PCS

dengjunjie

2023-12-13 113d1d4262d8f9e78a9d92123713c41669ad6c87

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using Quartz;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Comm.LogInfo;
using WIDESEA_WCS.WCSClient;
 
namespace WIDESEA_WCS
{
    [DisallowConcurrentExecution]
    public class ChilderCarJob : IJob
    {
        public Task Execute(IJobExecutionContext context)
        {
            var client = context.JobDetail.JobDataMap.Get("JobParams") as PLCClient;
            if (client != null && client.IsConnected)
            {
                RunChilder(client);
            }
            return Task.CompletedTask;
        }
 
        private static string currentState { get; set; }
 
        /// <summary>
        /// 当前运行状态
        /// </summary>
        public static string CurrentState
        {
            get { return currentState; }
            set
            {
                WriteLog.Write_Log("自动运行", "currentState", value);
                currentState = value;
            }
        }
 
        /// <summary>
        /// 子车目的地址
        /// </summary>
        public static int childerPoint { get; set; }
        /// <summary>
        /// 龙门目的地址
        /// </summary>
        public static int gantryPoint { get; set; }
 
        /// <summary>
        /// 升降取料的目的地址
        /// </summary>
        public const int liftingPoint1 = 100;
 
        /// <summary>
        /// 升降提起的目的地址
        /// </summary>
        public const int liftingPoint2 = 200;
 
        /// <summary>
        /// 子车完整取料流程
        /// </summary>
        /// <param name="client"></param>
        public void RunChilder(PLCClient client)
        {
            if (CurrentState == "子车开始")
            {
                //起始条件
 
                int startPoint = childerPoint / 1000;
                int endPoint = childerPoint % 1000;
                client.Write("1010", startPoint);
                client.Write("1011", endPoint); //写入目的地址
                client.Write("64", true);//写入启动命令
 
                CurrentState = "子车前往目的地址";
            }
            else if (CurrentState == "子车前往目的地址")
            {
                var arrive = client.Read<bool>("216");   //子车执行到位
                if (arrive)
                {
                    CurrentState = "龙门开始";
                }
            }
            else if (CurrentState == "龙门开始")
            {
                //起始条件
 
                int startPoint = gantryPoint / 1000;
                int endPoint = gantryPoint % 1000;
                client.Write("1028", startPoint);
                client.Write("1029", endPoint); //写入目的地址
                client.Write("208", true);//写入启动命令
 
                CurrentState = "龙门前往目的地址";
            }
            else if (CurrentState == "龙门前往目的地址")
            {
                var arrive = client.Read<bool>("217"); //龙门执行到位
                if (arrive)
                {
                    CurrentState = "升降开始";
                }
            }
            else if (CurrentState == "升降开始")
            {
                //起始条件
 
                int startPoint = liftingPoint1 / 1000;
                int endPoint = liftingPoint1 % 1000;
                client.Write("1032", startPoint);
                client.Write("1033", endPoint); //写入目的地址
                client.Write("211", true);//写入启动命令
 
                CurrentState = "升降前往目的地址";
            }
            else if (CurrentState == "升降前往目的地址")
            {
                var arrive = client.Read<bool>("218"); //升降到位
                if (arrive)
                {
                    CurrentState = "夹紧开始";
                }
            }
            else if (CurrentState == "夹紧开始")
            {
                client.Write("213", true);//请求夹紧
                var arrive = client.Read<bool>("219"); //夹紧完成
                if (arrive)
                {
                    CurrentState = "升降提起开始";
                }
            }
            else if (CurrentState == "升降提起开始")
            {
                int startPoint = liftingPoint2 / 1000;
                int endPoint = liftingPoint2 % 1000;
                client.Write("1032", startPoint);
                client.Write("1033", endPoint); //写入目的地址
                client.Write("211", true);//写入启动命令
 
                CurrentState = "升降提起前往目的地址";
            }
            else if (CurrentState == "升降提起前往目的地址")
            {
                var arrive = client.Read<bool>("218"); //升降到位
                if (arrive)
                {
                    CurrentState = "子车任务完成";
                }
            }
        }
    }
}