Merge branch 'master' into liudl

bklLiudl

2024-10-15 dd973f741617e3bbf5ecf11747ff71960991549c

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

@@ -64,35 +64,60 @@
                // 跺机空闲，获取出库任务、移库任务
                {
                    // 获取任务信息
                    var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
                    var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Asc)
                        .First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
                        && s.StartRoadway == modDevice.StationNum);
                    if (modTask == null)
                    {
                        break;
                    }

                    // 根据目标地址和巷道获取放货工位对应的排列层
                    PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
                        modTask.StartRoadway, modTask.EndRoadway);

                    // 目标工位不为null，需先判断放货工位是否空闲
                    if (!string.IsNullOrEmpty(taskInfo.EndStation))
                    //判断出库锁定是否打开
                    if (PLCTaskAction.boOutLock)
                    {
                        // 打开对应的输送线连接
                        var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
                        if (plcConveyorConn.Connected)
                        {
                            // 获取放货工位配置信息
                            var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
                            && m.DeviceType == DeviceTypeEnum.Business);
                        break;//出库锁定打开则不执行出库任务
                    }

                            var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
                            if (result.IsSucceed)
                    PlcTaskInfo taskInfo = new PlcTaskInfo();
                    if (modTask.TaskType == TaskTypeEnum.Move)
                    {
                        taskInfo = PLCCommon.GetEndPai(modTask.EndLocate.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
                                    modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
                                    modTask.EndLocate.Substring(6, 2));
                        
                    }
                    else 
                    {
                        // 根据目标地址和巷道获取放货工位对应的排列层
                        taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
                            modTask.StartRoadway, modTask.EndRoadway);

                        // 目标工位不为null，需先判断放货工位是否空闲
                        if (!string.IsNullOrEmpty(taskInfo.EndStation))
                        {
                            // 打开对应的输送线连接
                            var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
                            if (plcConveyorConn.Connected)
                            {
                                if (value.ToString() != "720")              // 720:放货空位空闲，可放货
                                // 获取放货工位配置信息
                                var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
                                && m.DeviceType == DeviceTypeEnum.Business);

                                var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
                                if (result.IsSucceed)
                                {
                                    Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
                                    if (value.ToString() != "720")              // 720:放货空位空闲，可放货
                                    {
                                        Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
                                        break;
                                    }
                                    else if (value.ToString() == "720") 
                                    {
                                        // 若空闲提前占用此工位，同工位出入公用口 放开此程序
                                        // var ret = plcConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "730");
                                    }
                                }
                                else
                                {
                                    break;
                                }
                            }
@@ -100,10 +125,6 @@
                            {
                                break;
                            }
                        }
                        else
                        {
                            break;
                        }
                    }

@@ -482,7 +503,7 @@

                                                    // 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
                                                    var taskModel = _db.Queryable<WcsTask>().First(w => w.TaskNo == modTask.TaskNo);
                                                    modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskModel.StartLocate).Select(s => s.LedIP).First();
                                                    modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskModel.EndLocate).Select(s => s.LedIP).First();

                                                    // led显示内容
                                                    LedDisplay(modDevice.LedIP, "工位:" + modDevice.StationNum, "出库中 ", "托盘号:" + modTask.PalletNo);
@@ -498,21 +519,22 @@
                            case TaskTypeEnum.Move:       // 移库任务
                                {
                                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                                    var result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
                                    var result = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}写入任务号失败");
                                        break;
                                    }
                                    result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
                                    result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}控制字写入30失败");
                                        Log.Error($"{modDevice.Text}控制字写入870失败");
                                        break;
                                    }
                                    // 改变任务状态
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now;
                                    modTask.Levels = 999;
                                    _db.Updateable(modTask).ExecuteCommand();
                                    //下发任务日志
                                    HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
@@ -534,8 +556,8 @@
                                        {
                                            TaskNo = modTask.TaskNo,
                                            PalletNo = modTask.PalletNo,
                                            TaskType = TaskTypeEnum.Move.ToString(),
                                            TaskStatus = TaskStatusEnum.Complete.ToString()
                                            TaskType = ((int)TaskTypeEnum.Move).ToString(),
                                            TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
                                        };
                                        HttpService httpService = new HttpService();
                                        var modResponseTask = httpService.RequestTask(requestMode).Result;
@@ -543,7 +565,10 @@
                                        {
                                            modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                            //修改储位信息 任务类型 执行状态 起始位置 目标位置

