From 4c7f2d26fd6041d32f4e291559bc443671493246 Mon Sep 17 00:00:00 2001
From: chengsc <11752@DESKTOP-DS49RCP>
Date: 星期四, 19 六月 2025 16:52:45 +0800
Subject: [PATCH] 修改问题
---
Admin.NET/WCS.Application/PLC/PLCService.cs | 767 ++++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 546 insertions(+), 221 deletions(-)
diff --git a/Admin.NET/WCS.Application/PLC/PLCService.cs b/Admin.NET/WCS.Application/PLC/PLCService.cs
index a25f1e5..0177093 100644
--- a/Admin.NET/WCS.Application/PLC/PLCService.cs
+++ b/Admin.NET/WCS.Application/PLC/PLCService.cs
@@ -1,11 +1,16 @@
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;
@@ -25,6 +30,7 @@
try
{
var mod = sender as WcsDeviceDto;
+
//Console.WriteLine($"{mod.Text}鍊间负" + mod.Value);
switch (mod.Type)
{
@@ -35,6 +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:
@@ -70,7 +80,7 @@
TaskNo = _taskService.GetTaskCode(),
TaskType = TaskTypeEnum.Move,
Type = PLCTypeEnum.AGV,
- StartLocate = AGVStorageUtil.GetPalletOutStorage(),
+ StartLocate = "",
EndLocate = AGVStaionEnum.D1.ToString(),
PalletNo = "",
Status = TaskStatusEnum.Wait,
@@ -170,68 +180,187 @@
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)
{
//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
- return;
- }
-
- 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)
- {
- 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,
- 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();
- //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)
- {
- modFinshTask.Status = TaskStatusEnum.Complete;
- modFinshTask.FinishDate = DateTime.Now;
- _db.Updateable(modFinshTask).ExecuteCommand();
-
- //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)
+ var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
+ if (modFinshTask == null)
{
- //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");
+ 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>());
}
+ //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();
- //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>());
-
+ //#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;
@@ -260,44 +389,53 @@
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 || carTaskNext == null)
+ 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 < FourWayCarDLEnum.Dl)
+ if (resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl)
{
var endLocateCar = "";
if (valuez == 1)
{
- endLocateCar = "210401";
+ endLocateCar = "011201";
}
else if (valuez == 2)
{
- endLocateCar = "210402"; //011202
+ endLocateCar = "011202"; //
}
else
{
return; // 灞傛暟閿欒
}
- //娣诲姞灏忚溅鍏呯數浣嶇疆
- WcsTask modCarTask = new WcsTask()
+ 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)
{
- 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>());
+ 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 < FourWayCarDLEnum.Dl2)
+ 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);
@@ -338,22 +476,32 @@
{
return; // 灞傛暟閿欒
}
- //娣诲姞灏忚溅鍏呯數浣嶇疆
- WcsTask modCarTask = new WcsTask()
+ 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)
{
- 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>());
+ 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>());
+ }
+
+ }
+
}
}
@@ -364,7 +512,10 @@
return;
}
-
+ if (carTaskNext == null)
+ {
+ return;
+ }
if (carTaskNext.Status == TaskStatusEnum.Doing)
{
Thread.Sleep(3000);
@@ -386,12 +537,24 @@
return;//鍓嶇疆浠诲姟鏈畬鎴�
}
}
+
+ //灏忚溅鐘舵��
+ var (resultCar, valueCar) = plcConn.GetDBValue(modDevice.PosType, modDevice.PlcPos);
- //鍏堝浣�
- var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "澶嶄綅");
- plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
+ 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>();
+ List<Result> listResult = new List<Result>();
//鑾峰彇灏忚溅浠诲姟鍙�
var carTaskNo = FourWayCarUtil.GetTaskNo();
@@ -404,7 +567,7 @@
}
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");
@@ -438,22 +601,97 @@
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(), epathx));
- listResult.Add(plcConn.SetDBValue(modNodeY.PosType, posY++.ToString(), epathy));
- listResult.Add(plcConn.SetDBValue(modNodeZ.PosType, posZ++.ToString(), epathz));
- listResult.Add(plcConn.SetDBValue(modNodeStatus.PosType, posStatus++.ToString(), epathn));
+ 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)
@@ -461,11 +699,22 @@
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();
@@ -540,14 +789,38 @@
var ledText = "";
switch (modDevice.Value.ToString())
{
+ case "120": //绌洪棽锛孉GV鍙斁璐�
+ {
+ var task = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.IsComple == "1");
+ if (task != null)
+ {
+ //娌℃湁鍑哄簱涓氬姟
+ var res = new HttpService().GenAgvContinueTask(task.TaskNo).Result;
+ if (res.code == "0")
+ {
+ 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 "320":
{
// 鐢宠瀵嗛泦搴撶粍
string strMsg = "";
- string taskModel = "";
// 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 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)
{
@@ -568,7 +841,7 @@
}
// 鍐欏叆杈撻�佺嚎閫�鍥炴寚浠�
- var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
+ var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
if (ret.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
@@ -589,7 +862,7 @@
}
// 鍐欏叆杈撻�佺嚎閫�鍥炴寚浠�
- var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
+ var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
