using Dm.filter;
using DocumentFormat.OpenXml.Bibliography;
using DocumentFormat.OpenXml.Drawing.Charts;
using Elastic.Clients.Elasticsearch.Snapshot;
using Elastic.Clients.Elasticsearch.Tasks;
using Flurl.Util;
using Furion.Logging;
using IoTClient;
using Microsoft.AspNetCore.SignalR;
using NewLife.Reflection;
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.Service.WcsDevice.Dto;
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 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); // 跺机
break;
case PLCTypeEnum.ConveyorLine:
ConveyorLine(mod); // 托盘输送线
break;
case PLCTypeEnum.AGV:
AGV(mod); // AGV调度
break;
case PLCTypeEnum.BoxConveyorLine:
BoxConveyorLine(mod); // 码垛机器人
break;
case PLCTypeEnum.StackingRobot:
StackingRobot(mod); //拆垛机器人
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;
string ledText = "";
switch (modDevice.Value.ToString())
{
case "820":
// 跺机空闲，获取出库任务、移库任务
{
// 获取任务信息
var modTask = _db.Queryable().OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime)
.First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
&& s.StartRoadway == modDevice.StationNum);
if (modTask == null)
{
break;
}
//判断出库锁定是否打开
if (PLCTaskAction.boOutLock)
{
break;//出库锁定打开则不执行出库任务
}
PlcTaskInfo taskInfo = new PlcTaskInfo();
if (modTask.TaskType == TaskTypeEnum.Move)
{
taskInfo = PLCCommon.GetEndPai(modTask.EndRoadway.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
modTask.EndLocate.Substring(6, 2));
}
else
{
// 根据目标地址和巷道获取放货工位对应的排列层
taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
modTask.StartRoadway, modTask.EndRoadway);
// 目标工位不为null，需先判断放货工位是否空闲
if (!string.IsNullOrEmpty(taskInfo.EndStation))
{
// 打开对应的输送线连接
var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
if (plcConveyorConn.Connected)
{
// 获取放货工位配置信息
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:放货空位空闲，可放货
{
Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
break;
}
else if (value.ToString() == "720")
{
// 若空闲提前占用此工位，同工位出入公用口 放开此程序
// var ret = plcConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "730");
}
}
else
{
break;
}
}
else
{
break;
}
}
}
// 获取转换后的起始排列层 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));
// 给PLC写入任务数据
var listResult = new List();
// 任务号托盘号
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 起始排列层
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
// 目标放货工位(固定排列层)
var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
// 是否写入成功
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机任务下发完成
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
// 将移库任务待执行改为正在执行
_db.Updateable()
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
WcsTaskMonitor modInsertTaskMonitor;
if (string.IsNullOrEmpty(taskInfo.EndStation))
{
// 同巷道移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{modTask.EndLocate}储位。",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
else
{
// 出库任务 跨巷道移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{taskInfo.EndStation}工位。",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
//修改led屏信息
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 += $"任务号:{modTask.TaskNo}\n";
ledText += $"托盘号:{modTask.PalletNo}\n\n";
ledText += $"起始位:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
ledText += $"目标位:{modTask.EndRoadway + " " + modTask.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
}
}
break;
case "840":
// 取货完成
{
// 获取跺机点位配置
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工位");
var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosEndStation.PlcPos);
if (res.IsSucceed)
{
// 获取任务信息
string tasknoVal = val.ToString();
var modTask = _db.Queryable().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
if (modTask == null)
{
Log.Error(string.Format("PLC控制字840:未找到对应的任务。"));
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,
};
if (modTask.TaskType == TaskTypeEnum.In)
{
// 获取跺机起始工位点位配置,读取起始工位
var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.Short, modDevice.DbNumber, modPosStartStation.PlcPos);
if (startStationRes.IsSucceed)
{
// 根据工位号获取对应的输送线IP
PLCUtil plcConveyorConn = PLCCommon.GetPlcIp(startStationVal.ToString());
if (plcConveyorConn.Connected)
{
// 向取货工位写入流程字640 取货已完成
var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal.ToString()
&& 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 // 目标储位地址
};
// 读取wcs控制字
var (ress, va1s) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos);
if (va1s.ToString() == "630")
{
modcTaskMonitor.InteractiveMsg = string.Format("工位：{0},写入取货完成:640", startStationVal);
// 插入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
if (!retc.IsSucceed)
{
modcTaskMonitor.InteractiveMsg = string.Format("工位：{0},写入取货完成640失败", startStationVal);
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
break;
}
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
// 读取wcs控制字
var (resss, va1ss) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
if (va1ss.ToString() == "830")
{
modInsertTaskMonitor.InteractiveMsg = string.Format("工位：{0}跺机取货完成写入850", startStationVal);
modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
}
// 写入流程控制字
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
if (!ret.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = string.Format("工位：{0}跺机取货完成写入850失败,等待再次写入。", startStationVal);
modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
break; // 写入失败跳出等待再次写入
}
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
else if (modTask.TaskType == TaskTypeEnum.Out)
{
// 读取wcs控制字
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("储位地址：{0}取货完成写入850", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = endStation; // 放货工位
}
// 写入流程控制字
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
if (!ret.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成写入850失败,等待再次写入。", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
break; // 写入失败跳出等待再次写入
}
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
else
{
// 写入流程控制字
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
if (!ret.IsSucceed)
{
break; // 写入失败跳出等待再次写入
}
modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = endStation; // 目标储位
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
}
break;
case "860":
{
// 获取跺机点位配置
var modPos860Task = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPos860Task.PlcPos);
// 根据任务号获取任务信息
if (res.IsSucceed)
{
string tasknoVal = val.ToString();
var modTask = _db.Queryable().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
if (modTask == null)
{
Log.Error(string.Format("跺机控制字860:未找到对应的任务。"));
break;
}
switch (modTask.TaskType)
{
case TaskTypeEnum.In:
{
var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
if (!res870.IsSucceed)
{
Log.Error(string.Format("跺机控制字860写入870失败!"));
break;
}
// 改变任务状态
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
_db.Updateable(modTask).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
