通过S7.Net与PLC通信（堆垛机）

最新推荐文章于 2024-07-15 21:29:09 发布
最新推荐文章于 2024-07-15 21:29:09 发布
阅读量1.2k 收藏 4
点赞数 2
分类专栏： PLC 文章标签： .net microsoft ASRS
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/xdpcxq/article/details/128538754
版权

using Guna.UI2.WinForms;
using Microsoft.VisualBasic;
using S7.Net;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Data.SqlClient;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace AsrsLetterLocator
{
    public partial class Form1 : Form
    {
        // =========================
        SqlConnection sqlConnection;
        SqlDataAdapter dataAdapter;
        DataTable dataTable;
        // =========================
        public PcToPlc pcToPlc = new PcToPlc();
        public PlcToPc plcToPc = new PlcToPc();
        Point pbXpoint = new Point();
        Point pbZpoint = new Point();
        // =========================
        public static DropProductRequestProcess dropProductProcess = DropProductRequestProcess.Initialize;
        public static GetProductRequestProcess getProductProcess = GetProductRequestProcess.Initialize;
        // =========================
        public Plc myPlc;
        public Thread thread;
        public List<int> shelves = new List<int> { 3, 7, 11, 15, 19, 23 };
        // =========================
        bool bIsConnected = false;
        bool bProcessExist = false;
        // =========================
        public Product asrsProduct = new Product();
        // =========================
        [Obsolete]
        public Form1()
        {
            InitializeComponent();
        }
        #region ' Buttons '
        // =======================================
        [Obsolete]
        private void btnConnectPlc_Click(object sender, EventArgs e)
        {
            try
            {
                if (!bIsConnected)
                {
                    myPlc.Open();
                    pcToPlc.bPcActive = true;
                    myPlc.WriteClass(pcToPlc, 8);
                    Thread.Sleep(100);
                    myPlc.ReadClass(plcToPc, 9);
                    if (myPlc.IsConnected && plcToPc.bPlcActive)
                    {
                        pokeMessage("Bağlantı başarılı!", MessageDialogIcon.Information, MessageDialogButtons.OK);
                        btnConnectPlc.Text = "Bağlantıyı Kes";
                        if (thread.ThreadState != ThreadState.Suspended)
                            thread.Start();
                        else
                            thread.Resume();
                        bIsConnected = true;
                    }
                    else
                        pokeMessage("Asrs ulaşılamıyor!", MessageDialogIcon.Error, MessageDialogButtons.OK);
                }
                else
                {
                    thread.Suspend();
                    pcToPlc.bPcActive = false;
                    myPlc.WriteClass(pcToPlc, 8);
                    myPlc.Close();
                    pokeMessage("Bağlantı kesildi!", MessageDialogIcon.Information, MessageDialogButtons.OK);
                    btnConnectPlc.Text = "Bağlan";
                    if (!myPlc.IsConnected)
                        bIsConnected = false;
                }
            }
            catch (Exception ex)
            {
                pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
            }
        }
        // =======================================
        private void btnStart_Click(object sender, EventArgs e)
        {
            if (myPlc.IsConnected)
            {
                if (!bProcessExist)
                {
                    Product tempProduct = new Product();
                    Shelf tempShelf = new Shelf();
                    Shelf dropShelf = new Shelf();
                    int num = 0;
                    List<Shelf> tempList = new List<Shelf>();
                    try
                    {
                        string sProductName = Interaction.InputBox("Koyduğunuz harfi giriniz!", "ASRS Uygulaması");
                        if (sProductName != "")
                        {
                            // ================================
                            if (sqlConnection.State != ConnectionState.Open)
                                sqlConnection.Open();
                            dataAdapter = new SqlDataAdapter("Select * from Product where Name ='" + sProductName + "'", sqlConnection);
                            dataTable = new DataTable();
                            dataAdapter.Fill(dataTable);
                            tempProduct.Id = (int)dataTable.Rows[0].ItemArray[0];
                            tempProduct.Name = dataTable.Rows[0].ItemArray[1].ToString();
                            tempProduct.Number = (int)dataTable.Rows[0].ItemArray[2];
                            if (dataTable.Rows[0].ItemArray[3].ToString() != "")
                                pokeMessage("Bu ürün zaten rafta!", MessageDialogIcon.Error, MessageDialogButtons.OK);
                            // ================================
                            dataTable.Clear();
                            dataAdapter = new SqlDataAdapter("Select * from Shelf where Status =0", sqlConnection);
                            dataAdapter.Fill(dataTable);
                            foreach (DataRow row in dataTable.Rows)
                            {
                                if (!(shelves.Contains((int)row.ItemArray[2])))
                                {
                                    Shelf temp = new Shelf();
                                    temp.Id = (int)row.ItemArray[0];
                                    temp.Number = (int)row.ItemArray[2];
                                    temp.Status = (bool)row.ItemArray[4];
                                    temp.SX = Convert.ToInt32(row.ItemArray[5]);
                                    temp.SY = Convert.ToInt32(row.ItemArray[6]);
                                    temp.SZ = Convert.ToInt32(row.ItemArray[7]);
                                    tempList.Add(temp);
                                }
                            }
                            Random random = new Random();
                            //num = random.Next(0, tempList.Count + 1);
                        }
                        else
                            pokeMessage("Harf yanlış girdiniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
                    }

