using Admin.NET.Core.Service; using DocumentFormat.OpenXml.Bibliography; using DocumentFormat.OpenXml.Drawing; using DocumentFormat.OpenXml.Drawing.Charts; using Elastic.Clients.Elasticsearch.Snapshot; using Furion.Logging; using Microsoft.AspNetCore.SignalR; using NewLife.Serialization; using OfficeOpenXml.FormulaParsing.Excel.Functions.Logical; using OfficeOpenXml.FormulaParsing.Excel.Functions.Text; using OnceMi.AspNetCore.OSS; using Qiniu.Storage; using System; using System.Drawing.Drawing2D; using System.Net.NetworkInformation; using WCS.Application.Entity; using WCS.Application.Util; using static SKIT.FlurlHttpClient.Wechat.Api.Models.CgibinExpressIntracityUpdateStoreRequest.Types; //using WCS.Application.Util; namespace WCS.Application; public static class PLCTaskAction { //服务运行状态 public static bool boRunningState = false; //脱机模式 public static bool boOffline = false; //自刷新 public static bool boRefresh = false; //演示模式 public static bool boDemo = false; //滚筒反转 public static bool boDrumReversal = false; //出库锁定 public static bool boOutLock = false; //入库锁定 public static bool boEnterLock = false; public static List listPositionInfo = new List(); private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId); private static readonly SysCacheService sysCacheService = App.GetRequiredService(); private static readonly SysConfigService _sysConfigService = App.GetService(); private static readonly WcsTaskService _taskService = App.GetService(); private static List listPlc = new List(); private static List listPlcDevice = new List(); private static List listPlcPosition = new List(); private static List listAlarmInfo = new List(); private static List listPlcUtil = new List(); private static CancellationTokenSource cts = new CancellationTokenSource();//取消线程标识 private static List listModbusUtil = new List(); public static List modbusUtilConn { get { return listModbusUtil; } } //对外公布连接状态 public static List listPlcConn { get { return listPlcUtil; } } // 交互点集合 public static List plcDevices { get { return listPlcDevice; } } public static List plcPositions { get { return listPlcPosition; } } public static List plcs { get { return listPlc; } } public static event EventHandler DeviceValueChangeEvent; static PLCTaskAction() { //订阅事件 DeviceValueChangeEvent += PLCService.OnChangeEvent; boRunningState = _sysConfigService.GetConfigValue("sys_RunningState").Result; boOffline = _sysConfigService.GetConfigValue("sys_Offline").Result; boRefresh = _sysConfigService.GetConfigValue("sys_Refresh").Result; boDemo = _sysConfigService.GetConfigValue("sys_demo").Result; boDrumReversal = _sysConfigService.GetConfigValue("sys_DrumReversal").Result; boOutLock = _sysConfigService.GetConfigValue("sys_BoOutLock").Result; boEnterLock = _sysConfigService.GetConfigValue("sys_BoEnterLock").Result; } /// /// 初始化PLC连接 /// public static void Init() { cts.Cancel(); listPlc = _db.Queryable() //.Where(s => s.Type == PLCTypeEnum.ShuttleCar || s.Type == PLCTypeEnum.ConveyorLine || s.Type == PLCTypeEnum.AGV) .Where(s => s.Enable == YesNoEnum.Y) .ToList(); listPlcDevice = _db.Queryable().ToList(); listPlcPosition = _db.Queryable().ToList(); listAlarmInfo = _db.Queryable().ToList(); //等待几秒钟，把已有线程取消掉再连接 //Thread.Sleep(5000); foreach (var modPlcUtil in listPlcUtil) { modPlcUtil.Close(); } listPlcUtil.Clear(); foreach (var modPlc in listPlc) { switch (modPlc.PLCType) { case