using IWareCC.CacheInfo;
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using IWareCC.Properties;
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using IWareCommon.Enum.Srm;
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using IWareCommon.Help;
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using S7.Net;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace IWareCC.SRM.Entity
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{
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public class SrmEntity
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{
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/// <summary>
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/// 堆垛机名称
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/// </summary>
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public string SrmName { get; set; }
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/// <summary>
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/// 设备编号
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/// </summary>
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public int DeviceId { get; set; }
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/// <summary>
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/// 根据心跳判断堆垛机是否在线
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/// </summary>
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public bool IsOnline { get; set; }
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/// <summary>
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/// 下线次数
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/// </summary>
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public int OffLineTimes { get; set; }
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/// <summary>
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/// 上一次心跳数
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/// </summary>
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public int LastHandShake { get; set; }
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/// <summary>
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/// 连接PLC读的对象
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/// </summary>
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public PlcS7 RS71500 { get; set; }
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/// <summary>
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/// 连接PLC写的对象
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/// </summary>
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public PlcS7 WS71500 { get; set; }
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#region 写入的堆垛机信息
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/// <summary>
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/// 心跳
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/// </summary>
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public int WHandShake { get; set; }
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/// <summary>
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/// 堆垛机编号
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/// </summary>
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public int WSrmNo { get; set; }
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/// <summary>
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/// 任务类型
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/// </summary>
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public int WCommand { get; set; }
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/// <summary>
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/// 急停
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/// </summary>
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public int WEmergencyStop { get; set; }
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/// <summary>
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/// 起始列
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/// </summary>
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public int WSourcePosX { get; set; }
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/// <summary>
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/// 起始层
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/// </summary>
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public int WSourcePosY { get; set; }
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/// <summary>
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/// 起始排
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/// </summary>
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public int WSourcePosZ { get; set; }
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/// <summary>
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/// 目标列
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/// </summary>
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public int WDestinationPosX { get; set; }
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/// <summary>
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/// 目标层
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/// </summary>
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public int WDestinationPosY { get; set; }
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/// <summary>
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/// 目标排
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/// </summary>
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public int WDestinationPosZ { get; set; }
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/// <summary>
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///任务号
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/// </summary>
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public int WTaskNo { get; set; }
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/// <summary>
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/// 任务完成确认
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/// </summary>
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public bool WTaskFinishConfirm { get; set; }
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/// <summary>
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/// 解除报警
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/// </summary>
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public bool WCancleAlarm { get; set; }
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/// <summary>
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/// 确认任务已发送的信号
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/// </summary>
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public bool WStb { get; set; }
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/// <summary>
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/// 托盘类型
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/// </summary>
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public int WPalletType { get; set; }
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/// <summary>
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/// 货物高度
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/// </summary>
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public int WHigh { get; set; }
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#endregion
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#region 读取到的堆垛机信息
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/// <summary>
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/// 读取心跳
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/// </summary>
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public int RHandShake { get; set; }
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/// <summary>
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/// 设备编号
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/// </summary>
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public int RSrmNo { get; set; }
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/// <summary>
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/// 是否有报警
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/// </summary>
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public bool RAlarm { get; set; }
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/// <summary>
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/// 载货台是否有货
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/// </summary>
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public bool RLiftFull { get; set; }
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/// <summary>
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/// 设备模式
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/// </summary>
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public int RMode { get; set; }
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/// <summary>
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/// 当前列
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/// </summary>
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public int RPosX { get; set; }
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/// <summary>
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/// 当前层
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/// </summary>
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public int RPosY { get; set; }
