public override void DoWork(PLCMsg msg)
{
return;
CurrMsg = msg;
if (CurrMsg.STATUS == 1)//判断挡停放行
{
//判断挡停后边专机空闲
var nxtDevice = DeviceBase.GetDevice("E0100201");
if (nxtDevice.CurrMsg?.STATUS == 0)
{
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = 2,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//放行挡停
}
}
else
{
}
}
public override void DoWork(PLCMsg msg)
{
CurrMsg = msg;
AskPallet_Fujiao();
//判断专机满表启动插针
if (CurrMsg.PALLET_COUNT == 8 &&
!(CurrMsg.STATUS == 1 || CurrMsg.STATUS == 2 || CurrMsg.STATUS == 3))
{
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = 3,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg)); //启动专机
}
if (CurrMsg.STATUS == 1) //判断插针就绪
{
//判断其他专机非放行状态
var d2 = DeviceBase.GetDevice("E02202");
if (d2.CurrMsg?.STATUS == 2)
{
return;
}
var d3 = DeviceBase.GetDevice("E02203");
if (d3.CurrMsg?.STATUS == 2)
{
return;
}
var d4 = DeviceBase.GetDevice("E02204");
if (d4.CurrMsg?.STATUS == 2)
{
return;
}
//放行后等10秒再次放行
if (LAST_PASS_TIME.HasValue && (DateTime.Now - LAST_PASS_TIME.Value).Seconds < 10)
{
return;
}
LAST_PASS_TIME = DateTime.Now;
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = 2,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
Task.Run(() =>
{
//System.Threading.Thread.Sleep(5000);//5s后放行
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//放行专机
});
}
else
{
}
}
private static int LastNo = 1;//专机号1,2 = no%2+1
public override void DoWork(PLCMsg msg)
{
CurrMsg = msg;
return;
if (CurrMsg.STATUS == 1)//判断挡停放行
{
bool canpass = true;
if (count == 8)
{
//判断托盘到位
string strLastNo = "E0210" + LastNo;
var lastDevice = DeviceBase.GetDevice(strLastNo);
if (lastDevice.CurrMsg?.PALLET_COUNT == 8)//8个托盘到位了
{
//发送3
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = "E021",
NO = strLastNo,
COMMAND_ID = 3,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg)); //启动专机
canpass = true;
LastNo++; //换下一个专机
LastNo = LastNo % 2 + 1;
count = 0;
}
else
{
canpass = false;
}
}
if (canpass)
{
count++;
var ctlMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = (LastNo + 1),//放行命令23 = no + 1
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//放行挡停
}
}
else
{
}
}
public override void DoWork(PLCMsg msg)
{
CurrMsg = msg;
if (CurrMsg.STATUS == 1)//TODO:判断专机启用
{
//放行后等5秒再次放行
//if (LAST_PASS_TIME.HasValue && (DateTime.Now - LAST_PASS_TIME.Value).Seconds < 3)
//{
// return;
//}
//LAST_PASS_TIME = DateTime.Now;
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = 3,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg)); //启动专机
}
else if (CurrMsg.STATUS == 4) //完成,判断后续空闲
{
if (LAST_PASS_TIME.HasValue && (DateTime.Now - LAST_PASS_TIME.Value).Seconds < 3)
{
return;
}
LAST_PASS_TIME = DateTime.Now;
var nxtDevice = DeviceBase.GetDevice("E0100103");
if (nxtDevice.CurrMsg != null && nxtDevice.CurrMsg.STATUS == 0)
{
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = 2,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//放行专机
}
}
else
{
}
}
protected void AskPallet_Fujiao()
{
var c1 = DeviceBase.GetDevice("E02201");
var c2 = DeviceBase.GetDevice("E02202");
var c3 = DeviceBase.GetDevice("E02203");
var c4 = DeviceBase.GetDevice("E02204");
var stop = DeviceBase.GetDevice("E00215");
if (CurrFujiaoNo == 1) //当前放行至复校1
{
if (FujiaoCount < 8) //尚未放满8个
{
if (stop.CurrMsg?.STATUS == 1) //有待放行的表
