From 3296ae7c136f405db78c395635e72efa1c0d0125 Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期三, 06 八月 2025 12:42:07 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/DeviceInfoService.cs | 588 +++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 551 insertions(+), 37 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/DeviceInfoService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/DeviceInfoService.cs"
index c96806a..328e0b2 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/DeviceInfoService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/DeviceInfoService.cs"
@@ -18,6 +18,7 @@
using AutoMapper;
using HslCommunication;
using Newtonsoft.Json;
+using SixLabors.ImageSharp.ColorSpaces;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -88,9 +89,9 @@
string[] sourceCodes = stackerhand.SourceAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(sourceCodes[0])));
+ stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[1]);
}
else
{
@@ -100,9 +101,9 @@
string[] targetCodes = stackerhand.TargetAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(targetCodes[0])));
+ stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[1]);
}
else
{
@@ -115,9 +116,9 @@
string[] sourceCodes = stackerhand.SourceAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(sourceCodes[0])));
+ stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[1]);
}
else
{
@@ -126,9 +127,9 @@
string[] targetCodes = stackerhand.TargetAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(targetCodes[0])));
+ stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[1]);
}
else
{
@@ -141,9 +142,9 @@
string[] sourceCodes = stackerhand.SourceAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(sourceCodes[0])));
+ stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[1]);
}
else
{
@@ -153,9 +154,9 @@
string[] targetCodes = stackerhand.TargetAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(targetCodes[0])));
+ stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[1]);
}
else
{
@@ -168,9 +169,9 @@
string[] sourceCodes = stackerhand.SourceAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(sourceCodes[0])));
+ stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[1]);
stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(0);
stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(0);
@@ -191,9 +192,9 @@
stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(0);
stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(0);
- stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(targetCodes[0])));
+ stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[1]);
}
else
{
@@ -204,8 +205,10 @@
{
return content.Error("鏈壘鍒颁换鍔″懡浠�");
}
+
StackerSendCommand(stackerCraneTaskCommand, stackerhand.DeviceCode);
- return content;
+
+ return content.OK("鍛戒护涓嬪彂鎴愬姛锛�");
}
catch (Exception ex)
{
@@ -224,7 +227,7 @@
{
CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;
- commonStackerCrane.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(2));
+ commonStackerCrane.SetValue(StackerCraneDBName.WorkType, Convert.ToSByte(2));
return content.OK();
}
else
@@ -249,7 +252,7 @@
{
CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;
- commonStackerCrane.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(2));
+ commonStackerCrane.SetValue(StackerCraneDBName.WorkType, Convert.ToSByte(2));
return content.OK();
}
else
@@ -281,7 +284,7 @@
commonStackerCrane.SetValue(StackerCraneDBName.StartColumn, command.StartColumn);
Thread.Sleep(100);
- commonStackerCrane.SetValue(StackerCraneDBName.StartColumn, command.StartLayer);
+ commonStackerCrane.SetValue(StackerCraneDBName.StartLayer, command.StartLayer);
Thread.Sleep(100);
commonStackerCrane.SetValue(StackerCraneDBName.EndRow, command.EndRow);
@@ -291,11 +294,11 @@
Thread.Sleep(100);
commonStackerCrane.SetValue(StackerCraneDBName.EndLayer, command.EndLayer);
Thread.Sleep(100);
- commonStackerCrane.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(command.WorkType));
+ commonStackerCrane.SetValue(StackerCraneDBName.WorkType, Convert.ToSByte(command.WorkType));
}
else
{
- throw new Exception("璇峰湪鍫嗗灈鏈鸿仈鏈烘ā寮忋�佸緟鏈虹姸鎬併�佹棤鏁呴殰鐨勬儏鍐典笅涓嬪彂浠诲姟");
+ throw new Exception($"璇峰湪{commonStackerCrane.DeviceName}鑱旀満妯″紡銆佸緟鏈虹姸鎬併�佹棤鏁呴殰鐨勬儏鍐典笅涓嬪彂浠诲姟");