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 = $"任务完成"
};
if (modTask.Origin == "WMS")
{
// 反馈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 = "任务完成，返回给WMS任务完成";
}
else
{
Log.Error(string.Format("c：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
modDevice.LedIP = _db.Queryable().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
// 插入交互日志
_db.Insertable(modTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt());
// led显示内容
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.StartLocate && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business);
ledText += $"入库完成\n\n";
ledText += $"任务号:{modTask.TaskNo}\n";
ledText += $"托盘号:{modTask.PalletNo}\n\n";
ledText += $"起始位:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
ledText += $"目标位:{modTask.EndRoadway + " " + modTask.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
// 此处添加不空跑业务
}
break;
case TaskTypeEnum.Out: // 出库任务
{
string roadway = modTask.StartRoadway;
// 从出库任务获取放货工位
string outCode = modTask.EndLocate;
// 根据工位号获取对应的输送线IP
var plcConveyorConn = PLCCommon.GetPlcIp(outCode);
if (plcConveyorConn.Connected)
{
// 根据目标地址和巷道获取放货工位对应的排列层
PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, ((int)modTask.TaskType).ToString(),
modTask.StartRoadway, modTask.EndRoadway);
// 根据工位号获取工位信息
var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
// 读取当前工位各偏移量值
var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();
// 给PLC写入任务数据
var listResult = new List();
//任务号
var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务号");
listResult.Add(plcConveyorConn.SetPlcDBValue(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.SetPlcDBValue(modPosTaskType.PosType, wcsDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
//托盘号
var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosPalletNo.PosType, wcsDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工位
var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosLocatNo.PosType, wcsDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
// 目标工位
var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
listResult.Add(plcConveyorConn.SetPlcDBValue(modPosEndLocatNo.PosType, wcsDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));
// 是否写入成功
if (listResult.All(s => s.IsSucceed))
{
var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");
if (result.IsSucceed)
{
// 写入跺机wcs控制字 返回垛机执行完成
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 = $"写入指令：收到跺机放货完成；放货{taskInfo.EndStation}工位===》{outCode}出库口"
};
// 插入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt());
break;
}
}
}
//此处添加不空跑业务
}
}
break;
case TaskTypeEnum.Move: // 移库任务
{
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
var result = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
if (!result.IsSucceed)
{
Log.Error($"{modDevice.Text}写入任务号失败");
break;
}
result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
if (!result.IsSucceed)
{
Log.Error($"{modDevice.Text}控制字写入870失败");
break;
}
// 改变任务状态
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
modTask.Levels = 999;
_db.Updateable(modTask).ExecuteCommand();
//下发任务日志
HubUtil.PublicTask(modTask.Adapt());
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 = $"任务完成"
};
if (modTask.Origin == "WMS")
{
// 反馈WMS
var requestMode = new TaskRequestWMS()
{
TaskNo = modTask.TaskNo,
PalletNo = modTask.PalletNo,
TaskType = ((int)TaskTypeEnum.Move).ToString(),
TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
};
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestTask(requestMode).Result;
if (modResponseTask.StatusCode == 0)
{
modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
//修改储位信息 任务类型 执行状态 起始位置 目标位置
}
else
{
Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
// 插入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt());
// 此处添加不空跑业务
}
break;
default: break;
}
}
}
break;
case "841":
{
}
break;
case "843":
{
//空取货异常
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
if (!result.IsSucceed)
break;
string taskNo = Convert.ToString(TaskNo);
var modTask = _db.Queryable().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
if (modTask == null)
{
Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{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());
Log.Information($"【堆垛机】wcs任务变更空取异常，任务号：{modTask.TaskNo}");
var modTaskRequest = modTask.Adapt();
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestEmptyException(modTaskRequest).Result;
if (modResponseTask.StatusCode == "0")
{
//请求成功
modTask.IsSuccess = TaskSuccessEnum.Success;
_db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
//下发任务日志
HubUtil.PublicTask(modTask.Adapt());
}
else
{
//请求失败
modTask.IsSuccess = TaskSuccessEnum.Fail;
modTask.Information = modResponseTask.Message;
_db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
}
}
break;
case "861":
{
//满放货异常
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
if (!result.IsSucceed)
break;
string taskNo = Convert.ToString(TaskNo);
var modTask = _db.Queryable().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
if (modTask == null)
{
Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{TaskNo}");
break;
}
modTask.Status = TaskStatusEnum.Exception;
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
Log.Information($"【堆垛机】wcs任务变更满取异常，任务号：{modTask.TaskNo}");
var modTaskRequest = modTask.Adapt();
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestFullException(modTaskRequest).Result;
if (modResponseTask.StatusCode == "0")
{
//修改任务为正在执行
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 == "取货排");
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
// 目标放货工位
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();
// 给PLC写入任务数据
//var listResult = new List();
//// 任务号托盘号
//listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
//listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//// 起始排列层
//listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
//listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
//listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
//listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
//listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
//listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));
PlcTaskInfo taskInfo = new PlcTaskInfo();
taskInfo = PLCCommon.GetEndPai(modTask.EndRoadway.Substring(1, 2), modTask.EndLocate.Substring(2, 2),
modTask.EndLocate.Substring(0, 2), modTask.EndLocate.Substring(4, 2),
modTask.EndLocate.Substring(6, 2));
// 给PLC写入任务数据
var listResult = new List();
// 任务号托盘号
modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 目标放货工位(固定排列层)
modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
// 是否写入成功
if (listResult.All(s => s.IsSucceed))
{
// 向跺机写入控制流程字
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 = $"写入指令：{modDevice.StationNum}工位====》" + endLocat + "储位地址!"
