change - 提升机逻辑调试、修改Apollo配置中心测试环境

Sln.Wcs.HikRoBotServer/appsettings.json

@@ -10,9 +10,9 @@
   "apollo": {
     "AppId": "SlnWcs",
     "Env": "DEV",
-    "MetaServer": "http://119.45.202.115:4320", //配置网址 4310
+    "MetaServer": "http://172.16.12.20:7320", //配置网址 4310
     "ConfigServer": [
-      "http://119.45.202.115:4320"
+      "http://172.16.12.20:7320"
     ]
   }
 }

Sln.Wcs.HoistAdapter/Service/Impl/HoistService.cs

@@ -69,6 +69,7 @@ public class HoistService:IHoistService
             {
                 hoistCode = setHoistActionDto.hoistCode,
                 action = (HoistSdk.Enum.ControlAction)setHoistActionDto.action,
+                deviceSerialNo = setHoistActionDto.deviceSerialNo,
             };
 
             var resp = this.hoistSdk.SetHoistAction(data);

Sln.Wcs.HoistDispatcher/HoistDispatchHub.cs

@@ -79,7 +79,7 @@ public class HoistDispatchHub
             {
                 hoistCode = deviceInfo.hostCode,
                 deviceSerialNo = deviceInfo.deviceSerialNo,
-                action = ControlAction.Start
+                action = ControlAction.Start,
             });
 
             if (res.code == HoistStatusEnum.成功)
@@ -145,6 +145,8 @@ public class HoistDispatchHub
     public async Task<BaseDeviceInfo> GetFreeHoistAsync(string hostCode)
     {
         while (true)
+        {
+            lock (string.Empty)
             {
                 RefreshDeviceParams(hostCode, out List<BaseDeviceInfo> deviceInfos);
         
@@ -157,7 +159,8 @@ public class HoistDispatchHub
                 if (freeHoist != null)
                     return freeHoist;
         
-            await Task.Delay(1000);
+                Thread.Sleep(1000);
+            }
         }
     }
 

Sln.Wcs.HoistSdk/Config/HoistConfig.cs

@@ -40,18 +40,11 @@ public class HoistConfig
     /// <exception cref="Exception"></exception>
     public HoistConfig(IConfiguration configuration)
     {
-        if (string.IsNullOrEmpty(configuration["提升机控制地址"]))
-        {
-            throw new Exception("提升机控制地址 配置不正确,请检查Apollo配置.");
-        }
-        
         if (string.IsNullOrEmpty(configuration["PLC参数"]))
         {
             throw new Exception("PLC参数 配置不正确,请检查Apollo配置.");
         }
         
-        hoist_control_addr = configuration["提升机控制地址"];
-
         hoist_plc_param = configuration["PLC参数"];
     }
 }

Sln.Wcs.HoistSdk/HoistSdk.cs

@@ -138,20 +138,31 @@ public class HoistSdk:IHoistSdk
 
                     if (item.hostCode == hoistStatusDto.hoistCode)
                     {
-                        var plc = _plcs.Where(x => x.ConfigKey.Equals(item.hostCode)).FirstOrDefault();
+                        string plcKey = string.Empty;
+                        var plc = _plcs.Where(x => x.ConfigKey.Equals(hoistStatusDto.hoistCode)).FirstOrDefault();
                         if (plc == null)
                         {
+
+                            foreach (var plcItem in _plcs)
+                            {
+                                if (plcItem.ConfigKey.Equals(item.hostCode))
+                                {
+                                    plcItem.ConfigKey = plcItem.ConfigKey + "相同";
+                                }
+                                plcKey += plcItem.ConfigKey + ",";
+                            }
+                            
                             result.code = "99";
-                            result.message = $"未找到PLC: {item.hostCode}";
+                            result.message = $"未找到PLC: {item.hostCode};现有PLC链接:{plcKey}";
                             result.hoistCode = hoistStatusDto.hoistCode;
                             return result;
                         }
                         
                         foreach (var param in item.deviceParams)
                         {
-                            int value = plc.readInt16ByAddress(param.paramAddress);
+                            int value = plc.readInt16ByAddress(Convert.ToString(param.paramAddress));
                 
