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using iWareSda.Common;
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using iWareModel;
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using System;
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using System.Collections.Generic;
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using System.Threading;
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using iWareCommon.Utils;
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using iWareCommon.Common.Globle;
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using iWareCommon;
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using iWareSda.Model;
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namespace iWareSda
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{
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/// <summary>
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/// 每台堆垛机的实时信息
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/// </summary>
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public class SrmEntity : IDevice
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{
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public SrmEntity()
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{
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this.View = new SrmView();
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}
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#region OPC相关
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/// <summary>
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/// 写的DB块
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/// </summary>
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public SrmDBForWrite DBBlockForWrite { get; set; }
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/// <summary>
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/// 读的DB块
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/// </summary>
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public SrmDBForRead DBBlockForRead { get; set; }
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/// <summary>
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/// 读取PLC实例
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/// </summary>
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public PLCService plcService { get; set; }
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/// <summary>
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/// 视图对象
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/// </summary>
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public SrmView View { get; set; }
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#endregion
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/// <summary>
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/// 初始化数据
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/// </summary>
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public void InitData()
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{
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}
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public SrmEntity(string srmName, int deviceId, SrmDBForWrite _dbBlockForWrite, SrmDBForRead _dbBlockForRead, PLCService _plcService)
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{
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this.View = new SrmView();
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this.View.DeviceName = srmName;
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this.View.DeviceId = deviceId;
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plcService = _plcService;
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DBBlockForWrite = _dbBlockForWrite;
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DBBlockForRead = _dbBlockForRead;
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}
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#region 个性化方法
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/// <summary>
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/// 是否允许给堆垛机发送新任务
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/// </summary>
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/// <param name="srm"></param>
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/// <returns></returns>
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public bool IsAllowSendNewTaskToSrm()
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{
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Thread.Sleep(2000);//等待一秒钟 【EditBy shaocx,2022-03-26】
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if (this.View.ModeName == "自动" && this.View.R_AlarmCode == 0 && (this.View.R_WarningDBList == null || this.View.R_WarningDBList.Count == 0)
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&& this.View.StateName == "空闲")
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{
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return true;
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}
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return false;
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}
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/// <summary>
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/// 重新格式化处理站点号
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/// </summary>
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/// <param name="sourcePlace"></param>
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/// <param name="toPlace"></param>
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public void ReSubStringPlace(ref string sourcePlace, ref string toPlace)
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{//1-01-03-04 转换为 01-03-04
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sourcePlace = sourcePlace.Substring(2, sourcePlace.Length - 2);
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toPlace = toPlace.Substring(2, toPlace.Length - 2);
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}
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/// <summary>
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/// 给堆垛机发送指令
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/// </summary>
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/// <param name="deviceId">堆垛机设备号</param>
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/// <param name="taskId">任务号</param>
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/// <param name="sourcePlace">起始位</param>
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/// <param name="toPlace">目标位</param>
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/// <param name="command">任务类型</param>
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/// <param name="msg">错误消息</param>
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/// <returns></returns>
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public bool SendTask(ESrmCmd srmCmd, 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 (!CanDoTask(deviceId, out msg))
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{
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return false;
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}
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//Z 排 X 列 Y层
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//01-02-03
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int sourceZ = 0, sourceX = 0, sourceY = 0;
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if (srmCmd == ESrmCmd.库内搬运 || srmCmd == ESrmCmd.入库 || srmCmd == ESrmCmd.出库)
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{
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var arr_source = sourcePlace.Split('-');
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//int sourceZ = int.Parse(sourcePlace.Substring(0, 2));
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//int sourceX = int.Parse(sourcePlace.Substring(2, 4));
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//int sourceY = int.Parse(sourcePlace.Substring(3, 2));
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sourceZ = int.Parse(arr_source[0]);
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sourceX = int.Parse(arr_source[1]);
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sourceY = int.Parse(arr_source[2]);
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ConvertPlaceToSrm(deviceId, ref srmCmd, true, sourcePlace, ref sourceZ, ref sourceX, ref sourceY);
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}
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var arr_to = toPlace.Split('-');
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//int toZ = int.Parse(toPlace.Substring(0, 1));