};
// 插入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt());
}
}
//else
//{
// //请求失败
// modTask.IsSuccess = TaskSuccessEnum.Fail;
// modTask.Information = modResponseTask.Message;
// _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
//}
}
break;
default:
break;
}
}
///
/// 不空跑
///
/// 操作完成的任务
/// plc连接
/// 设备信息
private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn, WcsDeviceDto modDevice)
{
// 查询所有待执行的任务
var listTask = _db.Queryable().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
WcsTask modNextTask = null;
switch (modTask.TaskType)
{
case TaskTypeEnum.In:
{
// 先找出对应排列层的入库任务
var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
.Select(s => s.EndLocate.Substring(0, 6))
.ToHashSet();
// 找出库任务，对应巷道的任务
var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modTask.EndRoadway).ToList();
foreach (var modNext in listNextTask)
{
// 如果有对应排列层的入库任务，那就不能优先执行
if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
{
continue;
}
// todo: 写入modNext任务信息给plc
Console.WriteLine($"入库任务{modTask.TaskNo}执行完成后，不空跑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，对应巷道的任务
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，那就不能优先执行
if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
{
continue;
}
// todo: 写入modNext任务信息给plc
Console.WriteLine($"出库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
modNextTask = modNext;
break;
}
}
break;
case TaskTypeEnum.Move:
{
var modDevicePos = _db.Queryable().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
var (result, value) = plcConn.GetPlcDBValue(modDevicePos.PosType, modDevicePos.DbNumber, modDevicePos.PlcPos);
//当前堆垛机所在位置
var height = Math.Round(value / 790000d * 200).ToInt();
//todo:这里看能不能找到堆垛机所在位置在哪个排列层，优先寻找附近的任务？
}
break;
}
if (modNextTask != null)
{
// 获取转换后的起始排列层 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));
// 给PLC写入任务数据
var listResult = new List();
// 任务号托盘号
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 起始排列层
var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
// 目标放货工位(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.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));
// 是否写入成功
if (listResult.All(s => s.IsSucceed))
{
// 写入跺机任务下发完成
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");
// 将移库任务待执行改为正在执行
_db.Updateable()
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
WcsTaskMonitor modInsertTaskMonitor;
if (string.IsNullOrEmpty(taskInfo.EndStation))
{
// 同巷道移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{modTask.EndLocate}储位。",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
else
{
// 出库任务 跨巷道移库
modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{taskInfo.EndStation}工位。",
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modTask.StartLocate,
EndLocat = modTask.EndLocate,
};
}
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
//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);
}
}
}
///
/// 输送线业务处理
///
///
private static void ConveyorLine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
// 获取楼层数ceshi
var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
if (louCeng == "")
{
return;
}
var ledText = "";
switch (modDevice.Value.ToString())
{
case "320":
{
// 申请巷道
string strMsg = "";
string taskModel = "";
// 获取工位托盘码信息
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
if (!res.IsSucceed)
{
break;
}
var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
//判断入库锁定是否打开
if (PLCTaskAction.boEnterLock)
{
var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
if (res350.IsSucceed && palletVal350 != "350")
{
ledText += $"申请入库失败\n\n";
ledText += $"托盘号:{palletVal}\n";
ledText += $"入库任务已锁定，请解锁后重试!\n";
LedDisplay(modDevice.LedIP, ledText);
}
// 写入输送线退回指令
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;
}
if (palletVal == null)
{
var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
if (res350.IsSucceed && palletVal350 != "350")
{
ledText += $"申请入库失败\n\n";
ledText += $"托盘号:{palletVal}\n";
ledText += $"扫描托盘号失败!\n";
LedDisplay(modDevice.LedIP, ledText);
}
// 写入输送线退回指令
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;
}
var http = new HttpService();
string TaskNo = "", EndLocate = "";
//根据工位判断是否为叠托机工位申请空托盘跺入库，是：向WMS申请空托盘跺组托
string groupMsg = "";
if (modDevice.StationNum == "27")
{
var Qty = plcConn.GetPlcDBValue(PLCDataTypeEnum.Int,"DB135.0").ToString();//获取叠托机叠托数量
groupMsg = http.BindPlnInHouseWcs(Qty, palletVal);
if (!groupMsg.Contains("-1"))
{
var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
if (res350.IsSucceed && palletVal350 != "350")
{
ledText += $"申请入库失败\n\n";
ledText += $"托盘号:{palletVal}\n";
ledText += $"{strMsg}\n";
LedDisplay(modDevice.LedIP, ledText);
}
// 写入输送线退回指令
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;
}
string IsBale = "0";
strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);
if (!strMsg.Contains("-1"))
{
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
var taskInfo = _db.Queryable().First(w => w.TaskNo == TaskNo);
modDevice.LedIP = _db.Queryable().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)
{
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令330：{modDevice.StationNum}工位申请巷道",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = EndLocate,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//判断是否裹包
var gbPos = modDevice.listStation.FirstOrDefault(s => s.Text == "Element_1");
strMsg = new HttpService().RequestPackWcs(palletVal);
if (strMsg == "1")
{
//写入裹包指令
ret = plcConn.SetPlcDBValue(gbPos.PosType, modDevice.DbNumber, gbPos.PlcPos, "2");
}
else
{
ret = plcConn.SetPlcDBValue(gbPos.PosType, modDevice.DbNumber, gbPos.PlcPos, "1");
}
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
// led显示内容
try
{
ledText += $"任务类型:{taskInfo.TaskType.GetDescription()}\n\n";
ledText += $"任务号:{taskInfo.TaskNo}\n";
ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
LedDisplay(modDevice.LedIP, ledText);
}
catch (Exception ex)
{
Log.Error(ex.Message);
}
}
}
else
{
var (res350, palletVal350) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
if (res350.IsSucceed && palletVal350 != "350")
{
ledText += $"申请入库失败\n\n";
ledText += $"托盘号:{palletVal}\n";
ledText += $"{strMsg}\n";
LedDisplay(modDevice.LedIP, ledText);
}
// 写入输送线退回指令
