change - 提升机旁出空料箱逻辑修改，收到运送空料箱任务就通知PLC出空料箱

.idea/.idea.SlnMesnac/.idea/.name

@@ -0,0 +1 @@
+SlnMesnac

SlnMesnac.WCS/MainCentralControl.cs

@@ -35,6 +35,8 @@ namespace SlnMesnac.WCS
         private readonly SerilogHelper _logger;
         private IServiceProvider serviceProvider;
         private ISqlSugarClient SqlSugarClient;
+
+        private BearAgv bearAgv;
         #region 变量定义
         public List<PlcAbsractFactory> plcList;
 
@@ -97,7 +99,7 @@ namespace SlnMesnac.WCS
             _logger.Agv("WCS调度程序启动成功!");
 
             //背负式agv执行任务
-            BearAgv bearAgv = new BearAgv(host.Services);
+            bearAgv = new BearAgv(host.Services);
             bearAgv.StartPoint();
         }
 
@@ -270,6 +272,8 @@ namespace SlnMesnac.WCS
                             agv.Timestamp = DateTime.Now;
                         }
                     }
+
+                    //TaskHandleByAgv(agvList);
                     SqlSugarClient.Updateable(agvList).ExecuteCommand();
                 }
             }
@@ -279,6 +283,41 @@ namespace SlnMesnac.WCS
             }
         }
 
+        public void TaskHandleByAgv(List<WcsAgvStatus> agvInfos)
+        {
+            if (agvInfos == null || agvInfos.Count == 0)
+            {
+                return;
+            }
+
+            var targetPoint = new { X = 142430, Y = 108540 };
+
+            var agvInfo = agvInfos.OrderBy(agv => CalculateDistance(double.Parse(agv.PosX), double.Parse(agv.PosY), targetPoint.X, targetPoint.Y)).First();
+            
+            _logger.Agv($"=====>>>>离接驳位最近的设备为:{agvInfo.RobotCode}");
+            
+            //判断当前小车有没有送空箱任务,下发PLC触发取料信号
+            if (agvInfo.StatusDetail.Contains("待机模式") || agvInfo.StatusDetail.Contains("空闲"))
+            {
+                _logger.Agv($"当前空闲车辆{agvInfo.RobotCode};离取料点最近，优先进行取料，锁定线体，下发PLC触发取料信号");
+            }
+            else
+            {
+                _logger.Agv($"当前没有空闲小车离取料点最近，等线体空闲后进行取料");
+                var flag = bearAgv.workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"));
+                if (flag == 0)
+                {
+                    //线体空闲了，可以锁定进行取料
+                    _logger.Agv($"线体空闲了，可以锁定使用远处小车进行取料");
+                }
+            }
+        }
+        
+        private static double CalculateDistance(double x1, double y1, double x2, double y2)
+        {
+            return Math.Sqrt(Math.Pow(x2 - x1, 2) + Math.Pow(y2 - y1, 2));
+        }
+        
         #region 删除任务  -- 已经下发的任务，需要通知agv取消
 
         /// <summary>

SlnMesnac.WCS/WCS/BearAgv.cs

@@ -24,13 +24,15 @@ namespace SlnMesnac.WCS.WCS
         private List<string> agvEquipNos = new List<string>() { "AGV01", "AGV02", "AGV03" };
 
         //3#车间上料点plc
-        private readonly PlcAbsractFactory workShop3Plc;
+        public readonly PlcAbsractFactory workShop3Plc;
 
         //2#计量室相关点位
         private readonly PlcAbsractFactory workShop2Plc;
 
         public readonly WcsBaseEquip baseEquip;
 
+        public List<WcsAgvStatus> agvStatusList = new List<WcsAgvStatus>();
+
         public BearAgv(IServiceProvider serviceProvider) : base(serviceProvider)
         {
             sqlSugarClient = serviceProvider.GetRequiredService<ISqlSugarClient>();
@@ -590,6 +592,7 @@ namespace SlnMesnac.WCS.WCS
                 if (task.TaskStatus == 0)
                 {
                     TaskStatus0Handle(task);
+                    workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出一个空托盘信号"), true);
                 }
                 else if (task.TaskStatus == 2) //agv到达接驳位里面，等待料箱上agv
                 {
@@ -599,6 +602,11 @@ namespace SlnMesnac.WCS.WCS
                         return;
                     }
                     
+                    if (!workShop2Plc.readBoolByAddress("DB100.DBX38.0"))
+                    {
+                        workShop2Plc.writeBoolByAddress("DB100.DBX38.0", true);
+                    }
+
                     bool goOutFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#缓存空进AGV任务反馈"));
                     bool outFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#接驳位到位信号"));
                     if (!outFlag && !goOutFlag)
@@ -616,6 +624,8 @@ namespace SlnMesnac.WCS.WCS
                             workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出接驳位信号"), false);
                             workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出一个空托盘信号"), false);
 
+                            workShop2Plc.writeBoolByAddress("DB100.DBX38.0", false);
+                            
                             //判断二次生成补空箱任务
                             Thread.Sleep(500);
                             CreateSecondSuppleSmallPallet();
@@ -663,7 +673,7 @@ namespace SlnMesnac.WCS.WCS
                     }
                     if (busyFlag == 0)
                     {
-                        Thread.Sleep(1000);
+                        Thread.Sleep(3000);
                         busyFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"));
                         if (busyFlag == 0)
                         {
@@ -1275,6 +1285,9 @@ namespace SlnMesnac.WCS.WCS
         {
             try
             {
+                
+                return;
+                
                 if (workShop3Plc == null || !workShop3Plc.IsConnected || workShop2Plc == null || !workShop2Plc.IsConnected)
                 {
                     return;

SlnMesnac.WPF/ViewModel/IndexViewModel.cs

@@ -79,7 +79,7 @@ namespace SlnMesnac.WPF.ViewModel
                    GetTaskList();
                    await RefreChartAsync();
                    await LoadAgvDataAsync();
-                   PrintMessageToListBox("测试消息" + Guid.NewGuid());
+                   //PrintMessageToListBox("测试消息" + Guid.NewGuid());
                    await Task.Delay(5000);
                }
            });