-                            param.paramValue = param.objId;
+                            param.paramValue = value;
 
                         }
                     }

Sln.Wcs.HoistServer/Program.cs

@@ -94,14 +94,17 @@ var api = app.MapGroup("/api");
 api.MapPost("/hoist/receive-pallet", (ReceivePalletRequest req, IBaseDeviceInfoService devSvc) =>
 {
     var device = devSvc.Query(x => x.deviceType == 2 && x.isFlag == 1)
-        .FirstOrDefault(d => d.hostCode == req.HostCode);
+        .FirstOrDefault(d => d.hostCode == req.HostCode && d.deviceSerialNo == req.SerialNo);
     if (device == null) return Results.Ok(new { success = false, msg = "设备不存在" });
 
     var detail = new LiveTaskDetail
     {
-        taskCode = req.TaskCode, palletBarcode = req.PalletBarcode,
+        taskCode = req.TaskCode, 
-        startPoint = req.StartPoint, endPoint = req.EndPoint,
+        palletBarcode = req.PalletBarcode,
-        deviceType = 2, taskStatus = 1
+        startPoint = req.StartPoint, 
+        endPoint = req.EndPoint,
+        deviceType = 2, 
+        taskStatus = 1
     };
     hub.ReceivePallet(detail, device);
     return Results.Ok(new { success = true });
@@ -111,9 +114,9 @@ api.MapPost("/hoist/receive-pallet", (ReceivePalletRequest req, IBaseDeviceInfoS
 api.MapPost("/hoist/task-run", (TaskRunRequest req, IBaseDeviceInfoService devSvc) =>
 {
     var device = devSvc.Query(x => x.deviceType == 2 && x.isFlag == 1)
-        .FirstOrDefault(d => d.hostCode == req.HostCode);
+        .FirstOrDefault(d => d.hostCode == req.HostCode && d.deviceSerialNo == req.SerialNo);
     if (device == null) return Results.Ok(new { success = false, msg = "设备不存在" });
-    device.deviceSerialNo = req.SerialNo;
+    
     hub.TaskRun(device);
     return Results.Ok(new { success = true });
 });
@@ -122,13 +125,16 @@ api.MapPost("/hoist/task-run", (TaskRunRequest req, IBaseDeviceInfoService devSv
 api.MapPost("/task/dispatch", (TaskDispatchRequest req, IBaseDeviceInfoService devSvc) =>
 {
     var device = devSvc.Query(x => x.deviceType == 2 && x.isFlag == 1)
-        .FirstOrDefault(d => d.hostCode == req.HostCode);
+        .FirstOrDefault(d => d.hostCode == req.HostCode && d.deviceSerialNo == req.SerialNo);
     if (device == null) return Results.Ok(new { success = false, msg = "设备不存在" });
 
     var detail = new LiveTaskDetail
     {
-        taskCode = req.TaskCode, startPoint = req.StartPoint, endPoint = req.EndPoint,
+        taskCode = req.TaskCode, 
-        deviceType = 2, taskStatus = 1
+        startPoint = req.StartPoint, 
+        endPoint = req.EndPoint,
+        deviceType = 2, 
+        taskStatus = 1
     };
     hub.TaskDispatch(device, detail);
     return Results.Ok(new { success = true });

Sln.Wcs.HoistServer/appsettings.json

@@ -10,9 +10,9 @@
   "apollo": {
     "AppId": "SlnWcs",
     "Env": "DEV",
-    "MetaServer": "http://119.45.202.115:4320", //配置网址 4310
+    "MetaServer": "http://172.16.12.20:7320", //配置网址 4310
     "ConfigServer": [
-      "http://119.45.202.115:4320"
+      "http://172.16.12.20:7320"
     ]
   }
 }

Sln.Wcs.Plc/Service/Impl/InovanceImpl.cs

@@ -44,6 +44,7 @@ public class InovanceImpl:IPlc
         _stringChange = stringChange;
 
         this.inovanceTcp = new InovanceTcpNet();
+        this.inovanceTcp.Series = InovanceSeries.H3U;
         this.inovanceTcp.ConnectTimeOut = 2000;
     }
     
