using Newtonsoft.Json;
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using WIDESEA_Comm.LogInfo;
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using WIDESEA_Core.FreeDB;
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using WIDESEA_Core.Utilities;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS
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{
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/// <summary>
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/// PLC显示信息配置
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/// </summary>
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public class PLCInfo
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{
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/// <summary>
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/// 所属设备类型
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/// </summary>
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public string eqType { get; set; }
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/// <summary>
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/// 信号中文名称
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/// </summary>
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public string io_name { get; set; }
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/// <summary>
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/// 显示的数据类型
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/// </summary>
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public string showType { get; set; }
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/// <summary>
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/// 数据地址
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/// </summary>
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public string dbAddress { get; set; }
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/// <summary>
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/// 值
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/// </summary>
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public object value { get; set; }
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}
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/// <summary>
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/// 子车参数配置
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/// </summary>
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public class EqConfig
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{
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/// <summary>
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/// 配置名称
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/// </summary>
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public string name { get; set; }
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/// <summary>
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/// 信号地址
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/// </summary>
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public string dbAddress { get; set; }
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/// <summary>
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/// 值
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/// </summary>
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public int value { get; set; }
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/// <summary>
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/// 获取配置字典
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/// </summary>
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/// <returns></returns>
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public static Dictionary<string, short> GetConfigDic(List<EqConfig> configs)
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{
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Dictionary<string, short> config_dic = new Dictionary<string, short>();
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foreach (EqConfig config in configs)
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{
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config_dic.Add(config.dbAddress, (short)config.value);
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}
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return config_dic;
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}
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}
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public class ChilderServer
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{
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/*
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//1、显示基本信息
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//2、单独控制子车（显示实时位置）
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//3、单独控制龙门（显示实时位置）
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//3、单独控制升降（显示实时位置）
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//4、单独控制夹爪（显示夹爪状态）
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//5联动运行（现场调试）
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*/
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FreeDB freeDB = new FreeDB();
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private static List<PLCInfo> plcInfos;
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public ChilderServer()
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{
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if (plcInfos == null)
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{
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string config = freeDB.DataBase.Ado.QuerySingle<string>("select config from dt_equipmentinfo where equipment_name='子车1'");
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plcInfos = JsonConvert.DeserializeObject<List<PLCInfo>>(config);
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}
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}
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/// <summary>
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/// 获取PLC信息
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/// </summary>
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/// <returns></returns>
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public WebResponseContent GetChidlerInfo()
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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//长链接断开后，会自动默认使用短连接
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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GetChilderInfo(client);
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content.Data = new { info = plcInfos };
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content.OK();
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 获取子车参数
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/// </summary>
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/// <returns></returns>
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public WebResponseContent GetChidlerParm()
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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string config = freeDB.DataBase.Ado.QuerySingle<string>("select eqconfig from dt_equipmentinfo where equipment_name='子车1'");
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content.Data = config;
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content.OK();
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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#region 子车操作
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public void Remark()
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{
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//运行流程
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//1、启动子车、连接子车PLC（刚启动时子车所有状态为初始状态）
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//2、子车、龙门、升降、夹爪全部给使能。所有初始速度全部加载好
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//3、点击回原点
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//4、(设置为自动状态)依次控制子车、龙门、升降、夹爪运行
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//完成后3种操作
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//1、原地处理。所有操作不动。
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//处理完成后
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//处理完成或下降到之前的位置，
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//松开夹爪。
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//然后升降机回位。
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//龙门还要回到原点
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//2、龙门回到原点
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//升降运动到指定位置（原点）
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//人工处理故障板
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//人工处理完成
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//提起故障板
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//龙门回到提故障板的位置
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//3、龙门回到原点
