From 33ef96c0b10aea2a5c9cee18dbc39cdf169ccf92 Mon Sep 17 00:00:00 2001
From: wxw <Administrator@DESKTOP-5BIMHQ3>
Date: 星期一, 13 十月 2025 15:32:41 +0800
Subject: [PATCH] 优化四向车任务反馈流程
---
Admin.NET/WCS.Application/PLC/PLCService.cs | 1770 +++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 1,259 insertions(+), 511 deletions(-)
diff --git a/Admin.NET/WCS.Application/PLC/PLCService.cs b/Admin.NET/WCS.Application/PLC/PLCService.cs
index 1fc0cd8..f48c058 100644
--- a/Admin.NET/WCS.Application/PLC/PLCService.cs
+++ b/Admin.NET/WCS.Application/PLC/PLCService.cs
@@ -1,10 +1,18 @@
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 Newtonsoft.Json;
+using Org.BouncyCastle.Ocsp;
+using SixLabors.ImageSharp.ColorSpaces;
+using WCS.Application.Entity;
using WCS.Application.Util;
namespace WCS.Application;
@@ -22,6 +30,7 @@
try
{
var mod = sender as WcsDeviceDto;
+
//Console.WriteLine($"{mod.Text}鍊间负" + mod.Value);
switch (mod.Type)
{
@@ -32,6 +41,10 @@
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:
@@ -67,7 +80,7 @@
TaskNo = _taskService.GetTaskCode(),
TaskType = TaskTypeEnum.Move,
Type = PLCTypeEnum.AGV,
- StartLocate = AGVStorageUtil.GetPalletOutStorage(),
+ StartLocate = "",
EndLocate = AGVStaionEnum.D1.ToString(),
PalletNo = "",
Status = TaskStatusEnum.Wait,
@@ -144,6 +157,7 @@
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":
@@ -154,6 +168,601 @@
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: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�");
+ var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
+ //璇诲彇浠诲姟鍙�
+ 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)
+ {
+ //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)
+ {
+ break;//娌℃湁鏌ヨ鍒版�讳换鍔�
+ }
+ if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
+ {
+ //鏌ユ壘璇ヤ换鍔＄殑涓婁竴鏉″瓙浠诲姟瀹屾垚鏃堕棿鍜屽綋鍓嶆椂闂撮棿闅旓紝濡傛灉闂撮殧鏃堕棿澶煭璇存槑鏈夐棶棰橈紝绛�3绉掑悗鍐嶆墽琛�
+ var carTaskAfter = _db.Queryable<WcsCarTasks>().First(m => m.IsDelete == false && m.Status == TaskStatusEnum.Complete && m.CarTaskNo != valueTaskStr
+ && m.CarNo == modDevice.PlcIdIP && m.TaskNo == carTask.TaskNo);
+ if (carTaskAfter != null && carTaskAfter.UpdateTime != null)
+ {
+ TimeSpan difference = DateTime.Now - Convert.ToDateTime(carTaskAfter.UpdateTime);
+ double seconds = difference.TotalSeconds;
+ if (seconds < 3)
+ {
+ Log.Error($"鍥涘悜杞︾浜屾潯瀛愪换鍔″弽棣堝畬鎴愭椂闂村紓甯�:{carTaskNext.TaskNo}");
+ Thread.Sleep(3000);
+ break;
+ }
+ }
+
+ 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 = $"绌挎杞﹀弽棣堜换鍔″畬鎴�"
+ };
+ _db.Insertable(taskMonitor).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+
+ HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
+ }
+ //鑾峰彇璺緞2鐨勪换鍔� 涓嬪彂
+ carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();
+ //carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing && m.CarTaskNo != valueTaskStr).OrderBy(m => m.CreateTime).First();
+ if (carTaskNext != null)
+ {
+ if (carTaskNext.CarTaskNo != null && carTaskNext.CarTaskNo < valueTaskStr)
+ {
+ carTaskNext.Status = TaskStatusEnum.Complete;
+ carTaskNext.UpdateTime = DateTime.Now;
+ _db.Updateable(carTaskNext).ExecuteCommand();
+
+ carTaskNext = null;
+ Log.Error($"鍥涘悜杞︾涓�鏉″瓙浠诲姟娌¤嚜鍔ㄥ畬鎴�:{carTaskNext.TaskNo}");
+ }
+ }
+ //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");
+ }
+
+
+ }
+ }
+ }
+
+ 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)
+ {
+ 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);
+ var carXYZ = valuex.ToString().PadLeft(2, '0') + valuey.ToString().PadLeft(2, '0') + valuez.ToString().PadLeft(2, '0');
+ if (modTask == null)
+ {
+ //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>());
+ }
+
+ }
+
+ }