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;
case "330":
{
// 写入任务 托盘移动 340
// 获取工位托盘码信息
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
if (!res.IsSucceed)
{
break;
}
string pallet = palletVal.ToString();
// 获取任务信息
var modTask = _db.Queryable().First(s => s.IsDelete == false && s.PalletNo == pallet && (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.TaskType == TaskTypeEnum.In);
if (modTask == null)
{
// 此托盘没有对应的转移任务 led显示
break;
}
//判断入库锁定是否打开
if (PLCTaskAction.boEnterLock)
{
break;//入库锁定打开则不执行入库任务
}
// 获取巷道口入库工位
string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
// 给PLC写入任务数据
var listResult = new List();
// 任务号、任务类型、托盘号
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
listResult.Add(plcConn.SetPlcDBValue(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.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
// 起始工位、目的工位
var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "起始工位");
listResult.Add(plcConn.SetPlcDBValue(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
listResult.Add(plcConn.SetPlcDBValue(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));
if (listResult.All(s => s.IsSucceed))
{
// 将任务状态变更为正在执行
_db.Updateable()
.SetColumns(s => s.Status == TaskStatusEnum.Doing)
.Where(s => s.Id == modTask.Id)
.ExecuteCommand();
// 写入流程字 330 340
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
modDevice.LedIP = _db.Queryable().Where(w => w.StationNum == modTask.StartLocate).Select(s => s.LedIP).First();
if (ret.IsSucceed)
{
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令340：{modDevice.StationNum}储位====》{endLocatVlue}工位",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = endLocatVlue,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
}
break;
case "620":
{
// 申请储位 更新入库任务(储位地址) 630
var strMsg = "";
var taskModel = "";
// 判断是否演示模式
if (PLCTaskAction.boDemo)
{
// 演示模式
taskModel = "1";
}
// 根据工位号获取巷道号
var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
if (roadway == "")
{
break;
}
// 获取工位托盘码信息
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
if (!res.IsSucceed)
{
break;
}
var http = new HttpService();
string TaskNo = "";
// 向WMS申请储位信息
strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);
if (!strMsg.Contains("-1"))
{
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
var taskInfo = _db.Queryable().First(w => w.TaskNo == TaskNo);
modDevice.LedIP = _db.Queryable().Where(w => w.StationNum == taskInfo.StartLocate).Select(s => s.LedIP).First();
// 写入流程字 630
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");
if (ret.IsSucceed)
{
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令340：{modDevice.StationNum}工位申请储位",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
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 += $"任务号:{taskInfo.TaskNo}\n";
ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
LedDisplay(modDevice.LedIP, ledText);
}
}
else
{
// 申请储位失败！LED显示
Log.Error(string.Format($"申请储位失败:{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 += $"{strMsg}\n";
LedDisplay(modDevice.LedIP, ledText);
}
}
break;
case "630":
{
#region 写入跺机取货任务 640
// 获取工位托盘码信息
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
// 获取工位任务号信息
var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
if (!res.IsSucceed || !taskRes.IsSucceed)
{
break;
}
string pallet = palletVal.ToString();
string taskNo = taskNoVal.ToString();
// 获取任务信息
var modTask = _db.Queryable().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
if (modTask == null)
{
// 此托盘没有对应的转移任务 led显示
break;
}
var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
if (string.IsNullOrWhiteSpace(sInfo.Ip))
{
//需加上LED显示
Log.Error(string.Format($"根据巷道获取跺机IP失败，请联系管理员"));
break;
}
// 跺机连接
var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
if (plcStackeConn.Connected)
{
// 目标排列层
var endLocate = modTask.EndLocate;
if (string.IsNullOrWhiteSpace(modTask.EndLocate))
{
Log.Error(string.Format($"目标位置为空，请人工处理,读写plc错误"));
break;
}
// 转换目标工位排列层 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().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 == "PLC流程字");
// 获取跺机当前状态
var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);
if (!djRes.IsSucceed || djVal.ToString() != "820")
{
// 跺机非空闲等待
break;
}
// 给PLC写入任务数据
var listResult = new List();
// 任务号、任务类型、托盘号
var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务号");
listResult.Add(plcStackeConn.SetPlcDBValue(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.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘码");
listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工位
var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工位");
listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));
//取货排、列、层
var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "取货排");
listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "取货列");
listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "取货层");
listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
//放货排、列、层
var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
listResult.Add(plcStackeConn.SetPlcDBValue(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");
// 插入任务明细 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 // 目标储位地址
};
if (!retc2.IsSucceed)
{
modInsertTaskMonitor.InteractiveMsg = $"输送线取货工位：{modDevice.StationNum},写入垛机取货任务830失败等待再次写入";
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
break;
}
modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}工位====》" + modTask.EndLocate + "储位地址!";
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
if (PLCTaskAction.boRefresh)
{
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
}
#endregion
}
break;
#region 出库交互
case "420":
{
#region 托盘到达拣选工位/出库口
// 出库口
// led显示托盘信息
// 写入430
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "430");
if (ret.IsSucceed)
{
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = taskVal,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令430：托盘到达{modDevice.StationNum}工位",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = starVal,
EndLocat = modDevice.StationNum,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
// 根据任务号获取起始工位地址，根据起始工位地址获取LEDIP 推送到LED屏幕。