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//升降运动到指定位置（原点）
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//子车回原点
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//人工处理故障板
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//人工处理完成
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//在送回
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}
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/// <summary>
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/// 回原点
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/// </summary>
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/// <returns></returns>
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public WebResponseContent ToBasePoint()
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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var configDic = GetEqConfig();
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client.Write("66", true);//子车伺服使能1
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Thread.Sleep(1000);
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client.Write("67", true);//子车伺服使能2
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Thread.Sleep(1000);
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client.Write("209", true);//龙门使能1
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Thread.Sleep(1000);
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client.Write("210", true); //龙门使能2
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Thread.Sleep(1000);
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client.Write("237", true);//升降使能
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Thread.Sleep(1000);
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client.Write("212", true);//夹紧使能
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Thread.Sleep(1000);
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client.Write("1036", configDic["1036"]);//子车行走速度
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client.Write("1038", configDic["1038"]);//子车手动速度
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client.Write("1040", configDic["1040"]); //子车扫码枪慢速定位速度
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client.Write("1044", configDic["1044"]);//龙门行走速度
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client.Write("1046", configDic["1046"]);//龙门手动速度
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client.Write("1048", configDic["1048"]);//龙门回零速度
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client.Write("1050", configDic["1050"]);//升降行走速度
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client.Write("1052", configDic["1052"]);//升降手动速度
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client.Write("1054", configDic["1054"]);//升降回零速度
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client.Write("1056", configDic["1056"]);//夹紧行走速度
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client.Write("1058", configDic["1058"]);//夹紧手动速度
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client.Write("1060", configDic["1060"]);//夹紧回零速度
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client.Write("1042", configDic["1042"]);//子车回零速度
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Thread.Sleep(500);
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client.Write("241", true);//请求回原点信号
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WriteLog.Write_Log("手动操作", "子车", "手动回原点成功", configDic);
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content.OK("回原点成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "手动回原点异常", ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 启动子车
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/// </summary>
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/// <returns></returns>
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public WebResponseContent Run_Child(int point)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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WriteRun(client, 1010, point, "64");
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WriteLog.Write_Log("手动操作", "子车", "启动子车" + point.ToString());
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content.OK("启动成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "启动子车异常" + point.ToString(), ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 停止子车当前动作（子车运动、龙门运动、升降运动、夹爪运动）
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/// </summary>
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/// <returns></returns>
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public WebResponseContent Stop_Child()
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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//写入停止
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client.Write("242", true);
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WriteLog.Write_Log("手动操作", "子车", "停止子车");
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content.OK("停止成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "停止子车异常", ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 复位子车报警
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/// </summary>
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/// <returns></returns>
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public WebResponseContent Reset_Child()
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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client.Write("244", true);
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Thread.Sleep(2000);
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client.Write("244", false);
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WriteLog.Write_Log("手动操作", "子车", "复位子车成功");
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content.OK("复位成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "复位子车异常", ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 启动龙门
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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public WebResponseContent Run_Gantry(int point)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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WriteRun(client, 1028, point, "208");
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WriteLog.Write_Log("手动操作", "子车", "启动龙门" + point.ToString());
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content.OK("启动成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "启动龙门异常" + point.ToString(), ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 启动升降
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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public WebResponseContent Run_Lifting(int point)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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WriteRun(client, 1032, point, "211");
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WriteLog.Write_Log("手动操作", "子车", "启动升降" + point.ToString());
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content.OK("启动成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "启动升降异常" + point.ToString(), ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 夹紧夹爪
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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public WebResponseContent Colse_Handle(int point)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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//夹紧夹爪
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client.Write("213", true);
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WriteLog.Write_Log("手动操作", "子车", "夹紧夹爪");
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content.OK("操作成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "夹紧夹爪异常" + point.ToString(), ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 松开夹爪
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/// </summary>
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/// <param name="point"></param>
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/// <returns></returns>
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public WebResponseContent Open_Handle(int point)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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//松开夹爪
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client.Write("214", true);
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WriteLog.Write_Log("手动操作", "子车", "松开夹爪");
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content.OK("操作成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "松开夹爪异常" + point.ToString(), ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 更改自动状态
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/// </summary>
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/// <param name="state"></param>
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/// <returns></returns>