PLCEnum.None: break; case PLCEnum.S7_200: case PLCEnum.S7_200Smart: case PLCEnum.S7_300: case PLCEnum.S7_400: case PLCEnum.S7_1200: case PLCEnum.S7_1500: var plc = new PLCUtil(modPlc); listPlcUtil.Add(plc); break; case PLCEnum.ModBusTcp: var modbus = new ModbusUtil(modPlc); listModbusUtil.Add(modbus); break; default: break; } } HubUtil.UpdateService(new PLCServiceModel() { BoRunningState = boRunningState, BoOffline = boOffline, BoRefresh = boRefresh }); if (boRunningState) { cts = new CancellationTokenSource(); StartRead(); ConnectionStatus(); StartWatchAlarm(); AssignTasks(); //StartWatchPosition(); } } /// /// 开启读取plc线程 /// public static void StartRead() { Console.WriteLine("开启读取plc线程"); foreach (var modPlc in listPlc) { Task.Run(() => { var _modplc = modPlc; while (true) { //取消线程 关闭PLC连接 if (cts.Token.IsCancellationRequested) { foreach (var modPlcUtil in listPlcUtil) { if (modPlcUtil != null && modPlcUtil.Connected) modPlcUtil.Close(); } break; //throw new OperationCanceledException(); } try { switch (_modplc.PLCType) { case PLCEnum.None: break; case PLCEnum.S7_200: case PLCEnum.S7_200Smart: case PLCEnum.S7_300: case PLCEnum.S7_400: case PLCEnum.S7_1200: case PLCEnum.S7_1500: { var modPlcUtil = listPlcUtil.FirstOrDefault(s => s != null && s.PlcId == modPlc.Id); if (modPlcUtil == null) { Console.WriteLine($"连接plc{modPlc.IP}"); modPlcUtil = new PLCUtil(modPlc); listPlcUtil.Add(modPlcUtil); if (modPlcUtil.Connected) Console.WriteLine($"连接plc{modPlc.IP}成功"); } if (!modPlcUtil.Connected) { Thread.Sleep(100); modPlcUtil.Open(); continue; } var listDevice = listPlcDevice .Where(s => s.PlcId == _modplc.Id && s.DeviceType == DeviceTypeEnum.Business) .WhereIF(modPlc.Type == PLCTypeEnum.ConveyorLine, s => s.Level == DeviceLevelEnum.DB) .ToList(); //循环读设备 foreach (var modDevice in listDevice) { var (result, value) = modPlcUtil.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos); if (result.IsSucceed) { //无流程跳出 if (Convert.ToInt32(value) == 0) continue; var dto = modDevice.Adapt(); dto.Value = value; dto.Type = _modplc.Type; dto.PLCUtil = modPlcUtil; dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList(); dto.listDevice = listDevice.Where(s => s.StationNum == modDevice.StationNum && s.Level == DeviceLevelEnum.Station).ToList(); //这里触发值变更事件 DeviceValueChangeEvent?.Invoke(dto, EventArgs.Empty); } else if (!modPlcUtil.Connected) { //重新打开连接 modPlcUtil.Open(); } } } break; case PLCEnum.ModBusTcp: { var modbusUtil = listModbusUtil.FirstOrDefault(s => s != null && s.PlcId == _modplc.Id); if (modbusUtil == null) { Console.WriteLine($"连接ModBus{modPlc.IP}"); modbusUtil = new ModbusUtil(modPlc); listModbusUtil.Add(modbusUtil); if (modbusUtil.Connected) Console.WriteLine($"连接ModBus{modPlc.IP}成功"); } if (!modbusUtil.Connected) { Thread.Sleep(100); modbusUtil.Open(); continue; } var listDevice = listPlcDevice .Where(s => s.PlcId == _modplc.Id && s.DeviceType == DeviceTypeEnum.Business) .WhereIF(modPlc.Type == PLCTypeEnum.ConveyorLine, s => s.Level == DeviceLevelEnum.DB) .ToList(); //循环读设备 foreach (var modDevice in listDevice) { var (result, value) = modbusUtil.GetDBValue(modDevice.PosType, modDevice.PlcPos); if (result.IsSucceed) { //如果是穿梭车，这里发送心跳 if (modPlc.Type == PLCTypeEnum.ShuttleCar) { var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault(); if (modHeart != null) { modbusUtil.SetDBValue(modHeart.PosType, modHeart.PlcPos, "1"); } } //无流程跳出 