From 90c5e816ac2134f11b9580fda5526a17e1b956c9 Mon Sep 17 00:00:00 2001
From: bklLiudl <673013083@qq.com>
Date: 星期四, 12 九月 2024 08:22:54 +0800
Subject: [PATCH] 拆垛机器人
---
Admin.NET/WCS.Application/PLC/PLCService.cs | 600 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 483 insertions(+), 117 deletions(-)
diff --git a/Admin.NET/WCS.Application/PLC/PLCService.cs b/Admin.NET/WCS.Application/PLC/PLCService.cs
index b8210fa..6eaf743 100644
--- a/Admin.NET/WCS.Application/PLC/PLCService.cs
+++ b/Admin.NET/WCS.Application/PLC/PLCService.cs
@@ -1,14 +1,24 @@
-锘縰sing Flurl.Util;
-using Furion.DatabaseAccessor;
+锘�
+using DocumentFormat.OpenXml.Bibliography;
+using Elastic.Clients.Elasticsearch.Tasks;
using Furion.Logging;
using IoTClient;
-using StackExchange.Redis;
+using Microsoft.AspNetCore.SignalR;
+using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
+using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
using System.Data;
+using System.Reflection.Emit;
namespace WCS.Application;
public static class PLCService
{
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)
{
@@ -30,6 +40,9 @@
case PLCTypeEnum.PalletMachine:
PalletMachine(mod);
break;
+ case PLCTypeEnum.StackingRobot:
+ PalletMachine(mod);
+ break;
default:
break;
}
@@ -46,140 +59,472 @@
private static void StackingMachine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
- switch (modDevice.ToString())
+ switch (modDevice.Value.ToString())
{
case "820":
- var modTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Wait && s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modDevice.StationNum);
- if (modTask == null)
+ // 璺烘満绌洪棽锛岃幏鍙栧嚭搴撲换鍔°�佺Щ搴撲换鍔�
{
- break;
- }
- var modTaskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- StartLocat = modTask.StartLocate,
- EndLocat = modTask.EndLocate,
- PalletNo = modTask.PalletNo,
- };
- // 鏍规嵁璺烘満鍙风‘璁ゆ斁璐у伐浣�
- string outStationNum = "0";
- string endRow = "", endColumn = "", endStorey = "";
- switch (modDevice.StationNum)
- {
- case "R01":
- outStationNum = "11";
- endRow = "1";
- endColumn = "100";
- endStorey = "1";
- break;
- case "R02":
- outStationNum = "7";
- endRow = "1";
- endColumn = "100";
- endStorey = "1";
- break;
- default: break;
- }
- var modD = modDevice.listDevice.FirstOrDefault();
- if (modD == null)
- {
- Log.Error($"IP{modDevice.PlcId}.璁惧id锛歿modDevice.Id}缂哄皯宸ヤ綅绾у埆璁惧淇℃伅");
- break;
- }
- var (result, value) = plcConn.GetPlcDBValue(modD.PosType.Value, modD.DbNumber, modD.PlcPos);
- if (result.IsSucceed)
- {
- if (value == 120)// 鏀捐揣宸ヤ綅绌洪棽 鍙斁璐�
+ // 鑾峰彇浠诲姟淇℃伅
+ var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
+ .First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
+ && s.StartRoadway == modDevice.StationNum);
+ if (modTask == null)
{
- if (int.Parse(outStationNum) > 0)
+ break;
+ }
+
+ // 鏍规嵁鐩爣鍦板潃鍜屽贩閬撹幏鍙栨斁璐у伐浣嶅搴旂殑鎺掑垪灞�
+ PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
+ modTask.StartRoadway, modTask.EndRoadway);
+
+ // 鐩爣宸ヤ綅涓嶄负null锛岄渶鍏堝垽鏂斁璐у伐浣嶆槸鍚︾┖闂�
+ if (!string.IsNullOrEmpty(taskInfo.EndStation))
+ {
+ // 鎵撳紑瀵瑰簲鐨勮緭閫佺嚎杩炴帴
+ var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
+ if (plcConveyorConn.Connected)
{
- var row = int.Parse(modTaskMonitor.StartLocat.Substring(0, 2)).ToString();
- var column = int.Parse(modTaskMonitor.StartLocat.Substring(2, 2)).ToString();
- var layer = int.Parse(modTaskMonitor.StartLocat.Substring(4, 2)).ToString();
- var deep = int.Parse(modTaskMonitor.StartLocat.Substring(6, 2)).ToString();
- if (int.Parse(row) > 2) //澶т簬4
+ // 鑾峰彇鏀捐揣宸ヤ綅閰嶇疆淇℃伅
