#region [自定义类-VS][20250623083459471][AutoThread]
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using Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.Collections.Concurrent;
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using System.ComponentModel;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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using GZ.Modular.Redis;
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using GZ.DB.Entity.OIDATABASE;
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using GZ.DB.IRepository.OIDATABASE;
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using GZ.DB.Repository.OIDATABASE;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement;
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using System.Windows.Interop;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement.TextBox;
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using System.Security.Cryptography;
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using System.Windows.Markup;
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using static GZ.Projects.AuxAllWCS.EasyPLC;
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using static System.Runtime.CompilerServices.RuntimeHelpers;
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using ServiceStack.Configuration;
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using ServiceStack;
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using Spectre.Console;
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using System.Net.WebSockets;
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using System.Net;
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using System.Threading;
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using System.IO;
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using GZ.Device.Agv;
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using System.Net.NetworkInformation;
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using System.Windows.Documents;
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using System.Text.RegularExpressions;
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namespace GZ.Projects.AuxAllWCS
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{
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public partial class AutoThread
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{
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private static AutoThread _instance;
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// 私有构造函数防止外部实例化
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private AutoThread() { }
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public static AutoThread Instance
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{
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get
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{
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if (_instance == null)
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{
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_instance = new AutoThread();
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}
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return _instance;
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}
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}
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// 线程安全的委托缓存
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private static readonly ConcurrentDictionary<string, Delegate> _methodCache = new ConcurrentDictionary<string, Delegate>();
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// 方法执行器
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public static object InvokeMethod(object instance, string methodName, params object[] args)
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{
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var cacheKey = $"{instance.GetType().FullName}_{methodName}";
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if (!_methodCache.TryGetValue(cacheKey, out var methodDelegate))
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{
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// 获取方法信息
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var methodInfo = instance.GetType().GetMethod(
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methodName,
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BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
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if (methodInfo == null)
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throw new MissingMethodException($"Method {methodName} not found");
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// 创建委托并缓存
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methodDelegate = Delegate.CreateDelegate(
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GetDelegateType(methodInfo),
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instance,
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methodInfo);
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_methodCache.TryAdd(cacheKey, methodDelegate);
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}
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// 执行委托
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//if (methodName != "TaskEverythingRun")
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// return null;
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return methodDelegate.DynamicInvoke(args);
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}
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// 根据方法签名生成对应的委托类型
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private static Type GetDelegateType(MethodInfo methodInfo)
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{
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var parameterTypes = methodInfo.GetParameters()
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.Select(p => p.ParameterType)
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.ToList();
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if (methodInfo.ReturnType == typeof(void))
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{
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return System.Linq.Expressions.Expression.GetActionType(parameterTypes.ToArray());
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}
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else
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{
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parameterTypes.Add(methodInfo.ReturnType);
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return System.Linq.Expressions.Expression.GetFuncType(parameterTypes.ToArray());
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}
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}
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/// <summary>
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/// 配置初始化。
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/// </summary>
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/// <param name="tag"></param>
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/// <param name="action"></param>
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public void ThreadSettingInit(Tag tag, Action action)
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{
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Console.WriteLine("初始化配置 线程 run " + tag.Global.SettingsOver);
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if (tag.Global.SettingsOver == 0)
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{
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action?.Invoke();
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tag.Global.SettingsOver = 1;
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}
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else if (Settings.deviceInfos.Count == 0)
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{
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tag.Global.SettingsOver = 0;
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}
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else tag.Global.SettingsOver++;
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if (tag.Global.SettingsOver > 999)
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{
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tag.Global.SettingsOver = 1;
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Console.Clear();
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}
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}
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public void ThreaTotal(Tag tag, Device device)
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{
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List<Task> tasks = new List<Task>();
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tasks.Add(GetTask(delegate (Tag tag1, Device device1)
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{
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try
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{
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// foreach (var ip in new List<string> {
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// device1.p发那科1下线.Config.IP,
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// device1.p发那科2下线.Config.IP,
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// device1.D定子1号机械手.Config.IP,
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// device1.D定子2号机械手.Config.IP,
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// device1.Js捷顺1.Config.IP,
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// device1.Js捷顺2.Config.IP,
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// device1.维希尔抓臂1.Config.IP,
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// device1.维希尔抓臂2.Config.IP,
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// device1.RGV.Config.IP,
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// device1.S1002Read.Config.IP,
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// device1.S2001Read.Config.IP,
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// device1.S3001Read.Config.IP
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//})
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// {
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// string pattern = @"\b(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.(25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\b";
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// var matches = Regex.Match(ip, pattern);
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// if (matches.Success)
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// {
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// var b = IsMachineOnline(matches.Value);
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// if (!Iponlines.ContainsKey(ip))
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// {
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// Iponlines.TryAdd(ip, b);
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// }
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// else
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// Iponlines[ip] = b;
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// }
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// }
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}
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catch (Exception ex)
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{
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LogHelper.Error(ex.Message, ex);
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}
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}, tag, device, 3000));
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tasks.Add(GetTask(ThreadMXC3, tag, 3000));
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tasks.Add(GetTask(ThreadMXC4, tag, 3000));
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//tasks.Add(GetTask(ResetGats, tag, 3000));
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tasks.Add(GetTask(sa1022, tag, 3000));
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tasks.Add(GetTask(sa1025, tag, 3000));
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tasks.Add(GetTask(sa1030, tag, 3000));
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tasks.Add(GetTask(sa2001, tag, 3000));
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tasks.Add(GetTask(sa2030, tag, 3000));
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tasks.Add(GetTask(sa2008, tag, 3000));
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//tasks.Add(GetTask(sa3001, tag, 3000));
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//tasks.Add(GetTask(sa3005, tag, 3000));
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//tasks.Add(GetTask(sa3006, tag, 3000));
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//tasks.Add(GetTask(sa3010, tag, 3000));
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Task.WaitAll(tasks.ToArray());
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}
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public static ConcurrentDictionary<string, bool> Iponlines = new ConcurrentDictionary<string, bool>();
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public bool IsMachineOnline(string hostNameOrIp, int timeout = 1000)
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{
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//device.p发那科1下线.Config.IP
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LogHelper.Info("检测ip:>" + hostNameOrIp, "IP在线检测");
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bool res = false;
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try
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{
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using (var ping = new Ping())
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{
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var reply = ping.Send(hostNameOrIp, timeout);
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res = reply.Status == IPStatus.Success;
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}
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}
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catch (PingException)
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{
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res = false;
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}
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catch (Exception)
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{
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// 其他异常处理
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res = false;
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}
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finally
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{
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LogHelper.Info("检测ip:>" + hostNameOrIp + " 结果:" + (res ? "通" : "不通"), "IP在线检测");
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}
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return res;
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}
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private Task GetTask(Action<Tag> action, Tag tag, int i = 2500)
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{
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var task = Task.Run(() =>
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{
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while (true)
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{
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try
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{
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action(tag);
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}
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catch (Exception ex)
