#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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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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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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/// <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($"ThreadJS1 捷顺1 信号处理 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 2 && x.deviceName == "Js捷顺1");
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if (VERX != null)
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{
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if (tag.Js1.D1212_LAST == 0 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 1)
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 4,
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endBit = VERX.location[0]
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}));
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LogHelper.Info($"{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($"Js捷顺1.D1202_LAST", "1", out string msg);
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}
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}
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if (tag.Js1.D1212_LAST == 1 && TcpServer.GetBitdata(tag.Js1.D1212, 2) == 0)
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{
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//tag.Js1.D1212_LAST = 0;
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RedisHelper.Add($"Js捷顺1.D1202_LAST", "0", out string msg);
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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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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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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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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($"Js捷顺2.D1203_LAST", "1", out string msg);
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}
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}
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if (tag.Js2.D1213_LAST == 1 && TcpServer.GetBitdata(tag.Js2.D1213, 2) == 0)
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{
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//tag.Js2.D1213_LAST = 0;
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RedisHelper.Add($"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($"Threadwxr1L 维希尔1 左 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("1"));
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if (VERX != null)
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{
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if (tag.wxr1.R44 && !tag.wxr1.R44_LAST && tag.wxr1.R10)
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{
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if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode))
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 1,
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cntrCode = traycode,
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startBit = VERX.location[0],
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endBit = ""
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}));
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LogHelper.Info($"{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))
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{
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//上报校验。
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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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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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//tag.wxr1.R44_LAST = false;
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RedisHelper.Add($"维希尔抓臂1.R44_LAST", "false", out string msg);
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}
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else
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{
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//报警。
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}
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}
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else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
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}
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}
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}
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}
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/// <summary>
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/// 维希尔1 右
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/// </summary>
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/// <param name="tag"></param>
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public void Threadwxr1R(Tag tag)
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{
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Console.WriteLine($"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 && !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))
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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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}
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}
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else
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{
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if (tag.wxr1.R11_LAST) //托盘放置信号。。
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{
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if (tag.wxr1.R11)
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{
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//tag.wxr1.R11_LAST = false;
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RedisHelper.Add($"维希尔抓臂1.R11_LAST", "false", out string msg);
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}
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else
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if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode))
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{
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//上报校验。
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///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
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{
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sceneType = 1,
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cntrCode = traycode,
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}));
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if (str.Contains("true"))
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{
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//Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
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tag.wxr1.R11 = true;
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//tag.wxr1.R46_LAST = false;