var taskInfo = _db.Queryable().First(w => w.TaskNo == modInsertTaskMonitor.TaskNo);
modDevice.LedIP = _db.Queryable().Where(w => w.StationNum == taskInfo.EndLocate).Select(s => s.LedIP).First();
// led显示内容
// 根据目标工位号获取对应的LEDIP地址
var ledDevice = PLCTaskAction.plcDevices.First(m => m.StationNum == modDevice.StationNum && m.IsDelete == false && m.DeviceType == DeviceTypeEnum.Business && m.PlcId == modDevice.PlcId);
ledText += $"出库完成\n\n";
ledText += $"任务号:{taskInfo.TaskNo}\n";
ledText += $"托盘号:{taskInfo.PalletNo}\n\n";
ledText += $"起始位:{taskInfo.StartRoadway + " " + taskInfo.StartLocate}\n";
ledText += $"目标位:{taskInfo.EndRoadway + " " + taskInfo.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
}
// 反馈WMS出库完成
//TaskReques taskReques = new TaskReques();
//taskReques.taskNo = TaskNo;
//taskReques.TaskType = "1";
//taskReques.TaskStatus = "2";
//bool bl = wcsMySql.RequestTasks(taskReques);
#endregion
}
break;
case "440":
{
#region 拣选完成,托盘离开工位
// 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 == "任务号");
var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
string tasknoVal = taskVal.ToString();
var modTask = _db.Queryable().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
if (modTask == null)
{
Log.Error(string.Format("输送线440:未找到对应的任务。"));
break;
}
// 改变任务状态
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
modTask.Levels = 999;
_db.Updateable(modTask).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令450：{modDevice.StationNum}出库完成",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = starVal.ToString(),
EndLocat = modDevice.StationNum,
};
if (modTask.Origin == "WMS")
{
// 反馈WMS
var requestMode = new TaskRequestWMS()
{
TaskNo = modTask.TaskNo + modTask.EndLocate ,
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)
{
modInsertTaskMonitor.InteractiveMsg += "，返回给WMS任务完成";
}
else
{
Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
// 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 += $"出库完成\n\n";
ledText += $"任务号:{modTask.TaskNo}\n";
ledText += $"托盘号:{modTask.PalletNo}\n\n";
ledText += $"起始位:{modTask.StartRoadway + " " + modTask.StartLocate}\n";
ledText += $"目标位:{modTask.EndRoadway + " " + modTask.EndLocate}";
LedDisplay(ledDevice.LedIP, ledText);
}
#endregion
}
break;
#endregion
#region 叫空托盘跺
case "50":
// plc申请空托
{
// 防止重复叫空托跺
var (res, palletVal) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos);
if (palletVal != 0)
{
break;
}
// 调用WMS空托出库接口，返回出库任务存入出库表
var strMsg = "";
var http = new HttpService();
strMsg = http.IssuePlnOutHouseWcs("1", "205");
if (!strMsg.Contains("-1"))
{
// 写入plc流程字60
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "60");
}
else
{
// 申请巷道失败！LED显示
Log.Error(string.Format($"工位号：{modDevice.StationNum}申请空托跺失败:{strMsg};"));
}
}
break;
case "80":
// 空托盘跺已到位
{
// 调用wms任务出库任务完成
// 获取跺机点位配置
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
var (res, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
// 根据任务号获取任务信息
if (res.IsSucceed)
{
string tasknoVal = val.ToString();
var modTask = _db.Queryable().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == false);
if (modTask == null)
{
//Log.Error(string.Format($"工位号：{modDevice.StationNum}空托盘到达，未找到对应的任务!任务号{tasknoVal};"));
break;
}
// 写入plc流程字90
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "90");
if (ret.IsSucceed)
{
// 改变任务状态
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
modTask.Levels = 999;
_db.Updateable(modTask).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
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 = $"任务完成"
};
if (modTask.Origin == "WMS")
{
// 反馈WMS
var requestMode = new TaskRequestWMS()
{
TaskNo = modTask.TaskNo + modTask.EndLocate ,
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 = "任务完成，返回给WMS任务完成";
}
else
{
Log.Error(string.Format("任务反馈失败：StatusCode：{0};Msg：{1}", modResponseTask.StatusCode, modResponseTask.Msg));
}
}
// 插入交互日志
_db.Insertable(modTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt());
}
}
}
break;
#endregion
case "10":
{
#region 缠膜完成
// 获取工位托盘码信息
var strMsg = "";
var http = new HttpService();
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
//向WMS反馈托盘缠膜完成
strMsg = http.RequestPackedWcs(palletVal);
if (!strMsg.Contains("-1"))
{
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "11");//收到缠膜完成11
if (ret.IsSucceed)
{
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令11：{modDevice.StationNum}工位缠膜完成",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
}
}
else
{
}
#endregion
}
break;
case "20":
{
#region 是否拆膜 21：否 22：是
// 获取工位托盘码信息
var strMsg = "";
var http = new HttpService();
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
// 获取托盘任务号
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
// 根据任务号获取任务信息,目的工位是009的再向WMS发出拆膜申请
if (res1.IsSucceed)
{
string tasknoVal = val.ToString();
var modTask = _db.Queryable().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
if (modTask == null)
{
break;
}
}
strMsg = http.RequestUnPackWcs(palletVal);
if (!strMsg.Contains("-1"))
{
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "22");
if (ret.IsSucceed)
{
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令22：{modDevice.StationNum}工位需要拆膜",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
}
}
else
{
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "21");
if (ret.IsSucceed)
{
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令21：{modDevice.StationNum}工位不需要拆膜",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
}
}
#endregion
}
break;
default: break;
}
}
///
/// AGV业务处理
///
///
private static void AGV(WcsDeviceDto modDevice)
{
}
///
/// 叠托机业务处理
///
///
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;
}
}
///
/// 件箱输送和码垛机器人业务处理 配置的是件箱输送
///
///
private static async void BoxConveyorLine(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
if (modDevice.DbNumber == "DB101")//&& modDevice.DbNumber == "DB102"&& (modDevice.DbNumber == "DB102"||modDevice.PlcIdIP == "10.18.51.110")
{
// 主扫交互流程
switch (modDevice.Value.ToString())
{
case "1":
// 主扫申请分道 wcs写入2
{
// 判断是否演示模式 true：演示模式 false:生产模式
if (PLCTaskAction.boDemo)
{
// 通道号
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");
// 演示模式直接写入1分道
