306 lines
11 KiB
C#
306 lines
11 KiB
C#
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using WcsMain.Common;
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using WcsMain.DataBase.TableEntity;
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using WcsMain.Enum.Stacker;
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using WcsMain.PlcOperation.Entity;
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using WcsMain.PlcOperation.Entity.Stacker;
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using WcsMain.WcsAttribute.AutoFacAttribute;
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namespace WcsMain.PlcOperation.Stacker;
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/// <summary>
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/// 堆垛机操作
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/// </summary>
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[Component]
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public class StackerOperation
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{
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/********************************** 总结方法 *******************************************/
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/// <summary>
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/// 判断堆垛机状态，若是等待（二次申请）状态则带出当前的PlcId
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/// </summary>
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/// <param name="stackerId"></param>
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/// <param name="plcId"></param>
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/// <returns></returns>
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public StackerUseStatusEnum StackerCanUse(int? stackerId, out int plcId)
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{
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plcId = 0;
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if (stackerId == default) return StackerUseStatusEnum.BusyOrErr;
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/* 获取堆垛机状态 */
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var (errMsg, stackerInfo) = GetStackerInfo((int)stackerId!);
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if(!string.IsNullOrEmpty(errMsg) || stackerInfo == default) return StackerUseStatusEnum.BusyOrErr;
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/* 堆垛机空闲条件 */
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var canUse = stackerInfo.PlcId == 0 && stackerInfo.ControlModel == StackerControlModeEnum.online
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&& stackerInfo.StackerStatus == StackerStatusEnum.free && stackerInfo.ErrCode == 0;
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if (canUse) return StackerUseStatusEnum.Free;
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/* 堆垛机等待任务条件（二次申请） */
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var waitTask = stackerInfo.ControlModel == StackerControlModeEnum.online && stackerInfo.StackerStatus == StackerStatusEnum.applyTask
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&& stackerInfo.ErrCode == 0;
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if(waitTask)
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{
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plcId = stackerInfo.PlcId;
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return StackerUseStatusEnum.waitTask;
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}
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return StackerUseStatusEnum.BusyOrErr;
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}
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/********************************** 子方法 *******************************************/
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/// <summary>
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/// 读取堆垛机反馈信息
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public (string? errText, StackerInfo? stackerInfo) GetStackerInfo(int stackerId)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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return ("设备尚未连接", default); // 未连接PLC
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}
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var readResult = CommonTool.Siemens.ReadByteWithName($"堆垛机状态反馈{stackerId}", 24);
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if (!readResult.Success || readResult.Value == default)
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{
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return (readResult.Message, default); // 读取失败
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}
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var data = readResult.Value;
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StackerInfo stackerInfo = new()
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{
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PlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 0)), // 当前运行任务号
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ControlModel = (StackerControlModeEnum)Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 4)), // 控制方式
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StackerStatus = (StackerStatusEnum)Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 6)), // 堆垛机状态
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TunnelId = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 8)), // 当前巷道
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Row = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 10)), // 当前排
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Line = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 12)), // 当前列
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Layer = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 14)), // 当前层
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Depth = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 16)), // 当前深度
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Code = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 18)), // 料箱码
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ErrCode = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 22)), // 错误码
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// WorkLength = Convert.ToSingle(CommonTool.Siemens.Trans<float>(data, 24)), // 行走距离
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// UpLength = Convert.ToSingle(CommonTool.Siemens.Trans<float>(data, 28)), // 提升距离
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// ForkCount = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 32)), // 货叉动作次数
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// SubmitPlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 36)), // 提交的任务
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// DeletePlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 40)), // 删除的任务
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// Spare1 = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 44)), // 备用1
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// Spare2 = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 48)), // 备用2
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};
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return (string.Empty, stackerInfo);
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}
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/// <summary>
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/// 读取所有故障
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public bool[]? GetStackerErrInfo(int stackerId)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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return default; // 未连接PLC
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}
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var readResult = CommonTool.Siemens.ReadBoolWithName($"堆垛机当前报警{stackerId}", 96);
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if (!readResult.Success || readResult.Value == default)
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{
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return default;
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}
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var data = readResult.Value;
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return [.. data];
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}
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/// <summary>
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/// 复位堆垛机
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public string ResetStacker(string? stackerId)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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// 未连接PLC
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return "PLC尚未连接";
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}
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var (readResult, _) = CommonTool.Siemens.WritePlcWhithName($"堆垛机复位{stackerId}", (short)1);
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if (readResult.Success)
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{
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return string.Empty;
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}
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return readResult.Message ?? "请求失败，请检查网络";
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}
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/// <summary>
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/// 堆垛机继续运行
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public string StackerContinue(string? stackerId)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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// 未连接PLC
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return "PLC尚未连接";
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}
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var (readResult, _) = CommonTool.Siemens.WritePlcWhithName($"堆垛机继续运行{stackerId}", (short)1);
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if (readResult.Success)