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RedisHelper.Add($"维希尔抓臂1.R46_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[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
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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2 左
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/// </summary>
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/// <param name="tag"></param>
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public void Threadwxr2L(Tag tag)
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{
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Console.WriteLine($"Threadwxr2L 维希尔2 左 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2"));
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if (VERX != null)
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{
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if (tag.wxr2.R44 && !tag.wxr2.R44_LAST && tag.wxr2.R10)
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{
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if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[0], out string traycode))
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{
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var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/200", JsonConvert.SerializeObject(new
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{
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requestType = 1,
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cntrCode = traycode,
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startBit = VERX.location[0],
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endBit = ""
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}));
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LogHelper.Info($"{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.wxr2.R44_LAST = true;
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RedisHelper.Add($"维希尔抓臂2.R44_LAST", "true", out string msg);
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}
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}
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else
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{
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TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
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}
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}
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else
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{
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if (tag.wxr2.R10_LAST) //托盘放置信号。。
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{
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if (tag.wxr2.R10)
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{
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//tag.wxr2.R10_LAST = false;
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RedisHelper.Add($"维希尔抓臂2.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))
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{
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//上报校验。
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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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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.wxr2.R10 = true;
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//tag.wxr2.R44_LAST = false;
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RedisHelper.Add($"维希尔抓臂2.R44_LAST", "false", out string msg);
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}
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else
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{
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//报警。
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}
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}
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else { TcpServer.TcpServerSend(VERX.deviceNo[0], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
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}
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}
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}
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}
|
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/// <summary>
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/// 维希尔2 右
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/// </summary>
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/// <param name="tag"></param>
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public void Threadwxr2R(Tag tag)
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{
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Console.WriteLine($"Threadwxr2R 维希尔2 右 =================> ");
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var VERX = Settings.deviceInfos?.Find(x => x.deviceType == 1 && x.deviceName.Contains("2"));
|
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if (VERX != null)
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{
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if (tag.wxr2.R46 && !tag.wxr2.R46_LAST && tag.wxr2.R11)
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{
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if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode))
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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($"{VERX.location[1]}申请mes任务结果{str}");
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var strr = JsonConvert.DeserializeObject<Messss>(str);
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if (strr != null && strr.success && strr.data?.state == 0)
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{
|
//tag.wxr2.R46_LAST = true;
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RedisHelper.Add($"维希尔抓臂2.R46_LAST", "true", out string msg);
|
}
|
}
|
else
|
{
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TcpServer.TcpServerSend(VERX.deviceNo[2], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E"));
|
}
|
}
|
else
|
{
|
if (tag.wxr2.R11_LAST) //托盘放置信号。。
|
{
|
if (tag.wxr2.R11)
|
{
|
//tag.wxr2.R11_LAST = false;
|
RedisHelper.Add($"维希尔抓臂2.R11_LAST", "false", out string msg);
|
}
|
else
|
if (TcpServer.TrayIps.TryGetValue(VERX.deviceNo[1], out string traycode))
|
{
|
//上报校验。
|
///var str = Settings.apiHelper.Post(Settings.MESbaseUrl + "mom-basic/dataTransmission/json/service/202", requestJson);
|
var str = Settings.apiHelper.Post(Settings.WMSbaseUrl + "mom-basic/dataTransmission/json/service/202", JsonConvert.SerializeObject(new
|
{
|
sceneType = 1,
|
cntrCode = traycode,
|
}));
|
if (str.Contains("true"))
|
{
|
//Conn.默认Redis.SetValue("维希尔抓臂1.R10", "true", "维希尔抓臂1Queue");
|
tag.wxr2.R11 = true;
|
//tag.wxr2.R46_LAST = false;
|
RedisHelper.Add($"维希尔抓臂2.R46_LAST", "false", out string msg);
|
}
|
else
|
{
|
//报警。
|
}
|
}
|
else { TcpServer.TcpServerSend(VERX.deviceNo[1], GZ.Device.PLC.PlcHelper.Hex2Bin("544F4E")); }
|
}
|
}
|
}
|
}
|
|
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手动1自动2 == 1)
|
{
|
LogHelper.Info($"RGV 手动模式，不用管。");
|
return;
|
}
|
