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using Khd.Core.Domain.Dto.TaskType;
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using Khd.Core.Domain.Dto.waring;
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using Khd.Core.Domain.Models;
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using Khd.Core.EntityFramework;
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using Khd.Core.Library;
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using Khd.Core.Library.Mapper;
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using Khd.Core.Plc.S7;
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using Khd.Core.Wcs.Global;
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using Masuit.Tools;
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using Microsoft.EntityFrameworkCore;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Hosting;
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using Z.EntityFramework.Plus;
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namespace Khd.Core.Wcs.Wcs
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{
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/// <summary>
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/// 一楼线程（包括接驳位，提升机调度）
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/// </summary>
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public class FirstFloor
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{
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private readonly LoggerUtils _logger = new LoggerUtils();
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private readonly IHost _host;
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private readonly long F01 = 1;
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private readonly long T01 = 6;
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/// <summary>
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/// 一楼RFID 读
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/// </summary>
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private readonly BasePlcpoint RFID001;
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/// <summary>
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/// 到位信号 读
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/// </summary>
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private readonly BasePlcpoint linesignal01;
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/// <summary>
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/// 提升机流水号 读
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/// </summary>
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private readonly BasePlcpoint serialno06;
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/// <summary>
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/// 提升机状态 读
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/// </summary>
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private readonly BasePlcpoint equipstate06;
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/// <summary>
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/// 提升机任务状态 读
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/// </summary>
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private readonly BasePlcpoint hoistertrayin06;
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/// <summary>
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/// 提升机当前楼层 写
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/// </summary>
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private readonly BasePlcpoint currentfloor06;
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/// <summary>
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/// 提升机目的楼层 写
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/// </summary>
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private readonly BasePlcpoint targetfloor06;
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/// <summary>
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/// 提升机反馈流水号
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/// </summary>
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private readonly BasePlcpoint reserialno06;
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/// <summary>
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/// 提升机手自动状态
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/// </summary>
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private readonly BasePlcpoint hoisterStatus;
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/// <summary>
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/// 提升机到位信号 读
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/// </summary>
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private readonly BasePlcpoint mesClose;
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public FirstFloor(IHost host)
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{
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this._host = host;
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//一楼RFID 读
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this.RFID001 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("RFID001"));
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//到位信号 读
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this.linesignal01 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("FirstFloorLine") && t.plcpointNo.Contains("linesignal01"));
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//一楼提升机流水号 读
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this.serialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("serialno06"));
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// Mes 关闭
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this.mesClose = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("mesclose"));
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//一楼提升机状态 读