                                        }
                                        else
                                        {
                                            Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
                                        }
                                    }
                                    // 插入交互日志
@@ -695,7 +720,7 @@
        }
    }
    /// <summary>
    /// 堆垛机不空跑
    /// 不空跑
    /// </summary>
    /// <param name="modTask">操作完成的任务</param>
    /// <param name="plcConn">plc连接</param>
@@ -861,6 +886,10 @@
        var plcConn = modDevice.PLCUtil;
        // 获取楼层数ceshi
        var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
        if (louCeng == "") 
        {
            return;
        }
        switch (modDevice.Value.ToString())
        {
            case "320":
@@ -869,10 +898,10 @@
                    string strMsg = "";
                    string taskModel = "";
                    // 判断是否演示模式
                    if (PLCTaskAction.boDemo)
                    {
                        taskModel = "1";// 演示模式
                    }
                    //if (PLCTaskAction.boDemo)
                    //{
                    //    taskModel = "1";// 演示模式
                    //}
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
@@ -927,7 +956,6 @@
                break;
            case "330":
                {

                    // 写入任务 托盘移动 340

                    // 获取工位托盘码信息
@@ -944,6 +972,11 @@
                    {
                        // 此托盘没有对应的转移任务 led显示
                        break;
                    }
                    //判断入库锁定是否打开
                    if (PLCTaskAction.boEnterLock)
                    {
                        break;//入库锁定打开则不执行入库任务
                    }

                    // 获取巷道口入库工位
@@ -1256,7 +1289,7 @@

                        // 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
                        var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == modInsertTaskMonitor.TaskNo);
                        modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();
                        modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();

                        // led显示内容
                        LedDisplay(modDevice.LedIP, "到达工位:" + modDevice.StationNum, "出库完成 " + $"储位地址：{modInsertTaskMonitor.StartLocat}", "托盘号:" + palletVal);
@@ -1294,6 +1327,7 @@
                        // 改变任务状态
                        modTask.Status = TaskStatusEnum.Complete;
                        modTask.FinishDate = DateTime.Now;
                        modTask.Levels = 999;
                        _db.Updateable(modTask).ExecuteCommand();
                        HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                        // 插入任务明细 
@@ -1336,7 +1370,7 @@
                        // 通知任务界面任务已存在更新 请更新界面
                        HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        // led显示内容
                        modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
                        modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.EndLocate).Select(s => s.LedIP).First();
                        LedDisplay(modDevice.LedIP, "工位:" + modTask.StartLocate, $"拣选完成，托盘离开工位", "托盘号:" + modTask.PalletNo);
                    }
                    #endregion
@@ -1345,20 +1379,103 @@

            #endregion

            #region 叫空托盘跺
            case "50":
                // plc申请空托
                {
                    // 调用WMS空托出库接口，返回出库任务存入出库表
                    // 防止重复叫空托跺
                    var (res, palletVal) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
                    if (palletVal != 0) 
                    {
                        break;
                    }

                    // 写入
                    // 调用WMS空托出库接口，返回出库任务存入出库表
                    var strMsg = "";
                    var http = new HttpService();
                    strMsg = http.IssuePlnOutHouseWcs("1", "205");
                    if (!strMsg.Contains("-1"))
                    {
                        // 写入plc流程字60
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
                    }
                    else
                    {
                        // 申请巷道失败！LED显示
                        Log.Error(string.Format($"工位号：{modDevice.StationNum}申请空托跺失败:{strMsg};"));
                    }                    
                }
                break;
            case "80":
                // 空托盘跺已到位
                {
                    // 调用wms任务出库任务完成
                    // 获取跺机点位配置
                    var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                    var (res, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                    // 根据任务号获取任务信息
                    if (res.IsSucceed)
                    {
                        string tasknoVal = val.ToString();
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
                        if (modTask == null)
                        {
                            Log.Error(string.Format($"工位号：{modDevice.StationNum}空托盘到达，未找到对应的任务!任务号{tasknoVal};"));
                            break;
                        }
                        // 写入plc流程字90
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "90");
                        if (ret.IsSucceed)
                        {
                            // 改变任务状态
                            modTask.Status = TaskStatusEnum.Complete;
                            modTask.FinishDate = DateTime.Now;
                            modTask.Levels = 999;
                            _db.Updateable(modTask).ExecuteCommand();

