public bool WriteInt16(string startAddr, short sData)
{
OperateResult write = m_plc.Write(startAddr, sData);
IsConnected = write.IsSuccess;
return(IsConnected);
}
/// <summary>
/// 翻转请求处理
/// </summary>
/// <param name="machine"></param>
/// <param name="flipFlag"></param>
/// <param name="plc"></param>
/// <returns></returns>
protected BllResult SendFlipToPlc(Equipment machine, IPLC plc, FlipFlag wcsAllowFlip)
{
var WCSAllowFlip = machine.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.WCSAllowFlip.ToString());
WCSAllowFlip.Value = wcsAllowFlip.GetIndexString();
BllResult plcResult = plc.Write(WCSAllowFlip);
return(plcResult);
}
/// <summary>
/// 打标请求处理
/// </summary>
/// <param name="machine"></param>
/// <param name="flipFlag"></param>
/// <param name="plc"></param>
/// <returns></returns>
protected BllResult SendPintToPlc(Equipment machine, IPLC plc, PrintFlag wcsPint)
{
var WCSPint = machine.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.WCSPint.ToString());
WCSPint.Value = wcsPint.GetIndexString();
BllResult plcResult = plc.Write(WCSPint);
return(plcResult);
}
/// <summary>
/// 写入或清除 上料完成
/// </summary>
/// <param name="plc"></param>
/// <param name="robot"></param>
/// <param name="arrive">是否到达，true为到达,false为清除</param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendArriveToPlc(IPLC plc, Equipment machineTool, bool arrive)
{
var operate = arrive ? "写入" : "清除";
var WCS_Allow_Load = machineTool.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == EcsToMachineToolPorps.WCS_Allow_Load.ToString());
WCS_Allow_Load.Value = arrive.ToString();
BllResult plcResult = plc.Write(WCS_Allow_Load);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{machineTool.Name}】 ECS确认上料完成 信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{machineTool.Name}】 ECS确认上料完成 信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 写入或清除 ECS允许下料信号，True为写入，False为清除
/// </summary>
/// <param name="plc"></param>
/// <param name="robot"></param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendBlankReadyToPlc(bool blank_Ready, Equipment robot, IPLC plc)
{
var operate = blank_Ready ? "写入" : "清除";
var Blank_Ready = robot.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == PcRobotStation.Blank_Ready.ToString());
Blank_Ready.Value = blank_Ready.ToString();
BllResult plcResult = plc.Write(Blank_Ready);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{robot.Name}】下料准备完成 信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{robot.Name}】下料准备完成 信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 写入或清除 ECS允许焊接机器人翻转，True为写入，False为清除
/// </summary>
/// <param name="plc"></param>
/// <param name="robot">机器人</param>
/// <param name="allow">是否允许翻转，true为允许,false为清除</param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendFlipToPlc(bool allow, Equipment robot, IPLC plc)
{
var operate = allow ? "写入" : "清除";
var WCS_Allow_Flip = robot.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == PcRobotStation.WCS_Allow_Flip.ToString());
WCS_Allow_Flip.Value = allow.ToString();
BllResult plcResult = plc.Write(WCS_Allow_Flip);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{robot.Name}】ECS允许翻转信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{robot.Name}】ECS允许翻转信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 写入或清除 ECS允许焊接机器人翻转，True为写入，False为清除
/// </summary>
/// <param name="plc"></param>
/// <param name="cutter">机器人</param>
