From 13a442afefdddf1ec9ecd1e22c81735bf5c6a465 Mon Sep 17 00:00:00 2001
From: Administrator <Administrator@DESKTOP-JIE70N9>
Date: 星期二, 10 六月 2025 16:08:24 +0800
Subject: [PATCH] 修改问题
---
Admin.NET/WCS.Application/PLC/PLCService.cs | 1405 +++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 1,100 insertions(+), 305 deletions(-)
diff --git a/Admin.NET/WCS.Application/PLC/PLCService.cs b/Admin.NET/WCS.Application/PLC/PLCService.cs
index ee43c9c..7167186 100644
--- a/Admin.NET/WCS.Application/PLC/PLCService.cs
+++ b/Admin.NET/WCS.Application/PLC/PLCService.cs
@@ -1,11 +1,15 @@
锘縰sing Admin.NET.Core.Service;
+using AngleSharp.Io;
using COSXML.Network;
using DocumentFormat.OpenXml.Bibliography;
using DocumentFormat.OpenXml.Drawing;
using DocumentFormat.OpenXml.Spreadsheet;
+using DocumentFormat.OpenXml.Wordprocessing;
+using Elastic.Clients.Elasticsearch.Snapshot;
using Furion.Logging;
using IoTClient;
using NewLife.Reflection;
+using SixLabors.ImageSharp.ColorSpaces;
using WCS.Application.Entity;
using WCS.Application.Util;
@@ -24,6 +28,7 @@
try
{
var mod = sender as WcsDeviceDto;
+
//Console.WriteLine($"{mod.Text}鍊间负" + mod.Value);
switch (mod.Type)
{
@@ -34,6 +39,10 @@
AGV(mod); // AGV璋冨害
break;
case PLCTypeEnum.ShuttleCar: //绌挎杞�
+ //if (mod.PlcIdIP == "10.26.254.28")
+ //{
+ // break;
+ //}
ShuttleCar(mod);
break;
case PLCTypeEnum.RobotPalletizer:
@@ -69,7 +78,7 @@
TaskNo = _taskService.GetTaskCode(),
TaskType = TaskTypeEnum.Move,
Type = PLCTypeEnum.AGV,
- StartLocate = AGVStorageUtil.GetPalletOutStorage(),
+ StartLocate = "",
EndLocate = AGVStaionEnum.D1.ToString(),
PalletNo = "",
Status = TaskStatusEnum.Wait,
@@ -146,6 +155,7 @@
private static void ShuttleCar(WcsDeviceDto modDevice)
{
var plcConn = modDevice.modbusUtil;
+ // 鍥涘悜杞︾姸鎬� 0:鏈┖闂�,1:绌洪棽,2:寮傚父 3锛氬厖鐢典腑
switch (modDevice.Value.ToString())
{
case "0":
@@ -156,9 +166,10 @@
sysCacheService.HashAddOrUpdate("AlarmInfo_Car", plcConn.PlcIP, -1);
var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鐘舵��");
var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
- //鍒ゆ柇璇诲彇浠诲姟鐘舵�佹槸鍚︽垚鍔� 骞朵笖浠诲姟鐘舵�佹槸1 0:鏈┖闂�,1:绌洪棽,2:寮傚父 3锛氬厖鐢典腑
-
- WcsCarTasks carTask2 = null;//null 鏂颁换鍔� not null 璺緞2浠诲姟
+ //鍒ゆ柇璇诲彇浠诲姟鐘舵�佹槸鍚︽垚鍔� 骞朵笖浠诲姟鐘舵�佹槸1 0:鏃犱换鍔�,1:浠诲姟瀹屾垚,2:浠诲姟鍙栨秷,3:浠诲姟鏆傚仠锛�4锛氫换鍔″紓甯� 5锛氫换鍔℃墽琛屼腑
+
+ WcsCarTasks carTaskNext = null;//null 鏂颁换鍔� not null 褰撳墠灏忚溅&&褰撳墠浠诲姟 涓嬩竴鑺備换鍔�
+
if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
{
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
@@ -167,92 +178,350 @@
int valueTaskStr = Convert.ToInt32(valueTask);
//鑾峰彇浠诲姟淇℃伅 鏍规嵁 浠诲姟鍙枫�佸皬杞︾紪鍙�
var carTask = _db.Queryable<WcsCarTasks>().First(m=>m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.CarTaskNo == valueTaskStr && m.CarNo == modDevice.PlcIdIP);
- if (carTask == null)
+ if (carTask != null)
{
- return;//娌℃湁鎵惧埌浠诲姟
- }
-
- var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
- if (modFinshTask == null)
- {
- return;//娌℃湁鏌ヨ鍒版�讳换鍔�
- }
- //鑾峰彇璺緞2鐨勪换鍔� 涓嬪彂
- carTask2 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.PreId.Contains(carTask.Id.ToString())).OrderBy(m=>m.CreateTime).First();
-
- if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
- {
- carTask.Status = TaskStatusEnum.Complete;
- carTask.UpdateTime = DateTime.Now;
- _db.Updateable(carTask).ExecuteCommand();
- //娣诲姞浠诲姟鏄庣粏
- var taskMonitor = new WcsTaskMonitor()
+ //var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "澶嶄綅");
+ //plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//娌℃湁鎵惧埌浠诲姟 澶嶄綅
+
+ var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
+ if (modFinshTask == null)
{
- TaskNo = carTask.TaskNo,
- PlcName = modDevice.Text,
- InteractiveMsg = $"绌挎杞﹀弽棣堜换鍔″畬鎴�"
- };
- _db.Insertable(taskMonitor).ExecuteCommand();
- //涓嬪彂浠诲姟鏃ュ織
+ break;//娌℃湁鏌ヨ鍒版�讳换鍔�
+ }
+ if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
+ {
+ carTask.Status = TaskStatusEnum.Complete;
+ carTask.UpdateTime = DateTime.Now;
+ _db.Updateable(carTask).ExecuteCommand();
+ //娣诲姞浠诲姟鏄庣粏
+ var taskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = carTask.TaskNo,
+ PlcName = modDevice.Text,
+ Status = TaskStatusEnum.Complete,
+ InteractiveMsg = $"绌挎杞﹀弽棣堜换鍔″畬鎴�"
+ };
+ _db.Insertable(taskMonitor).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
- HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
+ }
+ //鑾峰彇璺緞2鐨勪换鍔� 涓嬪彂
+ carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();
+ //鎬讳换鍔′笅娌℃湁鍏朵粬鏈墽琛屽皬杞︾殑浠诲姟 鍙樻洿鎬讳换鍔′俊鎭�
+ if (carTaskNext == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
+ {
+ if (modFinshTask.TaskType == TaskTypeEnum.Out)
+ {
+ //#region 浠诲姟鍙樻洿鎴愯緭閫佺嚎浠诲姟
+ //modFinshTask.Status = TaskStatusEnum.Wait;
+ //modFinshTask.Type = PLCTypeEnum.ConveyorLine;
+ //_db.Updateable(modFinshTask).ExecuteCommand();
+
+ //#endregion
+
+ #region 杈撻�佺嚎 鍐欏叆PLC 740
+
+ var text = "";
+ var devStation = ""; //宸ヤ綅
+ var endLocate = modFinshTask.EndRoadway;
+ var carcon = new carConverModel();
+ var ip = "";
+ if ( carcon.conveyorBei.Keys.Contains(endLocate))
+ {
+ text = "杈撻�佺嚎鍖�";
+ ip = "10.26.254.10";
+ devStation = carcon.conveyorBei[endLocate];
+ }
+ else if (carcon.conveyorNan.Keys.Contains(endLocate))
+ {
+ text = "杈撻�佺嚎鍗�";
+ ip = "10.26.254.11";
+ devStation = carcon.conveyorNan[endLocate];
+ }
+ if (text != "")
+ {
+
+ var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
+ //PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
+ //var modConn = new PLCUtil(modPlc);
+
+ var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
+ var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
+ if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) != 730)
+ {
+ //modConn.Close();
+ return;//鏀捐揣宸ヤ綅娌℃湁璇诲彇鎴愬姛鎴栦笉鏄┖闂�
+ }
+
+ var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "740");
+ if (!plcResult.IsSucceed)
+ {
+ //modConn.Close();
+ return;
+ }
+ //娣诲姞浠诲姟鏄庣粏
+ var taskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modFinshTask.TaskNo,
+ PlcName = modDevice.Text,
+ Status = TaskStatusEnum.Complete,
+ InteractiveMsg = $"鍐欏叆鎸囦护740锛氭墭鐩樺埌杈緖modFinshTask.EndRoadway}"
+ };
+ _db.Insertable(taskMonitor).ExecuteCommand();
+
+ //鏀瑰彉浠诲姟鐘舵��
+ modFinshTask.Status = TaskStatusEnum.Complete;
+ modFinshTask.FinishDate = DateTime.Now;
+ _db.Updateable(modFinshTask).ExecuteCommand();
+
+ var locateOut = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
+ if (locateOut != null && locateOut.Make == "1")
+ {
+ locateOut.PalletNo = "";
+ _db.Updateable(locateOut).ExecuteCommand();
+ }
+
+ //鍙嶉WMS绯荤粺 浠诲姟瀹屾垚
+ if (modFinshTask.Origin == "WMS")
+ {
+ HttpService httpService = new HttpService();
+ var requestMode = new TaskRequestWMS()
+ {
+ TaskNo = modFinshTask.TaskNo,
+ PalletNo = modFinshTask.PalletNo,
+ TaskType = ((int)modFinshTask.TaskType).ToString(),
+ TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
+ };
+ var modResponseTask = httpService.RequestTask(requestMode).Result;
+ modFinshTask.IsSuccess = TaskSuccessEnum.Success;
+ _db.Updateable(modFinshTask).ExecuteCommand();
+ HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
+ }
+
+ }
+
+
+ #endregion
+ }
+ else
+ {
+ modFinshTask.Status = TaskStatusEnum.Complete;
+ modFinshTask.FinishDate = DateTime.Now;
+ _db.Updateable(modFinshTask).ExecuteCommand();
+
+ if (modFinshTask.TaskType == TaskTypeEnum.Move)
+ {
+ var locatemove = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.StartLocate);
+ if (locatemove != null && locatemove.Make == "1")
+ {
+ locatemove.PalletNo = "";
+ _db.Updateable(locatemove).ExecuteCommand();
+ }
+ }
+
+ var locateIn = _db.Queryable<WcsStorageLocat>().First(m => m.IsDelete == false && m.WareHouseNo == "W01" && m.LocatNo == modFinshTask.EndLocate);
+ if (locateIn != null && locateIn.Make == "1")
+ {
+ locateIn.PalletNo = string.IsNullOrWhiteSpace(modFinshTask.PalletNo) ? "pall" : modFinshTask.PalletNo;
+ _db.Updateable(locateIn).ExecuteCommand();
+ }
+
+ //鍙嶉WMS绯荤粺 浠诲姟瀹屾垚
+ if (modFinshTask.Origin == "WMS")
+ {
+ HttpService httpService = new HttpService();
+ var requestMode = new TaskRequestWMS()
+ {
+ TaskNo = modFinshTask.TaskNo,
+ PalletNo = modFinshTask.PalletNo,
+ TaskType = ((int)modFinshTask.TaskType).ToString(),
+ TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
+ };
+ var modResponseTask = httpService.RequestTask(requestMode).Result;
+ modFinshTask.IsSuccess = TaskSuccessEnum.Success;
+ _db.Updateable(modFinshTask).ExecuteCommand();
+ HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
+ }
+
+
+
+ }
+
+ //鍒ゆ柇浠诲姟鏄惁鍏呯數浠诲姟,涓嬪彂寮�濮嬪厖鐢靛懡浠�
+ if (modFinshTask.Levels == 888)
+ {
+ //鍐欏叆寮�濮嬪厖鐢�
+ var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "鍏呯數鍛戒护");
+ plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "2");
+ }
+
+
+ }
}
- //娌℃湁璺緞2鐨勪换鍔� 鍙樻洿鎬讳换鍔′俊鎭�
- if (carTask2 == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
+ }
+
+ WcsTask modTask;
+ //瑕佷笅鍙戣矾寰�2浠诲姟
+ if (carTaskNext != null)
+ {
+ modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTaskNext.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP);
+
+ carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
+ }
+ else
+ {
+ // 鑾峰彇浠诲姟淇℃伅
+ modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP).OrderBy(m => m.Levels).OrderBy(m => m.CreateTime).First();
+ if (modTask != null)
{
- modFinshTask.Status = TaskStatusEnum.Complete;
- modFinshTask.FinishDate = DateTime.Now;
- _db.Updateable(modFinshTask).ExecuteCommand();
-
- //鍙嶉WMS绯荤粺 浠诲姟瀹屾垚
- //HttpService httpService = new HttpService();
- //var requestMode = new TaskRequestWMS()
- //{
- // TaskNo = modFinshTask.TaskNo,
- // PalletNo = modFinshTask.PalletNo,
- // TaskType = ((int)modFinshTask.TaskType).ToString(),
- // TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
- //};
- //var modResponseTask = httpService.RequestTask(requestMode).Result;
- //modFinshTask.IsSuccess = TaskSuccessEnum.Success;
- //_db.Updateable(modFinshTask).ExecuteCommand();
- HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
-
+ carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
}
-
}
+ //璇诲彇灏忚溅浣嶇疆
var modStationX = modDevice.listStation.FirstOrDefault(s => s.Text == "鍥涘悜杞︿綅缃�(X)");
var (resultx, valuex) = plcConn.GetDBValue(modStationX.PosType, modStationX.PlcPos);
var modStationY = modDevice.listStation.FirstOrDefault(s => s.Text == "鍥涘悜杞︿綅缃�(Y)");
var (resulty, valuey) = plcConn.GetDBValue(modStationY.PosType, modStationY.PlcPos);
var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "鍥涘悜杞︿綅缃�(Z)");
var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);
-
- // 鑾峰彇浠诲姟淇℃伅
- var modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime).First();
-
- //瑕佷笅鍙戣矾寰�2浠诲姟
- if (carTask2 == null)
+ var carXYZ = valuex.ToString().PadLeft(2, '0') + valuey.ToString().PadLeft(2, '0') + valuez.ToString().PadLeft(2, '0');
+ if (modTask == null)
{
- modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTask2.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar);
+ //璇诲彇灏忚溅鐢甸噺
+ var modPosCarDl = modDevice.listStation.FirstOrDefault(s => s.Text == "鐢垫睜鐢甸噺");
+ var (resultDl, valueDl) = plcConn.GetDBValue(modPosCarDl.PosType, modPosCarDl.PlcPos);
+ if (resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl)
+ {
+ var endLocateCar = "";
+ if (valuez == 1)
+ {
+ endLocateCar = "011201";
+ }
+ else if (valuez == 2)
+ {
+ endLocateCar = "011202"; //
+ }
+ else
+ {
+ return; // 灞傛暟閿欒
+ }
+ var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
+ if (getCdTask == null)
+ {
+ var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
+ if (resultDlLock.IsSucceed && valueDlLock!=3 && carXYZ != endLocateCar)
+ {
+ //娣诲姞灏忚溅鍏呯數浣嶇疆
+ WcsTask modCarTask = new WcsTask()
+ {
+ TaskNo = _taskService.GetTaskCode(),
+ TaskType = TaskTypeEnum.Move,
+ Type = PLCTypeEnum.ShuttleCar,
+ StartLocate = carXYZ,
+ EndLocate = endLocateCar,
+ PalletNo = "",
+ Status = TaskStatusEnum.Wait,
+ Levels = 888, //鍏呯數绛夌骇浼樺厛浠诲姟绛夌骇
+ Origin = "WCS",
+ CarIp = modDevice.PlcIdIP
+ };
+ _db.Insertable(modCarTask).ExecuteCommand();
+ HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
+ }
+ }
+
+ }
+ else if(resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl2)
+ {
+ //鍒ゆ柇灏忚溅鏄惁鏈夌┖闂叉椂闂磋褰� 娌℃湁锛氭坊鍔� 鏈夛細鍒ゆ柇褰撳墠鏃堕棿涓庤褰曟椂闂存槸鍚︽弧瓒�5鍒嗛挓 婊¤冻锛氭坊鍔犺灏忚溅鍘诲厖鐢典换鍔�
+ var carTime = _db.Queryable<WcsCarTime>().First(m => m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