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this.equipstate06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("equipstate06"));
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//一楼提升机任务状态 读
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this.hoistertrayin06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("hoistertrayin06"));
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//一楼提升机当前楼层 写
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this.currentfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("currentfloor06"));
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//一楼提升机目的楼层 写
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this.targetfloor06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("targetfloor06"));
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//一楼提升机到位信号 读
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this.reserialno06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("reserialno06"));
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//提升机手自动状态
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this.hoisterStatus = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("hoisterStatus"));
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}
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/// <summary>
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/// 启动上件扫描监听
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/// </summary>
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public void StartPoint()
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{
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Thread firstFloorLine = new(FirstFloorLine)//一楼接驳位线程
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{
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IsBackground = true,
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Name = "FirstFloorLine"
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};
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firstFloorLine.Start();
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Thread firstFloorHoister = new(FirstFloorHoister)//提升机
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{
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IsBackground = true,
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Name = "FirstFloorHoister"
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};
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firstFloorHoister.Start();
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Thread equipStatusThread = new Thread(EquipStatusLogic)//设备状态，1-5楼接驳位能不能送货，提升机和小车任务
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{
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IsBackground = true,
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Name = "EquipStatusThread"
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};
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equipStatusThread.Start();
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Console.WriteLine(DateTime.Now + ":一楼提升机线程启动成功");
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_logger.Info("一楼提升机线程启动成功");
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}
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private void EquipStatusLogic(object? obj)
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{
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using var scope = this._host.Services.CreateScope();
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using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
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while (true)
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{
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try
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{
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for (int i = 1; i <= 5; i++)
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{
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BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == $"linesignal0{i}");
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var lineSignal = StaticData.PlcDic[0].Read(basePlcpoint.plcpointAddress);
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if (lineSignal != null)
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{
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if (Convert.ToInt32(lineSignal) == 1)
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{
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BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == i);
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if (baseEquip.equipStatus != 1)//不是忙碌状态，改为忙碌状态
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{
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baseEquip.equipStatus = 1;
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dbContext.Update(baseEquip);
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dbContext.SaveChanges();
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}
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//else
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//{
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// bool hasTask = dbContext.WcsTask.Where(t => t.endPointId == i || t.currPointId == i).Any();
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// if (!hasTask)
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// {
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// baseEquip.equipStatus = 0;
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// dbContext.Update(baseEquip);
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// dbContext.SaveChanges();
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// }
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//}
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}
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else
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{
