From d239f2cccb5b84d52c8c202557ea8e75cc6ab984 Mon Sep 17 00:00:00 2001
From: wxw <Administrator@DESKTOP-5BIMHQ3>
Date: 星期六, 14 九月 2024 16:51:17 +0800
Subject: [PATCH] 任务管理新增功能增加分配拆垛工位功能；调整分拣码垛页面，更改拆垛机器人属性
---
Admin.NET/WCS.Application/PLC/PLCService.cs | 386 ++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 342 insertions(+), 44 deletions(-)
diff --git a/Admin.NET/WCS.Application/PLC/PLCService.cs b/Admin.NET/WCS.Application/PLC/PLCService.cs
index ed2d3b6..aefbb9f 100644
--- a/Admin.NET/WCS.Application/PLC/PLCService.cs
+++ b/Admin.NET/WCS.Application/PLC/PLCService.cs
@@ -4,10 +4,12 @@
using Furion.Logging;
using IoTClient;
using Microsoft.AspNetCore.SignalR;
+using Qiniu.Storage;
using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
using System;
using System.Data;
+using System.Reflection.Emit;
namespace WCS.Application;
public static class PLCService
@@ -40,6 +42,9 @@
case PLCTypeEnum.PalletMachine:
PalletMachine(mod);
break;
+ case PLCTypeEnum.StackingRobot:
+ PalletMachine(mod);
+ break;
default:
break;
}
@@ -53,7 +58,7 @@
/// 璺烘満涓氬姟澶勭悊
/// </summary>
/// <param name="modDevice"></param>
- private static async void StackingMachine(WcsDeviceDto modDevice)
+ private static void StackingMachine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
switch (modDevice.Value.ToString())
@@ -62,8 +67,8 @@
// 璺烘満绌洪棽锛岃幏鍙栧嚭搴撲换鍔°�佺Щ搴撲换鍔�
{
// 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)
+ 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)
{
@@ -71,11 +76,11 @@
}
// 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(),
+ 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))
+ 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);
@@ -94,12 +99,12 @@
break;
}
}
- else
+ else
{
break;
}
}
- else
+ else
{
break;
}
@@ -143,7 +148,7 @@
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
-
+ _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
WcsTaskMonitor modInsertTaskMonitor;
if (string.IsNullOrEmpty(taskInfo.EndStation))
{
@@ -160,7 +165,7 @@
EndLocat = modTask.EndLocate,
};
}
- else
+ else
{
// 鍑哄簱浠诲姟 璺ㄥ贩閬撶Щ搴�
modInsertTaskMonitor = new WcsTaskMonitor()
@@ -185,7 +190,7 @@
}
}
break;
- case "840":
+ case "840":
// 鍙栬揣瀹屾垚
{
// 鑾峰彇璺烘満鐐逛綅閰嶇疆
@@ -194,11 +199,11 @@
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)
+ 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);
+ 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�"));
@@ -209,7 +214,7 @@
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
- PlcName = modDevice.Text,
+ PlcName = modDevice.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
@@ -220,12 +225,11 @@
// 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)
+ if (startStationRes.IsSucceed)
{
// 鏍规嵁宸ヤ綅鍙疯幏鍙栧搴旂殑杈撻�佺嚎IP
- PlcTaskInfo taskInfo = PLCCommon.GetPlcIp(startStationVal);
- var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
- if (plcConveyorConn.Connected)
+ var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
+ if (plcConveyorConn.Connected)
{
// 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
@@ -241,7 +245,7 @@
StartLocat = startStationVal,
EndLocat = modTask.EndLocate // 鐩爣鍌ㄤ綅鍦板潃
};
- if (!retc.IsSucceed)
+ 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
@@ -267,7 +271,7 @@
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
+ // 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>());
@@ -286,7 +290,7 @@
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
+ else
{
// 鍐欏叆娴佺▼鎺у埗瀛�
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
@@ -329,7 +333,7 @@
case TaskTypeEnum.In:
{
var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
- if (!res870.IsSucceed)