/// <param name="allow">是否允许翻转，true为允许,false为清除</param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendCutToPlc(Equipment cutter, CutFlag cutFlag, IPLC plc)
{
var operate = cutFlag == CutFlag.默认 ? "清除" : "写入";
var WCS_Allow_Flip = cutter.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.WCSAllowFlip.ToString());
WCS_Allow_Flip.Value = cutFlag.ToString();
BllResult plcResult = plc.Write(WCS_Allow_Flip);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{cutter.Name}】ECS允许翻转信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{cutter.Name}】ECS允许翻转信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 写入或清除 允许下料
/// </summary>
/// <param name="plc"></param>
/// <param name="bevel"></param>
/// <param name="arrive">是否写入，true为写入,false为清除</param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendRequestToPlc(IPLC plc, Equipment LengthMeasuringMachine, bool request)
{
var operate = request ? "写入" : "清除";
var WCS_Request_Blank = LengthMeasuringMachine.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == ECSToMeasuringMachineProps.WCS_Request_Blank.ToString());
WCS_Request_Blank.Value = request ? MachineMessageFlag.回复允许下料.GetIndexString() : MachineMessageFlag.默认.GetIndexString();;
BllResult plcResult = plc.Write(WCS_Request_Blank);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{LengthMeasuringMachine.Name}】 ECS确认下料 信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{LengthMeasuringMachine.Name}】 ECS确认下料 信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 处理到达信号
/// </summary>
/// <param name="plc"></param>
/// <param name="car"></param>
/// <param name="v"></param>
private BllResult ExcuteArrive(Equipment car, ArriveMessage arriveMessage, IPLC plc)
{
var operate = arriveMessage == ArriveMessage.回复到达 ? "写入" : "清除";
var replyArrive = car.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == ArriveMessage.回复到达.GetIndexString());
replyArrive.Value = arriveMessage.ToString();
BllResult plcResult = plc.Write(replyArrive);
if (plcResult.Success)
{
Logger.Log($"{operate}设备[{car.Name}] ECS确认到达完成 信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备[{car.Name}] ECS确认到达完成 信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 写入或清除 ECS允许焊接机器人翻转，True为写入，False为清除
/// </summary>
/// <param name="plc"></param>
/// <param name="bevel">机器人</param>
/// <param name="allow">是否允许翻转，true为允许,false为清除</param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendFlipToPlc(Equipment bevel, bool allow, IPLC plc)
{
var operate = allow ? "写入" : "清除";
var status = allow ? FlipFlag.回复允许翻转.GetIndexString() : FlipFlag.默认.GetIndexString();
var WCS_Allow_Flip = bevel.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.WCSAllowFlip.ToString());
WCS_Allow_Flip.Value = status.ToString();
BllResult plcResult = plc.Write(WCS_Allow_Flip);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{bevel.Name}】ECS允许翻转信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{bevel.Name}】ECS允许翻转信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 写入或清除 下料完成
/// </summary>
/// <param name="plc"></param>
/// <param name="cutter"></param>
/// <param name="arrive">是否到达，true为到达,false为清除</param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendRequestToPlc(IPLC plc, Equipment cutter, bool request)
{
var status = request ? StationMessageFlag.WCSPLCACK.GetIndexString() : StationMessageFlag.默认.GetIndexString();
var operate = request ? "写入" : "清除";
var WCSReplyMessage = cutter.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.WCSReplyMessage.ToString());
WCSReplyMessage.Value = status.ToString();