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/// <summary>
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/// 当前排
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/// </summary>
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public int RPosZ { get; set; }
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/// <summary>
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/// 当前列坐标
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/// </summary>
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public int RPosXmm { get; set; }
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/// <summary>
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/// 当前层坐标
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/// </summary>
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public int RPosYmm { get; set; }
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/// <summary>
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/// 当前排坐标
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/// </summary>
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public int RPosZmm { get; set; }
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/// <summary>
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/// 取货完成
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/// </summary>
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public bool RPickFinish { get; set; }
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/// <summary>
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/// 放货完成
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/// </summary>
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public bool RDeliveryFinish { get; set; }
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/// <summary>
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/// 任务完成
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/// </summary>
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public bool RTaskFinish { get; set; }
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/// <summary>
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/// 当前巷道
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/// </summary>
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public int RActualLane { get; set; }
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/// <summary>
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/// 任务状态
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/// </summary>
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public int RState { get; set; }
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/// <summary>
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/// 报警代码
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/// </summary>
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public int RAlarmCode { get; set; }
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/// <summary>
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/// 任务号
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/// </summary>
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public int RTaskNo { get; set; }
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/// <summary>
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/// 确认收到下发的任务信号
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/// </summary>
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public bool RAck { get; set; }
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#endregion
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public OpcReadItem OpcReadItems { get; set; }
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public OpcWriteItem OpcWriteItems { get; set; }
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public SrmEntity() { }
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public SrmEntity(string srmName, int deviceId, PlcS7 plc)
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{
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this.SrmName = srmName;
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this.DeviceId = deviceId;
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this.WS71500 = plc;
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OpcWriteItems = new OpcWriteItem
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{
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HandShake = "DB540.DBW0",
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SrmNo = "DB540.DBW2",
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TaskNo = "DB540.DBW34",
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TaskFinishConfirm = "DB540.DBW24",
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EmergencyStop = "DB540.DBW20",
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CancleAlarm = "DB540.DBW22",
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Command = "DB540.DBW18",
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SourcePosX = "DB540.DBW6",
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SourcePosY = "DB540.DBW8",
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SourcePosZ = "DB540.DBW10",
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DestinationPosX = "DB540.DBW12",
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DestinationPosY = "DB540.DBW14",
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DestinationPosZ = "DB540.DBW16",
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Stb = "DB540.DBW30",
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PalletType = "DB540.DBW4",
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High = "DB540.DBW26",
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};
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OpcReadItems = new OpcReadItem
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{
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HandShake = "DB541.DBW0",
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PickFinish = "DB541.DBW28",
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LiftFull = "DB541.DBW8",
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Mode = "DB541.DBW4",
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Alarm = "DB541.DBW6",
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TaskFinish = "DB541.DBW32",
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DeliveryFinish = "DB541.DBW30",
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ActualLane = "DB541.DBW38",
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SrmNo = "DB541.DBW2",
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AlarmCode = "DB541.DBW34",
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State = "DB541.DBW36",
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PosZ = "DB541.DBW10",
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PosX = "DB541.DBW12",
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PosY = "DB541.DBW14",
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PosXmm = "DB541.DBD16",
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PosYmm = "DB541.DBD20",
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PosZmm = "DB541.DBD24",
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TaskNo = "DB541.DBW40",
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Ack = "DB540.DBW32"
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};
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}
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public bool SendTask(int deviceId, int taskId, string sourcePlace, string toPlace, int type, int palltype,int heighttype,out string msg)
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{
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try
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{
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msg = "";
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if (!CanSendTask(deviceId, out msg))
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{
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return false;
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}
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var sourceSplit = sourcePlace.Split('-');
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var toSplit = toPlace.Split('-');
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bool b1 = this.WriteValue(this.OpcWriteItems.SrmNo, deviceId);
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bool b2 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
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bool b3 = this.WriteValue(this.OpcWriteItems.SourcePosY, int.Parse(sourceSplit[2]));
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bool b4 = this.WriteValue(this.OpcWriteItems.SourcePosX, int.Parse(sourceSplit[1]));
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bool b5 = this.WriteValue(this.OpcWriteItems.SourcePosZ, int.Parse(sourceSplit[0]));
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bool b6 = this.WriteValue(this.OpcWriteItems.DestinationPosY, int.Parse(toSplit[2]));
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bool b7 = this.WriteValue(this.OpcWriteItems.DestinationPosX, int.Parse(toSplit[1]));
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bool b8 = this.WriteValue(this.OpcWriteItems.DestinationPosZ, int.Parse(toSplit[0]));
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bool b10 = this.WriteValue(this.OpcWriteItems.Command, 1);