+ if (!res870.IsSucceed)
{
Log.Error(string.Format("璺烘満鎺у埗瀛�860鍐欏叆870澶辫触!"));
break;
@@ -337,34 +341,172 @@
// 鏀瑰彉浠诲姟鐘舵��
modTask.Status = TaskStatusEnum.Complete;
- modTask.FinishDate = DateTime.Now;
+ modTask.FinishDate = DateTime.Now;
_db.Updateable(modTask).ExecuteCommand();
-
- if (modTask.Origin == "WMS")
+ _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 = "1",
+ TaskType = TaskTypeEnum.In,
TaskStatus = TaskStatusEnum.Complete
};
-
- // 姝ゅ娣诲姞璋冪敤WMS鎺ュ彛 liudl
+ 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 = $"浠诲姟瀹屾垚"
+ };
+ if (modTask.Origin == "WMS")
+ {
+ // 鍙嶉WMS
+ var requestMode = new TaskRequest()
+ {
+ TaskNo = modTask.TaskNo,
+ PalletNo = modTask.PalletNo,
+ TaskType = TaskTypeEnum.Move,
+ TaskStatus = TaskStatusEnum.Complete
+ };
+ HttpService httpService = new HttpService();
+ var modResponseTask = httpService.RequestTask(requestMode).Result;
+ if (modResponseTask.StatusCode == "0")
+ {
+ modcTaskMonitor.InteractiveMsg = "浠诲姟瀹屾垚锛岃繑鍥炵粰WMS浠诲姟瀹屾垚";
+ //淇敼鍌ㄤ綅淇℃伅 浠诲姟绫诲瀷 鎵ц鐘舵�� 璧峰浣嶇疆 鐩爣浣嶇疆
+
+ }
+ }
+ // 鎻掑叆浜や簰鏃ュ織
+ _db.Insertable(modcTaskMonitor).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ _taskLogHubContext.Clients.All.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
+ // 姝ゅ娣诲姞涓嶇┖璺戜笟鍔�
}
break;
default: break;
@@ -379,12 +521,128 @@
break;
case "843":
{
-
+ //绌哄彇璐у紓甯�
+ var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ if (!result.IsSucceed)
+ break;
+ string taskNo = Convert.ToString(TaskNo);
+ var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
+ if (modTask == null)
+ {
+ Log.Error($"銆愬爢鍨涙満銆戝綋鍓嶄换鍔″彿涓嶅瓨鍦ㄥ搴旂殑浠诲姟锛屼换鍔″彿锛歿modTask.TaskNo}");
+ break;
+ }
+ var res = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "844");
+ if (!res.IsSucceed)
+ break;
+ modTask.Status = TaskStatusEnum.Exception;
+ _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
+ _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ Log.Information($"銆愬爢鍨涙満銆憌cs浠诲姟鍙樻洿绌哄彇寮傚父锛屼换鍔″彿锛歿modTask.TaskNo}");
+ var modTaskRequest = modTask.Adapt<TaskRequest>();
+ HttpService httpService = new HttpService();
+ var modResponseTask = httpService.RequestEmptyException(modTaskRequest).Result;
+ if (modResponseTask.StatusCode == "0")
+ {
+ //璇锋眰鎴愬姛
+ modTask.IsSuccess = TaskSuccessEnum.Success;
+ _db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
+ //涓嬪彂浠诲姟鏃ュ織
+ _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ }
+ else
+ {
+ //璇锋眰澶辫触
+ modTask.IsSuccess = TaskSuccessEnum.Fail;
+ modTask.Information = modResponseTask.Message;
+ _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
+ _taskLogHubContext.Clients.All.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ }
}
break;
case "861":
{
+ //婊℃斁璐у紓甯�
+ var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "浠诲姟鍙�");
+ var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "鎵樼洏鍙�");
+ var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
+ if (!result.IsSucceed)
+ break;
+ string taskNo = Convert.ToString(TaskNo);
+ var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
+ if (modTask == null)
+ {
+ Log.Error($"銆愬爢鍨涙満銆戝綋鍓嶄换鍔″彿涓嶅瓨鍦ㄥ搴旂殑浠诲姟锛屼换鍔″彿锛歿modTask.TaskNo}");
+ break;
+ }
+ modTask.Status = TaskStatusEnum.Exception;
+ _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
+ _taskLogHubContext.Clients.All.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();
+ var modResponseTask = httpService.RequestFullException(modTaskRequest).Result;
+ if (modResponseTask.StatusCode == "0")
+ {
+ //淇敼浠诲姟涓烘鍦ㄦ墽琛�
+ modTask.Status = TaskStatusEnum.Doing;
+ _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
+ // 璧峰鎺掑垪灞�
+ var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣鎺�");