BllResult plcResult = plc.Write(WCSReplyMessage);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{cutter.Name}】 ECS确认下料完成 信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{cutter.Name}】 ECS确认下料完成 信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 写入或清除 ECS允许下料信号，True为写入，False为清除
/// </summary>
/// <param name="plc"></param>
/// <param name="robot"></param>
/// <param name="result"></param>
/// <returns></returns>
protected BllResult SendBlankReadyToPlc(bool blank_Ready, Equipment robot, IPLC plc)
{
var operate = blank_Ready ? "写入" : "清除";
var status = blank_Ready ? MachineMessageFlag.WCS回复允许下料.GetIndexString() : MachineMessageFlag.默认.GetIndexString();
var WCSReplyMessage = robot.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.WCSReplyMessage.ToString());
WCSReplyMessage.Value = status.ToString();
BllResult plcResult = plc.Write(WCSReplyMessage);
if (plcResult.Success)
{
Logger.Log($"{operate}设备【{robot.Name}】下料准备完成 信号成功", LogLevel.Success);
}
else
{
Logger.Log($"{operate}设备【{robot.Name}】下料准备完成 信号失败，写入PLC失败：原因：{plcResult.Msg}", LogLevel.Error);
}
return(plcResult);
}
/// <summary>
/// 控制逻辑实现
/// </summary>
/// <param name="srm"></param>
/// <param name="plc"></param>
/// <returns></returns>
public BllResult ExcuteSingle(Equipment srm, List <Equipment> allEquipments, IPLC plc)
{
//联机、无故障
if (Validate(srm).Success)
{
#region 对于单叉堆垛机，判断这个货叉有误故障
if (srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1TotalError.ToString()).Value == "True")
{
//如果报有故障，则返回
return(BllResultFactory.Error("货叉1故障"));
}
#endregion
#region 任务执行判断
if (srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1TaskExcuteStatus.ToString()).Value == SRMTaskExcuteStatus.任务执行中.GetIndexString())
{
//任务执行中就return
return(BllResultFactory.Sucess());
}
if (srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1TaskExcuteStatus.ToString()).Value == SRMTaskExcuteStatus.任务中断_出错.GetIndexString())
{
//由人工处理，一般为空出和重入
return(BllResultFactory.Sucess());
}
if (srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1TaskExcuteStatus.ToString()).Value == SRMTaskExcuteStatus.发任务错误.GetIndexString())
{
//由人工处理，需要重新下发任务
return(BllResultFactory.Sucess());
}
#endregion
#region 任务,货位和本巷道的其他设备
//找出所有未完成的任务
var tasksResult = AppSession.Dal.GetCommonModelByCondition <TaskEntity>($"where taskStatus < {TaskEntityStatus.任务完成.GetIndexInt()} " +
$"and taskStatus>={TaskEntityStatus.下发任务.GetIndexInt()} and deleted = 0 and warehouseCode='{AppSession.WarehouseCode}'");
if (!tasksResult.Success)
{
//如果没有找到任务就直接返回
return(BllResultFactory.Error(tasksResult.Msg));
}
//找出同巷道的库位，考虑到可能多个巷道移库，这里分别查询出所有库位和当前堆垛机所在巷道的库位
var locationsResult = AppSession.LocationService.GetAllLocations(null, null, null, null, null, null, null, srm.WarehouseCode);
if (!locationsResult.Success)
{
return(BllResultFactory.Error(locationsResult.Msg));
}
//所有库位
var allLocations = locationsResult.Data;
//本巷道库位
var locationsRoadWay = allLocations.Where(t => t.RoadWay == srm.RoadWay).ToList();
//找出本巷道的所有设备
var equipmentsRoadWay = allEquipments.Where(t => t.RoadWay == srm.RoadWay && t.WarehouseCode == srm.WarehouseCode).ToList();
//可用的可出站台
//hack:注意，此处针对每个巷道均需要配置StationStatusMonitor！如果没有配置，则可出站台为空集合；
var stationOutStatusMonitor = equipmentsRoadWay.Find(a => a.EquipmentType.Code == "StationStatusMonitor");
var availableOutStation = stationOutStatusMonitor == null ? new List <Equipment>() : equipmentsRoadWay.Where(t => t.EquipmentType.Code.Contains("Station") &&
stationOutStatusMonitor.EquipmentProps.
