using System;
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using System.Collections.Generic;
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using System.Diagnostics.Metrics;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Xml.Linq;
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using WIDESEA_Comm.LogInfo;
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using WIDESEA_Core.BaseProvider;
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using WIDESEA_Core.FreeDB;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Entity.ToAGV;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS
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{
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public class AGVandGantry
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{
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static FreeDB FreeDB = new FreeDB();
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/// <summary>
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///
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/// </summary>
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/// <param name="requestin"></param>
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/// <param name="MethodName">方法名</param>
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/// <returns></returns>
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public static AGVRespone GetSetGantry(AGVRequestin requestin, string MethodName)
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{
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AGVRespone respone = new AGVRespone();
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try
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{
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var Gantry_client = PLCClient.Clients.FirstOrDefault(t => t.PLCName == "桁架");
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if (Gantry_client == null) throw new Exception("桁架调度服务未开启！");
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if (!Gantry_client.IsConnected) throw new Exception("与桁架连接超时！");
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var Gantryplc = FreeDB.Select<dt_plcinfohead>().Where(x => x.plcinfo_name == Gantry_client.PLCName).First();
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var Pipeline_client = PLCClient.Clients.FirstOrDefault(t => t.PLCName == "链条机");
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if (Pipeline_client == null) throw new Exception("链条机调度服务未开启！");
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if (!Pipeline_client.IsConnected) throw new Exception("与链条机连接超时！");
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List<string> numbers = new List<string>() { "1单元防呆", "2单元防呆", "3单元防呆", "上料区防呆" };
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var details = FreeDB.Select<dt_plcinfodetail>().Where(x => x.plcdetail_iotype == Gantryplc.plcinfo_iotyep && x.plcdetail_number == numbers[requestin.AreaNr - 1]).ToList();
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if (MethodName == "AGVRequestin")//请求进入区域
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{
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Gantry_client.WriteByOrder("W_AreaNr", (Int16)requestin.AreaNr, numbers[requestin.AreaNr - 1]);//区域号
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Gantry_client.WriteByOrder("W_AGV_Request_In", true, numbers[requestin.AreaNr - 1]);//申请进入区域
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var Release = (bool)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_Release_In").First(), Gantry_client);//允许进入区域
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var Gantry_Out_of_Area = (bool)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_Gantry_Out_of_Area").First(), Gantry_client);//桁架不在该区域
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#region 日志记录
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WriteDBLog.Success("AGV请求进入区域", $"写入桁架信息：\n区域号：{requestin.AreaNr}\n申请进入区域：true" +
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$"\n\n读取桁架信息：\n允许进入区域：{Release}\n桁架不在该区域：{Gantry_Out_of_Area}", "AGV");
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#endregion
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if (!Release) throw new Exception("桁架未允许进入！");
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if (!Gantry_Out_of_Area) throw new Exception("桁架在区域内！");
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}
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else if (MethodName == "EnteriorLeav")//进入/离开区域
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{
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Gantry_client.WriteByOrder("W_AreaNr", (Int16)requestin.AreaNr, numbers[requestin.AreaNr - 1]);//区域号
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if (requestin.Type == 1)
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{
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Pipeline_client.WriteByOrder("W_AGV_Entering", (Int16)1, numbers[requestin.AreaNr - 1]);//光栅屏蔽
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Gantry_client.WriteByOrder("W_AGV_Leaving", false, numbers[requestin.AreaNr - 1]);//正在离开
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Gantry_client.WriteByOrder("W_AGV_Entering", true, numbers[requestin.AreaNr - 1]);//正在进入
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var Area_Occupied_by_AGV = (bool)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_Area_Occupied_by_AGV").First(), Gantry_client);//桁架反馈AGV占位信号
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#region 日志记录
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WriteDBLog.Success("AGV正在进入区域", $"写入桁架信息：\n区域号：{requestin.AreaNr}\n正在离开：false\n正在进入：true\n光栅屏蔽：1" +
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$"\n\n读取桁架信息：\n反馈AGV占位信号：{Area_Occupied_by_AGV}", "AGV");
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#endregion
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if (!Area_Occupied_by_AGV) throw new Exception("桁架未反馈AGV占位信号");
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}
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else if (requestin.Type == 2)
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{
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Pipeline_client.WriteByOrder("W_AGV_Entering", (Int16)0, numbers[requestin.AreaNr - 1]);//光栅启用
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Gantry_client.WriteByOrder("W_AGV_Request_In", false, numbers[requestin.AreaNr - 1]);//申请进入区域
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Gantry_client.WriteByOrder("W_AGV_Entering", false, numbers[requestin.AreaNr - 1]);//正在进入
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Gantry_client.WriteByOrder("W_AGV_Leaving", true, numbers[requestin.AreaNr - 1]);//正在离开
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var Area_Occupied_by_AGV = (bool)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_Area_Occupied_by_AGV").First(), Gantry_client);//桁架反馈AGV占位信号
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#region 日志记录
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WriteDBLog.Success("AGV正在离开区域", $"写入桁架信息：\n区域号：{requestin.AreaNr}\n申请进入区域：false\n正在进入：false\n正在离开：true\n光栅启用：0" +
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$"\n\n读取桁架信息：\n反馈AGV离开信号：{!Area_Occupied_by_AGV}", "AGV");
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#endregion
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if (Area_Occupied_by_AGV) throw new Exception("桁架未反馈AGV离开信号");
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}
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}
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else if (MethodName == "AGVOutofArea")//AGV不在区域内
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{
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Gantry_client.WriteByOrder("W_AreaNr", (Int16)requestin.AreaNr, numbers[requestin.AreaNr - 1]);//区域号
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Gantry_client.WriteByOrder("W_AGV_OUT_OF_Area", requestin.OUTOFArea == 1 ? true : false, numbers[requestin.AreaNr - 1]);//AGV不在该区域
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#region 日志记录
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WriteDBLog.Success("AGV不在区域内", $"写入桁架信息：\n区域号：{requestin.AreaNr}\nAGV不在该区域：{(requestin.OUTOFArea == 1 ? true : false)}", "AGV");
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#endregion
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}
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else if (MethodName == "GantryOutofArea")//桁架不在区域内
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{
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var Gantry_Out_of_Area = (bool)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_Gantry_Out_of_Area").First(), Gantry_client);//桁架不在该区域
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#region 日志记录
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WriteDBLog.Success("桁架不在区域内", $"读取桁架信息：\n区域号：{requestin.AreaNr}\n桁架不在该区域：{Gantry_Out_of_Area}", "AGV");
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#endregion
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if (!Gantry_Out_of_Area) throw new Exception("桁架在区域内！");
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}
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respone.success = 1;
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}
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catch (Exception ex)
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{
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respone.Message = ex.Message;
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return respone;
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}
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return respone;
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}
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}
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}
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