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{
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LogHelper.Error(ex.Message, ex);
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}
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Thread.Sleep(i);
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}
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});
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return task;
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}
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private Task GetTask(Action<Tag, Device> action, Tag tag, Device dev, int i = 2500)
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{
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var task = Task.Run(() =>
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{
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while (true)
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{
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try
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{
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action(tag, dev);
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}
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catch (Exception ex)
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{
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LogHelper.Error(ex.Message, ex);
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}
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Thread.Sleep(i);
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}
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});
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return task;
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}
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public string WriteLine(string value = "")
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{
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// 在这里拦截处理输出
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string intercepted = $"[拦截到的输出] {value}";
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return intercepted;
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}
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/// <summary>
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/// 捷顺1 信号处理
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/// </summary>
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/// <param name="tag"></param>
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public void ThreadJS1(Tag tag)
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{
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Console.WriteLine($"ThreadJS1 捷顺1 信号处理 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 2 && x.deviceName == "Js捷顺1");
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if (VERX != null)
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{
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LogHelper.Info($"{VERX.deviceName} D1212>{tag.Js1.D1212} 左满信号:{TcpServer.GetBitdata(tag.Js1.D1212, 2)} D1212_LAST>{tag.Js1.D1212_LAST} 右满信号>{TcpServer.GetBitdata(tag.Js1.D1212, 3)} D1213_LAST>{tag.Js1.D1213_LAST}");
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if (tag.Js1.D1212_LAST == 0 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 1)
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 4,
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endBit = VERX.location[0]
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}));
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LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
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var strr = JsonConvert.DeserializeObject<Messss>(str);
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if (strr != null && strr.success && strr.data?.state == 0)
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{
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//tag.Js1.D1212_LAST = 1;
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RedisHelper.Add($"Js捷顺1.D1202_LAST", "1", out string msg);
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}
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}
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if (tag.Js1.D1212_LAST == 1 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 0)
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{
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//tag.Js1.D1212_LAST = 0;
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tag.Js1.D1224 = 0;
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RedisHelper.Add($"Js捷顺1.D1202_LAST", "0", out string msg);
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//Conn.默认Redis.SetValue("Js捷顺1.D1224", "0", VERX.deviceName + "Queue");
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}
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if (tag.Js1.D1213_LAST == 0 && TcpServer.GetBitdata(tag.Js1.D1212, 3) == 1)
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 4,
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endBit = VERX.location[1]
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}));
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LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");
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var strr = JsonConvert.DeserializeObject<Messss>(str);
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if (strr != null && strr.success && strr.data?.state == 0)
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{
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//tag.Js1.D1213_LAST = 1;
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RedisHelper.Add($"Js捷顺1.D1203_LAST", "1", out string msg);
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}
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}
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if (tag.Js1.D1213_LAST == 1 && TcpServer.GetBitdata(tag.Js1.D1212, 3) == 0)
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{
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//tag.Js1.D1213_LAST = 0;
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tag.Js1.D1225 = 0;
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RedisHelper.Add($"Js捷顺1.D1203_LAST", "0", out string msg);
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}
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}
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}
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/// <summary>
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/// 捷顺2 信号处理
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/// </summary>
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/// <param name="tag"></param>
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public void ThreadJS2(Tag tag)
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{
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Console.WriteLine($"ThreadJS2 捷顺2 信号处理 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 2 && x.deviceName == "Js捷顺2");
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if (VERX != null)
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{
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LogHelper.Info($"{VERX.deviceName} D1212>{tag.Js2.D1212} 左满信号:{TcpServer.GetBitdata(tag.Js2.D1212, 2)} D1212_LAST>{tag.Js2.D1212_LAST} 右满信号>{TcpServer.GetBitdata(tag.Js2.D1212, 2)} D1213_LAST>{tag.Js2.D1213_LAST}");
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if (tag.Js2.D1212_LAST == 0 && TcpServer.GetBitdata(tag.Js2.D1212, 2) == 1)
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 4,
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endBit = VERX.location[0]
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}));
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LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
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var strr = JsonConvert.DeserializeObject<Messss>(str);
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if (strr != null && strr.success && strr.data?.state == 0)
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{
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RedisHelper.Add($"Js捷顺2.D1202_LAST", "1", out string msg);
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}
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}
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if (tag.Js2.D1212_LAST == 1 && TcpServer.GetBitdata(tag.Js2.D1212, 2) == 0)
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{
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//tag.Js2.D1212_LAST = 0;
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tag.Js2.D1224 = 0;
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RedisHelper.Add($"Js捷顺2.D1202_LAST", "0", out string msg);
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}
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if (tag.Js2.D1213_LAST == 0 && TcpServer.GetBitdata(tag.Js2.D1212, 3) == 1)
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 4,
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endBit = VERX.location[1]
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}));
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LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");
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var strr = JsonConvert.DeserializeObject<Messss>(str);
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if (strr != null && strr.success && strr.data?.state == 0)
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{
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RedisHelper.Add($"Js捷顺2.D1203_LAST", "1", out string msg);
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}
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}
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if (tag.Js2.D1213_LAST == 1 && TcpServer.GetBitdata(tag.Js2.D1213, 2) == 0)
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{
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//tag.Js2.D1213_LAST = 0;
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tag.Js2.D1225 = 0;
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RedisHelper.Add($"Js捷顺2.D1203_LAST", "0", out string msg);
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}
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}
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}
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/// <summary>
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/// 维希尔1 左
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/// </summary>
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/// <param name="tag"></param>
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public void Threadwxr1L(Tag tag)
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{
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Console.WriteLine($"Threadwxr1L 维希尔1 左 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("1"));
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if (VERX != null)
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{
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if (tag.wxr1.R44)
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LogHelper.Info($"{VERX.deviceName} R44>{tag.wxr1.R44} R44LAST>{tag.wxr1.R44_LAST} R10>{tag.wxr1.R10}");
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if (tag.wxr1.R44 && !tag.wxr1.R44_LAST && tag.wxr1.R10)
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{
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if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 1,
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cntrCode = traycode,
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startBit = VERX.location[0],
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endBit = ""
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}));
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LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
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var strr = JsonConvert.DeserializeObject<Messss>(str);
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if (strr != null && strr.success && strr.data?.state == 0)
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{
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//tag.wxr1.R44_LAST = true;
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RedisHelper.Add($"维希尔抓臂1.R44_LAST", "true", out string msg);
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}
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}
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else
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{
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TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
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}
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}
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else
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{
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//TaskRepository ts = new TaskRepository();
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if (tag.wxr1.R10_LAST) //托盘放置信号。。
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{
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if (tag.wxr1.R10)
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{
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//tag.wxr1.R10_LAST = false;
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RedisHelper.Add($"维希尔抓臂1.R10_LAST", "false", out string msg);
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}
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else
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if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
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{
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//上报校验。
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LogHelper.Info($"{VERX.deviceNo[0]} 上报校验>{traycode}");
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///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
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{
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sceneType = 1,
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cntrCode = traycode,
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}));
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var strr = JsonConvert.DeserializeObject<Mesrespone>(str);
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if (strr != null && strr.success)
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//if (str.Contains("true"))
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{
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//Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
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//tag.wxr1.R10 = true;
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Conn.默认Redis.SetValue(VERX.deviceName + ".R10", "true", VERX.deviceName + "Queue");
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//tag.wxr1.R44_LAST = false;
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RedisHelper.Add($"维希尔抓臂1.R44_LAST", "false", out string msg);
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}
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else
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{
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//报警。
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}
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}
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else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
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}
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else if (!tag.wxr1.R10)
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{
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TcpServer.TrayIps.Remove(VERX.deviceNo[0]);
