using Furion.Logging;
using IoTClient;
using System.Data;
namespace WCS.Application;
public static class PLCService
{
private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
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);
break;
case PLCTypeEnum.ConveyorLine:
ConveyorLine(mod);
break;
case PLCTypeEnum.AGV:
AGV(mod);
break;
case PLCTypeEnum.PalletMachine:
PalletMachine(mod);
break;
default:
break;
}
}
catch (Exception ex)
{
Log.Error(ex.Message, ex);
}
}
///
/// 跺机业务处理
///
///
private static void StackingMachine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
switch (modDevice.ToString())
{
case "820":
{
var modTask = _db.Queryable().First(s => s.Status == TaskStatusEnum.Wait && s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modDevice.StationNum);
if (modTask == null)
{
break;
}
var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
PalletNo = modTask.PalletNo,
};
// 根据跺机号确认放货工位
string outStationNum = "0";
string endRow = "", endColumn = "", endStorey = "";
switch (modDevice.StationNum)
{
case "R01":
outStationNum = "11";
endRow = "1";
endColumn = "100";
endStorey = "1";
break;
case "R02":
outStationNum = "7";
endRow = "1";
endColumn = "100";
endStorey = "1";
break;
default: break;
}
var modD = modDevice.listDevice.FirstOrDefault();
if (modD == null)
{
Log.Error($"IP{modDevice.PlcId}.设备id：{modDevice.Id}缺少工位级别设备信息");
break;
}
var (result, value) = plcConn.GetPlcDBValue(modD.PosType, modD.DbNumber, modD.PlcPos);
if (result.IsSucceed)
{
if (value == 120)// 放货工位空闲 可放货
{
if (int.Parse(outStationNum) > 0)
{
var row = int.Parse(modTaskMonitor.StartLocat.Substring(0, 2)).ToString();
var column = int.Parse(modTaskMonitor.StartLocat.Substring(2, 2)).ToString();
var layer = int.Parse(modTaskMonitor.StartLocat.Substring(4, 2)).ToString();
var deep = int.Parse(modTaskMonitor.StartLocat.Substring(6, 2)).ToString();
if (int.Parse(row) > 2) //大于4
{
row = (int.Parse(row) - 2).ToString();
}
else
{
// 起始储位地址为空，跳过 写入任务明细表
modTaskMonitor.StartLocat = "";
modTaskMonitor.InteractiveMsg = "起始储位为空!";
_db.Insertable(modTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
//if (TaskAction.refresh)
//{
// wSChat.AlarmInformation("1");
//}
break;
}
//给PLC写入任务数据
var listResult = new List();
//任务号
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTaskMonitor.TaskNo));
//托盘号
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "PalletNo");
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTaskMonitor.PalletNo));
//起始排
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "StartRow");
listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, row));
// 起始列
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "StartColumn");
listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, column));
// 起始层
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "StartLayer");
listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, layer));
// 目标放货工位
var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "EndRow");
listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, endRow));
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "EndColumn");
listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, endColumn));
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "EndLayer");
listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, endColumn));
//全部写入成功
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机任务下发完成
plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "10");
// 将出库任务待执行改为正在执行
_db.Updateable()
.SetColumns(s => s.FinishDate == DateTime.Now)
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.SetColumns(s => s.Levels == 2)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{outStationNum}工位",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = outStationNum,
};
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