+ }
+
+
+ }
+ }
+
+
+ return;
+ }
+ if (carTaskNext == null)
+ {
+ return;
+ }
+ 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 = carTaskNext.PreId.Split(';');
+ foreach (var preStr in preStrs)
+ {
+ if (string.IsNullOrWhiteSpace(preStr))
+ {
+ continue;
+ }
+ var preId = long.Parse(preStr);
+ var CarTaskPre = _db.Queryable<WcsCarTasks>().First(m => m.Id == preId);
+ if (CarTaskPre.Status <= TaskStatusEnum.Doing)
+ {
+ return;//鍓嶇疆浠诲姟鏈畬鎴�
+ }
+ }
+
+ //灏忚溅鐘舵��
+ var (resultCar, valueCar) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
+
+ 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))
+ {
+ var carnew = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();
+
+ if (carnew == null)
+ {
+ //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.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");
+ var modNodeZ = modDevice.listStation.FirstOrDefault(s => s.Text == "鑺傜偣鍧愭爣Z");
+ var modNodeStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "鑺傜偣涓惧崌鐘舵��");
+ int posX = Convert.ToInt32(modNodeX.PlcPos);
+ int posY = Convert.ToInt32(modNodeY.PlcPos);
+ int posZ = Convert.ToInt32(modNodeZ.PlcPos);
+ int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);
+
+ //浜や簰璺緞
+ 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.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.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)
+ {
+ 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 = carTaskNext.TaskNo,
+ PlcName = modDevice.Text,
+ 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
+ HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
+ }
+ }
+ }
+ break;
+ case "2":
+ {
+ //灏忚溅鐘舵�佸紓甯�
+ var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鐘舵��");
+ var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
+
if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
{
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
@@ -166,23 +775,6 @@
var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
{
- //12.4鍑哄簱鏀规垚璋冪敤WMS瀹屾垚浠诲姟鎺ュ彛锛沇MS鎿嶆帶PDA鎵樼洏涓嬫灦鍚庯紝WCS浠诲姟鐘舵�佹墠瀹屾垚锛堥伩鍏嶅皬杞︾户缁窇锛�
- if (modFinshTask.TaskType == TaskTypeEnum.In)
- {
- modFinshTask.Status = TaskStatusEnum.Complete;
- modFinshTask.FinishDate = DateTime.Now;
- _db.Updateable(modFinshTask).ExecuteCommand();
- var taskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modFinshTask.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
- HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
- HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
HttpService httpService = new HttpService();
var requestMode = new TaskRequestWMS()
{
@@ -194,162 +786,18 @@
var modResponseTask = httpService.RequestTask(requestMode).Result;
modFinshTask.IsSuccess = TaskSuccessEnum.Success;
_db.Updateable(modFinshTask).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ //HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
+ //HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
dicTaskNo.Remove(modDevice.Id.ToString());
dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
}
}
- }
- 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 stationStart = ((int)valuex).ToString().PadLeft(2, '0');
- var stationEnd = ((int)valuez).ToString().PadLeft(2, '0') + "01";
- var listTask = _db.Queryable<WcsTask>().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime)
- .Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar
- && s.StartLocate.StartsWith(stationStart) && s.StartLocate.EndsWith(stationEnd)).ToList();
- var modTask = listTask.FirstOrDefault();
- //return;
- if (modTask == null)
- return;
- if (modTask.StartLocate == modTask.EndLocate)
- {