}
}
else
@@ -304,7 +307,29 @@
}
}
-
+ public int GetRowCode(int number)
+ {
+ if (number == 1 || number == 15 || number == 11 || number == 19)
+ {
+ return 1;
+ }
+ else if (number == 2 || number == 5 || number == 8 || number == 12 || number == 16 || number == 20)
+ {
+ return 2;
+ }
+ else if (number == 3 || number == 6 || number == 9 || number == 13 || number == 17 || number == 21)
+ {
+ return 3;
+ }
+ else if (number == 4 || number == 7 || number == 10 || number == 14 || number == 18 || number == 22)
+ {
+ return 4;
+ }
+ else
+ {
+ throw new ArgumentOutOfRangeException(nameof(number), "杈撳叆鐨勬暟瀛楀繀椤诲湪1-16鑼冨洿鍐�");
+ }
+ }
public class StackerCraneTaskCommand
{
#region <Public Menber>
@@ -494,10 +519,10 @@
if (device != null)
{
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
- ushort x = conveyorLine.GetValue<ConveyorLineDBName, ushort>(ConveyorLineDBName.InteractiveSignal, stationManager.stationChildCode);
+ short x = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, stationManager.stationChildCode);
var structs = BitConverter.GetBytes(x).ToArray().ToBoolArray();
short ConveyorLineTaskNum = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.ConveyorLineTaskNum, stationManager.stationChildCode);
- int ConveyorLineAlarm = conveyorLine.GetValue<ConveyorLineDBName, int>(ConveyorLineDBName.ConveyorLineAlarm, stationManager.stationChildCode);
+ uint ConveyorLineAlarm = conveyorLine.GetValue<ConveyorLineDBName, uint>(ConveyorLineDBName.ConveyorLineAlarm, stationManager.stationChildCode);
ConveyorLineTaskCommand obj = new()
{
InStock = structs[2] == true ? "鏈夎揣" : "绌洪棽",
@@ -531,6 +556,12 @@
if (device != null)
{
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+ short x = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, stationManager.stationChildCode);
+ var structs = BitConverter.GetBytes(x).ToArray().ToBoolArray();
+ if (!structs[2])
+ {
+ return content.Error($"璇峰湪{stationManager.stationChildCode}杈撻�佺嚎灏辩华鎯呭喌涓嬩笅鍙戝懡浠�");
+ }
//鍏ュ簱
if (ConveyorLinehand.TaskType == "1")
{
@@ -625,7 +656,7 @@
{
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(3), stationManager.stationChildCode);
- return content.OK("鍋滄鎴愬姛");
+ return content.OK("閫�鍥炴垚鍔�");
}
}
return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
@@ -648,7 +679,7 @@
{
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(4), stationManager.stationChildCode);
- return content.OK("鍋滄鎴愬姛");
+ return content.OK("鍙栨秷鎴愬姛");
}
}
return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
@@ -671,7 +702,7 @@
{
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(6), stationManager.stationChildCode);
- return content.OK("鍋滄鎴愬姛");
+ return content.OK("鍒濆鍖栨垚鍔�");
}
}
return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
@@ -682,7 +713,7 @@
}
}
- string AlarmInfo(int Alarm) => Alarm switch
+ string AlarmInfo(uint Alarm) => Alarm switch
{
0 => "鎬ュ仠",
1 => "鍙橀鍣ㄦ姤璀�1",
@@ -725,7 +756,490 @@
#endregion
#region RGV鎵嬪姩鍛戒护
+ public WebResponseContent RGVHandTask(HandTask RGVhand)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ if (RGVhand == null || RGVhand.TaskType == "")
+ {
+ return content.Error("璇疯緭鍏ヤ换鍔″懡浠�");
+ }
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == RGVhand.DeviceCode);
+ if (device != null)
+ {
+ if (RGVhand.DeviceCode == "RGV01" || RGVhand.DeviceCode == "RGV02")
+ {
+ CommonRGV_FirstFloor RGVcommand = (CommonRGV_FirstFloor)device;
+ if (RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Running))
+ {
+ if (RGVhand.TaskType == "1")
+ {
+ if (RGVhand.SourceAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandFirstFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鍙栧畾浣嶅懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鍙栧畾浣嶅懡浠ゅ彇璐т綅涓嶈兘涓虹┖");
+ }
+ }
+ else if (RGVhand.TaskType == "2")
+ {
+ if (RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandFirstFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鏀惧畾浣嶅懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鏀惧畾浣嶅懡浠ゆ斁璐т綅涓嶈兘涓虹┖");
+ }
+ }
+ else if (RGVhand.TaskType == "3")
+ {
+ if (RGVhand.SourceAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandFirstFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鍙栬揣鍛戒护涓嬪彂鎴愬姛");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鍙栬揣鍛戒护鍙栬揣浣嶄笉鑳戒负绌�");