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bool b11 = this.WriteValue(this.OpcWriteItems.PalletType, palltype);//2代表大托盘1小托盘
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bool b12 = this.WriteValue(this.OpcWriteItems.High, heighttype);//2代表大托盘1小托盘
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if (!(b1 && b2 && b3 && b4 && b5 && b6 && b7 && b8 && b10&&b11&&b12))
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{
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msg = string.Format("向堆垛机{0}发送任务{1}失败", SrmName, taskId);
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return false;
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}
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bool b9 = this.WriteValue(this.OpcWriteItems.Stb, 1);
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if (b9)
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{
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return true;
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}else
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{
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return false;
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}
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}
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catch (Exception ex)
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{
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msg = ex.Message;
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "SendTask", msg);
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return false;
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}
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}
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/// <summary>
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/// 移动任务
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/// </summary>
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/// <param name="deviceId"></param>
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/// <param name="taskId"></param>
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/// <param name="toPlace"></param>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool SendMove(int deviceId, int taskId, string sourcePlace, string toPlace, out string msg)
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{
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try
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{
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msg = "";
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if (!CanDoMove(deviceId, out msg))
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{
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return false;
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}
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var toSplit = toPlace.Split('-');
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var sourSplit = sourcePlace.Split('-');
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bool b1 = this.WriteValue(this.OpcWriteItems.SrmNo, deviceId);
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bool b2 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
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bool b3 = this.WriteValue(this.OpcWriteItems.SourcePosY, int.Parse(sourSplit[2]));
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bool b4 = this.WriteValue(this.OpcWriteItems.SourcePosX, int.Parse(sourSplit[1]));
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bool b5 = this.WriteValue(this.OpcWriteItems.SourcePosZ, int.Parse(sourSplit[0]));
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bool b6 = this.WriteValue(this.OpcWriteItems.DestinationPosY, int.Parse(toSplit[2]));
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bool b7 = this.WriteValue(this.OpcWriteItems.DestinationPosX, int.Parse(toSplit[1]));
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bool b8 = this.WriteValue(this.OpcWriteItems.DestinationPosZ, int.Parse(toSplit[0]));
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bool b9 = this.WriteValue(this.OpcWriteItems.Stb, 1);
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bool b10 = this.WriteValue(this.OpcWriteItems.Command, 1);
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bool b11 = this.WriteValue(this.OpcWriteItems.PalletType, 2);//2代表大托盘1小托盘
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bool b12 = this.WriteValue(this.OpcWriteItems.High, 1);//2代表大托盘1小托盘
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if (!(b1 && b2 && b3 && b4 && b5 && b6 && b7 && b8 && b9 && b10))
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{
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msg = string.Format("向堆垛机{0}发送移动指令{1}失败", SrmName, taskId);
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return false;
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}
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return true;
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}
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catch (Exception ex)
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{
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msg = ex.Message;
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "SendMove", msg);
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return false;
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}
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}
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/// <summary>
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/// 任务召回
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/// </summary>
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/// <param name="srmNo"></param>
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/// <param name="taskId"></param>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool SendCallBackTask(int deviceId, int taskId, out string msg)
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{
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try
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{
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msg = "";
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if (!IsOnline)
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{
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msg = string.Format("堆垛机{0}不在线", this.SrmName);
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return false;
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}
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if (RMode != (int)ESrmMode.自动模式)
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{
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msg = string.Format("堆垛机{0}非自动模式", this.SrmName);
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return false;
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}
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if (RAlarm)
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{
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msg = string.Format("堆垛机{0}报警中", this.SrmName);
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return false;
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}
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if (RLiftFull)
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{
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msg = string.Format("堆垛机{0}叉齿有货", this.SrmName);
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return false;
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}
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if (RState != (int)ESrmState.空闲)
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{
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msg = string.Format("堆垛机{0}非空闲", this.SrmName);
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return false;
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}
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bool b1 = this.WriteValue(this.OpcWriteItems.SrmNo, deviceId);
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bool b2 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
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bool b3 = this.WriteValue(this.OpcWriteItems.Command, (int)ESrmCmd.召回);
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if (!(b1 && b2 && b3))
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{
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msg = string.Format("向堆垛机{0}发送召回任务{1}失败", SrmName, taskId);
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return false;
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}
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return true;
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}
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catch (Exception ex)
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{
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msg = ex.Message;
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "SendCallBackTask", msg);
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return false;
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}
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}
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/// <summary>