- modTask.Status = TaskStatusEnum.Doing;
- _db.Updateable(modTask).ExecuteCommand();
- HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
- return;
}
- if (modTask.Status == TaskStatusEnum.Doing)
- {
- Thread.Sleep(3000);
- return;
- }
- //鍏堝浣�
- var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "澶嶄綅");
- plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
-
- List<Result> listResult = new List<Result>();
- //鍐欏叆浠诲姟鍙稩d鐨勬湯4浣嶏紝2涓皬杞︿竴璧疯窇鏈夋瀬浣庢鐜囬噸澶�
- var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "鍐欏叆浠诲姟鍙�");
- listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, modTask.Id.ToString().Substring(modTask.Id.ToString().Length - 4)));
-
- 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");
- var modNodeZ = modDevice.listStation.FirstOrDefault(s => s.Text == "鑺傜偣鍧愭爣Z");
- var modNodeStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "鑺傜偣涓惧崌鐘舵��");
- int posX = Convert.ToInt32(modNodeX.PlcPos);
- 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"));
- }
- //鍐欏叆璧峰浣嶇疆鍙栬揣
- listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.StartLocate.Substring(0, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), modTask.StartLocate.Substring(2, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.StartLocate.Substring(4, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "2"));
- //鍐欏叆鐩爣浣嶇疆鏀捐揣
- listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.EndLocate.Substring(0, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), modTask.EndLocate.Substring(2, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.EndLocate.Substring(4, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
- string endPos = "";
- if (modTask.StartLocate.Substring(0, 2).ToInt() >= 14)
- endPos = "01";
- else
- endPos = "21";
- if (listTask.Count == 1 && modTask.EndLocate.Substring(2, 2) != endPos)
- {
- //濡傛灉鍚庣画娌℃湁浠诲姟锛屽氨璁╁皬杞﹀洖鍒板師浣�
- listResult.Add(plcConn.SetDBValue(modNodeX.PosType, posX++.ToString(), modTask.EndLocate.Substring(0, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), endPos));//todo:杩欓噷浣嶇疆寰呭畾
- listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), modTask.EndLocate.Substring(4, 2)));
- listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), "3"));
- }
- //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"));
- }
- if (listResult.All(s => s.IsSucceed))
- {
- 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)
- {
- modTask.Status = TaskStatusEnum.Doing;
- _db.Updateable(modTask).ExecuteCommand();
- var taskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- PlcName = modDevice.Text,
- InteractiveMsg = $"鍚戠┛姊溅涓嬪彂浠诲姟{modTask.TaskNo}"
- };
- _db.Insertable(taskMonitor).ExecuteCommand();
- //涓嬪彂浠诲姟鏃ュ織
- HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
- HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
- }
- }
- break;
- case "2":
- {
- //灏忚溅鐘舵�佸紓甯�
- var modPosTaskStatus = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鐘舵��");
- var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
- {
- if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
- {
- var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
- var (resultTask, valueTask) = plcConn.GetDBValue(modPosTask.PosType, modPosTask.PlcPos);
- string valueTaskStr = Convert.ToString(valueTask);
- string strNo = "";
- var boNo = dicTaskNo.TryGetValue(modDevice.Id.ToString(), out strNo);
- if (valueTaskStr != "0" && strNo != valueTaskStr)
- {
- var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.Id.ToString().EndsWith(valueTaskStr));
- if (modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
- {
- HttpService httpService = new HttpService();
