分支自 SuZhouGuanHong/TaiYuanTaiZhong
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dengjunjie
2024-03-14 73a926018601d9a5a5a3d3f4c051537f45a8eff4 
 ´úÂë¹ÜÀí/PCS/WCS_Server/WIDESEA_WCS/Common/AGVandGantry.cs


@@ -4,6 +4,8 @@


using System.Linq;


using System.Text;


using System.Threading.Tasks;


using System.Xml.Linq;


using WIDESEA_Comm.LogInfo;


using WIDESEA_Core.BaseProvider;


using WIDESEA_Core.FreeDB;


using WIDESEA_Entity.DomainModels;


@@ -30,6 +32,9 @@


                if (Gantry_client == null) throw new Exception("桁架调度服务未开启！");


                if (!Gantry_client.IsConnected) throw new Exception("与桁架连接超时！");


                var Gantryplc = FreeDB.Select<dt_plcinfohead>().Where(x => x.plcinfo_name == Gantry_client.PLCName).First();


                var Pipeline_client = PLCClient.Clients.FirstOrDefault(t => t.PLCName == "链条机");


                if (Pipeline_client == null) throw new Exception("链条机调度服务未开启！");


                if (!Pipeline_client.IsConnected) throw new Exception("与链条机连接超时！");


                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" };


                var details = FreeDB.Select<dt_plcinfodetail>().Where(x => x.plcdetail_iotype == Gantryplc.plcinfo_iotyep && x.plcdetail_number == numbers[requestin.AreaNr - 1]).ToList();


                if (MethodName == "AGVRequestin")//请求进入区域


@@ -38,6 +43,10 @@


                    Gantry_client.WriteByOrder("W_AGV_Request_In", true, numbers[requestin.AreaNr - 1]);//申请进入区域


                    var Release = (bool)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_Release_In").First(), Gantry_client);//允许进入区域


                    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


                    #region æ—¥å¿—记录


                    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" +


                        $"\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");


                    #endregion


                    if (!Release) throw new Exception("桁架未允许进入！");


                    if (!Gantry_Out_of_Area) throw new Exception("桁架在区域内！");


                }


@@ -46,16 +55,26 @@


                    Gantry_client.WriteByOrder("W_AreaNr", (Int16)requestin.AreaNr, numbers[requestin.AreaNr - 1]);//区域号


                    if (requestin.Type == 1)


                    {


                        Pipeline_client.WriteByOrder("W_AGV_Entering", (Int16)1, numbers[requestin.AreaNr - 1]);//光栅屏蔽


                        Gantry_client.WriteByOrder("W_AGV_Leaving", false, numbers[requestin.AreaNr - 1]);//正在离开


                        Gantry_client.WriteByOrder("W_AGV_Entering", true, numbers[requestin.AreaNr - 1]);//正在进入


                        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


                        #region æ—¥å¿—记录


                        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" +


                            $"\n\n读取桁架信息：\n反馈AGV占位信号：{Area_Occupied_by_AGV}", "AGV");


                        #endregion


                        if (!Area_Occupied_by_AGV) throw new Exception("桁架未反馈AGV占位信号");


                    }


                    else if (requestin.Type == 2)


                    {


                        Pipeline_client.WriteByOrder("W_AGV_Entering", (Int16)2, numbers[requestin.AreaNr - 1]);//光栅启用


                        Gantry_client.WriteByOrder("W_AGV_Entering", false, numbers[requestin.AreaNr - 1]);//正在进入


                        Gantry_client.WriteByOrder("W_AGV_Leaving", true, numbers[requestin.AreaNr - 1]);//正在离开


                        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


                        #region æ—¥å¿—记录


                        WriteDBLog.Success("AGV正在离开区域", $"写入桁架信息：\n区域号：{requestin.AreaNr}\n正在进入：false\n正在离开：true\n光栅屏蔽：2" +


                            $"\n\n读取桁架信息：\n反馈AGV离开信号：{!Area_Occupied_by_AGV}", "AGV");


                        #endregion


                        if (Area_Occupied_by_AGV) throw new Exception("桁架未反馈AGV离开信号");


                    }


                }


@@ -63,10 +82,16 @@


                {


                    Gantry_client.WriteByOrder("W_AreaNr", (Int16)requestin.AreaNr, numbers[requestin.AreaNr - 1]);//区域号


                    Gantry_client.WriteByOrder("W_AGV_OUT_OF_Area", requestin.OUTOFArea == 1 ? true : false, numbers[requestin.AreaNr - 1]);//AGV不在该区域


                    #region æ—¥å¿—记录


                    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");


                    #endregion


                }


                else if (MethodName == "GantryOutofArea")//桁架不在区域内


                {


                    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


                    #region æ—¥å¿—记录


                    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");


                    #endregion


                    if (!Gantry_Out_of_Area) throw new Exception("桁架在区域内！");


                }


                respone.success = 1;