堆垛机出库、移库完成

hwh

2024-09-11 cadb2a18458e425c62f60bfc738ee1fc517773c4

堆垛机出库、移库完成

 Admin.NET/WCS.Application/Model/TaskRequest.cs

@@ -4,7 +4,7 @@
{
    public string TaskNo { get; set; }                          // 任务号
    public string PalletNo { get; set; }                        // 托盘号
    public string TaskType { get; set; }                        // 任务类型
    public TaskTypeEnum TaskType { get; set; }                        // 任务类型
    public TaskStatusEnum TaskStatus { get; set; }                      // 任务状态 0 等待执行 1 正在执行 2 执行完成 3 异常结束   4 任务取消
}
public class ResponseTasks

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

@@ -1,4 +1,5 @@
using Microsoft.AspNetCore.SignalR;
using Elastic.Clients.Elasticsearch.Tasks;
using Microsoft.AspNetCore.SignalR;
using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
using System;
using System.Collections.Generic;
@@ -215,33 +216,32 @@
    /// </summary>
    /// <param name="startStation"></param>
    /// <returns></returns>
    public static PlcTaskInfo GetPlcIp(string startStation) 
    public static PLCUtil GetPlcIp(string startStation) 
    {
        PlcTaskInfo taskInfo = new PlcTaskInfo();

        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" };
        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" };
        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>

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

@@ -7,6 +7,7 @@
using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
using System.Data;
using System.Reflection.Emit;

namespace WCS.Application;
public static class PLCService
@@ -52,7 +53,7 @@
    /// 跺机业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static async void StackingMachine(WcsDeviceDto modDevice)
    private static void StackingMachine(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString())
@@ -61,8 +62,8 @@
                // 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)
                        .First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move) 
                    var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
                        .First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
                        && s.StartRoadway == modDevice.StationNum);
                    if (modTask == null)
                    {
@@ -70,11 +71,11 @@
                    }

                    // 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, modTask.TaskType.ToString(), 
                    PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, 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)) 
                    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);
@@ -93,12 +94,12 @@
                                    break;
                                }
                            }
                            else 
                            else
                            {
                                break;
                            }
                        }
                        else 
                        else
                        {
                            break;
                        }
@@ -159,7 +160,7 @@
                                EndLocat = modTask.EndLocate,
                            };
                        }
                        else 
                        else
                        {
                            // 出库任务 跨巷道移库
                            modInsertTaskMonitor = new WcsTaskMonitor()
@@ -184,7 +185,7 @@
                    }
                }
                break;
            case "840": 
            case "840":
                // 取货完成
                {
                    // 获取跺机点位配置
@@ -193,11 +194,11 @@

                    var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工位");
                    var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
                    if (res.IsSucceed) 
                    if (res.IsSucceed)
                    {
                        // 获取任务信息
                        string tasknoVal = val.ToString();
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true); 
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
                        if (modTask == null)
                        {
                            Log.Error(string.Format("PLC控制字840:未找到对应的任务。"));
@@ -208,7 +209,7 @@
                        {
                            TaskNo = modTask.TaskNo,
                            PlcId = modDevice.Id,
                            PlcName = modDevice.Text, 
                            PlcName = modDevice.Text,
                            PalletNo = modTask.PalletNo,
                            Status = TaskStatusEnum.Complete,
                            StartLocat = modTask.StartLocate,
@@ -219,12 +220,11 @@
                            // 获取跺机起始工位点位配置,读取起始工位
                            var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
                            var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosStartStation.PlcPos);
                            if (startStationRes.IsSucceed) 
                            if (startStationRes.IsSucceed)
                            {
                                // 根据工位号获取对应的输送线IP
                                PlcTaskInfo taskInfo = PLCCommon.GetPlcIp(startStationVal);
                                var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
                                if (plcConveyorConn.Connected) 
                                var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
                                if (plcConveyorConn.Connected)
                                {
                                    // 向取货工位写入流程字640  取货已完成
                                    var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal
@@ -240,7 +240,7 @@
                                        StartLocat = startStationVal,
                                        EndLocat = modTask.EndLocate                  // 目标储位地址
                                    };
                                    if (!retc.IsSucceed) 
                                    if (!retc.IsSucceed)
                                    {
                                        modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640失败等待在次写入", startStationVal);
                                        // 插入交互日志
@@ -266,7 +266,7 @@

                                modInsertTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0}跺机取货完成850成功", startStationVal);
                                modInsertTaskMonitor.EndLocat = modTask.EndLocate;                  // 目标储位地址
                                                                                             // 插入交互日志
                                                                                                    // 插入交互日志
                                _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                //下发任务日志
                                _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
@@ -285,7 +285,7 @@
                            modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
                            modInsertTaskMonitor.EndLocat = endStation;                  // 放货工位
                        }
                        else 
                        else
                        {
                            // 写入流程控制字
                            var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
@@ -328,7 +328,7 @@
                            case TaskTypeEnum.In:
                                {
                                    var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
                                    if (!res870.IsSucceed) 
                                    if (!res870.IsSucceed)
                                    {
                                        Log.Error(string.Format("跺机控制字860写入870失败!"));
                                        break;
@@ -336,34 +336,172 @@

                                    // 改变任务状态
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now; 
                                    modTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modTask).ExecuteCommand();

                                    if (modTask.Origin == "WMS") 
                                    var modcTaskMonitor = 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 TaskRequest()
                                        {
                                            TaskNo = modTask.TaskNo,
                                            PalletNo = modTask.PalletNo,
                                            TaskType = "1",
                                            TaskType = TaskTypeEnum.In,
                                            TaskStatus = TaskStatusEnum.Complete
                                        };

