代码更新

wangxinhui

2024-11-06 8f392cc88b0768b74efca3b68785cf5aa1c38e70

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using System;
using System.Threading;
using WIDESEA_Common;
using WIDESEA_Common.DBHelper;
using WIDESEA_Common.Tools;
using WIDESEA_Entity.DomainModels;
using WIDESEA_WCS.WCSClient;
 
namespace WIDESEA_WCS.JobsPart.AGV
{
    public partial class AGVServer
    {
        public FreeDB freeDB = new FreeDB();
 
        /// <summary>
        /// 下发agv任务
        /// </summary>
        public void SendAgvTask(PLCClient client)
        {
            int TaskInteractive = Convert.ToInt32(client.ReadValue(TaskDBName.taskInteractiveR.ToString()));//0初始/1收到
            int TaskInteractiveW = Convert.ToInt32(client.ReadValue(TaskDBName.taskInteractiveW.ToString()));//0初始/1下发/2取消/3更改
 
            //int TaskInteractive = Convert.ToInt32(client.SiemensPLCClient.Read<bool>("DB1000.114"));//0初始/1收到
            //int TaskInteractiveW = Convert.ToInt32(client.SiemensPLCClient.Read<bool>("DB1000.112"));//0初始/1下发/2取消/3更改
 
            //初始状态
            if (TaskInteractiveW == 0 && TaskInteractive == 0)
            {
                var AGVTaskState = AGVTaskStateEnum.Create.ToString();
                var AGVTaskType = AGVTaskTypeEnum.TaskType_Outbound.ToString();
 
                var agv_task = freeDB.Select<dt_agvtask>()
                    .Where(t => t.agv_taskstate == "WaitCancel"
                           && t.agv_code == client.PLCName)
                    .OrderByDescending(t => t.agv_grade)
                    .OrderBy(t => t.agv_createtime)
                    .First();
 
                if (agv_task != null)
                {
                    CanselAgvTask(agv_task, client);
                    return;
                }
 
                agv_task = freeDB.Select<dt_agvtask>()
                      .Where(t => t.agv_taskstate == AGVTaskState
                             && t.agv_tasktype == AGVTaskType
                             && t.agv_code == client.PLCName)
                      .OrderByDescending(t => t.agv_grade)
                      .OrderBy(t => t.agv_createtime)
                      .First();
 
                if (agv_task != null)
                {
 
                    Send(agv_task, client);
 
                    //等待处理
                    Thread.Sleep(1000);
                    int taskSendRespone = Convert.ToInt32(client.ReadValue(TaskDBName.taskInteractiveR.ToString()));
                    if (taskSendRespone == 1)
                    {
                        //启动命令复原
                        client.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
                        //下发成功  
                        agv_task.agv_taskstate = AGVTaskStateEnum.SendOut.ToString();
                        agv_task.agv_realesstime = DateTime.Now;
                        freeDB.Update(agv_task).UpdateColumns(t => new { t.agv_realesstime, t.agv_taskstate }).ExecuteAffrows();
                    }
                    else
                    {
                        if (taskSendRespone == 11)
                        {
                            //任务下发，agv无法执行(任务ID重复，起点终点不存在，任务类型错误等异常)
                            WriteLog.GetLog().Write($"【异常】任务{agv_task.agv_tasknum}，下发后反馈异常，反馈值11(任务不存在或任务类型错误)。" + "\n", client.PLCName);
                        }
                        else
                        {
                            //任务下发其它错误
                            WriteLog.GetLog().Write($"【异常】任务{agv_task.agv_tasknum}，下发后反馈异常，反馈值{taskSendRespone}。" + "\n", client.PLCName);
                        }
                        agv_task.agv_taskstate = AGVTaskStateEnum.Abnormal.ToString();
                        freeDB.Update(agv_task).UpdateColumns(t => new { t.agv_taskstate }).ExecuteAffrows();
                        //启动命令复原
                        client.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
                    }
                }
            }
 
            if (TaskInteractive == 0 && TaskInteractiveW != 0)
            {
                client.WriteValue(TaskDBName.taskInteractiveW.ToString(), 0);
            }
 
        }
 
        private void Send(dt_agvtask agvTask, PLCClient client)
        {
            byte[] sendData = new byte[164];
            OperateDB.WriteData(sendData, 0, agvTask.agv_tasknum);
            OperateDB.WriteData(sendData, 32, agvTask.agv_fromaddress);
            OperateDB.WriteData(sendData, 54, agvTask.agv_toaddress);
            //工作类型，满料和空料
            OperateDB.WriteData(sendData, 76 + 1, (byte)agvTask.agv_worktype);
            //任务等级
            OperateDB.WriteData(sendData, 110 + 1, (byte)agvTask.agv_grade);
            //下发确认命令
            if (agvTask.agv_taskstate == "WaitCancel")
            {
                OperateDB.WriteData(sendData, 112 + 1, 2);
            }
            else
            {
                OperateDB.WriteData(sendData, 112 + 1, 1);
            }
            //物料类型条码
            OperateDB.WriteData(sendData, 122, agvTask.agv_tasknum);//暂时下发任务号
            client.WriteDBValue("DB1000.0", sendData);
        }
    }
}