using Dm.filter;
using DocumentFormat.OpenXml.Bibliography;
using DocumentFormat.OpenXml.Drawing.Charts;
using Elastic.Clients.Elasticsearch.Tasks;
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;
using WCS.Application.Entity;
using WCS.Application.Util;
using static SKIT.FlurlHttpClient.Wechat.Api.Models.CgibinExpressIntracityUpdateStoreRequest.Types;
using static SKIT.FlurlHttpClient.Wechat.Api.Models.NontaxInsertBillRequest.Types.CardExtra.Types.BillCard.Types;
namespace WCS.Application;
public static class PLCService
{
private static readonly object OLock = new object();
private static readonly object RuKuLock = new object();
private static readonly object OutLock = new object();
private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
private static decimal weight94 = 0;
private static decimal weight160 = 0;
private static decimal weight155 = 0;
private static decimal weight152 = 0;
private static decimal weight153 = 0;
public static void OnChangeEvent(object sender, EventArgs e)
{
try
{
var mod = sender as WcsDeviceDto;
Console.WriteLine("PLC值为" + mod.Value);
switch (mod.Type)
{
case PLCTypeEnum.StackingMachine:
StackingMachine(mod); // 跺机
break;
case PLCTypeEnum.ConveyorLine:
ConveyorLine(mod); // 托盘输é€çº¿
break;
case PLCTypeEnum.AGV:
AGV(mod); // AGV调度
break;
case PLCTypeEnum.BoxConveyorLine:
BoxConveyorLine(mod); // ç 垛机器人
break;
case PLCTypeEnum.StackingRobot:
PalletMachine(mod);
break;
default:
break;
}
}
catch (Exception ex)
{
Log.Error(ex.Message, ex);
}
}
/// <summary>
/// 跺机业务处ç†
/// </summary>
/// <param name="modDevice"></param>
private static void StackingMachine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
string ledText = "";
switch (modDevice.Value.ToString())
{
case "820":
// 跺机空闲，获å–出库任务ã€ç§»åº“任务
{
// 获å–任务信æ¯
var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime, OrderByType.Asc)
.First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
&& s.StartRoadway == modDevice.StationNum);
if (modTask == null)
{
break;
}
//判æ–出库é”定是å¦æ‰“å¼€
if (PLCTaskAction.boOutLock)
{
break;//出库é”定打开则ä¸æ‰§è¡Œå‡ºåº“任务
}
PlcTaskInfo taskInfo = new PlcTaskInfo();
if (modTask.TaskType == TaskTypeEnum.Move)
{
// ç§»åº“ç›®æ ‡åœ°å€
taskInfo = PLCCommon.GetEndPai(modTask.EndLocate.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
modTask.EndLocate.Substring(6, 2));
}
else
{
// æ ¹æ®ç›®æ ‡åœ°å€å’Œå··é“获å–出库å£å¯¹åº”的放货工ä½å¯¹åº”的排列层
taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
modTask.StartRoadway, modTask.EndRoadway);
// ç›®æ ‡å·¥ä½ä¸ä¸ºnull，需先判æ–放货工ä½æ˜¯å¦ç©ºé—²
if (!string.IsNullOrEmpty(taskInfo.EndStation))
{
#region è·¨è·ºæœºä»»åŠ¡å¤„ç† ###########
// 判æ–ç›®æ ‡ä½ç½®æ˜¯å¦æ˜¯è·¨è·ºæœºå‡ºåº“å·¥ä½
if (modTask.EndLocate == "266")// && modTask.StartRoadway != "R05"
{
// 判æ–入库工ä½æ˜¯å¦å˜åœ¨æœªå®Œæˆçš„入库任务
var modInTask = _db.Queryable<WcsTask>().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime, OrderByType.Asc)
.First(s => (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.TaskType == TaskTypeEnum.In
&& s.StartLocate == modTask.EndLocate);
if (modInTask != null)
{
// ç›®æ ‡å‡ºåº“å£æœ‰å¯¹åº”的入库任务跳出循环，ç‰å¾…入库任务完æˆã€‚
break;
}
// æ ¹æ®ç›®æ ‡å·¥ä½å·èŽ·å–输é€çº¿é“¾æŽ¥
var plcCconn = PLCCommon.GetPlcIp(modTask.EndLocate);
// 读å–ç›®æ ‡å·¥ä½å½“å‰çŠ¶æ€
var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndLocate && m.DeviceType == DeviceTypeEnum.Business);
var (result, value) = plcCconn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
if (result.IsSucceed)
{
if (value.ToString() != "120")
{
// ç›®æ ‡å·¥ä½è¢«å 用跳出循环，ç‰å¾…å·¥ä½é‡Šæ”¾ã€‚
break;
}
}
if (modTask.StartRoadway != "R05")
{
string aaa = PLCCommon.RoadwayToOutStationNum(modTask.StartRoadway, "1"); // 获å–1楼ä¸ä¸“å·¥ä½å·
taskInfo.Ip = PLCCommon.GetPlcIp(aaa).PlcIP;
taskInfo.EndPai = "2";
taskInfo.EndLie = "60";
taskInfo.EndCeng = "1";
taskInfo.EndStation = aaa;
}
}
if (modTask.EndLocate == "265") // && modTask.StartRoadway != "R05" && modTask.StartRoadway != "R06"
{
// 判æ–入库工ä½æ˜¯å¦å˜åœ¨æœªå®Œæˆçš„入库任务
var modInTask = _db.Queryable<WcsTask>().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime, OrderByType.Asc)
.First(s => (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.TaskType == TaskTypeEnum.In
&& s.StartLocate == modTask.EndLocate);
if (modInTask != null)
{
// ç›®æ ‡å‡ºåº“å£æœ‰å¯¹åº”的入库任务跳出循环，ç‰å¾…入库任务完æˆã€‚
break;
}
// æ ¹æ®ç›®æ ‡å·¥ä½å·èŽ·å–输é€çº¿é“¾æŽ¥
var plcCconn = PLCCommon.GetPlcIp(modTask.EndLocate);
// 读å–ç›®æ ‡å·¥ä½å½“å‰çŠ¶æ€
var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndLocate && m.DeviceType == DeviceTypeEnum.Business);
var (result, value) = plcCconn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
if (result.IsSucceed)
{
if (value.ToString() != "120")
{
// ç›®æ ‡å·¥ä½è¢«å 用跳出循环，ç‰å¾…å·¥ä½é‡Šæ”¾ã€‚
break;
}
}
if (modTask.StartRoadway != "R05" && modTask.StartRoadway != "R06")
{
string aaa = PLCCommon.RoadwayToOutStationNum(modTask.StartRoadway, "1"); // 获å–1楼ä¸ä¸“å·¥ä½å·
taskInfo.Ip = PLCCommon.GetPlcIp(aaa).PlcIP;
taskInfo.EndPai = "2";
taskInfo.EndLie = "60";
taskInfo.EndCeng = "1";
taskInfo.EndStation = aaa;
}
}
// 写入放货工ä½å›ºå®šåœ°å€
#endregion
// 打开对应的输é€çº¿è¿žæŽ¥
var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
if (plcConveyorConn.Connected)
{
// 获å–放货工ä½é…置信æ¯
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)
{
if (value.ToString() != "720") // 720:放货空ä½ç©ºé—²ï¼Œå¯æ”¾è´§ liudl 程åºè°ƒè¯•å®ŒæˆåŽæ”¾å¼€
{
Log.Error(string.Format("任务å·:{0}:放货工ä½å 用，ç¨åŽæ‰§è¡Œã€‚", modTask.TaskNo));
break;
}
else if (value.ToString() == "720")
{
// 若空闲æå‰å 用æ¤å·¥ä½ï¼ŒåŒå·¥ä½å‡ºå…¥å…¬ç”¨å£ 放开æ¤ç¨‹åº
var ret = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "730");
if (!ret.IsSucceed)
{
break;
}
}
}
else
{
break;
}
}
else
{
break;
}
}
}
// 获å–转æ¢åŽçš„起始排列层 06010101 // 移库时起始排列层
PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartRoadway.Substring(1, 2), modTask.StartLocate.Substring(2, 2),
modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
modTask.StartLocate.Substring(6, 2));
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
// 任务å·æ‰˜ç›˜å·
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 起始排列层
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货排");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货列");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货层");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
if (modTask.TaskType == TaskTypeEnum.Out)
{
var modEndNo = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工ä½");
listResult.Add(plcConn.SetPlcDBValueRepeat(modEndNo.PosType, modDevice.DbNumber, modEndNo.PlcPos, taskInfo.EndStation));
}
// ç›®æ ‡æ”¾è´§å·¥ä½(固定排列层)
var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
// 是å¦å†™å…¥æˆåŠŸ
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机任务下å‘完æˆ
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
// 将移库任务待执行改为æ£åœ¨æ‰§è¡Œ
_db.Updateable<WcsTask>()
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
WcsTaskMonitor modInsertTaskMonitor;
if (string.IsNullOrEmpty(taskInfo.EndStation))
{
// åŒå··é“移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储ä½====》{modTask.EndLocate}储ä½ã€‚",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
else
{
// 出库任务 跨巷é“移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储ä½====》{taskInfo.EndStation}å·¥ä½ã€‚",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
//修改ledå±ä¿¡æ¯
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
ledText += $"任务类型:{modTask.TaskType.GetDescription()}\n\n";
ledText += $"任务å·:{modTask.TaskNo}\n";
ledText += $"托盘å·:{modTask.PalletNo}\n\n";
ledText += $"起始ä½:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{modTask.EndRoadway + " " + modTask.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
}
}
break;
case "840":
// å–货完æˆ
{
// 获å–跺机点ä½é…ç½®
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (res, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
if (res.IsSucceed)
{
// 获å–任务信æ¯
string tasknoVal = val.ToString();
var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
if (modTask == null)
{
Log.Error(string.Format($"PLC控制å—840:未找到对应的任务。任务å·ï¼š{tasknoVal}"));
break;
}
// 记录任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
};
var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工ä½");
var (endRes, endStation) = plcConn.GetPlcDBValue(modPosEndStation.PosType, modDevice.DbNumber, modPosEndStation.PlcPos);
var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工ä½");
var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Short, modDevice.DbNumber, modPosStartStation.PlcPos);
if (modTask.TaskType == TaskTypeEnum.In)
{
// 获å–跺机起始工ä½ç‚¹ä½é…ç½®,读å–起始工ä½
if (startStationRes.IsSucceed)
{
// æ ¹æ®å·¥ä½å·èŽ·å–对应的输é€çº¿IP
PLCUtil plcConveyorConn = PLCCommon.GetPlcIp(startStationVal.ToString().PadLeft(3, '0'));
if (plcConveyorConn.Connected)
{
// å‘å–货工ä½å†™å…¥æµç¨‹å—640 å–货已完æˆ
var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal.ToString().PadLeft(3, '0')
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
var modcTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = ConveyorMod.Id,
PlcName = ConveyorMod.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = startStationVal.ToString(),
EndLocat = modTask.EndLocate // ç›®æ ‡å‚¨ä½åœ°å€
};
// 读å–wcs控制å—
var (ress, va1s) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos);
if (va1s.ToString() == "630")
{
var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
if (retc.IsSucceed)
{
// å†æ¬¡è¯»å–wcs控制å—,ç¡®ä¿å†™å…¥æˆåŠŸ640
var (ress2, va1s2) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos);
if (va1s2.ToString() == "630")//还是ç‰äºŽ630说明640没有写入æˆåŠŸï¼Œå†æ¬¡å†™å…¥640