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public WebResponseContent ChangeAutoState(string state)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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if (state == "手动")
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{
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client.Write("233", true); //手动状态
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}
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else if (state == "自动")
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{
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client.Write("233", false); //自动状态
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}
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WriteLog.Write_Log("手动操作", "子车", "更改设备手自动状态为：" + state + "成功");
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content.OK("操作成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "更改设备手自动状态为：" + state + "异常", ex.Message);
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 修改子车参数
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/// </summary>
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/// <param name="state"></param>
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/// <returns></returns>
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public WebResponseContent SetChilderParm(List<EqConfig> configs)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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var client = PLCClient.Clients.Where(t => t.PLCName == "子车1").FirstOrDefault();
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if (client == null || !client.IsConnected)
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{
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return content.Error($"PLC{"子车1"}未连接");
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}
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var configDic = EqConfig.GetConfigDic(configs);
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client.Write("1036", configDic["1036"]);//子车行走速度
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client.Write("1038", configDic["1038"]);//子车手动速度
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client.Write("1040", configDic["1040"]); //子车扫码枪慢速定位速度
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client.Write("1044", configDic["1044"]);//龙门行走速度
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client.Write("1046", configDic["1046"]);//龙门手动速度
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client.Write("1048", configDic["1048"]);//龙门回零速度
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client.Write("1050", configDic["1050"]);//升降行走速度
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client.Write("1052", configDic["1052"]);//升降手动速度
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client.Write("1054", configDic["1054"]);//升降回零速度
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client.Write("1056", configDic["1056"]);//夹紧行走速度
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client.Write("1058", configDic["1058"]);//夹紧手动速度
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client.Write("1060", configDic["1060"]);//夹紧回零速度
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client.Write("1042", configDic["1042"]);//子车回零速度
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string configJson = JsonConvert.SerializeObject(configs);
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int res = freeDB.DataBase.Ado.ExecuteNonQuery("update dt_equipmentinfo set eqconfig=@eqconfig where equipment_name='子车1'", new { eqconfig = configJson });
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WriteLog.Write_Log("手动操作", "子车", "修改子车参数成功", configs);
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content.OK("操作成功！");
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}
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catch (Exception ex)
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{
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WriteLog.Write_Log("手动操作", "子车", "修改子车参数异常", new { 内容 = configs, 错误 = ex.Message });
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content.Error(ex.Message);
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}
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return content;
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}
|
|
|
/// <summary>
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/// 一键运行子车
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/// </summary>
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/// <returns></returns>
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public WebResponseContent RunChilder()
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{
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WebResponseContent content = new WebResponseContent();
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return content.Error("开发调试中……");
|
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ChilderCarJob.CurrentState = "子车开始";
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ChilderCarJob.childerPoint = 1200;
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ChilderCarJob.gantryPoint = 1500;
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return content.OK("启动成功");
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}
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#endregion
|
|
/// <summary>
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/// 写入设备运行
|
/// </summary>
|
/// <param name="address">位置地址</param>
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/// <param name="point">位置值</param>
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/// <param name="runAddress">启动地址</param>
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private void WriteRun(PLCClient client, int address, int point, string runAddress)
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{
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client.Write(runAddress, false);//复位启动命令
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Thread.Sleep(1000);
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int startPoint = point / 1000;
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int endPoint = point % 1000;
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string address1 = address.ToString();
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string address2 = (address + 1).ToString();
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client.Write(address1, (short)startPoint);
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client.Write(address2, (short)endPoint);//写入目的地址
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var point1 = client.Read<short>(address1);
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var point2 = client.Read<short>(address2);
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if (startPoint != point1)
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{
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client.Write(address1, (short)startPoint);
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WriteLog.Write_Log("手动操作", "子车", $"启动子车值不一致写入{startPoint},复读{point1}");
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}
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if (endPoint != point2)
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{
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client.Write(address2, (short)endPoint);
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WriteLog.Write_Log("手动操作", "子车", $"启动子车值不一致写入{endPoint},复读{point2}");
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}
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Thread.Sleep(1000);//必须延时
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client.Write(runAddress, true);//写入启动命令
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}
|
|
/// <summary>
|
/// 读取子车信息
|
/// </summary>
|
/// <param name="client"></param>
|
private void GetChilderInfo(PLCClient client)
|
{
|
foreach (var item in plcInfos)
|
{
|
if (item.showType.Contains("bool"))
|
{
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item.value = client.Read<bool>(item.dbAddress);
|
}
|
else if (item.showType == "int")
|
{
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var address = int.Parse(item.dbAddress) + 1;
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item.value = client.Read<short>(item.dbAddress) * 1000 + client.Read<short>(address + "");
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}
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}
|
}
|
|
/// <summary>
|
/// 获取子车配置
|
/// </summary>
|
/// <returns></returns>
|
private Dictionary<string, short> GetEqConfig()
|
{
|
string configJson = freeDB.DataBase.Ado.QuerySingle<string>("select eqconfig from dt_equipmentinfo where equipment_name='子车1'");
|
var configList = JsonConvert.DeserializeObject<List<EqConfig>>(configJson);
|
var config = EqConfig.GetConfigDic(configList);
|
return config;
|
}
|
}
|
}
|
