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change - 提升机逻辑调试、修改Apollo配置中心测试环境

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dev
WenJY 10 hours ago
parent a0552ea462
commit c8b90f199d
12 changed files with 177 additions and 89 deletions
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4
Sln.Wcs.HikRoBotServer/appsettings.json
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@ -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"
]
}
}

1
Sln.Wcs.HoistAdapter/Service/Impl/HoistService.cs
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@ -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);

23
Sln.Wcs.HoistDispatcher/HoistDispatchHub.cs
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@ -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)
@ -146,18 +146,21 @@ public class HoistDispatchHub
{
while (true)
{
RefreshDeviceParams(hostCode, out List<BaseDeviceInfo> deviceInfos);
lock (string.Empty)
{
RefreshDeviceParams(hostCode, out List<BaseDeviceInfo> deviceInfos);
var freeHoist = deviceInfos?.FirstOrDefault(info =>
info.deviceParams.Any(item =>
item.paramName.Contains("提升机反馈任务状态") && item.paramValue == 0
)
);
var freeHoist = deviceInfos?.FirstOrDefault(info =>
info.deviceParams.Any(item =>
item.paramName.Contains("提升机反馈任务状态") && item.paramValue == 0
)
);
if (freeHoist != null)
return freeHoist;
if (freeHoist != null)
return freeHoist;
await Task.Delay(1000);
Thread.Sleep(1000);
}
}
}

7
Sln.Wcs.HoistSdk/Config/HoistConfig.cs
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@ -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"];
}
}

19
Sln.Wcs.HoistSdk/HoistSdk.cs
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@ -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;
}
}

24
Sln.Wcs.HoistServer/Program.cs
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@ -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,
startPoint = req.StartPoint, endPoint = req.EndPoint,
deviceType = 2, taskStatus = 1
taskCode = req.TaskCode,
palletBarcode = req.PalletBarcode,
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,
deviceType = 2, taskStatus = 1
taskCode = req.TaskCode,
startPoint = req.StartPoint,
endPoint = req.EndPoint,
deviceType = 2,
taskStatus = 1
};
hub.TaskDispatch(device, detail);
return Results.Ok(new { success = true });

4
Sln.Wcs.HoistServer/appsettings.json
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@ -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"
]
}
}

114
Sln.Wcs.Plc/Service/Impl/InovanceImpl.cs
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@ -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();
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);
}
OperateResult operateResult = inovanceTcp.Write(address, value);
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>

4
Sln.Wcs.UI/appsettings.json
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@ -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"
]
}
}

56
Sln.Wcs/HoistDispatchHubTest.cs
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@ -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);
}
}

4
Sln.Wcs/appsettings.json
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@ -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"
]
}
}

6
TODO.md
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@ -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

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