{
retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
Log.Information($"840垛机å–货完æˆå†™å…¥640失败åŽå†æ¬¡å†™å…¥ï¼ŒDbNumber：{ConveyorMod.DbNumber}");
}
modcTaskMonitor.InteractiveMsg = string.Format("å·¥ä½ï¼š{0},写入å–货完æˆ:640", startStationVal);
// æ’入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
}
else
{
modcTaskMonitor.InteractiveMsg = string.Format("å·¥ä½ï¼š{0},写入å–货完æˆ640失败", startStationVal);
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// 读å–wcs控制å—
var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
if (va1ss.ToString() == "830")
{
modInsertTaskMonitor.InteractiveMsg = string.Format("å·¥ä½ï¼š{0}跺机å–货完æˆå†™å…¥850", startStationVal);
modInsertTaskMonitor.EndLocat = modTask.EndLocate; // ç›®æ ‡å‚¨ä½åœ°å€
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
}
// 写入æµç¨‹æŽ§åˆ¶å—
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
if (!ret.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = string.Format("å·¥ä½ï¼š{0}跺机å–货完æˆå†™å…¥850失败,ç‰å¾…å†æ¬¡å†™å…¥ã€‚", startStationVal);
modInsertTaskMonitor.EndLocat = modTask.EndLocate; // ç›®æ ‡å‚¨ä½åœ°å€
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
break; // 写入失败跳出ç‰å¾…å†æ¬¡å†™å…¥
}
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
}
else if (modTask.TaskType == TaskTypeEnum.Out)
{
#region 跺机转è¿ä»»åŠ¡å¤„ç†
if (modTask.StartRoadway != modDevice.StationNum)
{// 转è¿ä»»åŠ¡
// 写入起始工ä½640
string stationFrom = startStationVal.ToString();
var plcItemconn = PLCCommon.GetPlcIp(stationFrom);
if (plcItemconn.Connected)
{
// 写入起始工ä½640
var modFrom = PLCTaskAction.plcDevices.First(m => m.IsDelete == false && m.StationNum == stationFrom);
var retFrom = plcItemconn.SetPlcDBValue(modFrom.PosType, modFrom.DbNumber, modFrom.WcsPos, "640");
if (retFrom.IsSucceed)
{
Log.Error(stationFrom + "ä¸è½¬å·¥ä½å†™å…¥640");
}
else
{
break;
}
// 读å–wcs控制å—
var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
if (va1ss.ToString() == "830")
{
// 记录任务明细
modInsertTaskMonitor.InteractiveMsg = string.Format("储ä½åœ°å€ï¼š{0}å–货完æˆå†™å…¥850", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = endStation.ToString(); // 放货工ä½
}
// 写入æµç¨‹æŽ§åˆ¶å—
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
if (!ret.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = string.Format("储ä½åœ°å€ï¼š{0}å–货完æˆå†™å…¥850失败,ç‰å¾…å†æ¬¡å†™å…¥ã€‚", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = modTask.EndLocate; // ç›®æ ‡å‚¨ä½åœ°å€
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
break; // 写入失败跳出ç‰å¾…å†æ¬¡å†™å…¥
}
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
else
{
//if (modTask.EndLocate == "266" && modTask.StartRoadway == "R06")
//{
// // R06å··é“å•ç‹¬è½¬è¿ä»»åŠ¡ã€‚
// // 写入起始工ä½640
// string stationFrom = startStationVal.ToString();
// var plcItemconn = PLCCommon.GetPlcIp(stationFrom);
// var modFrom = PLCTaskAction.plcDevices.First(m => m.IsDelete == false && m.StationNum == stationFrom);
// var retFrom = plcItemconn.SetPlcDBValue(modFrom.PosType, modFrom.DbNumber, modFrom.WcsPos, "640");
// if (retFrom.IsSucceed)
// {
// Log.Error(stationFrom + "ä¸è½¬å·¥ä½å†™å…¥640");
// }
// else
// {
// break;
// }
// // 读å–wcs控制å—
// var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
// if (va1ss.ToString() == "830")
// {
// // 记录任务明细
// modInsertTaskMonitor.InteractiveMsg = string.Format("储ä½åœ°å€ï¼š{0}å–货完æˆå†™å…¥850", modTask.StartLocate);
// modInsertTaskMonitor.EndLocat = endStation.ToString(); // 放货工ä½
// }
// // 写入æµç¨‹æŽ§åˆ¶å—
// var ret11 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
// if (!ret11.IsSucceed)
// {
// modInsertTaskMonitor.InteractiveMsg = string.Format("储ä½åœ°å€ï¼š{0}å–货完æˆå†™å…¥850失败,ç‰å¾…å†æ¬¡å†™å…¥ã€‚", modTask.StartLocate);
// modInsertTaskMonitor.EndLocat = modTask.EndLocate; // ç›®æ ‡å‚¨ä½åœ°å€
// // æ’入交互日志
// _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// break; // 写入失败跳出ç‰å¾…å†æ¬¡å†™å…¥
// }
// //下å‘任务日志
// HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// break;
//}
// 写入æµç¨‹æŽ§åˆ¶å—
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
if (!ret.IsSucceed)
{
break; // 写入失败跳出ç‰å¾…å†æ¬¡å†™å…¥
}
modInsertTaskMonitor.InteractiveMsg = string.Format("储ä½åœ°å€ï¼š{0}å–货完æˆ", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = endStation; // ç›®æ ‡å‚¨ä½
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
#endregion
}
else
{
// 写入æµç¨‹æŽ§åˆ¶å—
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
if (!ret.IsSucceed)
{
break; // 写入失败跳出ç‰å¾…å†æ¬¡å†™å…¥
}
modInsertTaskMonitor.InteractiveMsg = string.Format("储ä½åœ°å€ï¼š{0}å–货完æˆ", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = endStation.ToString(); // ç›®æ ‡å‚¨ä½
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
break;
case "860": //跺机放货完æˆ
{
// 获å–跺机点ä½é…ç½®
var modPos860Task = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (res, val) = plcConn.GetPlcDBValue(modPos860Task.PosType, modDevice.DbNumber, modPos860Task.PlcPos);
// æ ¹æ®ä»»åŠ¡å·èŽ·å–任务信æ¯
if (res.IsSucceed)
{
string tasknoVal = val.ToString();
var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
if (modTask == null)
{
Log.Error(string.Format("跺机控制å—860:未找到对应的任务。"));
break;
}
switch (modTask.TaskType)
{
case TaskTypeEnum.In:
{
#region 跨跺机转è¿ä»»åŠ¡å¤„ç†#####
// 判æ–是å¦è·¨è·ºæœºè½¬è¿ä»»åŠ¡
var modPos860endAddre = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工ä½");
var (ress, endVal) = plcConn.GetPlcDBValue(modPos860endAddre.PosType, modDevice.DbNumber, modPos860endAddre.PlcPos);
string endValStr = endVal.ToString().PadLeft(3, '0');
// æ ¹æ®å··é“ã€å±‚数获å–入库放货工ä½
var inVal = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, "1");
var inVal1 = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, "2", modTask.StartLocate.ToString());
// æ ¹æ®å½“å‰è·ºæœºæ”¾è´§å·¥ä½å¯¹æ¯”ç›®æ ‡å··é“入库å–货工ä½åšå¯¹æ¯”确认是å¦è½¬è¿ä»»åŠ¡ã€‚
if (endValStr != inVal && endValStr != inVal1)
{
// æ ¹æ®å·¥ä½å·èŽ·å–输é€çº¿é“¾æŽ¥
var plcCconn = PLCCommon.GetPlcIp(endValStr);
if (plcCconn.Connected)
{
// 写入转è¿ä¿¡æ¯
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
// æ ¹æ®å·¥ä½å·èŽ·å–å·¥ä½ä¿¡æ¯
var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcCconn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == endValStr);
// 读å–当å‰å·¥ä½å„å移é‡å€¼
var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();
//任务å·
var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcCconn.SetPlcDBValueRepeat(modPosTask.PosType, wcsDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
//任务类型
var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
listResult.Add(plcCconn.SetPlcDBValueRepeat(modPosTaskType.PosType, wcsDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
//托盘å·
var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcCconn.SetPlcDBValueRepeat(modPosPalletNo.PosType, wcsDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工ä½
var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工ä½");
listResult.Add(plcCconn.SetPlcDBValueRepeat(modPosLocatNo.PosType, wcsDevice.DbNumber, modPosLocatNo.PlcPos, endValStr));
// ç›®æ ‡å·¥ä½
var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工ä½");
listResult.Add(plcCconn.SetPlcDBValueRepeat(modPosEndLocatNo.PosType, wcsDevice.DbNumber, modPosEndLocatNo.PlcPos, inVal));
// 是å¦å†™å…¥æˆåŠŸ
if (listResult.All(s => s.IsSucceed))
{
var result = plcCconn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");
if (result.IsSucceed)
{
// 写入跺机wcsæŽ§åˆ¶å— è¿”å›žåž›æœºæ‰§è¡Œå®Œæˆ
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 = "",
EndLocat = modTask.EndRoadway,
InteractiveMsg = $"写入指令：收到跺机放货完æˆï¼›æ”¾è´§{endValStr}å·¥ä½===》{inVal}å·¥ä½"
};
// æ’入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
}
}
}
}
// å‘å·¥ä½å†™å…¥ï¼Œå½“å‰å·¥ä½åˆ°ç›®æ ‡å··é“入库å–货工ä½æµç¨‹ã€‚写入æµç¨‹æŽ§åˆ¶å—"740"
#endregion
var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
if (!res870.IsSucceed)
{
Log.Error(string.Format("跺机控制å—860写入870失败!"));
break;
}
// 改å˜ä»»åŠ¡çŠ¶æ€
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
_db.Updateable(modTask).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
InteractiveMsg = $"任务完æˆ"
};
if (modTask.Origin == "WMS")
{
// å馈WMS
var requestMode = new TaskRequestWMS()
{
TaskNo = modTask.TaskNo,
PalletNo = modTask.PalletNo,
TaskType = ((int)TaskTypeEnum.In).ToString(),
TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
};
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestTask(requestMode).Result;
if (modResponseTask.StatusCode == 0)
{
modTaskMonitor.InteractiveMsg = "任务完æˆï¼Œè¿”回给WMS任务完æˆ";
}
else
{
Log.Error(string.Format("c：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
// æ ¹æ®ä»»åŠ¡å·èŽ·å–起始工ä½åœ°å€ï¼Œæ ¹æ®èµ·å§‹å·¥ä½åœ°å€èŽ·å–LEDIP 推é€åˆ°LEDå±å¹•ã€‚
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
// æ’入交互日志
_db.Insertable(modTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// led显示内容
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.StartLocate && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
ledText += $"入库完æˆ\n\n";
ledText += $"任务å·:{modTask.TaskNo}\n";
ledText += $"托盘å·:{modTask.PalletNo}\n\n";
ledText += $"起始ä½:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{modTask.EndRoadway + " " + modTask.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
// æ¤å¤„æ·»åŠ ä¸ç©ºè·‘业务
}
break;
case TaskTypeEnum.Out: // 出库任务
{
string roadway = modTask.StartRoadway;
// 从出库任务获å–放货工ä½
string outCode = modTask.EndLocate;
#region 跨跺机转è¿ä»»åŠ¡ ##########
var modPosStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工ä½");
var (ress, stationNum) = plcConn.GetPlcDBValue(modPosStation.PosType, modDevice.DbNumber, modPosStation.PlcPos);