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BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == i);
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//bool hasCmd = dbContext.WcsCmd.Where(t => t.nextPointId == i || t.currPointId == i).Any();//小车任务
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bool hasTask = dbContext.WcsTask.Where(t => (t.endPointId == i) && t.taskStatus >= 1 && t.nextPointId == 6).Any();//提升机任务，有没有正在执行的往这个接驳位送的
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bool hascmd = dbContext.WcsTask.Where(t => (t.endPointId == i) && t.taskStatus >= 1 && t.nextPointId != 6).Any();//提升机任务，有没有正在执行的往这个接驳位送的
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if (hascmd || hasTask)
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{
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baseEquip.containerNo = null;
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baseEquip.equipStatus = 1;
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}
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else//接驳位改为忙碌状态
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{
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baseEquip.containerNo = null;
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baseEquip.equipStatus = 0;
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}
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dbContext.Update(baseEquip);
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dbContext.SaveChanges();
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}
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}
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}
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}
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catch (Exception ex)
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{
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if (ex is PlcException)
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{
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}
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else
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{
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_logger.Error(ex.Message + "\n" + ex.StackTrace);
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}
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}
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Thread.Sleep(1000);
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}
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}
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private void CallEmpty()
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{
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using var scope = _host.Services.CreateScope();
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using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
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BasePlcpoint oneOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneOut");
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BasePlcpoint someOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someOut");
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BaseEquip mdjEquip = StaticData.BaseEquip.First(t => t.objid == 40);
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while (true)
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{
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try
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{
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dbContext.ChangeTracker.Clear();
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var linesignal = StaticData.PlcDic[0].Read(this.linesignal01.plcpointAddress);
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int taskCount = dbContext.WcsTask.Where(t => t.nextPointId == 6 && t.taskStatus > 0 && t.endPointId == 1).Count();
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int firstFloorCount = dbContext.WcsTask.Where(t => t.currPointId == 1).Count();
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if (Convert.ToInt32(linesignal) == 0 && taskCount == 0 && firstFloorCount == 0)
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{
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bool canSend = dbContext.WcsTask.Where(t => t.floorNo == 1).Where(t => t.taskStatus > 0).Any();
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if (!canSend)
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{
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WcsTaskManual? wcsTaskManual = dbContext.WcsTaskManual.Where(t => t.nextPointId == 40).FirstOrDefault();
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if (wcsTaskManual != null)
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{
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if (wcsTaskManual.taskType == 53)
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{
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StaticData.PlcDic[0].WriteToPoint(someOutPoint.plcpointAddress, "1", someOutPoint.plcpointLength.ToString());
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WcsTask wcsTask = CoreMapper.Map<WcsTask>(wcsTaskManual);
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wcsTask.createTime = DateTime.Now;
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wcsTask.createBy = "一楼接驳位线程";
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wcsTask.taskStatus = 0;
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wcsTask.useFlag = 1;
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wcsTask.isEmpty = "1";
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wcsTask.qty = mdjEquip.emptyCount;
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wcsTask.remark = "一楼创建入库任务";
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WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
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mdjEquip.emptyCount = 0;