if (tag.RGV.taskend == 125)
|
{
|
LogHelper.Info($"RGV 有125命令未执行。");
|
System.Threading.Thread.Sleep(3000);
|
return;
|
}
|
LogHelper.Info($"任务下发 Rgv 任务 进入 Rgv信息 W1状态{tag.RGV.w1status} ReadTask1No>{tag.RGV.ReadTask1No} bit1taskOver>{tag.RGV.bit1taskOver} W2状态{tag.RGV.w2status} ReadTask2No>{tag.RGV.ReadTask2No} bit2taskOver>{tag.RGV.bit2taskOver}");
|
TaskEntity task1 = null;
|
TaskEntity task2 = null;
|
var task1Isrun = false;
|
if (tag.RGV.ReadTask1No > 0 && tag.RGV.bit1taskOver != 1)
|
{
|
var taskno = tag.RGV.ReadTask1No;
|
string tno = "TN" + (DateTime.Now.ToString("yy")) + ((taskno.ToString()).PadLeft(8, '0'));
|
task1 = taskservice.FindEntity(x => x.S_TASK_NO == tno);
|
if (task1 != null && task1.S_B_STATE != "完成")
|
task1Isrun = true;
|
//if (tag.RGV.bit1taskOver_LAST == 1)
|
// RedisHelper.Add($"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} 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} 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($"RGVQueue 读到结果-{JsonConvert.SerializeObject(v2)} \n 下发前进行清除。");
|
// var b = RedisHelper.Remove("RGVQueue", out rev);
|
// }
|
//}
|
|
///1 有货 就2 取。 1 没货 就2 卸货， 都有货 就1卸货。 都没货 就1卸
|
var tklist = taskservice.FindList(x => x.S_B_STATE == "未执行" && x.S_WORK_MODE == "RGV").OrderBy(x => x.T_CREATE).ToList();
|
if (task1 != null && task1.S_B_STATE != "完成") //1有任务
|
{
|
if (task2 != null && task2.S_B_STATE != "完成")// 1 有任务 2 有任务。
|
{
|
LogHelper.Info($"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($"{task1.S_TASK_NO}> taskend 写 0");
|
Conn.默认Redis.SetValue("RGV.taskend", "125", "RGVQueue", false);
|
LogHelper.Info($"{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 requires = taskActRepository.FindList(x => taskCOdes.Contains(x.S_ACTION_CODE) && x.N_CREATEMETHOD == 0).OrderBy(x => x.T_CREATE);
|
foreach (var item in requires)
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE}光栅处理 =================> ");
|
var tin = taskCOdes.IndexOf(item.S_ACTION_CODE);
|
if (tin == -1)
|
{
|
item.N_CREATEMETHOD = -1;
|
taskActRepository.Update(item);
|
continue;
|
}
|
var task = taskRepository.FindEntity(x => x.S_TASK_NO == item.S_TASK_NO);
|
if (task == null)
|
{
|
item.N_CREATEMETHOD = -1;
|
taskActRepository.Update(item);
|
continue;
|
}
|
string loc = "";
|
if (tin < 2)
|
{
|
loc = item.S_START_LOC;
|
}
|
else
|
{
|
loc = item.S_END_LOC;
|
}
|
if (loc == null) continue; else loc = loc.Trim();
|
bool goin = tin % 2 == 0;
|
bool continuuuuu = false;
|
var dev = Settings.deviceInfos.Find(x => x.location.Contains(loc));
|
if (dev != null)
|
{
|
LogHelper.Info($"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 == 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");
|
}
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 开启光栅处理完成 =================> ");
|
|
item.N_CREATEMETHOD = 1;
|
taskActRepository.Update(item);
|
}
|
//车要进入交互。
|
else
|
{
|
if (dev.deviceType == 1)
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理 =================> ");
|
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($"{dev.deviceName}{(V ? "左" : "右")} 光栅{(goin ? "关闭" : "开启")} 申请。" + string.Format("{0}{1}{2}", dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue"));
|
Conn.默认Redis.SetValue(dev.deviceName + "." + (V ? "R01" : "R03"), "true", dev.deviceName + "Queue", false);
|
}
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理完成 =================> ");
|
}
|
else if (dev.deviceType == 2)
|
{
|
LogHelper.Info($"ThreadGrats {item.S_TASK_NO} >{item.S_ACTION_CODE} 设备是{dev.deviceName} 关闭光栅处理 =================> ");
|
var tf = Conn.默认Redis.GetValue(dev.deviceName + ".D1202");
|
int numm = int.Parse(string.IsNullOrEmpty(tf) ? "0" : tf);
|
int close = TcpServer.GetBitdata(numm, (V ? 0 : 1));
|
LogHelper.Info($"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($"ThreadGrats 写{(dev.deviceName + "." + (V ? "D1220" : "D1221"))}为 1 ， 后读{d12201}");
|
}
|
LogHelper.Info($"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($"{item.S_TASK_NO}{item.S_ACTION_CODE} 车辆发送继续任务！");
|
continueTask?.Invoke(new HaiKangOrderInfo
|
{
|
reqCode = item.S_ID.Replace("-", ""),
|
taskCode = item.S_TASK_NO
|
});
|
item.N_CREATEMETHOD = 1;
|
taskActRepository.Update(item);
|
}
|
}
|
System.Threading.Thread.Sleep(3000);
|
LogHelper.Info($"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.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($"ThreadGrats deviceType2光栅写入位重置完成。 =================> ");
|
}
|
/// <summary>
|
/// 1020 1023空框下线
|
/// </summary>
|
/// <param name="tag"></param>
|
public void ThreadEdown(Tag tag)
|
{
|
Console.WriteLine($"ThreadEdown 20 23 = 空下检测 =================> ");
|
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 (tag.SF下料位.RArrive1003 == 1)
|
{
|
listtep = new List<string> { "1012", "1004" };
|
}
|
else
|
{
|
listtep = new List<string> { "1004", "1012" };
|
}
|
}
|
else
|
{
|
if (tag.SF下料位.RArrive1005 == 1)
|
{
|
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 10 ==================> 1026");
|
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);
|
//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 ==================>");
|
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);
|
//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 =====>");
|
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($"ssx == 1003 && tag.SF下料位.WRelease1003:{tag.SF下料位.WRelease1003} 写f1 2210=1，Arrive{ssx}BarcodeLast={RtrayCode}");
|
tag.FNK1.D2210 = 1;
|
}
|
break;
|
case "1005":
|
{
|
LogHelper.Info($"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)
|
{
|
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}");
|
}
|
public void Thread1025Up(Tag tag)
|
{
|
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)
|
{
|
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($"SA1030 任务状态： =====>");
|
Console.WriteLine($"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}");
|
}
|
public void Thread2030Down(Tag tag)
|
{
|
|
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()
|
{
|
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($"解释MES任务 ->{task.S_TASK_NO} ");
|
var sx = VERXs?.Find(x => x.location.Contains(task.S_END_LOC));
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} {(sx == null ? "非" : "是")}总装机器人任务");
|
if (sx == null)
|
{
|
LogHelper.Info($"解释MES任务 ->{task.S_TASK_NO} 直接生成对应任务");
|
//直接生成对应任务。
|
var res = TaskProcess.CreateTask(task.S_TASK_NO, task.S_START_LOC, task.S_END_LOC, task.S_TYPE, 6, task.S_CNTRS?.Split(',').ToList() ?? new List<string>());
|
|
LogHelper.Info($"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 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");
|
//});
|
}
|
}
|
//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($"{ssloc}申请mes任务结果{str}");
|
}
|
}
|
}
|
|
//LocationMethod.JudgeLocation(wcsTask);
|
break;
|
case "cancel":
|
LogHelper.Info($"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 };
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
class Messss
|
{
|
public bool success { get; set; }
|
public Ddata data { get; set; }
|
public object extra { get; set; }
|
}
|
|
public class Ddata
|
{
|
public string reqCode { get; set; }
|
public int state { get; set; }
|
public string error { get; set; }
|
}
|
}
|
|
#endregion [自定义类-VS][20250623083459471][AutoThread]
|