if (!ress.IsSucceed)
{
// 获å–当å‰æ‰˜ç›˜æ‰€åœ¨å·¥ä½å¤±è´¥
break;
}
// æ ¹æ®ç›®æ ‡åœ°å€å’Œå··é“获å–放货工ä½å¯¹åº”的排列层
PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
modTask.StartRoadway, modTask.EndRoadway);
string stationNumstr = stationNum.ToString();
if (!taskInfo.EndStation.Contains(stationNumstr) && stationNumstr != "0")
{ // 是跺机ä¸ä¸“å·¥ä½
//taskInfo.EndStation = stationNumstr;
string roadwayto = "R05";
// æ ¹æ®å‡ºåº“å£æ”¾è´§å·¥ä½èŽ·å–对应的ä¸è½¬å··é“
if (taskInfo.EndStation.Contains("277"))
{
roadwayto = "R05";
}
else if (taskInfo.EndStation.Contains("250"))
{
roadwayto = "R06";
}
// æ ¹æ®å±‚数和巷é“数确定ä¸ä¸“å·¥ä½
outCode = PLCCommon.RoadwayToStationNum(roadwayto, "1");
}
#endregion
// æ ¹æ®å·¥ä½å·èŽ·å–对应的输é€çº¿IP
var plcConveyorConn = PLCCommon.GetPlcIp(stationNumstr);
if (plcConveyorConn.Connected)
{
stationNumstr = stationNumstr.PadLeft(3, '0');
// æ ¹æ®å·¥ä½å·èŽ·å–å·¥ä½ä¿¡æ¯
var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId
&& s.Level == DeviceLevelEnum.Station && s.StationNum == stationNumstr);
// 读å–当å‰å·¥ä½å„å移é‡å€¼
var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
//任务å·
var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcConveyorConn.SetPlcDBValueRepeat(modPosTask.PosType, wcsDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
//任务类型
var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
listResult.Add(plcConveyorConn.SetPlcDBValueRepeat(modPosTaskType.PosType, wcsDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
//托盘å·
var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcConveyorConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, wcsDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工ä½
var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工ä½");
listResult.Add(plcConveyorConn.SetPlcDBValueRepeat(modPosLocatNo.PosType, wcsDevice.DbNumber, modPosLocatNo.PlcPos, stationNumstr));
// ç›®æ ‡å·¥ä½
var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工ä½");
listResult.Add(plcConveyorConn.SetPlcDBValueRepeat(modPosEndLocatNo.PosType, wcsDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
// 是å¦å†™å…¥æˆåŠŸ
if (listResult.All(s => s.IsSucceed))
{
var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");
if (result.IsSucceed)
{
// 写入跺机wcsæŽ§åˆ¶å— è¿”å›žåž›æœºæ‰§è¡Œå®Œæˆ
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 = $"写入指令：收到跺机放货完æˆï¼›æ”¾è´§{taskInfo.EndStation}å·¥ä½===》{outCode}å·¥ä½"
};
// æ’入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
}
}
//æ¤å¤„æ·»åŠ ä¸ç©ºè·‘业务
}
}
break;
case TaskTypeEnum.Move: // 移库任务
{
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务å·");
var result = plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
if (!result.IsSucceed)
{
Log.Error($"{modDevice.Text}写入任务å·å¤±è´¥");
break;
}
result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
if (!result.IsSucceed)
{
Log.Error($"{modDevice.Text}控制å—写入870失败");
break;
}
// 改å˜ä»»åŠ¡çŠ¶æ€
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
modTask.Levels = 999;
_db.Updateable(modTask).ExecuteCommand();
//下å‘任务日志
HubUtil.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 = $"任务完æˆ"
};
if (modTask.Origin == "WMS")
{
// å馈WMS
var requestMode = new TaskRequestWMS()
{
TaskNo = modTask.TaskNo,
PalletNo = modTask.PalletNo,
TaskType = ((int)TaskTypeEnum.Move).ToString(),
TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
};
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestTask(requestMode).Result;
if (modResponseTask.StatusCode == 0)
{
modcTaskMonitor.InteractiveMsg = "任务完æˆï¼Œè¿”回给WMS任务完æˆ";
//修改储ä½ä¿¡æ¯ 任务类型 æ‰§è¡ŒçŠ¶æ€ èµ·å§‹ä½ç½® ç›®æ ‡ä½ç½®
}
else
{
Log.Error(string.Format("任务å馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
// æ’入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// æ¤å¤„æ·»åŠ ä¸ç©ºè·‘业务
}
break;
default: break;
}
}
}
break;
case "841":
{
}
break;
case "843":
{
//空å–货异常
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务å·");
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
if (!result.IsSucceed)
break;
string taskNo = Convert.ToString(TaskNo);
var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
if (modTask == null)
{
Log.Error($"ã€å †åž›æœºã€‘当å‰ä»»åŠ¡å·ä¸å˜åœ¨å¯¹åº”的任务，任务å·ï¼š{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();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
Log.Information($"ã€å †åž›æœºã€‘wcs任务å˜æ›´ç©ºå–异常，任务å·ï¼š{modTask.TaskNo}");
var modTaskRequest = modTask.Adapt<TaskRequest>();
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestEmptyException(modTaskRequest).Result;
if (modResponseTask.StatusCode == "0")
{
//请求æˆåŠŸ
modTask.IsSuccess = TaskSuccessEnum.Success;
_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
}
else
{
//请求失败
modTask.IsSuccess = TaskSuccessEnum.Fail;
modTask.Information = modResponseTask.Message;
_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
}
}
break;
case "861":
{
//满放货异常
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务å·");
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘å·");
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
if (!result.IsSucceed)
break;
string taskNo = Convert.ToString(TaskNo);
var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
if (modTask == null)
{
Log.Error($"ã€å †åž›æœºã€‘当å‰ä»»åŠ¡å·ä¸å˜åœ¨å¯¹åº”的任务，任务å·ï¼š{modTask.TaskNo}");
break;
}
modTask.Status = TaskStatusEnum.Exception;
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
Log.Information($"ã€å †åž›æœºã€‘wcs任务å˜æ›´æ»¡å–异常，任务å·ï¼š{modTask.TaskNo}");
var modTaskRequest = modTask.Adapt<TaskRequest>();
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestFullException(modTaskRequest).Result;
if (modResponseTask.StatusCode == "0")
{
//修改任务为æ£åœ¨æ‰§è¡Œ
modTask.Status = TaskStatusEnum.Doing;
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
// 起始排列层
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货排");
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货列");
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货层");
// ç›®æ ‡æ”¾è´§å·¥ä½
var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
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();
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
// 任务å·æ‰˜ç›˜å·
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 起始排列层
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));
// 是å¦å†™å…¥æˆåŠŸ
if (listResult.All(s => s.IsSucceed))
{
// å‘跺机写入控制æµç¨‹å—
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 = $"写入指令：{modDevice.StationNum}å·¥ä½====》" + endLocat + "储ä½åœ°å€!"
};
// æ’入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
//else
//{
// //请求失败
// modTask.IsSuccess = TaskSuccessEnum.Fail;
// modTask.Information = modResponseTask.Message;
// _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
//}
}
break;
default:
break;
}
}
/// <summary>
/// ä¸ç©ºè·‘
/// </summary>
/// <param name="modTask">æ“作完æˆçš„任务</param>
/// <param name="plcConn">plc连接</param>
/// <param name="modDevice">设备信æ¯</param>
private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn, WcsDeviceDto modDevice)
{
// 查询所有待执行的任务
var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
WcsTask modNextTask = null;
switch (modTask.TaskType)
{
case TaskTypeEnum.In:
{
// 先找出对应排列层的入库任务
var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
.Select(s => s.EndLocate.Substring(0, 6))
.ToHashSet();
// 找出库任务，对应巷é“的任务
var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modTask.EndRoadway).ToList();
foreach (var modNext in listNextTask)
{
// 如果有对应排列层的入库任务，那就ä¸èƒ½ä¼˜å…ˆæ‰§è¡Œ
if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
{
continue;
}
// todo: 写入modNext任务信æ¯ç»™plc
Console.WriteLine($"入库任务{modTask.TaskNo}执行完æˆåŽï¼Œä¸ç©ºè·‘逻辑检测下一任务为{modNext.TaskNo}");
modNextTask = modNext;
break;
}
}
break;
case TaskTypeEnum.Out:
{
// 先找出对应排列层的出库任务
var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out)
.Select(s => s.EndLocate.Substring(0, 6))
.ToHashSet();
// 找入库任务，对应巷é“的任务
var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In && s.StartRoadway == modTask.EndRoadway).ToList();
foreach (var modNext in listNextTask)
{
// 如果有对应排列层的出库任务，那就ä¸èƒ½ä¼˜å…ˆæ‰§è¡Œ
if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
{
continue;
}
// todo: 写入modNext任务信æ¯ç»™plc
Console.WriteLine($"出库任务{modTask.TaskNo}执行完æˆåŽï¼Œä¸ç©ºè·‘逻辑检测下一任务为{modNext.TaskNo}");
modNextTask = modNext;
break;
}
}
break;
case TaskTypeEnum.Move:
{
var modDevicePos = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
var (result, value) = plcConn.GetPlcDBValue(modDevicePos.PosType, modDevicePos.DbNumber, modDevicePos.PlcPos);
//当å‰å †åž›æœºæ‰€åœ¨ä½ç½®
var height = Math.Round(value / 790000d * 200).ToInt();
//todo:这里看能ä¸èƒ½æ‰¾åˆ°å †åž›æœºæ‰€åœ¨ä½ç½®åœ¨å“ªä¸ªæŽ’列层，优先寻找附近的任务？
}
break;
}
if (modNextTask != null)
{
// 获å–转æ¢åŽçš„起始排列层 06010101
PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartRoadway.Substring(1, 2), modTask.StartLocate.Substring(2, 2),
modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
modTask.StartLocate.Substring(6, 2));
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
// 任务å·æ‰˜ç›˜å·
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 起始排列层
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货排");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货列");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "å–货层");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
// ç›®æ ‡æ”¾è´§å·¥ä½(固定排列层)
PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
modTask.StartRoadway, modTask.EndRoadway);
var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
// 是å¦å†™å…¥æˆåŠŸ