+ if (carTime == null)
+ {
+ var carTimeAdd = new WcsCarTime()
+ {
+ CarIp = modDevice.PlcIdIP,
+ CarTime = DateTime.Now
+ };
+ _db.Insertable(carTimeAdd).ExecuteCommand();
+ }
+ else
+ {
+ if (carTime.CarTime == null)
+ {
+ carTime.CarTime = DateTime.Now;
+ carTime.UpdateTime = DateTime.Now;
+ _db.Updateable(carTime).ExecuteCommand();
+ }
+ else
+ {
+ var date1 = DateTime.Now;
+ var data2 = (DateTime)carTime.CarTime;
+ TimeSpan interval = date1 - data2;
+ if (interval.TotalMinutes >= 5)
+ {
+ var endLocateCar = "";
+ if (valuez == 1)
+ {
+ endLocateCar = "011201";
+ }
+ else if (valuez == 2)
+ {
+ endLocateCar = "011202";
+ }
+ else
+ {
+ return; // 灞傛暟閿欒
+ }
+ var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
+ if (getCdTask == null)
+ {
+ var (resultDlLock, valueDlLock) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
+ if (resultDlLock.IsSucceed && valueDlLock != 3 && carXYZ != endLocateCar)
+ {
+ //娣诲姞灏忚溅鍏呯數浣嶇疆
+ WcsTask modCarTask = new WcsTask()
+ {
+ TaskNo = _taskService.GetTaskCode(),
+ TaskType = TaskTypeEnum.Move,
+ Type = PLCTypeEnum.ShuttleCar,
+ StartLocate = carXYZ,
+ EndLocate = endLocateCar,
+ PalletNo = "",
+ Status = TaskStatusEnum.Wait,
+ Levels = 888, //鍏呯數绛夌骇浼樺厛浠诲姟绛夌骇
+ Origin = "WCS",
+ CarIp = modDevice.PlcIdIP
+ };
+ _db.Insertable(modCarTask).ExecuteCommand();
+ HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
+ }
+
+ }
+
+ }
+ }
- carTask2= _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP).OrderBy(m => m.CreateTime).First();
+
+ }
+ }
+
+
+ return;
}
-
- //return;
- if (modTask == null || carTask2 == null)
+ if (carTaskNext == null)
{
return;
}
-
- if (carTask2.Status == TaskStatusEnum.Doing)
+ if (carTaskNext.Status == TaskStatusEnum.Doing)
{
Thread.Sleep(3000);
return;
}
+
//鍒ゆ柇褰撳墠浠诲姟鏄惁杩樻湁鍓嶇疆浠诲姟鏈畬鎴�
- var preStrs = carTask2.PreId.Split(';');
+ var preStrs = carTaskNext.PreId.Split(';');
foreach (var preStr in preStrs)
{
if (string.IsNullOrWhiteSpace(preStr))
@@ -266,16 +535,37 @@
return;//鍓嶇疆浠诲姟鏈畬鎴�
}
}
- //鍏堝浣�
- var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "澶嶄綅");
- plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
+
+ //灏忚溅鐘舵��
+ var (resultCar, valueCar) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
- List<Result> listResult = new List<Result>();
+ var modPosTaskStatus2 = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鐘舵��");
+ var (resultTaskStatus2, valueTaskStatus2) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
+ if (resultCar.IsSucceed && valueCar == 1 && resultTaskStatus2.IsSucceed && (valueTaskStatus2 == 0 || valueTaskStatus2 == 1))
+ {
+ //鍏堝浣�
+ var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "澶嶄綅");
+ plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
+ }
+ else
+ {
+ return;
+ }
+
+ List<Result> listResult = new List<Result>();
//鑾峰彇灏忚溅浠诲姟鍙�
var carTaskNo = FourWayCarUtil.GetTaskNo();
-
+
+ //鍒ゆ柇浠诲姟鏄惁鍏呯數浠诲姟
+ if (modTask.Levels == 888)
+ {
+ //鍐欏叆鍏呯數鍛戒护
+ var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "鍏呯數鍛戒护");
+ listResult.Add(plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "1"));
+ }
+
var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "鍐欏叆浠诲姟鍙�");
- listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));
+ listResult.Add(plcConn.SetDBValueRepeat(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));
var modNodeX = modDevice.listStation.FirstOrDefault(s => s.Text == "鑺傜偣鍧愭爣X");
var modNodeY = modDevice.listStation.FirstOrDefault(s => s.Text == "鑺傜偣鍧愭爣Y");
@@ -285,51 +575,145 @@
int posY = Convert.ToInt32(modNodeY.PlcPos);
int posZ = Convert.ToInt32(modNodeZ.PlcPos);
int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);
- if (Convert.ToInt32(valuey) != Convert.ToInt32(modTask.StartLocate.Substring(2, 2)))
- {
- //鍐欏叆灏忚溅褰撳墠浣嶇疆
- listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), Convert.ToString(valuex)));
- listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), Convert.ToString(valuey)));
- listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), Convert.ToString(valuez)));
- listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
- }
+
//浜や簰璺緞
- var execuPath = carTask2.ExecutionPath.Split(';');
+ var execuPath = carTaskNext.ExecutionPath.Split(';');
+ if (Convert.ToInt32(valuex) != Convert.ToInt32(execuPath[0].Substring(0, 2)) || Convert.ToInt32(valuey) != Convert.ToInt32(execuPath[0].Substring(2, 2)) || Convert.ToInt32(valuez) != Convert.ToInt32(execuPath[0].Substring(4, 2)))
+ {
+ return; //灏忚溅浣嶇疆涓庤矾寰勮捣濮嬩綅缃笉鍚�
+ ////鍐欏叆灏忚溅褰撳墠浣嶇疆
+ //listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), Convert.ToString(valuex)));
+ //listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), Convert.ToString(valuey)));
+ //listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), Convert.ToString(valuez)));
+ //listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
+ }
+
foreach (var ePath in execuPath)
{
if (string.IsNullOrWhiteSpace(ePath))
{
continue;
}
+ var epathx = ePath.Substring(0, 2);
+ var epathy = ePath.Substring(2, 2);
+ var epathz = ePath.Substring(4, 2);
+ var epathn = ePath.Substring(6, 1);
//鍐欏叆浜や簰浣嶇疆
- listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), ePath.Substring(0, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), ePath.Substring(2, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), ePath.Substring(4, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), ePath.Substring(5, 1)));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), epathx));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), epathy));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), epathz));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), epathn));
}
//杩欓噷鏄妸鍚庨潰鐨勫潗鏍囧叏鍐�0锛堜负浜嗛槻姝笂娆′换鍔″潗鏍囨病琚鐩栵級
while (posX <= 43097)
{
- listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), "0"));
- listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), "0"));
- listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), "0"));
- listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "0"));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeX.PosType, posX++.ToString(), "0"));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeY.PosType, posY++.ToString(), "0"));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeZ.PosType, posZ++.ToString(), "0"));
+ listResult.Add(plcConn.SetDBValueRepeat(modNodeStatus.PosType, posStatus++.ToString(), "0"));
}
if (listResult.All(s => s.IsSucceed))
{
+ if (modTask.TaskType == TaskTypeEnum.Out)
+ {
+ #region 杈撻�佺嚎 鍐欏叆PLC 730
+
+ var text = "";
+ var devStation = "";
+ var endLocate = modTask.EndRoadway;
+ var carcon = new carConverModel();
+ var ip = "";
+ if (carcon.conveyorBei.Keys.Contains(endLocate))
+ {
+ text = "杈撻�佺嚎鍖�";
+ ip = "10.26.254.10";
+ devStation = carcon.conveyorBei[endLocate];
+ }
+ else if (carcon.conveyorNan.Keys.Contains(endLocate))
+ {
+ text = "杈撻�佺嚎鍗�";
+ ip = "10.26.254.11";
+ devStation = carcon.conveyorNan[endLocate];
+ }
+ if (text != "")
+ {
+ var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
+ //var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
+ //var modConn = new PLCUtil(modPlc);
+
+ var modDeviceConver = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
+ var (plcResult, palletVal) = modConn.GetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.PlcPos);
+ if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) == 720)
+ {
+ var listResultcon = new List<Result>();
+
+ //浠诲姟鍙蜂笌鎵樼洏鏉＄爜
+ var modPosConverTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "浠诲姟鍙�");
+ listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverTask.PosType, modDeviceConver.DbNumber, modPosConverTask.PlcPos, modTask.TaskId.ToString()));
+ var modPosConverPallet = PLCTaskAction.plcPositions.First(s => s.DeviceId == modDeviceConver.Id && s.Text == "鎵樼洏鏉＄爜");
+ listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverPallet.PosType, modDeviceConver.DbNumber, modPosConverPallet.PlcPos, modTask.PalletNo.ToString()));
+
+ // 璧峰宸ヤ綅銆佺洰鐨勫伐浣�
+ var modPosConverStrLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "璧峰宸ヤ綅");
+ listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverStrLocat.PosType, modDeviceConver.DbNumber, modPosConverStrLocat.PlcPos, modDeviceConver.StationNum));
+ var modPosConverEndLocat = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDeviceConver.Id && s.Text == "鐩殑宸ヤ綅");
+ listResultcon.Add(modConn.SetPlcDBValueRepeat(modPosConverEndLocat.PosType, modDeviceConver.DbNumber, modPosConverEndLocat.PlcPos, modTask.EndLocate));
+
+ if (listResultcon.All(s => s.IsSucceed))
+ {
+ var plcResult2 = modConn.SetPlcDBValue(modDeviceConver.PosType, modDeviceConver.DbNumber, modDeviceConver.WcsPos, "730");
+ if (!plcResult.IsSucceed)
+ {
+ //modConn.Close();
+ return;
+ }
+ //娣诲姞浠诲姟鏄庣粏
+ var taskMonitor2 = new WcsTaskMonitor()
+ {
+ TaskNo = carTaskNext.TaskNo,
+ PlcName = modDevice.Text,
+ Status = TaskStatusEnum.Complete,
+ InteractiveMsg = $"鍐欏叆鎸囦护730锛氬伐浣嶆槸{modDeviceConver.StationNum}"
+ };
+ _db.Insertable(taskMonitor2).ExecuteCommand();
+ }
+ }
+ else if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) != 730)
+ {
+ return;
+ }
+
+ }
+
+
+ #endregion
+ }
+
var modStart = modDevice.listStation.FirstOrDefault(s => s.Text == "鍚姩鍛戒护");
var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
if (result.IsSucceed)
{
- carTask2.Status = TaskStatusEnum.Doing;
- carTask2.CarTaskNo = carTaskNo;
- _db.Updateable(carTask2).ExecuteCommand();
+ carTaskNext.Status = TaskStatusEnum.Doing;
+ carTaskNext.CarTaskNo = carTaskNo;
+ _db.Updateable(carTaskNext).ExecuteCommand();
+
+
+
+ //娓呴櫎灏忚溅绌洪棽鏃堕棿
+ var carTimeClear = _db.Queryable<WcsCarTime>().First(m=>m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
+ if (carTimeClear!= null)
+ {
+ carTimeClear.CarTime = null;
+ carTimeClear.UpdateTime = DateTime.Now;
+ _db.Updateable(carTimeClear).ExecuteCommand();
+ }
var taskMonitor = new WcsTaskMonitor()
{
- TaskNo = carTask2.TaskNo,
+ TaskNo = carTaskNext.TaskNo,
PlcName = modDevice.Text,
- InteractiveMsg = $"鍚戠┛姊溅涓嬪彂浠诲姟{carTask2.TaskNo}"
+ Status = TaskStatusEnum.Complete,
+ InteractiveMsg = $"鍚戠┛姊溅涓嬪彂浠诲姟{carTaskNext.TaskNo}"
};
_db.Insertable(taskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
@@ -400,226 +784,612 @@
{
var plcConn = modDevice.PLCUtil;
+ var ledText = "";
switch (modDevice.Value.ToString())
{
- case "20":
+ case "120": //绌洪棽锛孉GV鍙斁璐�
{
- //灏忚溅璇锋眰寮�鍗峰笜闂� 杩欓噷鏀规垚娴峰悍鐩存帴璋冪敤妯″潡 杩欓噷涓嶉渶瑕佷簡
- string Devicelndex = "";
- if (modDevice.Text == "2鍙峰嵎甯橀棬")
- Devicelndex = "222";
- else if (modDevice.Text == "3鍙峰嵎甯橀棬")
- Devicelndex = "111";
- var modCallBack = sysCacheService.Get<AGVApplyLockInput>("OpenDoor" + Devicelndex);
- if (modCallBack != null)
+ var task = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.IsComple == "1");
+ if (task != null)
{
- var modAgvDevice = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == "AGV");
- AgvNotifyInput input = new AgvNotifyInput()
+ //娌℃湁鍑哄簱涓氬姟
+ var res = new HttpService().GenAgvContinueTask(task.TaskNo).Result;
+ if (res.code == "0")
{
- ActionStatus = "1",
- DeviceIndex = Devicelndex,
- UUID = modCallBack.UUID,
- };
- var response = new HttpService().NotifyExcuteResultInfo(input).Result;
- if (response.code == 0)
- {
- sysCacheService.Remove("OpenDoor" + Devicelndex);
+ var modTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = task.TaskNo,
+ PlcId = modDevice.modPlc.Id,
+ PlcName = modDevice.modPlc.IP,
+ InteractiveMsg = "鍚慉GV灏忚溅涓嬪彂缁х画鎵ц浠诲姟"
+ };
+ _db.Insertable(modTaskMonitor).ExecuteCommand();
+
+ //涓嬪彂浠诲姟鏃ュ織
+ HubUtil.PublicTask(task.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
break;
- case "100":
+ case "320":
{
- //宸ヤ綅瀵瑰簲 1=A 4=B 10=C
- string stationNum = "";
- if (modDevice.StationNum == "1" || modDevice.StationNum == "4")
+ // 鐢宠瀵嗛泦搴撶粍
+ string strMsg = "";
+
+ // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鏉＄爜");
+ var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (!res.IsSucceed)
{
- stationNum = "10";
- //鍒ゆ柇鏈夋病鏈夊皬杞﹀埌C鍙ｇ殑浠诲姟锛屽鏋滄湁灏卞啓120
- var countTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV && s.EndLocate == "A1").Count();
- if (countTask != 0)
- {
- var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
- Log.Information($"鍚憄lc{modDevice.PlcIdIP}鍐欏叆120锛岀粨鏋滐細{ret.ToJson()}");