+ var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
+ && m.DeviceType == DeviceTypeEnum.Business);
+
+ var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
+ if (result.IsSucceed)
{
- row = (int.Parse(row) - 2).ToString();
+ if (value.ToString() != "720") // 720:鏀捐揣绌轰綅绌洪棽锛屽彲鏀捐揣
+ {
+ Log.Error(string.Format("浠诲姟鍙�:{0}:鏀捐揣宸ヤ綅鍗犵敤锛岀◢鍚庢墽琛屻��", modTask.TaskNo));
+ break;
+ }
}
else
{
- // 璧峰鍌ㄤ綅鍦板潃涓虹┖锛岃烦杩� 鍐欏叆浠诲姟鏄庣粏琛�
- modTaskMonitor.StartLocat = "";
- modTaskMonitor.InteractiveMsg = "璧峰鍌ㄤ綅涓虹┖!";
-
- _db.Insertable(modTaskMonitor).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 (TaskAction.refresh)
- //{
- // wSChat.AlarmInformation("1");
- //}
break;
}
- //缁橮LC鍐欏叆浠诲姟鏁版嵁
- var listResult = new List<Result>();
- //浠诲姟鍙�
- var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
- listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType.Value, modDevice.DbNumber, modPosTask.PlcPos, modTaskMonitor.TaskNo));
- //鎵樼洏鍙�
- var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "PalletNo");
- listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType.Value, modDevice.DbNumber, modPosPalletNo.PlcPos, modTaskMonitor.PalletNo));
- //璧峰鎺�
- var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "StartRow");
- listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType.Value, modDevice.DbNumber, modPosRow.PlcPos, row));
- // 璧峰鍒�
- var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "StartColumn");
- listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType.Value, modDevice.DbNumber, modPosColumn.PlcPos, column));
- // 璧峰灞�
- var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "StartLayer");
- listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType.Value, modDevice.DbNumber, modPosStorey.PlcPos, layer));
+ }
+ else
+ {
+ break;
+ }
+ }
- // 鐩爣鏀捐揣宸ヤ綅
- var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "EndRow");
- listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType.Value, modDevice.DbNumber, modPosEndRow.PlcPos, endRow));
- var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "EndColumn");
- listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType.Value, modDevice.DbNumber, modPosEndColumn.PlcPos, endColumn));
- var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "EndLayer");
- listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType.Value, modDevice.DbNumber, modPosEndStorey.PlcPos, endColumn));
- //鍏ㄩ儴鍐欏叆鎴愬姛
- if (listResult.All(s => s.IsSucceed))
+ // 鑾峰彇杞崲鍚庣殑璧峰鎺掑垪灞�
+ PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartLocate.Substring(1, 2),
+ modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
+ modTask.StartLocate.Substring(6, 2));
+
+ // 缁橮LC鍐欏叆浠诲姟鏁版嵁
+ var listResult = new List<Result>();
+ // 浠诲姟鍙锋墭鐩樺彿
+ 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 modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "鎵樼洏鐮�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+ // 璧峰鎺掑垪灞�
+ var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣鎺�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
+ var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣鍒�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
+ var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣灞�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
+ // 鐩爣鏀捐揣宸ヤ綅(鍥哄畾鎺掑垪灞�)
+ var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣鎺�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
+ var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣鍒�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