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机任务下å‘完æˆ
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
// 将移库任务待执行改为æ£åœ¨æ‰§è¡Œ
_db.Updateable<WcsTask>()
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
WcsTaskMonitor modInsertTaskMonitor;
if (string.IsNullOrEmpty(taskInfo.EndStation))
{
// åŒå··é“移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储ä½====》{modTask.EndLocate}储ä½ã€‚",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
else
{
// 出库任务 跨巷é“移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储ä½====》{taskInfo.EndStation}å·¥ä½ã€‚",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
//修改ledå±ä¿¡æ¯
//LedDisplay(modDevice.LedIP, "å·¥ä½:" + modTask.EndLocate, "å‡ºåº“ä¸ " + $"储ä½åœ°å€ï¼š{modTask.StartLocate}", "托盘å·:" + modTask.PalletNo);
}
}
}
/// <summary>
/// 输é€çº¿ä¸šåŠ¡å¤„ç†
/// </summary>
/// <param name="modDevice"></param>
private static void ConveyorLine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
// 获å–楼层数ceshi
var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
if (louCeng == "")
{
return;
}
#region#实时显示é‡é‡åˆ°LEDå±å¹•
var modPosPalletWeightIng = modDevice.listStation.FirstOrDefault(m => m.Text == "实际é‡é‡");
if (modPosPalletWeightIng != null)
{
var (resPalletWeightIng, palletWeightValIng) = plcConn.GetPlcDBValue(modPosPalletWeightIng.PosType, modDevice.DbNumber, modPosPalletWeightIng.PlcPos);
switch (modDevice.StationNum)
{
case "094":
{
if (Convert.ToDecimal(palletWeightValIng) != weight94)
{
LedDisplay(modDevice.LedIP, $"当å‰é‡é‡(KG)：{Convert.ToDecimal(palletWeightValIng)}");
weight94 = Convert.ToDecimal(palletWeightValIng);
}
}
break;
case "160":
{
if (Convert.ToDecimal(palletWeightValIng) != weight160)
{
LedDisplay(modDevice.LedIP, $"当å‰é‡é‡(KG)：{Convert.ToDecimal(palletWeightValIng)}");
weight160 = Convert.ToDecimal(palletWeightValIng);
}
}
break;
case "155":
{
if (Convert.ToDecimal(palletWeightValIng) != weight155)
{
LedDisplay(modDevice.LedIP, $"当å‰é‡é‡(KG)：{Convert.ToDecimal(palletWeightValIng)}");
weight155 = Convert.ToDecimal(palletWeightValIng);
}
}
break;
case "152":
{
if (Convert.ToDecimal(palletWeightValIng) != weight152)
{
LedDisplay(modDevice.LedIP, $"当å‰é‡é‡(KG)：{Convert.ToDecimal(palletWeightValIng)}");
weight152 = Convert.ToDecimal(palletWeightValIng);
}
}
break;
case "153":
{
if (Convert.ToDecimal(palletWeightValIng) != weight153)
{
LedDisplay(modDevice.LedIP, $"当å‰é‡é‡(KG)：{Convert.ToDecimal(palletWeightValIng)}");
weight153 = Convert.ToDecimal(palletWeightValIng);
}
}
break;
}
}
#endregion
var ledText = "";
switch (modDevice.Value.ToString())
{
case "120":
{ // 120:空闲； wcs调度å°è½¦å†™130请求放(å ä½å·¥ä½)
} break;
case "140":
{ // 140:å¯æ”¾ï¼›å†™å…¥ä»»åŠ¡å·ç‰äº¤äº’ä¿¡æ¯æœ€åŽå†™å…¥150æ£åœ¨æ”¾ï¼› wcs接å—wmså‘é€çš„å°è½¦ä»»åŠ¡å®Œæˆä¿¡å·åŽå˜æ›´ä¸ºï¼š160：
var http = new HttpService();
var modResponseTask = http.IssuedAgvTask(modDevice.StationNum).Result;
if (modResponseTask.StatusCode == 0)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "150");
}
} break;
case "230":
{ // 230：托盘输é€åˆ°ä½ï¼Œè¯·æ±‚å°è½¦ï¼› WCSå‘WMS申请å°è½¦è¾“é€WMS返回æˆåŠŸï¼›å†™å…¥240 ï¼›
} break;
case "310":
//入库申请PLC出现异常（托盘超宽ã€è¶…高ç‰ï¼‰
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "311");
string dbStr = "";
switch (modDevice.StationNum)
{
case "094":
dbStr = "2381";
break;
case "160":
dbStr = "2385";
break;
case "155":
dbStr = "2383";
break;
case "152":
dbStr = "2401";
break;
case "153":
dbStr = "2403";
break;
}
string errorStr = string.Empty;
//将异常信æ¯æ˜¾ç¤ºåˆ°LEDå±å¹•ä¸Š
var (errorRes0, errorVal0) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.0", "");
if (errorRes0.IsSucceed && errorVal0 == true)
{
errorStr += " 扫ç 失败";
}
var (errorRes1, errorVal1) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.1", "");
if (errorRes1.IsSucceed && errorVal1 == true)
{
errorStr += " 称é‡å¤±è´¥";
}
var (errorRes2, errorVal2) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.2", "");
if (errorRes2.IsSucceed && errorVal2 == true)
{
errorStr += " 垛型左超宽";
}
var (errorRes3, errorVal3) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.3", "");
if (errorRes3.IsSucceed && errorVal3 == true)
{
errorStr += " 垛型å³è¶…宽";
}
var (errorRes4, errorVal4) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.4", "");
if (errorRes4.IsSucceed && errorVal4 == true)
{
errorStr += " 垛型å‰è¶…é•¿";
}
var (errorRes5, errorVal5) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.5", "");
if (errorRes5.IsSucceed && errorVal5 == true)
{
errorStr += " 垛型åŽè¶…é•¿";
}
var (errorRes6, errorVal6) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.6", "");
if (errorRes6.IsSucceed && errorVal6 == true)
{
errorStr += " 垛型åŽè¶…高";
}
var (errorRes7, errorVal7) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{dbStr}.7", "");
if (errorRes7.IsSucceed && errorVal7 == true)
{
errorStr += " 高低ä½å¼‚常报è¦";
}
var (errorRes9, errorVal9) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Bit, $"M{Convert.ToUInt32(dbStr)-1}.1", "");
if (errorRes9.IsSucceed && errorVal9 == true)
{
errorStr += " 扫ç 仪通讯报è¦";
}
if (!string.IsNullOrEmpty(errorStr))
{
errorStr = "异常信æ¯ï¼š" + errorStr;
ledText += $"申请入库失败\n\n";
ledText += $"{errorStr}";
LedDisplay(modDevice.LedIP, ledText);
}
}
break;
case "320":
{
//防æ¢é‡å¤ç”³è¯·
var (res0, Val0) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
if (res0.IsSucceed && Val0 != 0)
{
break;
}
// 申请巷é“
string strMsg = "";
string taskModel = "";
// 获å–å·¥ä½æ‰˜ç›˜ç ä¿¡æ¯
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘ç ");
var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
if (!res.IsSucceed)
{
break;
}
string palletStr = Convert.ToString(palletVal);
var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工ä½");
//获å–托盘高度
var modPosPalletHeight = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘高度");
var (resPalletHeight, palletHeightVal) = plcConn.GetPlcDBValue(modPosPalletHeight.PosType, modDevice.DbNumber, modPosPalletHeight.PlcPos);
if (!resPalletHeight.IsSucceed)
{
break;
}
//获å–托盘实际é‡é‡
var modPosPalletWeight = modDevice.listStation.FirstOrDefault(m => m.Text == "实际é‡é‡");
var (resPalletWeight, palletWeightVal) = plcConn.GetPlcDBValue(modPosPalletWeight.PosType, modDevice.DbNumber, modPosPalletWeight.PlcPos);
//判æ–入库é”定是å¦æ‰“å¼€
if (PLCTaskAction.boEnterLock)
{
var (res350, palletVal350) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
if (res350.IsSucceed && palletVal350 != "350")
{
ledText += $"申请入库失败\n\n";
ledText += $"托盘å·:{palletVal}\n";
ledText += $"入库任务已é”定，请解é”åŽé‡è¯•!\n";
LedDisplay(modDevice.LedIP, ledText);
}
// 写入输é€çº¿é€€å›žæŒ‡ä»¤
var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
if (ret.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
}
break;
}
if (palletVal == null)
{
var (res350, palletVal350) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
if (res350.IsSucceed && palletVal350 != "350")
{
ledText += $"申请入库失败\n\n";
ledText += $"托盘å·:{palletVal}\n";
ledText += $"扫æ托盘å·å¤±è´¥!\n";
LedDisplay(modDevice.LedIP, ledText);
}
// 写入输é€çº¿é€€å›žæŒ‡ä»¤
var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
if (ret.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
}
break;
}
var http = new HttpService();
string TaskNo = "", EndLocate = "";
//æ ¹æ®å·¥ä½åˆ¤æ–是å¦ä¸ºå 托机工ä½ç”³è¯·ç©ºæ‰˜ç›˜è·ºå…¥åº“，是：å‘WMS申请空托盘跺组托
string groupMsg = "";
if (modDevice.StationNum == "72")
{
groupMsg = http.BindNullPalletWcs(10, palletVal);
if (groupMsg.Contains("-1"))
{
// 写入输é€çº¿é€€å›žæŒ‡ä»¤
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
if (ret.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
}
break;
}
}
//å‘WMS申请巷é“
strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo, (int)palletHeightVal);
if (!strMsg.Contains("-1"))
{
// æ ¹æ®ä»»åŠ¡å·èŽ·å–起始工ä½åœ°å€ï¼Œæ ¹æ®èµ·å§‹å·¥ä½åœ°å€èŽ·å–LEDIP 推é€åˆ°LEDå±å¹•ã€‚
var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();
// 写入330
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");
if (ret.IsSucceed)
{
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令330：{modDevice.StationNum}å·¥ä½ç”³è¯·å··é“",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = EndLocate,
};
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// led显示内容
try
{
ledText += $"任务类型:{taskInfo.TaskType.GetDescription()}\n\n";
ledText += $"任务å·:{taskInfo.TaskNo}\n";
ledText += $"托盘å·:{taskInfo.PalletNo}\n";
ledText += $"起始ä½:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}\n";
ledText += $"é‡é‡(KG):{Convert.ToDecimal(palletWeightVal)}";
LedDisplay(modDevice.LedIP, ledText);
}
catch (Exception ex)
{
Log.Error(ex.Message);
}
}
}
else
{
var (res350, palletVal350) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
if (res350.IsSucceed && palletVal350 != "350")
{
ledText += $"申请入库失败\n\n";
ledText += $"托盘å·:{palletVal}\n";
ledText += $"{strMsg}\n";
LedDisplay(modDevice.LedIP, ledText);
}
// 写入输é€çº¿é€€å›žæŒ‡ä»¤
var ret = plcConn.SetPlcDBValueRepeat(modDevice.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, modDevice.StationNum);
if (ret.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "350");
}
}
}
break;
case "330":
{
// 写入任务 托盘移动 340
// 获å–å·¥ä½æ‰˜ç›˜ç ä¿¡æ¯
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘ç ");
var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
if (!res.IsSucceed)
{
break;
}
string pallet = palletVal.ToString();
// 获å–任务信æ¯
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)
{
// æ¤æ‰˜ç›˜æ²¡æœ‰å¯¹åº”的转移任务 led显示
break;
}
//判æ–入库é”定是å¦æ‰“å¼€
if (PLCTaskAction.boEnterLock)
{
break;//入库é”定打开则ä¸æ‰§è¡Œå…¥åº“任务
}
// 获å–å··é“å£å…¥åº“å·¥ä½
