From 46f0794372bb79dedfbb1d7f0a34081cf06204ce Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期五, 22 八月 2025 14:58:25 +0800
Subject: [PATCH] 增加堆垛机召回功能
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Service/DeviceInfoService.cs | 645 +++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 415 insertions(+), 230 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 b01298a..6437d86 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"
@@ -20,10 +20,13 @@
using Newtonsoft.Json;
using SixLabors.ImageSharp.ColorSpaces;
using System;
+using System.Collections;
using System.Collections.Generic;
using System.Linq;
+using System.Security.Claims;
using System.Text;
using System.Threading.Tasks;
+using WIDESEA_Common.Log;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
@@ -73,6 +76,7 @@
public WebResponseContent StackerHandTask(HandTask stackerhand)
{
+ WriteLog.GetLog("鍫嗗灈鏈烘墜鍔ㄤ换鍔�").Write(JsonConvert.SerializeObject(stackerhand), "鍫嗗灈鏈烘墜鍔ㄤ换鍔�");
WebResponseContent content = new WebResponseContent();
try
{
@@ -89,9 +93,9 @@
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
{
@@ -101,9 +105,9 @@
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
{
@@ -116,9 +120,9 @@
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
{
@@ -127,9 +131,9 @@
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
{
@@ -142,9 +146,9 @@
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
{
@@ -154,9 +158,9 @@
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
{
@@ -169,9 +173,9 @@
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);
@@ -192,9 +196,9 @@
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
{
@@ -205,8 +209,10 @@
{
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)
{
@@ -216,6 +222,7 @@
public WebResponseContent StackerReset(string DeviceCode)
{
+ WriteLog.GetLog("鍫嗗灈鏈烘墜鍔ㄤ换鍔�").Write($"銆愬浣嶅懡浠ゃ�憑JsonConvert.SerializeObject(DeviceCode)}", "鍫嗗灈鏈烘墜鍔ㄤ换鍔�");
WebResponseContent content = new WebResponseContent();
try
{
@@ -225,7 +232,14 @@
{
CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;
- commonStackerCrane.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(2));
+ //commonStackerCrane.SetValue(StackerCraneDBName.WorkType, Convert.ToSByte(2));
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "WorkType").FirstOrDefault();
+
+ byte valueToWrite = 2;
+
+ byte[] buffer = new byte[] { valueToWrite };
+
+ commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, buffer);
return content.OK();
}
else
@@ -241,6 +255,7 @@
public WebResponseContent StackerEmergencyStop(string DeviceCode)
{
+ WriteLog.GetLog("鍫嗗灈鏈烘墜鍔ㄤ换鍔�").Write($"銆愭�ュ仠鍛戒护銆憑JsonConvert.SerializeObject(DeviceCode)}", "鍫嗗灈鏈烘墜鍔ㄤ换鍔�");
WebResponseContent content = new WebResponseContent();
try
{
@@ -250,7 +265,77 @@
{
CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;
- commonStackerCrane.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(2));
+ //commonStackerCrane.SetValue(StackerCraneDBName.WorkType, Convert.ToSByte(4));
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "WorkType").FirstOrDefault();
+
+ byte valueToWrite = 4;
+
+ byte[] buffer = new byte[] { valueToWrite };
+
+ commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, buffer);
+ return content.OK();
+ }
+ else
+ {
+ 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 StackerDisconnected(string DeviceCode)
+ {
+ WriteLog.GetLog("鍫嗗灈鏈烘墜鍔ㄤ换鍔�").Write($"銆愪腑鏂懡浠ゃ�憑JsonConvert.SerializeObject(DeviceCode)}", "鍫嗗灈鏈烘墜鍔ㄤ换鍔�");
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
+
+ if (device != null)
+ {
+ CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "WorkType").FirstOrDefault();
+
+ byte valueToWrite = 1;
+
+ byte[] buffer = new byte[] { valueToWrite };
+
+ commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, buffer);
+
+ return content.OK();
+ }
+ else
+ {
+ return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
+ }
+ }
+ catch (Exception ex)
+ {
+ return content.Error(ex.Message);
+ }
+ }
+