{
if ((DateTime.Now - LastFujiaoPassTime).Seconds < 5)
{
return;
}
LastFujiaoPassTime = DateTime.Now;
//放行至复校1
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = stop.DEVICE_TYPE,
NO = stop.NO,
COMMAND_ID = 2,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//启动专机
FujiaoCount++;
Console.WriteLine("放行至复校1 -- " + FujiaoCount);
}
}
else
{
if (c1.CurrMsg?.PALLET_COUNT == 8)//复校1的8个到位后可切换至复校2
{
FujiaoCount = 0;
CurrFujiaoNo = 2;
}
}
}
if (CurrFujiaoNo == 2) //当前放行至复校2
{
if (FujiaoCount < 8) //尚未放满8个
{
if (stop.CurrMsg?.STATUS == 1) //有待放行的表
{
if ((DateTime.Now - LastFujiaoPassTime).Seconds < 5)
{
return;
}
LastFujiaoPassTime = DateTime.Now;
//放行至复校2
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = stop.DEVICE_TYPE,
NO = stop.NO,
COMMAND_ID = 3,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//启动专机
FujiaoCount++;
Console.WriteLine("放行至复校2 -- " + FujiaoCount);
}
}
else
{
if (c2.CurrMsg?.PALLET_COUNT == 8)//初调2的8个到位后可切换至复校3
{
FujiaoCount = 0;
CurrFujiaoNo = 3;
}
}
}
if (CurrFujiaoNo == 3) //当前放行至复校3
{
if (FujiaoCount < 8) //尚未放满8个
{
if (stop.CurrMsg?.STATUS == 1) //有待放行的表
{
if ((DateTime.Now - LastFujiaoPassTime).Seconds < 5)
{
return;
}
LastFujiaoPassTime = DateTime.Now;
//放行至复校3
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = stop.DEVICE_TYPE,
NO = stop.NO,
COMMAND_ID = 4,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//启动专机
FujiaoCount++;
Console.WriteLine("放行至复校3 -- " + FujiaoCount);
}
}
else
{
if (c3.CurrMsg?.PALLET_COUNT == 8)//初调3的8个到位后可切换至复校4
{
FujiaoCount = 0;
CurrFujiaoNo = 4;
}
}
}
if (CurrFujiaoNo == 4) //当前放行至复校4
{
if (FujiaoCount < 8) //尚未放满8个
{
if (stop.CurrMsg?.STATUS == 1) //有待放行的表
{
if ((DateTime.Now - LastFujiaoPassTime).Seconds < 5)
{
return;
}
LastFujiaoPassTime = DateTime.Now;
//放行至复校4
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = stop.DEVICE_TYPE,
NO = stop.NO,
COMMAND_ID = 5,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//启动专机
FujiaoCount++;
Console.WriteLine("放行至复校4 -- " + FujiaoCount);
}
}
else
{
if (c4.CurrMsg?.PALLET_COUNT == 8)//初调4的8个到位后可切换至复校1
{
FujiaoCount = 0;
CurrFujiaoNo = 1;
}
}
}
}
protected void AskPallet_Chutiao()
{
//判断专机空闲，且托盘不满8个（包括在途）
var c1 = DeviceBase.GetDevice("E02101");
var c2 = DeviceBase.GetDevice("E02102");
var stop = DeviceBase.GetDevice("E00214");
if (CurrChutiaoNo == 1) //当前放行至初调1
{
if (ChuTiaoCount < 8) //尚未放满8个
{
if (stop.CurrMsg?.STATUS == 1) //有待放行的表
{
if ((DateTime.Now - LastChutiaoPassTime).Seconds < 5)
{
return;
}
LastChutiaoPassTime = DateTime.Now;
//放行至初调1
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = stop.DEVICE_TYPE,
NO = stop.NO,
COMMAND_ID = 2,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//启动专机
ChuTiaoCount++;
Console.WriteLine("放行至初调1 -- " + ChuTiaoCount);
}
}
else
{
if (c1.CurrMsg?.PALLET_COUNT == 8)//初调1的8个到位后可切换至初调2
{
ChuTiaoCount = 0;
CurrChutiaoNo = 2;
}
}
}
if (CurrChutiaoNo == 2) //当前放行至初调2
{
if (ChuTiaoCount < 8) //尚未放满8个
{
if (stop.CurrMsg?.STATUS == 1) //有待放行的表
{
if ((DateTime.Now - LastChutiaoPassTime).Seconds < 5)
{
return;
}
LastChutiaoPassTime = DateTime.Now;
//放行至初调2
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = stop.DEVICE_TYPE,
NO = stop.NO,
COMMAND_ID = 3,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//启动专机
ChuTiaoCount++;