- var requestMode = new TaskRequestWMS()
- {
- TaskNo = modFinshTask.TaskNo,
- PalletNo = modFinshTask.PalletNo,
- TaskType = ((int)modFinshTask.TaskType).ToString(),
- TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
- };
- var modResponseTask = httpService.RequestTask(requestMode).Result;
- modFinshTask.IsSuccess = TaskSuccessEnum.Success;
- _db.Updateable(modFinshTask).ExecuteCommand();
- //涓嬪彂浠诲姟鏃ュ織
- //HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());
- //HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
-
- if (dicTaskNo.ContainsKey(modDevice.Id.ToString()))
- dicTaskNo.Remove(modDevice.Id.ToString());
- dicTaskNo.Add(modDevice.Id.ToString(), valueTaskStr);
- }
- }
-
- }
- }
+
Console.WriteLine($"绌挎杞modDevice.PlcIdIP}寮傚父");
var modPosError = modDevice.listStation.FirstOrDefault(s => s.Text == "閿欒鐮�");
var (result, valueError) = plcConn.GetDBValue(modPosError.PosType, modPosError.PlcPos);
@@ -371,226 +819,612 @@
{
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>
@@ -599,195 +1433,104 @@
/// <param name="modDevice"></param>
private static void AGV(WcsDeviceDto modDevice)
{
- if (AGVStatus)
+
+ //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;
}
- //杩欓噷鎵惧嚭鏉GV寰呮墽琛屽拰姝ｅ湪鎵ц鐨勪换鍔★紝濡傛灉鏈夋鍦ㄦ墽琛岀殑浠诲姟灏辫烦鍑猴紝娌℃湁鐨勮瘽灏辨寜鐓т紭鍏堢骇涓嬪彂涓�涓换鍔＄粰AGV
- var listTask = _db.Queryable<WcsTask>()
- .Where(s => (s.Status == TaskStatusEnum.Doing || s.Status == TaskStatusEnum.Wait) && s.Type == PLCTypeEnum.AGV)
- .OrderBy(s => s.Levels).ToList();
- if (listTask.Count == 0)
- return;
- if (listTask.Any(s => s.Status == TaskStatusEnum.Doing))
+
+
+ if (_db.Queryable<WcsTask>().Any(s => s.EndLocate == modTask.EndLocate && s.IsDelete == false && s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.AGV ))
{
- //鏈変换鍔℃墽琛屼腑 鏆備笉涓嬪彂浠诲姟
+ return; // 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
+ 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;
}
- //WcsTask modTask = listTask.FirstOrDefault();
- foreach (var modTask in listTask)
+ AgvTaskSend taskModel = new AgvTaskSend();
+ taskModel.robotTaskCode = modTask.TaskNo;
+ taskModel.taskType = taskTypeModel;
+ if (jiebo == "")
{
- //鍏ョ紦瀛樺尯鏃讹紝妫�楠屼竴涓嬬紦瀛樺尯浣嶇疆
- if (modTask.EndLocate.Substring(0, 1) == "Z")
- {
- if (modTask.EndLocate.Substring(1, 1) == "5")
- {
- string end = AGVStorageUtil.GetPalletInStorage(modTask.TaskNo);
- if (end.IsNullOrEmpty())
- continue;
- if (modTask.EndLocate != end)
- {
- modTask.EndLocate = end;
- }
- }
- else
- {
- string end = AGVStorageUtil.GetProductInStorage(modTask.TaskNo);
- if (end.IsNullOrEmpty())
- continue;
- if (modTask.EndLocate != end)
- {
- modTask.EndLocate = end;
- }
- }
- }
- //鍑虹紦瀛樺尯鏃讹紝妫�楠屼竴涓嬬紦瀛樺尯浣嶇疆
- if (modTask.StartLocate.Substring(0, 1) == "Z")
- {
- if (modTask.StartLocate.Substring(1, 1) == "5")
- {
- string start = AGVStorageUtil.GetPalletOutStorage();
- if (start.IsNullOrEmpty())
- continue;
- if (modTask.StartLocate != start)
- {
- modTask.StartLocate = start;
- }
- }
- else
- {
- string start = AGVStorageUtil.GetProductOutStorage();
- if (start.IsNullOrEmpty())
- continue;
- if (modTask.StartLocate != start)
- {
- modTask.StartLocate = start;
- }
- }
- }
- //鎶婃墭鐩樻媺鍒扮紦瀛樹綅 鍏堝垽鏂繖閲屾湁娌℃湁
- if (modTask.EndLocate.Substring(0, 1) == "C")
- {
- var bo = _sysConfigService.GetConfigValue<bool>("cache_" + modTask.EndLocate).Result;
- if (bo)
- continue;
- }
- //濡傛灉鎷夋墭鐩樺幓鎴愬搧宸ヤ綅锛屽厛妫�鏌ユ湁娌℃湁缂烘墭
- if (modTask.StartLocate.Substring(0, 1) == "D" && modTask.EndLocate.Substring(0, 1) == "B")
- {
- //鍒ゆ柇鐩爣浣嶇疆鏄媶鎵樻満鐨勪换鍔℃湁娌℃湁锛屾湁灏辫烦杩囨媶鎵樻満鍒版垚鍝佸伐浣嶇殑浠诲姟
- if (listTask.Any(s => s.EndLocate.Substring(0, 1) == "D"))
- continue;
- }