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dbContext.Update(mdjEquip);
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dbContext.Add(wcsTaskLog);
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dbContext.Add(wcsTask);
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dbContext.SaveChanges();
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_logger.Info("一楼接驳位线程：空托盘任务下发成功");
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Console.WriteLine(DateTime.Now + ":一楼接驳位线程：空托盘任务下发成功");
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}
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}
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}
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}
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}
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catch (Exception ex)
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{
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if (ex is PlcException)
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{
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}
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else
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{
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_logger.Error(ex.Message + "\n" + ex.StackTrace);
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}
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}
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Thread.Sleep(1000);
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}
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}
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public static bool ReadEmptyLocation()
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{
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var oneOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneOut");
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var someOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someOut");
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var oneInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneIn");
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var someInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someIn");
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var oneOutValue = StaticData.PlcDic[0].Read(oneOutPoint.plcpointAddress);
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var someOutValue = StaticData.PlcDic[0].Read(someOutPoint.plcpointAddress);
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var oneInValue = StaticData.PlcDic[0].Read(oneInPoint.plcpointAddress);
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var someInValue = StaticData.PlcDic[0].Read(someInPoint.plcpointAddress);
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if (oneOutValue != null && someOutValue != null && oneInValue != null && someInValue != null)
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{
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if (Convert.ToInt32(oneOutValue) == 0 && Convert.ToInt32(someOutValue) == 0 && Convert.ToInt32(oneInValue) == 0 && Convert.ToInt32(someInValue) == 0)
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{
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return true;
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}
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}
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return false;
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}
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/// <summary>
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/// 启动一楼接驳位线程
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/// </summary>
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private void FirstFloorLine()
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{
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List<int?> Outtpyes = new() { 2, 4, 8, 6 };
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using var scope = _host.Services.CreateScope();
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using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
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while (true)
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{
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try
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{
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dbContext.ChangeTracker.Clear();//上次查出1，不加这行，数据库实际2，查出1
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var RFID001Value = StaticData.PlcDic[0].ReadRFID(this.RFID001.plcpointAddress); //一楼RFID 读
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var linesignal01Value = StaticData.PlcDic[0].Read(this.linesignal01.plcpointAddress); //到位信号 读
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//正常读到plc值
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if (linesignal01Value != null && RFID001Value != null)
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{
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//正常托盘到位
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BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == 1);
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if (Convert.ToInt32(linesignal01Value) == 1)
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{
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var wcsTasks = dbContext.WcsTask.ToList();
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//判断task表里没有该rfid的未完成的入库
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//信息，未下发去向
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var task = wcsTasks.Where(t => t.IsDelete == 0 || t.IsDelete == null)
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.Where(t => t.nextPointId == 1)
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.OrderBy(t => t.createTime).FirstOrDefault();
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if (task == null)