if (value == 0) continue; var dto = modDevice.Adapt(); dto.Value = value; dto.PlcIdIP = modPlc.IP; dto.Type = _modplc.Type; dto.modbusUtil = modbusUtil; dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList(); dto.listDevice = listDevice.Where(s => s.StationNum == modDevice.StationNum && s.Level == DeviceLevelEnum.Station).ToList(); //这里触发值变更事件 DeviceValueChangeEvent?.Invoke(dto, EventArgs.Empty); } else if (!modbusUtil.Connected) { //重新打开连接 modbusUtil.Open(); } } } break; case PLCEnum.HTTP: { Ping pingSender = new Ping(); try { // 发送Ping请求，并等待回复 PingReply reply = pingSender.Send(_modplc.IP); if (reply.Status == IPStatus.Success) { var listDevice = listPlcDevice .Where(s => s.PlcId == _modplc.Id && s.DeviceType == DeviceTypeEnum.Business) .ToList(); foreach (var modDevice in listDevice) { var dto = modDevice.Adapt(); dto.modPlc = _modplc; dto.Type = _modplc.Type; dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList(); dto.listDevice = listDevice.Where(s => s.StationNum == modDevice.StationNum && s.Level == DeviceLevelEnum.Station).ToList(); //这里触发值变更事件 DeviceValueChangeEvent?.Invoke(dto, EventArgs.Empty); } } else { Console.WriteLine($"连接不到主机: {_modplc.IP} {reply.Status}"); } } catch (Exception ex) { Console.WriteLine(ex.Message); } } break; default: break; } Thread.Sleep(2000); } catch (OperationCanceledException) { Console.WriteLine("中止线程"); } catch (Exception ex) { Log.Error("读取PLC线程发生异常", ex); } } }, cts.Token); } } /// /// 四向车任务分配 /// private static void AssignTasks() { Task.Run(() => { while (true) { //Console.WriteLine("开启四向车任务自分配"); //取消线程 关闭PLC连接 if (cts.Token.IsCancellationRequested) { foreach (var modModBusUtil in listModbusUtil) { if (modModBusUtil != null && modModBusUtil.Connected) modModBusUtil.Close(); } break; } try { // 获取密集库未执行任务 根据创建时间排序 var waitTask = _db.Queryable().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(s => new {s.Levels, s.CreateTime}).First(); if (waitTask == null) { continue; } var starLocate = ""; var endLocate = ""; var taskceng = 0; //01010101: 01排 01列 01层 01深度-此项目不做判断 if (waitTask.TaskType == TaskTypeEnum.In ) { //入库任务起始巷道就是起始工位 if (string.IsNullOrWhiteSpace(waitTask.StartRoadway) || string.IsNullOrWhiteSpace(waitTask.EndLocate)) { continue; } taskceng = int.Parse(waitTask.StartRoadway.Substring(4, 2)); starLocate = waitTask.StartRoadway; endLocate = waitTask.EndLocate; } else if (waitTask.TaskType == TaskTypeEnum.Out) { taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2)); starLocate = waitTask.StartLocate; endLocate = waitTask.EndRoadway; #region 添加输送线与任务验证 var text = ""; var devStation = ""; var ip = ""; var carcon = new carConverModel(); if (carcon.conveyorBei.Keys.Contains(endLocate)) { text = "输送线北"; ip = "10.26.254.10"; devStation = carcon.conveyorBei[endLocate]; } else if (carcon.conveyorNan.Keys.Contains(endLocate)) { text = "输送线南"; ip = "10.26.254.11"; devStation = carcon.conveyorNan[endLocate]; } if (text != "") { //var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text); //var modConn = new PLCUtil(modPlc); var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip); var modDevice = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation); var (plcResult, palletVal) = modConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos); if (!plcResult.IsSucceed || Convert.ToInt32(palletVal) != 