Count(b => b.EquipmentTypeTemplateCode == t.StationIndex.ToString() && b.Value == StationTaskLimit.可出.GetIndexString()) > 0).ToList();
//hack:这里筛选本巷道或关联到本巷道的任务，规则为起始或目标库位，所以，当将来出现跨巷道移库时，需要特别处理跨巷道移库任务
var tasks = tasksResult.Data.Where(t => locationsRoadWay.Count(a => a.Code == t.FromLocationCode || a.Code == t.ToLocationCode) > 0).ToList();
//筛选任务，任务的前置任务如果存在，则其前置任务需要大于完成状态
tasks = tasks.Where(t =>
{
if (t.PreTaskId != 0)
{
var tempResult = AppSession.Dal.GetCommonModelByCondition <TaskEntity>($"where id = {t.PreTaskId}");
if (tempResult.Success)
{
var innerTask = tempResult.Data[0];
if (innerTask.TaskStatus >= (int)TaskEntityStatus.任务完成)
{
return(true);
}
else
{
return(false);
}
}
else
{
Logger.Log($"未找到任务{t.Id}，远程任务号：{t.RemoteTaskNo}的前置远程任务：{t.PreRemoteTaskNo}，前置内部任务号：{t.PreTaskId}，该任务不允许执行。如果要执行，请取消其前置任务号", LogLevel.Warning);
return(false);
}
}
else
{
return(true);
}
}).ToList();
#endregion
//堆垛机待机情况下
string Fork1TaskExecuteStatus = srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1TaskExcuteStatus.ToString()).Value;
if (Fork1TaskExecuteStatus == SRMTaskExcuteStatus.待机.GetIndexString())
{
//货叉任务待机时，可执行放和取任务，同时当执行完成时，交互后堆垛机会从任务完成更新为待机
//均判断put放货任务标志
//响应任务删除
string WcsFork1TaskFlag = srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.WCSPutFork1TaskFlag.ToString()).Value;
if (WcsFork1TaskFlag == SRMForkTaskFlag.除任务.GetIndexString())
{
return(ClearWCSDataS(srm, plc));
}
//响应任务完成
string WcsTaskAccount = srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.WCSTaskCompleteFlag.ToString()).Value;
if (WcsTaskAccount == SRMForkTaskFlag.任务完成.GetIndexString())
{
return(ClearWCSDataS(srm, plc));
}
//响应无任务且货叉在中心
else if (WcsFork1TaskFlag == SRMForkTaskFlag.无任务.GetIndexString() && srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1Center.ToString()).Value == "True")
{
//hack:单任务由人员手动处理，不重发
//获取需要下发给堆垛机的任务
if (srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1HasPallet.ToString()).Value == "True")
{
Logger.Log($"堆垛机{srm.Name}显示货叉上有货且无任务，状态错误", LogLevel.Error);
return(BllResultFactory.Error());
}
else
{
//判断任务限制情况
var tempTasks = tasks;
//完全空闲的堆垛机实际只执行取货任务，则为库外取与库内取两种
//找出下发状态的待取的离堆垛机最近的任务,并且对应站台口需要可用
var task1s = tempTasks.Where(t => t.TaskStatus == TaskEntityStatus.发任务.GetIndexInt() &&
(t.TaskType == TaskType.出库查看.GetIndexInt() ||
t.TaskType == TaskType.分拣出库.GetIndexInt() ||
t.TaskType == TaskType.整盘出库.GetIndexInt() ||
t.TaskType == TaskType.盘点.GetIndexInt() ||
t.TaskType == TaskType.空容器出库.GetIndexInt() ||
t.TaskType == TaskType.补充入库.GetIndexInt() ||
t.TaskType == TaskType.移库.GetIndexInt()) &&
locationsRoadWay.Exists(a => a.Code == t.FromLocationCode)).ToList();
task1s.ForEach(t =>
{
t.FromLocation = locationsRoadWay.Find(a => a.Code == t.FromLocationCode);
t.ToLocation = allLocations.Find(a => a.Code == t.ToLocationCode);
t.ToPortEquipment = equipmentsRoadWay.FirstOrDefault(a => a.Code == t.ToPort);
});
//任务过滤条件，任务port对应的station要可用
task1s = task1s.Where(t => availableOutStation.Exists(a => AppSession.ExcuteService.GetOutStationByPort(srm.DestinationArea, t.ToPort, App.WarehouseCode).Data?.Exists(b => b.Code == a.Code) == true)).ToList();
