演示模式修改为2个机器人同时分道

liudl

2025-02-16 c58ba7324d1ca0eb0941ac2762334c19d7d92e3f

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

@@ -1,4 +1,6 @@
using Microsoft.AspNetCore.SignalR;
using Elastic.Clients.Elasticsearch.Tasks;
using Furion.Logging;
using Microsoft.AspNetCore.SignalR;
using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
using System;
using System.Collections.Generic;
@@ -22,7 +24,7 @@
    public static PlcTaskInfo GetCTaskInfo(string endLocat,string taskType,string roadWay,string endRoadWay) 
    {
        // 各层输送线跺机放货工位集合
        var conveyList1 = new List<string>() { "033", "039", "044", "051", "059" };
        var conveyList1 = new List<string>() { "033", "039", "044", "051", "059","009" };
        var conveyList2 = new List<string>() { "205", "234" };
        var conveyList3 = new List<string>() { "440", "443" };

@@ -30,13 +32,14 @@
        taskInfo.EndCeng = "3";
        taskInfo.EndLie = "65";
        taskInfo.EndPai = int.Parse(roadWay.Substring(1,2)).ToString();
        

        // 移库任务
        if (taskType == "2") 
        {
            if (roadWay == endRoadWay)                                              // 同巷道移库,获取目标地址
            {
                taskInfo = GetEndPai(endLocat.Substring(1, 2), endLocat.Substring(0, 2), endLocat.Substring(4, 2), endLocat.Substring(6, 2));
                taskInfo = GetEndPai(endRoadWay.Substring(1, 2),endLocat.Substring(2, 2), endLocat.Substring(0, 2), endLocat.Substring(4, 2), endLocat.Substring(6, 2));
            }
            else                                                                    // 跨巷道移库，获取三楼出库口
            {
@@ -206,6 +209,114 @@
            }

        }
        //根据巷道口和层数确认出库工位排


        switch (roadWay)
        {
            case "R01":

                if (taskInfo.EndCeng == "1")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R02":

                if (taskInfo.EndCeng == "1")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R03":
                if (taskInfo.EndCeng == "1")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R04":
                if (taskInfo.EndCeng == "1")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R05":
                if (taskInfo.EndCeng == "1")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R06":
                if (taskInfo.EndCeng == "1" || taskInfo.EndCeng == "2" )
                {
                    taskInfo.EndPai = "2";
                }
                if ( taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R07":
                if (taskInfo.EndCeng == "1" )
                {
                    taskInfo.EndPai = "2";
                }
                if ( taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R08":
                if (taskInfo.EndCeng == "1")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R09":
                if (taskInfo.EndCeng == "1")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "2" || taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
            case "R10":
                if (taskInfo.EndCeng == "1" || taskInfo.EndCeng == "2")
                {
                    taskInfo.EndPai = "2";
                }
                if (taskInfo.EndCeng == "3")
                {
                    taskInfo.EndPai = "3";
                }
                break;
        }

        return taskInfo;
    }
@@ -215,80 +326,83 @@
    /// </summary>
    /// <param name="startStation"></param>
    /// <returns></returns>
    public static PlcTaskInfo GetPlcIp(string startStation) 
    public static PLCUtil GetPlcIp(string startStation) 
    {
        PlcTaskInfo taskInfo = new PlcTaskInfo();

        var conveyList1 = new List<string>() { "147", "145", "139", "137", "129", "127", "121", "119", "111", "109", "103", "101", "093", "091", "085", "083", "075", "073", "067", "065" };
        var conveyList2 = new List<string>() { "252", "254", "260", "262", "272", "272", "278", "280", "288", "290", "294", "301", "307", "309", "315", "317", "325", "327", "331", "337" };
        var conveyList3 = new List<string>() { "401", "402", "405", "406", "409", "410", "413", "414", "417", "418", "421", "422", "425", "426", "429", "430", "433", "434", "437", "438" };
        startStation = startStation.PadLeft(3, '0');
        string strIp = "";
        var conveyList1 = new List<string>() { "147", "145", "139", "137", "129", "127", "121", "119", "111", "109", "103", "101", "093", "091", "085", "083", "075", "073", "067", "065","033","039","044" ,"051","059","009"};
        var conveyList2 = new List<string>() { "205", "234", "252", "254", "260", "262", "270", "272", "278", "280", "288", "290", "294", "301", "307", "309", "315", "317", "325", "327", "331", "337" };
        var conveyList3 = new List<string>() { "401", "402", "405", "406", "409", "410", "413", "414", "417", "418", "421", "422", "425", "426", "429", "430", "433", "434", "437", "438", "440", "443" };
        if (conveyList1.Contains(startStation))
        {
            taskInfo.Ip = "10.18.51.110";
            strIp = "10.18.51.110";
        }
        else if (conveyList2.Contains(startStation))
        {

