304 lines
11 KiB
C#
304 lines
11 KiB
C#
using WcsMain.Common;
|
||
using WcsMain.DataBase.TableEntity;
|
||
using WcsMain.Enum.Stacker;
|
||
using WcsMain.EquipOperation.Entity;
|
||
using WcsMain.EquipOperation.Entity.Stacker;
|
||
using WcsMain.WcsAttribute.AutoFacAttribute;
|
||
|
||
namespace WcsMain.EquipOperation.Stacker;
|
||
|
||
/// <summary>
|
||
/// 堆垛机操作
|
||
/// </summary>
|
||
[Component]
|
||
public class StackerOperation
|
||
{
|
||
|
||
|
||
/********************************** 总结方法 *******************************************/
|
||
|
||
/// <summary>
|
||
/// 判断堆垛机状态，若是等待（二次申请）状态则带出当前的PlcId
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <param name="plcId1"></param>
|
||
/// <param name="spare1"></param>
|
||
/// <returns></returns>
|
||
public StackerUseStatusEnum StackerCanUse(int? stackerId, out int plcId1, out int spare1)
|
||
{
|
||
plcId1 = 0;
|
||
spare1 = 0;
|
||
if (stackerId == default) return StackerUseStatusEnum.BusyOrErr;
|
||
/* 获取堆垛机状态 */
|
||
var (errMsg, stackerInfo) = GetStackerInfo((int)stackerId!);
|
||
if (!string.IsNullOrEmpty(errMsg) || stackerInfo == default) return StackerUseStatusEnum.BusyOrErr;
|
||
/* 堆垛机空闲条件 */
|
||
var canUse = stackerInfo.ControlModel == StackerControlModeEnum.online
|
||
&& stackerInfo.StackerStatus == StackerStatusEnum.free && stackerInfo.ErrCode == 0;
|
||
if (canUse) return StackerUseStatusEnum.Free;
|
||
/* 堆垛机等待任务条件（二次申请） */
|
||
var waitTask = stackerInfo.ControlModel == StackerControlModeEnum.online && stackerInfo.StackerStatus == StackerStatusEnum.applyTask
|
||
&& stackerInfo.ErrCode == 0;
|
||
if (waitTask)
|
||
{
|
||
plcId1 = stackerInfo.PlcId;
|
||
spare1 = stackerInfo.Spare1;
|
||
return StackerUseStatusEnum.waitTask;
|
||
}
|
||
return StackerUseStatusEnum.BusyOrErr;
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
/********************************** 子方法 *******************************************/
|
||
|
||
|
||
|
||
/// <summary>
|
||
/// 读取堆垛机反馈信息
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public (string? errText, StackerInfo? stackerInfo) GetStackerInfo(int stackerId)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
return ("设备尚未连接", default); // 未连接PLC
|
||
}
|
||
var readResult = CommonTool.Siemens.ReadByteWithName($"堆垛机状态反馈{stackerId}", 28);
|
||
if (!readResult.Success || readResult.Value == default)
|
||
{
|
||
return (readResult.Message, default); // 读取失败
|
||
}
|
||
var data = readResult.Value;
|
||
StackerInfo stackerInfo = new()
|
||
{
|
||
PlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 0)), // 当前运行任务号
|
||
ControlModel = (StackerControlModeEnum)Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 4)), // 控制方式
|
||
StackerStatus = (StackerStatusEnum)Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 6)), // 堆垛机状态
|
||
TunnelId = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 8)), // 当前巷道
|
||
Row = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 10)), // 当前排
|
||
Line = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 12)), // 当前列
|
||
Layer = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 14)), // 当前层
|
||
Depth = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 16)), // 当前深度
|
||
Code = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 18)), // 料箱码
|
||
ErrCode = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 26)), // 错误码
|
||
//WorkLength = Convert.ToSingle(CommonTool.Siemens.Trans<float>(data, 28)), // 行走距离
|
||
//UpLength = Convert.ToSingle(CommonTool.Siemens.Trans<float>(data, 32)), // 提升距离
|
||
//ForkCount = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 36)), // 货叉动作次数
|
||
// SubmitPlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 36)), // 提交的任务
|
||
// DeletePlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 40)), // 删除的任务
|
||
// Spare1 = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 40)), // 备用1
|
||
// Spare2 = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 48)), // 备用2
|
||
};
|
||
return (string.Empty, stackerInfo);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 读取所有故障
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public bool[]? GetStackerErrInfo(int stackerId)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
return default; // 未连接PLC
|
||
}
|
||
var readResult = CommonTool.Siemens.ReadBoolWithName($"堆垛机当前报警{stackerId}", 96);
|
||
if (!readResult.Success || readResult.Value == default)
|
||
{
|
||
return default;
|
||
}
|
||
var data = readResult.Value;
|
||
return [.. data];
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 复位堆垛机
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public string ResetStacker(string? stackerId)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
// 未连接PLC
|
||
return "PLC尚未连接";
|
||
}
|
||
var (readResult, _) = CommonTool.Siemens.WritePlcWhithName($"堆垛机复位{stackerId}", (short)1);
|
||
if (readResult.Success)
|
||
{
|
||
return string.Empty;
|
||
}
|
||