//库内取货的任务
var task1 = task1s.OrderByDescending(t => t.Priority).ThenBy(t => Math.Abs((int)t.FromLocation.Line - CurrentColumn)).FirstOrDefault();
//本巷道接入口的任务
var task2s = tempTasks.Where(t => t.TaskStatus == TaskEntityStatus.响应接入站台到达.GetIndexInt() && equipmentsRoadWay.Exists(a => a.Code == t.Gateway)).ToList();
task2s.ForEach(t => { t.ArrivaEquipment = equipmentsRoadWay.Find(a => a.Code == t.Gateway); t.ToLocation = allLocations.Find(a => a.Code == t.ToLocationCode); });
//按优先级以及站台与现有堆垛机的距离优先做调度
var task2 = task2s.OrderByDescending(t => t.Priority).ThenBy(t => Math.Abs(t.ArrivaEquipment.ColumnIndex - CurrentColumn)).FirstOrDefault();
if (task1 == null && task2 == null)
{
//说明当前没有可以被执行的任务
return(BllResultFactory.Sucess());
}
if (task2 != null)
{
//说明库外取货任务不为空，则下发接入任务
//库外取分为换站和其他，换站需要再放到库外，其他则放到库内
return(OutGet(srm, plc, availableOutStation, task2));
}
if (task1 != null)
{
//说明库内取货任务不为空
//库内取分为两种，一种移到库外，一种重新到到库内另一个库位上
return(InGet(srm, plc, locationsRoadWay, availableOutStation, task1));
}
//当两种任务均存在时，此处设置两种模式，出库优先与均衡模式（按堆垛机位置进行）
var configResult = AppSession.BllService.GetAllConfig();
var config = configResult.Data?.FirstOrDefault(t => t.Code == ConfigStrings.OutFirst.ToString());
if (config == null || config.Value != "1")
{
//均衡模式
var dis1 = Math.Abs((int)task1.FromLocation.Line - CurrentColumn);
var dis2 = Math.Abs(task2.ArrivaEquipment.RowIndex1 - CurrentColumn);
if (dis1 <= dis2)
{
return(InGet(srm, plc, locationsRoadWay, availableOutStation, task1));
}
else
{
return(OutGet(srm, plc, availableOutStation, task2));
}
}
else
{
//出库优先模式
return(OutGet(srm, plc, availableOutStation, task2));
}
}
}
else
{
//hack:其他情况1-库内取货，2-库内放货，3-库外入库，4库外出库， 5重新分配入库地址,暂时不做处理，这里也应不需要处理这些情况
}
}
//当堆垛机有任务完成且wcs没有任务完成时，说明是堆垛机新发任务完成
else if (Fork1TaskExecuteStatus == SRMTaskExcuteStatus.任务完成.GetIndexString() && srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.WCSTaskCompleteFlag.ToString()).Value != SSRMTaskCompleteFlag.任务完成.GetIndexString())
{
//todo:检查任务完成
//单叉单任务堆垛机只有2种情况会有完成信号 库外出库和库内放货
//根据任务号和货叉类型进行任务完成处理
int taskNo = int.Parse(srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1TaskNo.ToString()).Value);
int forkType = int.Parse(srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.Fork1TaskType.ToString()).Value);
//库内放货完成
if (forkType == SRMForkTaskFlag.库内放货.GetIndexInt())
{
var task = tasks.FirstOrDefault(t => t.Id == taskNo);
if (task != null)
{
if (!locationsRoadWay.Exists(a => a.Code == task.ToLocationCode))
{
Logger.Log($"堆垛机{srm.Code}，任务：{task.Id}，去向库位：{task.ToLocationCode}不在本巷道中", LogLevel.Error);
return(BllResultFactory.Error());
}
var tempStatus = task.TaskStatus;
task.TaskStatus = TaskEntityStatus.任务完成.GetIndexInt();
task.Updated = DateTime.Now;
task.UpdatedBy = Accounts.WCS.ToString();
var tempResult = AppSession.Dal.UpdateCommonModel <TaskEntity>(task);
if (tempResult.Success)
{
//标记交换区地址，任务完成10
var prop = srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.WCSTaskCompleteFlag.ToString());