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}
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}
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}
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}
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/// <summary>
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/// 维希尔1 右
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/// </summary>
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/// <param name="tag"></param>
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public void Threadwxr1R(Tag tag)
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{
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Console.WriteLine($"Threadwxr1R 维希尔1 右 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("1"));
|
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if (VERX != null)
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{
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if (tag.wxr1.R46)
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LogHelper.Info($"{VERX.deviceName} R46>{tag.wxr1.R46} R46LAST>{tag.wxr1.R46_LAST} R11>{tag.wxr1.R11}");
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if (tag.wxr1.R46 && !tag.wxr1.R46_LAST && tag.wxr1.R11)
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{
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if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 1,
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cntrCode = traycode,
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startBit = VERX.location[1],
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endBit = ""
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}));
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LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");
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var strr = JsonConvert.DeserializeObject<Messss>(str);
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if (strr != null && strr.success && strr.data?.state == 0)
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{
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//tag.wxr1.R46_LAST = true;
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RedisHelper.Add($"维希尔抓臂1.R46_LAST", "true", out string msg);
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}
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}
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else
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{
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TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
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}
|
}
|
else
|
{
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if (tag.wxr1.R11_LAST) //托盘放置信号。。
|
{
|
if (tag.wxr1.R11)
|
{
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//tag.wxr1.R11_LAST = false;
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RedisHelper.Add($"维希尔抓臂1.R11_LAST", "false", out string msg);
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}
|
else
|
if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
|
{
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//上报校验。
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LogHelper.Info($"{VERX.deviceNo[1]} 上报校验>{traycode}");
|
///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
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{
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sceneType = 1,
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cntrCode = traycode,
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}));
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var strr = JsonConvert.DeserializeObject<Mesrespone>(str);
|
if (strr != null && strr.success)
|
//if (str.Contains("true"))
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{
|
//Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
|
//tag.wxr1.R11 = true;
|
Conn.默认Redis.SetValue(VERX.deviceName + ".R11", "true", VERX.deviceName + "Queue");
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//tag.wxr1.R46_LAST = false;
|
RedisHelper.Add($"维希尔抓臂1.R46_LAST", "false", out string msg);
|
}
|
else
|
{
|
//报警。
|
}
|
}
|
else { TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
|
}
|
else if (!tag.wxr1.R11)
|
{
|
TcpServer.TrayIps.Remove(VERX.deviceNo[1]);
|
}
|
}
|
}
|
}
|
|
/// <summary>
|
/// 维希尔2 左
|
/// </summary>
|
/// <param name="tag"></param>
|
public void Threadwxr2L(Tag tag)
|
{
|
Console.WriteLine($"Threadwxr2L 维希尔2 左 =================> ");
|
var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2"));
|
|
if (VERX != null)
|
{
|
if (tag.wxr2.R44)
|
LogHelper.Info($"{VERX.deviceName} R44>{tag.wxr2.R44} R44LAST>{tag.wxr2.R44_LAST} R10>{tag.wxr2.R10}");
|
if (tag.wxr2.R44 && !tag.wxr2.R44_LAST && tag.wxr2.R10)
|
{
|
if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 1,
|
cntrCode = traycode,
|
startBit = VERX.location[0],
|
endBit = ""
|
}));
|
LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
|
var strr = JsonConvert.DeserializeObject<Messss>(str);
|
if (strr != null && strr.success && strr.data?.state == 0)
|
{
|
//tag.wxr2.R44_LAST = true;
|
RedisHelper.Add($"维希尔抓臂2.R44_LAST", "true", out string msg);
|
}
|
}
|
else
|
{
|
TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
|
}
|
}
|
else
|
{
|
if (tag.wxr2.R10_LAST) //托盘放置信号。。
|
{
|
if (tag.wxr2.R10)
|
{
|
//tag.wxr2.R10_LAST = false;
|
RedisHelper.Add($"维希尔抓臂2.R10_LAST", "false", out string msg);
|
}
|
else
|
if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
|
{
|
//上报校验。
|
LogHelper.Info($"{VERX.deviceNo[0]} 上报校验>{traycode}");
|
///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
|
{
|
sceneType = 1,
|
cntrCode = traycode,
|
}));
|
var strr = JsonConvert.DeserializeObject<Mesrespone>(str);
|
if (strr != null && strr.success)
|
//if (str.Contains("true"))
|
{
|
//Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
|
//tag.wxr2.R10 = true;
|
Conn.默认Redis.SetValue(VERX.deviceName + ".R10", "true", VERX.deviceName + "Queue");
|
//tag.wxr2.R44_LAST = false;
|
RedisHelper.Add($"维希尔抓臂2.R44_LAST", "false", out string msg);
|
}
|
else
|
{
|
//报警。
|
}
|
}
|
else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
|
}
|
else if (!tag.wxr2.R10)
|
{
|
TcpServer.TrayIps.Remove(VERX.deviceNo[0]);
|
}
|
}
|
}
|
}
|
|
/// <summary>
|
/// 维希尔2 右
|
/// </summary>
|
/// <param name="tag"></param>
|
public void Threadwxr2R(Tag tag)
|
{
|
Console.WriteLine($"Threadwxr2R 维希尔2 右 =================> ");
|
|
var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2"));
|
|
if (VERX != null)
|
{
|
if (tag.wxr2.R46)
|
LogHelper.Info($"{VERX.deviceName} R46>{tag.wxr2.R46} R46LAST>{tag.wxr2.R46_LAST} R11>{tag.wxr2.R11}");
|
if (tag.wxr2.R46 && !tag.wxr2.R46_LAST && tag.wxr2.R11)
|
{
|
if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 1,
|
cntrCode = traycode,
|
startBit = VERX.location[1],
|
endBit = ""
|
}));
|
LogHelper.Info($"{VERX.location[1]}申请mes任务结果{str}");
|
var strr = JsonConvert.DeserializeObject<Messss>(str);
|
if (strr != null && strr.success && strr.data?.state == 0)
|
{
|
//tag.wxr2.R46_LAST = true;
|
RedisHelper.Add($"维希尔抓臂2.R46_LAST", "true", out string msg);
|
}
|
}
|
else
|
{
|
TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
|
}
|
}
|
else
|
{
|
//LogHelper.Info($"Threadwxr2R 托盘放置信号1。。 -{tag.wxr2.R11_LAST}");
|
if (tag.wxr2.R11_LAST) //托盘放置信号。。
|
{
|
//LogHelper.Info($"Threadwxr2R 托盘放置信号1。。 -{tag.wxr2.R11}");
|
if (tag.wxr2.R11)
|
{
|
//tag.wxr2.R11_LAST = false;
|
RedisHelper.Add($"维希尔抓臂2.R11_LAST", "false", out string msg);
|
}
|
else
|
if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode) && !string.IsNullOrEmpty(traycode.Trim()))
|
{
|
LogHelper.Info($"{VERX.deviceNo[1]} 上报校验>{traycode}");
|
//上报校验。
|
///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
|
{
|
sceneType = 1,
|
cntrCode = traycode,
|
}));
|
var strr = JsonConvert.DeserializeObject<Mesrespone>(str);
|
if (strr != null && strr.success)
|
{
|
//Conn.默认Redis.SetValue("维希尔抓臂1.R11", "true", "维希尔抓臂1Queue");
|
//tag.wxr2.R11 = true;
|
|
LogHelper.Info($"Threadwxr2R。。 -写R11 true");
|
Conn.默认Redis.SetValue(VERX.deviceName + ".R11", "true", VERX.deviceName + "Queue");
|
//tag.wxr2.R46_LAST = false;
|
RedisHelper.Add($"维希尔抓臂2.R46_LAST", "false", out string msg);
|
LogHelper.Info($"Threadwxr2R。。 校验下料完成。");
|
}
|
else
|
{
|
//报警。
|
}
|
}
|
else
|
{
|
LogHelper.Info($"Threadwxr2R。。 -发送扫码");
|
TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
|
}
|
}
|
else if (!tag.wxr2.R11)
|
{
|
TcpServer.TrayIps.Remove(VERX.deviceNo[1]);
|
}
|
}
|
}
|
else
|
{
|
Console.WriteLine($"Threadwxr2R 维希尔2 右 设备未找到。 =================> ");
|
}
|
}
|
|
public void ThreadTaskRun(Tag tag, Func<TaskEntity, bool> action)
|
{
|
Console.WriteLine($"ThreadTaskRun 任务下发 =================> ");
|
LogHelper.Info("ThreadTaskRun 任务下发");
|
|
ITaskRepository taskservice = new TaskRepository();
|
try
|
{
|
LogHelper.Info("任务下发 AGV 任务 进入");
|
#region AGV任务下发。
|
|
var tklist = taskservice.FindList(x => x.S_B_STATE == "未执行" && x.S_WORK_MODE == "AGV");
|
if (tklist.Any())
|
foreach (var tk in tklist.GroupBy(item =>
|
{
|
var ticks = item.T_CREATE.Ticks;
|
return new DateTime(ticks - ticks % (10 * TimeSpan.TicksPerMinute));
|
}).OrderBy(x => x.Key))
|
{
|
var ts = tk.OrderByDescending(x => x.N_PRIORITY).ToList();
|
foreach (var t in ts)
|
{
|
var b = false;
|
b = action?.Invoke(t) ?? false; //new ViewModel().RunTask(t);
|
|
if (b)
|
{
|
t.S_B_STATE = "已推送";
|
taskservice.Update(t);
|
}
|
}
|
break;
|
}
|
//foreach (var tk in tklist.GroupBy(item =>
|
//{
|
// var ticks = item.T_CREATE.Ticks;
|
// return new DateTime(ticks - ticks % (10 * TimeSpan.TicksPerMinute));
|
//}).OrderBy(x => x.Key))
|
//if (tklist.Any())
|
//{
|
|
#endregion
|
}
|
catch (Exception ex)
|
{
|
LogHelper.Info(ex.Message + ex.StackTrace);
|
}
|
try
|
{
|
#region Rgv
|
|
LogHelper.Info($"查看RGV 电量:【{tag.RGV.R当前电量}】 充电状态:【{tag.RGV.R充电状态}】 故障代码:【{tag.RGV.RgvrunError}】 手动1自动2【{tag.RGV.R手动1自动2}】");
|
|
if (tag.RGV.R充电状态 == 1)
|
{
|
LogHelper.Info($"RGV 充电模式,不用管。");
|
return;
|
}
|
if (tag.RGV.R手动1自动2 == 1)
|
{
|
LogHelper.Info($"RGV 手动模式,不用管。");
|
return;
|
}
|
if (tag.RGV.RgvrunError > 0)
|
{
|
LogHelper.Info($"RGV 故障,不用管。");
|
return;
|
}
|
LogHelper.Info($"RGV125命令查看 Rgv任务数据 写 workmode:{tag.RGV.workMod} taskmod{tag.RGV.taskmod} t1No:{tag.RGV.taskno1} t1do:{tag.RGV.task1do} t2No:{tag.RGV.taskno2} t2do:{tag.RGV.task2do} taskend:{tag.RGV.taskend} ");
|
if (tag.RGV.taskend == 125)
|
{
|
LogHelper.Info($"RGV 有125命令未执行。 ");
|
|
if (tag.RGV.workMod == 0 && tag.RGV.taskmod == 0 && tag.RGV.taskno1 == tag.RGV.ReadTask1No && tag.RGV.taskno2 == tag.RGV.ReadTask2No)
|
{
|
LogHelper.Info($"RGV125命令未执行 tag.RGV.workMod == 0 && tag.RGV.taskmod == 0 && tag.RGV.taskno1 == tag.RGV.ReadTask1No && tag.RGV.taskno2 == tag.RGV.ReadTask2No 自动清除125");
|
Conn.默认Redis.SetValue("RGV.taskend", "0", "RGVQueue", false);
|
}
|
System.Threading.Thread.Sleep(3000);
|
return;
|
}
|
LogHelper.Info($"任务下发 Rgv任务数据 读 W1状态{tag.RGV.w1status} ReadTask1No>{tag.RGV.ReadTask1No} 1工位条码:{tag.RGV.bit1Code} bit1taskOver>{tag.RGV.bit1taskOver} W2状态{tag.RGV.w2status} ReadTask2No>{tag.RGV.ReadTask2No} 2工位条码:{tag.RGV.bit2Code} bit2taskOver>{tag.RGV.bit2taskOver}");
|
TaskEntity task1 = null;
|
TaskEntity task2 = null;
|
var task1Isrun = false;
|
if (tag.RGV.ReadTask1No > 0 && tag.RGV.bit1taskOver != 1)
|
{
|
//var taskno = tag.RGV.ReadTask1No;
|
//string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
|
//task1 = taskservice.FindEntity(x => x.S_TASK_NO == tno);
|
//if (task1 != null && task1.S_B_STATE != "完成")
|
task1Isrun = true;
|
//if (tag.RGV.bit1taskOver_LAST == 1)
|
// RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
|
}
|
var task2Isrun = false;
|
if (tag.RGV.ReadTask2No > 0 && tag.RGV.bit2taskOver != 1)
|
{
|
//var taskno = tag.RGV.ReadTask2No;
|
//string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
|
//task2 = taskservice.FindEntity(x => x.S_TASK_NO == tno);
|
//if (task2 != null && task2.S_B_STATE != "完成")
|
task2Isrun = true;
|
//if (tag.RGV.bit2taskOver_LAST == 1)
|
// RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
|
}
|
if (task1Isrun || task2Isrun)
|
{
|
string mes = "";
|
if (task1Isrun)
|
mes += tag.RGV.ReadTask1No + "执行中...";
|
if (task2Isrun)
|
mes += tag.RGV.ReadTask2No + "执行中...";
|
LogHelper.Info($"{mes} 不能下发新任务。");
|
System.Threading.Thread.Sleep(3000);
|
return;
|
}
|
|
var thisOver = 0;
|
LogHelper.Info($"查看RGV 1工位任务》");
|
if (tag.RGV.ReadTask1No > 0 && tag.RGV.bit1taskOver == 1)
|
{
|
var taskno = tag.RGV.ReadTask1No;
|
LogHelper.Info($"RGV 1工位任务{tag.RGV.ReadTask1No}");
|
string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
|
task1 = taskservice.FindEntity(x => x.S_TASK_NO == tno);
|
|
LogHelper.Info($"RGV 1工位任务{task1?.S_TASK_NO}.bit1taskOver_LAST:{tag.RGV.bit1taskOver_LAST}");
|
if (tag.RGV.bit1taskOver_LAST == 0 && task1 != null)
|
{
|
if (task1.S_B_STATE != "完成")
|
{
|
thisOver = 1;
|
if (task1.S_B_STATE == "取货完成")
|
{
|
task1.S_B_STATE = "完成";
|
tag.RGV.ReadTask1No = 0;
|
}
|
else
|
{
|
task1.S_B_STATE = "取货完成";
|
}
|
//tag.RGV.bit1taskOver = 0;
|
LogHelper.Info($"RGV 1工位任务{task1.S_TASK_NO} 条码:{tag.RGV.bit1Code} 状态切换为{task1.S_B_STATE}");
|
//tag.RGV.bit1taskOver_LAST = 1;
|
RedisHelper.Add($"RGV.bit1taskOver_LAST", "1", out string msg);
|
LogHelper.Info($"RGV 1工位任务写处理");
|
taskservice.Update(task1);
|
LogHelper.Info($"RGV 1工位任务更新。");
|
}
|
else
|
{
|
LogHelper.Info("RGV1工位任务已经完成。");
|
}
|
}
|
}
|
else if (tag.RGV.ReadTask1No == 0)
|
{
|
LogHelper.Info($"RGV 1工位没有任务》");
|
}
|
|
LogHelper.Info($"查看RGV 2工位任务》");
|
if (tag.RGV.ReadTask2No > 0 && tag.RGV.bit2taskOver == 1)
|
{
|
var taskno = tag.RGV.ReadTask2No;
|
LogHelper.Info($"RGV 2工位任务{tag.RGV.ReadTask2No}");
|
string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
|
task2 = taskservice.FindEntity(x => x.S_TASK_NO == tno);
|
|
LogHelper.Info($"RGV2工位任务{task2?.S_TASK_NO}.bit2taskOver_LAST:{tag.RGV.bit2taskOver_LAST}");
|
if (tag.RGV.bit2taskOver_LAST == 0 && task2 != null)
|
{
|
if (task2.S_B_STATE != "完成")
|
{
|
thisOver = 2;
|
if (task2.S_B_STATE == "取货完成")
|
{
|
task2.S_B_STATE = "完成";
|
tag.RGV.ReadTask2No = 0;
|
}
|
else
|
{
|
task2.S_B_STATE = "取货完成";
|
}
|
//tag.RGV.bit2taskOver = 0;
|
LogHelper.Info($"RGV 2工位任务{task2.S_TASK_NO} 条码:{tag.RGV.bit2Code} 状态切换为{task2.S_B_STATE}");
|
RedisHelper.Add($"RGV.bit2taskOver_LAST", "1", out string msg);
|
LogHelper.Info($"RGV 2工位任务写处理");
|
taskservice.Update(task2);
|
LogHelper.Info($"RGV 2工位任务更新。");
|
}
|
else
|
{
|
LogHelper.Info("RGV2工位任务已经完成。");
|
}
|
}
|
}
|
else if (tag.RGV.ReadTask2No == 0)
|
{
|
LogHelper.Info($"RGV 2工位没有任务》");
|
}
|
|
//if (thisOver > 0)
|
//{
|
// var v2 = RedisHelper.Get<WriteGroupEntity>("RGVQueue", out string rev);
|
// if (v2 != null)
|
// {
|
// LogHelper.Info($"RGVQueue 读到结果-{JsonConvert.SerializeObject(v2)} \n 下发前进行清除。");
|
// var b = RedisHelper.Remove("RGVQueue", out rev);
|
// }
|
//}
|
var tklistall = taskservice.FindList(x => x.S_B_STATE != "完成" && x.S_B_STATE != "取消" && x.S_WORK_MODE == "RGV").OrderBy(x => x.T_CREATE).ToList();
|
var tklist = tklistall.FindAll(x => x.S_B_STATE == "未执行");
|
var tkunNormal = tklistall.Except(tklist);
|
if (tkunNormal.Any())
|
foreach (var tk in tkunNormal)
|
{
|
if (tk.S_TASK_NO != task1?.S_TASK_NO && tk.S_TASK_NO != task2?.S_TASK_NO)
|
{
|
tk.S_B_STATE = "取消";
|
tk.S_NOTE = "不在执行队列中,取消";
|
taskservice.Update(tk);
|
}
|
}
|
|
///1 有货 就2 取。 1 没货 就2 卸货, 都有货 就1卸货。 都没货 就1卸
|
// taskservice.FindList(x => x.S_B_STATE == "未执行" && x.S_WORK_MODE == "RGV").OrderBy(x => x.T_CREATE).ToList();
|
if (task1 != null && task1.S_B_STATE != "完成") //1有任务
|
{
|
if (task2 != null && task2.S_B_STATE != "完成")// 1 有任务 2 有任务。
|
{
|
LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 也有任务{task2.S_TASK_NO}。 开始工位1 卸货。");
|
tag.RGV.workMod = 1;
|
tag.RGV.taskmod = 2;
|
tag.RGV.taskno1 = Convert.ToUInt32(task1.S_TASK_NO.Substring(4));
|
tag.RGV.task1do = Convert.ToUInt16(task1.S_END_LOC);
|
//RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
|
//tag.RGV.taskend = 125;
|
//Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue");
|
|
if (tag.RGV.bit1taskOver == 1)
|
tag.RGV.bit1taskOver = 0;
|
LogHelper.Info($"{task1.S_TASK_NO}> end 写 125");
|
Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
|
LogHelper.Info($"{task1.S_TASK_NO}> bit1taskOver_LAST 写 0");
|
RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
|
}
|
else //1有任务 2 没任务。
|
{
|
|
LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧取货任务。");
|
|
var leftSide = new List<string> { "1023", "1020" };
|
var RightSide = new List<string> { "1002", "1008", "1010", "1016" };
|
bool creT2 = false;
|
|
// 2号 优先给 1020 1008 1016
|
var t2 = tklist.OrderBy(x => x.T_CREATE).ToList().Find(x => x.S_START_LOC == "1020" || x.S_START_LOC == "1008" || x.S_START_LOC == "1016");
|
if (t2 != null)
|
{
|
LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找1020 1008 1016取货任务{t2.S_TASK_NO}。");
|
tag.RGV.workMod = 2;
|
LogHelper.Info($"{t2.S_TASK_NO}> workMod 2 《2工位》");
|
tag.RGV.taskmod = 1;
|
LogHelper.Info($"{t2.S_TASK_NO}> taskmod 1 《取货》");
|
tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
|
tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
|
|
if (tag.RGV.bit2taskOver == 1)
|
tag.RGV.bit2taskOver = 0;
|
LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
|
Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
|
LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0");
|
RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
|
t2.S_B_STATE = "已推送";
|
taskservice.Update(t2);
|
}
|
////2 如果有同侧取货任务。就取。没有
|
//else if (leftSide.Contains(task1.S_START_LOC))
|
//{
|
// leftSide.Remove(task1.S_START_LOC);
|
// var lsde = leftSide.FirstOrDefault();
|
// t2 = tklist.Find(x => x.S_START_LOC == lsde && x.S_END_LOC != "1017");
|
// if (t2 != null) //同侧取货任务。
|
// {
|
// LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧取货任务{t2.S_TASK_NO}。");
|
// tag.RGV.workMod = 2;
|
// tag.RGV.taskmod = 1;
|
// tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
|
// tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
|
// t2.S_B_STATE = "已推送";
|
// taskservice.Update(t2);
|
// creT2 = true;
|
// System.Threading.Thread.Sleep(750);
|
// LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0");
|
// RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
|
// LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
|
// Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
// }
|
//}
|
//else if (RightSide.Contains(task1.S_START_LOC))
|
//{
|
// RightSide.Remove(task1.S_START_LOC);
|
// t2 = tklist.Find(x => RightSide.Contains(x.S_START_LOC) && x.S_END_LOC != "1017");
|
// if (t2 != null) //同侧取货任务。
|
// {
|
// LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 找同侧 1002,1010 取货任务{t2.S_TASK_NO}。");
|
// tag.RGV.workMod = 2;
|
// tag.RGV.taskmod = 1;
|
// tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
|
// tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
|
// t2.S_B_STATE = "已推送";
|
// taskservice.Update(t2);
|
// creT2 = true;
|
// System.Threading.Thread.Sleep(750);
|
// LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 125");
|
// RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
|
// LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
|
// Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
// }
|
//}
|
else //1 直接卸货。
|
//if (!creT2)
|
{
|
LogHelper.Info($"查看RGV1 有任务{task1.S_TASK_NO},工位2 没任务。 没有同侧取货任务 1工位卸货。");
|
tag.RGV.workMod = 1;
|
LogHelper.Info($"{task1.S_TASK_NO}> workMod 1 《1工位》");
|
tag.RGV.taskmod = 2;
|
LogHelper.Info($"{task1.S_TASK_NO}> taskmod 2 《卸货》");
|
tag.RGV.taskno1 = Convert.ToUInt32(task1.S_TASK_NO.Substring(4));
|
tag.RGV.task1do = Convert.ToUInt16(task1.S_END_LOC);
|
|
if (tag.RGV.bit1taskOver == 1)
|
tag.RGV.bit1taskOver = 0;
|
LogHelper.Info($"{task1.S_TASK_NO}> taskend 写 125");
|
Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
LogHelper.Info($"{task1.S_TASK_NO}> bit1taskOver_LAST 写 0");
|
RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
|
}
|
}
|
}
|
else
|
{
|
if (task2 != null && task2.S_B_STATE != "完成")// 1 没任务 2 有任务。
|
{
|
LogHelper.Info($"查看RGV 1工位没任务,工位2 有任务{task2.S_TASK_NO}。工位2卸货。。");
|
//2 卸货。
|
tag.RGV.workMod = 2;
|
LogHelper.Info($"{task2.S_TASK_NO}> workMod 2 《2工位》");
|
tag.RGV.taskmod = 2;
|
LogHelper.Info($"{task2.S_TASK_NO}> taskmod 2 《卸货》");
|
tag.RGV.taskno2 = Convert.ToUInt32(task2.S_TASK_NO.Substring(4));
|
tag.RGV.task2do = Convert.ToUInt16(task2.S_END_LOC);
|
|
if (tag.RGV.bit2taskOver == 1)
|
tag.RGV.bit2taskOver = 0;
|
//tag.RGV.taskend = 125;
|
LogHelper.Info($"{task2.S_TASK_NO}> taskend 写125");
|
Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
LogHelper.Info($"{task2.S_TASK_NO}> bit2taskOver_LAST 写 0");
|
RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
|
}
|
else if (tklist.Any()) //1mei 任务 2 没任务。
|
{
|
LogHelper.Info($"查看RGV 1工位没任务,工位2 也没任务。优先1工位终点1017任务。。");
|
//、下 1017任务 给1号工位。
|
//var lss = tklist.Take(2).ToList();
|
var e1017first = tklist.Find(x => x.S_START_LOC == "1002" || x.S_START_LOC == "1010" || x.S_START_LOC == "1023");
|
//if (e1017first != null)
|
//{
|
// e1017first = tklist.FirstOrDefault();
|
//}
|
if (e1017first != null)
|
{
|
LogHelper.Info($"查看RGV没任务, 给工位1筛选任务。 1002 1010 1023取货任务{e1017first.S_TASK_NO}。");
|
tag.RGV.workMod = 1;
|
LogHelper.Info($"{e1017first.S_TASK_NO}> workMod 1 《1工位》");
|
tag.RGV.taskmod = 1;
|
LogHelper.Info($"{e1017first.S_TASK_NO}> taskmod 1 《取货》");
|
uint tno = Convert.ToUInt32(e1017first.S_TASK_NO.Substring(4));
|
LogHelper.Info($"{e1017first.S_TASK_NO}> 转换后任务号{tno} 开始写入。");
|
tag.RGV.taskno1 = tno;
|
LogHelper.Info($"{e1017first.S_TASK_NO}>开始写入 task1do>>{e1017first.S_START_LOC}。");
|
tag.RGV.task1do = Convert.ToUInt16(e1017first.S_START_LOC);
|
//tag.RGV.taskend=125
|
if (tag.RGV.bit1taskOver == 1)
|
tag.RGV.bit1taskOver = 0;
|
LogHelper.Info($"{e1017first.S_TASK_NO}> taskend 写125");
|
Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
LogHelper.Info($"{e1017first.S_TASK_NO}> bit1taskOver_LAST 写0");
|
RedisHelper.Add($"RGV.bit1taskOver_LAST", "0", out string msg);
|
LogHelper.Info($"{e1017first.S_TASK_NO}> 更新任务。");
|
e1017first.S_B_STATE = "已推送";
|
taskservice.Update(e1017first);
|
}
|
else
|
{
|
var t2 = tklist.OrderBy(x => x.T_CREATE).ToList().Find(x => x.S_START_LOC == "1020" || x.S_START_LOC == "1008" || x.S_START_LOC == "1016");
|
if (tklist != null)
|
{
|
LogHelper.Info($"查看RGV没任务 给工位2筛选任务。 找1020 1008 1016取货任务{t2.S_TASK_NO}。");
|
tag.RGV.workMod = 2;
|
LogHelper.Info($"{t2.S_TASK_NO}> workMod 2 《2工位》");
|
tag.RGV.taskmod = 1;
|
LogHelper.Info($"{t2.S_TASK_NO}> taskmod 1 《取货》");
|
tag.RGV.taskno2 = Convert.ToUInt32(t2.S_TASK_NO.Substring(4));
|
LogHelper.Info($"{t2.S_TASK_NO}> taskno2 {Convert.ToUInt32(t2.S_TASK_NO.Substring(4))}《任务号》");
|
tag.RGV.task2do = Convert.ToUInt16(t2.S_START_LOC);
|
if (tag.RGV.bit2taskOver == 1)
|
tag.RGV.bit2taskOver = 0;
|
LogHelper.Info($"{t2.S_TASK_NO}> end 写 125");
|
Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
LogHelper.Info($"{t2.S_TASK_NO}> bit2taskOver_LAST 写 0");
|
RedisHelper.Add($"RGV.bit2taskOver_LAST", "0", out string msg);
|
t2.S_B_STATE = "已推送";
|
taskservice.Update(t2);
|
}
|
}
|
}
|
}
|
LogHelper.Info($"rgv 处理完成。taskend 125");
|
#endregion
|
}
|
catch (Exception ex)
|
{
|
LogHelper.Info(ex.Message + ex.StackTrace);
|
}
|
}
|
|
|
public void ThreadGrats(Tag tag, Action<HaiKangOrderInfo> continueTask)
|
{
|
LogHelper.Info($"ThreadGrats 光栅处理 =================> ");
|
|
var taskCOdes = new List<string> { "Sarrive", "Srelease", "Earrive", "Erelease" };
|
TaskActRepository taskActRepository = new TaskActRepository();
|
TaskRepository taskRepository = new TaskRepository();
|
var requires1 = taskActRepository.FindList(x => taskCOdes.Contains(x.S_ACTION_CODE) && x.N_CREATEMETHOD == 0).OrderBy(x => x.T_CREATE).ToList();
|
var timeMorhours = requires1.FindAll(x => DateTime.Now.Subtract(x.T_CREATE).TotalHours > 1);
|
if (timeMorhours.Any())
|
{
|
foreach (var mor in timeMorhours)
|
{
|
mor.N_CREATEMETHOD = 2;
|
mor.S_REVIEW_COMMENT = "超时不处理";
|
taskActRepository.Update(mor);
|
}
|
requires1 = requires1.Except(timeMorhours).ToList();
|
}
|
foreach (var requires in requires1.GroupBy(x => x.S_TASK_NO))
|
//foreach (var item in requires)
|
{
|
var rsss = requires.ToList();
|
var item = rsss.OrderBy(x => x.S_ACTION_CODE.Contains("release") ? 0 : 1).LastOrDefault();
|
if (rsss.Count > 1)
|
{
|
rsss.Remove(item);
|
foreach (var mor in rsss)
|
{
|
mor.N_CREATEMETHOD = 3;
|
mor.S_REVIEW_COMMENT = "多余不处理";
|
taskActRepository.Update(mor);
|
}
|
}
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE}光栅处理 =================> ");
|
var tin = taskCOdes.IndexOf(item.S_ACTION_CODE);
|
if (tin == -1)
|
{
|
item.N_CREATEMETHOD = -1;
|
item.S_REVIEW_COMMENT = $"信号未知{item.S_ACTION_CODE}不处理";
|
taskActRepository.Update(item);
|
continue;
|
}
|
var task = taskRepository.FindEntity(x => x.S_TASK_NO == item.S_TASK_NO);
|
if (task == null)
|
{
|
item.N_CREATEMETHOD = -1;
|
item.S_REVIEW_COMMENT = $"任务丢失不处理";
|
taskActRepository.Update(item);
|
continue;
|
}
|
string loc = "";
|
if (tin < 2)
|
{
|
loc = item.S_START_LOC;
|
}
|
else
|
{
|
loc = item.S_END_LOC;
|
}
|
if (loc == null) continue; else loc = loc.Trim();
|
bool goin = tin % 2 == 0;
|
bool continuuuuu = false;
|
var dev = Settings.deviceInfos.Find(x => x.location.Contains(loc));
|
if (dev != null)
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅处理 =================> ");
|
var V = dev.location.ToList().FindIndex(x => x == loc) == 0;
|
//车走了 开光栅
|
if (!goin)
|
{
|
if (dev.deviceType == 4)
|
{
|
LogHelper.Info($"车离开输送线交互> {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} SSX AGV 交互。。。");
|
switch (loc)
|
{
|
case "1019":
|
{
|
SetRedistoPlc("A1019取货交互.SOver", "true", "A1019取货交互Queue", "agv 取货完成写完成交互");
|
}
|
break;
|
case "1030":
|
{
|
SetRedistoPlc("A1030取货交互.SOver", "true", "A1030取货交互Queue", "agv 取货完成写完成交互");
|
}
|
break;
|
case "2030":
|
{
|
SetRedistoPlc("A2030取货交互.SOver", "true", "A2030取货交互Queue", "agv 取货完成写完成交互");
|
}
|
break;
|
case "3005":
|
{
|
SetRedistoPlc("A3005取货交互.SOver", "true", "A3005取货交互Queue", "agv 取货完成写完成交互");
|
}
|
break;
|
case "3010":
|
{
|
SetRedistoPlc("A3010取货交互.SOver", "true", "A3010取货交互Queue", "agv 取货完成写完成交互");
|
}
|
break;
|
//}
|
//switch (loc)
|
//{
|
case "1022":
|
{
|
SetRedistoPlc("A1022放货交互.SOver", "true", "A1022放货交互Queue", "agv 放货完成写完成交互");
|
}
|
break;
|
case "1025":
|
{
|
SetRedistoPlc("A1025放货交互.SOver", "true", "A1025放货交互Queue", "agv 放货完成写完成交互");
|
}
|
break;
|
case "2001":
|
{
|
SetRedistoPlc("A2001放货交互.SOver", "true", "A2001放货交互Queue", "agv 放货完成写完成交互");
|
tag.SA2001.wTaskNo = 20012007;
|
tag.SA2001.wEbit = 2007;
|
tag.SA2001.w托盘码 = TaskProcess.GenerateTaskNo("虚拟托盘号").Substring(3);
|
}
|
break;
|
case "3001":
|
{
|
SetRedistoPlc("A3001放货交互.SOver", "true", "A3001放货交互Queue", "agv 放货完成写完成交互");
|
}
|
break;
|
case "3006":
|
{
|
SetRedistoPlc("A3006放货交互.SOver", "true", "A3006放货交互Queue", "agv 放货完成写完成交互");
|
}
|
break;
|
}
|
}
|
else
|
{
|
if (dev.deviceType == 1)
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> ");
|
LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "R02" : "R04"), "true", dev.deviceName + "Queue"));
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "R02" : "R04"), "true", dev.deviceName + "Queue", false);
|
}
|
else if (dev.deviceType == 2)
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> ");
|
LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "D1222" : "D1223"), "1", dev.deviceName + "Queue"));
|
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1220" : "D1221"), "0", dev.deviceName + "Queue");
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1222" : "D1223"), "1", dev.deviceName + "Queue");
|
}
|
else if (dev.deviceType == 5)
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理 =================> ");
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2211" : "D2216"), "1", dev.deviceName + "Queue");
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2212" : "D2217"), "0", dev.deviceName + "Queue");
|
}
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理完成 =================> ");
|
}
|
item.N_CREATEMETHOD = 1;
|
item.S_REVIEW_COMMENT = $"光栅开启完成";
|
taskActRepository.Update(item);
|
}
|
//车要进入交互。
|
else
|
{
|
if (dev.deviceType == 4)
|
{
|
LogHelper.Info($"车请求输送线交互> {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} SSX AGV 交互。。。");
|
//tag.SA1019.Sagverr
|
switch (loc)
|
{
|
case "1019":
|
{
|
if (tag.SA1019.SreadCan)
|
{
|
LogHelper.Info($"1019 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A1019取货交互.Ssetreq", "true", "A1019取货交互Queue", "写AGV申请");
|
tag.SA1019.StaskMode = 1;
|
}
|
}
|
break;
|
case "1030":
|
{
|
if (tag.SA1030.SreadCan)
|
{
|
LogHelper.Info($"1030 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A1030取货交互.Ssetreq", "true", "A1030取货交互Queue", "写AGV申请");
|
tag.SA1030.StaskMode = 1;
|
}
|
}
|
break;
|
case "2030":
|
{
|
if (tag.SA2030.SreadCan)
|
{
|
LogHelper.Info($"2030 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A2030取货交互.Ssetreq", "true", "A2030取货交互Queue", "写AGV申请");
|
tag.SA2030.StaskMode = 1;
|
}
|
}
|
break;
|
case "3005":
|
{
|
if (tag.ssx输送线.s3005.SreadCan)
|
{
|
LogHelper.Info($"3005 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A3005取货交互.Ssetreq", "true", "A3005取货交互Queue", "写AGV申请");
|
tag.ssx输送线.s3005.StaskMode = 1;
|
}
|
}
|
break;
|
case "3010":
|
{
|
if (tag.ssx输送线.s3010.SreadCan)
|
{
|
LogHelper.Info($"3010 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A3010取货交互.Ssetreq", "true", "A3010取货交互Queue", "写AGV申请");
|
tag.ssx输送线.s3010.StaskMode = 1;
|
}
|
}
|
break;
|
//}
|
//switch (loc)
|
//{
|
case "1022":
|
{
|
if (tag.SA1022.SreadCan)
|
{
|
LogHelper.Info($"1022 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A1022放货交互.Ssetreq", "true", "A1022放货交互Queue", "写AGV申请");
|
tag.SA1022.StaskMode = 2;
|
}
|
}
|
break;
|
case "1025":
|
{
|
if (tag.SA1025.SreadCan)
|
{
|
LogHelper.Info($"1025 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A1025放货交互.Ssetreq", "true", "A1025放货交互Queue", "写AGV申请");
|
tag.SA1025.StaskMode = 2;
|
}
|
}
|
break;
|
case "2001":
|
{
|
if (tag.SA2001.SreadCan)
|
{
|
LogHelper.Info($"2001 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A2001放货交互.Ssetreq", "true", "A2001放货交互Queue", "写AGV申请");
|
tag.SA2001.StaskMode = 2;
|
}
|
}
|
break;
|
case "3001":
|
{
|
if (tag.ssx输送线.s3001.SreadCan)
|
{
|
LogHelper.Info($"3001 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A3001放货交互.Ssetreq", "true", "A3001放货交互Queue", "写AGV申请");
|
tag.ssx输送线.s3001.StaskMode = 2;
|
}
|
}
|
break;
|
case "3006":
|
{
|
if (tag.ssx输送线.s3006.SreadCan)
|
{
|
LogHelper.Info($"3006 读到输送线允许。");
|
continuuuuu = true;
|
}
|
else
|
{
|
SetRedistoPlc("A3006放货交互.Ssetreq", "true", "A3006放货交互Queue", "写AGV申请");
|
tag.ssx输送线.s3006.StaskMode = 2;
|
}
|
}
|
break;
|
}
|
}
|
else
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理 =================> ");
|
if (dev.deviceType == 1)
|
{
|
var tf = Conn.默认Redis.GetValue(dev.deviceName + "." + (V ? "R50" : "R52"));//读关闭状态
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅关闭信号{tf}");
|
if (tf?.ToLower() == "true")
|
{
|
LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭!");
|
continuuuuu = true;
|
}
|
else
|
{
|
LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue"));
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue", false);
|
}
|
}
|
else if (dev.deviceType == 2)
|
{
|
var tf = Conn.默认Redis.GetValue(dev.deviceName + ".D1202");
|
int numm = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf);
|
int close = TcpServer.GetBitdata(numm, (V ? 0 : 1));
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 光栅关闭信号{close}");
|
if (close == 1)
|
{
|
LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭!");
|
continuuuuu = true;
|
}
|
else
|
{
|
LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "D1220" : "D1221"), "1", dev.deviceName + "Queue"));
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1222" : "D1223"), "0", dev.deviceName + "Queue");
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D1220" : "D1221"), "1", dev.deviceName + "Queue");
|
|
string d12201 = RedisHelper.Get<string>(dev.deviceName + "." + (V ? "D1220" : "D1221"), out string msg);