//if (TaskAction.refresh)
//{
// wSChat.AlarmInformation("1");
//}
//修改led屏信息
//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
}
}
}
}
else
{
Log.Error(string.Join(',', result.ErrList));
}
}
break;
case "20":
{
var modPosPlcTask = modDevice.listStation.FirstOrDefault(s => s.Text == "PlcTaskNo");
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosPlcTask.PosType, modDevice.DbNumber, modPosPlcTask.PlcPos);
if (!result.IsSucceed)
break;
string taskNo = Convert.ToString(TaskNo);
var modTask = _db.Queryable().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
if (modTask == null)
{
Log.Error("【跺机】当前托盘号不存在对应的任务");
break;
}
if (modTask.TaskType.Value == TaskTypeEnum.In)
{
//入库任务
var res = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo);
if (!res.IsSucceed)
break;
// 根据跺机号确认取货工位
string outStationNum = "0";
switch (modDevice.StationNum)
{
case "R01":
outStationNum = "10";
break;
case "R02":
outStationNum = "6";
break;
default: break;
}
var modDevice2 = modDevice.listDevice.Where(s => s.StationNum == outStationNum).FirstOrDefault();
var modStation = _db.Queryable().First(s => s.DeviceId == modDevice2.Id && s.Text == "TaskNo");
// 向取货工位写入任务号
res = plcConn.SetPlcDBValue(modStation.PosType, modDevice2.DbNumber, modStation.PlcPos, taskNo);
if (!res.IsSucceed)
break;
// 向取货工位写入流程控制字
res = plcConn.SetPlcDBValue(modDevice2.PosType, modDevice2.DbNumber, modDevice2.WcsPos, "100");
if (!res.IsSucceed)
break;
var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice2.PlcId,
PlcName = modDevice2.Text,
InteractiveMsg = "跺机取货完成",
StartLocat = outStationNum,
EndLocat = modTask.EndLocate,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete
};
_db.Insertable(modTaskMonitor).ExecuteCommand();
//通知任务界面任务已存在更新 请更新界面
//if (TaskAction.refresh)
//{
// wSChat.AlarmInformation("1");
//}
}
else if (modTask.TaskType.Value == TaskTypeEnum.Out)
{
//入库任务
var res = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, taskNo);
if (!res.IsSucceed)
break;
res = plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "20");
if (!res.IsSucceed)
break;
// 根据跺机号确认取货工位
string outStationNum = "0";
switch (modDevice.StationNum)
{
case "R01":
outStationNum = "11";
break;
case "R02":
outStationNum = "7";
break;
default: break;
}
var modStation = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.PlcId,
PlcName = modDevice.Text,
InteractiveMsg = "跺机取货完成",
StartLocat = outStationNum,
EndLocat = modTask.EndLocate,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete
};
_db.Insertable(modTaskMonitor).ExecuteCommand();
//通知任务界面任务已存在更新 请更新界面
//if (TaskAction.refresh)
//{
// wSChat.AlarmInformation("1");
//}
}
}
break;
case "30":
{
//操作完成（放货完成）
var modPosPlcTask = modDevice.listStation.FirstOrDefault(s => s.Text == "PlcTaskNo");
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosPlcTask.PosType, modDevice.DbNumber, modPosPlcTask.PlcPos);
if (!result.IsSucceed)
break;
string taskNo = Convert.ToString(TaskNo);
var modTask = _db.Queryable().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
if (modTask == null)
{
Log.Error("【跺机】当前托盘号不存在对应的任务");
break;
}
switch (modTask.TaskType)
{
case TaskTypeEnum.In:
case TaskTypeEnum.PLC:
{
//入库任务
var modStation = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
// 写入plc任务号
var res = plcConn.SetPlcDBValue(modStation.PosType, modDevice.DbNumber, modStation.PlcPos, taskNo);
if (!res.IsSucceed)
break;
res = plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "30");
if (!res.IsSucceed)
break;
//修改任务状态
modTask.Status = TaskStatusEnum.Complete;
_db.Updateable()
.SetColumns(s => s.Status == TaskStatusEnum.Complete)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
//反馈给WMS
var modTaskRequest = modTask.Adapt();
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestTask(modTaskRequest).Result;
if (modResponseTask.StatusCode == "0")