+ var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣灞�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
+
+ // 鏄惁鍐欏叆鎴愬姛
+ if (listResult.All(s => s.IsSucceed))
+ {
+ // 鍐欏叆璺烘満浠诲姟涓嬪彂瀹屾垚
+ plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
+
+ // 灏嗙Щ搴撲换鍔″緟鎵ц鏀逛负姝ｅ湪鎵ц
+ _db.Updateable<WcsTask>()
+ .SetColumns(s => s.Status == TaskStatusEnum.Doing)
+ .Where(s => s.Id == modTask.Id)
+ .ExecuteCommand();
+
+ WcsTaskMonitor modInsertTaskMonitor;
+ if (string.IsNullOrEmpty(taskInfo.EndStation))
+ {
+ // 鍚屽贩閬撶Щ搴�
+ modInsertTaskMonitor = new WcsTaskMonitor()
{
- // 鍐欏叆璺烘満浠诲姟涓嬪彂瀹屾垚
- plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "10");
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护锛歿modTask.StartLocate}鍌ㄤ綅====銆媨modTask.EndLocate}鍌ㄤ綅銆�",
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modTask.StartLocate,
+ EndLocat = modTask.EndLocate,
+ };
+ }
+ else
+ {
+ // 鍑哄簱浠诲姟 璺ㄥ贩閬撶Щ搴�
+ modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ InteractiveMsg = $"鍐欏叆鎸囦护锛歿modTask.StartLocate}鍌ㄤ綅====銆媨taskInfo.EndStation}宸ヤ綅銆�",
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modTask.StartLocate,
+ EndLocat = modTask.EndLocate,
+ };
+ }
- // 灏嗗嚭搴撲换鍔″緟鎵ц鏀逛负姝ｅ湪鎵ц
- _db.Updateable<WcsTask>()
- .SetColumns(s => s.FinishDate == DateTime.Now)
- .SetColumns(s => s.Status == TaskStatusEnum.Doing)
- .SetColumns(s => s.Levels == 2)
- .Where(s => s.Id == modTask.Id)
- .ExecuteCommand();
- var modInsertTaskMonitor = new WcsTaskMonitor()
+ // 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>());
+ //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);
+ }
+ }
+ break;
+ case "840":
+ // 鍙栬揣瀹屾垚
+ {
+ // 鑾峰彇璺烘満鐐逛綅閰嶇疆
+ var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
+
+ var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "鐩殑宸ヤ綅");
+ var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
+ if (res.IsSucceed)
+ {
+ // 鑾峰彇浠诲姟淇℃伅
+ string tasknoVal = val.ToString();
+ var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
+ if (modTask == null)
+ {
+ Log.Error(string.Format("PLC鎺у埗瀛�840:鏈壘鍒板搴旂殑浠诲姟銆�"));
+ break;
+ }
+ // 璁板綍浠诲姟鏄庣粏
+ var modInsertTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modTask.StartLocate,
+ };
+
+ if (modTask.TaskType == TaskTypeEnum.In)
+ {
+ // 鑾峰彇璺烘満璧峰宸ヤ綅鐐逛綅閰嶇疆,璇诲彇璧峰宸ヤ綅
+ var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "璧峰宸ヤ綅");
+ var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosStartStation.PlcPos);
+ if (startStationRes.IsSucceed)
+ {
+ // 鏍规嵁宸ヤ綅鍙疯幏鍙栧搴旂殑杈撻�佺嚎IP
+ var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
+ if (plcConveyorConn.Connected)
{
- TaskNo = modTask.TaskNo,
- PlcId = modDevice.Id,
- PlcName = modDevice.Text,
- InteractiveMsg = $"鍐欏叆鎸囦护锛歿modTask.StartLocate}鍌ㄤ綅====銆媨outStationNum}宸ヤ綅",
- PalletNo = modTask.PalletNo,
- Status = TaskStatusEnum.Complete,
- StartLocat = modTask.StartLocate,
- EndLocat = outStationNum,
- };
+ // 鍚戝彇璐у伐浣嶅啓鍏ユ祦绋嬪瓧640 鍙栬揣宸插畬鎴�
+ var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal
+ && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == true);
+ var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
+ var modcTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = ConveyorMod.Id,
+ PlcName = ConveyorMod.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = startStationVal,
+ EndLocat = modTask.EndLocate // 鐩爣鍌ㄤ綅鍦板潃
+ };
+ if (!retc.IsSucceed)
+ {
+ modcTaskMonitor.InteractiveMsg = string.Format("杈撻�佺嚎鍙栬揣宸ヤ綅锛歿0},鍐欏叆鍙栬揣瀹屾垚640澶辫触绛夊緟鍦ㄦ鍐欏叆", startStationVal);
+ // 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>());
+ break;
+ }
+