|
LogHelper.Info($"ThreadGrats 写{(dev.deviceName + "." + (V ? "D1220" : "D1221"))}为 1 , 后读{d12201}");
|
}
|
}
|
else if (dev.deviceType == 5)
|
{
|
|
var close = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue(dev.deviceName + "." + (V ? "D2220" : "D2225")), typeof(System.UInt16));
|
if (close == 0)
|
{
|
LogHelper.Info($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。 已经关闭!");
|
continuuuuu = true;
|
}
|
else
|
{
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2212" : "D2217"), "1", dev.deviceName + "Queue");
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "D2211" : "D2216"), "0", dev.deviceName + "Queue");
|
}
|
}
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理完成 =================> ");
|
}
|
}
|
}
|
|
if (continuuuuu)
|
{
|
LogHelper.Info($"{item.S_TASK_NO}{item.S_ACTION_CODE} 车辆发送继续任务!");
|
continueTask?.Invoke(new HaiKangOrderInfo
|
{
|
reqCode = item.S_ID.Replace("-", ""),
|
taskCode = item.S_TASK_NO
|
});
|
item.N_CREATEMETHOD = 1;
|
item.S_REVIEW_COMMENT = $"车子继续任务OK";
|
taskActRepository.Update(item);
|
}
|
}
|
System.Threading.Thread.Sleep(3000);
|
//ResetGats(tag);
|
}
|
public void ResetGats(Tag tag)
|
{
|
LogHelper.Info($"ThreadGrats deviceType2光栅写入位重置 =================> ");
|
//重置信号
|
foreach (var dev in Settings.deviceInfos.FindAll(x => x.deviceType == 2))
|
{
|
var tf = Conn.默认Redis.GetValue(dev.deviceName + ".D1202");
|
int numm = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf);
|
//int int0 = TcpServer.GetBitdata(numm, 0);
|
//int int1 = TcpServer.GetBitdata(numm, 1);
|
|
//if (TcpServer.GetBitdata(numm, 0) == 0)
|
//{
|
// Conn.默认Redis.SetValue(dev.deviceName + ".D1220", "0", dev.deviceName + "Queue", false);
|
// Conn.默认Redis.SetValue(dev.deviceName + ".D1222", "0", dev.deviceName + "Queue", false);
|
//}
|
//if (TcpServer.GetBitdata(numm, 1) == 0)
|
//{
|
// Conn.默认Redis.SetValue(dev.deviceName + ".D1221", "0", dev.deviceName + "Queue", false);
|
// Conn.默认Redis.SetValue(dev.deviceName + ".D1223", "0", dev.deviceName + "Queue", false);
|
//}
|
|
if (TcpServer.GetBitdata(numm, 2) == 0)
|
{
|
//Conn.默认Redis.GetValue(dev.deviceName + ".D1224");
|
Conn.默认Redis.SetValue(dev.deviceName + ".D1224", "0", dev.deviceName + "Queue", false);
|
}
|
if (TcpServer.GetBitdata(numm, 3) == 0)
|
{
|
Conn.默认Redis.SetValue(dev.deviceName + ".D1225", "0", dev.deviceName + "Queue", false);
|
}
|
}
|
LogHelper.Info($"ThreadGrats deviceType2光栅写入位重置完成。 =================> ");
|
LogHelper.Info($"ThreadGrats deviceType5光栅写入位重置 =================> ");
|
//重置信号
|
//foreach (var dev in Settings.deviceInfos.FindAll(x => x.deviceType == 5))
|
|
{
|
//一线地址:10.221.55.181 端口:6000
|
//if (IsMachineOnline("10.221.55.181"))
|
{
|
if (tag.DZ1.D2211 == 1 && tag.DZ1.D2220 == 1)
|
//tag.DZ1.D2211 = 0;
|
Conn.默认Redis.SetValue("D定子1号机械手.D2211", "0", "D定子1号机械手Queue", false);
|
if (tag.DZ1.D2216 == 1 && tag.DZ1.D2225 == 1)
|
//tag.DZ1.D2216 = 0;
|
Conn.默认Redis.SetValue("D定子1号机械手.D2216", "0", "D定子1号机械手Queue", false);
|
}
|
//二线地址:10.221.55.179 端口:6000
|
//if (IsMachineOnline("10.221.55.179"))
|
{
|
if (tag.DZ2.D2211 == 1 && tag.DZ2.D2220 == 1)
|
//tag.DZ2.D2211 = 0;
|
Conn.默认Redis.SetValue("D定子2号机械手.D2211", "0", "D定子2号机械手Queue", false);
|
if (tag.DZ2.D2216 == 1 && tag.DZ2.D2225 == 1)
|
//tag.DZ2.D2216 = 0;
|
Conn.默认Redis.SetValue("D定子2号机械手.D2216", "0", "D定子2号机械手Queue", false);
|
}
|
}
|
LogHelper.Info($"ThreadGrats deviceType5光栅写入位重置完成。 =================> ");
|
}
|
/// <summary>
|
/// 1020 1023空框下线
|
/// </summary>
|
/// <param name="tag"></param>
|
public void ThreadEdown(Tag tag)
|
{
|
Console.WriteLine($"ThreadEdown 20 23 = 空下检测 =================> ");
|
if (tag.RGV.R充电状态 == 1 || tag.RGV.R手动1自动2 == 1 || tag.RGV.RgvrunError > 0)
|
{
|
LogHelper.Info($"RGV 手动||故障||充电,空下检测终止。");
|
return;
|
}
|
TaskRepository taskRepository = new TaskRepository();
|
foreach (var Bssx in new string[] { "1020", "1023" })
|
{
|
var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16));
|
var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16));
|
var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String));
|
Console.WriteLine($"{Bssx} 空下检测:任务申请:{RtaskState}- 是否已处理:{RtaskState_LAST}- 托盘码:{R托盘码} ");
|
if (RtaskState == 3 && RtaskState_LAST == 0)
|
{
|
var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
|
string msg = "";
|
if (task != null)
|
{
|
Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
continue;
|
}
|
try
|
{
|
var listtep = new List<string>();
|
if (Bssx == "1020")
|
{
|
if (!string.IsNullOrEmpty(tag.SFT下料口托盘.R1003Barcode) && string.IsNullOrEmpty(tag.SFT下料口托盘.R1011Barcode))
|
{
|
listtep = new List<string> { "1012", "1004" };
|
}
|
else
|
{
|
listtep = new List<string> { "1004", "1012" };
|
}
|
}
|
else
|
{
|
//if (tag.SF下料位.RArrive1005 == 1)
|
if (!string.IsNullOrEmpty(tag.SFT下料口托盘.R1005Barcode) && string.IsNullOrEmpty(tag.SFT下料口托盘.R1013Barcode))
|
{
|
listtep = new List<string> { "1014", "1006" };
|
}
|
else
|
{
|
listtep = new List<string> { "1006", "1014" };
|
}
|
}
|
|
foreach (var item in listtep)//(Bssx == "1020" ? new string[] { "1004", "1012" } : new string[] { "1006", "1014" }))
|
{
|
var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
|
var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
|
if (R5 == 5 && R5空闲_LAST == 0 && task == null)
|
{
|
task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
|
msg = "";
|
if (task != null)
|
{
|
Console.WriteLine($" {item}有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
LogHelper.Info($" {item}有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
continue;
|
}
|
|
var b = TaskProcess.CreateTask("", Bssx, item, "空上RGV", 5, new List<string> { R托盘码 }, "RGV");
|
if (b)
|
{
|
LogHelper.Debug($"输送线RGV空托任务 from:{Bssx}>to {item}开始创建成功");
|
RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg);
|
//Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue");
|
RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out msg);
|
//Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue");
|
break;
|
}
|
}
|
else if (R5 != 5 && R5空闲_LAST == 1)
|
{
|
RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out msg);
|
//Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "0", $"S{item}ReadQueue");
|
}
|
}
|
System.Threading.Thread.Sleep(1000);
|
}
|
catch (Exception ex)
|
{
|
LogHelper.Error(ex.Message, ex);
|
Console.WriteLine(ex.Message + ex.StackTrace);
|
}
|
}
|
else if (RtaskState != 3 && RtaskState_LAST == 1)
|
{
|
RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg);
|
//Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "0", $"S{Bssx}ReadQueue");
|
}
|
System.Threading.Thread.Sleep(2000);
|
}
|
|
foreach (var item in new string[] { "1004", "1012", "1006", "1014", "1026", "1017" })
|
{
|
var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
|
var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
|
if (R5 != 5 && R5空闲_LAST == 1)
|
{
|
RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg);
|
//Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "0", $"S{item}ReadQueue");
|
}
|
}
|
}
|
|
public void ThreadDdown(Tag tag)
|
{
|
Console.WriteLine($"ThreadDdown 08 16==================> 1026");
|
if (tag.RGV.R充电状态 == 1 || tag.RGV.R手动1自动2 == 1 || tag.RGV.RgvrunError > 0)
|
{
|
LogHelper.Info($"RGV 手动||故障||充电,08 16 > 1026终止。");
|
return;
|
}
|
TaskRepository taskRepository = new TaskRepository();
|
foreach (var Bssx in new string[] { "1008", "1016" })
|
{
|
var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16));
|
var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16));
|
var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String));
|
Console.WriteLine($"{Bssx} 满下检测:任务申请:{RtaskState}- 是否已处理:{RtaskState_LAST}- 托盘码:{R托盘码}");
|
if (RtaskState == 3 && RtaskState_LAST == 0)
|
{
|
var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
|
string msg = "";
|
if (task != null)
|
{
|
Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
continue;
|
}
|
|
var item = "1026";
|
var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
|
var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
|
if (R5 == 5 && R5空闲_LAST == 0)
|
{
|
task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
|
msg = "";
|
if (task != null)
|
{
|
Console.WriteLine($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
LogHelper.Info($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
continue;
|
}
|
var b = TaskProcess.CreateTask("", Bssx, item, "满转1026", 5, new List<string> { R托盘码 }, "RGV");
|
if (b)
|
{
|
RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg);
|
RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out string msg2);
|
|
LogHelper.Info($"{R托盘码} 定子生产完成进行鲍工!!");
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/223", JsonConvert.SerializeObject(new
|
{
|
cntrCode = R托盘码,
|
type = 1,
|
lineCode = "1002,1008".Contains(Bssx) ? "T01" : "T02"
|
}));
|
//var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
//if (strr.success && strr.data != null)
|
//{
|
|
//}
|
//Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue");
|
//Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue");
|
break;
|
}
|
}
|
else if (R5 != 5 && R5空闲_LAST == 1)
|
{
|
RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg2);
|
}
|
}
|
else if (RtaskState != 3 && RtaskState_LAST == 1)
|
{
|
RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg);
|
//Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "0", $"S{Bssx}ReadQueue");
|
}
|
System.Threading.Thread.Sleep(2000);
|
}
|
}
|
|
public void Thread0210Down(Tag tag)
|
{
|
Console.WriteLine($"Thread0210Down ==================>");
|
if (tag.RGV.R充电状态 == 1 || tag.RGV.R手动1自动2 == 1 || tag.RGV.RgvrunError > 0)
|
{
|
LogHelper.Info($"RGV 手动||故障||充电,02 10 > 1017终止。");
|
return;
|
}
|
TaskRepository taskRepository = new TaskRepository();
|
foreach (var Bssx in new string[] { "1002", "1010" })
|
{
|
var RtaskState = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState"), typeof(System.UInt16));
|
var RtaskState_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.RtaskState_LAST"), typeof(System.UInt16));
|
var R托盘码 = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{Bssx}Read.R托盘码"), typeof(System.String));
|
Console.WriteLine($"{Bssx} 满下检测:任务申请:{RtaskState}- 是否已处理:{RtaskState_LAST}- 托盘码:{R托盘码}");
|
if (RtaskState == 3 && RtaskState_LAST == 0)
|
{
|
var task = taskRepository.FindEntity(x => x.S_START_LOC == Bssx && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
|
string msg = "";
|
if (task != null)
|
{
|
Console.WriteLine($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
LogHelper.Info($"{Bssx} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
continue;
|
}
|
var item = "1017";
|
var R5 = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲"), typeof(System.UInt16));
|
var R5空闲_LAST = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"S{item}Read.R5空闲_LAST"), typeof(System.UInt16));
|
if (R5 == 5 && R5空闲_LAST == 0)
|
{
|
task = taskRepository.FindEntity(x => x.S_END_LOC == item && x.S_B_STATE != "完成" && x.S_B_STATE != "取消");
|
msg = "";
|
if (task != null)
|
{
|
Console.WriteLine($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
LogHelper.Info($"{item} 有正在 [{task.S_B_STATE}] 中的{task.S_TASK_NO}任务");
|
continue;
|
}
|
var b = TaskProcess.CreateTask("", Bssx, item, "满转1017", 5, new List<string> { R托盘码 }, "RGV");
|
if (b)
|
{
|
RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "1", out msg);
|
RedisHelper.Add($"S{item}Read.R5空闲_LAST", "1", out string msg1);
|
LogHelper.Info($"{R托盘码} 转子生产完成进行鲍工!!");
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/223", JsonConvert.SerializeObject(new
|
{
|
cntrCode = R托盘码,
|
type = 2,
|
lineCode = "1002,1008".Contains(Bssx) ? "T01" : "T02"
|
}));
|
//Conn.默认Redis.SetValue($"S{Bssx}Read.RtaskState_LAST", "1", $"S{Bssx}ReadQueue");
|
//Conn.默认Redis.SetValue($"S{item}Read.R5空闲_LAST", "1", $"S{item}ReadQueue");
|
break;
|
}
|
}
|
else if (R5 != 5 && R5空闲_LAST == 1)
|
{
|
RedisHelper.Add($"S{item}Read.R5空闲_LAST", "0", out string msg1);
|
}
|
}
|
else if (RtaskState != 3 && RtaskState_LAST == 1)
|
{
|
RedisHelper.Add($"S{Bssx}Read.RtaskState_LAST", "0", out string msg);
|
}
|
System.Threading.Thread.Sleep(2000);
|
}
|
}
|
|
|
public void Thread下料位检测(Tag tag)
|
{
|
Console.WriteLine($"Thread下料位检测 =====>");
|
var lsi = new List<string>();
|
foreach (var ssx in new string[] { "1003", "1005", "1011", "1013" })
|
{
|
var RArrive = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}"), typeof(System.UInt16));
|
//var RArriveLast = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.RArrive{ssx}_LAST"), typeof(System.UInt16));
|
var wArriveOver = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.wArrive{ssx}Over"), typeof(System.UInt16));
|
var rReleaseOver = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.rRelease{ssx}Over"), typeof(System.UInt16));
|
var WRelease = (System.UInt16)System.Convert.ChangeType(Conn.默认Redis.GetValue($"FNK1003051113.WRelease{ssx}"), typeof(System.UInt16));
|
var RtrayCode = (System.String)System.Convert.ChangeType(Conn.默认Redis.GetValue($"SSX1003051113.R{ssx}Barcode"), typeof(System.String));
|
var rdisTcode = RedisHelper.Get<string>($"Arrive{ssx}BarcodeLast", out string msg);
|
// 写了空框到位的托盘号记录, 如果下次信号来了,托盘号不一致就写,一致就不写,防止因特殊原因被清除重新触发,导致发送重复的问题。
|
LogHelper.Info($@" 托盘号:{RtrayCode} redis托盘号:{rdisTcode} 空到位 RArrive{ssx}>{RArrive} 机械手收到控到位.wArrive{ssx}Over>{wArriveOver} 送出完成.rRelease{ssx}Over>{rReleaseOver} 放货完成.WRelease{ssx}>{WRelease}");
|
if (RArrive == 1 && WRelease == 0 /*&& RArriveLast == 0*/ && !string.IsNullOrEmpty(RtrayCode) && RtrayCode != rdisTcode)
|
{
|
switch (ssx)
|
{
|
case "1003":
|
{
|
LogHelper.Info($"ssx == 1003 && tag.SF下料位.WRelease1003:{tag.SF下料位.WRelease1003} 写f1 2210=1,Arrive{ssx}BarcodeLast={RtrayCode}");
|
tag.FNK1.D2210 = 1;
|
//Conn.默认Redis.SetValue($"p发那科1下线.D2210", "1", $"p发那科1下线Queue",false);
|
}
|
break;
|
case "1005":
|
{
|
LogHelper.Info($"ssx == 1005 && tag.SF下料位.WRelease1005:{tag.SF下料位.WRelease1005} 写f1 2215=1,Arrive{ssx}BarcodeLast={RtrayCode}");
|
tag.FNK1.D2215 = 1;
|
}
|
break;
|
case "1011":
|
{
|
LogHelper.Info($"ssx == 1011 && tag.SF下料位.WRelease1011:{tag.SF下料位.WRelease1011} 写f2 2210=1,Arrive{ssx}BarcodeLast={RtrayCode}");
|
tag.FNK2.D2210 = 1;
|
}
|
break;
|
case "1013":
|
{
|
LogHelper.Info($"ssx == 1013 && tag.SF下料位.WRelease1013:{tag.SF下料位.WRelease1013} 写f2 2215=1,Arrive{ssx}BarcodeLast={RtrayCode}");
|
tag.FNK2.D2215 = 1;
|
}
|
break;
|
}
|
RedisHelper.Add($"Arrive{ssx}BarcodeLast", RtrayCode, out msg);
|
}
|
else if (RArrive == 0)
|
{
|
//if (RArriveLast == 1)
|
//{
|
// LogHelper.Info($"重置 FNK1003051113.RArrive{ssx}_LAST=0");
|
// RedisHelper.Add($"FNK1003051113.RArrive{ssx}_LAST", "0", out string msg);
|
//}
|
if (wArriveOver == 1)
|
{
|
LogHelper.Info($"重置 FNK1003051113.wArrive{ssx}Over=0");
|
Conn.默认Redis.SetValue($"FNK1003051113.wArrive{ssx}Over", "0", $"FNK1003051113Queue");
|
}
|
//Conn.默认Redis.SetValue($"FNK1003051113.RArrive{ssx}_LAST", "0", $"FNK1003051113Queue");
|
}
|
|
if (WRelease == 1 && rReleaseOver == 1)
|
{
|
//switch (ssx)
|
//{
|
// case "1003":
|
// {
|
// LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK1.D2213{tag.FNK1.D2213}=1? 并写0");
|
// tag.FNK1.D2213 = 0;
|
// }
|
// break;
|
// case "1005":
|
// {
|
// LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK1.D2218{tag.FNK1.D2218}=1? 并写0");
|
// tag.FNK1.D2218 = 0;
|
// }
|
// break;
|
// case "1011":
|
// {
|
// LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK2.D2213{tag.FNK1.D2213}=1? 并写0");
|
// tag.FNK2.D2213 = 0;
|
// }
|
// break;
|
// case "1013":
|
// {
|
// LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 读FNK2.D2218{tag.FNK2.D2218}=1? 并写0");
|
// tag.FNK2.D2218 = 0;
|
// }
|
// break;
|
//}
|
LogHelper.Info($"读{ssx} WRelease=1&& rReleaseOver=1 WRelease 写0");
|
Conn.默认Redis.SetValue($"FNK1003051113.WRelease{ssx}", "0", $"FNK1003051113Queue");
|
}
|
|
}
|
}
|
|
public void ThreadFNK1Over(Tag tag)
|
{
|
Console.WriteLine($"ThreadFNK1Over =====>");
|