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{
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return string.Empty;
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}
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return readResult.Message ?? "请求失败，请检查网络";
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}
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/// <summary>
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/// 获取报警编号
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/// </summary>
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/// <param name="stackerNo"></param>
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/// <returns></returns>
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public int GetErrCode(int? stackerNo)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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return -1; // 未连接PLC
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}
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var readResult = CommonTool.Siemens.ReadInt16WithName($"报警编号{stackerNo}");
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return readResult.Success ? readResult.Value : -1;
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}
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/// <summary>
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/// 堆垛机任务写入确认
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/// </summary>
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/// <param name="stackerId"></param>
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/// <returns></returns>
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public string WriteTaskConfirm(int stackerId)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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// 未连接PLC
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return "PLC尚未连接。";
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}
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var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"堆垛机写任务确认{stackerId}", (short)1);
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if (writeResult.Success)
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{
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return string.Empty;
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}
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return writeResult.Message ?? "写入失败";
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}
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/// <summary>
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/// 写入堆垛机任务，返回错误信息
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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public string WriteTask(StackerPlcTask task)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return "PLC尚未连接。"; // 未连接PLC
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var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"堆垛机写任务{task.StackerId}",
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task.PlcId!,
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task.TaskType!,
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task.GetStand!,
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task.InTunnelId!,
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task.OutTunnelId!,
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task.SetStand!,
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task.GetQueue!,
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task.GetLine!,
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task.GetLayer!,
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task.SetQueue!,
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task.SetLine!,
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task.SetLayer!,
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task.GetDeep!,
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task.SetDeep!,
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task.Size!,
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task.Weight!,
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task.Code
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);
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return writeResult.Success ? string.Empty : writeResult.Message ?? "写入失败";
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}
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/// <summary>
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/// 获取过账数据
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/// </summary>
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/// <param name="dataNum"></param>
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/// <param name="stackerList"></param>
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/// <returns></returns>
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public List<TaskFeedBackEntity>? GetTaskFeedBackData(int dataNum, List<AppStacker> stackerList)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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return default; // 未连接PLC
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}
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List<TaskFeedBackEntity> taskFeedBackEntities = [];
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foreach (var stacker in stackerList)
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{
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var readResult = CommonTool.Siemens.ReadByteWithName($"过账区{stacker.StackerId}", (ushort)(6 * dataNum));
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if (!readResult.Success) { continue; }
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var readData = readResult.Value;
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if (readData == default) { continue; }
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for (var i = 0; i < dataNum; i++)
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{
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TaskFeedBackEntity taskFeedBackEntity = new()
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{
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StackerId = stacker.StackerId ?? 0,
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PlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(readData, 0 + i * 6)),
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FeedBackType = Convert.ToInt16(CommonTool.Siemens.Trans<short>(readData, 4 + i * 6)),
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CountNo = i
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};
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taskFeedBackEntities.Add(taskFeedBackEntity);
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}
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}
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return taskFeedBackEntities;
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}
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/// <summary>
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/// 重置过账缓冲区 --- 写反馈区间接清除
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/// </summary>
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/// <param name="taskFeedBackData"></param>
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public string? ResetFeedBackData(TaskFeedBackEntity taskFeedBackData)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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return "PLC 未连接"; // 未连接PLC
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}
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var dbAddress = CommonTool.Siemens.GetAddressWithNameAndBit($"过账区反馈区{taskFeedBackData.StackerId}", 4 * taskFeedBackData.CountNo);
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if (string.IsNullOrEmpty(dbAddress))
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{
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return "无法计算偏移量";
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}
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var plcNo = taskFeedBackData.StackerId;
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var writeResult = CommonTool.Siemens.WritePlcWhithAddress(plcNo, dbAddress, taskFeedBackData.PlcId);
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return writeResult.Success ? default : $"清除过账失败，异常信息：{writeResult.Message}";
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}
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/// <summary>
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/// 重置过账缓冲区 --- 直接清除
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/// </summary>
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/// <param name="taskFeedBackData"></param>
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public string? ClearFeedBackData(TaskFeedBackEntity taskFeedBackData)
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{
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if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
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{
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return "PLC 未连接"; // 未连接PLC
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}
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var dbAddress = CommonTool.Siemens.GetAddressWithNameAndBit($"过账区{taskFeedBackData.StackerId}", 6 * taskFeedBackData.CountNo);
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if (string.IsNullOrEmpty(dbAddress))
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{
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return "无法计算偏移量";
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}
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var writeResult = CommonTool.Siemens.WritePlcWhithAddress(1, dbAddress, 0);
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return !writeResult.Success ? $"清除过账失败，异常信息：{writeResult.Message}" : default;
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}
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}
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