优化产线安全交互的部分，优化AGV调试接口

kazelee

2025-05-23 e2ec31cc0062b3c1af621437554aa9a3505d2a56

 core/WCSCore.cs

@@ -5,7 +5,6 @@
using System.Threading.Tasks;

using HH.WCS.Mobox3.DSZSH.device;

using HH.WCS.Mobox3.DSZSH.models;
using HH.WCS.Mobox3.DSZSH.process;
using HH.WCS.Mobox3.DSZSH.util;
@@ -14,7 +13,6 @@
using Newtonsoft.Json;

using static HH.WCS.Mobox3.DSZSH.api.ApiModel;


namespace HH.WCS.Mobox3.DSZSH.core {
    public class WCSCore {
@@ -102,11 +100,11 @@
                case 2: // 完成
                    WCSHelper.End(TN_Task); // 任务状态改成结束

                    if (TN_Task.S_TYPE == TaskName.抽检_出库) {
                        var checkCompleteTask = Task.Run(() => {
                            UpdateCheckTaskState(3);
                        });
                    }
                    //if (TN_Task.S_TYPE == TaskName.抽检_出库) {
                    //    var checkCompleteTask = Task.Run(() => {
                    //        UpdateCheckTaskState(3);
                    //    });
                    //}

                    break;
                case 7: // 异常
@@ -123,45 +121,90 @@
        }

        public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
            var gzResult = new ReturnResult();
            var db = new SqlHelper<object>().GetInstance();
            ModbusHelper.Relink();
            var info = "";

            try {

                ModbusHelper.Relink();

                var prodLineInfo = Settings.ProductionLines[0];

                var prodLineDevice = new ProductionLineDevice(prodLineInfo.PlcIp, prodLineInfo.PlcPort);
                if (!prodLineDevice.LoadDeviceStateOk()) {
                    LogHelper.Info("加载设备信息失败");
                    info = "与产线设备通讯失败";
                    LogHelper.Info(info);
                    return NewReturnResult(2, info);
                }

                var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.task_no);
                if (tn_task == null) {
                    LogHelper.Info($"任务号 '{model.task_no}' 不存在");
                //var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.task_no);
                //if (tn_task == null) {
                //    LogHelper.Info($"任务号 '{model.task_no}' 不存在");
                //}
                //if (prodLineDevice.SystemState == 1) {
                //    if (prodLineDevice.FullOffline == 1 && tn_task.S_TYPE == TaskName.托盘_满托下线入库) {
                //        prodLineDevice.AgvPicking = 1;
                //    }
                //    if (prodLineDevice.AllowAgvPlacePallet == 1 && tn_task.S_TYPE == TaskName.托盘_空托上线) {
                //        prodLineDevice.AgvPlacingPallet = 1;
                //    }
                //}

                if (prodLineDevice.SystemState != 1) {
                    info = $"当前产线无法与AGV联动：状态{prodLineDevice.SystemState}";
                    LogHelper.Info(info);
                    return NewReturnResult(3, info);
                }

                // 待修改：补充不同分支AGV判断
                if (prodLineDevice.SystemState == 1) {
                    if (prodLineDevice.FullOffline == 1 && tn_task.S_TYPE == TaskName.托盘_满托下线入库) {
                        prodLineDevice.AgvPicking = 1;
                    }
                    if (prodLineDevice.AllowAgvPlacePallet == 1 && tn_task.S_TYPE == TaskName.托盘_空托上线) {
                        prodLineDevice.AgvPlacingPallet = 1;
                    }
                if (model.apply_code == "5") {
                    if (prodLineDevice.FullOffline != 1) {
                        info = $"当前输送线满料下线信号不为1，无法取货";
                        LogHelper.Info(info);
                        return NewReturnResult(4, info);
                }

                LogHelper.Info(JsonConvert.SerializeObject(prodLineDevice, Formatting.Indented));
                return gzResult;
                    if (!prodLineDevice.SetAgvPicking(1)) {
                        info = $"向输送线写入允许取货信号失败";
                        LogHelper.Info(info);
                        return NewReturnResult(5, info);
                    }
                    
                    info = $"向输送线写入允许取货信号成功";
                    LogHelper.Info(info);
                    return NewReturnResult(0, info);

                }
                else if (model.apply_code == "1") {
                    if (prodLineDevice.AllowAgvPlacePallet != 1) {
                        info = $"当前输送线允许放托盘信号不为1，无法放货";
                        LogHelper.Info(info);
                        return NewReturnResult(6, info);
                    }

                    if (!prodLineDevice.SetAgvPlacingPallet(1)) {
                        info = $"向输送线写入允许放货信号失败";
                        LogHelper.Info(info);
                        return NewReturnResult(7, info);
                    }

                    info = $"向输送线写入允许放货信号成功";
                    LogHelper.Info(info);
                    return NewReturnResult(0, info);
                }
                else {
                    info = $"当前输送线允许";
                    LogHelper.Info(info);
                    return NewReturnResult(8, info);
                }

            }
            catch (Exception ex) {
                LogHelper.Info($"发生了异常：{ex.Message}");
                return gzResult;
                info = $"发生了异常：{ex.Message}";
                LogHelper.InfoEx(ex);
                return NewReturnResult(1, info);
            }
        }

        public static void UpdateOutboundTaskState(int spotStateCode) {

            var db = new SqlHelper<object>().GetInstance();

            var detail = db.Queryable<TN_Outbound_Detail>()
@@ -280,5 +323,26 @@
                tran.CommitTran();
            }
        }

        /// <summary>
        /// 任务分发，根据调度类型发给不同的调度系统
        /// </summary>
        internal static void Dispatch() {
            //查询任务
            //获取所有等待的任务
            var list = WCSHelper.GetWaitingTaskList();
            LogHelper.Info("等待任务信息" + JsonConvert.SerializeObject(list), "API");
            if (list.Count > 0) {
                list.ForEach(task => {
                    //使用自定义任务推送
                    TaskProcess.SendTask(task);//调度NDC或杭奥或国自设备
                    //TaskProcess.SendGZTask(task);///调度国自设备

                });
            }
            else {
                LogHelper.Info("暂无任务");
            }
        }
    }
}