720) { continue;//放货工位没有读取成功或不是空闲 } var gongwei = carcon.conveyorRuKu[endLocate]; //判断任务 var convarTask = _db.Queryable().First(m => m.IsDelete == false && m.StartLocate == gongwei && m.Type == PLCTypeEnum.ConveyorLine && (m.Status == TaskStatusEnum.Wait || m.Status == TaskStatusEnum.Doing)); if (convarTask != null) { continue;//放货工位有任务 } } #endregion } else if (waitTask.TaskType == TaskTypeEnum.Move) { taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2)); starLocate = waitTask.StartLocate; endLocate = waitTask.EndLocate; } else { continue; } #region 获取当前任务所在层所有空闲小车 // 获取有任务的小车编号 var taskCarList = _db.Queryable().Where(m => m.IsDelete == false && m.Status == TaskStatusEnum.Wait).Select(m => m.CarNo).Distinct().ToList(); // 获取当前任务所在层所有空闲小车（根据小车任务表是否有任务和小车状态共同判断小车是否空闲) var kXCarList = new List(); var carErr = false;//小车是否有失联的 foreach (var modbusUtil in listModbusUtil) { //如果小车有未执行的任务，跳出 if (taskCarList.Contains(modbusUtil.PlcIP)) { continue; } //获取小车的WcsDevice信息 var listDevice = listPlcDevice.Where(s => s.PlcId == modbusUtil.PlcId && s.DeviceType == DeviceTypeEnum.Business).ToList(); //循环读设备 foreach (var modDevice in listDevice) { var (result, value) = modbusUtil.GetDBValue(modDevice.PosType, modDevice.PlcPos); if (result.IsSucceed) { //获取工位WCSPLCPosition信息 var plcPosition = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList(); if (value == 3) { var modCarDl = plcPosition.FirstOrDefault(s => s.Text == "电池电量"); var (resultDl, valueDl) = modbusUtil.GetDBValue(modCarDl.PosType, modCarDl.PlcPos); if (resultDl.IsSucceed && valueDl> (int)FourWayCarDLEnum.Dl) { //写入结束充电命令 var modCdEnd = plcPosition.FirstOrDefault(s => s.Text == "充电命令"); var resultDl22 = modbusUtil.SetDBValue(modCdEnd.PosType, modCdEnd.PlcPos.ToString(), "3") ; carErr = true; break; //暂缓分配，防止同层小车关机或失联导致阻挡路径 } } var modCarPall = plcPosition.FirstOrDefault(s => s.Text == "托盘检测"); var (resultPall, valuePall) = modbusUtil.GetDBValue(modCarPall.PosType, modCarPall.PlcPos); //var modCarju = plcPosition.FirstOrDefault(s => s.Text == "举升位置"); //var (resultju, valueju) = modbusUtil.GetDBValue(modCarju.PosType, modCarju.PlcPos); //if (resultPall.IsSucceed && valuePall == 1 && resultPall.IsSucceed && valuePall != 1) //1顶货 2子通道 3主通道 //{ // break; //暂缓分配 //} if (resultPall.IsSucceed && valuePall == 1) //1有托盘 2无托盘 { break; //暂缓分配 } //小车空闲加入集合 if (value == 1) { var modStationX = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(X)"); var (resultx, valuex) = modbusUtil.GetDBValue(modStationX.PosType, modStationX.PlcPos); var modStationY = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(Y)"); var (resulty, valuey) = modbusUtil.GetDBValue(modStationY.PosType, modStationY.PlcPos); var modStationZ = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(Z)"); var (resultz, valuez) = modbusUtil.GetDBValue(modStationZ.PosType, modStationZ.PlcPos); //小车当前层 var carZ = (int)valuez; //任务层与小车层相同 if (taskceng == carZ) { if (!kXCarList.Any(m => m.CarPlcIp == modbusUtil.PlcIP)) { var carVal = ((int)valuex).ToString().PadLeft(2, '0') + ((int)valuey).ToString().PadLeft(2, '0') + ((int)valuez).ToString().PadLeft(2, '0'); //小车到取货储位路径 var d = FourWayCarUtil.GetCarPath(carVal, starLocate); kXCarList.Add(new CarInfo() { CarPlcIp = modbusUtil.PlcIP, X = (int)valuex, Y = (int)valuey, Z = (int)valuez, Level = d.Count, }); } } } } else { Console.WriteLine($"读取四向车{modbusUtil.PlcIP}状态失败"); carErr = true; break;//有一个小车读取失败跳出方法，暂缓分配，防止同层小车关机或失联导致阻挡路径 } } //有小车失联，不分配任务 if (carErr) { kXCarList.Clear();//清楚空车记录 break; } } #endregion // 获取适合执行当前任务的小车 生成路径（需考虑小车阻阻挡） var assignCar = kXCarList.OrderBy(m => m.Level).FirstOrDefault(); if (assignCar == null) { continue;//没有空闲小车 } if (assignCar.Level != 1) { //判断小车位置是否与任务的起始储位相同,不相同：获取小车到取货储位路径 var carLocate = assignCar.X.ToString().PadLeft(2, '0')+assignCar.Y.ToString().PadLeft(2, '0')+ assignCar.Z.ToString().PadLeft(2, '0'); //获取小车去取货储位任务路径 var data1 = FourWayCarUtil.GetCarPath(carLocate, starLocate); var datas1 = FourWayCarUtil.GetCarPathUp(data1, 0); if (datas1 == null) { continue; } else { var bl = FourWayCarUtil.AddCarTask(datas1, kXCarList, assignCar, waitTask,0); //分配错误，删除分配信息 if (!bl) { var carTask = _db.Queryable().Where(m => m.IsDelete == false && m.TaskNo == waitTask.TaskNo).ToList(); _db.Deleteable(carTask).ExecuteCommand(); } } } var typeStr = "1"; var typeStr2 = 1; if (waitTask.Levels == 888 ) { typeStr = "0";//小车任务是充电任务 typeStr2 = 0; } //获取小车去放货储位任务路径 var data2 = FourWayCarUtil.GetCarPath(starLocate, endLocate, typeStr); var datas2 = FourWayCarUtil.GetCarPathUp(data2, typeStr2); if (datas2 == null) { continue; } else { var bl = FourWayCarUtil.AddCarTask(datas2,kXCarList,assignCar,waitTask,1); //分配错误，删除分配信息 if (!bl) { waitTask.Status = TaskStatusEnum.Wait; _db.Updateable(waitTask).ExecuteCommand(); var carTask = _db.Queryable().Where(m=>m.IsDelete == false && m.TaskNo == waitTask.TaskNo).ToList(); _db.Deleteable(carTask).ExecuteCommand(); } } Thread.Sleep(3000); } catch (Exception ex) { Log.Error("任务分配发生异常", ex); } } },cts.Token); } /// /// 连接状态线程 /// public static void ConnectionStatus() { Task.Run(() => { try { Console.WriteLine("连接状态线程"); while (true) { //取消线程 关闭PLC连接 if (cts.Token.IsCancellationRequested) { foreach (var modPlcUtil in listPlcUtil) { if (modPlcUtil != null && modPlcUtil.Connected) modPlcUtil.Close(); } break; //throw new OperationCanceledException(); } //获取每个PLC连接状态 foreach (var modPlc in listPlc) { switch (modPlc.PLCType) { case PLCEnum.None: break; case PLCEnum.S7_200: case PLCEnum.S7_200Smart: case PLCEnum.S7_300: case PLCEnum.S7_400: case PLCEnum.S7_1200: case PLCEnum.S7_1500: { var modPlcUtil = listPlcUtil.FirstOrDefault(s => s.PlcId == modPlc.Id); if (modPlcUtil == null) modPlc.IsConn = false; else modPlc.IsConn = modPlcUtil.Connected; if (sysCacheService.ExistKey("PLCCONN:" + modPlc.Id)) { var cachePlc = sysCacheService.Get("PLCCONN:" + modPlc.Id); if (cachePlc.IsConn != modPlc.IsConn) { //连接状态变更 通知前端 Console.WriteLine($"通知前端变更{modPlc.Text} {modPlc.IsConn}"); HubUtil.PublicPlcConn(modPlc); } sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc); } else { sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc); HubUtil.PublicPlcConn(modPlc); } } break; case PLCEnum.ModBusTcp: { var modbudUtil = listModbusUtil.FirstOrDefault(s => s.PlcId == modPlc.Id); if (modbudUtil == null) modPlc.IsConn = false; else modPlc.IsConn = modbudUtil.Connected; if (sysCacheService.ExistKey("PLCCONN:" + modPlc.Id)) { var cachePlc = sysCacheService.Get("PLCCONN:" + modPlc.Id); if (cachePlc.IsConn != modPlc.IsConn) { //连接状态变更 通知前端 Console.WriteLine($"通知前端变更{modPlc.Text} {modPlc.IsConn}"); HubUtil.PublicPlcConn(modPlc); } sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc); } else { sysCacheService.Set("PLCCONN:" + modPlc.Id, modPlc); HubUtil.PublicPlcConn(modPlc); } } break; default: break; } } Thread.Sleep(10000); } } catch (OperationCanceledException) { sysCacheService.RemoveByPrefixKey("PLCCONN"); Console.WriteLine("中止线程"); } catch (Exception ex) { Log.Error("连接状态线程发生异常", ex); } }, cts.Token); } /// /// 开启报警监控 /// public static void StartWatchAlarm() { Task.Run(() => { var listPlc = listAlarmInfo.GroupBy(s => new { s.PlcIP, s.PlcPort, s.Type }).Select(s => s.Key).ToList(); List listPlcUtil = new List(); List listModbusUtil = new List(); int i = 0; foreach (var modPlc in listPlc.Where(s => s.Type != PLCTypeEnum.ShuttleCar)) { listPlcUtil.Add(new PLCUtil(new WcsPlc() { Id = i++, IP = modPlc.PlcIP, Port = modPlc.PlcPort, PLCType = PLCEnum.S7_1500 })); } foreach (var modPlc in listPlc.Where(s => s.Type == PLCTypeEnum.ShuttleCar)) { listModbusUtil.Add(new ModbusUtil(new WcsPlc() { Id = i++, IP = modPlc.PlcIP, Port = modPlc.PlcPort, PLCType = PLCEnum.ModBusTcp })); } while (true) { //取消线程 关闭PLC连接 if (cts.Token.IsCancellationRequested) { foreach (var modPlcUtil in listPlcUtil) { if (modPlcUtil != null && modPlcUtil.Connected) modPlcUtil.Close(); } foreach (var modModbusUtil in listModbusUtil) { if (modModbusUtil != null && modModbusUtil.Connected) modModbusUtil.Close(); } break; //throw new OperationCanceledException(); } try { var listPulish = new List(); foreach (var modUtil in listPlcUtil) { //报警点位 var listAlarm = listAlarmInfo.Where(s => s.PlcIP == modUtil.PlcIP.ToString()).ToList(); var listaddress = new Dictionary(); foreach (var modAlarm in listAlarm) { listaddress.Add(modAlarm.AlarmCode, PLCDataTypeEnum.Bit); } var result = modUtil.GetPlcBatchDBValue(listaddress); foreach (var item in result.Value) { var value = Convert.ToBoolean(item.Value); var modAlarm = listAlarm.FirstOrDefault(s => s.AlarmCode == item.Key); var stationNum = modAlarm.StationNum; if (value && modAlarm.Status == YesNoEnum.N) { //修改报警状态同时记录报警日志 modAlarm.AlarmTime = DateTime.Now; modAlarm.Status = YesNoEnum.Y; listPulish.Add(modAlarm); } //取消报警 else if (value && modAlarm.Status == YesNoEnum.Y) { modAlarm.AlarmTime = null; modAlarm.Status = YesNoEnum.N; listPulish.Add(modAlarm); } } if (listPulish.Count > 0) { _db.Updateable(listPulish).ExecuteCommand(); var listLog = new List(); foreach (var mod in listPulish.Where(s => s.Status == YesNoEnum.Y)) { WcsAlarmLog modLog = mod.Adapt(); modLog.Id = 0; listLog.Add(modLog); } _db.Insertable(listLog).ExecuteCommand(); HubUtil.PublicAlarm(listPulish); } } //穿梭车报警 var listCacheAlarm = sysCacheService.GetHashMap("AlarmInfo_Car"); listPulish = new List(); foreach (var modCacheAlarm in listCacheAlarm) { if (modCacheAlarm.Value == -1) { //取消报警 var modAlarm = listAlarmInfo.FirstOrDefault(s => s.PlcIP == modCacheAlarm.Key && s.Status == YesNoEnum.Y); if (modAlarm != null) { modAlarm.Status = YesNoEnum.N; modAlarm.AlarmTime = null; _db.Updateable(modAlarm).ExecuteCommand(); listPulish.Add(modAlarm); } } else { var modAlarm = listAlarmInfo.FirstOrDefault(s => s.PlcIP == modCacheAlarm.Key && s.AlarmCode == modCacheAlarm.Value.ToString()); if (modAlarm != null && modAlarm.Status != YesNoEnum.Y) { modAlarm.Status = YesNoEnum.Y; modAlarm.AlarmTime = DateTime.Now; _db.Updateable(modAlarm).ExecuteCommand(); WcsAlarmLog modLog = new WcsAlarmLog() { PlcIP = modAlarm.PlcIP, AlarmCode = modAlarm.AlarmCode, AlarmName = modAlarm.AlarmName, AlarmTime = modAlarm.AlarmTime, }; _db.Insertable(modLog).ExecuteCommand(); listPulish.Add(modAlarm); } } } if (listPulish.Count > 0) { HubUtil.PublicAlarm(listPulish); } } catch (Exception ex) { Log.Error("报警监控发生异常", ex); } Thread.Sleep(10000); } }, cts.Token); } /// /// 开启位置监控 /// public static void StartWatchPosition() { Console.WriteLine("开启位置监控"); Task.Run(() => { while (true) { //取消线程 关闭PLC连接 if (cts.Token.IsCancellationRequested) { foreach (var modPlcUtil in listPlcUtil) { if (modPlcUtil != null && modPlcUtil.Connected) modPlcUtil.Close(); } break; //throw new OperationCanceledException(); } try { foreach (var modPlcUtil in listPlcUtil) { if (modPlcUtil == null) continue; var plcIp = modPlcUtil.PlcIP; var listDevice = listPlcDevice.Where(s => s.PlcId == modPlcUtil.PlcId && s.DeviceType == DeviceTypeEnum.Show).ToList(); var modPlc = listPlc.FirstOrDefault(s => s.Id == modPlcUtil.PlcId); var listaddress = new Dictionary(); foreach (var modDevice in listDevice) { listaddress.Add(modDevice.DbNumber + "." + modDevice.PlcPos, modDevice.PosType); } //批量读 var result = modPlcUtil.GetPlcBatchDBValue(listaddress); //测试用 //foreach (var modDevice in listDevice) //{ // if (modPlc.Type == PLCTypeEnum.StackingMachine) // result.Value.Add(modDevice.DbNumber + "." + modDevice.PlcPos, new Random().Next(790000)); // else if (modPlc.Type == PLCTypeEnum.ConveyorLine) // result.Value.Add(modDevice.DbNumber + "." + modDevice.PlcPos, new Random().Next(2) == 0); //} foreach (var item in result.Value) { var modDevice = listDevice.FirstOrDefault(s => item.Key == (s.DbNumber + "." + s.PlcPos)); if (modDevice == null) continue; switch (modPlc.Type) { case PLCTypeEnum.StackingMachine: { var value = Convert.ToInt32(item.Value); var height = Math.Round(value / 790000d * 200).ToInt(); var modPosition = listPlcPosition.FirstOrDefault(s => s.DeviceId == modDevice.Id && s.Text == "目的工位"); string EndLocat = ""; if (modPosition != null) { var (result2, value2) = modPlcUtil.GetPlcDBValue(modPosition.PosType, modDevice.DbNumber, modPosition.PlcPos); if (result2.IsSucceed) EndLocat = Convert.ToString(value2); } if (modDevice.BoxHeight != height || modDevice.EndLocat != EndLocat) { modDevice.EndLocat = EndLocat; modDevice.BoxHeight = Math.Round(value / 790000d * 200).ToInt(); var modInfo = new PlcPositionInfo() { Type = modPlc.Type, StationNum = modDevice.StationNum, BoxHeight = modDevice.BoxHeight, EndLocat = EndLocat, }; HubUtil.PublicPosition(modInfo); UpdatePosition(modInfo); } } break; case PLCTypeEnum.ConveyorLine: { var bl = false; int value = Convert.ToInt32(item.Value); if (value <= 30) { bl = false; } else { bl = true; } if (bl != modDevice.BoHaveItem) { modDevice.BoHaveItem = bl; var modInfo = new PlcPositionInfo() { Type = modPlc.Type, StationNum = modDevice.StationNum.PadLeft(3, '0'), BoHaveItem = bl }; HubUtil.PublicPosition(modInfo); UpdatePosition(modInfo); } } break; default: break; } } } Thread.Sleep(3000); } catch (Exception ex) { Log.Error("位置监控发生异常", ex); } } }); } /// /// 修改位置信息 /// /// private static void UpdatePosition(PlcPositionInfo modInfo) { var modTemp = listPositionInfo.FirstOrDefault(s => s.StationNum == modInfo.StationNum && modInfo.Type == s.Type); if (modTemp == null) { listPositionInfo.Add(modInfo); } else { modTemp.BoHaveItem = modInfo.BoHaveItem; } } /// /// 停止服务 /// public static void Stop() { cts.Cancel(); boRunningState = false; } }