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using Khd.Core.Application;
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using Khd.Core.Application.Interface;
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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.Mapper;
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using Khd.Core.Plc;
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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.Logging;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Hosting;
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using System.Diagnostics;
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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 IHost _host;
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private Plc.S7.Plc _plc;
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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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private readonly BasePlcpoint automatic;
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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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/// 是否可以写去向
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/// </summary>
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private readonly BasePlcpoint canwritewcsrun06;
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public FirstFloor(IHost host, Plc.S7.Plc plc)
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{
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this._host = host;
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this._plc = plc;
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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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this.automatic = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("automatic"));
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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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this.canwritewcsrun06 = StaticData.BasePlcpointList.First(t => t.equipmentNo.Contains("Hoister") && t.plcpointNo.Contains("canwritewcsrun06"));
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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)
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{
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IsBackground = true
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};
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firstFloorLine.Start();
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Console.WriteLine(DateTime.Now + ":一楼接驳位线程启动成功");
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LogManager.Info("一楼接驳位线程启动成功");
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Thread firstFloorHoister = new(FirstFloorHoister)
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{
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IsBackground = true
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};
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firstFloorHoister.Start();
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Console.WriteLine(DateTime.Now + ":一楼提升机线程启动成功");
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LogManager.Info("一楼提升机线程启动成功");
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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?> Itpyes = new() { 1, 3, 5, 7 };
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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.Entries().ToList().ForEach(e => e.Reload());
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var RFID001Value = this._plc.ReadRFID(this.RFID001.plcpointAddress); //一楼RFID 读
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var linesignal01Value = this._plc.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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if (Convert.ToInt32(linesignal01Value) == 1)
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{
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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 = dbContext.WcsTask.Where(t => t.containerNo == RFID001Value && t.taskStatus < 1).FirstOrDefault();
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if (task == null)
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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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if (material != null)
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{
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var lastTask = dbContext.WcsTaskLog.Where(t => t.containerNo == RFID001Value).OrderByDescending(t => t.createTime).FirstOrDefault();
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if (lastTask != null)
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{
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if (lastTask.materialId == material.materialId && lastTask.ud3 != "10")
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{
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lastTask.ud2 = "1";
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lastTask.ud3 = "1";
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dbContext.Update(lastTask);
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dbContext.SaveChanges();
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LogManager.Info("一楼接驳位线程：托盘" + RFID001Value + "绑定信息未更新，请人工确认是否再次入库");
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Console.WriteLine(DateTime.Now + ":一楼接驳位线程：托盘" + RFID001Value + "绑定信息未更新，请人工确认是否再次入库");
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Thread.Sleep(3000);
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continue;
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}
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}
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var warehouseId = dbContext.WmsWarehouseMaterial.Where(t => t.storageType == "1" && t.storageId == material.materialId).FirstOrDefault()?.warehouseId;
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if (warehouseId != null)
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{
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var TargetFloor = dbContext.WmsBaseWarehouse.Where(t => t.warehouseId == warehouseId).FirstOrDefault();
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if (TargetFloor != null)
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{
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//插入task表
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var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.agvType == "I" && t.dicField == TargetFloor.warehouseInstockType).FirstOrDefault();
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if (dic != null)
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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 = Convert.ToInt32(dic.dicValue),
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taskStatus = 0,
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containerNo = RFID001Value,
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materialNo = material.materialCode,
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materialId = material.materialId,
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qty = Convert.ToInt32(material.bindAmount),
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startPointId = F01,
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startPointNo = "TSJ_01",
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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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endPointId = warehouseId,
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fromFloorNo = 1,
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floorNo = TargetFloor.warehouseFloor,
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useFlag = 1,
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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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}
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}
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}
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}
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else if (Itpyes.Contains(task.taskType))//按照正常任务下发
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{
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if (task.nextPointId != T01)
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{
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task.currPointId = F01;
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task.currPointNo = "TSJ_01";
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task.nextPointId = T01;
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task.nextPointNo = "TSJ_01";
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task.taskStatus = 0;
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task.updateBy = "一楼接驳位线程";
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task.updateTime = DateTime.Now;
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task.remark = "一楼创建入库任务";
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WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(task);
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dbContext.Update(wcsTaskLog);
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dbContext.Update(task);
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dbContext.SaveChanges();
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}
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}
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//出库
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else
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{
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dbContext.WcsTask.Where(t => t.objid == task.objid).Delete();
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dbContext.WcsTaskLog.Where(t => t.objid == task.objid).Update(t => new WcsTaskLog { taskStatus = 4 });
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//没有绑定信息
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//WmsProductOutstock? wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.palletInfoCode == RFID001Value&& t.executeStatus =="1");
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//WmsRawOutstock? wmsRawOutstock = dbContext.WmsRawOutstock.FirstOrDefault(t => t.palletInfoCode == RFID001Value && t.executeStatus == "1");
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//if (wmsProductOutstock != null || wmsRawOutstock != null)
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//{
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// //清空托盘绑定
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// var material = dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).FirstOrDefault();
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// if (material != null)
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// {
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// material.bindAmount = 0;
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// material.materialBarcode = null;
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// material.materialCode = null;
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// material.materialId = null;
