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/PLCService.cs

@@ -1749,8 +1749,22 @@


                    #endregion
                    
                }
                break;
            #region 小车可放信号
            case "150":
                { // 获取工位任务号信息
                    var strMsg = "";
                    var http = new HttpService();
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    // 获取托盘任务号
                    var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                    var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                }
                break;
            #endregion

            default: break;
        }
@@ -1816,10 +1830,13 @@
                            // 通道号
                            var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");

                            // 演示模式直接写入1分道
                            var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "1");
                            // 演示模式直接写入分道号
                            Random random = new Random();
                            int ranNumber = random.Next(2) == 0 ? 1 : 5;
                            var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, ranNumber.ToString());
                            if (ret.IsSucceed)
                            {
                                Log.Information(string.Format("分道成功，道号是：" + ranNumber));
                                // 写入流程控制字 2
                                var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
                                if (!retVal.IsSucceed)
@@ -2237,6 +2254,7 @@
                            }

                            var rowCount = _db.Updateable(boxInfo).ExecuteCommand();
                            Log.Information(string.Format("插码成功，箱码是："+ boxNo, modDevice.StationNum));
                            if (rowCount > 0)
                            {
                                // 插码成功
@@ -2381,12 +2399,12 @@
                                    }
                                    break;
                                }
                                // 组托成功后将信息存到log表
                                string sqlStr = $"insert into WCSBoxInfoLog select * from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
                                int insertCount = _db.Ado.ExecuteCommand(sqlStr);
                                if (insertCount > 0)
                                {
                                    // 组托成功后将信息存到log表
                                    string sqlStr2 = $"delete from WCSBoxInfoLog where  IsDelete=0 and PalletNo='{palletNo}'";
                                    string sqlStr2 = $"delete from WCSBoxInfo where  IsDelete=0 and PalletNo='{palletNo}'";
                                    _db.Ado.ExecuteCommand(sqlStr2);
                                }
                                
@@ -2487,7 +2505,7 @@
    private static void StackingRobot(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        if (modDevice.DbNumber == "DB131" && modDevice.DbNumber == "DB132" && modDevice.DbNumber == "DB133" && modDevice.DbNumber == "DB134")
        if (modDevice.DbNumber == "DB131" || modDevice.DbNumber == "DB132" || modDevice.DbNumber == "DB133" || modDevice.DbNumber == "DB134")
        {
            switch (modDevice.Value.ToString())
            {
@@ -2507,7 +2525,7 @@
                        // 根据任务号获取任务信息
                        if (res1.IsSucceed)
                        {
                            var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
                            var modTask = _db.Queryable<WcsTask>().First(m => m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
                            if (modTask == null)
                            {
                                Log.Error(string.Format($"出库任务未下发，请人工处理，无法拆垛！"));
@@ -2517,22 +2535,22 @@
                            //通过任务号和托盘号向WMS申请此托盘的拆垛信息
                            var http = new HttpService();
                            RequestBoxInfoCheckAll tasklist = http.RequestBoxCheckinfo(palletVal, tasknoVal);
                            if (!tasklist.Success.Contains("-1"))
                            if (tasklist.Success != -1)
                            {
                                //获取拆垛物料品种(需要增加物料判断，同一个物料号可能会出现不同的码垛规则)
                                var pz = _db.Queryable<WcsMateialPzInfo>().First(m => m.SkuNo == tasklist.list[0].SkuNo);
                                var pz = _db.Queryable<WcsMateialPzInfo>().First(m => m.SkuNo == tasklist.data.SkuNo);
                                //下发拆托规格，拆箱数和托盘上总箱数（不绑定机器人，拆垛任务信息只下发一次）
                                // 给PLC写入任务数据
                                var listResult = new List<Result>();
                                // 获取托盘规则
                                var Standard = modDevice.listStation.FirstOrDefault(m => m.Text == "规格");
                                listResult.Add(plcConn.SetPlcDBValue(Standard.PosType, modDevice.DbNumber, Standard.PlcPos, tasklist.list[0].Standard));
                                listResult.Add(plcConn.SetPlcDBValue(Standard.PosType, modDevice.DbNumber, Standard.PlcPos, pz.PZNo));
                                //抓箱数
                                var qty = modDevice.listStation.FirstOrDefault(m => m.Text == "拆箱数量");
                                listResult.Add(plcConn.SetPlcDBValue(qty.PosType, modDevice.DbNumber, qty.PlcPos, tasklist.list[0].Qty.ToString()));
                                listResult.Add(plcConn.SetPlcDBValue(qty.PosType, modDevice.DbNumber, qty.PlcPos, tasklist.data.Qty.ToString()));
                                //总箱数
                                var qtycount = modDevice.listStation.FirstOrDefault(m => m.Text == "总箱数");
                                listResult.Add(plcConn.SetPlcDBValue(qtycount.PosType, modDevice.DbNumber, qtycount.PlcPos, tasklist.list[0].QtyCount.ToString()));
                                listResult.Add(plcConn.SetPlcDBValue(qtycount.PosType, modDevice.DbNumber, qtycount.PlcPos, tasklist.data.QtyCount.ToString()));


                                // 是否写入成功