if (ret.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
@@ -600,7 +873,7 @@
var http = new HttpService();
string TaskNo = "", EndLocate = "";
- strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, "1", ref EndLocate, ref TaskNo);
+ 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�
@@ -664,7 +937,7 @@
}
// 鍐欏叆杈撻�佺嚎閫�鍥炴寚浠�
- var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
+ var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
if (ret.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
@@ -675,7 +948,7 @@
case "330":
{
// 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
- var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
+ 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)
{
@@ -701,7 +974,7 @@
}
// 鑾峰彇鍥涢」杞﹀彇璐у伐浣�
- string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, modDevice.StationNum);
+ string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, modDevice.StationNum.PadLeft(3,'0'));
@@ -709,17 +982,17 @@
var listResult = new List<Result>();
// 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.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskId.ToString()));
+ 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.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
- var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "鎵樼洏鐮�");
- listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+ 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.SetPlcDBValue(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
+ 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.SetPlcDBValue(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
+ listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
if (listResult.All(s => s.IsSucceed))
@@ -764,25 +1037,25 @@
{
// 鐢宠鍌ㄤ綅 鏇存柊鍏ュ簱浠诲姟(鍌ㄤ綅鍦板潃) 630
var strMsg = "";
- var taskModel = "";
- //// 鏍规嵁宸ヤ綅鍙疯幏鍙栧贩閬撳彿
- //var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
- //if (roadway == "")
- //{
- // break;
- //}
+ // 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)
+ {
+ break;
+ }
// 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 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;
}
- var http = new HttpService();
+
string TaskNo = "";
// 鍚慦MS鐢宠鍌ㄤ綅淇℃伅
- strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, "roadway", ref TaskNo);
+ strMsg = new HttpService().RequestLocate(palletVal, taskVal,ref TaskNo);
if (!strMsg.Contains("-1"))
{
@@ -989,22 +1262,57 @@
{
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 == "鎵樼洏鐮�");
+ 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 = taskVal,
+ 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 = starVal,
+ 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();
@@ -1012,8 +1320,6 @@
// 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>());
- // 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 == modInsertTaskMonitor.TaskNo);
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();
// led鏄剧ず鍐呭
@@ -1039,78 +1345,45 @@
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)
{
- 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 == "鎵樼洏鐮�");
- 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);
+
- string tasknoVal = taskVal.ToString();
- var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
+ 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;
}
- // 鏀瑰彉浠诲姟鐘舵��
- modTask.Status = TaskStatusEnum.Complete;
- modTask.FinishDate = DateTime.Now;
- modTask.Levels = 999;
- _db.Updateable(modTask).ExecuteCommand();
- HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+
// 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}鍑哄簱瀹屾垚",
+ 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,
};
- if (modTask.Origin == "WMS")
- {
- // 鍙嶉WMS
- var requestMode = new TaskRequestWMS()
- {
- TaskNo = modTask.TaskNo + modTask.EndLocate,
- PalletNo = modTask.PalletNo,
- TaskType = ((int)TaskTypeEnum.Out).ToString(),
- TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
- };
- HttpService httpService = new HttpService();
- var modResponseTask = httpService.RequestTask(requestMode).Result;
- if (modResponseTask.StatusCode == 0)
- {
- 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>());
- // led鏄剧ず鍐呭
- 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�:{modTask.TaskNo}\n";
- ledText += $"鎵樼洏鍙�:{modTask.PalletNo}\n\n";
- ledText += $"璧峰浣�:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
- ledText += $"鐩爣浣�:{modTask.EndRoadway + " " + modTask.EndLocate}";
- LedDisplay(ledDevice.LedIP, ledText);
}
#endregion
}
@@ -1128,56 +1401,103 @@
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>();
+
+ if (taskModel.taskType == "DPJRK")
+ {
+ //var code = "[{\"type\":\"SITE\",\"code\":\"B100101\"},{\"type\":\"PILE_COUNT\",\"code\":\"8\"}]";
+ var code = new List<object>()
+ {
+ new {type = "SITE" , code = modTask.StartLocate},
+ new { type = "PILE_COUNT", code = modTask.Qty }
+ };
+
+ 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 }]"
+
+
+ });
+ taskModel.targetRoute.Add(new targetRoute() { seq = 1, type = type2, code = modTask.EndLocate });
+ }
+ 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>
@@ -1222,6 +1542,11 @@
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
@@ -1233,7 +1558,7 @@
//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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