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// material.materialName = null;
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// material.updateBy = "WCS";
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// material.updateTime = DateTime.Now;
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// dbContext.Update(material);
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// if (wmsRawOutstock != null)
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// {
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// wmsRawOutstock.executeStatus = "2";
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// dbContext.Update(wmsRawOutstock);
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// }
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// else if(wmsProductOutstock != null)
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// {
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// wmsProductOutstock.executeStatus = "2";
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// dbContext.Update(wmsProductOutstock);
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// }
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// //dbContext.MesBasePalletInfo.Where(t => t.palletInfoCode == RFID001Value).Delete();
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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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}
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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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foreach (var item in StaticData.PlcDic)
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{
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if (item.Value.IP == ex.Message)
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{
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StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
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StaticData.PlcDic[item.Key].Open();
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}
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}
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}
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LogManager.Error(ex);
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}
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Thread.Sleep(1000);
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}
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}
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/// <summary>
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/// 提升机线程
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/// </summary>
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private void FirstFloorHoister()
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{
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while (true)
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{
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try
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{
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//var automatic06Value = this._plc.Read(this.automatic.plcpointAddress);//提升机自动状态
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//if (automatic06Value != null && Convert.ToInt32(automatic06Value) == 1)
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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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var serialno06Value = this._plc.Read(this.serialno06.plcpointAddress); //提升机流水号 读
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var equipstate06Value = this._plc.Read(this.equipstate06.plcpointAddress); //提升机状态 读
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var hoisterTrayIn06Value = this._plc.Read(this.hoistertrayin06.plcpointAddress); //提升机货物到位状态 读
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var currentfloor06Value = this._plc.Read(this.currentfloor06.plcpointAddress); //提升机当前楼层 读
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var targetfloor06Value = this._plc.Read(this.targetfloor06.plcpointAddress); //提升机目的楼层 写
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var reserialno06 = this._plc.Read(this.reserialno06.plcpointAddress); //反馈流水号
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var canwritewcsrun06value = this._plc.Read(this.canwritewcsrun06.plcpointAddress);
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//正常读到plc值
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if (targetfloor06Value != null && canwritewcsrun06value != null && serialno06Value != null && equipstate06Value != null && currentfloor06Value != null && reserialno06 != null && hoisterTrayIn06Value != null)
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{
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//提升机空闲
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if (Convert.ToInt32(equipstate06Value) == 0)
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{
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var wcsTasks = dbContext.WcsTask.Where(t => t.nextPointId == T01).OrderBy(t => t.createTime).ToList();
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foreach (var wcsTask in wcsTasks)
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{
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if (wcsTasks.Where(t => t.taskStatus > 0).Where(t => t.objid != wcsTask.objid).Any())
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{
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LogManager.Info("提升机线程：有其他任务正在执行，跳过当前任务");
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continue;
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}
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BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == wcsTask.floorNo);
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if (wcsTask.taskStatus == 0 && Convert.ToInt32(hoisterTrayIn06Value) == 0)//创建状态，并且里面没有货物
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{
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if (lineEquip.equipStatus == 1)
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{
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LogManager.Info("提升机线程：" + wcsTask.floorNo + "楼接驳位有AGV任务，跳过当前任务");
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continue;
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}
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BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
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if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
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{
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if (Convert.ToInt32(currentfloor06Value) == wcsTask.fromFloorNo)
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{
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//if (Convert.ToInt32(canwritewcsrun06value) == 0)
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{
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wcsTask.taskStatus = 2;
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wcsTask.updateBy = "提升机线程";
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wcsTask.updateTime = DateTime.Now;
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wcsTask.remark = "提升机任务执行中";
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BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
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this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
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this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
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dbContext.Update(wcsTask);
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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" });
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lineEquip.equipStatus = 1;
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dbContext.Update(lineEquip);
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dbContext.SaveChanges();
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}
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}
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else
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{
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wcsTask.taskStatus = 1;
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wcsTask.updateBy = "提升机线程";
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wcsTask.updateTime = DateTime.Now;
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wcsTask.remark = "提升机任务执行中";
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this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.fromFloorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
|
|
|
this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
|
|
|
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();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
if (wcsTask.taskStatus == 1 && Convert.ToInt32(reserialno06) == wcsTask.serialNo)
|
|
|
{
|
|
|
BasePlcpoint floorPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID00" + wcsTask.fromFloorNo);
|
|
|
if (wcsTask.containerNo == this._plc.ReadRFID(floorPoint.plcpointAddress))
|
|
|
{
|
|
|
//if (Convert.ToInt32(canwritewcsrun06value) == 0)
|
|
|
{
|
|
|
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"));
|
|
|
this._plc.WriteToPoint(basePlcpoint.plcpointAddress, "1", basePlcpoint.plcpointLength.ToString());
|
|
|
this._plc.WriteToPoint(this.serialno06.plcpointAddress, wcsTask.serialNo.ToString(), this.serialno06.plcpointLength.ToString());
|
|
|
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();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
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";
|
|
|
this._plc.WriteToPoint(this.targetfloor06.plcpointAddress, wcsTask.floorNo.ToString(), this.targetfloor06.plcpointLength.ToString());//目的地楼层
|
|
|
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();
|
|
|
}
|
|
|
}
|
|
|
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 (Convert.ToInt32(canwritewcsrun06value) == 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";
|
|
|
BasePlcpoint basePlcpoint = StaticData.BasePlcpointList.First(t => t.floorNo == wcsTask.fromFloorNo && t.plcpointNo.Contains("wcsrun"));
|
|
|
this._plc.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
|
|
|
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();
|
|
|
}
|
|
|
}
|
|
|
else if (wcsTask.taskStatus == 4)
|
|
|
{
|
|
|
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;
|
|
|
dbContext.Update(lineEquip);
|
|
|
dbContext.SaveChanges();
|
|
|
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();
|
|
|
}
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
//}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
if (ex is PlcException)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
foreach (var item in StaticData.PlcDic)
|
|
|
{
|
|
|
if (item.Value.IP == ex.Message)
|
|
|
{
|
|
|
StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
|
|
|
StaticData.PlcDic[item.Key].Open();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
catch
|
|
|
{
|
|
|
|
|
|
}
|
|
|
}
|
|
|
LogManager.Error(ex);
|
|
|
}
|
|
|
Thread.Sleep(5000);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|