using IWareCC.Properties;
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using IWareCommon.Enum.Common;
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using IWareCommon.Enum.Rgv;
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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.RGV.Entity
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{
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public class RgvEntity
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{
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private System.Text.ASCIIEncoding ascii = new System.Text.ASCIIEncoding();
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/// <summary>
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/// Rgv名称
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/// </summary>
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public string RgvName { 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 RRGVS71200 { 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 WRGVS71200 { get; set; }
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#region 写入设备的信息
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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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/// 设备编号
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/// </summary>
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public string WRgvNo { get; set; }
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/// <summary>
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/// 急停
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/// </summary>
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public bool WEStop { get; set; }
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/// <summary>
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/// 起始站点
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/// </summary>
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public string WStartPos { get; set; }
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/// <summary>
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/// 目标站点
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/// </summary>
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public string WEndPos { 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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/// 任务类型
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/// </summary>
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public int WRgvCMD { 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 WAckTaskFinish { get; set; }
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/// <summary>
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/// 设备复位
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/// </summary>
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public bool WReset { 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 WPallType { get; set; }
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/// <summary>
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/// 任务下完成信号
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/// </summary>
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public bool WStb { get; set; }
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#endregion
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#region 读取设备的信息
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/// <summary>
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/// 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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/// Rgv编号
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/// </summary>
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public string RRgvNo { 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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/// 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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/// 是否有货
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/// </summary>
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public bool RLoaded { get; set; }
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/// <summary>
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/// 任务完成信号
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/// </summary>
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public bool RTaskFinish { 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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/// 起始站点
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/// </summary>
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public int RSPos { get; set; }
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/// <summary>
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/// 目标站点
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/// </summary>
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public int RTPos { get; set; }
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/// <summary>
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/// Rgv位置
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/// </summary>
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public int RRgvPosition { get; set; }
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/// <summary>
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/// Rgv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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/// Rgv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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/// 任务接收成功信号
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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 RgvEntity() { }
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public RgvEntity(string rgvName, int deviceId, PlcS7 plc)
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{
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this.RgvName = rgvName;
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this.DeviceId = deviceId;
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this.RRgvNo = deviceId.ToString();
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this.WRgvNo = deviceId.ToString();
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this.WRGVS71200 = plc;
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OpcWriteItems = new OpcWriteItem
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{
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HandShake = "DB601.DBX8.4",
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EStop = "DB601.DBX8.0",
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StartPos = "DB601.DBW4",
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EndPos = "DB601.DBW6",
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TaskNo = "DB601.DBD0",
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AckTaskFinish = "DB601.DBX8.3",
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Reset = "DB601.DBX8.1",
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Stb = "DB601.DBX8.2",
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PallType = "DB601.DBW10"
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};
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OpcReadItems = new OpcReadItem
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{
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HandShake = "DB600.DBW0",
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Alarm = "DB600.DBX8.0",
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AlarmCode = "DB600.DBW10",
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Loaded = "DB600.DBX4.0",
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TaskFinish = "DB600.DBX24.1",
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TaskNo = "DB600.DBD12",
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SPos = "DB600.DBD16",
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TPos = "DB600.DBD20",
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RgvPosition = "DB600.DBD26",
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State = "DB600.DBW6",
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Mode = "DB600.DBW2",
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Ack = "DB600.DBX24.0"
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};
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}
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/// <summary>
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/// Rgv任务发送
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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="sourcePlce"></param>
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/// <param name="toPlace"></param>
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/// <param name="taskType"></param>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool SendTask(int deviceId, int taskId, string sourcePlce, string toPlace, int pallType, 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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bool b2 = this.WriteValue(this.OpcWriteItems.StartPos, sourcePlce);
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bool b3 = this.WriteValue(this.OpcWriteItems.EndPos, toPlace);
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bool b1 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
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bool b4 = this.WriteValue(this.OpcWriteItems.PallType, pallType);
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bool b5 = this.WriteValue(this.OpcWriteItems.Stb, 1);
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if (!(b1 && b2 && b3 && b4&&b5))
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{
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msg = "写入OPC失败";