return readResult.Message ?? "请求失败，请检查网络";
|
||
}
|
||
|
||
/// <summary>
|
||
/// 堆垛机继续运行
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public string StackerContinue(string? stackerId)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
// 未连接PLC
|
||
return "PLC尚未连接";
|
||
}
|
||
var (readResult, _) = CommonTool.Siemens.WritePlcWhithName($"堆垛机继续运行{stackerId}", (short)1);
|
||
if (readResult.Success)
|
||
{
|
||
return string.Empty;
|
||
}
|
||
return readResult.Message ?? "请求失败，请检查网络";
|
||
}
|
||
|
||
/// <summary>
|
||
/// 获取报警编号
|
||
/// </summary>
|
||
/// <param name="stackerNo"></param>
|
||
/// <returns></returns>
|
||
public int GetErrCode(int? stackerNo)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
return -1; // 未连接PLC
|
||
}
|
||
var readResult = CommonTool.Siemens.ReadInt16WithName($"报警编号{stackerNo}");
|
||
return readResult.Success ? readResult.Value : -1;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 堆垛机任务写入确认
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public string WriteTaskConfirm(int? stackerId)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return "PLC尚未连接。";
|
||
var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"堆垛机写任务确认{stackerId}", (short)1);
|
||
return writeResult.Success ? string.Empty : writeResult.Message ?? "写入失败";
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 写入堆垛机任务，返回错误信息
|
||
/// </summary>
|
||
/// <param name="task">任务数据</param>
|
||
/// <param name="forkId">货叉编号</param>
|
||
/// <returns></returns>
|
||
public string WriteTask(StackerPlcTask task, int forkId = 0)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return "PLC尚未连接。"; // 未连接PLC
|
||
var dbAddressName = $"堆垛机写任务{task.StackerId}";
|
||
if (forkId != 0) { dbAddressName += $"-{forkId}"; }
|
||
var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName(dbAddressName,
|
||
task.PlcId!,
|
||
task.TaskType!,
|
||
task.GetStand!,
|
||
task.InTunnelId!,
|
||
task.OutTunnelId!,
|
||
task.SetStand!,
|
||
task.GetQueue!,
|
||
task.GetLine!,
|
||
task.GetLayer!,
|
||
task.SetQueue!,
|
||
task.SetLine!,
|
||
task.SetLayer!,
|
||
task.GetDeep!,
|
||
task.SetDeep!,
|
||
task.Size!,
|
||
task.Weight!,
|
||
task.Code
|
||
);
|
||
return writeResult.Success ? string.Empty : writeResult.Message ?? "写入失败，未知原因";
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 获取过账数据
|
||
/// </summary>
|
||
/// <param name="dataNum"></param>
|
||
/// <param name="stackerList"></param>
|
||
/// <returns></returns>
|
||
public List<TaskFeedBackEntity>? GetTaskFeedBackData(int dataNum, List<AppStacker> stackerList)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
return default; // 未连接PLC
|
||
}
|
||
List<TaskFeedBackEntity> taskFeedBackEntities = [];
|
||
foreach (var stacker in stackerList)
|
||
{
|
||
var readResult = CommonTool.Siemens.ReadByteWithName($"过账区{stacker.StackerId}", (ushort)(6 * dataNum));
|
||
if (!readResult.Success) { continue; }
|
||
var readData = readResult.Value;
|
||
if (readData == default) { continue; }
|
||
for (var i = 0; i < dataNum; i++)
|
||
{
|
||
TaskFeedBackEntity taskFeedBackEntity = new()
|
||
{
|
||
StackerId = stacker.StackerId ?? 0,
|
||
PlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(readData, 0 + i * 6)),
|
||
FeedBackType = Convert.ToInt16(CommonTool.Siemens.Trans<short>(readData, 4 + i * 6)),
|
||
CountNo = i
|
||
};
|
||
taskFeedBackEntities.Add(taskFeedBackEntity);
|
||
}
|
||
}
|
||
return taskFeedBackEntities;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 重置过账缓冲区 --- 写反馈区间接清除
|
||
/// </summary>
|
||
/// <param name="taskFeedBackData"></param>
|
||
public string? ResetFeedBackData(TaskFeedBackEntity taskFeedBackData)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
return "PLC 未连接"; // 未连接PLC
|
||
}
|
||
var dbAddress = CommonTool.Siemens.GetAddressWithNameAndBit($"过账区反馈区{taskFeedBackData.StackerId}", 4 * taskFeedBackData.CountNo);
|
||
if (string.IsNullOrEmpty(dbAddress))
|
||
{
|
||
return "无法计算偏移量";
|
||
}
|
||
var plcNo = taskFeedBackData.StackerId;
|
||
var writeResult = CommonTool.Siemens.WritePlcWhithAddress(plcNo, dbAddress, taskFeedBackData.PlcId);
|
||
return writeResult.Success ? default : $"清除过账失败，异常信息：{writeResult.Message}";
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 重置过账缓冲区 --- 直接清除
|
||
/// </summary>
|
||
/// <param name="taskFeedBackData"></param>
|
||
public string? ClearFeedBackData(TaskFeedBackEntity taskFeedBackData)
|
||
{
|
||
if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
|
||
{
|
||
return "PLC 未连接"; // 未连接PLC
|
||
}
|
||
var dbAddress = CommonTool.Siemens.GetAddressWithNameAndBit($"过账区{taskFeedBackData.StackerId}", 6 * taskFeedBackData.CountNo);
|
||
if (string.IsNullOrEmpty(dbAddress))
|
||
{
|
||
return "无法计算偏移量";
|
||
}
|
||
var writeResult = CommonTool.Siemens.WritePlcWhithAddress(1, dbAddress, 0);
|
||
return !writeResult.Success ? $"清除过账失败，异常信息：{writeResult.Message}" : default;
|
||
}
|
||
|
||
} |