+ public WebResponseContent StackerRecall(string DeviceCode)
+ {
+ WriteLog.GetLog("鍫嗗灈鏈烘墜鍔ㄤ换鍔�").Write($"銆愪腑鏂懡浠ゃ�憑JsonConvert.SerializeObject(DeviceCode)}", "鍫嗗灈鏈烘墜鍔ㄤ换鍔�");
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
+
+ if (device != null)
+ {
+ CommonStackerCrane commonStackerCrane = (CommonStackerCrane)device;
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "WorkType").FirstOrDefault();
+
+ byte valueToWrite = 144;
+
+ byte[] buffer = new byte[] { valueToWrite };
+
+ commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, buffer);
+
return content.OK();
}
else
@@ -282,7 +367,7 @@
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);
@@ -292,11 +377,11 @@
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
@@ -305,7 +390,29 @@
}
}
-
+ public int GetRowCode(int number)
+ {
+ if (number == 1 || number == 15 || number == 11 || number == 18)
+ {
+ return 1;
+ }
+ else if (number == 2 || number == 5 || number == 8 || number == 12 || number == 16 || number == 19)
+ {
+ return 2;
+ }
+ else if (number == 3 || number == 6 || number == 9 || number == 13 || number == 17 || number == 20)
+ {
+ return 3;
+ }
+ else if (number == 4 || number == 7 || number == 10 || number == 14 || number == 21)
+ {
+ 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>
@@ -495,15 +602,15 @@
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",
TaskNum = ConveyorLineTaskNum.ToString(),
- Alarm = AlarmInfo(ConveyorLineAlarm)
+ Alarm = GetAlarm(ConveyorLineAlarm)
};
return content.OK(data:obj);
}
@@ -518,6 +625,7 @@
public WebResponseContent ConveyorLineHandTask(HandTask ConveyorLinehand)
{
+ WriteLog.GetLog("杈撻�佺嚎鎵嬪姩浠诲姟").Write(JsonConvert.SerializeObject(ConveyorLinehand), "杈撻�佺嚎鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -532,6 +640,12 @@
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")
{
@@ -568,6 +682,7 @@
public WebResponseContent ConveyorLineReset(string DeviceChildCode)
{
+ WriteLog.GetLog("杈撻�佺嚎鎵嬪姩浠诲姟").Write($"銆愬浣嶅懡浠ゃ�憑JsonConvert.SerializeObject(DeviceChildCode)}", "杈撻�佺嚎鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -592,6 +707,7 @@
public WebResponseContent ConveyorLineEmergencyStop(string DeviceChildCode)
{
+ WriteLog.GetLog("杈撻�佺嚎鎵嬪姩浠诲姟").Write($"銆愭�ュ仠鍛戒护銆憑JsonConvert.SerializeObject(DeviceChildCode)}", "杈撻�佺嚎鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -615,6 +731,7 @@
}
public WebResponseContent ConveyorLineReturn(string DeviceChildCode)
{
+ WriteLog.GetLog("杈撻�佺嚎鎵嬪姩浠诲姟").Write($"銆愰��鍥炲懡浠ゃ�憑JsonConvert.SerializeObject(DeviceChildCode)}", "杈撻�佺嚎鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -638,6 +755,7 @@
}
public WebResponseContent ConveyorLineCancel(string DeviceChildCode)
{
+ WriteLog.GetLog("杈撻�佺嚎鎵嬪姩浠诲姟").Write($"銆愬彇娑堝懡浠ゃ�憑JsonConvert.SerializeObject(DeviceChildCode)}", "杈撻�佺嚎鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -661,6 +779,7 @@
}
public WebResponseContent ConveyorLineInitialize(string DeviceChildCode)
{
+ WriteLog.GetLog("杈撻�佺嚎鎵嬪姩浠诲姟").Write($"銆愬垵濮嬪寲鍛戒护銆憑JsonConvert.SerializeObject(DeviceChildCode)}", "杈撻�佺嚎鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -683,6 +802,21 @@
}
}
+ public string GetAlarm(uint value)
+ {
+ byte[] bytes = BitConverter.GetBytes(value);
+ BitArray bits = new BitArray(bytes);
+
+ for (int i = 0; i < bits.Length; i++)
+ {
+ if (bits[i])
+ {
+ return AlarmInfo(i);
+ }
+ }
+ return "";
+ }
+
string AlarmInfo(int Alarm) => Alarm switch
{
0 => "鎬ュ仠",
@@ -701,6 +835,7 @@
13 => "棰勭暀4",
14 => "棰勭暀5",
15 => "棰勭暀6",
+ _ => $"鏈煡鎶ヨ({Alarm})"
};
public enum ConveyorLineDBName
@@ -728,6 +863,7 @@
#region RGV鎵嬪姩鍛戒护
public WebResponseContent RGVHandTask(HandTask RGVhand)
{
+ WriteLog.GetLog("RGV鎵嬪姩浠诲姟").Write(JsonConvert.SerializeObject(RGVhand), "RGV鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -741,227 +877,241 @@
if (RGVhand.DeviceCode == "RGV01" || RGVhand.DeviceCode == "RGV02")
{
CommonRGV_FirstFloor RGVcommand = (CommonRGV_FirstFloor)device;
- if (RGVhand.TaskType == "1")