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "1");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (!retVal.IsSucceed)
{
Log.Error("演示模式写入分道号失败!");
break;
}
}
}
else
{
// 通道号
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "通道号");
// 读取plc箱码
var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "箱码");
var (res, boxNo) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
if (string.IsNullOrWhiteSpace(boxNo.ToString()))
{
// 箱码为null写入剔除通道号
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("箱码为null进行剔除");
break;
}
}
}
else
{
// 根据箱码获取箱内信息
string boxNoVal = boxNo.ToString();
var boxInfo = _db.Queryable().First(w => w.IsDelete == false && w.BoxNo == boxNoVal && string.IsNullOrEmpty(w.PalletNo));
if (boxInfo == null)
{
// 箱信息为null写入剔除通道号
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("箱码为null或已绑定托盘，进行剔除。");
break;
}
}
}
// 验证是否零箱
if (boxInfo.BitBoxMark == "1")
{
// 是零箱直接剔除，进行人工组托
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("零箱，进行剔除。");
break;
}
}
break;
}
// 根据箱内品种号获取码躲绑定工位及对应的分道号
var checkTaskInfo = _db.Queryable().First(w => w.SkuNo == boxInfo.SkuNo && w.SkuName == boxInfo.SkuName && w.LotNo == boxInfo.LotNo && w.Status == "1");
if (checkTaskInfo == null)
{
// 判断是否关联单据 wcsordertask
var orderModel = _db.Queryable()
.First(m => m.SkuNo == boxInfo.SkuNo && m.Status== TaskStatusEnum.Wait && m.LotNo == boxInfo.LotNo && m.IsDelete == false);
if (orderModel != null)
{
// 根据boxinfo表产线字段自动绑定分道(1线产品只能绑定到8道)
if (boxInfo.LineNo != "1")
{// 绑定到除8道外其他道
// 获取未绑定道
var lineNoModels = _db.Queryable()
.Where(m => m.Status == "0" && m.LineNo != "8" && m.RoboatType == PLCTypeEnum.RobotPalletizer).ToList();
if (lineNoModels.Count > 0)
{
// 获取当前物料品种号
var skuInfo = await _db.Queryable().Where(w => w.SkuNo == boxInfo.SkuNo).FirstAsync();
if (skuInfo == null)
{
// 此产品若没设定品规，进行剔除处理。防止堵塞件箱线
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("没有空闲分道，进行剔除。");
break;
}
}
break;
}
foreach (var lineNoModel in lineNoModels)
{
// 读取设备验证是否绑定分道
var (respg, pzNo) = plcConn.GetPlcDBValue(lineNoModel.PosType, lineNoModel.DbNumber, lineNoModel.PlcPos);
if (respg.IsSucceed)
{
if (pzNo != 0)
{
// plc此分道未解绑
break;
}
else
{
// 自动绑定分道
lineNoModel.OrderNo = orderModel.OrderNo;
lineNoModel.LotNo = boxInfo.LotNo;
lineNoModel.SkuNo = boxInfo.SkuNo;
lineNoModel.SkuName = boxInfo.SkuName;
lineNoModel.Qty = orderModel.Qty;
lineNoModel.Status = "1";//已绑定
lineNoModel.PZNo = skuInfo.PZNo;
// 给PLC写入品规
var ret = plcConn.SetPlcDBValue(lineNoModel.PosType, lineNoModel.DbNumber, lineNoModel.PlcPos, skuInfo.PZNo);
if (ret.IsSucceed)
{
//写入流程字成功后更新分拣任务
_db.Updateable(lineNoModel).ExecuteCommand();
//更新WcsOderTask表
orderModel.Status = TaskStatusEnum.Doing;
_db.Updateable(orderModel).ExecuteCommand();
// Liudl 通知前端更新分拣任务
//下发分拣任务
HubUtil.PublicCheckTask(lineNoModel.Adapt());
break;
}
else
{
throw Oops.Bah("与PCL交互失败，绑定失败！");
}
}
}
else
{
// 读取plc失败
break;
}
}
}
else
{
// 若没有空闲道，进行剔除处理。防止堵塞件箱线
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("没有空闲分道，进行剔除。");
break;
}
}
break;
}
}
else
{// 绑定到8道
// 获取未绑定道
var lineNo8Model = _db.Queryable()
.First(m => m.Status == "0" && m.LineNo == "8" && m.RoboatType == PLCTypeEnum.RobotPalletizer);
if (lineNo8Model != null)
{
// 获取当前物料品种号
var skuInfo = await _db.Queryable().Where(w => w.SkuNo == boxInfo.SkuNo).FirstAsync();
if (skuInfo == null)
{
// 此产品若没设定品规，进行剔除处理。防止堵塞件箱线
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("没有空闲分道，进行剔除。");
break;
}
}
break;
}
// 读取设备验证是否绑定分道
var (respg, pzNo) = plcConn.GetPlcDBValue(lineNo8Model.PosType, lineNo8Model.DbNumber, lineNo8Model.PlcPos);
if (respg.IsSucceed)
{
if (pzNo != 0)
{
// plc此分道未解绑
break;
}
else
{
// 自动绑定分道
lineNo8Model.OrderNo = orderModel.OrderNo;
lineNo8Model.LotNo = boxInfo.LotNo;
lineNo8Model.SkuNo = boxInfo.SkuNo;
lineNo8Model.SkuName = boxInfo.SkuName;
lineNo8Model.Qty = orderModel.Qty;
lineNo8Model.Status = "1";//已绑定
lineNo8Model.PZNo = skuInfo.PZNo;
// 给PLC写入品规
var ret = plcConn.SetPlcDBValue(lineNo8Model.PosType, lineNo8Model.DbNumber, lineNo8Model.PlcPos, skuInfo.PZNo);
if (ret.IsSucceed)
{
//写入流程字成功后更新分拣任务
_db.Updateable(lineNo8Model).ExecuteCommand();
//更新WcsOderTask表
orderModel.Status = TaskStatusEnum.Doing;
_db.Updateable(orderModel).ExecuteCommand();
// Liudl 通知前端更新分拣任务
//下发分拣任务
HubUtil.PublicCheckTask(lineNo8Model.Adapt());
break;
}
else
{
throw Oops.Bah("与PCL交互失败，绑定失败！");
}
}
}
else
{
// 读取plc失败
break;
}
}
else
{
// 没有空闲道，进行剔除处理。防止堵塞件箱线
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("没有空闲分道，进行剔除。");
break;
}
}
break;
}
}
}
else
{
// 不关联单据直接进行剔除处理
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("箱码未绑定分拣任务，进行剔除。");
break;
}
}
}
}
else
{
// 与plc交互写入分道号和流程控制字
var ret = plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, checkTaskInfo.LineNo);
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
{ // liudl 此段程序不会执行 确认后直接删除
if (modDevice.DbNumber == "DB102")//1L拆跺分拣后需要回传箱码
{
var http = new HttpService();
IsBaleModel2 ret1 = http.RequestBoxno(boxNoVal);
if (ret1.Success == -1)
{
Log.Error("箱码分拣回传失败，需要手动拣货。失败箱码："+boxNoVal);
break;
}
}
}
break;
}
}
}
}
}
}
break;
default: break;
}
}
else
{
// 插码交互
switch (modDevice.Value.ToString())
{
case "1":
// 托盘条码可读
{
// 获取托盘条码配置
var modPalletNo = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘条码");
// 读取PLC托盘条码号
var (res, palletVal) = plcConn.GetPlcDBValue(modPalletNo.PosType, modDevice.DbNumber, modPalletNo.PlcPos);
string palletNo = palletVal.ToString();
if (string.IsNullOrEmpty(palletNo))
{
Log.Error(string.Format("{0}，读取的托盘号为null", modDevice.Text));
break;
}
// 根据工位号将托盘号保存在分道表
var checkTaskMedel = _db.Queryable().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
if (checkTaskMedel == null)
{
Log.Error(string.Format("根据码垛工位{0}，获取分道失败!", modDevice.StationNum));
break;
}
checkTaskMedel.PalletNo = palletNo;
var rowCount = _db.Updateable(checkTaskMedel).ExecuteCommand();
if (rowCount > 0 )
{
// plc写入读取成功表示 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
// liudl 此处需添加
// 通知分拣码垛页更新
}
}
}
break;
case "20":
// 申请插码
{
// 获取托盘条码配置
var modAddCode = modDevice.listStation.FirstOrDefault(m => m.Text == "插码结果");
// 判断是否演示模式 true：演示模式 false:生产模式
if (PLCTaskAction.boDemo)
{
// 演示模式直接写入插码结果 1：成功
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");
