合肥佳通AGV项目
parent: 30725fc5 | 补丁 | 提交 | show whitespace
lss
2025-05-16 a8baebe7ac7d7e03ae833815e8d94b996dfd3b5e 
叠盘机流程开发与问题优化
8个文件已修改
382 ■■■■■ 已修改文件
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/.vs/HH.WCS.JiaTong/v17/DocumentLayout.backup.json 121 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/.vs/HH.WCS.JiaTong/v17/DocumentLayout.json 147 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/api/ApiHelper.cs 24 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/api/MesController.cs 5 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/core/WCSCore.cs 2 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/device/S7Helper.cs 24 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/process/DeviceProcess.cs 3 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/process/TaskProcess.cs 56 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 
 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/.vs/HH.WCS.JiaTong/v17/DocumentLayout.backup.json


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              "RelativeDocumentMoniker": "api\\LiKuController.cs",


              "ToolTip": "D:\\01-\u6C49\u548C\u667A\u80FD\\007-\u5408\u80A5\u4F73\u901A\\HH-0035_HeFeiLiaoTongAGV\\HH.WCS.Mobox3\\HH.WCS.Mobox3.JiaTong\\api\\LiKuController.cs",


              "RelativeToolTip": "api\\LiKuController.cs",


              "ViewState": "AgIAAAkAAAAAAAAAAADwvxYAAAAvAAAAAAAAAA==",


              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",


              "WhenOpened": "2025-05-15T08:45:06.1Z",


              "EditorCaption": ""


            },


            {


              "$type": "Document",


              "DocumentIndex": 10,


              "Title": "DebugController.cs",


              "DocumentMoniker": "D:\\01-\u6C49\u548C\u667A\u80FD\\007-\u5408\u80A5\u4F73\u901A\\HH-0035_HeFeiLiaoTongAGV\\HH.WCS.Mobox3\\HH.WCS.Mobox3.JiaTong\\api\\DebugController.cs",


              "RelativeDocumentMoniker": "api\\DebugController.cs",


@@ -139,38 +203,13 @@


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              "RelativeToolTip": "api\\MesController.cs",


              "ViewState": "AgIAAGUAAAAAAAAAAAAQwHIAAAAoAAAAAAAAAA==",


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              "$type": "Document",


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 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/api/ApiHelper.cs


@@ -173,6 +173,12 @@


                        }




                    }


                    //判断是否是空托回库


                    var CntrItem = db.Queryable<CntrItemDetail>().Where(a => a.S_CNTR_CODE.Trim() == CntrCode).First();


                    if (CntrItem == null)


                    {


                        note = "空托回库";//井松空托回库，需要与叠盘机安全交互


                    }


                    endloc = db.Queryable<Location>().Where(a => a.S_CODE.Trim() == taskData.dropStation).First();


                    if (endloc != null)


                    {


@@ -508,6 +514,8 @@




        }








        /// <summary>


        /// 预备库任务状态下发


        /// </summary>


@@ -668,7 +676,8 @@


            string areacode = "";


            try


            {


                #region 判断托盘绑定货位是否和下发绑定起点相同


                


                #region 判断托盘绑定货位是否和下发绑定起点相同,如果没绑定托盘则绑定托盘


                var CntrLoc = db.Queryable<LocCntrRel>().Where(a => a.S_CNTR_CODE.Trim() == model.Rfid).First();


                if (CntrLoc != null)


                {


@@ -683,11 +692,12 @@


                }


                else


                {


                    LogHelper.Info($"ItemBack：创建任务失败，托盘:{model.Rfid}未找到绑定货位");


                    result.code = "1";


                    result.msg = $"创建任务失败，托盘:{model.Rfid}未找到绑定货位";


                    AddErrorInfo("查找托盘货位失败", result.msg);


                    return result;


                    LocationHelper.BindingLoc(Start, new List<string> { model.Rfid });


                    //LogHelper.Info($"ItemBack：创建任务失败，托盘:{model.Rfid}未找到绑定货位");


                    //result.code = "1";


                    //result.msg = $"创建任务失败，托盘:{model.Rfid}未找到绑定货位";