            taskInfo.Ip = "10.18.51.120";
            strIp = "10.18.51.120";
        }
        else if (conveyList3.Contains(startStation))
        {

            taskInfo.Ip = "10.18.51.130";
            strIp = "10.18.51.130";
        }
        else
        {
            throw new Exception("工位未查询到");
            throw Oops.Bah("工位未查询到");
        }

        return taskInfo;
        var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == strIp);
        return plcConveyorConn;
    }

    /// <summary>
    /// 根据wms目标地址转换为Plc目标地址
    /// 根据wms目标地址转换为Plc目标地址   03010301
    /// </summary>
    /// <param name="lie">列</param>
    /// <param name="pai">排</param>
    /// <param name="road">巷道02</param>
    /// <param name="lie">列01</param>
    /// <param name="pai">排03</param>
    /// <param name="ceng">层</param>
    /// <param name="dept">深度</param>
    /// <param name="dept">深度01</param>
    /// <returns></returns>
    public static PlcTaskInfo GetEndPai(string lie, string pai,string ceng, string dept) 
    public static PlcTaskInfo GetEndPai(string road,string lie, string pai,string ceng, string dept) 
    {
        var roadNum = int.Parse(lie);
        var roadNum = int.Parse(road);
        var lieNum = int.Parse(lie);
        var paiNum = int.Parse(pai);
        var cengNum = int.Parse(ceng);
        var deptNum = int.Parse(dept);

        var paiVal = 0;
        // 判断巷道奇偶数
        if (roadNum % 2 == 0)// 偶数
        {
            // 判断排奇偶数
            if (paiNum % 2 == 0)
            {
                if (deptNum == 1)
                {
                    paiVal = 3;
                }
                else
                {
                    paiVal = 4;
                }
            }
            else
            {
                if (deptNum == 1)
                {
                    paiVal = 1;
                }
                else
                {
                    paiVal = 2;
                }
            }
        //if (roadNum % 2 == 0)// 偶数
        //{
        //    // 判断排奇偶数
        //    if (paiNum % 2 == 0)
        //    {
        //        if (deptNum == 1)
        //        {
        //            paiVal = 3;
        //        }
        //        else
        //        {
        //            paiVal = 4;
        //        }
        //    }
        //    else
        //    {
        //        if (deptNum == 1)
        //        {
        //            paiVal = 2;
        //        }
        //        else
        //        {
        //            paiVal = 1;
        //        }
        //    }

        }
        else   // 奇数
        {
        //}
        //else   // 奇数
        //{
            // 判断排奇偶数
            if (paiNum % 2 == 0)
            {
@@ -314,13 +428,16 @@

                }
            }
        }
        //}

        PlcTaskInfo taskInfo = new PlcTaskInfo();
        taskInfo.EndPai = pai;
        taskInfo.EndCeng = ceng;
        taskInfo.EndLie = paiVal.ToString();

        taskInfo.EndPai = paiVal.ToString();
        taskInfo.EndCeng = cengNum.ToString();
        taskInfo.EndLie = lieNum.ToString() ;
        if (taskInfo.EndPai == "0" || taskInfo.EndCeng == "0" || taskInfo.EndLie == "0")
        {
            throw new Exception("排列层转换失败");
        }
        return taskInfo;
    }
    
@@ -488,6 +605,8 @@
    /// <returns>跺机联机</returns>
    public static string GetRoadwayByStation(string StationNum)
    {
        StationNum = StationNum.PadLeft(3, '0');

