互写入分道号和流程控制字
                                var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, checkTaskInfo.RoboatNo);
                                if (ret.IsSucceed)
                                {
                                    // 写入流程控制字 2
                                    var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
                                    if (retVal.IsSucceed)
                                    {
                                        break;
                                    }
                                }
                            }                            
                        }
                    }
                }
                break;
            case "230":
                // 注释2
                {

                }
                break;
            case "240":
                {

                }
                break;
            default: break;
        }
    }

    /// <summary>