更新最新程序，ERP代码，MES代码等

wangxinhui

2025-10-17 ce40df5daffae0d17b4e9fa7cb6d677afaa4d66f

 ÏîÄ¿´úÂë/WCS/WCSServices/WIDESEAWCS_Tasks/Âë¶â/MDJob_CP.cs

@@ -77,13 +77,13 @@
            if (flag && value != null)
            {
                OtherDevice device = (OtherDevice)value;
                List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StackerCraneCode == device.DeviceCode && x.StationType == 33);
                List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StackerCraneCode == device.DeviceCode && x.StationType == StationTypeEnum.StationType_InStartAndOutEnd.ObjToInt() && x.IsOccupied == 0);
                foreach (var item in stationMangers)
                {
                    //获取协议
                    DeviceProDTO? deviceProRead = device.DeviceProDTOs.Where(x => x.DeviceChildCode == item.StackerCraneCode && x.DeviceProParamType == nameof(R_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
                    DeviceProDTO? deviceProWrite = device.DeviceProDTOs.Where(x => x.DeviceChildCode == item.StackerCraneCode && x.DeviceProParamType == nameof(W_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
                    if (deviceProRead != null && deviceProWrite != null && item.IsOccupied == 0)
                    if (deviceProRead != null && deviceProWrite != null)
                    {
                        short Allow = device.GetValue<R_MDDB, short>(R_MDDB.R_MDAllow, item.StackerCraneCode);

@@ -92,70 +92,75 @@
                        short R_MDStatus2 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus2, item.StackerCraneCode);
                        short R_MDStatus3 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus3, item.StackerCraneCode);
                        short R_MDStatus4 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus4, item.StackerCraneCode);

                        short ReceiveDoneState = device.GetValue<W_MDDB, short>(W_MDDB.W_MDReceiveDone, item.StackerCraneCode);
                        #endregion

                        //码垛状态
                        short PackState = device.GetValue<R_MDDB, short>(GetPackStateEnum(item.StackerCraneStationCode), item.StackerCraneCode);

                        //码垛数量
                        short PackNum = device.GetValue<R_MDDB, short>(GetPackNumEnum(item.StackerCraneStationCode), item.StackerCraneCode);
                        if (R_MDStatus1 == 1 || R_MDStatus2 == 1 || R_MDStatus3 == 1 || R_MDStatus4 == 1)
                        {
                            Thread.Sleep(500);
                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 0);
                            Thread.Sleep(200);
                            if (ReceiveDoneState!=0)
                            {
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 0);
                                WriteInfo(item.StackerCraneCode, $"{item.StackerCraneCode}清除下发标识信号");
                            }
                            continue;
                        }
                        if (PackState == 2)
                        {
                            Thread.Sleep(200);
                            device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 0);
                            WriteInfo(item.StationName, $"{item.StationName}清除工位结托信号");
                            continue;
                        }
                        var axis = _packaxisRepository.QueryFirst(x => x.DeviceCode == item.StackerCraneCode && x.StationCode == Convert.ToInt32(item.StackerCraneStationCode));
                        if (axis != null)
                        {
                            //进行结托
                            if (Convert.ToInt32(PackNum) == axis.PackNum)
                            {
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 2);
                                WriteInfo(item.StationName, $"{item.StationName}写入工位结托信号");
                                continue;
                            }

                            ConsoleHelper.WriteInfoLine($"码垛工位{item.StationCode}状态{Allow}");
                            //码垛申请
                            if (Allow == 3 || Allow == 7)
                            {
                                //获取当前任务
                                Dt_Task task = _taskRepository.QueryData(x => x.NextAddress == item.StationCode && _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.MD_Executing.ObjToInt() && x.DeviceCode == device.DeviceCode).OrderBy(x => x.TaskNum).FirstOrDefault();

                                if (task != null) //码垛申请
                                if (task != null) 
                                {
                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 1);

                                    //写入工位号
                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSendID.ToString()).DeviceProDataBlock, Convert.ToInt16(item.StackerCraneStationCode));
                                    //写入工位允许码垛
                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 1);

                                    #region èŽ·å–写入码垛X、Y、Z坐标
                                    (int, int, int) result = GetAxis(PackNum, axis, item.StackerCraneStationCode);

                                    WriteInfo(item.StationName, $"码垛数量【{PackNum}】，下发码垛坐标X、Y、Z【{result.Serialize()}】");

                                    
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, result.Item1);

                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, result.Item2);

                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, result.Item3);

                                    WriteInfo(item.StationName, $"码垛数量【{PackNum}】，下发码垛坐标X、Y、Z【{result.Serialize()}】");
                                    #endregion

                                    if (device.DeviceCode == "MD8_CP")
                                    {
                                        device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, -1);
                                    }
                                    else
                                    {
                                        device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, 1);
                                    }

                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, 1);
                                    //写入下发标识
                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 3);

                                    //更新任务信息
                                    //_taskService.TaskCompleted(task.TaskNum);
                                    task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                                    //_taskRepository.UpdateData(task);
                                    Thread.Sleep(1500);
                                    //_taskService.TaskCompleted(task.TaskNum);
                                    Thread.Sleep(1000);
                                    WriteInfo(item.StationName, $"任务号{task.TaskNum}码垛");
                                    return Task.CompletedTask;
                                }

                            }
@@ -173,7 +178,9 @@
            }
            return Task.CompletedTask;
        }

        /// <summary>
        /// ç åž›æ•°é‡
        /// </summary>
        public R_MDDB GetPackNumEnum(string StationCode)
        {
            switch (StationCode)
@@ -190,6 +197,9 @@
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// ç åž›çŠ¶æ€
        /// </summary>
        public R_MDDB GetPackStateEnum(string StationCode)
        {
            switch (StationCode)
@@ -206,6 +216,9 @@
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// ç åž›å·¥ä½
        /// </summary>
        public W_MDDB GetPackSendEnum(string StationCode)
        {
            switch (StationCode)