From 8ae6fce575bd8b29e858724df186535abe5b6e52 Mon Sep 17 00:00:00 2001
From: hwh <332078369@qq.com>
Date: 星期四, 19 九月 2024 16:45:42 +0800
Subject: [PATCH] 堆垛机不空跑
---
Admin.NET/WCS.Application/PLC/PLCService.cs | 241 ++++++++++++++++++++++++++++++++----------------
1 files changed, 160 insertions(+), 81 deletions(-)
diff --git a/Admin.NET/WCS.Application/PLC/PLCService.cs b/Admin.NET/WCS.Application/PLC/PLCService.cs
index 17059d0..da065a4 100644
--- a/Admin.NET/WCS.Application/PLC/PLCService.cs
+++ b/Admin.NET/WCS.Application/PLC/PLCService.cs
@@ -15,12 +15,6 @@
public static class PLCService
{
private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
- private static readonly IHubContext<TaskLogHub, ITaskLogHub> _taskLogHubContext;
-
- static PLCService()
- {
- _taskLogHubContext = App.GetService<IHubContext<TaskLogHub, ITaskLogHub>>();
- }
public static void OnChangeEvent(object sender, EventArgs e)
{
@@ -40,6 +34,9 @@
AGV(mod);
break;
case PLCTypeEnum.PalletMachine:
+ PalletMachine(mod);
+ break;
+ case PLCTypeEnum.StackingRobot:
PalletMachine(mod);
break;
default:
@@ -145,7 +142,7 @@
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
WcsTaskMonitor modInsertTaskMonitor;
if (string.IsNullOrEmpty(taskInfo.EndStation))
{
@@ -181,7 +178,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
//淇敼led灞忎俊鎭�
//LedDisplay(modDevice.LedIP, "宸ヤ綅:" + modTask.EndLocate, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿modTask.StartLocate}", "鎵樼洏鍙�:" + modTask.PalletNo);
}
@@ -248,7 +245,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
@@ -256,7 +253,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
// 鍐欏叆娴佺▼鎺у埗瀛�
@@ -271,7 +268,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
else if (modTask.TaskType == TaskTypeEnum.Out)
@@ -303,7 +300,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
//淇敼led灞忎俊鎭�
//LedDisplay(modDevice.LedIP, "宸ヤ綅:" + modTask.EndLocate, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿modTask.StartLocate}", "鎵樼洏鍙�:" + modTask.PalletNo);
}
@@ -340,8 +337,8 @@
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
_db.Updateable(modTask).ExecuteCommand();
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
- var modcTaskMonitor = new WcsTaskMonitor()
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
@@ -366,13 +363,13 @@
var modResponseTask = httpService.RequestTask(requestMode).Result;
if (modResponseTask.StatusCode == "0")
{
- modcTaskMonitor.InteractiveMsg = "浠诲姟瀹屾垚锛岃繑鍥炵粰WMS浠诲姟瀹屾垚";
+ modTaskMonitor.InteractiveMsg = "浠诲姟瀹屾垚锛岃繑鍥炵粰WMS浠诲姟瀹屾垚";
}
}
// 鎻掑叆浜や簰鏃ュ織
- _db.Insertable(modcTaskMonitor).ExecuteCommand();
+ _db.Insertable(modTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// 姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
}
@@ -437,7 +434,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
}
@@ -466,8 +463,7 @@
modTask.FinishDate = DateTime.Now;
_db.Updateable(modTask).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
-
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
var modcTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
@@ -501,7 +497,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// 姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
}
@@ -535,7 +531,7 @@
break;
modTask.Status = TaskStatusEnum.Exception;
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
Log.Information($"銆愬爢鍨涙満銆憌cs浠诲姟鍙樻洿绌哄彇寮傚父锛屼换鍔″彿锛歿modTask.TaskNo}");
var modTaskRequest = modTask.Adapt<TaskRequest>();
HttpService httpService = new HttpService();
@@ -546,7 +542,7 @@
modTask.IsSuccess = TaskSuccessEnum.Success;
_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
}
else
{
@@ -554,7 +550,7 @@
modTask.IsSuccess = TaskSuccessEnum.Fail;
modTask.Information = modResponseTask.Message;
_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
}
}
break;
@@ -575,7 +571,7 @@
}
modTask.Status = TaskStatusEnum.Exception;
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
- _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
Log.Information($"銆愬爢鍨涙満銆憌cs浠诲姟鍙樻洿婊″彇寮傚父锛屼换鍔″彿锛歿modTask.TaskNo}");