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{
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if (StaticData.BigContainerCodes.Contains(RFID001Value))
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{
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var newTask = new WcsTask()
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{
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objid = StaticData.SnowId.NextId(),
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serialNo = SystemData.GetSerialNo(dbContext),
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equipmentNo = "F01",
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taskType = 5,
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taskStatus = 0,
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containerNo = RFID001Value,
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currPointId = F01,
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currPointNo = "TSJ_01",
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nextPointId = T01,
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nextPointNo = "TSJ_01",
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fromFloorNo = 1,
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floorNo = 4,
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useFlag = 1,
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ud1 = 20,
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createBy = "一楼接驳位",
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createTime = DateTime.Now,
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remark = "一楼创建入库任务"
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};
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WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
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dbContext.Add(wcsTaskLog);
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dbContext.Add(newTask);
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dbContext.SaveChanges();
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}
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else
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{
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var hasTask = wcsTasks.Where(t => t.containerNo == RFID001Value).Any();
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if (!hasTask)
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{
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//根据托盘号获取物料码
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var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
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WcsTaskLog? taskLog = dbContext.WcsTaskLog.Where(t => t.containerNo == RFID001Value).OrderByDescending(t => t.createTime).FirstOrDefault();
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if (material != null)
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{
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if (string.IsNullOrEmpty(material.materialBarcode))
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{
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continue;
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}
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bool hasBarInfo = dbContext.MesBaseBarcodeInfo.Where(t => t.palletInfoCode == RFID001Value && t.barcodeInfo == material.materialBarcode).Any();
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if (!hasBarInfo)
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{
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continue;
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}
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if (taskLog != null)
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{
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if (taskLog.materialBarcode == material.materialBarcode)
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{
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if (baseEquip.containerNo == "0")
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{
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baseEquip.containerNo = null;
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dbContext.Update(baseEquip);
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dbContext.SaveChanges();
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_logger.Info("一楼接驳位线程：托盘" + RFID001Value + "解绑信息更新成功");
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}
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else if (baseEquip.containerNo != RFID001Value)
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{
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baseEquip.containerNo = RFID001Value;
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dbContext.Update(baseEquip);
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dbContext.SaveChanges();
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_logger.Info("一楼接驳位线程：托盘" + RFID001Value + "绑定信息更新成功");
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Console.WriteLine(DateTime.Now + ":一楼接驳位线程：托盘" + RFID001Value + "绑定信息更新成功");
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Thread.Sleep(3000);
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continue;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Thread.Sleep(3000);
|
|
|
continue;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
var warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
|
|
|
if (warehouseId != null)
|
|
|
{
|
|
|
var TargetFloor = dbContext.WmsBaseWarehouse.Where(t => t.warehouseId == warehouseId).FirstOrDefault();
|
|
|
if (TargetFloor != null)
|
|
|
{
|
|
|
BaseEquip baseEquip1 = dbContext.BaseEquip.First(t => t.objid == TargetFloor.warehouseFloor);
|
|
|
//插入task表
|
|
|
|
|
|
var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.agvType == "I" && t.dicField == TargetFloor.warehouseInstockType).FirstOrDefault();