LogHelper.Info($" FN1 D2217>{tag.FNK1.D2217} D2217LAST>{tag.FNK1.D2217_LAST} D2215>{tag.FNK1.D2215} D2216>{tag.FNK1.D2216} D2218>{tag.FNK1.D2218}");
|
//LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 写 2215=0,D2217_LAST=1,WRelease1005=1 RArrive1005_LAST=0");
|
if (tag.FNK1.D2217 == 1 && tag.FNK1.D2217_LAST == 0)
|
{
|
//tag.FNK1.D2215 = 0;
|
//tag.FNK1.D2218 = 1;
|
//tag.FNK1.D2212_LAST = 1;
|
RedisHelper.Add($"p发那科1下线.D2217_LAST", "1", out string msg);
|
|
tag.SF下料位.WRelease1005 = 1;
|
tag.SF下料位.WSafe0305 = 1;
|
System.Threading.Thread.Sleep(1000);
|
//RedisHelper.Add($"FNK1003051113.RArrive1005_LAST", "0", out msg);
|
RedisHelper.Add($"Arrive1005BarcodeLast", "0", out msg);
|
LogHelper.Info($" FN1 .D2217=1,2217_LAST=0 写 2218=1,D2217_LAST=1,WRelease1005=1 Arrive1005BarcodeLast=0");
|
}
|
else if (tag.FNK1.D2217 == 0 && tag.FNK1.D2217_LAST == 1)
|
{
|
//tag.FNK1.D2217_LAST = 0;
|
RedisHelper.Add($"p发那科1下线.D2217_LAST", "0", out string msg);
|
LogHelper.Info($" p发那科1下线.D2217_LAST=0");
|
}
|
if (tag.FNK1.D2216 == 1)
|
{
|
tag.FNK1.D2215 = 0;
|
tag.SF下料位.wArrive1005Over = 1;
|
LogHelper.Info($" p发那科1下线 读D2216=1 写D2215 =0, 写机械手收到1005 =1");
|
}
|
|
LogHelper.Info($" FN1 D2212>{tag.FNK1.D2212} D2212LAST>{tag.FNK1.D2212_LAST} D2210>{tag.FNK1.D2210} D2211>{tag.FNK1.D2211} D2213>{tag.FNK1.D2213}");
|
if (tag.FNK1.D2212 == 1 && tag.FNK1.D2212_LAST == 0)
|
{
|
//tag.FNK1.D2213 = 1;
|
//tag.FNK1.D2210 = 0;
|
//tag.FNK1.D2217_LAST = 1;
|
RedisHelper.Add($"p发那科1下线.D2212_LAST", "1", out string msg);
|
tag.SF下料位.WRelease1003 = 1;
|
tag.SF下料位.WSafe0305 = 1;
|
System.Threading.Thread.Sleep(1000);
|
//RedisHelper.Add($"FNK1003051113.RArrive1003_LAST", "0", out msg);
|
RedisHelper.Add($"Arrive1003BarcodeLast", "0", out msg);
|
LogHelper.Info($" FN1 .D2212=1,2212_LAST=0 写 D2213=1,D2212_LAST=1,WRelease1003=1 Arrive1003BarcodeLast=0");
|
}
|
//else if (tag.FNK1.D2211 == 1)
|
// tag.FNK1.D2210 = 0;
|
else if (tag.FNK1.D2212 == 0 && tag.FNK1.D2212_LAST == 1)
|
{
|
//tag.FNK1.D2212_LAST = 0;
|
RedisHelper.Add($"p发那科1下线.D2212_LAST", "0", out string msg);
|
LogHelper.Info($" p发那科1下线.D2212_LAST=0");
|
}
|
|
if (tag.FNK1.D2211 == 1)
|
{
|
tag.FNK1.D2210 = 0;
|
tag.SF下料位.wArrive1003Over = 1;
|
LogHelper.Info($" p发那科1下线 读D2211=1 写D2210 =0 写机械手收到空到1003=1");
|
}
|
}
|
|
public void ThreadFNK2Over(Tag tag)
|
{
|
Console.WriteLine($"ThreadFNK2Over =====>");
|
LogHelper.Info($" FN2 D2217>{tag.FNK2.D2217} D2217LAST>{tag.FNK2.D2217_LAST} D2215>{tag.FNK2.D2215} D2216>{tag.FNK2.D2216} D2218>{tag.FNK2.D2218}");
|
if (tag.FNK2.D2217 == 1 && tag.FNK2.D2217_LAST == 0)
|
{
|
//tag.FNK2.D2215 = 0;
|
//tag.FNK2.D2218 = 1;
|
//tag.FNK2.D2212_LAST = 1;
|
RedisHelper.Add($"p发那科2下线.D2217_LAST", "1", out string msg);
|
|
tag.SF下料位.WRelease1013 = 1;
|
tag.SF下料位.WSafe1113 = 1;
|
System.Threading.Thread.Sleep(1000);
|
//RedisHelper.Add($"FNK1003051113.RArrive1013_LAST", "0", out msg);
|
RedisHelper.Add($"Arrive1013BarcodeLast", "0", out msg);
|
LogHelper.Info($" FN2 .D2217=1,2217_LAST=0 写 2218=1,D2217_LAST=1,WRelease1013=1 Arrive1013BarcodeLast=0");
|
}
|
else if (tag.FNK2.D2217 == 0 && tag.FNK2.D2217_LAST == 1)
|
{
|
//tag.FNK2.D2217_LAST = 0;
|
RedisHelper.Add($"p发那科2下线.D2217_LAST", "0", out string msg);
|
|
LogHelper.Info($" p发那科2下线.D2217_LAST=0");
|
}
|
if (tag.FNK2.D2216 == 1)
|
{
|
tag.FNK2.D2215 = 0;
|
tag.SF下料位.wArrive1013Over = 1;
|
LogHelper.Info($" p发那科2下线 读D2216=1 写D2215 =0 写机械手收到空到1013=1");
|
}
|
|
LogHelper.Info($" FN2 D2212>{tag.FNK2.D2212} D2212LAST>{tag.FNK2.D2212_LAST} D2210>{tag.FNK2.D2210} D2211>{tag.FNK2.D2211} D2213>{tag.FNK2.D2213}");
|
if (tag.FNK2.D2212 == 1 && tag.FNK2.D2212_LAST == 0)
|
{
|
//tag.FNK2.D2210 = 0;
|
//tag.FNK2.D2213 = 1;
|
//tag.FNK2.D2217_LAST = 1;
|
RedisHelper.Add($"p发那科2下线.D2212_LAST", "1", out string msg);
|
|
tag.SF下料位.WRelease1011 = 1;
|
tag.SF下料位.WSafe1113 = 1;
|
System.Threading.Thread.Sleep(1000);
|
//RedisHelper.Add($"FNK1003051113.RArrive1011_LAST", "0", out msg);
|
RedisHelper.Add($"Arrive1011BarcodeLast", "0", out msg);
|
LogHelper.Info($" FN2 .D2212=1,2212_LAST=0 写 2213=1,D2212_LAST=1,WRelease1011=1 Arrive1011BarcodeLast=0");
|
}
|
else if (tag.FNK2.D2212 == 0 && tag.FNK2.D2212_LAST == 1)
|
{
|
//tag.FNK2.D2212_LAST = 0;
|
RedisHelper.Add($"p发那科2下线.D2212_LAST", "0", out string msg);
|
LogHelper.Info($" p发那科2下线.D2212_LAST=0");
|
}
|
if (tag.FNK2.D2211 == 1)
|
{
|
tag.FNK2.D2210 = 0;
|
tag.SF下料位.wArrive1011Over = 1;
|
LogHelper.Info($" p发那科2下线 读D2211=1 写D2210 =0 写机械手收到空到1011 wArrive1011Over=1");
|
}
|
}
|
|
|
public void Thread1019Down(Tag tag)
|
{
|
var taggg = tag.SA1019;
|
string vqu = "A1019取货交互";
|
LogHelper.Info($"1019任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "写AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "写AGV申请");
|
}
|
//Console.WriteLine($"1019任务状态: =====>");
|
//Console.WriteLine($"1019任务状态:{tag.SA1019.RtaskState}- barcode:{tag.SA1019.R托盘码}- 空闲{tag.SA1019.R5空闲}");
|
}
|
|
private void sa2008(Tag tag)
|
{
|
var rdisTcode = RedisHelper.Get<string>($"Arrive{2008}BarcodeLast", out string msg);
|
LogHelper.Info($"2008 托盘号{tag.SA2030.R托盘码} redis Arrive{2008}BarcodeLast托盘号:{rdisTcode} 匹配校验。");
|
if (!string.IsNullOrEmpty(tag.ssx输送线.s2008.R托盘码) && rdisTcode != tag.ssx输送线.s2008.R托盘码)
|
{
|
var ntr = tag.ssx输送线.s2008.R托盘码;
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = ntr,
|
type = 1
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data != null)
|
{
|
var end = (strr.data.lineNum == 1 ? 2027
|
: strr.data.lineNum == 2 ? 2020 : 2013);
|
tag.ssx输送线.s2008.wTaskNo = (uint)(20080000 + end);
|
tag.ssx输送线.s2008.wEbit = 2027;
|
tag.ssx输送线.s2008.R托盘码 = ntr;
|
RedisHelper.Add<string>($"Arrive{2008}BarcodeLast", ntr, out msg);
|
}
|
}
|
}
|
|
private void sa2030(Tag tag)
|
{
|
var taggg = tag.SA2030;
|
string vqu = "A2030取货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
private void sa2001(Tag tag)
|
{
|
var taggg = tag.SA2001;
|
string vqu = "A2001放货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
private void sa1030(Tag tag)
|
{
|
var taggg = tag.SA1030;
|
string vqu = "A1030取货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "写AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "写AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "写AGV申请");
|
}
|
}
|
|
private void sa1025(Tag tag)
|
{
|
var taggg = tag.SA1025;
|
string vqu = "A1025放货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
private void sa1022(Tag tag)
|
{
|
var taggg = tag.SA1022;
|
string vqu = "A1022放货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
private void sa3010(Tag tag)
|
{
|
var taggg = tag.ssx输送线.s3010;
|
string vqu = "A3010取货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
private void sa3006(Tag tag)
|
{
|
var taggg = tag.ssx输送线.s3006;
|
string vqu = "A3006放货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
private void sa3005(Tag tag)
|
{
|
var taggg = tag.ssx输送线.s3005;
|
string vqu = "A3005取货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
private void sa3001(Tag tag)
|
{
|
var taggg = tag.ssx输送线.s3010;
|
string vqu = "A3001放货交互";
|
LogHelper.Info($"{vqu}任务状态: =====>任务申请:{taggg.Ssetreq},输送线允许:{taggg.SreadCan} 任务完成:{taggg.SOver} 输送线收到完成:{taggg.SreadAgvover}");
|
if (taggg.SOver && taggg.SreadAgvover)
|
{
|
SetRedistoPlc(vqu + ".Ssetreq", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".SOver", "false", vqu + "Queue", "清AGV申请");
|
SetRedistoPlc(vqu + ".StaskMode", "0", vqu + "Queue", "清AGV申请");
|
}
|
}
|
|
public void Thread1025Up(Tag tag)
|
{
|
//if (tag.SA1019.SOver && tag.SA1019.SreadSsxOver)
|
//{
|
// SetRedistoPlc("A1019取货交互.Ssetreq", "false", "A1019取货交互Queue", "写AGV申请");
|
// SetRedistoPlc("A1019取货交互.SOver", "false", "A1019取货交互Queue", "写AGV申请");
|
//}
|
//Console.WriteLine($"SA1025 任务状态: =====>");
|
//Console.WriteLine($"SA1025 任务状态:{tag.SA1025.RtaskState}- 空闲{tag.SA1025.R5空闲}");
|
}
|
public void Thread1022Up(Tag tag)
|
{
|
//if (tag.SA1019.SOver && tag.SA1019.SreadSsxOver)
|
//{
|
// SetRedistoPlc("A1019取货交互.Ssetreq", "false", "A1019取货交互Queue", "清理");
|
// SetRedistoPlc("A1019取货交互.SOver", "false", "A1019取货交互Queue", "清理");
|
//}
|
//Console.WriteLine($"SA1022 =====>");
|
//Console.WriteLine($"SA1022 任务状态:{tag.SA1022.RtaskState}- 空闲{tag.SA1022.R5空闲}");
|
}
|
public void Thread1030Down(Tag tag)
|
{
|
Console.WriteLine($"SA1030 任务状态: =====>");
|
if (tag.SA1030.RtaskState == 4 && tag.SA1030.RtaskState_LAST == 0 && tag.SA2001.R5空闲 == 5)
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 10,
|
startBit = "1030",
|
endBit = "2001",
|
}));
|
RedisHelper.Add($"S1030Read.RtaskState_LAST", "1", out string msg);
|
}
|
else if (tag.SA1030.RtaskState != 4 && tag.SA1030.RtaskState_LAST == 1)
|
RedisHelper.Add($"S1030Read.RtaskState_LAST", "0", out string msg);
|
//if (tag.SA1019.SOver && tag.SA1019.SreadSsxOver)
|
//{
|
// SetRedistoPlc("A1022放货交互.Ssetreq", "false", "A1022放货交互Queue", "清理");
|
// SetRedistoPlc("A1022放货交互.SOver", "false", "A1022放货交互Queue", "清理");
|
//}
|
//Console.WriteLine($"SA1030 任务状态:{tag.SA1030.RtaskState}- 空闲{tag.SA1030.R5空闲}-->对应终点2001>空闲5:{tag.SA2001.R5空闲}");
|
}
|
static int i = 0;
|
public void Thread2030Down(Tag tag)
|
{
|
i++;
|
if (i > 2 * 3600 / 3)
|
{
|
Console.Clear();
|
LogHelper.Info($"循环{i}次>> 清空控制台。");
|
i = 0;
|
}
|
|
//Console.WriteLine($"SA2030 任务状态: =====>");
|
//Console.WriteLine($"SA2030 任务状态:{tag.SA2030.RtaskState}- 空闲{tag.SA2030.R5空闲} - barcode:{tag.SA2030.R托盘码}");
|
|
}
|
|
public void ResolveMesTask(Tag tag)
|
{
|
TaskRepository taskservice = new TaskRepository();
|
var tasks = taskservice.FindList(x => (x.S_B_STATE == "MES" || x.S_B_STATE == "People") && x.N_PRIORITY == -88);
|
var VERXs = Settings.deviceInfos?.FindAll(x => x.deviceType == 2);
|
//if (VERXs.Any())
|
foreach (var task in tasks)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} ");
|
if (task.S_TYPE?.Trim() == "100")
|
{
|
LogHelper.Info($"MES任务 S_TYPE 100->{task.S_TYPE} ");
|
}
|
var sx = VERXs?.Find(x => x.location.Contains(task.S_END_LOC));
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} {(sx == null ? "非" : "是")}总装机器人任务");
|
if (sx == null)
|
{
|
gotoOOOOOOOOO:
|
if (string.IsNullOrEmpty(task.S_CNTRS) && !string.IsNullOrEmpty(task.S_INDEX))
|
{
|
// 叫料任务。 指定物料不指定托盘,需要出库
|
var ssagv = Settings.deviceInfos.Find(x => x.deviceType == 4);
|
if (ssagv.location.Contains(task.S_START_LOC))
|
switch (task.S_START_LOC)
|
{
|
case "2030":
|
if (!string.IsNullOrEmpty(tag.SA2030.R托盘码))
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 2030 出口托盘号{tag.SA2030.R托盘码} 匹配校验。");
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = tag.SA2030.R托盘码,
|
type = 1
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data.materialCode == task.S_INDEX)
|
{
|
task.S_CNTRS = tag.SA2030.R托盘码;
|
taskservice.Update(task);
|
goto gotoOOOOOOOOO;
|
}
|
else
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 2030 出口的托盘物料{strr.data.materialCode}不符合");
|
}
|
}
|
else
|
{
|
//2027 2220 2013.. 识别一下,开始库
|
//1 看27 20 13 是否有任务。 有则不出了。 等出口判断匹配。
|
//2 都没有任务,逐个匹配是否符合,则出库。
|
//LogHelper.Info($"");
|
{
|
var t20132027 = tag.ssx输送线.s2027;
|
LogHelper.Info($"识别2027任务 托盘号:{t20132027.R托盘码} RTaskNo>{t20132027.RTaskNo} REbit>{t20132027.REbit} wTaskNo>{t20132027.wTaskNo} wEbit>{t20132027.wEbit}");
|
if ((t20132027.RTaskNo > 0 && t20132027.REbit == 2030) || (t20132027.wTaskNo > 0 && t20132027.wEbit == 2030))
|
{
|
LogHelper.Info($"2027任务 任务终点是2030 ,终止");
|
continue;
|
}
|
}
|
{
|
var t20132027 = tag.ssx输送线.s2020;
|
LogHelper.Info($"识别2027任务 托盘号:{t20132027.R托盘码} RTaskNo>{t20132027.RTaskNo} REbit>{t20132027.REbit} wTaskNo>{t20132027.wTaskNo} wEbit>{t20132027.wEbit}");
|
if ((t20132027.RTaskNo > 0 && t20132027.REbit == 2030) || (t20132027.wTaskNo > 0 && t20132027.wEbit == 2030))
|
{
|
LogHelper.Info($"2020任务 任务终点是2030 ,终止");
|
continue;
|
}
|
}
|
{
|
var t20132027 = tag.ssx输送线.s2013;
|
LogHelper.Info($"识别2027任务 托盘号:{t20132027.R托盘码} RTaskNo>{t20132027.RTaskNo} REbit>{t20132027.REbit} wTaskNo>{t20132027.wTaskNo} wEbit>{t20132027.wEbit}");
|
if ((t20132027.RTaskNo > 0 && t20132027.REbit == 2030) || (t20132027.wTaskNo > 0 && t20132027.wEbit == 2030))
|
{
|
LogHelper.Info($"2013任务 任务终点是2030 ,终止");
|
continue;
|
}
|
}
|
if (!string.IsNullOrEmpty(tag.ssx输送线.s2027.R托盘码))
|
{
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = tag.ssx输送线.s2027.R托盘码,
|
type = 1
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data.materialCode == task.S_INDEX)
|
{
|
LogHelper.Info($"2027 读到托盘{tag.ssx输送线.s2027.R托盘码} 匹配成功,写任务号:20272030,终点:2030 和托盘码同读");
|
tag.ssx输送线.s2027.wTaskNo = 20272030;
|
tag.ssx输送线.s2027.wEbit = 2030;
|
tag.ssx输送线.s2027.w托盘码 = tag.ssx输送线.s2027.R托盘码;
|
LogHelper.Info($"2027 > 2030 SSX任务下发完成。");
|
continue;
|
}
|
}
|
if (!string.IsNullOrEmpty(tag.ssx输送线.s2020.R托盘码))
|
{
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = tag.ssx输送线.s2020.R托盘码,
|
type = 1
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data.materialCode == task.S_INDEX)
|
{
|
LogHelper.Info($"2020 读到托盘{tag.ssx输送线.s2020.R托盘码} 匹配成功,写任务号:20202030,终点:2030 和托盘码同读");
|
tag.ssx输送线.s2020.wTaskNo = 20202030;
|
tag.ssx输送线.s2020.wEbit = 2030;
|
tag.ssx输送线.s2020.w托盘码 = tag.ssx输送线.s2020.R托盘码;
|
LogHelper.Info($"2020 > 2030 SSX任务下发完成。");
|
continue;
|
}
|
}
|
if (!string.IsNullOrEmpty(tag.ssx输送线.s2013.R托盘码))
|
{
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = tag.ssx输送线.s2013.R托盘码,
|
type = 1
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data.materialCode == task.S_INDEX)
|
{
|
LogHelper.Info($"2013 读到托盘{tag.ssx输送线.s2013.R托盘码} 匹配成功,写任务号:20132030,终点:2030 和托盘码同读");
|
tag.ssx输送线.s2013.wTaskNo = 20132030;
|
tag.ssx输送线.s2013.wEbit = 2030;
|
tag.ssx输送线.s2013.w托盘码 = tag.ssx输送线.s2013.R托盘码;
|
LogHelper.Info($"2013 > 2030 SSX任务下发完成。");
|
continue;
|
}
|
}
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 日志能跑到这,说明没物料,或者都不符合 无法去2030");
|
}
|
break;
|
case "1019":
|
if (!string.IsNullOrEmpty(tag.SA1019.R托盘码))
|
{
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = tag.SA1019.R托盘码,
|
type = 2
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data.materialCode == task.S_INDEX)
|
{
|
task.S_CNTRS = tag.SA2030.R托盘码;
|
taskservice.Update(task);
|
goto gotoOOOOOOOOO;
|
}
|
else
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 1019 出口的托盘物料{strr.data.materialCode}不符合");
|
}
|
}
|
break;
|
//case "1030":
|
// {
|
|
// }
|
//break;
|
case "3005":
|
{
|
if (!string.IsNullOrEmpty(tag.ssx输送线.s3005.R托盘码))
|
{
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = tag.ssx输送线.s3005.R托盘码,
|
type = 2
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data.materialCode == task.S_INDEX)
|
{
|
task.S_CNTRS = tag.ssx输送线.s3005.R托盘码;
|
taskservice.Update(task);
|
goto gotoOOOOOOOOO;
|
}
|
else
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 3010 出口的托盘物料{strr.data.materialCode}不符合");
|
}
|
}
|
}
|
break;
|
case "3010":
|
{
|
if (!string.IsNullOrEmpty(tag.ssx输送线.s3010.R托盘码))
|
{
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/224", JsonConvert.SerializeObject(new
|
{
|
cntrCode = tag.ssx输送线.s3010.R托盘码,
|
type = 2
|
}));
|
var strr = JsonConvert.DeserializeObject<MES2234>(str);
|
if (strr.success && strr.data.materialCode == task.S_INDEX)
|
{
|
task.S_CNTRS = tag.ssx输送线.s3010.R托盘码;
|
taskservice.Update(task);
|
goto gotoOOOOOOOOO;
|
}
|
else
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 物料{task.S_INDEX} 与 3010 出口的托盘物料{strr.data.materialCode}不符合");
|
}
|
}
|
}
|
break;
|
}
|
//else if (ssagv.location.Contains(task.S_END_LOC))
|
// switch (task.S_END_LOC)
|
// {
|
// case "1022":
|
// {
|
// if (tag.SA1022.R5空闲 != 1)
|
// {
|
// LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点1022 非空闲,不推送");
|
// continue;
|
// }
|
// }
|
// break;
|
// case "1025":
|
// {
|
// if (tag.SA1025.R5空闲 != 1)
|
// {
|
// LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 1025 非空闲,不推送");
|
// continue;
|
// }
|
// }
|
// break;
|
// case "2001":
|
// {
|
// if (tag.SA2001.R5空闲 != 1)
|
// {
|
// LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 2001 非空闲,不推送");
|
// continue;
|
// }
|
// }
|
// break;
|
// case "3001":
|
// {
|
// if (tag.ssx输送线.s3001.R5空闲 != 1)
|
// {
|
// LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3001 非空闲,不推送");
|
// continue;
|
// }
|
// }
|
// break;
|
// case "3006":
|