+ if (RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Running))
{
- if (RGVhand.SourceAddress != null)
+ if (RGVhand.TaskType == "1")
{
- RGVTaskCommand command = new RGVTaskCommand()
+ if (RGVhand.SourceAddress != null)
{
- PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
- TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
- };
- SendCommandFirstFloor(RGVcommand, command);
- return content.OK($"{device.DeviceName}鍙栧畾浣嶅懡浠や笅鍙戞垚鍔�");
- }
- else
- {
- return content.Error($"{device.DeviceName}鍙栧畾浣嶅懡浠ゅ彇璐т綅涓嶈兘涓虹┖");
- }
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandFirstFloor(RGVcommand, command);
+ return content.OK($"{device.DeviceName}鍙栧畾浣嶅懡浠や笅鍙戞垚鍔�");
+ }
+ else
+ {
+ return content.Error($"{device.DeviceName}鍙栧畾浣嶅懡浠ゅ彇璐т綅涓嶈兘涓虹┖");
+ }
- }
- else if (RGVhand.TaskType == "2")
- {
- if (RGVhand.TargetAddress != null)
+ }
+ else if (RGVhand.TaskType == "2")
{
- RGVTaskCommand command = new RGVTaskCommand()
+ if (RGVhand.TargetAddress != null)
{
- PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
- TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
- };
- SendCommandFirstFloor(RGVcommand, command);
- return content.OK($"{device.DeviceName}鏀惧畾浣嶅懡浠や笅鍙戞垚鍔�");
+ 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($"{device.DeviceName}鏀惧畾浣嶅懡浠ゆ斁璐т綅涓嶈兘涓虹┖");
- }
- }
- else if (RGVhand.TaskType == "3")
- {
- if (RGVhand.SourceAddress != null)
- {
- RGVTaskCommand command = new RGVTaskCommand()
- {
- PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
- TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
- };
- SendCommandFirstFloor(RGVcommand, command);
- return content.OK($"{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($"{device.DeviceName}鍙栨斁璐у懡浠ゆ斁璐т綅鍜屽彇璐т綅涓嶈兘涓虹┖");
- }
- }
- else if (RGVhand.TaskType == "6")
- {
- if (RGVhand.TargetAddress != null)
- {
- RGVTaskCommand command = new RGVTaskCommand()
- {
- PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
- TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
- };
- SendCommandFirstFloor(RGVcommand, command);
- return content.OK($"{device.DeviceName}閫�鍛戒护涓嬪彂鎴愬姛");
- }
- else
- {
- return content.Error($"{device.DeviceName}閫�鍥炲懡浠ゆ斁璐т綅涓嶈兘涓虹┖");
+ return content.Error($"{device.DeviceName}鏈煡浠诲姟鍛戒护");
}
}
else
{
- return content.Error($"{device.DeviceName}鏈煡浠诲姟鍛戒护");
+ return content.Error($"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 (RGVhand.TaskType == "1")
+ if (RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !RGVcommand.GetValue<RGVDBName, bool>(RGVDBName.Running))
{
- if (RGVhand.SourceAddress != null)
+ if (RGVhand.TaskType == "1")
{
- RGVTaskCommand command = new RGVTaskCommand()
+ if (RGVhand.SourceAddress != null)
{
- 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┖");
- }
+ 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)
+ }
+ else if (RGVhand.TaskType == "2")
{
- RGVTaskCommand command = new RGVTaskCommand()
+ if (RGVhand.TargetAddress != null)
{
- PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
- TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
- };
- SendCommandSecondFloor(RGVcommand, command);
- return content.OK($"{device.DeviceName}鏀惧畾浣嶅懡浠や笅鍙戞垚鍔�");
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PutcargoLocation = (byte)Convert.ToSByte(RGVhand.TargetAddress),
+ TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
+ };
+ SendCommandSecondFloor(RGVcommand, command);
+ return content.OK($"{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($"{device.DeviceName}鏀惧畾浣嶅懡浠ゆ斁璐т綅涓嶈兘涓虹┖");
- }
- }
- else if (RGVhand.TaskType == "3")
- {
- if (RGVhand.SourceAddress != null)
- {
- RGVTaskCommand command = new RGVTaskCommand()
- {
- PickupLocation = (byte)Convert.ToSByte(RGVhand.SourceAddress),
- TaskType = (byte)Convert.ToSByte(RGVhand.TaskType),
- };
- SendCommandSecondFloor(RGVcommand, command);
- return content.OK($"{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┖");
+ return content.Error($"{device.DeviceName}鏈煡浠诲姟鍛戒护");
