using WCS.Entity.SRM;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
namespace WCS.Core.Library.PLCManager
{
/// <summary>
/// 堆垛机
/// </summary>
public class SRMPLC:PLCHelper
{
public List<SRM_Robot_Entity> SRMSInfo = new List<SRM_Robot_Entity>();
private List<string> PLCReLink = new List<string>();
private string local_ip = "";
#region Event
private delegate void ReadOPCInfos(object info);
private event ReadOPCInfos ReadEquipOPCInfo;
private delegate void ReConnetPLC(string ip,int retryCount);
private event ReConnetPLC SRMReConnectPLC;
#endregion
private string _GuidID;
private static readonly object objLoc = new object();
public string GuidID
{
get
{
if (string.IsNullOrEmpty(_GuidID))
{
_GuidID = Guid.NewGuid().ToString();
}
return _GuidID;
}
set { _GuidID = value; }
}
public SRMPLC()
{
this.ReadEquipOPCInfo += new ReadOPCInfos(ReadSRMInfo);
this.SRMReConnectPLC += new ReConnetPLC(ReConnect);
}
public bool InitData(List<SRM_Robot_Entity> lst, ref string error)
{
try
{
if (lst is List<SRM_Robot_Entity>)
{
foreach (var item in lst as List<SRM_Robot_Entity>)
{
local_ip = item.key_ip;
if (!PLCList.ContainsKey(local_ip))
{
//1500系列 使用0
PLCList.Add(local_ip, new OPCServer(local_ip,0));
if (PLCList[local_ip].Connect())
ShowMsg("Connect", string.Format("堆垛机：{0}，IP:{1}：通讯连接成功!", item.SCNO, item.key_ip));
else
ShowMsg("Connect", string.Format("堆垛机：{0}，IP:{1}：通讯连接失败!", item.SCNO, item.key_ip));
}
SRMSInfo.Add(item);
}
return true;
}
}
catch (Exception ex)
{
error = ex.Message;
}
return false;
}
public void Run(object i_Index)
{
Thread threadCom = new Thread(new ParameterizedThreadStart(TimeScan));
threadCom.IsBackground = true;
threadCom.Start(i_Index);
}
private void TimeScan(object belong)
{
while (true)
{
if (SRMSInfo != null)
{
foreach (var sc in SRMSInfo)
ReadSRMInfo(sc);
}
Thread.Sleep(200);
}
}
public override string[] ReadPLCInfo(string EquipNum, int index = 0)
{
throw new NotImplementedException();
}
/// <summary>
/// 读取所属线程所有站台信息
/// </summary>
/// <param name="stationinfo"></param>
private void ReadSRMInfo(object obj)
{
if (obj != null)
{
SRM_Robot_Entity sc = (SRM_Robot_Entity)obj;
Byte[] scBuffer = new byte[sc.lenght_R];
if (PLCList[sc.key_ip].Read(sc.DBAddress_R, 0, sc.lenght_R, ref scBuffer))//读多个站台数据
{
sc.cFlag = true;
BindSCInfo(sc.SCNO, scBuffer);
}
else
{
ReConnect(sc.key_ip);
sc.cFlag = false;
}
//通知业务处理
ShowEquipmentTaskInfo(sc);
}
}
private void BindSCInfo(string SCNO, byte[] byt)
{
SRM_Robot_Entity sc = SRMSInfo.Find(
delegate(SRM_Robot_Entity ss)
{
return ss.SCNO == SCNO;
}
);
int[] scstatus = new int[16];
if (sc != null)
{
sc.operationMethod = byt[0] * 256 + byt[1];//总状态
scstatus = SCSTARUS(sc.operationMethod);