|
|
|
if (dic != null)
|
|
|
{
|
|
|
var newTask = new WcsTask()
|
|
|
{
|
|
|
objid = StaticData.SnowId.NextId(),
|
|
|
serialNo = SystemData.GetSerialNo(dbContext),
|
|
|
equipmentNo = "F01",
|
|
|
taskType = Convert.ToInt32(dic.dicValue),
|
|
|
taskStatus = 0,
|
|
|
containerNo = RFID001Value,
|
|
|
materialBarcode = material.materialBarcode,
|
|
|
materialId = material.materialId,
|
|
|
qty = Convert.ToInt32(material.bindAmount),
|
|
|
currPointId = F01,
|
|
|
currPointNo = "TSJ_01",
|
|
|
nextPointId = T01,
|
|
|
nextPointNo = "TSJ_01",
|
|
|
ud1 = 20,
|
|
|
endPointId = baseEquip1.objid,
|
|
|
endPointNo=baseEquip1.equipNo,
|
|
|
fromFloorNo = 1,
|
|
|
floorNo = TargetFloor.warehouseFloor,
|
|
|
useFlag = 1,
|
|
|
createBy = "一楼接驳位",
|
|
|
createTime = DateTime.Now,
|
|
|
remark = "一楼创建入库任务"
|
|
|
};
|
|
|
WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(newTask);
|
|
|
dbContext.Add(wcsTaskLog);
|
|
|
dbContext.Add(newTask);
|
|
|
dbContext.SaveChanges();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
|
|
|
SystemData.InsertWaringLog(dbContext, WaringType.绑定物料无仓库信息, "一楼接驳位物料未绑定仓库信息");
|
|
|
continue;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (string.IsNullOrEmpty(task.containerNo))//人工调出
|
|
|
{
|
|
|
if (task.useFlag == 1)
|
|
|
{
|
|
|
if (task.qty > 1)//多个托盘
|
|
|
{
|
|
|
if (task.endPointId != 1)
|
|
|
{
|
|
|
task.nextPointId = 6;
|
|
|
dbContext.SaveChanges();
|
|
|
}
|
|
|
}
|
|
|
else if (task.qty == 1)
|
|
|
{
|
|
|
if (task.endPointId != 1)
|
|
|
{
|
|
|
task.nextPointId = 6;
|
|
|
task.containerNo = RFID001Value;
|
|
|
dbContext.SaveChanges();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == RFID001Value);
|
|
|
if (mesBasePalletInfo != null)
|
|
|
{
|
|
|
MesBaseBarcodeInfo? mesBaseBarcodeInfo = dbContext.MesBaseBarcodeInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
|
|
|
if (mesBaseBarcodeInfo != null)
|
|
|
{
|
|
|
mesBaseBarcodeInfo.palletInfoCode = null;
|
|
|
dbContext.Update(mesBaseBarcodeInfo);
|
|
|
}
|
|
|
mesBasePalletInfo.bindAmount = null;
|
|
|
mesBasePalletInfo.bindAmount = null;
|
|
|
mesBasePalletInfo.materialBarcode = null;
|
|
|
mesBasePalletInfo.materialCode = null;
|
|
|
mesBasePalletInfo.materialId = null;
|
|
|
mesBasePalletInfo.materialName = null;
|
|
|
mesBasePalletInfo.updateBy = "WCS";
|
|
|
mesBasePalletInfo.updateTime = DateTime.Now;
|
|
|
dbContext.Update(mesBasePalletInfo);
|
|
|
dbContext.Remove(task);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == task.objid).Update(t => new WcsTaskLog { taskStatus = 6 });
|
|
|
dbContext.SaveChanges();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
if (ex is PlcException)
|
|
|
{
|
|
|
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
|
}
|
|
|
}
|
|
|
SystemData.DeleteWaringLog(dbContext, WaringType.绑定物料无仓库信息);
|
|
|
Thread.Sleep(3000);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 提升机线程
|
|
|
/// </summary>
|
|
|
private void FirstFloorHoister()
|
|
|
{
|
|
|
using var scope = _host.Services.CreateScope();
|
|
|
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
|
|
|
List<int> Outtpyes = new();//有问题的楼层任务
|
|
|
string warningMsg = "任务无法下发";
|
|
|
while (true)
|
|
|
{
|
|
|
using var transaction = dbContext.Database.BeginTransaction();
|
|
|
try
|
|
|
{
|
|
|
Outtpyes.Clear();
|
|
|
var mesCloseValue = StaticData.PlcDic[0].Read(this.mesClose.plcpointAddress); //MES关闭状态 读
|
|
|
var serialno06Value = StaticData.PlcDic[0].Read(this.serialno06.plcpointAddress); //提升机流水号 读
|
|
|
var equipstate06Value = StaticData.PlcDic[0].Read(this.equipstate06.plcpointAddress); //提升机状态 读
|
|
|
var hoisterTrayIn06Value = StaticData.PlcDic[0].Read(this.hoistertrayin06.plcpointAddress); //提升机货物到位状态 读
|
|
|
var currentfloor06Value = StaticData.PlcDic[0].Read(this.currentfloor06.plcpointAddress); //提升机当前楼层 读
|
|
|
var targetfloor06Value = StaticData.PlcDic[0].Read(this.targetfloor06.plcpointAddress); //提升机目的楼层 写
|
|
|
var hoisterStatusValue = StaticData.PlcDic[0].Read(this.hoisterStatus.plcpointAddress); //提升机目的楼层 写
|
|
|
var reserialno06 = StaticData.PlcDic[0].Read(this.reserialno06.plcpointAddress); //反馈流水号
|
|
|
if (mesCloseValue != null && hoisterStatusValue != null && Convert.ToInt32(hoisterStatusValue) == 1 && Convert.ToInt32(mesCloseValue) == 0)
|
|
|
{
|
|
|
//正常读到plc值
|
|
|
if (targetfloor06Value != null && serialno06Value != null && equipstate06Value != null && currentfloor06Value != null && reserialno06 != null && hoisterTrayIn06Value != null)
|
|
|
{
|
|
|
//提升机空闲
|
|
|
if (Convert.ToInt32(equipstate06Value) == 0)
|
|
|
{
|
|
|
dbContext.ChangeTracker.Clear();
|
|
|
var wcsTasks = dbContext.WcsTask.Where(t => t.nextPointId == T01 && t.taskStatus < 5)
|
|
|
.OrderBy(t => t.ud1).OrderBy(t => t.createTime).ToList();
|
|
|
foreach (var wcsTask in wcsTasks)
|
|
|
{
|
|
|
Outtpyes.Add(wcsTask.floorNo.Value);
|
|
|
if (wcsTask.taskType == StaticTaskType.SecondTransitToLift && !string.IsNullOrEmpty(wcsTask.containerNo))
|
|
|
{
|
|
|
var mesBasePalletInfo = dbContext.MesBasePalletInfo
|
|
|
.Where(t => t.palletInfoCode == wcsTask.containerNo).FirstOrDefault();
|
|
|
if (mesBasePalletInfo == null || string.IsNullOrEmpty(mesBasePalletInfo.materialBarcode))
|
|
|
{
|
|
|
warningMsg = "2楼周转位废料到3楼，托盘未绑定条码，请先绑定";
|
|
|
continue;
|
|
|
}
|
|
|
var mesBaseBarcodeInfo = dbContext.MesBaseBarcodeInfo
|
|
|
.Where(t => t.palletInfoCode == wcsTask.containerNo && t.barcodeInfo == mesBasePalletInfo.materialBarcode).FirstOrDefault();
|
|
|
if (mesBaseBarcodeInfo == null)
|
|
|
{
|
|
|
warningMsg = "2楼周转位废料到3楼，未找到条码信息，请确认";
|
|
|
continue;
|
|
|
}
|
|
|
}
|
|
|
_logger.Info($"当前任务?{wcsTask.ToJsonString()}");
|
|
|
bool CanExecute = false;
|
|
|
long agvEquip = 0;
|
|
|
List<int> taskType = new();
|
|
|
if (wcsTask.floorNo == 3)
|
|
|
{
|
|
|
agvEquip = 9;
|
|
|
taskType.Add(StaticTaskType.ThirdTransitToLift);
|
|
|
taskType.Add(StaticTaskType.ThirdStockReturnTask);
|
|
|
}
|
|
|
else if (wcsTask.floorNo == 5)