+ }
+ }
+ else if (RGVhand.TaskType == "4")
+ {
+ if (RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandFirstFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鏀捐揣鍛戒护涓嬪彂鎴愬姛");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鏀捐揣鍛戒护鏀捐揣浣嶄笉鑳戒负绌�");
+ }
+ }
+ else if (RGVhand.TaskType == "5")
+ {
+ if (RGVhand.TargetAddress != null && RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandFirstFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鍙栨斁璐у懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鍙栨斁璐у懡浠ゆ斁璐т綅鍜屽彇璐т綅涓嶈兘涓虹┖");
+ }
+ }
+ else if (RGVhand.TaskType == "6")
+ {
+ if (RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(4),
+ };
+ SendCommandFirstFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}閫�鍛戒护涓嬪彂鎴愬姛");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}閫�鍥炲懡浠ゆ斁璐т綅涓嶈兘涓虹┖");
+ }
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鏈煡浠诲姟鍛戒护");
+ }
+ }
+ else
+ {
+ return content.Error($"璇峰湪鑱旀満妯″紡銆佹棤鏁呴殰銆佸緟鏈虹姸鎬佹椂鍐嶄笅鍙憑RGVcommand.DeviceName}鍛戒护");
+ }
+ }
+ else
+ {
+ CommonRGV RGVcommand = (CommonRGV)device;
+ if (RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Running))
+ {
+ if (RGVhand.TaskType == "1")
+ {
+ if (RGVhand.SourceAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandSecondFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鍙栧畾浣嶅懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鍙栧畾浣嶅懡浠ゅ彇璐т綅涓嶈兘涓虹┖");
+ }
+
+ }
+ else if (RGVhand.TaskType == "2")
+ {
+ if (RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandSecondFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鏀惧畾浣嶅懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鏀惧畾浣嶅懡浠ゆ斁璐т綅涓嶈兘涓虹┖");
+ }
+ }
+ else if (RGVhand.TaskType == "3")
+ {
+ if (RGVhand.SourceAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandSecondFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鍙栬揣鍛戒护涓嬪彂鎴愬姛");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鍙栬揣鍛戒护鍙栬揣浣嶄笉鑳戒负绌�");
+ }
+ }
+ else if (RGVhand.TaskType == "4")
+ {
+ if (RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandSecondFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鏀捐揣鍛戒护涓嬪彂鎴愬姛");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鏀捐揣鍛戒护鏀捐揣浣嶄笉鑳戒负绌�");
+ }
+ }
+ else if (RGVhand.TaskType == "5")
+ {
+ if (RGVhand.TargetAddress != null && RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandSecondFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鍙栨斁璐у懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error("鍙栨斁璐у懡浠ゆ斁璐т綅鍜屽彇璐т綅涓嶈兘涓虹┖");
+ }
+ }
+ else if (RGVhand.TaskType == "6")
+ {
+ if (RGVhand.TargetAddress != null)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandSecondFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}閫�鍥炲懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}閫�鍥炲懡浠ゆ斁璐т綅涓嶈兘涓虹┖");
+ }
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鏈煡浠诲姟鍛戒护");
+ }
+ }
+ else
+ {
+ return content.Error($"璇峰湪鑱旀満妯″紡銆佹棤鏁呴殰銆佸緟鏈虹姸鎬佹椂鍐嶄笅鍙憑RGVcommand.DeviceName}鍛戒护");
+ }
+ }
+ }
+ return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
+ }
+ catch (Exception ex)
+ {
+ return content.Error(ex.Message);
+ }
+ }
+
+ public WebResponseContent RGVReset(string DeviceCode)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
+ if (device != null)
+ {
+ if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
+ {
+ CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
+ commonRGV.SetValue(RGVDBName.TaskType, Convert.ToSByte(9));
+ }
+ else
+ {
+ CommonRGV commonRGV = (CommonRGV)device;
+ commonRGV.SetValue(RGVDBName.TaskType, Convert.ToSByte(9));
+ }
+ return content.OK($"{device.DeviceName}澶嶄綅鎴愬姛");
+ }
+ return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
+ }
+ catch (Exception ex)
+ {
+ return content.Error(ex.Message);
+ }
+ }
+
+ public WebResponseContent RGVEmergencyStop(string DeviceCode)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
+ if (device != null)
+ {
+ if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
+ {
+ CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(11));
+ }
+ else
+ {
+ CommonRGV commonRGV = (CommonRGV)device;
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(11));
+ }
+ return content.OK($"{device.DeviceName}鍋滄鎴愬姛");
+ }
+ return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