        string value = "";
        var conveyList1 = new List<string>() { "147", "145", "252", "254", "401", "402", };
        var conveyList2 = new List<string>() { "139", "137", "260", "262", "405", "406", };
@@ -552,28 +671,46 @@
    public static string GetRoadwayByStationNew(string StationNum)
    {
        string value = "";
        var conveyList1 = new List<string>() { "147", "145", "139", "137", "129", "127", "121", "119", "111", "109", "103", "101", "093", "091", "085", "083", "075", "073", "067", "065" };
        var conveyList2 = new List<string>() { "252", "254", "260", "262", "272", "270", "278", "280", "288", "290", "294", "301", "307", "309", "315", "317", "325", "327", "331", "337" };
        var conveyList3 = new List<string>() { "401", "402", "405", "406", "409", "410", "413", "414", "417", "418", "421", "422", "425", "426", "429", "430", "433", "434", "437", "438" };
        //var conveyList1 = new List<string>() { "147", "145", "139", "137", "129", "127", "121", "119", "111", "109", "103", "101", "093", "091", "085", "083", "075", "073", "067", "065" };
        //var conveyList2 = new List<string>() { "252", "254", "260", "262", "272", "270", "278", "280", "288", "290", "294", "301", "307", "309", "315", "317", "325", "327", "331", "337" };
        //var conveyList3 = new List<string>() { "401", "402", "405", "406", "409", "410", "413", "414", "417", "418", "421", "422", "425", "426", "429", "430", "433", "434", "437", "438" };

        if (conveyList1.Contains(StationNum))
       var ipInfo = _db.Queryable<WcsPlc>().Where(s =>  s.Type == PLCTypeEnum.ConveyorLine && s.IsDelete == false).ToList();  //s.Type == PLCTypeEnum.StackingMachine ||
        var ip1 = ipInfo.First(m => m.Text == "1层托盘输送线");
        var ip2 = ipInfo.First(m => m.Text == "2层托盘输送线");
        var ip3 = ipInfo.First(m => m.Text == "3层托盘输送线");

        if (ip1 != null) 
        {
            value = "1";
        }
        else if (conveyList2.Contains(StationNum))
        {
            value = "2";
        }
        else if (conveyList3.Contains(StationNum))
        {
            value = "3";
        }
        else
        {
            throw new Exception("工位未查询到");
            var dev1 = PLCTaskAction.plcDevices.Where(m => m.IsDelete == false && m.PlcId == ip1.Id).Select(m => m.StationNum).ToList();
            if (dev1.Contains(StationNum))
            {
                value = "1";
                return value;
            }
        }

        return value;
        if (ip2 != null)
        {
            var dev2 = PLCTaskAction.plcDevices.Where(m => m.IsDelete == false && m.PlcId == ip2.Id).Select(m => m.StationNum).ToList();
            if (dev2.Contains(StationNum))
            {
                value = "2";
                return value;
            }
        }

        if (ip3 != null)
        {
            var dev3 = PLCTaskAction.plcDevices.Where(m => m.IsDelete == false && m.PlcId == ip3.Id).Select(m => m.StationNum).ToList();
            if (dev3.Contains(StationNum))
            {
                value = "3";
                return value;
            }
        }

        return "";
    }

    /// <summary>
@@ -679,11 +816,11 @@


    /// <summary>
    /// 根据储位排获取跺机对应的地址排
    /// 根据储位排获取跺机对应的地址排03010302
    /// </summary>
    /// <param name="road">排</param>
    /// <param name="pai">排</param>
    /// <param name="dept">深度</param>
    /// <param name="road">排02</param>
    /// <param name="pai">排03</param>
    /// <param name="dept">深度02</param>
    /// <returns></returns>
    public static int GetDjAdress(string road, string pai, string dept)
    {
@@ -692,36 +829,36 @@
        var deptNum = int.Parse(dept);

        var paiVal = 0;
        // 判断巷道奇偶数
        if (roadNum % 2 == 0)// 偶数
        {
            // 判断排奇偶数
            if (paiNum % 2 == 0)
            {
                if (deptNum == 1)
                {
                    paiVal = 3;
                }
                else
                {
                    paiVal = 4;
                }
            }
            else
            {
                if (deptNum == 1)
                {
                    paiVal = 1;
                }
                else
                {
                    paiVal = 2;
                }
            }
        //// 判断巷道奇偶数
        //if (roadNum % 2 == 0)// 偶数
        //{
        //    // 判断排奇偶数
        //    if (paiNum % 2 == 0)
        //    {
        //        if (deptNum == 1)
        //        {
        //            paiVal = 3;
        //        }
        //        else
        //        {
        //            paiVal = 4;
        //        }
        //    }
        //    else
        //    {
        //        if (deptNum == 1)
        //        {
        //            paiVal = 2;
        //        }
        //        else
        //        {
        //            paiVal = 1;
        //        }
        //    }

        }
        else   // 奇数
        {
        //}
        //else   // 奇数
        //{
            // 判断排奇偶数
            if (paiNum % 2 == 0)
            {
@@ -747,8 +884,12 @@

                }
            }
        //}
        if (paiVal == 0)
        {
            Log.Error("排转换失败!");
            throw new Exception("排转换失败");
        }

        return paiVal;

    }