Console.WriteLine("放行至初调2 -- " + ChuTiaoCount);
}
}
else
{
if (c2.CurrMsg?.PALLET_COUNT == 8)//初调2的8个到位后可切换至初调1
{
ChuTiaoCount = 0;
CurrChutiaoNo = 1;
}
}
}
}
public override void DoWork(PLCMsg msg)
{
CurrMsg = msg;
if (CurrMsg.STATUS == 4 || CurrMsg.STATUS == 0) //机器人抓完后
{
if ((DateTime.Now - LastStatus4).Seconds < 10) //两次状态4之间超过10秒认为机器人抓完
{
return;
}
LastStatus4 = DateTime.Now;
var stopBefore = DeviceBase.GetDevice("E00216");
var stopAfter = DeviceBase.GetDevice("E00217");
//判断前面托盘到位 && 判断后边托盘到位
if (stopBefore.CurrMsg?.STATUS == 1 && stopAfter.CurrMsg?.STATUS == 1)
{
#region 启动机器人
ControlMsg pickMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = flags[i % flags.Count],
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
i++;
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(pickMsg));
#endregion
#region 放行机器人后挡停
Task.Run(() =>
{
System.Threading.Thread.Sleep(6000);//等5秒机器人放完
ControlMsg ctl_af_Msg = new ControlMsg()
{
NO = stopAfter.NO,
DEVICE_TYPE = stopAfter.DEVICE_TYPE,
COMMAND_ID = 2,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctl_af_Msg));
});
#endregion
#region 放行机器人前挡停
if (i > 0 && i % flags.Count == 0)//判断抓完6个
{
Task.Run(() =>
{
System.Threading.Thread.Sleep(2000);//等2秒机器人抓走
ControlMsg ctl_br_Msg = new ControlMsg()
{
NO = stopBefore.NO,
DEVICE_TYPE = stopBefore.DEVICE_TYPE,
COMMAND_ID = 2,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctl_br_Msg));
});
}
#endregion
}
}
}
private static int LastNo = 1;//专机号1,2,3,4 = (no % 4) + 1
public override void DoWork(PLCMsg msg)
{
CurrMsg = msg;
return;
if (CurrMsg.STATUS == 1)//判断挡停放行
{
bool canpass = true;
if (count == 8)
{
//判断托盘到位
string strLastNo = "E0220" + LastNo;
var lastDevice = DeviceBase.GetDevice(strLastNo);
if (lastDevice.CurrMsg?.PALLET_COUNT == 8)//8个托盘到位了
{
//发送3
ControlMsg ctlMsg = new ControlMsg()
{
DEVICE_TYPE = "E022",
NO = strLastNo,
COMMAND_ID = 3,
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//启动专机
canpass = true;
LastNo++;//换下一个专机
LastNo = LastNo % 4 + 1;
count = 0;
}
else
{
canpass = false;
}
}
if (canpass)
{
count++;
var ctlMsg = new ControlMsg()
{
DEVICE_TYPE = msg.DEVICE_TYPE,
NO = msg.NO,
COMMAND_ID = (LastNo + 1),//放行命令2345 = no + 1
MESSAGE_TYPE = "control",
time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
};
GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//放行挡停
}
//int cmdid = 0;
////判断挡停后边专机空闲
//var nxtDevice1 = DeviceBase.GetDevice("E02201");
//var nxtDevice2 = DeviceBase.GetDevice("E02202");
//var nxtDevice3 = DeviceBase.GetDevice("E02203");
//var nxtDevice4 = DeviceBase.GetDevice("E02204");
//if (nxtDevice1.CurrMsg?.PALLET_COUNT < 8)
//{
// cmdid = 2;
//}
//else if (nxtDevice2.CurrMsg?.STATUS < 8)
//{
// cmdid = 3;
//}
//else if (nxtDevice3.CurrMsg?.STATUS < 8)
//{
// cmdid = 4;
//}
//else if (nxtDevice4.CurrMsg?.STATUS < 8)
//{
// cmdid = 5;
//}
//else
//{
//}
//if (cmdid != 0 && (DateTime.Now - LastCount8).Seconds > 20)//每放8个等20秒
//{
// count++;
// if (count % 8 == 0)
// LastCount8 = DateTime.Now;
// var ctlMsg = new ControlMsg()
// {
// DEVICE_TYPE = msg.DEVICE_TYPE,
// NO = msg.NO,
// COMMAND_ID = cmdid,
// MESSAGE_TYPE = "control",
// time_stamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")
// };
// GlobalData.MQ.SentMessage(JsonConvert.SerializeObject(ctlMsg));//放行挡停
//}
}
else
{
}
}