+ modcTaskMonitor.InteractiveMsg = string.Format("杈撻�佺嚎鍙栬揣宸ヤ綅锛歿0},鍐欏叆鍙栬揣瀹屾垚640鎴愬姛", startStationVal);
+ // 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>());
+ }
+
+ // 鍐欏叆娴佺▼鎺у埗瀛�
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
+ if (!ret.IsSucceed)
+ {
+ break; // 鍐欏叆澶辫触璺冲嚭绛夊緟鍐嶆鍐欏叆
+ }
+
+ modInsertTaskMonitor.InteractiveMsg = string.Format("杈撻�佺嚎鍙栬揣宸ヤ綅锛歿0}璺烘満鍙栬揣瀹屾垚850鎴愬姛", startStationVal);
+ modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 鐩爣鍌ㄤ綅鍦板潃
+ // 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 (TaskAction.refresh)
- //{
- // wSChat.AlarmInformation("1");
- //}
- //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);
+ //涓嬪彂浠诲姟鏃ュ織
+ _taskLogHubContext.Clients.All.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
+ }
+ else if (modTask.TaskType == TaskTypeEnum.Out)
+ {
+ // 鍐欏叆娴佺▼鎺у埗瀛�
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
+ if (!ret.IsSucceed)
+ {
+ break; // 鍐欏叆澶辫触璺冲嚭绛夊緟鍐嶆鍐欏叆
+ }
+
+ // 璁板綍浠诲姟鏄庣粏
+ modInsertTaskMonitor.InteractiveMsg = string.Format("鍌ㄤ綅鍦板潃锛歿0}鍙栬揣瀹屾垚", modTask.StartLocate);
+ modInsertTaskMonitor.EndLocat = endStation; // 鏀捐揣宸ヤ綅
+ }
+ else
+ {
+ // 鍐欏叆娴佺▼鎺у埗瀛�
+ var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
+ if (!ret.IsSucceed)
+ {
+ break; // 鍐欏叆澶辫触璺冲嚭绛夊緟鍐嶆鍐欏叆
+ }
+
+ modInsertTaskMonitor.InteractiveMsg = string.Format("鍌ㄤ綅鍦板潃锛歿0}鍙栬揣瀹屾垚", modTask.StartLocate);
+ modInsertTaskMonitor.EndLocat = endStation; // 鐩爣鍌ㄤ綅
+ }
+
+ // 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>());
+ //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);
+ }
+ }
+ break;
+ case "860":
+ {
+ // 鑾峰彇璺烘満鐐逛綅閰嶇疆
+ var modPos860Task = modDevice.listStation.FirstOrDefault(m => m.Text == "浠诲姟鍙�");
+ var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPos860Task.PlcPos);
+ // 鏍规嵁浠诲姟鍙疯幏鍙栦换鍔′俊鎭�
+ if (res.IsSucceed)
+ {
+ string tasknoVal = val.ToString();
+ var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
+ if (modTask == null)
+ {
+ Log.Error(string.Format("璺烘満鎺у埗瀛�860:鏈壘鍒板搴旂殑浠诲姟銆�"));
+ break;
+ }
+
+ switch (modTask.TaskType)
+ {
+ case TaskTypeEnum.In:
+ {
+ var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
+ if (!res870.IsSucceed)
+ {
+ Log.Error(string.Format("璺烘満鎺у埗瀛�860鍐欏叆870澶辫触!"));
+ break;
+ }
+
+ // 鏀瑰彉浠诲姟鐘舵��
+ modTask.Status = TaskStatusEnum.Complete;
+ modTask.FinishDate = DateTime.Now;
+ _db.Updateable(modTask).ExecuteCommand();
+
+ var modcTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modTask.StartLocate,
+ EndLocat = modTask.EndLocate,
+ InteractiveMsg = $"浠诲姟瀹屾垚"
+ };
+ if (modTask.Origin == "WMS")
+ {
+ // 鍙嶉WMS
+ var requestMode = new TaskRequest()
+ {
+ TaskNo = modTask.TaskNo,
+ PalletNo = modTask.PalletNo,
+ TaskType = TaskTypeEnum.In,
+ TaskStatus = TaskStatusEnum.Complete
+ };
+ HttpService httpService = new HttpService();
+ 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";
+ }
+ }
+ // 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>());
+
+ // 姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
+ }
+ break;
+ case TaskTypeEnum.Out: // 鍑哄簱浠诲姟
+ {
+ string roadway = modTask.StartRoadway;
+ // 浠庡嚭搴撲换鍔¤幏鍙栨斁璐у伐浣�
+ string outCode = modTask.EndLocate;
+ // 鏍规嵁宸ヤ綅鍙疯幏鍙栧搴旂殑杈撻�佺嚎IP
+ var plcConveyorConn = PLCCommon.GetPlcIp(outCode);
+ if (plcConveyorConn.Connected)
+ {
+ // 鏍规嵁鐩爣鍦板潃鍜屽贩閬撹幏鍙栨斁璐у伐浣嶅搴旂殑鎺掑垪灞�
+ PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
+ modTask.StartRoadway, modTask.EndRoadway);
+ // 鏍规嵁宸ヤ綅鍙疯幏鍙栧伐浣嶄俊鎭�
+ var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
+ // 璇诲彇褰撳墠宸ヤ綅鍚勫亸绉婚噺鍊�
+ var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();