string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng, modDevice.StationNum);
#region 跺机转è¿ä»»åŠ¡å¤„ç† ##########
// 判æ–是å¦å››æ¥¼è¾“é€çº¿
if (modDevice.StationNum == "265")
{ // 是
if (modTask.EndRoadway != "R05" && modTask.EndRoadway != "R06")
{
// æ ¹æ®å··é“获å–ä¸è½¬è·ºæœºIP ### R05å··é“
var sInfo = PLCCommon.GetStokePlc("R05", louCeng);
var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
if (plcStackeConn.Connected)
{
var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo.Ip);
var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
// 判æ–R05跺机是å¦ç©ºé—²
if (djRes.IsSucceed && djVal.ToString() == "820")
{
endLocatVlue = "253";
}
}
// æ ¹æ®å··é“获å–ä¸è½¬è·ºæœºIP ### R06å··é“
var sInfoR06 = PLCCommon.GetStokePlc("R06", louCeng);
var plcStackeConnR06 = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfoR06.Ip);
if (plcStackeConnR06.Connected)
{
var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfoR06.Ip);
var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
var (djRes, djVal) = plcStackeConnR06.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
// 判æ–R05跺机是å¦ç©ºé—²
if (djRes.IsSucceed && djVal.ToString() == "820")
{
endLocatVlue = "250";
}
}
}
}
if (modDevice.StationNum == "266")
{ // 是
if (modTask.EndRoadway != "R05")
{
endLocatVlue = "277";
}
}
#endregion
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
// 任务å·ã€ä»»åŠ¡ç±»åž‹ã€æ‰˜ç›˜å·
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务类型");
var taskTypeStr = (int)modTask.TaskType;
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 起始工ä½ã€ç›®çš„å·¥ä½
var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "起始工ä½");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工ä½");
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
if (listResult.All(s => s.IsSucceed))
{
Log.Information($"写入340，任务å·ï¼š{modTask.TaskNo}，任务类型：{taskTypeStr.ToString()}，托盘ç ：{modTask.PalletNo}，起始工ä½ï¼š{modDevice.StationNum}，目的工ä½ï¼š{endLocatVlue}");
// 将任务状æ€å˜æ›´ä¸ºæ£åœ¨æ‰§è¡Œ
_db.Updateable<WcsTask>()
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
// 写入æµç¨‹å— 330 340
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");
// æ ¹æ®ä»»åŠ¡å·èŽ·å–起始工ä½åœ°å€ï¼Œæ ¹æ®èµ·å§‹å·¥ä½åœ°å€èŽ·å–LEDIP 推é€åˆ°LEDå±å¹•ã€‚
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
if (ret.IsSucceed)
{
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令340：{modDevice.StationNum}储ä½====》{endLocatVlue}å·¥ä½",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = endLocatVlue,
};
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
break;
case "620":
{
// ç”³è¯·å‚¨ä½ æ›´æ–°å…¥åº“ä»»åŠ¡(储ä½åœ°å€) 630
var strMsg = "";
var taskModel = "";
// 判æ–是å¦æ¼”示模å¼
if (PLCTaskAction.boDemo)
{
// 演示模å¼
taskModel = "1";
}
// æ ¹æ®å·¥ä½å·èŽ·å–å··é“å·
var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
if (roadway == "")
{
break;
}
// 获å–å·¥ä½æ‰˜ç›˜ç ä¿¡æ¯
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘ç ");
var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
if (!res.IsSucceed)
{
break;
}
#region 跺机转è¿ä»»åŠ¡å¤„ç† ###########
// æ ¹æ®ä»»åŠ¡ç›®æ ‡å··é“å·èŽ·å–å·¥ä½å·
var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (ress, endTaskNoVal) = plcConn.GetPlcDBValue(modPosEndStation.PosType, modDevice.DbNumber, modPosEndStation.PlcPos);
if (!ress.IsSucceed)
{
break;
}
string taskno = endTaskNoVal;
var taskInfo2 = _db.Queryable<WcsTask>().First(w => w.TaskNo == taskno); // æ ¹æ®ä»»åŠ¡å·èŽ·å–当å‰ä»»åŠ¡ç›®æ ‡å··é“
if (taskInfo2 == null)
{
break;
}
string roadwayNo = PLCCommon.GetRoadwayByStation(modDevice.StationNum); // 当å‰å·¥ä½å¯¹åº”çš„å··é“å·
// 判æ–是å¦å…¥åº“转è¿ä»»åŠ¡
if (roadwayNo != taskInfo2.EndRoadway && taskInfo2.TaskType == TaskTypeEnum.In)
{// 是
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");
if (ret.IsSucceed)
{
var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (resss, taskNoVal) = plcConn.GetPlcDBValue(modPosEndStation.PosType, modDevice.DbNumber, modPosEndStation.PlcPos);
if (!resss.IsSucceed)
{
break;
}
string taskNo = taskNoVal.ToString();
var taskInfos = _db.Queryable<WcsTask>().First(w => w.TaskNo == taskNo);
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfos.StartLocate).Select(s => s.LedIP).First();
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = taskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令630：开å¯è·ºæœºè½¬è¿ä»»åŠ¡",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
ledText += $"任务类型:{taskInfos.TaskType.GetDescription()}\n\n";
ledText += $"任务å·:{taskInfos.TaskNo}\n";
ledText += $"托盘å·:{taskInfos.PalletNo}\n\n";
ledText += $"起始ä½:{taskInfos.StartRoadway + " " + taskInfos.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{taskInfos.EndRoadway + " " + taskInfos.EndLocate}";
LedDisplay(modDevice.LedIP, ledText);
}
break;
}
// 判æ–是å¦å‡ºåº“转è¿ä»»åŠ¡
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (res1, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
if (res1.IsSucceed)
{
string taskNo = taskVal.ToString();
var taskInfos = _db.Queryable<WcsTask>().First(w => w.TaskNo == taskNo);
if (taskInfos.TaskType == TaskTypeEnum.Out)
{
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");
if (!ret.IsSucceed)
{
break;
}
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfos.EndLocate).Select(s => s.LedIP).First();
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = taskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令630：开å¯è·ºæœºè½¬è¿ä»»åŠ¡",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
ledText += $"任务类型:{taskInfos.TaskType.GetDescription()}\n\n";
ledText += $"任务å·:{taskInfos.TaskNo}\n";
ledText += $"托盘å·:{taskInfos.PalletNo}\n\n";
ledText += $"起始ä½:{taskInfos.StartRoadway + " " + taskInfos.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{taskInfos.EndRoadway + " " + taskInfos.EndLocate}";
LedDisplay(modDevice.LedIP, ledText);
break;
}
}
else { break; }
#endregion
var http = new HttpService();
string TaskNo = "";
lock (RuKuLock)
{
// å‘WMS申请储ä½ä¿¡æ¯
strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo, (int)taskInfo2.PalletQty);
}
// æ ¹æ®ä»»åŠ¡å·èŽ·å–起始工ä½åœ°å€ï¼Œæ ¹æ®èµ·å§‹å·¥ä½åœ°å€èŽ·å–LEDIP 推é€åˆ°LEDå±å¹•ã€‚
var taskInfo = _db.Queryable<WcsTask>().First(w => w.TaskNo == TaskNo);
modDevice.LedIP = _db.Queryable<WcsDevice>().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();
if (!strMsg.Contains("-1"))
{
// 写入æµç¨‹å— 630
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");
if (ret.IsSucceed)
{
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令340：{modDevice.StationNum}å·¥ä½ç”³è¯·å‚¨ä½",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
ledText += $"任务类型:{taskInfo.TaskType.GetDescription()}\n\n";
ledText += $"任务å·:{taskInfo.TaskNo}\n";
ledText += $"托盘å·:{taskInfo.PalletNo}\n\n";
ledText += $"起始ä½:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
LedDisplay(modDevice.LedIP, ledText);
}
}
else
{
// 申请储ä½å¤±è´¥ï¼LED显示
Log.Error(string.Format($"申请储ä½å¤±è´¥:{strMsg},读写plc错误"));
// led显示内容
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
ledText += $"申请入库失败\n\n";
ledText += $"{strMsg}\n";
LedDisplay(modDevice.LedIP, ledText);
}
}
break;
case "630":
{
#region 写入跺机å–货任务 ä¸ç”¨å†™å…¥640åž›å–货完æˆåŽä¼šå†™
// 获å–å·¥ä½æ‰˜ç›˜ç ä¿¡æ¯
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘ç ");
var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
// 获å–å·¥ä½ä»»åŠ¡å·ä¿¡æ¯
var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(modPosTaskNo.PosType, modDevice.DbNumber, modPosTaskNo.PlcPos);
if (!res.IsSucceed || !taskRes.IsSucceed)
{
break;
}
string pallet = palletVal.ToString();
string taskNo = taskNoVal.ToString();
// 获å–任务信æ¯
var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskNo == taskNo);
if (modTask == null)
{
// æ¤æ‰˜ç›˜æ²¡æœ‰å¯¹åº”的转移任务 led显示
break;
}
#region 跺机转è¿ä»»åŠ¡å¤„ç† ###########
string taskno = taskNoVal;
string roadwayNo = PLCCommon.GetRoadwayByStation(modDevice.StationNum); // 当å‰å·¥ä½å¯¹åº”çš„å··é“å·
// 获å–当å‰å·¥ä½ç›®æ ‡åœ°å€
var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工ä½");
var (ress, endStationVal) = plcConn.GetPlcDBValue(modPosEndStation.PosType, modDevice.DbNumber, modPosEndStation.PlcPos);
if (!ress.IsSucceed)
{
break;
}
if (modTask.EndRoadway == null)
{
modTask.EndRoadway = "";
}
var sInfo = PLCCommon.GetStokePlc(roadwayNo, louCeng, modDevice.StationNum); // æ ¹æ®å½“å‰å··é“获å–跺机信æ¯
// 判æ–是å¦å…¥åº“转è¿ä»»åŠ¡
// 判æ–是å¦å…¥åº“转è¿ä»»åŠ¡
if (roadwayNo != modTask.EndRoadway && modTask.TaskType == TaskTypeEnum.In)
{// 是
// æ ¹æ®å½“å‰å·¥ä½å·ï¼ŒèŽ·å–对应的å–货排列层
sInfo = PLCCommon.GetStokePlc(roadwayNo, louCeng, modDevice.StationNum);
// 判æ–1层放货工ä½çŠ¶æ€æ˜¯å¦ç©ºé—²
var endStationNum = PLCCommon.RoadwayToOutStationNum(roadwayNo, "1");
var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == endStationNum
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
var plcConveyorConn = PLCCommon.GetPlcIp(endStationNum);
if (plcConveyorConn.Connected)
{
// 读å–1楼放货工ä½çŠ¶æ€
var (reouts, plcVal) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
if (reouts.IsSucceed)
{
//if (plcVal.ToString() != "720")
//{
// // 1层放货工ä½å 用，ç‰å¾…放货工ä½é‡Šæ”¾
// break;
//}
// 判æ–跺机是å¦ç©ºé—²
var plcSConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
if (plcSConn.Connected)
{
var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo.Ip);
var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
var djInfo = djInfos.First(m => m.Text == "PLCæµç¨‹å—");
// 获å–跺机当å‰çŠ¶æ€
var (djRess, djVal) = plcSConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
if (!djRess.IsSucceed || djVal.ToString() != "820")
{
// 跺机éžç©ºé—²ç‰å¾…
break;
}
var listResult = new List<Result>();
// 任务å·ã€ä»»åŠ¡ç±»åž‹ã€æ‰˜ç›˜å·