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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(), "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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/// 取消报警
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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 ResolveRGV(int deviceId, 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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bool confirm_flag =this.WriteValue(this.OpcWriteItems.Reset, true);
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if (!confirm_flag)
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{
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msg = string.Format("向RGV{0}复位失败", RgvName);
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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(), "ClearAlarm", 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="deviceId"></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 DeleteTask(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 (this.RTaskNo != taskId)
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//{
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// msg = string.Format("RGV当前非执行taskId={0}的任务", taskId);
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// return false;
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//}
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//bool b1 = this.WriteValue(this.OpcWriteItems.TaskNo, taskId);
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bool b2 = this.WriteValue(this.OpcWriteItems.Reset, 1);
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if (!(b2))
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{
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msg = string.Format("写入OPC失败", RgvName);
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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(), "DeleteTask", msg);
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return false;
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}
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}
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/// <summary>
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/// 急停
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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 EmergencyStop(int deviceId, 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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bool flag = this.WriteValue(this.OpcWriteItems.EStop, 1);
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if (!flag)
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{
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msg = string.Format("向RGV{0}写入急停指令失败", RgvName);
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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(), "EmergencyStop", msg);
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return false;
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}
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}
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/// <summary>
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/// 是否可以发送任务
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/// </summary>
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/// <param name="deviceId"></param>
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/// <param name="taskType"></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 = "已离线";
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return false;
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}
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if (RMode != (int)ERgvMode.连机自动模式)
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{
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msg = "当前非自动模式";
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return false;
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}
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if (RState != (int)ERgvState.空闲)
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{
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msg = "设备状态非空闲，无法执行其他任务";
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return false;
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}
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return true;
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}
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public bool WriteValue(string addr, object value)
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{
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string msg = string.Empty;
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if (!string.IsNullOrEmpty(addr))
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{
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try
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{
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if (!this.WRGVS71200.IsConnected)
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{
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this.WRGVS71200.Close();
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Thread.Sleep(100);
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this.WRGVS71200.Open();
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}
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msg = this.WRGVS71200.Write(addr, value).ToString();
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if (msg != "NoError")
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{
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string msg1 = this.WRGVS71200.Write(addr, value).ToString();
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if (msg1 != "NoError")
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{
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this.WRGVS71200.Close();
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Thread.Sleep(100);
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this.WRGVS71200.Open();
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName + "WriteValue" + addr, msg);
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return false;
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}
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else
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{
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return true;
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}
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}
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else
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{
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return true;
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}
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}
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catch
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{
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msg = addr + "写入失败 ";
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName+"WriteValue", msg);
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return false;
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}
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}
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else
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{
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msg = addr + "写入失败 ";
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName + "WriteValue", msg);
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return false;
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}
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}
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public object ReadValuePoint(string add)
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{
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try
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{
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if (!this.WRGVS71200.IsConnected)
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{
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this.WRGVS71200.Close();
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Thread.Sleep(100);
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this.WRGVS71200.Open();
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}
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object MyPlcData = this.WRGVS71200.Read(add);
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if (MyPlcData.ToString() == "WrongVarFormat" || MyPlcData.ToString() == "10")
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{
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MyPlcData = this.WRGVS71200.Read(add);
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if (MyPlcData.ToString() == "WrongVarFormat" || MyPlcData.ToString() == "10")
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{
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MyPlcData = this.WRGVS71200.Read(add);
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}
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}
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return MyPlcData;
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}
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catch (Exception ex)
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{
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LogTextHelper.WriteLog(Resources.LogDir, this.ToString(), this.RgvName + "ReadValuePoint", ex.Message);
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return 0;
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}
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}
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}
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}
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