var modTaskRequest = modTask.Adapt<TaskRequest>();
HttpService httpService = new HttpService();
@@ -629,7 +625,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
@@ -647,13 +643,89 @@
}
}
/// <summary>
+ /// 鍫嗗灈鏈轰笉绌鸿窇
+ /// </summary>
+ /// <param name="modTask">鎿嶄綔瀹屾垚鐨勪换鍔�</param>
+ /// <param name="plcConn">plc杩炴帴</param>
+ private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn)
+ {
+ //鍒� todo:涓婇潰浠ｇ爜鎷挎潵鐨勶紝杩欓噷涓嶇悊瑙ｄ负鍟ユ槸1,2 涓嶆槸2,2锛�
+ int col = modTask.EndLocate.Substring(1, 2).ToInt();
+ int row = modTask.EndLocate.Substring(0, 2).ToInt();
+ int storey = modTask.EndLocate.Substring(4, 2).ToInt();
+ int deep = modTask.EndLocate.Substring(6, 2).ToInt();
+ // 鏌ヨ鎵�鏈夊緟鎵ц鐨勪换鍔�
+ var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
+ switch (modTask.TaskType)
+ {
+ case TaskTypeEnum.In:
+ {
+ // 鍏堟壘鍑哄搴旀帓鍒楀眰鐨勫叆搴撲换鍔�
+ var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
+ .Select(s => s.EndLocate.Substring(0, 6))
+ .ToHashSet();
+
+ // 鎵惧嚭搴撲换鍔★紝瀵瑰簲宸烽亾鐨勪换鍔�
+ var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modTask.EndRoadway).ToList();
+
+ foreach (var modNext in listNextTask)
+ {
+ // 濡傛灉鏈夊搴旀帓鍒楀眰鐨勫叆搴撲换鍔★紝閭ｅ氨涓嶈兘浼樺厛鎵ц
+ if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
+ {
+ continue;
+ }
+
+ // todo: 鍐欏叆modNext浠诲姟淇℃伅缁檖lc
+ Console.WriteLine($"鍏ュ簱浠诲姟{modTask.TaskNo}鎵ц瀹屾垚鍚庯紝涓嶇┖璺戦�昏緫妫�娴嬩笅涓�浠诲姟涓簕modNext.TaskNo}");
+ break;
+ }
+ }
+ break;
+ case TaskTypeEnum.Out:
+ {
+ // 鍏堟壘鍑哄搴旀帓鍒楀眰鐨勫嚭搴撲换鍔�
+ var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out)
+ .Select(s => s.EndLocate.Substring(0, 6))
+ .ToHashSet();
+
+ // 鎵惧叆搴撲换鍔★紝瀵瑰簲宸烽亾鐨勪换鍔�
+ var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In && s.StartRoadway == modTask.EndRoadway).ToList();
+
+ foreach (var modNext in listNextTask)
+ {
+ // 濡傛灉鏈夊搴旀帓鍒楀眰鐨勫嚭搴撲换鍔★紝閭ｅ氨涓嶈兘浼樺厛鎵ц
+ if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
+ {
+ continue;
+ }
+
+ // todo: 鍐欏叆modNext浠诲姟淇℃伅缁檖lc
+ Console.WriteLine($"鍑哄簱浠诲姟{modTask.TaskNo}鎵ц瀹屾垚鍚庯紝涓嶇┖璺戦�昏緫妫�娴嬩笅涓�浠诲姟涓簕modNext.TaskNo}");
+ break;
+ }
+ }
+ break;
+ case TaskTypeEnum.Move:
+ {
+ var modDevice = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
+ var (result, value) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
+ //褰撳墠鍫嗗灈鏈烘墍鍦ㄤ綅缃�
+ var height = Math.Round(value / 790000d * 200).ToInt();
+ //todo:杩欓噷鐪嬭兘涓嶈兘鎵惧埌鍫嗗灈鏈烘墍鍦ㄤ綅缃湪鍝釜鎺掑垪灞傦紝浼樺厛瀵绘壘闄勮繎鐨勪换鍔★紵
+ }
+ break;
+ }
+ }
+
+ /// <summary>
/// 杈撻�佺嚎涓氬姟澶勭悊
/// </summary>
/// <param name="modDevice"></param>
private static void ConveyorLine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
- // 鑾峰彇妤煎眰鏁�
+ // 鑾峰彇妤煎眰鏁癱eshi
var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
switch (modDevice.Value.ToString())
{
@@ -677,12 +749,12 @@
var http = new HttpService();
string TaskNo = "", EndLocate = "";
strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);
-
+
if (!strMsg.Contains("-1"))
{
// 鍐欏叆330
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");
-
+
if (ret.IsSucceed)
{
// 鎻掑叆浠诲姟鏄庣粏
@@ -697,15 +769,12 @@
StartLocat = modDevice.StationNum,
EndLocat = EndLocate,
};
-
+
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
- if (PLCTaskAction.boRefresh)
- {
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// led鏇存柊鍐呭
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
@@ -715,7 +784,7 @@
else
{
// 鐢宠宸烽亾澶辫触锛丩ED鏄剧ず
- Log.Error(string.Format($"鐢宠宸烽亾澶辫触:{ strMsg },璇诲啓plc閿欒"));
+ Log.Error(string.Format($"鐢宠宸烽亾澶辫触:{strMsg},璇诲啓plc閿欒"));
}
}
break;
@@ -732,13 +801,13 @@
}
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.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.TaskType == TaskTypeEnum.In && s.StartRoadway == modDevice.StationNum);
+ var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && (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;
}
-
+
// 鑾峰彇宸烽亾鍙ｅ叆搴撳伐浣�
string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
// 缁橮LC鍐欏叆浠诲姟鏁版嵁
@@ -746,8 +815,9 @@
// 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.TaskNo));
- var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
- listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, modTask.TaskType.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));
// 璧峰宸ヤ綅銆佺洰鐨勫伐浣�
@@ -755,7 +825,7 @@
listResult.Add(plcConn.SetPlcDBValue(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));
-
+
if (listResult.All(s => s.IsSucceed))
{
@@ -765,10 +835,10 @@
.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");
-
-
+
+
if (ret.IsSucceed)
{
// 鎻掑叆浠诲姟鏄庣粏
@@ -788,10 +858,7 @@
_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�
- if (PLCTaskAction.boRefresh)
- {
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// led鏇存柊鍐呭
//LedDisplay(modDevice.LedIP, "宸ヤ綅:" + modTask.EndLocate, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿modTask.StartLocate}", "鎵樼洏鍙�:" + modTask.PalletNo);
@@ -803,7 +870,7 @@
case "620":
{
// 鐢宠鍌ㄤ綅 鏇存柊鍏ュ簱浠诲姟(鍌ㄤ綅鍦板潃) 630
-
+
var strMsg = "";
var taskModel = "";
// 鍒ゆ柇鏄惁婕旂ず妯″紡
@@ -853,10 +920,7 @@
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
- if (PLCTaskAction.boRefresh)
- {
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// led鏇存柊鍐呭
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
@@ -867,7 +931,7 @@
// 鐢宠鍌ㄤ綅澶辫触锛丩ED鏄剧ず
Log.Error(string.Format($"鐢宠鍌ㄤ綅澶辫触:{strMsg},璇诲啓plc閿欒"));
}
-
+
}
break;
case "630":
@@ -877,10 +941,10 @@
// 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "鎵樼洏鐮�");
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
- // 鑾峰彇宸ヤ綅鎵樼洏鐮佷俊鎭�
+ // 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 )
+ if (!res.IsSucceed || !taskRes.IsSucceed)
{
break;
}
@@ -893,13 +957,13 @@
// 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;
+ break;
}
// 璺烘満杩炴帴
var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
@@ -925,7 +989,7 @@
// 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 != "820")
{
// 璺烘満闈炵┖闂茬瓑寰�
@@ -938,12 +1002,13 @@
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");
- listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, modTask.TaskType.ToString()));
+ var taskTypeStr = (int)modTask.TaskType;
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "鎵樼洏鍙�");
- listResult.Add(plcStackeConn.SetPlcDBValue(modPosPallet.PosType, djMod.DbNumber, modPosPallet.PlcPos, modTask.PalletNo));
-
+ listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+
//璧峰宸ヤ綅
- var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "鍙栬揣鎺�");
+ 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
@@ -983,7 +1048,7 @@
// 鎻掑叆浜や簰鏃ュ織
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//涓嬪彂浠诲姟鏃ュ織
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
@@ -991,17 +1056,18 @@
// 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
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ {
+ //涓嬪彂浠诲姟鏃ュ織
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
-
- }
-
-
-
+ }
+
+
+
+
}
-
+
#endregion
}
break;
@@ -1014,7 +1080,7 @@
// 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�");
@@ -1040,11 +1106,8 @@
_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�
- if (PLCTaskAction.boRefresh)
- {
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
-
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
// led鏇存柊鍐呭
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
@@ -1088,10 +1151,7 @@
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 閫氱煡浠诲姟鐣岄潰浠诲姟宸插瓨鍦ㄦ洿鏂� 璇锋洿鏂扮晫闈�
- if (PLCTaskAction.boRefresh)
- {
- _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- }
+ HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// led鏇存柊鍐呭
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "宸ヤ綅:" + EndLocat, "鍑哄簱涓� " + $"鍌ㄤ綅鍦板潃锛歿StartLocat}", "鎵樼洏鍙�:" + PalletNo);
@@ -1123,6 +1183,25 @@
}
+ /// <summary>
+ /// 鎷嗗灈鏈哄櫒浜轰笟鍔″鐞�
+ /// </summary>
+ /// <param name="modDevice"></param>
+ private static void StackingRobot(WcsDeviceDto modDevice)
+ {
+ var plcConn = modDevice.PLCUtil;
+ switch (modDevice.Value.ToString())
+ {
+ case "0":
+ {
+ // 鑻ユ媶鍨涘伐浣嶄负绌洪棽锛屾煡璇换鍔¤〃鏄惁鏈夋湭缁戝畾鐨勫嚭搴撲换鍔★紝鍋氱粦瀹氭搷浣�
+ }
+ break;
+ default:
+ break;
+ }
+ }
+
private static void Test(WcsDeviceDto modDevice)
{
//鍐欐娴嬭瘯璇籹tring
--
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