prop.Value = SSRMTaskCompleteFlag.任务完成.GetIndexString();
var sendResult = plc.Write(prop);
if (sendResult.Success)
{
Logger.Log($"堆垛机{srm.Name}完成库内放货成功，任务:{task.Id}", LogLevel.Success);
return(BllResultFactory.Sucess());
}
else
{
//回滚
task.TaskStatus = tempStatus;
AppSession.Dal.UpdateCommonModel <TaskEntity>(task);
Logger.Log($"堆垛机{srm.Name}完成库内放货失败，任务:{task.Id}，原因：{sendResult.Msg}", LogLevel.Error);
return(BllResultFactory.Error());
}
}
else
{
Logger.Log($"完成堆垛机{srm.Name}库内放货失败，任务{task.Id}请求WMS接口失败：{tempResult.Msg}", LogLevel.Error);
return(BllResultFactory.Error($"完成堆垛机{srm.Name}库内放货失败，任务{task.Id}请求WMS接口失败：{tempResult.Msg}"));
}
}
else
{
Logger.Log($"堆垛机{srm.Code}记录任务{task.Id}状态不对，请核查任务是否为本巷道任务，以及任务的状态{Enum.GetName(typeof(TaskEntityStatus), task.TaskStatus)}", LogLevel.Error);
return(BllResultFactory.Error());
}
}
//库外放货完成时
else if (forkType == SRMForkTaskFlag.库外放货.GetIndexInt())
{
var task = tasks.FirstOrDefault(t => t.Id == taskNo);
if (task != null)
{
//更新任务状态
int preStatus = task.TaskStatus;
task.TaskStatus = TaskEntityStatus.响应堆垛机库外放货完成.GetIndexInt();
task.Updated = DateTime.Now;
task.UpdatedBy = Accounts.WCS.ToString();
var tempResult = AppSession.Dal.UpdateCommonModel <TaskEntity>(task);
if (tempResult.Success)
{
//标记交换区地址，任务完成10
var prop = srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == SSRMProps.WCSTaskCompleteFlag.ToString());
prop.Value = SSRMTaskCompleteFlag.任务完成.GetIndexString();
var sendResult = plc.Write(prop);
if (sendResult.Success)
{
Logger.Log($"堆垛机{srm.Name}完成库外放货成功，任务:{task.Id}", LogLevel.Success);
return(BllResultFactory.Sucess());
}
else
{
Logger.Log($"堆垛机{srm.Name}完成库外放货失败，任务:{task.Id}，原因：{sendResult.Msg}", LogLevel.Error);
task.TaskStatus = preStatus;
AppSession.Dal.UpdateCommonModel <TaskEntity>(task);
return(BllResultFactory.Error());
}
}
else
{
Logger.Log($"完成堆垛机{srm.Name}库外放货时，更新任务{task.Id}状态失败：{tempResult.Msg}", LogLevel.Error);
return(BllResultFactory.Error($"完成堆垛机{srm.Name}库外放货时，更新任务{task.Id}状态失败：{tempResult.Msg}"));
}
}
else
{
Logger.Log($"堆垛机{srm.Code}记录任务{task.Id}状态不对，请核查任务是否为本巷道任务，以及任务的状态{Enum.GetName(typeof(TaskEntityStatus), task.TaskStatus)}", LogLevel.Error);
return(BllResultFactory.Error());
}
}
//未知情况
Logger.Log($"堆垛机{srm.Name}的任务完成时候和系统对应的任务出现了异常：PLC：{taskNo}或 货叉的任务类型:{forkType} ", LogLevel.Warning);
return(BllResultFactory.Error($"堆垛机{srm.Name}的任务完成时候和系统对应的任务出现了异常：PLC：{taskNo}或 货叉的任务类型:{forkType} "));
}
else
{
//Logger.Log($"堆垛机{stocker.Name}的任务完成时候和系统对应的任务出现了异常：PLC：{taskNo}或 货叉的任务类型:{forkType} ", LogLevel.Warning);
//未知情况
Logger.Log($"堆垛机{srm.Name}处理中，执行状态为：{srm.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == "Fork1TaskExcuteStatus").Value}", LogLevel.Warning);
return(BllResultFactory.Sucess());
}
}
return(BllResultFactory.Sucess());
}
///// <summary>
///// 处理设备下料准备完成
///// </summary>
///// <param name="robot"></param>
///// <param name="allEquipments"></param>
///// <param name="stepTraceList"></param>
///// <param name="plc"></param>
///// <returns></returns>