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/// 任务删除
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/// </summary>
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/// <param name="srmNo"></param>
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/// <param name="taskId"></param>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool SendDelTask(int deviceId, int taskId, out string msg)
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{
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try
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{
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msg = "";
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//if (!IsOnline)
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//{
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// msg = string.Format("堆垛机{0}不在线", this.SrmName);
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// return false;
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//}
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//if (RMode != (int)ESrmMode.自动模式)
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//{
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// msg = string.Format("堆垛机{0}非自动模式", this.SrmName);
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// return false;
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//}
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//if (RState != (int)ESrmState.空闲)
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//{
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// msg = string.Format("堆垛机{0}非空闲", this.SrmName);
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// return false;
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//}
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bool b1 = this.WriteValue(this.OpcWriteItems.SrmNo, deviceId);
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bool b2 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
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bool b3 = this.WriteValue(this.OpcWriteItems.Command, (int)ESrmCmd.任务删除);
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if (!(b1 && b2 && b3))
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{
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msg = string.Format("向堆垛机{0}发送召回任务{1}失败", SrmName, taskId);
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return false;
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}
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return true;
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}
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catch (Exception ex)
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{
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msg = ex.Message;
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), "SendCallBackTask", msg);
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return false;
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}
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}
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/// <summary>
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/// 是否可以发送出入库任务
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/// </summary>
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/// <param name="deviceId"></param>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool CanSendTask(int deviceId, out string msg)
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{
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msg = "";
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if (!IsOnline)
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{
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msg = string.Format("堆垛机{0}不在线", this.SrmName);
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return false;
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}
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if (RMode != (int)ESrmMode.自动模式)
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{
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msg = string.Format("堆垛机{0}非自动模式", this.SrmName);
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return false;
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}
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if (RAlarm)
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{
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msg = string.Format("堆垛机{0}报警中", this.SrmName);
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return false;
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}
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if (RLiftFull)
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{
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msg = string.Format("堆垛机{0}叉齿有货", this.SrmName);
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return false;
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}
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if (RState != (int)ESrmState.空闲)
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{
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msg = string.Format("堆垛机{0}非空闲", this.SrmName);
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return false;
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}
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return true;
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}
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/// <summary>
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/// 是否可以发送移库任务
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/// </summary>
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/// <param name="deviceId"></param>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool CanDoMove(int deviceId, out string msg)
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{
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msg = "";
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if (!IsOnline)
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{
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msg = string.Format("堆垛机{0}不在线", this.SrmName);
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return false;
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}
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if (RMode != (int)ESrmMode.自动模式)
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{
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msg = string.Format("堆垛机{0}非自动模式", this.SrmName);
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return false;
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}
|
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if (RAlarm)
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{
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msg = string.Format("堆垛机{0}报警中", this.SrmName);
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return false;
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}
|
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if (RLiftFull)
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{
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msg = string.Format("堆垛机{0}叉齿有货", this.SrmName);
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return false;
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}
|
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if (RState != (int)ESrmState.空闲)
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{
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msg = string.Format("堆垛机{0}非空闲", this.SrmName);
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return false;
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}
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return true;
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}
|
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/// <summary>
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/// 向设备写入指令
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/// </summary>
|
/// <param name="p1"></param>
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/// <param name="p2"></param>
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/// <returns></returns>
|
public bool WriteValue(string addr, object value)
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{
|
string msg = string.Empty;
|
if (!string.IsNullOrEmpty(addr))
|
{
|
try
|
{
|
if (!this.WS71500.IsConnected)
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{
|
this.WS71500.Close();
|
Thread.Sleep(100);
|
this.WS71500.Open();
|
}
|
|
msg = this.WS71500.Write(addr, value).ToString();
|
if (msg != "NoError")
|
{
|
string msg1 = this.WS71500.Write(addr, value).ToString();
|
if (msg1 != "NoError")
|
{
|
this.WS71500.Close();
|
Thread.Sleep(100);
|
this.WS71500.Open();
|
LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.SrmName + "WriteValue" + addr, msg);
|
return false;
|
}
|
else
|
{
|
return true;
|
}
|
}
|
else
|
{
|
return true;
|
}
|
}
|
catch
|
{
|
|
msg = addr + "写入失败 ";
|
LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.SrmName + "WriteValue", msg);
|
return false;
|
}
|
}
|
else
|
{
|
msg = addr + "写入失败 ";
|
LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.SrmName+"WriteValue", msg);
|
return false;
|
}
|
}
|
}
|
}
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