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//int toX = int.Parse(toPlace.Substring(1, 2));
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//int toY = int.Parse(toPlace.Substring(3, 2));
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int toZ = int.Parse(arr_to[0]);
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int toX = int.Parse(arr_to[1]);
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int toY = int.Parse(arr_to[2]);
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ConvertPlaceToSrm(deviceId, ref srmCmd, false, toPlace, ref toZ, ref toX, ref toY);
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//发送指令
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var ss = this.plcService;
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////只有一台堆垛机，不需要写
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//var constValue = 1;
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//MessageModel b1 = this.plcService.WriteValuePoint( this.DBBlockForWrite.W_SrmNo, constValue, this.View.W_SrmNo);
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//if (!b1.result)
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//{
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// msg = string.Format("向堆垛机{0}发送任务{1},写入设备编号" + constValue + "失败,返回结果:" + b1.resMsg, this.View.DeviceName, taskId);
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// return false;
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//}
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MessageModel b2 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_TaskNo, taskId, this.View.W_TaskNo);
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if (!b2.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入任务号" + taskId + "失败,返回结果:" + b2.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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//MessageModel b60 = this.plcService.WriteValuePoint( this.DBBlockForWrite.W_PalletType, constValue, this.View.W_PalletType);
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//if (!b60.result)
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//{
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// msg = string.Format("向堆垛机{0}发送任务{1},写入托盘类型" + constValue + "失败,返回结果:" + b60.resMsg, this.View.DeviceName, taskId);
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// return false;
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//}
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if (srmCmd == ESrmCmd.库内搬运 || srmCmd == ESrmCmd.入库 || srmCmd == ESrmCmd.出库)
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{
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MessageModel b5 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_SourcePosZ, sourceZ, this.View.W_SourcePosZ);
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if (!b5.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入sourceZ失败,返回结果:" + b5.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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MessageModel b4 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_SourcePosX, sourceX, this.View.W_SourcePosX);
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if (!b4.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入sourceX失败,返回结果:" + b4.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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MessageModel b3 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_SourcePosY, sourceY, this.View.W_SourcePosY);
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if (!b3.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入sourceY失败,返回结果:" + b3.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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}
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MessageModel b8 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_DestinationPosZ, toZ, this.View.W_DestinationPosZ);
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if (!b8.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入toZ失败,返回结果:" + b8.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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MessageModel b7 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_DestinationPosX, toX, this.View.W_DestinationPosX);
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if (!b7.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入toX失败,返回结果:" + b7.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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MessageModel b6 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_DestinationPosY, toY, this.View.W_DestinationPosY);
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if (!b6.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入toY失败,返回结果:" + b6.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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short command = (short)srmCmd;
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MessageModel b10 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_Command, command, this.View.W_Command);
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if (!b10.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入command失败,返回结果:" + b10.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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MessageModel b9 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_Stb, 1, this.View.W_Stb);
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if (!b9.result)
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{
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msg = string.Format("向堆垛机{0}发送任务{1},写入W_Stb失败,返回结果:" + b9.resMsg, this.View.DeviceName, taskId);
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return false;
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}
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//重置如下状态
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//不需要重置 【EditBy shaocx,2022-04-09】
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//this.plcService.WriteValuePoint( this.DBBlockForWrite.W_EmergencyStop, 0, this.View.W_EmergencyStop);
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//this.plcService.WriteValuePoint( this.DBBlockForWrite.W_CancleAlarm, 0, this.View.W_CancleAlarm);
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//this.plcService.WriteValuePoint( this.DBBlockForWrite.W_TaskFinishConfirm, 0, this.View.W_TaskFinishConfirm);
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//this.plcService.WriteValuePoint( this.DBBlockForWrite.W_Ack, 0, this.View.W_Ack);
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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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Log4NetHelper.WriteErrorLog(Srm_CacheEntity.curLogType, "发送任务出现异常:" + ex.Message, ex);
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return false;
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}
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}
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/// <summary>
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/// 堆垛机上的站点转换
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/// </summary>
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/// <param name="isSource"></param>
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/// <param name="place"></param>
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/// <param name="z"></param>
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/// <param name="x"></param>
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/// <param name="y"></param>
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private void ConvertPlaceToSrm(int deviceId, ref ESrmCmd srmCmd, bool isSource, string place, ref int z, ref int x, ref int y)
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{
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if (deviceId == (int)EDevice.四号堆垛机)
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{
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if (place == "02-01-01")
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{//入口
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x = 801;
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y = 0;
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z = 0;
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if (isSource && srmCmd == ESrmCmd.库内搬运)
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{//如果是起点是入库口
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srmCmd = ESrmCmd.入库;
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}
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}