// {
|
// if (tag.ssx输送线.s3006.R5空闲 != 1)
|
// {
|
// LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3006 非空闲,不推送");
|
// continue;
|
// }
|
// }
|
// break;
|
// }
|
}
|
else
|
{
|
//if (new List<string> { "2001", "1022", "1025", "3001", "3006" }.Contains(task.S_END_LOC))
|
//{
|
//}
|
//if (new List<string> { "1019"/*, "1030"*/, "2030", "3005", "3010" }.Contains(task.S_START_LOC)) //1030 是主动申请, 不用判断。
|
//{
|
// //物料匹配判断。和 2030判断
|
//}
|
string type = "";
|
if (new List<string> { "1019"/*, "1030"*/, "2030", "3005", "3010" }.Contains(task.S_START_LOC))
|
switch (task.S_START_LOC)
|
{
|
case "1019":
|
{
|
type = "A009";
|
if (tag.SA1019.RtaskState != 4)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 1019 RtaskState>{tag.SA1019.RtaskState} 未申请RGV任务,不推送");
|
continue;
|
}
|
}
|
break;
|
case "2030":
|
{
|
type = "A007";
|
if (tag.SA2030.RtaskState != 4)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 2030 RtaskState>{tag.SA2030.RtaskState} 未申请RGV任务,不推送");
|
continue;
|
}
|
}
|
break;
|
case "3005":
|
{
|
type = "A010";
|
if (tag.ssx输送线.s3005.RtaskState != 4)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 3005 RtaskState>{tag.ssx输送线.s3005.RtaskState} 未申请RGV任务,不推送");
|
continue;
|
}
|
}
|
break;
|
case "3010":
|
{
|
type = "A010";
|
if (tag.ssx输送线.s3010.RtaskState != 4)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 起点 3010 RtaskState>{tag.ssx输送线.s3010.RtaskState} 未申请RGV任务,不推送");
|
continue;
|
}
|
}
|
break;
|
}
|
if (new List<string> { "2001", "1022", "1025", "3001", "3006" }.Contains(task.S_END_LOC))
|
switch (task.S_END_LOC)
|
{
|
case "1022":
|
{
|
type = "A008";
|
if (tag.SA1022.R5空闲 != 5)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点1022 >{tag.SA1022.R5空闲} 非空闲,不推送");
|
continue;
|
}
|
}
|
break;
|
case "1025":
|
{
|
type = "A007";
|
if (tag.SA1025.R5空闲 != 5)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 1025 >{tag.SA1025.R5空闲} 非空闲,不推送");
|
continue;
|
}
|
}
|
break;
|
case "2001":
|
{
|
type = "A007";
|
if (tag.SA2001.R5空闲 != 5)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 2001>{tag.SA2001.R5空闲} 非空闲,不推送");
|
continue;
|
}
|
}
|
break;
|
case "3001":
|
{
|
type = "A010";
|
if (tag.ssx输送线.s3001.R5空闲 != 5)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3001>{tag.ssx输送线.s3001.R5空闲} 非空闲,不推送");
|
continue;
|
}
|
}
|
break;
|
case "3006":
|
{
|
type = "A010";
|
if (tag.ssx输送线.s3006.R5空闲 != 5)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 终点 3006>{tag.ssx输送线.s3001.R5空闲} 非空闲,不推送");
|
continue;
|
}
|
}
|
break;
|
}
|
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 直接生成对应任务");
|
//直接生成对应任务。
|
var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_START_LOC, task.S_END_LOC, task.S_TYPE, 6, task.S_CNTRS?.Split(',').ToList() ?? new List<string>(), "AGV", type);
|
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 直接生成对应任务 结果:{res}");
|
if (res)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 修改标识");
|
//task.N_PRIORITY = 0;
|
taskservice.dbcontext.Set<TaskEntity>().Attach(task);
|
taskservice.dbcontext.Entry(task).Property(x => x.N_PRIORITY).CurrentValue = 0;
|
taskservice.dbcontext.Entry(task).Property(x => x.N_PRIORITY).IsModified = true;
|
taskservice.dbcontext.SaveChanges();
|
}
|
}
|
}
|
else
|
{
|
var sindex = sx.location.ToList().IndexOf(task.S_END_LOC);
|
LocRepository locRepository = new LocRepository();
|
//生成跳跃任务。 -- 托盘货位表。
|
var t1s = taskservice.FindList(x => x.S_SRC_NO == task.S_TASK_NO);
|
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 查找是否有已生成任务:{t1s != null}");
|
if (t1s.Any())
|
{
|
var t1 = t1s.OrderBy(x => x.T_CREATE).LastOrDefault();
|
if (t1.S_END_LOC == task.S_END_LOC)
|
{
|
task.N_PRIORITY = 0;
|
task.S_B_STATE = "MES_完成";
|
taskservice.Update(task);
|
continue;
|
}
|
if (t1.S_B_STATE == "完成")
|
{
|
//1.终点是否有托盘。 依据是终点的任务是 作为终点,还是起点。
|
//var ec = taskservice.FindList(x => (x.S_START_LOC == task.S_START_LOC || x.S_END_LOC == task.S_END_LOC) /*&& DateTime.Now.Subtract(x.T_CREATE).TotalHours < 5*/).OrderByDescending(x => x.T_CREATE).FirstOrDefault();//($"select top 1 * from TN_TASK WHERE S_START_LOC='{task.S_END_LOC}' OR S_END_LOC='{task.S_END_LOC}' ORDER BY T_CREATE DESC");
|
//var ec = taskservice.FindList(x => x.S_START_LOC == task.S_START_LOC && x.S_END_LOC == task.S_START_LOC, new Common.Data.Pagination
|
// {
|
// page = 1,
|
// sidx = "T_CREATE",
|
// sord = "desc",
|
// rows = 1
|
// }).FirstOrDefault();
|
//TaskEntity ec = null;
|
//var dev = Conn.默认Redis.GetValue(sx.deviceName + "." + (sindex == 0 ? "D1224" : "D1225"));
|
//if (dev?.Trim() == "1")
|
// ec = taskservice.FindList(x => x.S_END_LOC == task.S_END_LOC && x.S_B_STATE == "完成", new Common.Data.Pagination
|
// {
|
// page = 1,
|
// sidx = "T_CREATE",
|
// sord = "desc",
|
// rows = 1
|
// }).FirstOrDefault();
|
bool canReq = true;
|
var tf = Conn.默认Redis.GetValue(sx.deviceName + ".D1202");
|
var V = sx.location.ToList().FindIndex(x => x == task.S_END_LOC) == 0;
|
var tf2 = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf);
|
canReq = TcpServer.GetBitdata(tf2, (V ? 2 : 3)) == 1;
|
//if (canReq)
|
// ec = taskservice.FindList(x => x.S_END_LOC == task.S_END_LOC && x.S_B_STATE == "完成", new Common.Data.Pagination
|
// {
|
// page = 1,
|
// sidx = "T_CREATE",
|
// sord = "desc",
|
// rows = 1
|
// }).FirstOrDefault();
|
if (t1.S_START_LOC == task.S_START_LOC && canReq)//!= task.S_END_LOC)
|
{
|
//第二段。
|
LocEntity endLoc = null;
|
var di = sx;
|
if (di != null)
|
{
|
//foreach (var ssloc in di.deviceNo)
|
{
|
var ssloc = di.deviceNo[1];
|
var endloc = locRepository.FindEntity(x => x.S_LOC_CODE == ssloc);
|
if (endloc != null && endloc.N_CURRENT_NUM == 0 && endloc.S_LOCK_STATE.Trim() == "无")
|
{
|
endLoc = endloc;
|
//break;
|
}
|
}
|
if (endLoc != null)
|
{
|
var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_END_LOC, endLoc.S_LOC_CODE, task.S_TYPE + "下空", 7, "NONE".Split(',').ToList());
|
if (res)
|
{
|
task.N_PRIORITY = 0; taskservice.Update(task);
|
}
|
}
|
}
|
}
|
else
|
{
|
if (t1.S_START_LOC != task.S_START_LOC)
|
{
|
t1 = taskservice.FindEntity(x => x.S_SRC_NO == task.S_TASK_NO && x.S_START_LOC == task.S_START_LOC && x.S_B_STATE == "完成");
|
}
|
var res = TaskProcess.CreateTask(task.S_TASK_NO, t1.S_END_LOC, task.S_END_LOC, task.S_TYPE + "补满", 6, task.S_CNTRS.Split(',').ToList());
|
if (res)
|
{
|
task.N_PRIORITY = 0; taskservice.Update(task);
|
}
|
}
|
}
|
}
|
else
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 筛选生成第一段 任务。");
|
//生成第一段。
|
LocEntity endLoc = null;
|
var di = sx;
|
if (di != null)
|
{
|
//foreach (var ssloc in di.deviceNo)
|
{
|
var ssloc = di.deviceNo[0];
|
var endloc = locRepository.FindEntity(x => x.S_LOC_CODE == ssloc);
|
if (endloc != null && endloc.N_CURRENT_NUM == 0 && endloc.S_LOCK_STATE.Trim() == "无")
|
{
|
endLoc = endloc;
|
//break;
|
}
|
}
|
if (endLoc != null)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 创建第一段 任务。");
|
var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_START_LOC, endLoc.S_LOC_CODE, task.S_TYPE + "满转", 8, task.S_CNTRS.Split(',').ToList());
|
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 创建第一段 任务。结果:{res}");
|
if (res)
|
{
|
task.N_PRIORITY = 0; taskservice.Update(task);
|
}
|
}
|
}
|
}
|
|
}
|
}
|
}
|
|
public string procNo()
|
{
|
return TaskProcess.GenerateTaskNo("日志流水号", "LOG");
|
}
|
public bool SetRedistoPlc(string key, string value, string queue, string desc)
|
{
|
var vnc = procNo();
|
LogHelper.Info($"{vnc}>>Redis.SetValue写plc 描述:{desc} tagName:{key},value:{value},queue:{queue}");
|
var v = Conn.默认Redis.SetValue(key, value, queue);
|
LogHelper.Info($"{vnc}>> 写入结果{v}");
|
return v;
|
}
|
public HkReturnResult OperateHKTaskStatus(HaiKangOrderInfo model)
|
{
|
// 查询任务:根据任务号
|
//var wcsTask = WCSHelper.GetTask(model.taskCode);
|
ITaskRepository MainMissionService = new TaskRepository();
|
var wcsTask = MainMissionService.FindEntity(x => model.taskCode == x.S_TASK_NO);
|
if (wcsTask != null)
|
{
|
if (!string.IsNullOrWhiteSpace(model.method))
|
{
|
ILocRepository locrep = new LocRepository();
|
var startloc = locrep.FindEntity(x => x.S_LOC_CODE == wcsTask.S_START_LOC);
|
var endLoc = locrep.FindEntity(x => x.S_LOC_CODE == wcsTask.S_END_LOC);
|
|
List<string> cntrs = wcsTask.S_CNTRS.Split(',').ToList();
|
bool bobe = false;
|
//model.method = model.method?.ToLower();
|
switch (model.method)
|
{
|
case "start":
|
LogHelper.Info($"海康车任务状态变更为执行,任务号为:{model.taskCode}", "agv杭叉交互日志");
|
if (wcsTask.S_B_STATE.Trim() == "已推送")
|
{
|
wcsTask.S_B_STATE = "执行中";
|
wcsTask.T_START_TIME = DateTime.Now;
|
MainMissionService.Update(wcsTask);
|
bobe = true;
|
}
|
break;
|
case "outBin":
|
case "outbin":
|
model.method = model.method?.ToLower();
|
LogHelper.Info($"海康车任务状态变更为取货完成,任务号为:{model.taskCode}", "agv杭叉交互日志");
|
wcsTask.S_B_STATE = "取货完成";
|
|
startloc.N_CURRENT_NUM = 0;
|
startloc.S_LOCK_STATE = "无";
|
startloc.T_MODIFY = DateTime.Now;
|
//ILocContainerRepository locContainerRepository = new LocContainerRepository();
|
////var cnr = locContainerRepository.FindList(x => cntrs.Contains(x.S_CNTR_CODE.Trim()) && x.S_LOC_CODE == wcsTask.S_START_LOC);
|
//locContainerRepository.Delete(x => cntrs.Contains(x.S_CNTR_CODE.Trim()) && x.S_LOC_CODE == wcsTask.S_START_LOC);
|
MainMissionService.Update(wcsTask);
|
locrep.Update(startloc);
|
|
bobe = true;
|
var device = Settings.deviceInfos.Find(x => x.location.Contains(wcsTask.S_START_LOC));
|
if (device != null)
|
{
|
if (device.deviceType == 1)
|
{
|
if (device.deviceName.Contains("维希尔抓臂"))
|
{ //卸货进行清空,触发扫码
|
var inde = device.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0;
|
string V = inde ? "R05" : "R06";
|
Conn.默认Redis.SetValue(device.deviceName + "." + V, "true", device.deviceName + "Queue", false);
|
|
TcpServer.TrayIps.Remove(device.deviceNo[inde ? 0 : 1]);
|
}
|
}
|
else if (device.deviceType == 2)
|
{
|
//Task.Run(() =>
|
//{
|
// var inde = device.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0;
|
// string V = inde ? "D1224" : "D1225";
|
// Conn.默认Redis.SetValue(device.deviceName + "." + V, "0", device.deviceName + "Queue");
|
//});
|
}
|
else
|
switch (device.deviceType)
|
{
|
case 4:
|
{
|
|
}
|
break;
|
|
}
|
}
|
//LocationHelper.UnLockLoc(wcsTask.S_START_LOC);
|
break;
|
case "end":
|
LogHelper.Info($"海康车任务状态变更为完成,任务号为:{model.taskCode}", "agv杭叉交互日志");
|
wcsTask.S_B_STATE = "完成";
|
wcsTask.T_END_TIME = DateTime.Now;
|
|
bobe = true;
|
//ILocContainerRepository locContainerRepository2 = new LocContainerRepository();
|
//List<LocContainerEntity> llls = new List<LocContainerEntity>();
|
//foreach (var c in cntrs)
|
//{
|
// var action = new LocContainerEntity()
|
// {
|
// S_ID = Guid.NewGuid().ToString(),
|
// S_STATE = "编辑",
|
// T_CREATE = DateTime.Now,
|
// T_MODIFY = DateTime.Now,
|
|
// S_LOC_CODE = endLoc.S_LOC_CODE,
|
// S_CNTR_CODE = c,
|
// S_TYPE = "",
|
// };
|
// llls.Add(action);
|
//}
|
|
endLoc.S_LOCK_STATE = "无";
|
endLoc.N_CURRENT_NUM = 1;
|
endLoc.T_MODIFY = DateTime.Now;
|
MainMissionService.Update(wcsTask);
|
if (Settings.deviceInfos.Find(x => x.deviceType == 2 && (/*x.location.Contains(wcsTask.S_END_LOC)||*/x.deviceNo.Contains(wcsTask.S_END_LOC))) != null)
|
locrep.Update(endLoc);
|
//locContainerRepository2.Insert(llls);
|
|
var device2 = Settings.deviceInfos.Find(x => x.location.Contains(wcsTask.S_END_LOC));
|
if (device2 != null)
|
{
|
if (device2.deviceType == 1)
|
{
|
if (device2.deviceName.Contains("维希尔抓臂"))
|
{
|
//string V = device2.location.ToList().FindIndex(x => x == wcsTask.S_START_LOC) == 0 ? "R10" : "R11";
|
//Conn.默认Redis.SetValue(device2.deviceName + "." + V, "true", device2.deviceName + "Queue");
|
//卸货再写托盘取走。 然后触发扫码进行校验。
|
var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0;
|
//string V = inde ? "R05" : "R06";
|
//Conn.默认Redis.SetValue(device2.deviceName + "." + V, "true", device2.deviceName + "Queue");
|
string V2 = inde ? "R10_LAST" : "R11_LAST";
|
//Conn.默认Redis.SetValue(device2.deviceName + "." + V2, "true", device2.deviceName + "Queue");
|
|
GZ.Modular.Redis.RedisHelper.Add(device2.deviceName + "." + V2, "true", out string msg1);
|
TcpServer.TrayIps.Remove(device2.deviceNo[inde ? 0 : 1]);
|
}
|
}
|
else if (device2.deviceType == 2)
|
{
|
if (device2.deviceName.Contains("Js捷顺"))
|
{
|
//Task.Run(() =>
|
//{
|
var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0;
|
string V = inde ? "D1224" : "D1225";
|
Conn.默认Redis.SetValue(device2.deviceName + "." + V, "1", device2.deviceName + "Queue");
|
//});
|
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
|
{
|
sceneType = 3,
|
cntrCode = cntrs.FirstOrDefault()
|
}));
|
//if (device2.deviceName.Contains("1"))
|
//{
|
// if (inde) tag.Js1.D1224 = 1;
|
// else tag.Js1.D1225 = 1;
|
//}else
|
//{
|
// if (inde) tag.Js2.D1224 = 1;
|
// else tag.Js2.D1225 = 1;
|
//}
|
}
|
var ssloc = device2.deviceNo[1];
|
var endloc = locrep.FindEntity(x => x.S_LOC_CODE == ssloc);
|
LogHelper.Info($"捷顺卸货后, 查看缓存位 {ssloc}-{endloc?.N_CURRENT_NUM}>0? 则申请mes搬走。");
|
if (endloc != null && endloc.N_CURRENT_NUM == 1)
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 3,
|
startBit = ssloc
|
}));
|
LogHelper.Info($"{ssloc}申请mes任务结果{str}");
|
}
|
}
|
else
|
switch (device2.deviceType)
|
{
|
case 4:
|
{
|
|
}
|
break;
|
case 5:
|
{
|
var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0;
|
string V = inde ? "D2210" : "D2215";
|
Conn.默认Redis.SetValue(device2.deviceName + "." + V, "1", device2.deviceName + "Queue");
|
}
|
break;
|
case 6:
|
{
|
//var inde = device2.location.ToList().FindIndex(x => x == wcsTask.S_END_LOC) == 0;
|
//string V = inde ? "D2210" : "D2215";
|
//Conn.默认Redis.SetValue(device2.deviceName + "." + V, "1", device2.deviceName + "Queue");
|
}
|
break;
|
}
|
}
|
|
//LocationMethod.JudgeLocation(wcsTask);
|
break;
|
case "cancel":
|
LogHelper.Info($"海康车任务状态变更为取消,任务号为:{model.taskCode}", "agv杭叉交互日志");
|
wcsTask.S_B_STATE = "取消";
|
//startloc.S_LOCK_STATE = "无";
|
//endLoc.S_LOCK_STATE = "无";
|
MainMissionService.Update(wcsTask);
|
TaskActRepository taskActRepository = new TaskActRepository();
|
var tare = taskActRepository.FindList(x => x.S_TASK_NO == wcsTask.S_TASK_NO);
|
if (tare.Any())
|
{
|
if (tare.Find(x => x.S_ACTION_CODE == "outbin") == null)
|
{
|
startloc.S_LOCK_STATE = "无";
|
endLoc.S_LOCK_STATE = "无";
|
locrep.Update(startloc);
|
locrep.Update(endLoc);
|
}
|
else if (tare.Find(x => x.S_ACTION_CODE == "end") == null)
|
{
|
endLoc.S_LOCK_STATE = "无";
|
locrep.Update(endLoc);
|
}
|
}
|
|
//locrep.Update(startloc);
|
//locrep.Update(endLoc);
|
//TaskProcess.OperateStatus(wcsTask, 7);
|
//WCSHelper.Fail(wcsTask);
|
break;
|
case "apply":
|
// 判断该任务的接驳位是否有其他入库或出库任务,如果有,则在等位等待,如果没有,则入
|
//TaskisOk(wcsTask);
|
break;
|
}
|
|
if (!string.IsNullOrEmpty(wcsTask.S_SRC_NO))
|
{
|
var mestask = MainMissionService.FindEntity(x => x.S_TASK_NO == wcsTask.S_SRC_NO);
|
if (mestask != null && bobe)
|
{
|
if (model.method != "end")
|
{
|
if (mestask.S_START_LOC == wcsTask.S_START_LOC && mestask.S_B_STATE == "MES")
|
Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new
|
{
|
reqCode = wcsTask.S_SRC_NO,
|
model.method
|
}));
|
}
|
else
|
{
|
if (mestask.S_END_LOC != wcsTask.S_END_LOC)
|
{
|
LogHelper.Info($"{wcsTask.S_SRC_NO}-{wcsTask.S_TASK_NO} 一阶段完成,重置进行二阶段。");
|
mestask.N_PRIORITY = -88;
|
MainMissionService.Update(mestask);
|
}
|
else if (mestask.S_B_STATE == "MES")
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new
|
{
|
reqCode = wcsTask.S_SRC_NO,
|
model.method
|
}));
|
}
|
}
|
|
}
|
else if (mestask != null && model.method == "cancel")
|
{
|
if (mestask.S_B_STATE == "MES")
|
Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", JsonConvert.SerializeObject(new
|
{
|
reqCode = wcsTask.S_SRC_NO,
|
model.method
|
}));
|
LogHelper.Info($"{wcsTask.S_SRC_NO}-{wcsTask.S_TASK_NO} 一阶段取消,重置点,线程处理。");
|
mestask.N_PRIORITY = -1;
|
mestask.S_B_STATE = "MES_取消";
|
MainMissionService.Update(mestask);
|
}
|
}
|
TaskProcess.AddActionRecord(model.taskCode, model.method, model.eqpCode, model.data, wcsTask.S_START_LOC, wcsTask.S_END_LOC);
|
//调用第三方接口(如果有)TaskProcess.ReportStatus
|
}
|
else
|
{
|
// 暂时设定为0
|
wcsTask.S_B_STATE = "上报状态空";
|