- //濡傛灉鐩殑宸ヤ綅鏄師鏂欎粨锛屽厛妫�鏌ュ師鏂欎粨鍌ㄤ綅鐘舵��
- if (modTask.EndLocate == AGVStaionEnum.F1.ToString())
- {
- if (_sysConfigService.GetConfigValue<bool>("cache_Materal").Result)
- continue;
- }
- //if (modTask.StartLocate == AGVStaionEnum.F1.ToString())
- //{
- // if (!_sysConfigService.GetConfigValue<bool>("cache_Materal").Result)
- // continue;
- //}
- //濡傛灉璧峰宸ヤ綅鏄媶鎵樻満
- if (modTask.StartLocate == AGVStaionEnum.D1.ToString())
+ taskModel.targetRoute = new List<targetRoute>();
+
+ if (taskModel.taskType == "DPJRK")
{
- //鑾峰彇鍙犳媶鎵樻満IP
- var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.PalletMachine);
- //鑾峰彇鍙犳媶鎵樻満宸ヤ綅
- var modDevice2 = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Text == "鎷嗘墭鏈�");
- //鎵撳紑杩炴帴
- var modConn = new PLCUtil(modPlc);
- //鏄惁鍏佽鍙栨墭淇″彿
- var modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "鍏佽鍙栨墭");
- var (result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
- if (result.IsSucceed)
+ //var code = "[{\"type\":\"SITE\",\"code\":\"B100101\"},{\"type\":\"PILE_COUNT\",\"code\":\"8\"}]";
+ var code = new List<object>()
{
- if (value)
- {
- //濡傛灉鏈畬鎴愬氨鍒ゆ柇涓嬪彇鎵樹俊鍙锋湁娌℃湁鍐欙紝瀹屾垚灏卞彨灏忚溅鍙栨墭鐩�
- modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "鍙栨墭淇″彿");
- (result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
- //濡傛灉娌″啓鍏ュ彇鎵樹俊鍙凤紝灏卞啓鍏�
- if (result.IsSucceed && !value)
- {
- result = modConn.SetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos, "1");
- WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- PlcId = modDevice2.PlcId,
- PlcName = modPos.PlcPos,
- Status = TaskStatusEnum.Doing,
- InteractiveMsg = $"鍚憑modDevice2.Text}鍐欏叆鍙栨墭淇″彿1锛岀粨鏋渰result.IsSucceed}",
- };
- _db.Insertable(modTaskMonitor).ExecuteCommand();
- HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- Thread.Sleep(5000);
- }
- break;
-
- }
- else
- {
- //涓嶅厑璁稿彇鎵橈紝鍒ゆ柇鏄惁鎷嗘墭鏈哄噯澶囧畬鎴�
- modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice2.Id && s.Text == "鍑嗗瀹屾垚");
- (result, value) = modConn.GetPlcDBValue(modPos.PosType, modDevice2.DbNumber, modPos.PlcPos);
- if (!value)
- {
- continue;
- }
- }
- }
- else
- {
- Console.WriteLine("杩炴帴鎷嗘墭鏈轰俊鍙峰け璐�");
- continue;
- }
- }
- //濡傛灉鐩殑宸ヤ綅鏄彁鍗囨満鏀捐揣宸ヤ綅锛屽厛妫�鏌ユ湁娌℃湁鎵樼洏绾跨殑浠诲姟
- if (modTask.EndLocate == AGVStaionEnum.A1.ToString())
- {
- if (_db.Queryable<WcsTask>().Where(s => s.Type == PLCTypeEnum.ConveyorLine && s.Status == TaskStatusEnum.Doing).Any())
- continue;
- }
-
- 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"
+ new {type = "SITE" , code = modTask.StartLocate},
+ new { type = "PILE_COUNT", code = modTask.Qty }
};
- _db.Insertable(modTaskMonitor).ExecuteCommand();
+
+ taskModel.targetRoute.Add(new targetRoute() {
+ seq = 0,
+ type = "MIX_CONDITION",
+ code = JsonConvert.SerializeObject(code) // "[{\"type":\"SITE", code = modTask.StartLocate },new { type = "PILE_COUNT", code = modTask.Qty }]"
- //涓嬪彂浠诲姟鏃ュ織
- HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
- HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
+ });
+ taskModel.targetRoute.Add(new targetRoute() { seq = 1, type = type2, code = modTask.EndLocate });
}
- Console.WriteLine(response.ToJson());
- return;
+ else
+ {
+ taskModel.targetRoute.Add(new targetRoute() { seq = 0, type = type1, code = modTask.StartLocate });
+ taskModel.targetRoute.Add(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();
+
+ if (taskModel.taskType != "DPJRK")
+ {
+ taskModel.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>
@@ -832,6 +1575,11 @@
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
@@ -843,7 +1591,7 @@
//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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