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else if (place == "01-01-01")
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{//出口
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x = 901;
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y = 0;
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z = 0;
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if (isSource == false && srmCmd == ESrmCmd.库内搬运)
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{//如果是目标点是出口
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srmCmd = ESrmCmd.出库;
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}
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}
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}
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else
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{
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if (place == "01-01-01")
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{//入口
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x = 801;
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y = 0;
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z = 0;
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if (isSource && srmCmd == ESrmCmd.库内搬运)
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{//如果是起点是入库口
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srmCmd = ESrmCmd.入库;
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}
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}
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else if (place == "02-01-01")
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{//出口
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x = 901;
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y = 0;
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z = 0;
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if (isSource == false && srmCmd == ESrmCmd.库内搬运)
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{//如果是目标点是出口
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srmCmd = ESrmCmd.出库;
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}
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}
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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, 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 (!CanDeleteTask(deviceId, out msg))
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{
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return false;
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}
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MessageModel b3 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_Command, (int)ESrmCmd.任务删除, this.View.W_Command);
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if (!(b3.result))
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{
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msg = string.Format("向堆垛机{0}发送删除任务失败,返回结果:" + b3.resMsg, this.View.DeviceName);
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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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Log4NetHelper.WriteErrorLog(Srm_CacheEntity.curLogType, "任务删除出现异常:" + ex.Message, ex);
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throw ex;
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}
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}
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/// <summary>
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/// 堆垛机解警
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/// </summary>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool ReleaseAlert(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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MessageModel b1 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_CancleAlarm, 1, this.View.W_CancleAlarm);
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if (!(b1.result))
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{
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msg = string.Format("向堆垛机{0}发送解警指令失败,返回结果:" + b1.resMsg, this.View.DeviceName);
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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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Log4NetHelper.WriteErrorLog(Srm_CacheEntity.curLogType, "发送解警指令异常:" + ex.Message, ex);
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throw ex;
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}
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}
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/// <summary>
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/// 堆垛机急停
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/// </summary>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool SendEStop(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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MessageModel b1 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_EmergencyStop, 1, this.View.W_EmergencyStop);
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if (!(b1.result))
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{
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msg = string.Format("向堆垛机{0}发送急停指令失败,返回结果:" + b1.resMsg, this.View.DeviceName);
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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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Log4NetHelper.WriteErrorLog(Srm_CacheEntity.curLogType, "发送急停指令异常:" + ex.Message, ex);
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throw ex;
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}
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}
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/// <summary>
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/// 堆垛机任务确认
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/// </summary>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool ConfirmTaskFinish(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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MessageModel b1 = this.plcService.WriteValuePoint(this.DBBlockForWrite.W_TaskFinishConfirm, 1, this.View.W_TaskFinishConfirm);
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if (!(b1.result))
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{
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msg = string.Format("向堆垛机{0}发送任务确认指令失败,返回结果:" + b1.resMsg, this.View.DeviceName);
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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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Log4NetHelper.WriteErrorLog(Srm_CacheEntity.curLogType, "发送任务确认指令异常:" + ex.Message, ex);
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throw ex;
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}
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}
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/// <summary>
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/// 堆垛机继续任务
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/// </summary>
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/// <param name="msg"></param>
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/// <returns></returns>
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public bool ContinueTask(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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//var dbNumber = Srm_CacheEntity.W_DBHeader;
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//FunctionReturnEntity b1 = this.S7.WriteValuePoint( this.DBBlock.con, 1);
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//if (!(b1.result))
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//{
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// msg = string.Format("向堆垛机{0}发送解警指令失败,返回结果:" + b1.resMsg, this.DeviceName);
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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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Log4NetHelper.WriteErrorLog(Srm_CacheEntity.curLogType, "堆垛机继续任务异常:" + ex.Message, ex);
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throw ex;
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}
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}
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/// <summary>
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/// 是否可以下发任务
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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 CanDoTask(int deviceId, out string msg)
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{