{
//请求成功
modTask.IsSuccess = TaskSuccessEnum.Success;
_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
//todo:修改储位信息 任务类型 执行状态 起始位置 目标位置
//
//记录任务明细
var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.PlcId,
PlcName = modDevice.Text,
InteractiveMsg = "任务完成，返回给WMS任务完成",
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete
};
_db.Insertable(modTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
//if (TaskAction.refresh)
//{
// wSChat.AlarmInformation("1");
//}
}
else
{
//请求失败
modTask.IsSuccess = TaskSuccessEnum.Fail;
modTask.Information = modResponseTask.Message;
_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
}
//todo:垛机入库不空跑
//todo:LED
}
break;
case TaskTypeEnum.Out://出库
// 从出库任务获取巷道号
string num = ""; // 放货工位号
if (modTask.StartRoadway == "R01")
{
num = "11"; //交互工位
}
else if (modTask.StartRoadway == "R02")
{
num = "7"; //交互工位
}
var modDevice2 = modDevice.listDevice.FirstOrDefault(s => s.StationNum == num);
if (modDevice2 == null)
{
Log.Error($"【跺机】找不到工位{num}设备信息");
break;
}
// 根据目标口获取目标工位
string outCode = modTask.EndLocate.IsNullOrEmpty() ? "-1" : modTask.EndLocate;
var listStation = _db.Queryable().Where(s => s.DeviceId == modDevice2.Id).ToList();
//给PLC写入任务数据
var listResult = new List();
//任务号
var modPosTask = listStation.FirstOrDefault(s => s.Text == "TaskNo");
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
//托盘号
var modPosPalletNo = listStation.FirstOrDefault(s => s.Text == "PalletNo");
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工位
var modPosLocatNo = listStation.FirstOrDefault(s => s.Text == "StartLocatNo");
listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, num));
// 目标工位
var modPosEndLocatNo = listStation.FirstOrDefault(s => s.Text == "EndLocatNo");
listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
//全部写入成功
if (listResult.All(s => s.IsSucceed))
{
// 写入工位wcs控制字
var res = plcConn.SetPlcDBValue(modDevice2.PosType, modDevice2.DbNumber, modDevice2.WcsPos, "120");
if (!res.IsSucceed)
break;
//写入plc任务号
var modStation = modDevice.listStation.FirstOrDefault(s => s.Text == "TaskNo");
res = plcConn.SetPlcDBValue(modStation.PosType, modDevice.DbNumber, modStation.PlcPos, modTask.TaskNo);
if (!res.IsSucceed)
break;
//写入跺机wcs控制字流程30 返回垛机执行完成
res = plcConn.SetPlcDBValue(modDevice.PosType.Value, modDevice.DbNumber, modDevice.WcsPos, "30");
if (!res.IsSucceed)
break;
//记录任务明细
var modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice2.PlcId,
PlcName = modDevice2.Text,
InteractiveMsg = $"写入指令：收到跺机放货完成；放货{num}工位===》{outCode}出库口",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = num, //起始位置
EndLocat = outCode, //目标工位
};
_db.Insertable(modTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
//if (TaskAction.refresh)
//{
// wSChat.AlarmInformation("1");
//}
//todo:垛机出库不空跑
}
break;
case TaskTypeEnum.Move:
break;
default:
break;
}
}
break;
default:
break;
}
}
///
/// 输送线业务处理
///
///
private static void ConveyorLine(WcsDeviceDto modDevice)
{
}
///
/// AGV业务处理
///
///
private static void AGV(WcsDeviceDto modDevice)
{
}
///
/// 叠托机业务处理
///
///
private static void PalletMachine(WcsDeviceDto modDevice)
{
}
private static void Test(WcsDeviceDto modDevice)
{
//写死测试读string
var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
Console.WriteLine("DB100.64----" + val);
//测试批量读取
Dictionary listaddress = new Dictionary();
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("地址" + value.Key + "----值" + value, value);
}
}
if (!result.IsSucceed)
{
foreach (var err in result.ErrList)
{
Console.WriteLine(err);
}
if (result.Value.Count > 0)//有错误的也有成功的
{
}
}
if (modDevice.Value == 820)
{
//测试写入830
//var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
////写入是否成功
//if (result.IsSucceed)
//{
//}
}
else if (modDevice.Value == 840)
{
}
else if (modDevice.Value == 860)
{
}
}
}