@@ -166,56 +167,7 @@ public class InovanceImpl:IPlc
     {
         try
         {
-            OperateResult operateResult = new OperateResult();
+            OperateResult operateResult = inovanceTcp.Write(address, value);
-            int s = 0;
-            string[] strArry = address.Split('.');
-
-            //先读取整个块的内容
-            var info = inovanceTcp.ReadInt16(strArry[0]);
-            if (info.Content == 0)
-            {
-                int length = _stringChange.ParseToInt(strArry[1]) + 1;
-                string[] array = new string[length];
-                for (int i = 0; i < length; i++)
-                {
-                    if (i == _stringChange.ParseToInt(strArry[1]))
-                    {
-                        array[i] = value.ToString();
-                    }
-                    else
-                    {
-                        array[i] = "0";
-                    }
-                }
-                //反转
-                Array.Reverse(array);
-                byte[] buffer = new byte[array.Length];
-                string result = "";
-                for (int i = 0; i < array.Length; i++)
-                {
-                    result += (byte)Convert.ToInt32(array[i], 16);
-                }
-                s = Convert.ToInt32(result.Trim(), 2);
-                operateResult = inovanceTcp.Write(strArry[0], (ushort)s);
-            }
-            else
-            {
-                var inf2 = Convert.ToString(info.Content, 2);
-                string[] infoArray = new string[inf2.Length];
-                for (int i = 0; i < inf2.Length; i++)
-                {
-                    infoArray[i] = inf2.Substring(i, 1);
-                }
-                Array.Reverse(infoArray);
-                infoArray[_stringChange.ParseToInt(strArry[1])] = value.ToString();
-                string result = "";
-                foreach (var item in infoArray)
-                {
-                    result = result + item;
-                }
-                s = Convert.ToInt32(result.Trim(), 10);
-                operateResult = inovanceTcp.Write(strArry[0], s);
-            }
             if (!operateResult.IsSuccess)
             {
                 throw new InvalidOperationException($"根据地址:{address};写入int16数据失败：{operateResult.Message}");
@@ -226,6 +178,68 @@ public class InovanceImpl:IPlc
         {
             throw new InvalidOperationException($"根据地址:{address};写入int16数据异常：{ex.Message}");
         }
+        // try
+        // {
+        //     OperateResult operateResult = new OperateResult();
+        //     int s = 0;
+        //     string[] strArry = address.Split('.');
+        //
+        //     //先读取整个块的内容
+        //     var info = inovanceTcp.ReadInt16(strArry[0]);
+        //     if (info.Content == 0)
+        //     {
+        //         int length = _stringChange.ParseToInt(strArry[1]) + 1;
+        //         string[] array = new string[length];
+        //         for (int i = 0; i < length; i++)
+        //         {
+        //             if (i == _stringChange.ParseToInt(strArry[1]))
+        //             {
+        //                 array[i] = value.ToString();
+        //             }
+        //             else
+        //             {
+        //                 array[i] = "0";
+        //             }
+        //         }
+        //         //反转
+        //         Array.Reverse(array);
+        //         byte[] buffer = new byte[array.Length];
+        //         string result = "";
+        //         for (int i = 0; i < array.Length; i++)
+        //         {
+        //             result += (byte)Convert.ToInt32(array[i], 16);
+        //         }
+        //         s = Convert.ToInt32(result.Trim(), 2);
+        //         operateResult = inovanceTcp.Write(strArry[0], (ushort)s);
+        //     }
+        //     else
+        //     {
+        //         var inf2 = Convert.ToString(info.Content, 2);
+        //         string[] infoArray = new string[inf2.Length];
+        //         for (int i = 0; i < inf2.Length; i++)
+        //         {
+        //             infoArray[i] = inf2.Substring(i, 1);
+        //         }
+        //         Array.Reverse(infoArray);
+        //         infoArray[_stringChange.ParseToInt(strArry[1])] = value.ToString();
+        //         string result = "";
+        //         foreach (var item in infoArray)
+        //         {
+        //             result = result + item;
+        //         }
+        //         s = Convert.ToInt32(result.Trim(), 10);
+        //         operateResult = inovanceTcp.Write(strArry[0], s);
+        //     }
+        //     if (!operateResult.IsSuccess)
+        //     {
+        //         throw new InvalidOperationException($"根据地址:{address};写入int16数据失败：{operateResult.Message}");
+        //     }
+        //     return operateResult.IsSuccess;
+        // }
+        // catch (Exception ex)
+        // {
+        //     throw new InvalidOperationException($"根据地址:{address};写入int16数据异常：{ex.Message}");
+        // }
     }
 