sc.b_I_Get_Finish1 = scstatus[11];//堆垛机完成取货信号（工位1）
sc.b_I_Put_Finish1 = scstatus[12];//堆垛机完成放货信号（工位1）
sc.b_I_Get_Finish2 = scstatus[13];//堆垛机完成取货信号（工位2）
sc.b_I_Put_Finish2 = scstatus[14];//堆垛机完成放货信号（工位2）
sc.b_I_Auto = scstatus[15];//堆垛机当前运行模式指示1：自动模式 //T 0：非自动模式//F
sc.b_I_Alarm = scstatus[0];//堆垛机报警状态指示
sc.b_I_Task_Finish1 = scstatus[1];//堆垛机工位1任务完成
sc.b_I_Task_Finish2 = scstatus[2];//堆垛机工位2任务完成
sc.b_I_Loaded1 = scstatus[3];//货叉1有货物
sc.b_I_Loaded2 = scstatus[4];//货叉2有货物
sc.b_I_Fork_Zero1 = scstatus[5];//货叉1处于原点位置
sc.b_I_Fork_Zero2 = scstatus[6];//货叉1处于原点位置
sc.b_I_SRM_Num = SCNO.Contains("SC") ? Convert.ToInt32(SCNO.Substring(2, 2)) : Convert.ToInt32(SCNO);
sc.b_I_Alarm_Code = byt[4] * 256 * 256 * 256 + byt[5] * 256 * 256 + byt[6] * 256 + byt[7]; //堆垛机报警代码
sc.B_I_State = byt[8] * 256 + byt[9];//0：空闲，无任务1：等待，有任务，因安全原因暂停，条件许可即可恢复执行2：定位3：工位1取货4：工位1放货5：工位2取货6：工位2放货98：维修
sc.B_I_Row = byt[10] * 256 * 256 * 256 + byt[11] * 256 * 256 + byt[12] * 256 + byt[13];//堆垛机当前列（以货叉1为准）
sc.B_I_Layer = byt[14] * 256 * 256 * 256 + byt[15] * 256 * 256 + byt[16] * 256 + byt[17];//堆垛机当前层
sc.nTravelPos = byt[18] * 256 + byt[19];//堆垛机当前行走位置，单位mm
sc.nLiftPos = byt[22] * 256 + byt[26];//堆垛机当前升降位置，单位mm
sc.nForkPos_Single1 = byt[26] * 256 + byt[27];//堆垛机货叉1位置 货叉向左位置为正值，货叉向右位置为负值
sc.nForkPos_Single2 = byt[28] * 256 + byt[29];//堆垛机货叉2位置，单位mm货叉向左位置为正值，货叉向右位置为负值
sc.B_I_TaskId1 = byt[30] * 256 + byt[31];//工位1任务号
sc.B_I_TaskId2 = byt[32] * 256 + byt[33];//工位2任务号
sc.B_I_Is_TankOpened = byt[34] * 256 + byt[35];//=1干冰储罐阀门已打开 =0默认值
}
}
public int[] SCSTARUS(int checkinfo)
{
string errorcode = Convert.ToString(checkinfo, 2).PadLeft(16, '0');
Int32 length = errorcode.Length;
int[] ErrorCode = new int[length];
for (int i = length - 1; i >= 0; i--)
{
ErrorCode[length - i - 1] = int.Parse(errorcode.Substring(i, 1).ToString());
}
return ErrorCode;
}
/// <summary>
/// 重新连接
/// </summary>
/// <param name="strIP"></param>
/// <param name="retryCount"></param>
private void ReConnect(string strIP, int retryCount = 3)
{
if (SRMReConnectPLC != null)
{
lock (objLoc)
{
ShowMsg("Break", string.Format("PLC:{0},连接断开,系统开始自动重连...", strIP));
if (PLCList.ContainsKey(strIP))
{
bool flag = true;
int i_Count = 1;
while (flag)
{
if (i_Count > retryCount)
break;
PLCList[strIP].DisConnect();
ShowMsg("Break", string.Format("PLC：{0}，尝试连接次数：{1}", strIP, i_Count));
if (PLCList[strIP].Connect())
{
flag = false;
break;
}
else
{
i_Count++;
}
}
}
}
}
}
#region Write
/// <summary>
/// 写入值
/// </summary>
/// <param name="scno"></param>
/// <param name="str">写入数组值</param>
/// <param name="index">地址偏移值</param>
/// /// <param name="index">长度</param>
/// <returns></returns>
private bool Write(string scno, string[] str, int index, int length)
{
try