                    //AddErrorInfo("查找托盘货位失败", result.msg);


                    //return result;


                }


                // Console.WriteLine("查询货位绑定关系");


                //判断托盘与货位是否有绑定关系，如果没有则进行绑定


@@ -713,7 +723,6 @@




                //}


                #endregion






                #region 根据起点货位的仓库编码 获取平库编码,并计算入库货位


                string End = "";


@@ -803,6 +812,7 @@


                    return result;


                }


                #endregion




                return result;


            }


            catch (Exception ex)




 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/api/MesController.cs


@@ -198,11 +198,7 @@


            foreach (var item in model.data)


            { result = ApiHelper.ClearLoc(item); }










            return result;




        }




        /// <summary>


@@ -216,7 +212,6 @@


            LogHelper.Info("ClearLoc Request：" + JsonConvert.SerializeObject(model));




            result = ApiHelper.CreatTask(model.data);






            return result;


        }




 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/core/WCSCore.cs


@@ -183,7 +183,7 @@


                        }


                        if (!string.IsNullOrEmpty(url))


                        {


                            TaskProcess.OperateReq(model.task_no, model.state, url, model.forklift_no, model.ext_data, TN_Task.Z_TYPE);


                            TaskProcess.OperateReq(model,url, TN_Task);


                        }


                        else


                        {




 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/device/S7Helper.cs


@@ -67,8 +67,30 @@


        //https://www.ad.siemens.com.cn/productportal/Prods/S7-1200_PLC_EASY_PLUS/SmartSMS/060.html


        //https://www.ad.siemens.com.cn/productportal/Prods/S7-1200_PLC_EASY_PLUS/07-Program/02-basic/01-Data_Type/09-String.html




        /// <summary>


        /// 合肥佳通读取叠盘机


        /// </summary>


        /// <param name="pyl">偏移量地址，佳通byte占位所以可以用这样方式直接读取写入 DB200.DBX0.1</param>


        /// <returns></returns>


        public static int ReadDpj(string pyl)


        {    var plc = new Plc(CpuType.S71500, "192.168.1.1", 0, 1);


          S7Helper.Link(plc);


           return (int)plc.Read(pyl);




        }


        /// <summary>


        /// 合肥佳通写入叠盘机


        /// </summary>


        /// <param name="pyl">偏移量地址，佳通byte占位所以可以用这样方式直接读取写入 DB200.DBX0.1</param>


        /// <param name="value">写入值 byte类型只能0 1</param>


        /// <returns></returns>


        public static int WriteDpj(string pyl,int value)


        {


            var plc = new Plc(CpuType.S71500, "192.168.1.1", 0, 1);


            S7Helper.Link(plc);


            return (int)plc.Write(pyl, value);




        }


        internal static short[] ReadInt(string device, int db, int byteAddr, int count) {


            short[] result = null;


            try {


@@ -115,8 +137,6 @@


            }


            return result;


        }








        /// <summary>


        /// 




 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/process/DeviceProcess.cs


@@ -4,6 +4,7 @@


using HH.WCS.JiaTong.util;


using HH.WCS.JiaTong.wms;


using Newtonsoft.Json;


using S7.Net;


using System;


using System.Collections.Generic;


using System.Linq;


@@ -109,6 +110,8 @@


        }


        internal static void KjTraffic()


        {


           




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


            List<string> locs = new List<string>() { "PMDDW-001" };


            var location = db.Queryable<Location>().Where(a => locs.Contains(a.S_CODE)).ToList();




 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/process/TaskProcess.cs


@@ -1,5 +1,6 @@


using HH.WCS.JiaTong.api;


using HH.WCS.JiaTong.core;


using HH.WCS.JiaTong.device;


using HH.WCS.JiaTong.dispatch;


using HH.WCS.JiaTong.LISTA.process;


using HH.WCS.JiaTong.util;