|
|
|
{
|
|
|
agvEquip = 28;
|
|
|
taskType.Add(StaticTaskType.FiveStockReturnTask);
|
|
|
taskType.Add(StaticTaskType.FiveProductOut);
|
|
|
}
|
|
|
else if (wcsTask.floorNo == 2)
|
|
|
{
|
|
|
agvEquip = 8;
|
|
|
taskType.Add(StaticTaskType.SecondStorageToLift);
|
|
|
taskType.Add(StaticTaskType.SecondTransitToLift);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
CanExecute = true;
|
|
|
}
|
|
|
if (!CanExecute)
|
|
|
{
|
|
|
CanExecute = !dbContext.WcsTask.Where(t => taskType.Contains(t.taskType.Value) && t.nextPointId == agvEquip).Any();
|
|
|
}
|
|
|
if (CanExecute)
|
|
|
{
|
|
|
wcsTask.serialNo ??= SystemData.GetSerialNo(dbContext);
|
|
|
if (wcsTasks.Where(t => t.taskStatus > 0).Where(t => t.objid != wcsTask.objid).Any())
|
|
|
{
|
|
|
warningMsg = "提升机线程：目的楼层有其他任务正在执行，跳过当前任务";
|
|
|
_logger.Info("提升机线程：目的楼层有其他任务正在执行，跳过当前任务");
|
|
|
continue;
|
|
|
}
|
|
|
BaseEquip lineEquip = dbContext.BaseEquip.First(t => t.objid == wcsTask.floorNo);
|
|
|
if (wcsTask.taskStatus == 0 && Convert.ToInt32(hoisterTrayIn06Value) == 0)//创建状态，并且里面没有货物
|
|
|
{
|
|
|
// 目的楼层从接驳位出发入库的任务 --待测试
|
|
|
var InTask = dbContext.WcsTask.FirstOrDefault(t => t.currPointId == lineEquip.objid);
|
|
|
|
|
|
if (lineEquip.equipStatus == 1 && InTask == null)
|
|
|
{
|
|
|
warningMsg = $"提升机目的楼层{wcsTask.floorNo}楼接驳位有物体或任务正在执行，跳过当前任务";
|
|
|
_logger.Info($"提升机目的楼层{wcsTask.floorNo}楼接驳位有物体或任务正在执行，跳过当前任务");
|
|
|
continue;
|
|
|
}
|
|
|
BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
|
|
|
string? rfid = StaticData.PlcDic[0].ReadRFID(floorPoint.plcpointAddress);
|
|
|
_logger.Info($"{wcsTask.fromFloorNo}楼RFID?{rfid}，任务RFID{wcsTask.containerNo}");
|
|
|
if (wcsTask.containerNo == rfid || (string.IsNullOrEmpty(wcsTask.containerNo) && wcsTask.qty > 1 || wcsTask.taskType == 99))
|
|
|
{
|
|
|
if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)//当前楼层和起始楼层一致
|
|
|
{
|
|
|
wcsTask.taskStatus = 2;
|
|
|
wcsTask.updateBy = "提升机线程";
|
|
|
wcsTask.updateTime = DateTime.Now;
|
|
|
wcsTask.remark = "提升机任务执行中";
|
|
|
BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
|
|
|
dbContext.Update(wcsTask);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
|
|
|
lineEquip.equipStatus = 1;
|
|
|
dbContext.Update(lineEquip);
|
|
|
dbContext.SaveChanges();
|
|
|
StaticData.PlcDic[0].WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
|
|
|
StaticData.PlcDic[0].WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
|
|
|
Console.WriteLine(DateTime.Now + ":提升机下发" + wcsTask.fromFloorNo + "楼入库指令");
|
|
|
_logger.Info("提升机下发" + wcsTask.fromFloorNo + "楼入库指令");
|
|
|
transaction.Commit();
|
|
|
}
|
|
|
else//当前楼层和起始楼层不一致
|
|
|
{
|
|
|
wcsTask.taskStatus = 1;
|
|
|
wcsTask.updateBy = "提升机线程";
|
|
|
wcsTask.updateTime = DateTime.Now;
|
|
|
wcsTask.remark = "提升机任务执行中";
|
|
|
dbContext.Update(wcsTask);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 1, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
|
|
|
lineEquip.equipStatus = 1;
|
|
|
dbContext.Update(lineEquip);
|
|
|
dbContext.SaveChanges();
|
|
|
StaticData.PlcDic[0].WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.fromFloorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
|
|
|
StaticData.PlcDic[0].WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
|
|
|
Console.WriteLine(DateTime.Now + ":提升机下发去往" + wcsTask.fromFloorNo + "楼指令");
|
|
|
_logger.Info("提升机下发去往" + wcsTask.fromFloorNo + "楼指令");
|
|
|
transaction.Commit();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
if (wcsTask.taskStatus == 1 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
|
|
|
{
|
|
|
BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
|
|
|
string? rfid = StaticData.PlcDic[0].ReadRFID(floorPoint.plcpointAddress);
|
|
|
_logger.Info($"{wcsTask.fromFloorNo}楼RFID?{rfid}，任务RFID{wcsTask.containerNo}");
|
|
|
if (wcsTask.containerNo == rfid || (string.IsNullOrEmpty(wcsTask.containerNo) && wcsTask.qty > 1))
|
|
|
{
|
|
|
if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)//提升机当前楼层为初始地楼层
|
|
|
{
|
|
|
wcsTask.taskStatus = 2;
|
|
|
wcsTask.updateBy = "提升机线程";
|
|
|
wcsTask.updateTime = DateTime.Now;
|
|
|
wcsTask.remark = "提升机任务执行中";
|
|
|
BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
|
|
|
dbContext.Update(wcsTask);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 2, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行中" });
|
|
|
dbContext.SaveChanges();
|
|
|
StaticData.PlcDic[0].WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
|
|
|
StaticData.PlcDic[0].WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
|
|
|
Console.WriteLine(DateTime.Now + ":提升机下发" + wcsTask.fromFloorNo + "楼入库指令");
|
|
|
_logger.Info("提升机下发" + wcsTask.fromFloorNo + "楼入库指令");
|
|
|
transaction.Commit();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
if (wcsTask.taskStatus == 2 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
|
|
|
{
|
|
|
if (Convert.ToInt32(hoisterTrayIn06Value) == 1)//托盘已经进提升机
|
|
|
{
|
|
|
wcsTask.taskStatus = 3;
|
|
|
wcsTask.updateBy = "提升机线程";
|
|
|
wcsTask.updateTime = DateTime.Now;
|
|
|
wcsTask.remark = "提升机任务执行完成";
|
|
|
dbContext.Update(wcsTask);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 3, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
|
|
|
dbContext.SaveChanges();
|
|
|
StaticData.PlcDic[0].WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.floorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
|
|
|
Console.WriteLine(DateTime.Now + ":提升机下发去往" + wcsTask.floorNo + "楼目的地指令");
|
|
|
_logger.Info("提升机下发去往" + wcsTask.floorNo + "楼目的地指令");
|
|
|
transaction.Commit();
|
|
|
}
|
|
|
}
|
|
|
if (wcsTask.taskStatus == 3 && Convert.ToInt32(currentfloor06Value) == wcsTask.floorNo && Convert.ToInt32(reserialno06) == wcsTask.serialNo)//任务状态为3，且当前楼层为任务的目的楼层
|
|
|
{
|
|
|
if (wcsTask.floorNo == 1)//目的楼层是1
|
|
|
{
|
|
|
bool emptyStatus = ReadEmptyLocation();
|
|
|
_logger.Info($"一楼托盘库是否有任务?{emptyStatus}");
|
|
|
if (emptyStatus)//托盘库是否有任务，没有任务返回true
|
|
|
{
|