- return;
- }
+ break;
}
- string strPalletNo = "";
- if (modDevice.StationNum == "10" || modDevice.StationNum == "4")
+ var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "鐩殑宸ヤ綅");
+
+ //鍒ゆ柇鍏ュ簱閿佸畾鏄惁鎵撳紑
+ if (PLCTaskAction.boEnterLock)
{
- var modPosPallet = modDevice.listStation.First(s => s.Text == "鎵樼洏鏉＄爜");
- //todo:杩欓噷璇荤爜鍣ㄨ�佽涓嶅埌鏉＄爜淇℃伅 鍏堝啓姝� 璇荤爜鍣ㄩ棶棰樿В鍐充簡鍙互娉ㄩ噴鎺�
- //plcConn.SetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, "T2400001");
- var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
- if (!res.IsSucceed || palletNo == "")
+ var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (res350.IsSucceed && palletVal350 != "350")
{
- var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "120");
- Log.Information($"鍚憄lc{modDevice.PlcIdIP}鍐欏叆120锛岀粨鏋滐細{ret.ToJson()}");
- return;
+ ledText += $"鐢宠鍏ュ簱澶辫触\n\n";
+ ledText += $"鎵樼洏鍙�:{palletVal}\n";
+ ledText += $"鍏ュ簱浠诲姟宸查攣瀹氾紝璇疯В閿佸悗閲嶈瘯!\n";
+ LedDisplay(modDevice.LedIP, ledText);
}
- strPalletNo = Convert.ToString(palletNo);
- }
- if (modDevice.StationNum == "10")
- {
- if (strPalletNo.Substring(0, 1) == "T")
- stationNum = "4";
- else
- stationNum = "1";
+
+ // 鍐欏叆杈撻�佺嚎閫�鍥炴寚浠�
+ var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
+ if (ret.IsSucceed)
+ {
+ plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
+ }
+
+ break;
}
- // 鍐欏叆鎵樼洏杈撻�佺嚎鐮佸灈宸ヤ綅
+ if (palletVal == null)
+ {
+ var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (res350.IsSucceed && palletVal350 != "350")
+ {
+ ledText += $"鐢宠鍏ュ簱澶辫触\n\n";
+ ledText += $"鎵樼洏鍙�:{palletVal}\n";
+ ledText += $"鎵弿鎵樼洏鍙峰け璐�!\n";
+ LedDisplay(modDevice.LedIP, ledText);
+ }
+
+ // 鍐欏叆杈撻�佺嚎閫�鍥炴寚浠�
+ var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
+ if (ret.IsSucceed)
+ {
+ plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
+ }
+
+ break;
+ }
+
+ var http = new HttpService();
+ string TaskNo = "", EndLocate = "";
+ strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, ref EndLocate, ref TaskNo);
+ if (!strMsg.Contains("-1"))
+ {
+ // 鏍规嵁浠诲姟鍙疯幏鍙栬捣濮嬪伐浣嶅湴鍧�锛屾牴鎹捣濮嬪伐浣嶅湴鍧�鑾峰彇LEDIP 鎺ㄩ�佸埌LED灞忓箷銆�
+ var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
+ modDevice.LedIP = _db.Queryable<WcsDevice>()
+ .Where(w => w.StationNum == taskInfo.StartLocate)
+ .Select(s => s.LedIP).First();
+
+ // 鍐欏叆330
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");
+ if (ret.IsSucceed)
+ {
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护330锛歿modDevice.StationNum}宸ヤ綅鐢宠宸烽亾",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = EndLocate,
+ };
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ // led鏄剧ず鍐呭
+ try
+ {
+ ledText += $"浠诲姟绫诲瀷:{taskInfo.TaskType.GetDescription()}\n\n";
+
+ ledText += $"浠诲姟鍙�:{taskInfo.TaskNo}\n";
+ ledText += $"鎵樼洏鍙�:{taskInfo.PalletNo}\n\n";
+
+ ledText += $"璧峰浣�:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
+ ledText += $"鐩爣浣�:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
+ LedDisplay(modDevice.LedIP, ledText);
+
+ }
+ catch (Exception ex)
+ {
+ Log.Error(ex.Message);
+ }
+
+ }
+
+ }
+ else
+ {
+ var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (res350.IsSucceed && palletVal350 != "350")
+ {
+ ledText += $"鐢宠鍏ュ簱澶辫触\n\n";
+ ledText += $"鎵樼洏鍙�:{palletVal}\n";
+ ledText += $"{strMsg}\n";
+ LedDisplay(modDevice.LedIP, ledText);
+ }
+
+ // 鍐欏叆杈撻�佺嚎閫�鍥炴寚浠�
+ var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
+ if (ret.IsSucceed)
+ {
+ plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
+ }
+ }
+ }
+ break;
+ case "330":
+ {
+ // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鏉＄爜");
+ var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (!res.IsSucceed)
+ {
+ break;
+ }
+ string pallet = palletVal.ToString();
+ // 鑾峰彇浠诲姟淇℃伅
+ var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false
+ && s.PalletNo == pallet
+ && s.Type == PLCTypeEnum.ConveyorLine
+ && (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing)
+ && s.TaskType == TaskTypeEnum.In);
+
+ if (modTask == null)
+ {
+ // 姝ゆ墭鐩樻病鏈夊搴旂殑杞Щ浠诲姟 led鏄剧ず
+ break;
+ }
+ //鍒ゆ柇鍏ュ簱閿佸畾鏄惁鎵撳紑
+ if (PLCTaskAction.boEnterLock)
+ {
+ break;//鍏ュ簱閿佸畾鎵撳紑鍒欎笉鎵ц鍏ュ簱浠诲姟
+ }
+
+ // 鑾峰彇鍥涢」杞﹀彇璐у伐浣�
+ string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, modDevice.StationNum.PadLeft(3,'0'));
+
+
+
+ // 缁橮LC鍐欏叆浠诲姟鏁版嵁
var listResult = new List<Result>();
- // 鍐欏叆鎵樼洏杈撻�佺嚎鐮佸灈宸ヤ綅 鐩殑宸ヤ綅銆佷换鍔″彿锛屽啓鍏ヤ氦浜掓祦绋嬬粍鎵樻垚鍔�
- var posModel = modDevice.listStation.First(m => m.Text == "璧峰宸ヤ綅");
- listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos, modDevice.StationNum));
- var posModel2 = modDevice.listStation.First(m => m.Text == "鐩爣宸ヤ綅");
- listResult.Add(plcConn.SetPlcDBValue(posModel2.PosType, modDevice.DbNumber, posModel2.PlcPos, stationNum));
- string taskNo = _taskService.GetTaskCode("WCS");
- var modPosTask = modDevice.listStation.First(s => s.Text == "浠诲姟鍙�");
- listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo));
+ // 浠诲姟鍙枫�佷换鍔＄被鍨嬨�佹墭鐩樺彿
+ var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskId.ToString()));
+ var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟绫诲瀷");
+ var taskTypeStr = (int)modTask.TaskType;
+ listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
+ var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "鎵樼洏鏉＄爜");
+ listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+ // 璧峰宸ヤ綅銆佺洰鐨勫伐浣�
+ var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "璧峰宸ヤ綅");
+ listResult.Add(plcConn.SetPlcDBValueRepeat(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
+ var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "鐩殑宸ヤ綅");
+ listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
+
if (listResult.All(s => s.IsSucceed))
{
- var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "130");
- Log.Information($"鍚憄lc{modDevice.PlcIdIP}鍐欏叆130锛岀粨鏋滐細{ret.ToJson()}");
+ // 灏嗕换鍔＄姸鎬佸彉鏇翠负姝ｅ湪鎵ц
+ _db.Updateable<WcsTask>()
+ .SetColumns(s => s.Status == TaskStatusEnum.Doing)
+ .Where(s => s.Id == modTask.Id)
+ .ExecuteCommand();
+ // 鍐欏叆娴佺▼瀛� 330 340
+
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");
+
+ // 鏍规嵁浠诲姟鍙疯幏鍙栬捣濮嬪伐浣嶅湴鍧�锛屾牴鎹捣濮嬪伐浣嶅湴鍧�鑾峰彇LEDIP 鎺ㄩ�佸埌LED灞忓箷銆�
+ modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