break;
}
else
{
// 获取箱条码
// 获取箱条码配置
var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "箱条码");
var (res, boxVal) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
string boxNo = boxVal.ToString();
if (string.IsNullOrEmpty(boxNo))
{
Log.Error($"码垛工位{modDevice.StationNum}，箱码为null插码失败!请人工强制结批。" );
// 写入插入结果 2：插码失败
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
break;
}
// 验证箱码表是否存在此箱码
var boxInfo = _db.Queryable().Where(w => w.IsDelete == false && w.BoxNo == boxNo).ToList();
if (boxInfo.Count == 0)
{
Log.Error($"码垛工位{modDevice.StationNum}，箱码{boxNo}不存在!请人工强制结批。");
// 写入插入结果 2：插码失败
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
break;
}
// 获取当前分道托盘号
var checkTaskMedel = _db.Queryable().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
if (checkTaskMedel == null)
{
Log.Error(string.Format("根据码垛工位{0}，获取分道失败!", modDevice.StationNum));
break;
}
string palletNo = checkTaskMedel.PalletNo;
if (string.IsNullOrEmpty(palletNo))
{
Log.Error(string.Format("获取码垛工位{0}上的托盘号失败！",modDevice.StationNum));
break;
}
// 修改插码表
foreach (WcsBoxInfo item in boxInfo)
{
item.PalletNo = palletNo;
item.UpdateTime = DateTime.Now;
}
var rowCount = _db.Updateable(boxInfo).ExecuteCommand();
Log.Information(string.Format("插码成功，箱码是："+ boxNo, modDevice.StationNum));
if (rowCount > 0)
{
// 插码成功
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "1");
//是否结批箱
if (boxInfo[0].EndLotFlag == "1" && retVal.IsSucceed)
{
// 触发结批 分道变为结批中
AutoEndLot(boxInfo[0].LotNo, plcConn, "2");
}
}
else
{
// 插码失败
Log.Error($"箱码{boxNo};码垛工位{modDevice.StationNum}，插码失败，请强制结批");
var retVal = plcConn.SetPlcDBValue(modAddCode.PosType, modDevice.DbNumber, modAddCode.PlcPos, "2");
if (retVal.IsSucceed)
{
// 触发结批 不解绑分道
AutoEndLot(boxInfo[0].LotNo, plcConn, "1");
}
}
}
}
break;
case "40":
// 请求组托，申请入库
{
lock (OLock)
{
// 根据工位号，获取托盘号
var checkTaskMedel = _db.Queryable().First(m => m.Port == modDevice.StationNum && m.IsDelete == false);
// 根据工位号获取 托盘线该工位号的配置信息
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 == "目的工位" && m.IsDelete == false);
if (checkTaskMedel == null)
{
Log.Error(string.Format("组托失败根据码垛工位{0}，获取托盘号失败!", modDevice.StationNum));
// 写入交互工位目标地址
var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, "234");
if (retVal.IsSucceed)
{
// 写入组托回复流程字
retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
}
break;
}
// 码垛工位托盘号
string palletNo = checkTaskMedel.PalletNo;
// 是否演示模式
if (PLCTaskAction.boDemo)
{
// 直接箱wms申请巷道
var http = new HttpService();
string TaskNo = "", EndLocate = "";
string strMsg = http.RequestRoadWay(palletNo, modDevice.StationNum, "1", "2", ref EndLocate, ref TaskNo);
if (strMsg.Contains("-1"))
{
Log.Error(string.Format("申请巷道失败，码垛工位{0};原因{1}", modDevice.StationNum, strMsg));
break;
}
else
{
// 获取入库任务信息
var taskModel = _db.Queryable().First(m => m.TaskNo == TaskNo && m.IsDelete == false && (m.Status == TaskStatusEnum.Wait || m.Status == TaskStatusEnum.Doing));
if (taskModel != null)
{
// 获取入库取货工位
string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");
var listResult = new List();
// 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue)); // 目标工位
var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
var taskTypeStr = (int)taskModel.TaskType;
listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
if (listResult.All(s => s.IsSucceed))
{
// 写入组托回复流程字
var retVal1 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
if (retVal1.IsSucceed)
{
// 将入库任务由正在执行改为正在执行
taskModel.Status = TaskStatusEnum.Doing;
_db.Updateable(taskModel).ExecuteCommand();
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令50：申请巷道成功",
PalletNo = palletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
//// 写入托盘输送线码垛工位 目的工位，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
//var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue);
//if (retVal.IsSucceed)
//{
// // 写入码垛交互-组托回复流程字
// retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
// // 将入库任务由正在执行改为正在执行
// taskModel.Status = TaskStatusEnum.Doing;
// _db.Updateable(taskModel).ExecuteCommand();
//}
}
}
}
else
{
// 根据托盘号，将组托信息插入boxinfolog表 并删除boxinfo表数据
var boxInfoList = _db.Queryable().Where(w => w.IsDelete == false && w.PalletNo == palletNo).ToList();
if (boxInfoList.Count <= 0)
{
Log.Error(string.Format("申请巷道失败，码垛工位{0}，箱码信息不存在", modDevice.StationNum));
// 写入交互工位目标地址
var retVal = plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, "234");
if (retVal.IsSucceed)
{
// 写入组托回复流程字
retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
}
break;
}
// 组托成功后将信息存到log表
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);
}
// 向WMS申请巷道
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", "2", ref EndLocate, ref TaskNo);
if (strMsg.Contains("-1"))
{
Log.Error(string.Format("申请巷道失败，码垛工位{0};原因{1}", modDevice.StationNum, strMsg));
break;
}
else
{
//判断是否结批中
var (res, jiepi) = plcConn.GetPlcDBValue(checkTaskMedel.PosType, modDevice.DbNumber, checkTaskMedel.PosLot);
if (jiepi == 2)//结批中
{
// 分道解绑，抓箱品种写入0
var ret1 = plcConn.SetPlcDBValue(checkTaskMedel.PosTypeLot, modDevice.DbNumber, checkTaskMedel.PlcPos, "0");
if (ret1.IsSucceed)
{
//写入流程字成功后更新分拣任务 liudl 最后一托盘申请完入库才可清空
checkTaskMedel.OrderNo = "";
checkTaskMedel.TaskNo = "";
checkTaskMedel.LotNo = "";
checkTaskMedel.SkuNo = "";
checkTaskMedel.SkuName = "";
checkTaskMedel.BoxType = "";
checkTaskMedel.Qty = 0;
checkTaskMedel.PZNo = "";
checkTaskMedel.Status = "0"; // 绑定分道 0：解绑 1：绑定
//更新分拣任务
_db.Updateable(checkTaskMedel).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
}
}
// 获取入库任务信息
var taskModel = _db.Queryable().First(m => m.TaskNo == TaskNo && m.IsDelete == false && m.Status == TaskStatusEnum.Wait);
if (taskModel != null)
{
// 获取入库取货工位
string endLocatVlue = PLCCommon.RoadwayToStationNum(taskModel.EndRoadway, "2");
var listResult = new List();
// 写入托盘输送线码垛工位 目的工位、任务号，写入交互流程组托成功 执行入库{若需要可以写入任务号等等其他信息}
listResult.Add(plcConn.SetPlcDBValue(posModel.PosType, numModel.DbNumber, posModel.PlcPos, endLocatVlue)); // 目标工位
var modPosTask = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务号" && s.IsDelete == false);
listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, numModel.DbNumber, modPosTask.PlcPos, TaskNo));