+
+ // 缁橮LC鍐欏叆浠诲姟鏁版嵁
+ var listResult = new List<Result>();
+ //浠诲姟鍙�
+ var modPosTask = listPos.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
+ //浠诲姟绫诲瀷
+ var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "浠诲姟绫诲瀷");
+ listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
+ //鎵樼洏鍙�
+ var modPosPalletNo = listPos.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
+ var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "璧峰宸ヤ綅");
+ listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
+ // 鐩爣宸ヤ綅
+ var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "鐩殑宸ヤ綅");
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
+
+ // 鏄惁鍐欏叆鎴愬姛
+ if (listResult.All(s => s.IsSucceed))
+ {
+ var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");
+
+ if (result.IsSucceed)
+ {
+ // 鍐欏叆璺烘満wcs鎺у埗瀛� 杩斿洖鍨涙満鎵ц瀹屾垚
+ result = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
+ if (result.IsSucceed)
+ {
+ var modcTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = wcsDevice.Id,
+ PlcName = wcsDevice.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = taskInfo.EndStation,
+ EndLocat = outCode,
+ InteractiveMsg = $"鍐欏叆鎸囦护锛氭敹鍒拌泛鏈烘斁璐у畬鎴愶紱鏀捐揣{taskInfo.EndStation}宸ヤ綅===銆媨outCode}鍑哄簱鍙�"
+ };
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modcTaskMonitor).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+ break;
+ }
+ }
+ }
+ //姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
+ }
+ }
+ break;
+ case TaskTypeEnum.Move: // 绉诲簱浠诲姟
+ {
+ var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ var result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
+ if (!result.IsSucceed)
+ {
+ Log.Error($"{modDevice.Text}鍐欏叆浠诲姟鍙峰け璐�");
+ break;
+ }
+ result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
+ if (!result.IsSucceed)
+ {
+ Log.Error($"{modDevice.Text}鎺у埗瀛楀啓鍏�30澶辫触");
+ break;
+ }
+ // 鏀瑰彉浠诲姟鐘舵��
+ modTask.Status = TaskStatusEnum.Complete;
+ modTask.FinishDate = DateTime.Now;
+ _db.Updateable(modTask).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+
+ var modcTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modTask.StartLocate,
+ EndLocat = modTask.EndLocate,
+ InteractiveMsg = $"浠诲姟瀹屾垚"
+ };
+ if (modTask.Origin == "WMS")
+ {
+ // 鍙嶉WMS
+ var requestMode = new TaskRequest()
+ {
+ TaskNo = modTask.TaskNo,
+ PalletNo = modTask.PalletNo,
+ TaskType = TaskTypeEnum.Move,
+ TaskStatus = TaskStatusEnum.Complete
+ };
+ HttpService httpService = new HttpService();
+ var modResponseTask = httpService.RequestTask(requestMode).Result;
+ if (modResponseTask.StatusCode == "0")
+ {
+ modcTaskMonitor.InteractiveMsg = "浠诲姟瀹屾垚锛岃繑鍥炵粰WMS浠诲姟瀹屾垚";
+ //淇敼鍌ㄤ綅淇℃伅 浠诲姟绫诲瀷 鎵ц鐘舵�� 璧峰浣嶇疆 鐩爣浣嶇疆
+
+ }
+ }
+ // 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>());
+
+ // 姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
+ }
+ break;
+ default: break;
}
}
}
- else
+ break;
+ case "841":
{
- Log.Error(string.Join(',', result.ErrList));
+
+ }
+ break;
+ case "843":
+ {
+
+ }
+ break;
+ case "861":
+ {
+
}
break;
default:
@@ -211,6 +556,25 @@
}
+ /// <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
@@ -220,7 +584,7 @@
Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
foreach (var modStation in modDevice.listStation)
{
- listaddress.Add(modStation.PlcPos, modStation.PosType.Value);
+ listaddress.Add(modStation.PlcPos, modStation.PosType);
}
var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
if (result.Value.Count > 0)
@@ -261,4 +625,6 @@
}
}
+
+
}
--
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