+
if (ret.IsSucceed)
{
- AddWcsTaskInput modTask = new AddWcsTaskInput()
- {
- TaskNo = taskNo,
- TaskType = TaskTypeEnum.In,
- PalletNo = strPalletNo,
- Status = TaskStatusEnum.Doing,
- IsSuccess = TaskSuccessEnum.Fail,
- StartLocate = modDevice.StationNum,
- EndLocate = stationNum,
- Type = PLCTypeEnum.ConveyorLine,
- };
- _taskService.Add(modTask);
- WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
- PlcId = modDevice.PlcId,
+ PlcId = modDevice.Id,
PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护340锛歿modDevice.StationNum}鍌ㄤ綅====銆媨endLocatVlue}宸ヤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
- EndLocat = stationNum,
- Status = TaskStatusEnum.Doing,
- InteractiveMsg = $"鍚憑modDevice.Text}鍐欏叆鎸囦护130锛岀粨鏋渰ret.IsSucceed}",
+ EndLocat = endLocatVlue,
};
- _db.Insertable(modTaskMonitor).ExecuteCommand();
- //涓嬪彂浠诲姟鏃ュ織
- HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
- HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
break;
- case "140":
+ case "620":
{
- var modPosTask = modDevice.listStation.First(m => m.Text == "浠诲姟鍙�");
- var (result, taskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modPosTask.StringLength);
- var modPosPallet = modDevice.listStation.First(m => m.Text == "鎵樼洏鏉＄爜");
- var (res, palletNo) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos, modPosPallet.StringLength);
- WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor();
- WcsTask modTask = new WcsTask();
- if (!result.IsSucceed)
+ // 鐢宠鍌ㄤ綅 鏇存柊鍏ュ簱浠诲姟(鍌ㄤ綅鍦板潃) 630
+ var strMsg = "";
+
+ // 鑾峰彇宸ヤ綅浠诲姟鍙蜂俊鎭�
+ var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (resTask, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ if (!resTask.IsSucceed)
{
- Log.Error($"{plcConn.PlcIP}璇诲彇浠诲姟鍙峰け璐�");
- return;
+ break;
}
- if (modDevice.StationNum == "10")
+ // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鏉＄爜");
+ var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ if (!res.IsSucceed)
{
- var posModel = modDevice.listStation.First(m => m.Text == "璧峰宸ヤ綅");
- var (resultS, station) = plcConn.GetPlcDBValue(posModel.PosType, modDevice.DbNumber, posModel.PlcPos);
- if (resultS.IsSucceed)
+ break;
+ }
+
+ string TaskNo = "";
+ // 鍚慦MS鐢宠鍌ㄤ綅淇℃伅
+ strMsg = new HttpService().RequestLocate(palletVal, taskVal,ref TaskNo);
+
+ if (!strMsg.Contains("-1"))
+ {
+ // 鏍规嵁浠诲姟鍙疯幏鍙栬捣濮嬪伐浣嶅湴鍧�锛屾牴鎹捣濮嬪伐浣嶅湴鍧�鑾峰彇LEDIP 鎺ㄩ�佸埌LED灞忓箷銆�
+ var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
+ modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();
+ // 鍐欏叆娴佺▼瀛� 630
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");
+
+ if (ret.IsSucceed)
{
- if (station == 1)
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
{
- WcsTask modInsertTask = new WcsTask()
- {
- TaskNo = _taskService.GetTaskCode(),
- TaskType = TaskTypeEnum.Move,
- Type = PLCTypeEnum.AGV,
- StartLocate = AGVStaionEnum.A1.ToString(),
- EndLocate = AGVStaionEnum.F1.ToString(),
- PalletNo = modTask.PalletNo,
- Status = TaskStatusEnum.Wait,
- Levels = 5,
- Origin = "WCS"
- };
- _db.Insertable(modInsertTask).ExecuteCommand();
- HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
- }
- else if (station == 4)
- {
- WcsTask modInsertTask = new WcsTask()
- {
- TaskNo = _taskService.GetTaskCode(),
- TaskType = TaskTypeEnum.Move,
- Type = PLCTypeEnum.AGV,
- StartLocate = AGVStaionEnum.A1.ToString(),
- EndLocate = AGVStorageUtil.GetPalletInStorage(),
- PalletNo = modTask.PalletNo,
- Status = TaskStatusEnum.Wait,
- Levels = 5,
- Origin = "WCS"
- };
- _db.Insertable(modInsertTask).ExecuteCommand();
- HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
- }
- }
- else
- {
- Log.Error("鑾峰彇璧峰宸ヤ綅澶辫触锛屽け璐ュ師鍥�" + resultS.Err);
- return;
+ TaskNo = TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护340锛歿modDevice.StationNum}宸ヤ綅鐢宠鍌ㄤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = strMsg,
+ };
+
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
+ var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
+ ledText += $"浠诲姟绫诲瀷:{taskInfo.TaskType.GetDescription()}\n\n";
+ ledText += $"浠诲姟鍙�:{taskInfo.TaskNo}\n";
+ ledText += $"鎵樼洏鍙�:{taskInfo.PalletNo}\n\n";
+ ledText += $"璧峰浣�:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
+ ledText += $"鐩爣浣�:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
+ LedDisplay(modDevice.LedIP, ledText);
}
}
- var ledText = "";
- if (modDevice.StationNum == "4")
+ else
{
- //todo:led
- ledText += "浠诲姟绫诲瀷:鍏ュ簱\n\n";
- ledText += $"浠诲姟鍙�:{taskNo}\n";
- ledText += $"鎵樼洏鍙�:{palletNo}\n\n";
- //ledText += $"璧峰浣�:10\n";
- //ledText += $"鐩爣浣�:4";
+ // 鐢宠鍌ㄤ綅澶辫触锛丩ED鏄剧ず
+ Log.Error(string.Format($"鐢宠鍌ㄤ綅澶辫触:{strMsg},璇诲啓plc閿欒"));
+ // led鏄剧ず鍐呭
+ var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
+ ledText += $"鐢宠鍏ュ簱澶辫触\n\n";
+ ledText += $"{strMsg}\n";
LedDisplay(modDevice.LedIP, ledText);
}
- var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "150");
- Log.Information($"鍚憄lc{modDevice.PlcIdIP}鍐欏叆150锛岀粨鏋滐細{ret.ToJson()}");
- if (ret.IsSucceed)
- {
- string strTaskNo = taskNo;
- modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == strTaskNo);
- if (modTask != null)
- {
- modTaskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- PlcId = modDevice.PlcId,
- PlcName = modDevice.Text,
- StartLocat = modTask.StationNum,
- EndLocat = modTask.EndLocate,
- InteractiveMsg = $"鍚憑modDevice.Text}鍐欏叆鎸囦护150锛岀粨鏋渰ret.IsSucceed}",
- };
- modTaskMonitor.Status = TaskStatusEnum.Complete;
- _db.Insertable(modTaskMonitor).ExecuteCommand();
- modTask.FinishDate = DateTime.Now;
- modTask.Status = TaskStatusEnum.Complete;
- _db.Updateable(modTask).ExecuteCommand();
- //涓嬪彂浠诲姟鏃ュ織
- HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
- HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
- }
+ }
+ break;
+ case "630":
+ {
+ #region plc鍏夌數鎵弿涓嶅埌鎵樼洏鍚� 鑷姩娓呬俊鎭�
+
+ //// 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ //var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ //var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
+ //// 鑾峰彇宸ヤ綅浠诲姟鍙蜂俊鎭�
+ //var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ //var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