@@ -12,6 +13,7 @@


using System.IdentityModel.Protocols.WSTrust;


using System.Linq;


using System.Security.Cryptography;


using static HH.WCS.JiaTong.api.ApiModel;


using static HH.WCS.JiaTong.LISTA.process.HttpModel;




namespace HH.WCS.JiaTong.process


@@ -71,27 +73,26 @@


        /// <summary>


        /// 安全请求


        /// </summary>


        /// <param name="no"></param>


        /// <param name="state"></param>


        /// <param name="forkliftNo"></param>


        /// <param name="extData"></param>


        internal static void OperateReq(string no, int state, string url, string forkliftNo, string extData, int Z_type)


        /// <param name="model"></param>


        /// <param name="url"></param>


        /// <param name="wcs"></param>


        internal static void OperateReq(AgvTaskState model,  string url, WCSTask TN_Task)


        {


            try


            {


                LogHelper.Info($"-------开始安全请求------");


                var TN_Task = WCSHelper.GetTask(no);


    


                if (TN_Task != null)


                {


                    int type = 0;


                    string loc = "";


                    if (state == 1101)


                    if (model.state == 1101)


                    {




                        //请求取货，


                        type = 1;


                        loc = TN_Task.S_START_LOC;


                        if (Z_type == 4)


                        if (TN_Task.Z_TYPE == 4)//原材料库国自安全交互


                        {


                            if (GZOperateReqByPost(url, TN_Task.S_EQ_NO, loc, type))


                            {


@@ -101,19 +102,31 @@


                        }


                        else


                        {


                            if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, state))


                            //井松叠盘机安全交互


                            if (TN_Task.Z_TYPE == 2&& TN_Task.S_NOTE=="空托回库")


                            {


                                if (S7Helper.ReadDpj("DB200.DBX0.4")==1)


                                {


                                    NDCApi.ChangeOrderParam(TN_Task.S_CODE.Trim(), 6, "1");


                                } 


                            }


                            else


                            {


                                if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, model.state))


                            {


                                // NDCHelper.ChangeParam(TN_Task.S_CODE.Trim(), 1101, 18);


                                NDCApi.ChangeOrderParam(TN_Task.S_CODE.Trim(), 6, "1");


                            }


                        }




                        }






                    }


                    if (state == 1102)


                    if (model.state == 1102)


                    {


                        type = 3;


                        if (Z_type == 4)


                        if (TN_Task.Z_TYPE == 4)//原材料库国自安全交互


                        {


                            loc = TN_Task.S_START_LOC;


                            if (GZOperateReqByPost(url, TN_Task.S_EQ_NO, loc, type))


@@ -121,13 +134,17 @@


                                //NDCHelper.ChangeParam(TN_Task.S_CODE.Trim(), 1101, 18);


                            }


                        }


                        if (TN_Task.Z_TYPE == 2 && TN_Task.S_NOTE == "空托回库")


                        {


                            S7Helper.WriteDpj("DB100.DBX0.1",1);                            


                    }


                    if (state == 1103)


                    }


                    if (model.state == 1103)


                    {


                        //请求卸货


                        type = 2;


                        loc = TN_Task.S_END_LOC;


                        if (Z_type == 4)


                        if (TN_Task.Z_TYPE == 4)//原材料库国自安全交互


                        {


                            loc = TN_Task.S_END_LOC;


                            if (GZOperateReqByPost(url, TN_Task.S_EQ_NO, loc, type))


@@ -138,18 +155,16 @@


                        }


                        else


                        {


                            if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, state))


                            if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, model.state))


                            {


                                NDCApi.ChangeOrderParam(TN_Task.S_CODE.Trim(), 6, "1");


                            }


                        }






                    }


                    if (state == 1104)


                    if (model.state == 1104)


                    {


                        type = 4;


                        if (Z_type == 4)


                        if (TN_Task.Z_TYPE == 4)//原材料库国自安全交互


                        {


                            loc = TN_Task.S_END_LOC;


                            if (GZOperateReqByPost(url, TN_Task.S_EQ_NO, loc, type))


@@ -159,10 +174,7 @@


                        }


                    }


                }


                else


                {


                    LogHelper.Info($"安全请求==》根据任务号{no}未找到对应任务");


                }


              


            }


            catch (Exception ex)


            {