+ }
+ catch (Exception ex)
+ {
+ return content.Error(ex.Message);
+ }
+ }
+ public WebResponseContent RGVCancel(string DeviceCode)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
+ if (device != null)
+ {
+ if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
+ {
+ CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(7));
+ }
+ else
+ {
+ CommonRGV commonRGV = (CommonRGV)device;
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(7));
+ }
+ return content.OK($"{device.DeviceName}涓柇鎴愬姛");
+ }
+ return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
+ }
+ catch (Exception ex)
+ {
+ return content.Error(ex.Message);
+ }
+ }
+ public WebResponseContent RGVInitialize(string DeviceCode)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
+ if (device != null)
+ {
+
+ if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
+ {
+ CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
+ DeviceProDTO? devicePro = commonRGV.DeviceProDTOs.Where(x => x.DeviceChildCode == commonRGV.DeviceCode && x.DeviceProParamName == "TaskType").FirstOrDefault();
+ //byte[] byt = Encoding.UTF8.GetBytes("08");
+ byte valueToWrite = 8;
+
+ byte[] buffer = new byte[] { valueToWrite };
+
+ commonRGV.Communicator.Write(devicePro.DeviceProAddress, buffer);
+ }
+ else
+ {
+ CommonRGV commonRGV = (CommonRGV)device;
+ DeviceProDTO? devicePro = commonRGV.DeviceProDTOs.Where(x => x.DeviceChildCode == commonRGV.DeviceCode && x.DeviceProParamName == "TaskType").FirstOrDefault();
+ byte valueToWrite = 8;
+
+ byte[] buffer = new byte[] { valueToWrite };
+ commonRGV.Communicator.Write(devicePro.DeviceProAddress, buffer);
+ }
+ return content.OK($"{device.DeviceName}鍒濆鍖栨垚鍔�");
+ }
+ return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
+ }
+ catch (Exception ex)
+ {
+ return content.Error(ex.Message);
+ }
+ }
+
+ public WebResponseContent RGVPause(string DeviceCode)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
+ if (device != null)
+ {
+ if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
+ {
+ CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(10));
+ }
+ else
+ {
+ CommonRGV commonRGV = (CommonRGV)device;
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(10));
+ }
+ return content.OK($"{device.DeviceName}鏆傚仠鎴愬姛");
+ }
+ return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
+ }
+ catch (Exception ex)
+ {
+ return content.Error(ex.Message);
+ }
+ }
+
+
+
+ public void SendCommandFirstFloor(CommonRGV_FirstFloor commonRGV, RGVTaskCommand? rgvTaskCommand)
+ {
+ commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(1));
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, (byte)Convert.ToSByte(rgvTaskCommand.PutcargoLocation));
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.PickupLocation, (byte)Convert.ToSByte(rgvTaskCommand.PickupLocation));
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(rgvTaskCommand.TaskType));
+
+ }
+ public void SendCommandSecondFloor(CommonRGV commonRGV, RGVTaskCommand? rgvTaskCommand)
+ {
+ commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(1));
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, (byte)Convert.ToSByte(rgvTaskCommand.PutcargoLocation));
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.PickupLocation, (byte)Convert.ToSByte(rgvTaskCommand.PickupLocation));
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(rgvTaskCommand.TaskType));
+
+ }
+
+ public class RGVTaskCommand
+ {
+ #region <Public Menber>
+
+ /// <summary>
+ /// 鍙栬揣浣�
+ /// </summary>
+ public byte PickupLocation { get; set; }
+
+ /// <summary>
+ /// 鏀捐揣浣�
+ /// </summary>
+ public byte PutcargoLocation { get; set; }
+
+ /// <summary>
+ /// 浠诲姟绫诲瀷
+ /// </summary>
+ public byte TaskType { get; set; }
+
+ /// <summary>
+ /// 棰勭暀
+ /// </summary>
+ public byte Spare { get; set; }
+
+ /// <summary>
+ /// 浠诲姟鍙�
+ /// </summary>
+ public short TaskNum { get; set; }
+
+
+ #endregion <Public Menber>
+ }
+
+ public enum RGVDBName
+ {
+ SendTask,
+ Automatic,
+ WorkCompleted,
+ Running,
+ Fault,
+ InStock,
+ RGVTargetAddress,
+ RGVTaskNum,
+ PickupLocation,
+ PutcargoLocation,
+ TaskType,
+ TaskNum,
+ LevelPoint,
+ CurrentTaskNum,
+ RGVAlarm,
+ }
#endregion
}
--
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