var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
var taskTypeStr = (int)modTask.TaskType;
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工ä½
var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工ä½");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));
// 目的工ä½
var modPosendStationNum = djInfos.FirstOrDefault(s => s.Text == "目的工ä½");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosendStationNum.PosType, djMod.DbNumber, modPosendStationNum.PlcPos, endStationNum));
//å–货排ã€åˆ—ã€å±‚
var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "å–货排");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "å–货列");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "å–货层");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
//放货排ã€åˆ—ã€å±‚
var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, "2"));
var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, "60"));
var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, "1"));
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机 830
var retc2 = plcSConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");
// æ’入任务明细 任务明细实体类
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = modTask.EndLocate // ç›®æ ‡å‚¨ä½åœ°å€
};
if (!retc2.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = $"输é€çº¿å–货工ä½ï¼š{modDevice.StationNum},写入垛机å–货任务830失败ç‰å¾…å†æ¬¡å†™å…¥";
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
// å†™å…¥ç›®æ ‡å·¥ä½ 730 : 逻辑上æ¤å¤„ä¸ç”¨å 用地å€ã€‚
var retc3 = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "730");
modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}å·¥ä½====》" + modTask.EndLocate + "储ä½åœ°å€!";
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
if (PLCTaskAction.boRefresh)
{
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
}
}
break;
}
// 判æ–是å¦å‡ºåº“转è¿ä»»åŠ¡
if (modTask.TaskType == TaskTypeEnum.Out)
{
var roadWay1 = "R06";
if (modTask.EndLocate == "266")
{
roadWay1 = "R05";
}
var sInfo1 = PLCCommon.GetStokePlc(roadWay1, "2"); // 放货排列层信æ¯
var plcSConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo1.Ip);
if (plcSConn.Connected)
{
var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo1.Ip);
var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
var djInfo = djInfos.First(m => m.Text == "PLCæµç¨‹å—");
// 获å–跺机当å‰çŠ¶æ€
var (djRess, djVal) = plcSConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
if (!djRess.IsSucceed || djVal.ToString() != "820")
{
// 跺机éžç©ºé—²ç‰å¾…
break;
}
var listResult = new List<Result>();
// 任务å·ã€ä»»åŠ¡ç±»åž‹ã€æ‰˜ç›˜å·
var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
var taskTypeStr = (int)modTask.TaskType;
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工ä½
var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工ä½");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));
//目的工ä½
if (modTask.EndLocate == "266")
{
modTask.EndLocate = "277";
}
if (modTask.EndLocate == "265")
{
modTask.EndLocate = "250";
}
var modPosStrend = djInfos.FirstOrDefault(s => s.Text == "目的工ä½");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrend.PosType, djMod.DbNumber, modPosStrend.PlcPos, modTask.EndLocate)); // æ¤å¤„现在å˜çš„是出库å£266。
//å–货排ã€åˆ—ã€å±‚
var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "å–货排");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, "3"));
var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "å–货列");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, "60"));
var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "å–货层");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, "1"));
//放货排ã€åˆ—ã€å±‚
var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, sInfo1.Pai));
var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, sInfo1.Lie));
var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcSConn.SetPlcDBValueRepeat(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, sInfo1.Ceng));
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机 830
var retc2 = plcSConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");
// æ’入任务明细 任务明细实体类
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate // ç›®æ ‡å‚¨ä½åœ°å€
};
if (!retc2.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = $"输é€çº¿å–货工ä½ï¼š{modDevice.StationNum},写入垛机å–货任务830失败ç‰å¾…å†æ¬¡å†™å…¥";
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}å·¥ä½====》" + modTask.EndLocate + "储ä½åœ°å€!";
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
if (PLCTaskAction.boRefresh)
{
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
break;
}
#endregion
// éžæ£å¸¸å…¥åº“任务ä¸å¾€ä¸‹æ‰§è¡Œ
if (modTask.TaskType != TaskTypeEnum.In)
{
break;
}
if (string.IsNullOrWhiteSpace(sInfo.Ip))
{
//éœ€åŠ ä¸ŠLED显示
Log.Error(string.Format($"æ ¹æ®å··é“获å–跺机IP失败，请è”系管ç†å‘˜"));
break;
}
// 跺机连接
var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
if (plcStackeConn.Connected)
{
// ç›®æ ‡æŽ’åˆ—å±‚
var endLocate = modTask.EndLocate;
if (string.IsNullOrWhiteSpace(modTask.EndLocate))
{
Log.Error(string.Format($"ç›®æ ‡ä½ç½®ä¸ºç©ºï¼Œè¯·äººå·¥å¤„ç†,读写plc错误"));
break;
}
// 转æ¢ç›®æ ‡å·¥ä½æŽ’列层 03010301
var paiVal = PLCCommon.GetDjAdress(modTask.EndRoadway.Substring(1, 2), endLocate.Substring(0, 2), endLocate.Substring(6, 2));
string pai = paiVal.ToString();
string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();
var djmodel = _db.Queryable<WcsPlc>().First(m => m.IP == sInfo.Ip);
var djMod = PLCTaskAction.plcDevices.First(m => m.PlcId == djmodel.Id
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
var djInfo = djInfos.First(m => m.Text == "PLCæµç¨‹å—");
// 获å–跺机当å‰çŠ¶æ€
var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
if (!djRes.IsSucceed || djVal.ToString() != "820")
{
// 跺机éžç©ºé—²ç‰å¾…
break;
}
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
// 任务å·ã€ä»»åŠ¡ç±»åž‹ã€æ‰˜ç›˜å·
var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务å·");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
var taskTypeStr = (int)modTask.TaskType;
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘ç ");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工ä½
var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工ä½");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));
//目的工ä½
var modPosendStationNum = djInfos.FirstOrDefault(s => s.Text == "目的工ä½");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosStrStationNum.PosType, djMod.DbNumber, modPosendStationNum.PlcPos, modDevice.StationNum)); // æ¤å¤„现在是139 应该为0
//å–货排ã€åˆ—ã€å±‚
var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "å–货排");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "å–货列");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "å–货层");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
//放货排ã€åˆ—ã€å±‚
var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcStackeConn.SetPlcDBValueRepeat(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, ceng));
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机 830
var retc2 = plcStackeConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");
// æ’入任务明细 任务明细实体类
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = modTask.EndLocate // ç›®æ ‡å‚¨ä½åœ°å€
};
if (!retc2.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = $"输é€çº¿å–货工ä½ï¼š{modDevice.StationNum},写入垛机å–货任务830失败ç‰å¾…å†æ¬¡å†™å…¥";
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
break;
}
modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}å·¥ä½====》" + modTask.EndLocate + "储ä½åœ°å€!";
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
if (PLCTaskAction.boRefresh)
{
//下å‘任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
#endregion
}
break;
#region 出库交互
case "420":
{
string plcValue = "430";
#region 托盘到达拣选工ä½/出库å£
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘ç ");
var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工ä½");
var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
//判æ–是å¦å››æ¥¼å‡ºåº“å£
//if (modDevice.StationNum == "265" || modDevice.StationNum == "266")
//{
// var http = new HttpService();
// //æ ¹æ®å‡ºåº“任务å·èŽ·å–出库å•ç±»åž‹
// var modResponseTask = http.GetSoOrderTypeByTaskNo(taskVal).Result;
// if (modResponseTask.StatusCode == 0 && modResponseTask.Msg == "1")//1：领料出库å•
// {
// plcValue = "230";
// }
//}
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, plcValue);
if (ret.IsSucceed)
{
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = taskVal,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令{plcValue}：托盘到达{modDevice.StationNum}å·¥ä½",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = starVal,
EndLocat = modDevice.StationNum,
};
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// æ ¹æ®ä»»åŠ¡å·èŽ·å–起始工ä½åœ°å€ï¼Œæ ¹æ®èµ·å§‹å·¥ä½åœ°å€èŽ·å–LEDIP 推é€åˆ°LEDå±å¹•ã€‚
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显示内容
// æ ¹æ®ç›®æ ‡å·¥ä½å·èŽ·å–对应的LEDIP地å€
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId == modDevice.PlcId);
ledText += $"出库完æˆ\n\n";
ledText += $"任务å·:{taskInfo.TaskNo}\n";
ledText += $"托盘å·:{taskInfo.PalletNo}\n\n";
ledText += $"起始ä½:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
}
// å馈WMS出库完æˆ
//TaskReques taskReques = new TaskReques();
//taskReques.taskNo = TaskNo;
//taskReques.TaskType = "1";
//taskReques.TaskStatus = "2";
//bool bl = wcsMySql.RequestTasks(taskReques);
#endregion
}
break;
case "440":
{
#region 拣选完æˆ,托盘离开工ä½
// 写入450
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
if (ret.IsSucceed)
{
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘ç ");
var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工ä½");
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);