     /// <summary>

Sln.Wcs.UI/appsettings.json

@@ -10,9 +10,9 @@
   "apollo": {
     "AppId": "SlnWcs",
     "Env": "DEV",
-    "MetaServer": "http://119.45.202.115:4320",
+    "MetaServer": "http://172.16.12.20:7320",
     "ConfigServer": [
-      "http://119.45.202.115:4320"
+      "http://172.16.12.20:7320"
     ]
   }
 }

Sln.Wcs/HoistDispatchHubTest.cs

@@ -0,0 +1,56 @@
+#region << 版 本 注 释 >>
+
+/*--------------------------------------------------------------------
+* 版权所有 (c) 2026 WenJY 保留所有权利。
+* CLR版本：4.0.30319.42000
+* 机器名称：Mr.Wen's MacBook Pro
+* 命名空间：Sln.Wcs
+* 唯一标识：CD7CB56F-3972-40A5-A811-880CFE6EC557
+*
+* 创建者：WenJY
+* 电子邮箱：
+* 创建时间：2026-06-18 14:57:01
+* 版本：V1.0.0
+* 描述：
+*
+*--------------------------------------------------------------------
+* 修改人：
+* 时间：
+* 修改说明：
+*
+* 版本：V1.0.0
+*--------------------------------------------------------------------*/
+
+#endregion << 版 本 注 释 >>
+
+using Sln.Wcs.HoistDispatcher;
+using Sln.Wcs.Model.Domain;
+
+namespace Sln.Wcs;
+
+public class HoistDispatchHubTest
+{
+    private readonly HoistDispatchHub _hub;
+
+    public HoistDispatchHubTest(HoistDispatchHub hub)
+    {
+        _hub = hub;
+    }
+
+    public async void Run()
+    {
+        BaseDeviceInfo info = await _hub.GetFreeHoistAsync("1#Host");
+
+        _hub.TaskDispatch(info,new LiveTaskDetail()
+        {
+            deviceType = 2,
+            startPoint = "15#_L1_HOIST",
+            endPoint = "15#_L2_HOIST",
+            materialBarcode = "202606180001",
+            taskCode = "202606180001",
+            taskType = 1
+        });
+             
+        _hub.TaskRun(info);
+    }
+}

Sln.Wcs/appsettings.json

@@ -10,9 +10,9 @@
   "apollo": {
     "AppId": "SlnWcs",
     "Env": "DEV",
-    "MetaServer": "http://119.45.202.115:4320", //配置网址 4310
+    "MetaServer": "http://172.16.12.20:7320", //服务器地址http://119.45.202.115:4320配置网址 4310
     "ConfigServer": [
-      "http://119.45.202.115:4320"
+      "http://172.16.12.20:7320"
     ]
   }
 }

TODO.md

@@ -17,7 +17,11 @@
 			等待步骤执行WAIT => 筛选提升机、下发提升机任务
 			FINISHED/MANUALED => 完成/手动完成，可以进行后序任务
 			CANCELLED => 任务取消，终止调度任务
-- [ ] Strategy执行到提升机任务时进行读取托盘条码，验证物料并下发提升机启动信号
+- [ ] Strategy执行到提升机任务时判断接驳位状态，如果接驳位状态占用则说明有物料进行读取托盘条码，验证物料并下发提升机启动信号
+
+### 任务创建修改
+- [ ] 添加手动放、手动取操作，如果是手动放，任务从提升机开始，手动取也是以提升机结束
+- [ ] 手动放：任务执行则下发提升机任务
 
 ### 2. 任务执行引擎（分组并行方案）
 - [ ] 包材入库逻辑测试