                                        // 此处添加调用WMS接口 liudl
                                        HttpService httpService = new HttpService();
                                        var modResponseTask = httpService.RequestTask(requestMode).Result;
                                        if (modResponseTask.StatusCode == "0")
                                        {
                                            modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                        }
                                    }
                                    // 插入交互日志
                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                    //下发任务日志
                                    _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());

                                    // 此处添加不空跑业务
                                }
                                break;
                            case TaskTypeEnum.Out: // 出库任务
                                { 
                                    
                                {
                                    string roadway = modTask.StartRoadway;
                                    // 从出库任务获取放货工位
                                    string outCode = modTask.EndLocate;
                                    // 根据工位号获取对应的输送线IP
                                    var plcConveyorConn = PLCCommon.GetPlcIp(outCode);
                                    if (plcConveyorConn.Connected)
                                    {
                                        // 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, modTask.TaskType.ToString(),
                                            modTask.StartRoadway, modTask.EndRoadway);
                                        // 根据工位号获取工位信息
                                        var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
                                        // 读取当前工位各偏移量值
                                        var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();

                                        // 给PLC写入任务数据
                                        var listResult = new List<Result>();
                                        //任务号
                                        var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务号");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                                        //任务类型
                                        var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
                                        //托盘号
                                        var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                                        //起始工位
                                        var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
                                        // 目标工位
                                        var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));

                                        // 是否写入成功
                                        if (listResult.All(s => s.IsSucceed))
                                        {
                                            var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");

                                            if (result.IsSucceed)
                                            {
                                                // 写入跺机wcs控制字 返回垛机执行完成
                                                result = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
                                                if (result.IsSucceed)
                                                {
                                                    var modcTaskMonitor = new WcsTaskMonitor()
                                                    {
                                                        TaskNo = modTask.TaskNo,
                                                        PlcId = wcsDevice.Id,
                                                        PlcName = wcsDevice.Text,
                                                        PalletNo = modTask.PalletNo,
                                                        Status = TaskStatusEnum.Complete,
                                                        StartLocat = taskInfo.EndStation,
                                                        EndLocat = outCode,
                                                        InteractiveMsg = $"写入指令：收到跺机放货完成；放货{taskInfo.EndStation}工位===》{outCode}出库口"
                                                    };
                                                    // 插入交互日志
                                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                                    //下发任务日志
                                                    _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                                    break;
                                                }
                                            }
                                        }
                                        //此处添加不空跑业务
                                    }
                                }
                                break;
                            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);
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}写入任务号失败");
                                        break;
                                    }
                                    result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}控制字写入30失败");
                                        break;
                                    }
                                    // 改变任务状态
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modTask).ExecuteCommand();
                                    //下发任务日志
                                    _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());

                                    var modcTaskMonitor = 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 TaskRequest()
                                        {
                                            TaskNo = modTask.TaskNo,
                                            PalletNo = modTask.PalletNo,
                                            TaskType = TaskTypeEnum.Move,
                                            TaskStatus = TaskStatusEnum.Complete
                                        };
                                        HttpService httpService = new HttpService();
                                        var modResponseTask = httpService.RequestTask(requestMode).Result;
                                        if (modResponseTask.StatusCode == "0")
                                        {
                                            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

                                        }
                                    }
                                    // 插入交互日志
                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                    //下发任务日志
                                    _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());

                                    // 此处添加不空跑业务
                                }
                                break;
                            default: break;
@@ -466,5 +604,5 @@
    }


    

}

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

@@ -23,7 +23,7 @@

    private static List<WcsPlc> listPlc = new List<WcsPlc>();
    private static List<WcsDevice> listPlcDevice = new List<WcsDevice>();
    private static List<WcsPosition> listPlcStation = new List<WcsPosition>();
    private static List<WcsPosition> listPlcPosition = new List<WcsPosition>();
    private static List<WcsAlarmInfo> listAlarmInfo = new List<WcsAlarmInfo>();

    private static List<PLCUtil> listPlcUtil = new List<PLCUtil>();
@@ -34,11 +34,14 @@
        get { return listPlcUtil; }
    }
    // 交互点集合
    public static List<WcsDevice> plcDevices 
    public static List<WcsDevice> plcDevices
    {
        get { return listPlcDevice; }
    }

    public static List<WcsPosition> plcPositions
    {
        get { return listPlcPosition; }
    }
    public static event EventHandler DeviceValueChangeEvent;
    static PLCTaskAction()
    {
@@ -56,7 +59,7 @@
        cts.Cancel();
        listPlc = _db.Queryable<WcsPlc>().Where(s => s.Type == PLCTypeEnum.StackingMachine || s.Type == PLCTypeEnum.ConveyorLine || s.Type == PLCTypeEnum.BoxConveyorLine).ToList();
        listPlcDevice = _db.Queryable<WcsDevice>().ToList();
        listPlcStation = _db.Queryable<WcsPosition>().ToList();
        listPlcPosition = _db.Queryable<WcsPosition>().ToList();
        listAlarmInfo = _db.Queryable<WcsAlarmInfo>().ToList();
        //等待几秒钟，把已有线程取消掉再连接
        //Thread.Sleep(5000);
@@ -148,7 +151,7 @@
                                dto.Value = value;
                                dto.Type = _modplc.Type;
                                dto.PLCUtil = modPlcUtil;
                                dto.listStation = listPlcStation.Where(s => s.DeviceId == modDevice.Id).ToList();
                                dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
                                dto.listDevice = listDevice.Where(s => s.StationNum == modDevice.StationNum && s.Level == DeviceLevelEnum.Station).ToList();
                                //这里触发值变更事件
                                DeviceValueChangeEvent?.Invoke(dto, EventArgs.Empty);