if (modTask == null)
{
Log.Error(string.Format("输é€çº¿440:未找到对应的任务。"));
break;
}
// 改å˜ä»»åŠ¡çŠ¶æ€
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
modTask.Levels = 999;
_db.Updateable(modTask).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令450：{modDevice.StationNum}拣选完æˆ,托盘离开工ä½",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = starVal.ToString(),
EndLocat = modDevice.StationNum,
};
if (modTask.Origin == "WMS")
{
// å馈WMS
var requestMode = new TaskRequestWMS()
{
TaskNo = modTask.TaskNo,
PalletNo = modTask.PalletNo,
TaskType = ((int)TaskTypeEnum.Out).ToString(),
TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
};
lock(OutLock)
{
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestTask(requestMode).Result;
if (modResponseTask.StatusCode == 0)
{
modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完æˆ";
}
else
{
Log.Error(string.Format("任务å馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
}
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
// led显示内容
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId == modDevice.PlcId);
ledText += $"拣选完æˆï¼Œæ‰˜ç›˜ç¦»å¼€å·¥ä½\n\n";
ledText += $"任务å·:{modTask.TaskNo}\n";
ledText += $"托盘å·:{modTask.PalletNo}\n\n";
ledText += $"起始ä½:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
ledText += $"ç›®æ ‡ä½:{modTask.EndRoadway + " " + modTask.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
}
#endregion
}
break;
#endregion
#region å«ç©ºæ‰˜ç›˜è·º
case "50":
// plc申请空托
{
lock (OLock)
{
// 判æ–是å¦å·²æœ‰å‘å«ç©ºæ‰˜å·¥ä½çš„出库任务
var modTask = _db.Queryable<WcsTask>().First(m => (m.Status == TaskStatusEnum.Doing || m.Status == TaskStatusEnum.Wait)
&& m.EndLocate == modDevice.StationNum && m.IsDelete == false);
if (modTask != null)
{
Log.Error("å·²å˜åœ¨å‘" + modDevice.StationNum + "å·¥ä½çš„任务。任务å·:" + modTask.TaskNo);
break;
}
// 防æ¢é‡å¤å«ç©ºæ‰˜è·º
var (res, palletVal) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
if (palletVal != 0)
{
break;
}
// 调用WMS空托出库接å£ï¼Œè¿”回出库任务å˜å…¥å‡ºåº“表
var strMsg = "";
var http = new HttpService();
strMsg = http.IssuePlnOutHouseWcs("1", modDevice.StationNum);
if (!strMsg.Contains("-1"))
{
// 写入plcæµç¨‹å—60
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
}
else
{
// 申请巷é“失败ï¼LED显示
Log.Error(string.Format($"å·¥ä½å·ï¼š{modDevice.StationNum}申请空托跺失败:{strMsg};"));
}
}
}
break;
case "80":
// 空托盘跺已到ä½
{
// 调用wms任务出库任务完æˆ
// 获å–跺机点ä½é…ç½®
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务å·");
var (res, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
// æ ¹æ®ä»»åŠ¡å·èŽ·å–任务信æ¯
if (res.IsSucceed)
{
string tasknoVal = val.ToString();
var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
if (modTask == null)
{
//Log.Error(string.Format($"å·¥ä½å·ï¼š{modDevice.StationNum}空托盘到达，未找到对应的任务!任务å·{tasknoVal};"));
break;
}
// 写入plcæµç¨‹å—90
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "90");
if (ret.IsSucceed)
{
// 改å˜ä»»åŠ¡çŠ¶æ€
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
modTask.Levels = 999;
_db.Updateable(modTask).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
InteractiveMsg = $"任务完æˆ"
};
if (modTask.Origin == "WMS")
{
// å馈WMS
var requestMode = new TaskRequestWMS()
{
TaskNo = modTask.TaskNo,
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)
{
modTaskMonitor.InteractiveMsg = "任务完æˆï¼Œè¿”回给WMS任务完æˆ";
}
else
{
Log.Error(string.Format("任务å馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
// æ’入交互日志
_db.Insertable(modTaskMonitor).ExecuteCommand();
//下å‘任务日志
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
break;
#endregion
#region 拆垛业务
case "520":
//托盘达到拆垛工ä½ï¼ŒWCS写入å“ç§å·å¹¶å†™å…¥530
{
// 获å–托盘æ¡ç é…ç½®
var modPalletNo = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘ç " && m.IsDelete == false);
// 读å–PLC托盘æ¡ç å·
var (res, palletVal) = plcConn.GetPlcDBValue(modPalletNo.PosType, modDevice.DbNumber, modPalletNo.PlcPos);
string palletNo = palletVal.ToString();
if (string.IsNullOrEmpty(palletNo))
{
Log.Error(string.Format("{0}，读å–的托盘å·ä¸ºnull", modDevice.Text));
break;
}
string pzNo = string.Empty;
//调用WMS接å£èŽ·å–托盘上物料å“ç§ä¿¡æ¯
var http = new HttpService();
pzNo = http.GetPalletPzNo(palletNo);
if (!string.IsNullOrEmpty(pzNo))
{
var modAddCode = modDevice.listStation.FirstOrDefault(m => m.Text == "å“ç§" && m.IsDelete == false);
// 写入拆垛å“ç§
var retVal = plcConn.SetPlcDBValueRepeat(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, pzNo);
if (retVal.IsSucceed)
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "530");
}
}
}
break;
case "540":
//拆垛完æˆå³å‡ºåº“完æˆä»»åŠ¡ç»“æŸï¼ŒWCS写入550，PLC清0
{
// 获å–托盘æ¡ç é…ç½®
var modPalletNo = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘æ¡ç " && m.IsDelete == false);
// 读å–PLC托盘æ¡ç å·
var (res, palletVal) = plcConn.GetPlcDBValue(modPalletNo.PosType, modDevice.DbNumber, modPalletNo.PlcPos);
string palletNo = palletVal.ToString();
if (string.IsNullOrEmpty(palletNo))
{
Log.Error(string.Format("{0}，读å–的托盘å·ä¸ºnull", modDevice.Text));
break;
}
//调用WMS接å£è¿›è¡Œæˆå“ç®±ç 拣货
var http = new HttpService();
var strMsg = http.BoxUnstackd(palletNo);
if (!strMsg.Contains("-1"))
{
plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "550");
}
}
break;
#endregion
default: break;
}
}
/// <summary>
/// AGV业务处ç†
/// </summary>
/// <param name="modDevice"></param>
private static void AGV(WcsDeviceDto modDevice)
{
}
/// <summary>
/// å 托机业务处ç†
/// </summary>
/// <param name="modDevice"></param>
private static void PalletMachine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
switch (modDevice.Value.ToString())
{
case "220":
// 注释1
{
}
break;
case "230":
// 注释2
{
}
break;
case "240":
{
}
break;
default: break;
}
}
/// <summary>
/// 件箱输é€å’Œç åž›æœºå™¨äººä¸šåŠ¡å¤„ç† é…置的是件箱输é€
/// </summary>
/// <param name="modDevice"></param>
private static void BoxConveyorLine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
if (modDevice.DbNumber == "DB101" || modDevice.DbNumber == "DB102" || modDevice.DbNumber == "DB103" || modDevice.DbNumber == "DB104" || modDevice.DbNumber == "DB105")
{
// 主扫交互æµç¨‹
switch (modDevice.Value.ToString())
{
case "1":
// ä¸»æ‰«ç”³è¯·åˆ†é“ wcs写入2
{
var modPosReadBox = modDevice.listStation.FirstOrDefault(m => m.Text == "读å–ç®±ç " && m.IsDelete == false);
var (res, boxNo) = plcConn.GetPlcDBValue(modPosReadBox.PosType, modDevice.DbNumber, modPosReadBox.PlcPos);
if (string.IsNullOrWhiteSpace(boxNo.ToString()))
{
// 写入æµç¨‹æŽ§åˆ¶å— 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("ç®±ç 为null进行剔除");
break;
}
}
// æ ¹æ®ç®±ç 获å–箱内信æ¯
string boxNoVal = boxNo.ToString();
var boxInfo = _db.Queryable<WcsBoxInfo>().First(w => w.IsDelete == false && w.BoxNo == boxNoVal && string.IsNullOrEmpty(w.PalletNo));
if (boxInfo == null)
{
// 写入æµç¨‹æŽ§åˆ¶å— 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error($"ç®±ç 为null或已绑定托盘，进行剔除。箱ç ：{boxNoVal}");
break;
}
}
// æ ¹æ®ç®±å†…å“ç§å·èŽ·å–ç 躲绑定工ä½åŠå¯¹åº”的分é“å·
var checkTaskInfo = _db.Queryable<WcsCheckTask>().First(w => w.SkuNo == boxInfo.SkuNo && w.SkuName == boxInfo.SkuName && w.LotNo == boxInfo.LotNo);
if (checkTaskInfo == null)
{
Log.Error($"测试--。箱ç ：{boxNoVal},ç®±ID：{boxInfo.Id},物料编ç ：{boxInfo.SkuNo},物料å称：{boxInfo.SkuName}，批次：{boxInfo.LotNo}");
// 写入æµç¨‹æŽ§åˆ¶å— 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error($"ç®±ç 未绑定分拣任务，进行剔除。箱ç ：{boxNoVal}");
break;
}
}
else
{
// ç»™PLC写入任务数æ®
var listResult = new List<Result>();
//批次å·
var modPosLotNo = modDevice.listStation.FirstOrDefault(m => m.Text == "批次å·" && m.IsDelete == false);
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosLotNo.PosType, modDevice.DbNumber, modPosLotNo.PlcPos, boxInfo.LotNo));
//å“ç§
var modPosPZ = modDevice.listStation.FirstOrDefault(m => m.Text == "å“ç§" && m.IsDelete == false);
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosPZ.PosType, modDevice.DbNumber, modPosPZ.PlcPos, checkTaskInfo.PZNo));
//是å¦å°¾ç®±
var modPosIsEndBox = modDevice.listStation.FirstOrDefault(m => m.Text == "是å¦å°¾ç®±" && m.IsDelete == false);
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosIsEndBox.PosType, modDevice.DbNumber, modPosIsEndBox.PlcPos, boxInfo.EndLotFlag));
//写入箱ç
var modPosBox = modDevice.listStation.FirstOrDefault(m => m.Text == "写入箱ç " && m.IsDelete == false);
listResult.Add(plcConn.SetPlcDBValueRepeat(modPosBox.PosType, modDevice.DbNumber, modPosBox.PlcPos, boxInfo.BoxNo));
// 是å¦å†™å…¥æˆåŠŸ
if (listResult.All(s => s.IsSucceed))
{
// 写入æµç¨‹æŽ§åˆ¶å— 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
break;
}
}
}
}
break;
default: break;
}
}
else
{
// æ’ç 交互
switch (modDevice.Value.ToString())
{
case "1":
// 托盘æ¡ç å¯è¯»
{
// 获å–托盘æ¡ç é…ç½®
var modPalletNo = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘æ¡ç " && m.IsDelete == false);
// 读å–PLC托盘æ¡ç å·
var (res, palletVal) = plcConn.GetPlcDBValue(modPalletNo.PosType, modDevice.DbNumber, modPalletNo.PlcPos);
string palletNo = palletVal.ToString();
if (string.IsNullOrEmpty(palletNo))
{
Log.Error(string.Format("{0}，读å–的托盘å·ä¸ºnull", modDevice.Text));
break;
}
// æ ¹æ®å·¥ä½å·å°†æ‰˜ç›˜å·ä¿å˜åœ¨åˆ†é“表
var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
if (checkTaskMedel == null)
{
Log.Error(string.Format("æ ¹æ®ç 垛工ä½{0}，获å–分é“失败!", modDevice.StationNum));
break;
}
checkTaskMedel.PalletNo = palletNo;
checkTaskMedel.BoxCount = 0;
var rowCount = _db.Updateable(checkTaskMedel).ExecuteCommand();
if (rowCount > 0)
{
// plc写入读å–æˆåŠŸè¡¨ç¤º 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
// liudl æ¤å¤„需添åŠ
// 通知分拣ç 垛页更新
}
}
}
break;
case "20":
// 申请æ’ç
{
// 获å–托盘æ¡ç é…ç½®