+ var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣鍒�");
+ var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "鍙栬揣灞�");
+ // 鐩爣鏀捐揣宸ヤ綅
+ var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣鎺�");
+ var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣鍒�");
+ var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "鏀捐揣灞�");
+ string endLocat = modResponseTask.TaskList.EndLocate;
+ string row = int.Parse(endLocat.Substring(0, 2)).ToString();
+ string column = int.Parse(endLocat.Substring(2, 2)).ToString();
+ string storey = int.Parse(endLocat.Substring(4, 2)).ToString();
+ // 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
+ listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
+ listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
+ // 璧峰鎺掑垪灞�
+ listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
+ listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
+ listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
+ listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));
+ // 鏄惁鍐欏叆鎴愬姛
+ if (listResult.All(s => s.IsSucceed))
+ {
+ // 鍚戣泛鏈哄啓鍏ユ帶鍒舵祦绋嬪瓧
+ var res = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.WcsPos, "862");
+ var modcTaskMonitor = new WcsTaskMonitor()
+ {
+ TaskNo = modTask.TaskNo,
+ PlcId = modDevice.Id,
+ PlcName = modDevice.Text,
+ PalletNo = modTask.PalletNo,
+ Status = TaskStatusEnum.Complete,
+ StartLocat = modDevice.StationNum,
+ EndLocat = endLocat,
+ InteractiveMsg = $"鍐欏叆鎸囦护锛歿modDevice.StationNum}宸ヤ綅====銆�" + endLocat + "鍌ㄤ綅鍦板潃!"
+ };
+ // 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>());
+ }
+
+ }
+ //else
+ //{
+ // //璇锋眰澶辫触
+ // modTask.IsSuccess = TaskSuccessEnum.Fail;
+ // modTask.Information = modResponseTask.Message;
+ // _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
+ //}
}
break;
default:
@@ -398,7 +656,7 @@
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())
{
@@ -415,6 +673,10 @@
// 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);
+ if (!res.IsSucceed)
+ {
+ break;
+ }
var http = new HttpService();
string TaskNo = "", EndLocate = "";
strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);
@@ -467,9 +729,13 @@
// 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);
+ 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.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
@@ -483,8 +749,9 @@
// 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�
@@ -558,6 +825,10 @@
// 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);
+ if (!res.IsSucceed)
+ {
+ break;
+ }
var http = new HttpService();
string TaskNo = "";
// 鍚慦MS鐢宠鍌ㄤ綅淇℃伅
@@ -610,9 +881,13 @@
// 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 )
+ {
+ break;
+ }
string pallet = palletVal.ToString();
string taskNo = taskNoVal.ToString();
// 鑾峰彇浠诲姟淇℃伅
@@ -626,7 +901,9 @@
var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
if (string.IsNullOrWhiteSpace(sInfo.Ip))
{
- throw new Exception("鏍规嵁宸烽亾鑾峰彇璺烘満IP澶辫触锛岃鑱旂郴绠＄悊鍛�");
+ //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);
@@ -647,12 +924,13 @@
var djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
- var djInfos = PLCTaskAction.plcStation.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
+ 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 (djVal != "820")
+
+ if (!djRes.IsSucceed || djVal != "820")
{
// 璺烘満闈炵┖闂茬瓑寰�
break;
@@ -664,12 +942,13 @@
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
@@ -849,6 +1128,25 @@
}
+ /// <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
@@ -900,5 +1198,5 @@
}
-
+
}
--
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