//安全请求等
|
//TaskProcess.OperateReq(model.taskCode, wcsTask.N_B_STATE, model.eqpCode, model.data);
|
}
|
}
|
else
|
{
|
LogHelper.Info($"当前任务号任务不存在{model.taskCode} agv杭叉交互日志");
|
return new HkReturnResult { reqCode = model.reqCode, code = 1, message = "这不是我们的任务。" };
|
}
|
return new HkReturnResult { reqCode = model.reqCode, code = 0 };
|
}
|
|
public void TaskEverythingRun()
|
{
|
var host = System.Net.Dns.GetHostEntry(System.Net.Dns.GetHostName());
|
foreach (var ip in host.AddressList)
|
{
|
if (ip.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
|
{
|
Console.WriteLine($"ip= {ip.ToString()}");
|
new HttpServer(ip.ToString()).HttpServerRun();
|
new TcpServer(ip.ToString());
|
var server = new EnhancedWebSocketServer($"http://{ip.ToString()}:8809/").StartAsync();
|
//var client = new WebSocketClient($"http://{ip.ToString()}:8809/").ConnectAsync();
|
break;
|
}
|
}
|
}
|
|
/// <summary>
|
/// 定子1号线。
|
/// 1.增加下线逻辑。 2. 有取筐信号就写,没信号嫑写
|
/// </summary>
|
/// <param name="tag"></param>
|
public void ThreadMXC3(Tag tag)
|
{
|
var VERX = Settings.deviceInfos.Find(x => x.deviceType == 5 && x.deviceName.Contains("1号"));
|
if (VERX == null)
|
{
|
LogHelper.Info("定子1号线 deviceType 5 没有配置。");
|
return;
|
}
|
LogHelper.Info($" {VERX.deviceName} D2221>{tag.DZ1.D2221} D2221_LAST>{tag.DZ1.D2221_LAST} D2226>{tag.DZ1.D2226} D2226_LAST>{tag.DZ1.D2226_LAST}");
|
if (tag.DZ1.D2221 == 1 && tag.DZ1.D2221_LAST == 0)
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 7,
|
startBit = VERX.location[0],
|
endBit = "1025",
|
unLockStartBitOutbin = true
|
}));
|
LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
|
var strr = JsonConvert.DeserializeObject<Messss>(str);
|
if (strr != null && strr.success && strr.data?.state == 0)
|
RedisHelper.Add($"D定子1号机械手.D2221_LAST", "1", out string msg);
|
}
|
else if (tag.DZ1.D2221 == 0 && tag.DZ1.D2221_LAST == 1)
|
{
|
LogHelper.Info($"重置 D定子1号机械手.D2221_LAST > 0");
|
RedisHelper.Add($"D定子1号机械手.D2221_LAST", "0", out string msg);
|
|
string V = 0 == 0 ? "D2210" : "D2215";
|
Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue");
|
}
|
|
|
if (tag.DZ1.D2226 == 1 && tag.DZ1.D2226_LAST == 0)
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 7,
|
startBit = VERX.location[1],
|
endBit = "1025",
|
unLockStartBitOutbin = true
|
}));
|
LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
|
var strr = JsonConvert.DeserializeObject<Messss>(str);
|
if (strr != null && strr.success && strr.data?.state == 0)
|
RedisHelper.Add($"D定子1号机械手.D2226_LAST", "1", out string msg);
|
}
|
else if (tag.DZ1.D2226 == 0 && tag.DZ1.D2226_LAST == 1)
|
{
|
LogHelper.Info($"重置 D定子1号机械手.D2226_LAST > 0");
|
RedisHelper.Add($"D定子1号机械手.D2226_LAST", "0", out string msg);
|
string V = 1 == 0 ? "D2210" : "D2215";
|
Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue");
|
}
|
|
|
}
|
/// <summary>
|
/// 定子2号线。
|
/// </summary>
|
/// <param name="tag"></param>
|
public void ThreadMXC4(Tag tag)
|
{
|
var VERX = Settings.deviceInfos.Find(x => x.deviceType == 5 && x.deviceName.Contains("2号"));
|
if (VERX == null)
|
{
|
LogHelper.Info("定子2号线 deviceType 5 没有配置。");
|
return;
|
}
|
LogHelper.Info($" {VERX.deviceName} D2221>{tag.DZ2.D2221} D2221_LAST>{tag.DZ2.D2221_LAST} D2226>{tag.DZ2.D2226} D2226_LAST>{tag.DZ2.D2226_LAST}");
|
if (tag.DZ2.D2221 == 1 && tag.DZ2.D2221_LAST == 0)
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 7,
|
startBit = VERX.location[0],
|
endBit = "1025",
|
unLockStartBitOutbin = true
|
}));
|
LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
|
var strr = JsonConvert.DeserializeObject<Messss>(str);
|
if (strr != null && strr.success && strr.data?.state == 0)
|
RedisHelper.Add($"D定子2号机械手.D2221_LAST", "1", out string msg);
|
}
|
else if (tag.DZ2.D2221 == 0 && tag.DZ2.D2221_LAST == 1)
|
{
|
LogHelper.Info($"重置 D定子2号机械手.D2221_LAST > 0");
|
RedisHelper.Add($"D定子2号机械手.D2221_LAST", "0", out string msg);
|
string V = 0 == 0 ? "D2210" : "D2215";
|
Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue");
|
}
|
|
|
if (tag.DZ2.D2226 == 1 && tag.DZ2.D2226_LAST == 0)
|
{
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
|
{
|
requestType = 7,
|
startBit = VERX.location[1],
|
endBit = "1025",
|
unLockStartBitOutbin = true
|
}));
|
LogHelper.Info($"{VERX.location[0]}申请mes任务结果{str}");
|
var strr = JsonConvert.DeserializeObject<Messss>(str);
|
if (strr != null && strr.success && strr.data?.state == 0)
|
RedisHelper.Add($"D定子2号机械手.D2226_LAST", "1", out string msg);
|
}
|
else if (tag.DZ2.D2226 == 0 && tag.DZ2.D2226_LAST == 1)
|
{
|
LogHelper.Info($"重置 D定子2号机械手.D2226_LAST > 0");
|
RedisHelper.Add($"D定子2号机械手.D2226_LAST", "0", out string msg);
|
string V = 1 == 0 ? "D2210" : "D2215";
|
Conn.默认Redis.SetValue(VERX.deviceName + "." + V, "0", VERX.deviceName + "Queue");
|
}
|
|
}
|
|
}
|
|
|
|
|
public class HttpServer
|
{
|
System.Net.HttpListener HttpSvcHost = null;
|
|
public static string _listenerPrefix = "";
|
public HttpServer(string ip)
|
{
|
_listenerPrefix = $"http://{ip}:8808/";
|
}
|
public void HttpServerRun()
|
{
|
HttpSvcHost = new System.Net.HttpListener();
|
HttpSvcHost.AuthenticationSchemes = System.Net.AuthenticationSchemes.Anonymous;
|
HttpSvcHost.Prefixes.Add(_listenerPrefix);
|
HttpSvcHost.Start();
|
HttpSvcHost.BeginGetContext(HttpSvcListenerCallback, null);
|
}
|
|
|
private async void HttpSvcListenerCallback(IAsyncResult ar)
|
{
|
System.Net.HttpListenerContext context = null;
|
var data = DateTime.Now;
|
string apth = "";
|
try
|
{
|
HttpSvcHost.BeginGetContext(HttpSvcListenerCallback, null);
|
context = HttpSvcHost.EndGetContext(ar);
|
System.Net.HttpListenerRequest request = context.Request;
|
System.Net.HttpListenerResponse response = context.Response;
|
|
using (var reader = new System.IO.StreamReader(request.InputStream, System.Text.Encoding.UTF8))
|
{
|
string requestJson = reader.ReadToEnd();
|
System.Net.HttpStatusCode statusCode = 0;
|
apth = request.Url.AbsolutePath;
|
string respstr = HttpSvcListenerCallback_he(request.HttpMethod, request.Url.AbsolutePath, requestJson, out statusCode);
|
string logContent = "";
|
logContent += $"\r\n[{request.HttpMethod}]{request.Url.AbsolutePath}";
|
logContent += $"\r\n[request]{requestJson}";
|
logContent += $"\r\n[response]{respstr}";
|
_ = Task.Run(() =>
|
{
|
Conn.默认日志?.Info(logContent);
|
});
|
byte[] bytstr = Encoding.UTF8.GetBytes(respstr);
|
response.StatusCode = (int)statusCode;
|
response.SendChunked = false;
|
response.ContentLength64 = bytstr.Length;
|
//response.OutputStream.Write(bytstr, 0, bytstr.Length);
|
if (request.Url.AbsolutePath.ToLower().Contains(".js"))
|
response.ContentType = "application/javascript";
|
else if (request.Url.AbsolutePath.ToLower().Contains(".svg"))
|
response.ContentType = "image/svg+xml";
|
// 异步写入响应
|
await response.OutputStream.WriteAsync(bytstr, 0, bytstr.Length);
|
}
|
}
|
catch (Exception ex)
|
{
|
_ = Task.Run(() =>
|
{
|
Conn.默认日志.Error(ex.ToString());
|
});
|
}
|
finally
|
{
|
context?.Response.Close();
|
Console.WriteLine(apth + "<<>>" + DateTime.Now.Subtract(data).TotalMilliseconds);
|
}
|
}
|
private System.String HttpSvcListenerCallback_he(System.String method, System.String path, System.String requestJson, out System.Net.HttpStatusCode statusCode)
|
{
|
try
|
{
|
switch (method)
|
{
|
case "POST":
|
{
|
switch (path)
|
{
|
case "/agv/agvCallbackService/agvCallback":
|
{
|
statusCode = System.Net.HttpStatusCode.OK;
|
|
LogHelper.Info("ExecuteState Request-haikang:" + requestJson);
|
var model = JsonConvert.DeserializeObject<HaiKangOrderInfo>(requestJson);
|
AutoThread.Instance.OperateHKTaskStatus(model);
|
return JsonConvert.SerializeObject(new HkReturnResult { reqCode = model.reqCode });
|
}
|
case "/api/Wcs/CreateTask":
|
{
|
statusCode = System.Net.HttpStatusCode.OK;
|
|
LogHelper.Info("/api/Wcs/CreateTask:" + requestJson);
|
var model = JsonConvert.DeserializeObject<ToWMSMES.CreateTask>(requestJson);
|
var res = ToWMSMES.CreateTask.CreatemesTask(model);
|
return JsonConvert.SerializeObject(res);
|
}
|
case "/api/Wcs/TestRequestTask":
|
{
|
statusCode = System.Net.HttpStatusCode.OK;
|
LogHelper.Info("/api/Wcs/TestRequestTask:" + requestJson);
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", requestJson);
|
return str;
|
}
|
case "/api/Wcs/updateStatus":
|
{
|
statusCode = System.Net.HttpStatusCode.OK;
|
LogHelper.Info("/api/Wcs/updateStatus:" + requestJson);
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/201", requestJson);
|
return str;
|
}
|
case "/api/Wcs/toMes":
|
{
|
statusCode = System.Net.HttpStatusCode.OK;
|
|
LogHelper.Info("/api/Wcs/toMes:" + requestJson);
|
var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
|
return str;
|
}
|
case "/api/Wcs/CreatePointTask":
|
{
|
statusCode = System.Net.HttpStatusCode.OK;
|
|
LogHelper.Info("/api/Wcs/CreatepointTask:" + requestJson);
|
var model = JsonConvert.DeserializeObject<ToWMSMES.CreateTask>(requestJson);
|
var res = ToWMSMES.CreateTask.CreatePointTask(model);
|
return JsonConvert.SerializeObject(res);
|
}
|
}
|
break;
|
}
|
case "GET":
|
{
|
switch (path)
|
{
|
case var _ when System.Text.RegularExpressions.Regex.IsMatch(path, @"\.(html|ico|js|css)(\?.*)?$", System.Text.RegularExpressions.RegexOptions.IgnoreCase):
|
{
|
statusCode = System.Net.HttpStatusCode.OK;
|
// 复制到case 上
|
//var _ when System.Text.RegularExpressions.Regex.IsMatch(path, @"\.(html|ico|js|css)(\?.*)?$", System.Text.RegularExpressions.RegexOptions.IgnoreCase)
|
var filePath = /*Directory.GetCurrentDirectory() + "\\Static" + "\\" + path.Substring(1);*/System.IO.Path.Combine(Directory.GetCurrentDirectory() + "\\Static", path.Substring(1));
|
return File.ReadAllText(filePath);
|
}
|
}
|
break;
|
}
|
}
|
statusCode = System.Net.HttpStatusCode.NotFound;
|
return "";
|
}
|
catch (Exception ex)
|
{
|
Conn.默认日志.Error(ex.ToString());
|
statusCode = System.Net.HttpStatusCode.InternalServerError;
|
return "";
|
}
|
}
|
}
|
|
class EnhancedWebSocketServer
|
{
|
private HttpListener _listener;
|
private readonly string _listenerPrefix;
|
private readonly ConcurrentDictionary<Guid, WebSocket> _connections = new ConcurrentDictionary<Guid, WebSocket>();
|
private CancellationTokenSource _cts = new CancellationTokenSource();
|
|
public EnhancedWebSocketServer(string url)
|
{
|
_listenerPrefix = url;
|
}
|
|
public async Task StartAsync()
|
{
|
try
|
{
|
_listener = new HttpListener();
|
_listener.Prefixes.Add(_listenerPrefix);
|
_listener.Start();
|
Console.WriteLine($"WebSocket服务器已启动,监听 {_listenerPrefix}");
|
while (!_cts.IsCancellationRequested)
|
{
|
HttpListenerContext context = await _listener.GetContextAsync();
|
if (context.Request.IsWebSocketRequest)
|
{
|
var wsContext = await context.AcceptWebSocketAsync(null);
|
var connectionId = Guid.NewGuid();
|
_connections[connectionId] = wsContext.WebSocket;
|
_ = HandleConnectionAsync(connectionId, wsContext.WebSocket, _cts.Token);
|
}
|
else
|
{
|
context.Response.StatusCode = 400;
|
context.Response.Close();
|
}
|
}
|
}
|
catch (Exception ex) when (ex is HttpListenerException || ex is ObjectDisposedException)
|
{
|
// 服务器停止时的正常异常
|
Console.WriteLine("服务器正在停止...");
|
}
|
}
|
|
private async Task HandleConnectionAsync(Guid connectionId, WebSocket webSocket, CancellationToken ct)
|
{
|
var buffer = new byte[1024 * 4];
|
try
|
{
|
while (webSocket.State == WebSocketState.Open && !ct.IsCancellationRequested)
|
{
|
var result = await webSocket.ReceiveAsync(new ArraySegment<byte>(buffer), ct);
|
|
if (result.MessageType == WebSocketMessageType.Close)
|
{
|
await webSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, "客户端关闭连接", ct);
|
break;
|
}
|
|
string message = System.Text.Encoding.UTF8.GetString(buffer, 0, result.Count);
|
Console.WriteLine($"连接 {connectionId} 收到消息: {message}");
|
|
// 广播消息给所有客户端
|
await BroadcastMessageAsync($"客户端 {connectionId} 说: {message}");
|
}
|
}
|
catch (WebSocketException ex)
|
{
|
Console.WriteLine($"连接 {connectionId} 错误: {ex.WebSocketErrorCode} - {ex.Message}");
|
}
|
catch (Exception ex)
|
{
|
Console.WriteLine($"处理连接 {connectionId} 时出错: {ex.Message}");
|
}
|
finally
|
{
|
_connections.TryRemove(connectionId, out _);
|
webSocket?.Dispose();
|
Console.WriteLine($"{DateTime.Now.ToString("HH:mm:ss.fff")} 连接 {connectionId} 已关闭");
|
}
|
}
|
|
public async Task BroadcastMessageAsync(string message)
|
{
|
var buffer = System.Text.Encoding.UTF8.GetBytes(message);
|
foreach (var connection in _connections)
|
{
|
if (connection.Value.State == WebSocketState.Open)
|
{
|
try
|
{
|
await connection.Value.SendAsync(
|
new ArraySegment<byte>(buffer),
|
WebSocketMessageType.Text,
|
true,
|
CancellationToken.None);
|
}
|
catch (Exception ex)
|
{
|
Console.WriteLine($"广播消息到连接 {connection.Key} 失败: {ex.Message}");
|
}
|
}
|
}
|
}
|
|
public async Task StopAsync()
|
{
|
_cts.Cancel();
|
|
// 关闭所有连接
|
foreach (var connection in _connections)
|
{
|
try
|
{
|
if (connection.Value.State == WebSocketState.Open)
|
{
|
await connection.Value.CloseAsync(
|
WebSocketCloseStatus.NormalClosure,
|
"服务器关闭",
|
CancellationToken.None);
|
}
|
connection.Value.Dispose();
|
}
|
catch (Exception ex)
|
{
|
Console.WriteLine($"关闭连接 {connection.Key} 时出错: {ex.Message}");
|
}
|
}
|
|
_listener?.Stop();
|
_listener?.Close();
|
Console.WriteLine("WebSocket服务器已停止");
|
}
|
|
}
|
|
internal class WebSocketClient
|
{
|
private ClientWebSocket _webSocket = new ClientWebSocket();
|
private readonly Uri _serverUri;
|
|
public WebSocketClient(string serverUrl)
|
{
|
_serverUri = new Uri(serverUrl);
|
}
|
|
public async Task ConnectAsync()
|
{
|
try
|
{
|
await _webSocket.ConnectAsync(_serverUri, CancellationToken.None);
|
Console.WriteLine("已连接到WebSocket服务器");
|
|
// 启动接收消息任务
|
_ = ReceiveMessagesAsync();
|
|
// 发送测试消息
|
await SendMessageAsync("Hello, Server!");
|
}
|
catch (Exception ex)
|
{
|
Console.WriteLine($"连接失败: {ex.Message}");
|
}
|
}
|
|
private async Task ReceiveMessagesAsync()
|
{
|
var buffer = new byte[1024];
|
try
|
{
|
while (_webSocket.State == WebSocketState.Open)
|
{
|
var result = await _webSocket.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
|
if (result.MessageType == WebSocketMessageType.Close)
|
{
|
await _webSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, string.Empty, CancellationToken.None);
|
Console.WriteLine("服务器关闭了连接");
|
break;
|
}
|
|
string message = Encoding.UTF8.GetString(buffer, 0, result.Count);
|
Console.WriteLine($"收到服务器消息: {message}");
|
}
|
}
|
catch (Exception ex)
|
{
|
Console.WriteLine($"接收消息时出错: {ex.Message}");
|
}
|
}
|
|
public async Task SendMessageAsync(string message)
|
{
|
if (_webSocket.State != WebSocketState.Open)
|
{
|
Console.WriteLine("WebSocket未连接,无法发送消息");
|
return;
|
}
|
|
byte[] buffer = Encoding.UTF8.GetBytes(message);
|
await _webSocket.SendAsync(new ArraySegment<byte>(buffer), WebSocketMessageType.Text, true, CancellationToken.None);
|
}
|
|
public async Task DisconnectAsync()
|
{
|
if (_webSocket.State == WebSocketState.Open)
|
{
|
await _webSocket.CloseAsync(WebSocketCloseStatus.NormalClosure, "客户端关闭连接", CancellationToken.None);
|
}
|
_webSocket.Dispose();
|
Console.WriteLine("已断开WebSocket连接");
|
}
|
}
|
|
|
class Messss
|
{
|
public bool success { get; set; }
|
public Ddata data { get; set; }
|
public object extra { get; set; }
|
}
|
class Mesrespone
|
{
|
public bool success { get; set; }
|
public string msg { get; set; }
|
public object extra { get; set; }
|
}
|
|
class MES2234
|
{
|
public bool success { get; set; }
|
public ML data { get; set; }
|
}
|
|
public class ML
|
{
|
public string materialCode { get; set; }
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public int lineNum { get; set; }
|
}
|
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public class Ddata
|
{
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public string reqCode { get; set; }
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public int state { get; set; }
|
public string error { get; set; }
|
}
|
}
|
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#endregion [自定义类-VS][20250623083459471][AutoThread]
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