|
|
var linesignal = StaticData.PlcDic[0].Read(StaticData.BasePlcpointList.First(t => t.plcpointNo == $"linesignal0{wcsTask.floorNo}").plcpointAddress);
|
|
|
_logger.Info($"一楼接驳位外侧是否有东西?{linesignal}");
|
|
|
if (linesignal != null && Convert.ToInt32(linesignal) == 0)//接驳位外侧没有东西
|
|
|
{
|
|
|
BasePlcpoint clearPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == $"clear0{wcsTask.floorNo}");
|
|
|
var clearValue = StaticData.PlcDic[0].Read(clearPoint.plcpointAddress);
|
|
|
if (clearPoint != null && Convert.ToBoolean(clearValue) == true)//是否有报警
|
|
|
{
|
|
|
Console.WriteLine(DateTime.Now + ":提升机下发报警消除指令");
|
|
|
_logger.Info("提升机下发报警消除指令");
|
|
|
StaticData.PlcDic[0].WriteToPoint(clearPoint.plcpointAddress, false, clearPoint.plcpointLength.ToString());//清除报警
|
|
|
}
|
|
|
wcsTask.taskStatus = 4;
|
|
|
wcsTask.updateBy = "提升机线程";
|
|
|
wcsTask.updateTime = DateTime.Now;
|
|
|
wcsTask.remark = "提升机任务执行完成";
|
|
|
dbContext.Update(wcsTask);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
|
|
|
dbContext.SaveChanges();
|
|
|
BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.floorNo && t.plcpointNo.Contains("wcsrun"));
|
|
|
StaticData.PlcDic[0].WriteToPoint(basePlcpoint.plcpointAddress, "2", basePlcpoint.plcpointLength.ToString());//去向为2，表示提升机已到达目的地，让货出去
|
|
|
Console.WriteLine(DateTime.Now + ":提升机下发" + wcsTask.floorNo + "楼出库指令");
|
|
|
_logger.Info("提升机下发" + wcsTask.floorNo + "楼出库指令");
|
|
|
transaction.Commit();
|
|
|
}
|
|
|
else//接驳位外侧有东西
|
|
|
{
|
|
|
BasePlcpoint clearPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == $"clear0{wcsTask.floorNo}");
|
|
|
var clearValue = StaticData.PlcDic[0].Read(clearPoint.plcpointAddress);
|
|
|
if (clearPoint != null && Convert.ToBoolean(clearValue) == false)
|
|
|
{
|
|
|
warningMsg = $"目的楼层{wcsTask.floorNo}接驳位外侧有东西,货物无法继续出提升机";
|
|
|
StaticData.PlcDic[0].WriteToPoint(clearPoint.plcpointAddress, true, clearPoint.plcpointLength.ToString());
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
warningMsg = $"一楼托盘库有任务正在执行，等待任务执行完成";
|
|
|
Console.WriteLine(DateTime.Now + ":一楼托盘库有任务正在执行，等待任务执行完成");
|
|
|
_logger.Info("一楼托盘库有任务正在执行，等待任务执行完成");
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
var linesignal = StaticData.PlcDic[0].Read(StaticData.BasePlcpointList.First(t => t.plcpointNo == $"linesignal0{wcsTask.floorNo}").plcpointAddress);
|
|
|
_logger.Info($"{wcsTask.floorNo}楼接驳位外侧是否有东西?{linesignal}");
|
|
|
if (linesignal != null && Convert.ToInt32(linesignal) == 0)
|
|
|
{
|
|
|
wcsTask.taskStatus = 4;
|
|
|
wcsTask.updateBy = "提升机线程";
|
|
|
wcsTask.updateTime = DateTime.Now;
|
|
|
wcsTask.remark = "提升机任务执行完成";
|
|
|
dbContext.Update(wcsTask);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 4, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
|
|
|
dbContext.SaveChanges();
|
|
|
BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.floorNo && t.plcpointNo.Contains("wcsrun"));
|
|
|
StaticData.PlcDic[0].WriteToPoint(basePlcpoint.plcpointAddress, "2", basePlcpoint.plcpointLength.ToString());//去向为2，表示提升机已到达目的地，让货出去
|
|
|
Console.WriteLine(DateTime.Now + ":提升机下发" + wcsTask.floorNo + "楼出库指令");
|
|
|
_logger.Info("提升机下发" + wcsTask.floorNo + "楼出库指令");
|
|
|
transaction.Commit();
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
warningMsg = $"{wcsTask.floorNo}楼接驳位外侧有东西{linesignal}";
|
|
|
BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == $"clear0{wcsTask.floorNo}");
|
|
|
StaticData.PlcDic[0].WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (wcsTask.taskStatus == 4)//提升机任务结束
|
|
|
{
|
|
|
BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.floorNo && t.plcpointNo.Contains("wcsrun"));
|
|
|
var wcsRun = StaticData.PlcDic[0].Read(basePlcpoint.plcpointAddress);
|
|
|
_logger.Info($"{wcsTask.floorNo}楼接驳位任务状态{wcsRun}");
|
|
|
if (wcsRun != null && Convert.ToInt32(wcsRun) == 0)//判断当前接驳位的任务状态，wcsrrun如果是1代表入库，2是出库，0是空闲
|
|
|
{
|
|
|
BaseEquip floorEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
|
|
|
wcsTask.nextPointId = floorEquip.objid;
|
|
|
wcsTask.nextPointNo = floorEquip.equipNo;
|
|
|
wcsTask.taskStatus = 5;
|
|
|
wcsTask.updateBy = "提升机线程";
|
|
|
wcsTask.updateTime = DateTime.Now;
|
|
|
wcsTask.remark = "提升机任务执行完成";
|
|
|
lineEquip.equipStatus = 0;
|
|
|
Console.WriteLine(DateTime.Now + ":提升机任务完成" + wcsTask.fromFloorNo + "---" + wcsTask.floorNo + "楼指令");
|
|
|
_logger.Info("提升机任务完成" + wcsTask.fromFloorNo + "---" + wcsTask.floorNo + "楼指令");
|
|
|
dbContext.Update(lineEquip);
|
|
|
dbContext.Update(wcsTask);
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTaskLog { taskStatus = 5, nextPointId = floorEquip.objid, nextPointNo = floorEquip.equipNo, updateBy = "提升机线程", updateTime = DateTime.Now, remark = "提升机任务执行完成" });
|
|
|
dbContext.SaveChanges();
|
|
|
transaction.Commit();
|
|
|
}
|
|
|
}
|
|
|
Outtpyes.Clear();
|
|
|
break;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
continue;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else//同步楼层，屏蔽状态
|
|
|
{
|
|
|
if (currentfloor06Value != null && targetfloor06Value != null)
|
|
|
{
|
|
|
warningMsg = "MES屏蔽已打开，无法下发任务";
|
|
|
StaticData.PlcDic[0].WriteToPoint(this.targetfloor06.plcpointAddress, Convert.ToString(currentfloor06Value), this.targetfloor06.plcpointLength.ToString());
|
|
|
continue;
|
|
|
}
|
|
|
}
|
|
|
if (Outtpyes.Count > 0)
|
|
|
{
|
|
|
SystemData.InsertWaringLog(dbContext, WaringType.提升机任务下发异常, warningMsg);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
SystemData.DeleteWaringLog(dbContext, WaringType.提升机任务下发异常);
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
transaction.Rollback();
|
|
|
}
|
|
|
catch
|
|
|
{
|
|
|
|
|
|
}
|
|
|
if (ex is PlcException)
|
|
|
{
|
|
|
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
SystemData.InsertWaringLog(dbContext, WaringType.提升机任务下发异常, "提升机任务下发异常"+ex.Message);
|
|
|
_logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
|
}
|
|
|
}
|
|
|
Thread.Sleep(5000);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|