var modPosTaskType = PLCTaskAction.plcPositions.First(s => s.DeviceId == numModel.Id && s.Text == "任务类型" && s.IsDelete == false);
var taskTypeStr = (int)taskModel.TaskType;
listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, numModel.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
if (listResult.All(s => s.IsSucceed))
{
// 写入组托回复流程字
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "50");
if (retVal.IsSucceed)
{
// 将入库任务由正在执行改为正在执行
taskModel.Status = TaskStatusEnum.Doing;
_db.Updateable(taskModel).ExecuteCommand();
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = TaskNo,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令50：申请巷道成功",
PalletNo = palletNo,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
}
}
}
}
}
break;
default:break;
}
}
}
///
/// 出库件箱输送和拆垛机器人业务处理
///
///
private static void StackingRobot(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
if (modDevice.DbNumber == "DB131" || modDevice.DbNumber == "DB132" || modDevice.DbNumber == "DB133" || modDevice.DbNumber == "DB134")
{
switch (modDevice.Value.ToString())
{
case "10"://10 plc请求wcs读托盘码 20 wcs读取ok wcs 写入数量及规格 30
var strMsg = "";
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "20");
if (ret.IsSucceed)
{
//获取托盘码
var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
var (res, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
// 获取托盘任务号
var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
var (res1, val) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
string tasknoVal = val.ToString();
// 根据任务号获取任务信息
if (res1.IsSucceed)
{
var modTask = _db.Queryable().First(m => m.TaskNo == tasknoVal && m.EndLocate == "009" && m.IsDelete == false);
if (modTask == null)
{
Log.Error(string.Format($"出库任务未下发，请人工处理，无法拆垛！"));
break;
}
//通过任务号和托盘号向WMS申请此托盘的拆垛信息
var http = new HttpService();
RequestBoxInfoCheckAll tasklist = http.RequestBoxCheckinfo(palletVal, tasknoVal);
if (tasklist.Success != -1)
{
//获取拆垛物料品种(需要增加物料判断，同一个物料号可能会出现不同的码垛规则)
var pz = _db.Queryable().First(m => m.SkuNo == tasklist.data[0].SkuNo);
//下发拆托规格，拆箱数和托盘上总箱数（不绑定机器人，拆垛任务信息只下发一次）
// 给PLC写入任务数据
var listResult = new List();
// 获取托盘规则
var Standard = modDevice.listStation.FirstOrDefault(m => m.Text == "规格");
listResult.Add(plcConn.SetPlcDBValue(Standard.PosType, modDevice.DbNumber, Standard.PlcPos, pz.PZNo));
//抓箱数
var qty = modDevice.listStation.FirstOrDefault(m => m.Text == "拆箱数量");
listResult.Add(plcConn.SetPlcDBValue(qty.PosType, modDevice.DbNumber, qty.PlcPos, tasklist.data[0].Qty.ToString()));
//总箱数
var qtycount = modDevice.listStation.FirstOrDefault(m => m.Text == "总箱数");
listResult.Add(plcConn.SetPlcDBValue(qtycount.PosType, modDevice.DbNumber, qtycount.PlcPos, tasklist.data[0].QtyCount.ToString()));
// 是否写入成功
if (listResult.All(s => s.IsSucceed))
{
var ret1 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
}
else
{
Log.Error(string.Format($"码垛信息未写入！托盘号：" + palletVal + "，码垛位：" + modDevice.StationNum));
break;
}
}
}
}
break;
default:
break;
}
}
else
{
switch (modDevice.Value.ToString())
{
case "1":
// 1楼件箱PLC请求WCS读码
{
// 读取plc箱码
var modBoxNo = modDevice.listStation.FirstOrDefault(m => m.Text == "主扫条码");
var (res, boxNo) = plcConn.GetPlcDBValue(modBoxNo.PosType, modDevice.DbNumber, modBoxNo.PlcPos);
if (string.IsNullOrWhiteSpace(boxNo.ToString()))
{
// 箱信息为null写入剔除通道号:0
var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("箱码为null或已绑定托盘，进行剔除。");
break;
}
}
}
else
{
// 箱码
string boxNoVal = boxNo.ToString();
// 通道号
var modLineNo = modDevice.listStation.FirstOrDefault(m => m.Text == "通道号");
// 调用wms接口验证箱码是否可拣货并返回装车口
var http = new HttpService();
RequestloadingAddre requesModel = http.ResultBoxInfoExportWcs(boxNoVal);
if (requesModel.Success != "0")
{
// 箱信息为null写入剔除通道号:0
var ret = plcConn.SetPlcDBValue(modLineNo.PosType, modDevice.DbNumber, modLineNo.PlcPos, "0");
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
Log.Error("出库分拣根据箱码获取装车口失败，进行剔除。" + requesModel.Message);
break;
}
}
}
else
{
// 写入出库分道号
var ret = plcConn.SetPlcDBValue(modLineNo.PosType, modDevice.DbNumber, modLineNo.PlcPos, requesModel.loadingAddre);
if (ret.IsSucceed)
{
// 写入流程控制字 2
var retVal = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "2");
if (retVal.IsSucceed)
{
break;
}
}
}
}
};break;
case "10":
// 1楼件箱PLC读码失败，WCS不做处理直接剔除手持拣货。
{
};break;
default:
break;
}
}
}
///
/// Led屏展示信息
///
/// 地址
/// 上方区域
/// 中间区域
/// 底部区域
private static void LedDisplay(string ip, string top, string content, string foot)
{
try
{
LedDll Led = new LedDll();
Led.LEDstr(ip, top, content, foot);
}
catch (Exception ex)
{
Log.Error(ex.Message);
}
}
///
/// LED信息展示
///
///
///
private static void LedDisplay(string ip,string text)
{
try
{
LedDll Led = new LedDll();
Led.ConsoleLeds(ip, text);
// 设置实例
//Led.ConsoleLeds("10.18.51.238", $"任务类型:{TaskTypeEnum.Move.GetDescription()}\n\n任务号:TK2024102100001\n托盘号:LN000145\n\n起始位:033\n目标位:R01-02010102");
}
catch (Exception ex)
{
Log.Error(ex.Message);
}
}
///
/// 自动结批 并 解绑分道
///
/// 批次号
/// Plc连接
/// 是否解绑分道 0：解绑 1：绑定
private static void AutoEndLot(string lotNo,PLCUtil plcConn,string status)
{
try
{
if (string.IsNullOrWhiteSpace(lotNo))
{
Console.WriteLine("批次号为nul");
}
var checkTaskList = _db.Queryable().Where(w => w.LotNo == lotNo && w.Status == "1").ToList();
if (checkTaskList.Count <= 0)
{
Console.WriteLine("未找到分道绑定信息");
}
foreach (var item in checkTaskList)
{
#region#给PLC写入结批批次号
// 写入结批信号
var ret = plcConn.SetPlcDBValue(item.PosTypeLot, item.DbNumber, item.PosLot, "1");
// 分道解绑，抓箱品种写入0
//var ret1 = plcConn.SetPlcDBValue(item.PosTypeLot, item.DbNumber, item.PlcPos, "0");
if (ret.IsSucceed)
{
//写入流程字成功后更新分拣任务 liudl 最后一托盘申请完入库才可清空
//item.OrderNo = "";
//item.TaskNo = "";
//item.LotNo = "";
//item.SkuNo = "";
//item.SkuName = "";
//item.BoxType = "";
//item.Qty = 0;
item.PZNo = "";
item.Status = status; // 绑定分道 0：解绑 1：绑定 2:结批中
//更新分拣任务
_db.Updateable(item).IgnoreColumns(ignoreAllNullColumns: true).ExecuteCommandAsync();
}
#endregion
}
}
catch (Exception ex)
{
Log.Error(ex.Message);
throw;
}
}
private static void Test(WcsDeviceDto modDevice)
{
//var strMsg = new HttpService().RequestPackWcs("LN000001");
////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)
//{
//}
}
}