}
}
else
{
- return content.Error($"{device.DeviceName}鏈煡浠诲姟鍛戒护");
+ return content.Error($"璇峰湪鑱旀満妯″紡銆佹棤鏁呴殰銆佸緟鏈虹姸鎬佹椂鍐嶄笅鍙憑RGVcommand.DeviceName}鍛戒护");
}
- }
+ }
}
return content.Error("鏈壘鍒拌澶囦俊鎭鑱旂郴IT");
}
@@ -973,6 +1123,7 @@
public WebResponseContent RGVReset(string DeviceCode)
{
+ WriteLog.GetLog("RGV鎵嬪姩浠诲姟").Write($"銆愬浣嶅懡浠ゃ�憑JsonConvert.SerializeObject(DeviceCode)}", "RGV鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -982,12 +1133,12 @@
if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
{
CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
- commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(9));
+ commonRGV.SetValue(RGVDBName.TaskType, Convert.ToSByte(9));
}
else
{
CommonRGV commonRGV = (CommonRGV)device;
- commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(9));
+ commonRGV.SetValue(RGVDBName.TaskType, Convert.ToSByte(9));
}
return content.OK($"{device.DeviceName}澶嶄綅鎴愬姛");
}
@@ -1001,6 +1152,7 @@
public WebResponseContent RGVEmergencyStop(string DeviceCode)
{
+ WriteLog.GetLog("RGV鎵嬪姩浠诲姟").Write($"銆愭�ュ仠鍛戒护銆憑JsonConvert.SerializeObject(DeviceCode)}", "RGV鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -1028,6 +1180,7 @@
}
public WebResponseContent RGVCancel(string DeviceCode)
{
+ WriteLog.GetLog("RGV鎵嬪姩浠诲姟").Write($"銆愬彇娑堜换鍔″懡浠ゃ�憑JsonConvert.SerializeObject(DeviceCode)}", "RGV鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -1037,12 +1190,12 @@
if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
{
CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
- commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(9));
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(7));
}
else
{
CommonRGV commonRGV = (CommonRGV)device;
- commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(9));
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(7));
}
return content.OK($"{device.DeviceName}涓柇鎴愬姛");
}
@@ -1055,21 +1208,33 @@
}
public WebResponseContent RGVInitialize(string DeviceCode)
{
+ WriteLog.GetLog("RGV鎵嬪姩浠诲姟").Write($"銆愬垵濮嬪寲鍛戒护銆憑JsonConvert.SerializeObject(DeviceCode)}", "RGV鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceCode);
if (device != null)
{
+
if (DeviceCode == "RGV01" || DeviceCode == "RGV02")
{
CommonRGV_FirstFloor commonRGV = (CommonRGV_FirstFloor)device;
- commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(9));
+ DeviceProDTO? devicePro = commonRGV.DeviceProDTOs.Where(x => x.DeviceChildCode == commonRGV.DeviceCode && x.DeviceProParamName == "TaskType").FirstOrDefault();
+ //byte[] byt = Encoding.UTF8.GetBytes("08");
+ byte valueToWrite = 8;
+
+ byte[] buffer = new byte[] { valueToWrite };
+
+ commonRGV.Communicator.Write(devicePro.DeviceProAddress, buffer);
}
else
{
CommonRGV commonRGV = (CommonRGV)device;
- commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(9));
+ DeviceProDTO? devicePro = commonRGV.DeviceProDTOs.Where(x => x.DeviceChildCode == commonRGV.DeviceCode && x.DeviceProParamName == "TaskType").FirstOrDefault();
+ byte valueToWrite = 8;
+
+ byte[] buffer = new byte[] { valueToWrite };
+ commonRGV.Communicator.Write(devicePro.DeviceProAddress, buffer);
}
return content.OK($"{device.DeviceName}鍒濆鍖栨垚鍔�");
}
@@ -1083,6 +1248,7 @@
public WebResponseContent RGVPause(string DeviceCode)
{
+ WriteLog.GetLog("RGV鎵嬪姩浠诲姟").Write($"銆愬仠姝㈠懡浠ゃ�憑JsonConvert.SerializeObject(DeviceCode)}", "RGV鎵嬪姩浠诲姟");
WebResponseContent content = new WebResponseContent();
try
{
@@ -1113,7 +1279,7 @@
public void SendCommandFirstFloor(CommonRGV_FirstFloor commonRGV, RGVTaskCommand? rgvTaskCommand)
{
- commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(1));
+ commonRGV.SetValue(RGVDBName.TaskNum, Convert.ToInt16(1));
Thread.Sleep(100);
commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, (byte)Convert.ToSByte(rgvTaskCommand.PutcargoLocation));
Thread.Sleep(100);
@@ -1167,6 +1333,25 @@
#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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