//public override BllResult ExcuteBlankReady(Equipment robot, List<Equipment> allEquipments, List<StepTrace> stepTraceList, IPLC plc)
//{
// return SendBlankReadyToPlc(true, robot, plc);
//}
/// <summary>
/// 处理设备请求下线
/// </summary>
/// <param name="robot"></param>
/// <param name="allEquipments"></param>
/// <param name="stepTraceList"></param>
/// <param name="plc"></param>
/// <returns></returns>
public override BllResult ExcuteRequest(Equipment robot, List <Equipment> allEquipments, List <StepTrace> stepTraceList, IPLC plc)
{
try
{
var Step_Trace_Id = robot.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.RequestTaskId.ToString());
var convertResult = int.TryParse(Step_Trace_Id.Value, out int stepTraceId);
if (!convertResult)
{
Logger.Log($"处理设备【{robot.Name}】下料请求失败，工序任务的id[{Step_Trace_Id.Value}]转化为整数失败！", LogLevel.Error);
return(BllResultFactory.Error());
}
if (stepTraceId > 0)
{
var stepTrace = stepTraceList.FirstOrDefault(t => t.Id == Convert.ToInt32(Step_Trace_Id.Value));
if (stepTrace != null)
{
if (stepTrace.Status == StepTraceStatus.设备开始生产.GetIndexInt())
{
//修改工序跟踪
stepTrace.Status = StepTraceStatus.设备请求下料.GetIndexInt();
stepTrace.UpdateTime = DateTime.Now;
stepTrace.UpdateBy = App.User.UserCode;
var result = AppSession.Dal.UpdateCommonModel <StepTrace>(stepTrace);
if (result.Success)
{
//回复允许下料
return(SendBlankReadyToPlc(true, robot, plc));
}
return(BllResultFactory.Sucess());
}
if (stepTrace.Status > StepTraceStatus.设备请求下料.GetIndexInt())
{
var WCS_Step_Trace_Id = robot.EquipmentProps.Find(t => t.EquipmentTypeTemplateCode == MachineProps.WCSReplyTaskId.ToString());
WCS_Step_Trace_Id.Value = "0";
BllResult plcResult = plc.Write(WCS_Step_Trace_Id);
if (plcResult.Success)
{
Logger.Log($"清除设备【{robot.Name}】的任务号{stepTrace.Id}成功", LogLevel.Success);
return(BllResultFactory.Sucess());
}
else
{
Logger.Log($"清除设备【{robot.Name}】的任务号{stepTrace.Id}失败，写入PLC失败：{plcResult.Msg}", LogLevel.Error);
return(BllResultFactory.Error());
}
}
}
else
{
Logger.Log($"处理设备【{robot.Name}】下料请求失败，找不到未完成的工序任务id[{Step_Trace_Id.Value}]", LogLevel.Error);
return(BllResultFactory.Error());
}
}
else
{
// 如果不存在 已经处理过的任务，但是还在请求下线，说明是手动上的，或是id丢了
if (!stepTraceList.Exists(t => t.StationId == robot.StationId && t.Status >= StepTraceStatus.设备请求下料.GetIndexInt()))
{
Logger.Log($"处理设备[{robot.Name}]的站台[{robot.StationId}]下料请求失败，工序跟踪ID为0", LogLevel.Error);
return(BllResultFactory.Error());
}
}
}
catch (Exception ex)
{
Logger.Log($"处理设备【{robot.Name}】下料请求时候，发生异常：{ex.Message}", LogLevel.Exception, ex);
return(BllResultFactory.Error());
}
return(BllResultFactory.Sucess());
}
/// <summary>
/// 写寄存器数据（高位在前,低位在后）
/// </summary>
/// <param name="plcAddr">PLC地址(TCP为0)</param>
/// <param name="regType">寄存器类型</param>
/// <param name="startAddr">开始地址</param>
/// <param name="N">长度</param>
/// <param name="strHex">16进制字符FFFF,反转处理:高在前,低位在后</param>
/// <param name="er"></param>
/// <returns></returns>
public bool Write(int plcAddr, ERegType regType, int startAddr, int N, string strHex, out string er)
{
return(_devPLC.Write(plcAddr, regType, startAddr, N, strHex, out er));
}