                            HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                            var modTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                PalletNo = modTask.PalletNo,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modTask.StartLocate,
                                EndLocat = modTask.EndLocate,
                                InteractiveMsg = $"任务完成"
                            };
                            if (modTask.Origin == "WMS")
                            {
                                // 反馈WMS
                                var requestMode = new TaskRequestWMS()
                                {
                                    TaskNo = modTask.TaskNo,
                                    PalletNo = modTask.PalletNo,
                                    TaskType = ((int)TaskTypeEnum.Out).ToString(),
                                    TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
                                };
                                HttpService httpService = new HttpService();
                                var modResponseTask = httpService.RequestTask(requestMode).Result;
                                if (modResponseTask.StatusCode == 0)
                                {
                                    modTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                }
                                else
                                {
                                    Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
                                }
                            }
                            // 插入交互日志
                            _db.Insertable(modTaskMonitor).ExecuteCommand();
                            //下发任务日志
                            HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }
                    }                    
                }
                break;
            #endregion

            default: break;
        }

@@ -1663,23 +1780,62 @@
                            else 
                            {
                                // 获取入库任务信息
                                var taskModel = _db.Queryable<WcsTask>().First(m => m.TaskNo == TaskNo && m.IsDelete == false && m.Status == TaskStatusEnum.Wait);
                                var taskModel = _db.Queryable<WcsTask>().First(m => m.TaskNo == TaskNo && m.IsDelete == false && (m.Status == TaskStatusEnum.Wait || m.Status == TaskStatusEnum.Doing));
                                if (taskModel != null) 
                                {
                                    // 获取入库取货工位
                                    string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");     
                                    string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");

                                    // 写入托盘输送线码垛工位 目的工位，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
                                    var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue);
                                    if (retVal.IsSucceed)
                                    var listResult = new List<Result>();

                                    // 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
                                    listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue));    // 目标工位
                                    var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
                                    listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
                                    var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
                                    var taskTypeStr = (int)taskModel.TaskType;
                                    listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));

                                    if (listResult.All(s => s.IsSucceed))
                                    {
                                        // 写入码垛交互-组托回复流程字
                                        retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
                                        // 写入组托回复流程字
                                        var retVal1 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
                                        if (retVal1.IsSucceed)
                                        {
                                            // 将入库任务由正在执行改为正在执行
                                            taskModel.Status = TaskStatusEnum.Doing;
                                            _db.Updateable(taskModel).ExecuteCommand();

                                        // 将入库任务由正在执行改为正在执行
                                        taskModel.Status = TaskStatusEnum.Doing;
                                        _db.Updateable(taskModel).ExecuteCommand();
                                            // 插入任务明细 
                                            var modInsertTaskMonitor = new WcsTaskMonitor()
                                            {
                                                TaskNo = TaskNo,
                                                PlcId = modDevice.Id,
                                                PlcName = modDevice.Text,
                                                InteractiveMsg = $"写入指令50：申请巷道成功",
                                                PalletNo = palletNo,
                                                Status = TaskStatusEnum.Complete,
                                                StartLocat = modDevice.StationNum,
                                                EndLocat = strMsg,
                                            };
                                            // 插入交互日志
                                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                            // 通知任务界面任务已存在更新 请更新界面
                                            HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                        }
                                    }

                                    //// 写入托盘输送线码垛工位 目的工位，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
                                    //var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue);
                                    //if (retVal.IsSucceed)
                                    //{
                                    //    // 写入码垛交互-组托回复流程字
                                    //    retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");

                                    //    // 将入库任务由正在执行改为正在执行
                                    //    taskModel.Status = TaskStatusEnum.Doing;
                                    //    _db.Updateable(taskModel).ExecuteCommand();
                                    //}
                                }   
                            }
                        }
@@ -1724,19 +1880,43 @@
                                if (taskModel != null)
                                {
                                    // 获取入库取货工位
                                    string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");     
                                    string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");

                                    // 写入托盘输送线码垛工位 目的工位，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
                                    var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue);
                                    if (retVal.IsSucceed)
                                    var listResult = new List<Result>();
                                    // 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
                                    listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue));    // 目标工位
                                    var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
                                    listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
                                    var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
                                    var taskTypeStr = (int)taskModel.TaskType;
                                    listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));

                                    if (listResult.All(s => s.IsSucceed))
                                    {
                                        // 写入组托回复流程字
                                        retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
                                        var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
                                        if (retVal.IsSucceed) 
                                        {
                                            // 将入库任务由正在执行改为正在执行
                                            taskModel.Status = TaskStatusEnum.Doing;
                                            _db.Updateable(taskModel).ExecuteCommand();

                                            // 插入任务明细 
                                            var modInsertTaskMonitor = new WcsTaskMonitor()
                                            {
                                                TaskNo = TaskNo,
                                                PlcId = modDevice.Id,
                                                PlcName = modDevice.Text,
                                                InteractiveMsg = $"写入指令50：申请巷道成功",
                                                PalletNo = palletNo,
                                                Status = TaskStatusEnum.Complete,
                                                StartLocat = modDevice.StationNum,
                                                EndLocat = strMsg,
                                            };
                                            // 插入交互日志
                                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                            // 通知任务界面任务已存在更新 请更新界面
                                            HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                        }
                                    }
                                }