+ //if (!res.IsSucceed || !taskRes.IsSucceed)
+ //{
+ // break;
+ //}
+ //string pallet = palletVal.ToString();
+ //string taskNo = taskNoVal.ToString();
+ //// 鑾峰彇浠诲姟淇℃伅
+ //var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
+ //if (modTask == null)
+ //{
+ // // 姝ゆ墭鐩樻病鏈夊搴旂殑杞Щ浠诲姟 led鏄剧ず
+ // break;
+ //}
+
+ //var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
+ //if (string.IsNullOrWhiteSpace(sInfo.Ip))
+ //{
+ // //闇�鍔犱笂LED鏄剧ず
+ // Log.Error(string.Format($"鏍规嵁宸烽亾鑾峰彇璺烘満IP澶辫触锛岃鑱旂郴绠＄悊鍛�"));
+ // break;
+ //}
+ //// 璺烘満杩炴帴
+ //var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
+ //if (plcStackeConn.Connected)
+ //{
+ // // 鐩爣鎺掑垪灞�
+ // var endLocate = modTask.EndLocate;
+ // if (string.IsNullOrWhiteSpace(modTask.EndLocate))
+ // {
+ // Log.Error(string.Format($"鐩爣浣嶇疆涓虹┖锛岃浜哄伐澶勭悊,璇诲啓plc閿欒"));
+ // break;
+ // }
+
+ // // 杞崲鐩爣宸ヤ綅鎺掑垪灞� 03010301
+ // var paiVal = PLCCommon.GetDjAdress(modTask.EndRoadway.Substring(1, 2), endLocate.Substring(0, 2), endLocate.Substring(6, 2));
+ // string pai = paiVal.ToString();
+ // string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
+ // string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();
+
+ // var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo.Ip);
+
+ // var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
+ // && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
+ // var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
+ // var djInfo = djInfos.First(m => m.Text == "PLC娴佺▼瀛�");
+
+ // // 鑾峰彇璺烘満褰撳墠鐘舵��
+ // var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
+
+ // if (!djRes.IsSucceed || djVal.ToString() != "820")
+ // {
+ // // 璺烘満闈炵┖闂茬瓑寰�
+ // break;
+ // }
+ // // 缁橮LC鍐欏叆浠诲姟鏁版嵁
+ // var listResult = new List<Result>();
+
+ // // 浠诲姟鍙枫�佷换鍔＄被鍨嬨�佹墭鐩樺彿
+ // var modPosTask = djInfos.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
+ // var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "浠诲姟绫诲瀷");
+ // var taskTypeStr = (int)modTask.TaskType;
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
+ // var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "鎵樼洏鐮�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+
+ // //璧峰宸ヤ綅
+ // var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "璧峰宸ヤ綅");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));
+
+ // //鍙栬揣鎺掋�佸垪銆佸眰
+ // var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "鍙栬揣鎺�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
+ // var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "鍙栬揣鍒�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
+ // var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "鍙栬揣灞�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
+ // //鏀捐揣鎺掋�佸垪銆佸眰
+ // var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "鏀捐揣鎺�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
+ // var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "鏀捐揣鍒�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
+ // var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "鏀捐揣灞�");
+ // listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, ceng));
+
+ // if (listResult.All(s => s.IsSucceed))
+ // {
+ // // 鍐欏叆璺烘満 830
+ // var retc2 = plcStackeConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");
+
+ // // 鎻掑叆浠诲姟鏄庣粏 浠诲姟鏄庣粏瀹炰綋绫�
+ // var modInsertTaskMonitor = new WcsTaskMonitor()
+ // {
+ // TaskNo = modTask.TaskNo,
+ // PlcId = modDevice.Id,
+ // PlcName = modDevice.Text,
+ // PalletNo = modTask.PalletNo,
+ // Status = TaskStatusEnum.Complete,
+ // StartLocat = modDevice.StationNum,
+ // EndLocat = modTask.EndLocate // 鐩爣鍌ㄤ綅鍦板潃
+ // };
+ // if (!retc2.IsSucceed)
+ // {
+ // modInsertTaskMonitor.InteractiveMsg = $"杈撻�佺嚎鍙栬揣宸ヤ綅锛歿modDevice.StationNum},鍐欏叆鍨涙満鍙栬揣浠诲姟830澶辫触绛夊緟鍐嶆鍐欏叆";
+ // // 鎻掑叆浜や簰鏃ュ織
+ // _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+ // //涓嬪彂浠诲姟鏃ュ織
+ // HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ // break;
+
+ // }
+ // modInsertTaskMonitor.InteractiveMsg = $"璺烘満鍐欏叆鎸囦护830锛歿modDevice.StationNum}宸ヤ綅====銆�" + modTask.EndLocate + "鍌ㄤ綅鍦板潃!";
+ // // 鎻掑叆浜や簰鏃ュ織
+ // _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+ // if (PLCTaskAction.boRefresh)
+ // {
+ // //涓嬪彂浠诲姟鏃ュ織
+ // HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ // }
+
+ // }
+
+
+
+
+ //}
+
+ #endregion
}
break;
+ #region 鍑哄簱浜や簰
+ case "420":
+ {
+ #region 鎵樼洏鍒拌揪鎷ｉ�夊伐浣�/鍑哄簱鍙�
+ // 鍑哄簱鍙�
+ // led鏄剧ず鎵樼洏淇℃伅
+ // 鍐欏叆430
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "430");
+
+ if (ret.IsSucceed)
+ {
+ var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鏉＄爜");
+ var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
+ var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "璧峰宸ヤ綅");
+ var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
+
+ int taskNoVal = Convert.ToInt32(taskVal);
+ var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskId == taskNoVal && w.TaskType == TaskTypeEnum.Out);
+ if (taskInfo == null)
+ {
+ Log.Error(string.Format("杈撻�佺嚎430:鏈壘鍒板搴旂殑浠诲姟銆�"));
+ break;
+ }
+ //// 鏀瑰彉浠诲姟鐘舵��
+ //taskInfo.Status = TaskStatusEnum.Complete;
+ //taskInfo.FinishDate = DateTime.Now;
+ ////modTask.Levels = 999;
+ //_db.Updateable(taskInfo).ExecuteCommand();
+ //HubUtil.PublicTask(taskInfo.Adapt<WcsTaskOutput>());
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = taskInfo.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护430锛氭墭鐩樺埌杈緖modDevice.StationNum}宸ヤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = Convert.ToString(starVal),
+ EndLocat = modDevice.StationNum,
+ };
+ //if (taskInfo.Origin == "WMS")
+ //{
+ // // 鍙嶉WMS
+ // var requestMode = new TaskRequestWMS()
+ // {
+ // TaskNo = taskInfo.TaskNo,
+ // PalletNo = taskInfo.PalletNo,
+ // TaskType = ((int)taskInfo.TaskType).ToString(),
+ // TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
+ // };
+ // HttpService httpService = new HttpService();
+ // var modResponseTask = httpService.RequestTask(requestMode).Result;
+ // if (modResponseTask.StatusCode == 0)
+ // {
+ // modInsertTaskMonitor.InteractiveMsg += "锛岃繑鍥炵粰WMS浠诲姟瀹屾垚";
+ // }
+ // else
+ // {
