using DocumentFormat.OpenXml.Bibliography;
using Elastic.Clients.Elasticsearch.Tasks;
using Furion.Logging;
using IoTClient;
using Microsoft.AspNetCore.SignalR;
using Qiniu.Storage;
using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
using System;
using System.Data;
using System.Reflection.Emit;
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;
case PLCTypeEnum.StackingRobot:
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.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.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
.First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
&& s.StartRoadway == modDevice.StationNum);
if (modTask == null)
{
break;
}
// 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, 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
{
break;
}
}
else
{
break;
}
}
// 获取转换后的起始排列层
PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartLocate.Substring(1, 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
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);
}
}
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, modPosTask.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 == true);
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.String, modDevice.DbNumber, modPosStartStation.PlcPos);
if (startStationRes.IsSucceed)
{
// 根据工位号获取对应的输送线IP
var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
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
&& m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == true);
var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
var modcTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
PlcId = ConveyorMod.Id,
PlcName = ConveyorMod.Text,
PalletNo = modTask.PalletNo,
Status = TaskStatusEnum.Complete,
StartLocat = startStationVal,
EndLocat = modTask.EndLocate // 目标储位地址
};
if (!retc.IsSucceed)
{
modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640失败等待在次写入", startStationVal);
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
break;
}
modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640成功", startStationVal);
// 插入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
// 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("输送线取货工位：{0}跺机取货完成850成功", startStationVal);
modInsertTaskMonitor.EndLocat = modTask.EndLocate; // 目标储位地址
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
}
}
else if (modTask.TaskType == TaskTypeEnum.Out)
{
// 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
}
// 记录任务明细
modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
modInsertTaskMonitor.EndLocat = endStation; // 放货工位
}
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());
//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);
}
}
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 == true);
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 TaskRequest()
{
TaskNo = modTask.TaskNo,
PalletNo = modTask.PalletNo,
TaskType = TaskTypeEnum.In,
TaskStatus = TaskStatusEnum.Complete
};
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";
}
}
// 插入交互日志
_db.Insertable(modTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt());
// 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, 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(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
//任务类型
var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
//托盘号
var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
//起始工位
var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
// 目标工位
var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.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 = $"写入指令：收到跺机放货完成；放货{taskInfo.EndStation}工位===》{outCode}出库口"
};
// 插入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt());
break;
}
}
}
//此处添加不空跑业务
}
}
break;
case TaskTypeEnum.Move: // 移库任务
{
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
var result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
if (!result.IsSucceed)
{
Log.Error($"{modDevice.Text}写入任务号失败");
break;
}
result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
if (!result.IsSucceed)
{
Log.Error($"{modDevice.Text}控制字写入30失败");
break;
}
// 改变任务状态
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
_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 = $"任务完成"
};
if (modTask.Origin == "WMS")
{
// 反馈WMS
var requestMode = new TaskRequest()
{
TaskNo = modTask.TaskNo,
PalletNo = modTask.PalletNo,
TaskType = TaskTypeEnum.Move,
TaskStatus = TaskStatusEnum.Complete
};
HttpService httpService = new HttpService();
var modResponseTask = httpService.RequestTask(requestMode).Result;
if (modResponseTask.StatusCode == "0")
{
modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
//修改储位信息 任务类型 执行状态 起始位置 目标位置
}
}
// 插入交互日志
_db.Insertable(modcTaskMonitor).ExecuteCommand();
//下发任务日志
HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt());
// 此处添加不空跑业务
}
break;
default: break;
}
}
}
break;
case "841":
{
}
break;
case "843":
{
//空取货异常
var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
if (!result.IsSucceed)
break;
string taskNo = Convert.ToString(TaskNo);
var modTask = _db.Queryable().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
if (modTask == null)
{
Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{modTask.TaskNo}");
break;
}
var res = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "844");
if (!res.IsSucceed)
break;
modTask.Status = TaskStatusEnum.Exception;
_db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
HubUtil.PublicTask(modTask.Adapt());
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：{modTask.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));
// 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;
}
}
///
/// 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);
switch (modDevice.Value.ToString())
{
case "320":
{
// 申请巷道
string strMsg = "";
string taskModel = "";
// 判断是否演示模式
if (PLCTaskAction.boDemo)
{
taskModel = "1";// 演示模式
}
// 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 = "", EndLocate = "";
strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);
if (!strMsg.Contains("-1"))
{
// 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 = $"写入指令330：{modDevice.StationNum}工位申请巷道",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = EndLocate,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
// led更新内容
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
}
}
else
{
// 申请巷道失败！LED显示
Log.Error(string.Format($"申请巷道失败:{strMsg},读写plc错误"));
}
}
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;
}
// 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");
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());
// led更新内容
//LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
}
}
}
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"))
{
// 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 = $"写入指令340：{modDevice.StationNum}工位申请储位",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = modDevice.StationNum,
EndLocat = strMsg,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
// led更新内容
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
}
}
else
{
// 申请储位失败！LED显示
Log.Error(string.Format($"申请储位失败:{strMsg},读写plc错误"));
}
}
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;
}
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 djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
&& 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 != "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 == "托盘号");
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 = $"写入指令430：托盘到达{modDevice.StationNum}工位",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = starVal,
EndLocat = modDevice.StationNum,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
// led更新内容
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
}
// 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);
// 插入任务明细
var modInsertTaskMonitor = new WcsTaskMonitor()
{
TaskNo = taskVal,
PlcId = modDevice.Id,
PlcName = modDevice.Text,
InteractiveMsg = $"写入指令450：{modDevice.StationNum}拣选完成,托盘离开工位",
PalletNo = palletVal,
Status = TaskStatusEnum.Complete,
StartLocat = starVal,
EndLocat = modDevice.StationNum,
};
// 插入交互日志
_db.Insertable(modInsertTaskMonitor).ExecuteCommand();
// 通知任务界面任务已存在更新 请更新界面
HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt());
// led更新内容
//DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and StationNum = '{EndLocat}'")[0];
//LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
}
#endregion
}
break;
#endregion
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)
{
}
///
/// 拆垛机器人业务处理
///
///
private static void StackingRobot(WcsDeviceDto modDevice)
{
var plcConn = modDevice.PLCUtil;
switch (modDevice.Value.ToString())
{
case "0":
{
// 若拆垛工位为空闲，查询任务表是否有未绑定的出库任务，做绑定操作
}
break;
default:
break;
}
}
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)
{
}
}
}