var modAddCode = modDevice.listStation.FirstOrDefault(m => m.Text == "æ’ç 结果" && m.IsDelete == false);
//获å–æ’ç 箱数
var modAddBoxNum = modDevice.listStation.FirstOrDefault(m => m.Text == "æ’ç 箱数" && m.IsDelete == false);
var (boxNumRes, boxNumVal) = plcConn.GetPlcDBValue(modAddBoxNum.PosType, modDevice.DbNumber, modAddBoxNum.PlcPos);
int boxNum = Convert.ToInt32(boxNumVal);
if (boxNum != 1 && boxNum != 2)
{
Log.Error(string.Format($"ç 垛工ä½{0}，请求æ’ç 箱数ä¸æ£ç¡®! boxNum:{boxNum}", modDevice.StationNum));
// 写入æ’入结果 2：æ’ç 失败
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
break;
}
// 获å–当å‰åˆ†é“托盘å·
var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
if (checkTaskMedel == null)
{
Log.Error(string.Format("æ ¹æ®ç 垛工ä½{0}，获å–分é“失败!", modDevice.StationNum));
// 写入æ’入结果 2：æ’ç 失败
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
break;
}
string palletNo = checkTaskMedel.PalletNo;
if (string.IsNullOrEmpty(palletNo))
{
Log.Error(string.Format("获å–ç 垛工ä½{0}上的托盘å·å¤±è´¥ï¼", modDevice.StationNum));
// 写入æ’入结果 2：æ’ç 失败
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
break;
}
for (int i = 1; i <= boxNum; i++)
{
// 获å–ç®±æ¡ç
// 获å–ç®±æ¡ç é…ç½®
var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == $"读å–ç®±ç {i}");
var (res, boxVal) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
string boxNo = boxVal.ToString();
if (string.IsNullOrEmpty(boxNo))
{
Log.Error(string.Format("ç 垛工ä½{0}，箱ç 为nullæ’ç 失败!请人工强制结批。", modDevice.StationNum));
break;
}
// 验è¯ç®±ç 表是å¦å˜åœ¨æ¤ç®±ç
var boxInfo = _db.Queryable<WcsBoxInfo>().Where(w => w.IsDelete == false && w.BoxNo == boxNo).ToList();
if (boxInfo.Count == 0)
{
Log.Error(string.Format("ç 垛工ä½{0}，箱ç {1}ä¸å˜åœ¨!请人工强制结批。", modDevice.StationNum, boxNo));
// 写入æ’入结果 2：æ’ç 失败
plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
break;
}
// 修改æ’ç 表
foreach (WcsBoxInfo item in boxInfo)
{
item.PalletNo = palletNo;
item.UpdateTime = DateTime.Now;
}
var resultCount = _db.Updateable(boxInfo).ExecuteCommand();
if (resultCount <= 0)
{
// æ’ç 失败
Log.Error(string.Format("ç®±ç {0};ç 垛工ä½{1}，绑定托盘{2}失败，请强制结批", boxNo, modDevice.StationNum, palletNo));
// 写入æ’入结果 2：æ’ç 失败
plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
break;
}
}
// æ’ç æˆåŠŸ
var retVal2 = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");
if (retVal2.IsSucceed)
{
//æ›´æ–°å·²æ’ç æ•°é‡
checkTaskMedel.BoxCount += boxNum;
_db.Updateable(checkTaskMedel).ExecuteCommand();
}
else
{
// 写入失败
Log.Error(string.Format("写入PLCæ’ç 结果失败，ç 垛工ä½{1}，托盘å·{2}", modDevice.StationNum, palletNo));
}
}
break;
case "40":
// 请求组托，申请入库
{
lock (OLock)
{
// æ ¹æ®å·¥ä½å·ï¼ŒèŽ·å–托盘å·
var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
// æ ¹æ®å·¥ä½å·èŽ·å– 托盘线该工ä½å·çš„é…置信æ¯
var numModel = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId != modDevice.PlcId);
//var posModel = PLCTaskAction.plcPositions.First(m => m.DeviceId == numModel.Id && m.Text == "目的工ä½" && m.IsDelete == false);
if (checkTaskMedel == null)
{
Log.Error(string.Format("ç»„æ‰˜å¤±è´¥æ ¹æ®ç 垛工ä½{0}，获å–托盘å·å¤±è´¥!", modDevice.StationNum));
// 写入组托回å¤æµç¨‹å—
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
break;
}
//获å–托盘高度
//var posPalletHeightModel = PLCTaskAction.plcPositions.First(m => m.DeviceId == numModel.Id && m.Text == "托盘高度" && m.IsDelete == false);
//var (resPalletHeight, palletHeightVal) = plcConn.GetPlcDBValue(posPalletHeightModel.PosType, modDevice.DbNumber, posPalletHeightModel.PlcPos);
//if (!resPalletHeight.IsSucceed)
//{
// break;
//}
// ç 垛工ä½æ‰˜ç›˜å·
string palletNo = checkTaskMedel.PalletNo;
//判æ–该托盘是å¦æœ‰æ£åœ¨æ‰§è¡Œçš„任务，防æ¢é‡å¤ç”³è¯·
var taskIng = _db.Queryable<WcsTask>().First(w => w.PalletNo == palletNo && (w.Status == TaskStatusEnum.Wait || w.Status == TaskStatusEnum.Doing) && w.IsDelete == false);
if (taskIng != null)
{
break;
}
// æ ¹æ®æ‰˜ç›˜å·ï¼Œå°†ç»„托信æ¯æ’å…¥boxinfolog表 å¹¶åˆ é™¤boxinfo表数æ®
var boxInfoList = _db.Queryable<WcsBoxInfo>().Where(w => w.IsDelete == false && w.PalletNo == palletNo).ToList();
if (boxInfoList.Count <= 0)
{
Log.Error(string.Format("申请巷é“失败，ç 垛工ä½{0}，箱ç ä¿¡æ¯ä¸å˜åœ¨", modDevice.StationNum));
// 写入组托回å¤æµç¨‹å—
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
break;
}
// å‘WMS申请巷é“
var http = new HttpService();
string TaskNo = "", EndLocate = "";
string strMsg = http.BindRequestRoadWay(checkTaskMedel.OrderNo, palletNo, checkTaskMedel.BoxCount.ToDecimal(), "0", checkTaskMedel.SkuNo, checkTaskMedel.LotNo, "", "", boxInfoList,
modDevice.StationNum, "1", "1", ref EndLocate, ref TaskNo, (int)1351);
if (strMsg.Contains("-1"))
{
Log.Error(string.Format("申请巷é“失败，ç 垛工ä½{0};åŽŸå› {1}", modDevice.StationNum, strMsg));
// 写入组托回å¤æµç¨‹å—
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
break;
}
else
{
// 获å–入库任务信æ¯
var taskModel = _db.Queryable<WcsTask>().First(m => m.TaskNo == TaskNo && m.IsDelete == false && m.Status == TaskStatusEnum.Wait);
if (taskModel != null)
{
// 写入组托回å¤æµç¨‹å—
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
if (retVal.IsSucceed)
{
// 将入库任务由æ£åœ¨æ‰§è¡Œæ”¹ä¸ºæ£åœ¨æ‰§è¡Œ
taskModel.Status = TaskStatusEnum.Doing;
_db.Updateable(taskModel).ExecuteCommand();
string sqlStr = $"insert into WCSBoxInfoLog select * from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
int insertCount = _db.Ado.ExecuteCommand(sqlStr);
if (insertCount > 0)
{
string sqlStr2 = $"delete from WCSBoxInfo where IsDelete=0 and PalletNo='{palletNo}'";
_db.Ado.ExecuteCommand(sqlStr2);
}
// æ’入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令50：申请巷é“æˆåŠŸ",
PalletNo = palletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// æ’入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界é¢ä»»åŠ¡å·²å˜åœ¨æ›´æ–° 请更新界é¢
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
}
}
}
}
}
break;
case "100":
//自动结批
{
// 获å–当å‰åˆ†é“托盘å·
var checkTaskMedel = _db.Queryable<WcsCheckTask>().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
if (checkTaskMedel == null)
{
Log.Error(string.Format("ç 垛工ä½{0}，批次{1}，自动结批失败!请人工强制结批!", modDevice.StationNum, checkTaskMedel.LotNo));
break;
}
// 触å‘结批 解绑分é“
AutoEndLot(checkTaskMedel.LotNo, plcConn, "0", modDevice);
}
break;
default: break;
}
}
}
/// <summary>
/// 拆垛机器人业务处ç†
/// </summary>
/// <param name="modDevice"></param>
private static void StackingRobot(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
switch (modDevice.Value.ToString())
{
case "0":
{
// 若拆垛工ä½ä¸ºç©ºé—²ï¼ŒæŸ¥è¯¢ä»»åŠ¡è¡¨æ˜¯å¦æœ‰æœªç»‘定的出库任务，åšç»‘定æ“作
}
break;
default:
break;
}
}
private static void LedDisplay(string ip,string text,int type=0)
{
try
{
LedDll Led = new LedDll();
if (type == 0)
{
Led.ConsoleLeds(ip, text);
}
else
{
Led.LEDstr(ip, text);
}
// 设置实例
//Led.ConsoleLeds("10.18.51.238", $"任务类型:{TaskTypeEnum.Move.GetDescription()}\n\n任务å·:TK2024102100001\n托盘å·:LN000145\n\n起始ä½:033\nç›®æ ‡ä½:R01-02010102");
}
catch (Exception ex)
{
Log.Error(ex.Message);
}
}
/// <summary>
/// 自动结批 并 解绑分é“
/// </summary>
/// <param name="lotNo">批次å·</param>
/// <param name="plcConn">Plc连接</param>
/// <param name="status">是å¦è§£ç»‘åˆ†é“ 0：解绑 1：绑定</param>
private static void AutoEndLot(string lotNo, PLCUtil plcConn, string status, WcsDeviceDto modDevice)
{
try
{
if (string.IsNullOrWhiteSpace(lotNo))
{
Console.WriteLine("批次å·ä¸ºnull");
}
var checkTaskList = _db.Queryable<WcsCheckTask>().Where(w => w.LotNo == lotNo && w.Status == "1").ToList();
if (checkTaskList.Count <= 0)
{
Console.WriteLine("未找到分é“绑定信æ¯");
}
var taskInfo = _db.Queryable<WcsOderTask>().First(w => w.OrderNo == checkTaskList[0].OrderNo);
if (taskInfo != null)
{
taskInfo.Status= TaskStatusEnum.Complete;//已结æŸ
//更新任务状æ€
_db.Updateable(taskInfo).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
}
foreach (var item in checkTaskList)
{
#region#ç»™PLC写入结批批次å·
var listResult = new List<Result>();
listResult.Add(plcConn.SetPlcDBValueRepeat(item.PosType, item.DbNumber, item.PlcPos, "0"));//å“ç§å·
listResult.Add(plcConn.SetPlcDBValueRepeat(item.PosTypeLot, item.DbNumber, item.PosLot, ""));//批次å·
listResult.Add(plcConn.SetPlcDBValueRepeat(item.PosTypeStatus, item.DbNumber, item.PosStatus, "0"));//ç»‘å®šçŠ¶æ€ 0：未绑定 1：已绑定
if (listResult.All(s => s.IsSucceed))
{
// 写入组托回å¤æµç¨‹å—
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "110");
if (retVal.IsSucceed)
{
//写入æµç¨‹å—æˆåŠŸåŽæ›´æ–°åˆ†æ‹£ä»»åŠ¡
item.OrderNo = "";
item.TaskNo = "";
item.LotNo = "";
item.SkuNo = "";
item.SkuName = "";
item.BoxType = "";
item.Qty = 0;
item.BoxCount = 0;
item.PZNo = "";
item.PalletNo = "";
item.Status = status; // ç»‘å®šåˆ†é“ 0：解绑 1：绑定
//更新绑定信æ¯
_db.Updateable(item).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
}
}
else
{
throw Oops.Bah("与PCL交互失败，结批失败ï¼");
}
#endregion
}
}
catch (Exception ex)
{
Log.Error(ex.Message);
throw;
}
}
private static void Test(WcsDeviceDto modDevice)
{
//写æ»æµ‹è¯•è¯»string
var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
Console.WriteLine("DB100.64----" + val);
//测试批é‡è¯»å–
Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
foreach (var modStation in modDevice.listStation)
{
listaddress.Add(modStation.PlcPos, modStation.PosType);
}
var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
if (result.Value.Count > 0)
{
foreach (var value in result.Value)
{
Console.WriteLine("地å€" + value.Key + "----值" + value, value);
}
}
if (!result.IsSucceed)
{
foreach (var err in result.ErrList)
{
Console.WriteLine(err);
}
if (result.Value.Count > 0)//有错误的也有æˆåŠŸçš„
{
}
}
if (modDevice.Value == 820)
{
//测试写入830
//var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
////写入是å¦æˆåŠŸ
//if (result.IsSucceed)
//{
//}
}
else if (modDevice.Value == 840)
{
}
else if (modDevice.Value == 860)
{
}
}
}