{
SRM_Robot_Entity si = SRMSInfo.Find(
delegate(SRM_Robot_Entity sc)
{
return sc.SCNO == scno;
}
);
if (si != null)
{
byte[] byt = new byte[length];
for (int i = 1; i < length; i++)
{
Array.Copy(Common.Helper.GetHexBytes(str[i - 1]), 0, byt, (i - 1) * 2, 2);
}
if (si.cFlag)
{
if (index == 6)
si.wcstaskno = 0;
if (PLCList[si.key_ip].Write(si.DBAddress_W, si.value_W + index, length, byt))
{
return true;
}
else
{
return false;
}
}
else
return false;
}
}
catch (Exception ex)
{
throw ex;
}
return false;
}
public bool Write(string[] str, string scno, string barcode, string fromstation, string tostation)
{
SRM_Robot_Entity si = SRMSInfo.Find(
delegate(SRM_Robot_Entity sc)
{
return sc.SCNO == scno;
}
);
if (si != null)
{
byte[] byt = new byte[si.lenght_W];
for (int i = 1; i < str.Length; i++)
{
Array.Copy(Common.Helper.GetHexBytes(str[i]), 0, byt, (i - 1) * 2, 2);
}
si.fork1_taskno = int.Parse(str[19]);
si.WCSBarCode = barcode;
si.WCSFromstation = fromstation;
si.WCSToStation = tostation;
if (si.cFlag)
{
if (PLCList[si.key_ip].Write(si.DBAddress_W, si.value_W, si.lenght_W, byt))
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
}
else
{
return false;
}
}
#endregion
public bool UpdateSCWorkModeInfo(string scno, int i_wcsworkmode)
{
SRM_Robot_Entity si = SRMSInfo.Find(
delegate(SRM_Robot_Entity sc)
{
return sc.SCNO == scno;
}
);
if (si != null)
{
si.WCSControlMode = i_wcsworkmode;
return true;
}
return false;
}
/// <summary>
/// 获取堆垛机取放货地址
/// </summary>
/// <param name="scno"></param>
/// <param name="stationnum"></param>
/// <param name="errorMsg"></param>
/// <returns></returns>
public string[] ConvertAddr(string scno, string stationnum, ref string errorMsg)
{
errorMsg = "";
SRM_Robot_Entity si = SRMSInfo.Find(
delegate(SRM_Robot_Entity sc)
{
return sc.SCNO == scno;
}
);
if (si != null)
{
SCStationInfo scsi = si.lstStation.Find(
delegate(SCStationInfo ss)
{
return ss.StationNum == stationnum;
}
);
if (scsi != null)
{
string[] str = new string[4];
str[0] = scsi.Line;
str[1] = scsi.Column;
str[2] = scsi.Layer;
str[3] = scsi.Deep;
return str;
}
else
{
errorMsg = "堆垛机：" + "取放货站台:" + stationnum + "不存在！";
return null;
}
}
errorMsg = "不存在堆垛机：" + scno;
return null;
}
/// <summary>
/// 更新堆垛机任务模式
/// </summary>
/// <param name="scno"></param>
/// <param name="taskmode"></param>
/// <returns></returns>
public bool UpdateTaskModeInfo(string scno, SCTaskMode taskmode)
{
SRM_Robot_Entity si = SRMSInfo.Find(
delegate(SRM_Robot_Entity sc)
{
return sc.SCNO == scno;
}
);
if (si != null)
{
si.WCSTaskMode = taskmode;
if (taskmode == SCTaskMode.Pause)
{
si.WCSPauseCause = "手动任务暂停";
}
return true;
}
return false;
}
}
}
1万+
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