+ // Log.Error(string.Format("浠诲姟鍙嶉澶辫触锛歋tatusCode锛歿0};Msg锛歿1}", modResponseTask.StatusCode, modResponseTask.Msg));
+ // }
+ //}
+
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
+ modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();
+
+ // led鏄剧ず鍐呭
+ // 鏍规嵁鐩爣宸ヤ綅鍙疯幏鍙栧搴旂殑LEDIP鍦板潃
+ var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId == modDevice.PlcId);
+
+ ledText += $"鍑哄簱瀹屾垚\n\n";
+ ledText += $"浠诲姟鍙�:{taskInfo.TaskNo}\n";
+ ledText += $"鎵樼洏鍙�:{taskInfo.PalletNo}\n\n";
+ ledText += $"璧峰浣�:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
+ ledText += $"鐩爣浣�:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
+ LedDisplay(ledDevice.LedIP, ledText);
+ }
+ // 鍙嶉WMS鍑哄簱瀹屾垚
+ //TaskReques taskReques = new TaskReques();
+ //taskReques.taskNo = TaskNo;
+ //taskReques.TaskType = "1";
+ //taskReques.TaskStatus = "2";
+ //bool bl = wcsMySql.RequestTasks(taskReques);
+ #endregion
+ }
+ break;
+ case "440":
+ {
+ #region 鎷ｉ�夊畬鎴�,鎵樼洏绂诲紑宸ヤ綅
+
+ var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鏉＄爜");
+ var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
+ var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "璧峰宸ヤ綅");
+ var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
+
+ // 鍐欏叆450
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
+ if (ret.IsSucceed)
+ {
+
+
+ int tasknoVal = Convert.ToInt32(taskVal);
+ var modTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.TaskId == tasknoVal);
+ if (modTask == null)
+ {
+ Log.Error(string.Format("杈撻�佺嚎440:鏈壘鍒板搴旂殑浠诲姟銆�"));
+ break;
+ }
+
+ // 鎻掑叆浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护450锛歿modDevice.StationNum}鎵樼洏绂诲紑宸ヤ綅",
+ PalletNo = palletVal,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = starVal.ToString(),
+ EndLocat = modDevice.StationNum,
+ };
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
+
+ // 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ }
+ #endregion
+ }
+ break;
+
+ #endregion
default: break;
}
-
}
/// <summary>
@@ -629,56 +1399,76 @@
private static void AGV(WcsDeviceDto modDevice)
{
- //杩欓噷鎵惧嚭鏉GV寰呮墽琛岀殑浠诲姟銆佹寜鐓т紭鍏堢骇涓嬪彂涓�涓换鍔＄粰AGV
- var listTask = _db.Queryable<WcsTask>().Where(s => (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.Type == PLCTypeEnum.AGV).OrderBy(s => s.Levels).ToList();
- if (listTask.Count == 0)
+ //杩欓噷鎵惧嚭鏉GV寰呮墽琛岀殑浠诲姟銆佹寜鐓т紭鍏堢骇銆佸垱寤烘椂闂翠笅鍙戜竴涓换鍔＄粰AGV
+ var modTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.AGV).OrderBy(s => new { s.Levels ,s.CreateTime}).First();
+ if (modTask == null)
{
return;
}
- foreach (var modTask in listTask)
+
+ if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
{
- if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
- {
- continue; // 鏈夌洰鐨勪綅缃竴鑷翠笖姝ｅ湪鎵ц鐨勪换鍔�
- }
-
- //涓嬪彂AGV浠诲姟
- AgvTaskInput input = new AgvTaskInput()
- {
- ReqCode = modTask.Id.ToString(),
- TaskCode = modTask.TaskNo,
- CtnrCode = modTask.PalletNo,
- PositionCodePath = new List<PositionCodePathItem>()
- {
- new PositionCodePathItem(){ PositionCode = modTask.StartLocate },
- new PositionCodePathItem(){ PositionCode = modTask.EndLocate }
- }
- };
- input.TaskTyp = "1" + modTask.StartLocate.Substring(0, 1) + modTask.EndLocate.Substring(0, 1);
- var response = new HttpService().GenAgvSchedulingTask(input).Result;
- if (response.code == "0")
- {
- AGVStatus = true;
- modTask.Status = TaskStatusEnum.Doing;
- _db.Updateable(modTask).ExecuteCommand();
- var modTaskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- PlcId = modDevice.modPlc.Id,
- PlcName = modDevice.modPlc.IP,
- InteractiveMsg = "鍚慉GV灏忚溅涓嬪彂浠诲姟"
- };
- _db.Insertable(modTaskMonitor).ExecuteCommand();
+ return; // 鏈夌洰鐨勪綅缃竴鑷翠笖姝ｅ湪鎵ц鐨勪换鍔�
+ }
- //涓嬪彂浠诲姟鏃ュ織
- HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
- HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
- Console.WriteLine(response.ToJson());
+ //涓嬪彂AGV浠诲姟
+ var taskTypeModel = AGVStorageUtil.GetTaskModle(modTask.StartLocate, modTask.EndLocate,out string type1,out string type2, out string jiebo);
+ if (string.IsNullOrWhiteSpace(taskTypeModel))
+ {
+ Console.WriteLine("鑾峰彇AGV浠诲姟妯℃澘澶辫触锛氳鏍稿疄浠诲姟璧峰鐩爣鍌ㄤ綅鏄惁姝ｇ‘");
return;
}
+ AgvTaskSend taskModel = new AgvTaskSend();
+ taskModel.robotTaskCode = modTask.TaskNo;
+ taskModel.taskType = taskTypeModel;
+ if (jiebo == "")
+ {
+ taskModel.targetRoute = new List<targetRoute>()
+ {
+ new targetRoute(){seq = 0,type = type1,code = modTask.StartLocate},
+ new targetRoute(){seq = 1,type = type2,code = modTask.EndLocate}
+ };
+ }
+ else
+ {
+ taskModel.targetRoute = new List<targetRoute>()
+ {
+ new targetRoute(){seq = 0,type = type1,code = modTask.StartLocate},
+ new targetRoute(){seq = 1,type = "ZONE",code = jiebo},
+ new targetRoute(){seq = 2,type = type2,code = modTask.EndLocate}
+ };
+ }
+
+ taskModel.extra = new extra()
+ {
+ carrierInfo = new List<carrierInfo>()
+ {
+ new carrierInfo(){ carrierType = "TP",carrierCode = modTask.PalletNo}
+ }
+ };
+ var response = new HttpService().GenAgvSendTask(taskModel).Result;
+ if (response.code == "SUCCESS")
+ {
+ modTask.Status = TaskStatusEnum.Doing;
+ _db.Updateable(modTask).ExecuteCommand();
+ var modTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.modPlc.Id,
+ PlcName = modDevice.modPlc.IP,
+ InteractiveMsg = "鍚慉GV灏忚溅涓嬪彂浠诲姟"
+ };
+ _db.Insertable(modTaskMonitor).ExecuteCommand();
+
+ //涓嬪彂浠诲姟鏃ュ織
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ }
+ //Console.WriteLine(response.ToJson());
Thread.Sleep(3000);
+ return;
+
}
/// <summary>
@@ -723,6 +1513,11 @@
private static void Test(WcsDeviceDto modDevice)
{
+
+ var ledText = $"鐢宠鍏ュ簱澶辫触\n\n";
+ ledText += $"鎵樼洏鍙�:T2300001\n";
+ ledText += $"鍏ュ簱浠诲姟宸查攣瀹氾紝璇疯В閿佸悗閲嶈瘯!\n";
+ LedDisplay("10.26.254.31", ledText);
//鍗峰笜闂�2鐢宠鎵撳紑
//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1152", "10");
//鍗峰笜闂�2鐢宠鍏抽棴
@@ -734,7 +1529,7 @@
//var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1154", "30");
//C鍙GV鏀炬墭鐩樺畬鎴愮敵璇峰叆搴�
- var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1156", "100");
+ //var result = modDevice.PLCUtil.SetPlcDBValue(PLCDataTypeEnum.Short, "DB1000", "1156", "100");
////鍐欐娴嬭瘯璇籹tring
//var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
--
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