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msg = "";
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//在不在线不需要校验，不在线的话
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if (this.View.R_Mode != 1)
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{
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msg = string.Format("堆垛机{0}非自动模式", this.View.DeviceName);
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return false;
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}
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if (this.View.R_Alarm == 1)
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{
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msg = string.Format("堆垛机{0}报警中", this.View.DeviceName);
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return false;
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}
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if (this.View.R_LiftFull == 1)
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{
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msg = string.Format("堆垛机{0}叉齿有货", this.View.DeviceName);
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return false;
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}
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if (this.View.R_PosZ != 0)
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{
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msg = string.Format("堆垛机{0}叉齿不在原点", this.View.DeviceName);
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return false;
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}
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//*/
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if (this.View.R_State != (int)ESrmState.空闲)
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{
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msg = string.Format("堆垛机{0}非空闲", this.View.DeviceName);
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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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/// 是否可以删除任务
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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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private bool CanDeleteTask(int deviceId, out string msg)
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{
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msg = "";
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//在不在线不需要校验，不在线的话
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if (this.View.R_Mode != 1)
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{
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msg = string.Format("堆垛机{0}非自动模式", this.View.DeviceName);
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return false;
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}
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return true;
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}
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#endregion
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public void SetPropertyValueForRead()
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{
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var r_dbBlock = this.DBBlockForRead;
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SdaHelper.SetPropertyValueForDB<SrmDBForRead, SrmView>(r_dbBlock, this.View, this.plcService, "");
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}
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public void SetPropertyValueForWrite()
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{
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var w_dbBlock = this.DBBlockForWrite;
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SdaHelper.SetPropertyValueForDB<SrmDBForWrite, SrmView>(w_dbBlock, this.View, this.plcService, "");
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}
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/// <summary>
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/// 是否有心跳
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/// </summary>
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/// <returns></returns>
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public bool IsHaveHeatBeat()
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{
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try
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{
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var r_dbBlock = this.DBBlockForRead;
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short value = Convert.ToInt16(this.plcService.ReadValuePoint(r_dbBlock.R_HandShake, typeof(short)));
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//约定 等待2秒
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Thread.Sleep(2000);
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short value_next = Convert.ToInt16(this.plcService.ReadValuePoint(r_dbBlock.R_HandShake, typeof(short)));
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if (value == value_next)
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{//没有心跳
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return false;
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}
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else
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{//有心跳
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return true;
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}
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}
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catch (Exception ex)
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{
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throw ex;
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}
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}
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/// <summary>
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/// 组合 起始点
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/// </summary>
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/// <returns></returns>
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public string GetSrmSourcePlace()
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{
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if (this.View.W_SourcePosZ != 0)
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{
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return this.View.W_SourcePosZ.ToString("00") + "-" + this.View.W_SourcePosX.ToString("00") + "-" + this.View.W_SourcePosY.ToString("00");
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}
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return GetPlaceForInOutStation(this.View.W_SourcePosX);
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}
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/// <summary>
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/// 组合 目标点
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/// </summary>
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/// <returns></returns>
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public string GetSrmToPlace()
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{
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if (this.View.W_DestinationPosZ != 0)
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{
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return this.View.W_DestinationPosZ.ToString("00") + "-" + this.View.W_DestinationPosX.ToString("00") + "-" + this.View.W_DestinationPosY.ToString("00");
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}
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return GetPlaceForInOutStation(this.View.W_DestinationPosX);
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}
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/// <summary>
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/// 单独获取出入口站点名
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/// </summary>
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/// <param name="xVaue"></param>
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/// <returns></returns>
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private string GetPlaceForInOutStation(short xVaue)
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{
|
if (xVaue == 801)
|
{
|
if (this.View.DeviceId == (int)EDevice.四号堆垛机)
|
{
|
return "02-01-01";
|
}
|
else
|
{
|
return "01-01-01";
|
}
|
}
|
else if (xVaue == 901)
|
{
|
if (this.View.DeviceId == (int)EDevice.四号堆垛机)
|
{
|
return "01-01-01";
|
}
|
else
|
{
|
return "02-01-01";
|
}
|
}
|
return "";
|
}
|
|
|
#region 获取当前报警信息
|
|
|
|
|
|
|
#endregion
|
}
|
}
|