                    catch (Exception ex)
                    {
                        pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
                    }
                    finally
                    {
                        Task.Run(() =>
                        {
                            dropShelf.Id = 12;
                            dropShelf.Number = 11;
                            dropShelf.Status = false;
                            dropShelf.SX = 329;
                            dropShelf.SY = 0;
                            dropShelf.SZ = 807;
                            if (GetProduct(tempProduct, tempShelf, true))
                            {
                                Thread.Sleep(100);
                                DropProduct(tempProduct, dropShelf, false);
                            }
                        });
                    }
                }
            }
            else
                pokeMessage("Bağlantınızı kontrol ediniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
        }
        // =======================================
        private void btnDropProduct_Click(object sender, EventArgs e)
        {
            if (myPlc.IsConnected)
            {
                if (!bProcessExist)
                {
                    Product tempProduct = new Product();
                    Shelf tempShelf = new Shelf();
                    try
                    {
                        string sProductName = Interaction.InputBox("Almasını istediğiniz harfi giriniz!", "ASRS Uygulaması");
                        if (sProductName != "")
                        {
                            // ================================
                            if (sqlConnection.State != ConnectionState.Open)
                                sqlConnection.Open();
                            dataAdapter = new SqlDataAdapter("Select * from Product where Name ='" + sProductName + "'", sqlConnection);
                            dataTable = new DataTable();
                            dataAdapter.Fill(dataTable);
                            tempProduct.Id = (int)dataTable.Rows[0].ItemArray[0];
                            tempProduct.Name = dataTable.Rows[0].ItemArray[1].ToString();
                            tempProduct.Number = (int)dataTable.Rows[0].ItemArray[2];
                            tempProduct.ShelfId = (int)dataTable.Rows[0].ItemArray[3];
                            // ================================
                            dataTable.Clear();
                            dataAdapter = new SqlDataAdapter("Select * from Shelf where Id=" + tempProduct.ShelfId, sqlConnection);
                            dataAdapter.Fill(dataTable);
                            tempShelf.Id = (int)dataTable.Rows[0].ItemArray[0];
                            tempShelf.Number = (int)dataTable.Rows[0].ItemArray[2];
                            tempShelf.Status = (bool)dataTable.Rows[0].ItemArray[4];
                            tempShelf.SX = Convert.ToInt32(dataTable.Rows[0].ItemArray[5]);
                            tempShelf.SY = Convert.ToInt32(dataTable.Rows[0].ItemArray[6]);
                            tempShelf.SZ = Convert.ToInt32(dataTable.Rows[0].ItemArray[7]);
                        }
                        else
                            pokeMessage("Harf yanlış girdiniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
                    }

                    catch (Exception ex)
                    {
                        pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
                    }
                    finally
                    {
                        Task.Run(() =>
                        {
                            if (GetProduct(tempProduct, tempShelf, false))
                            {
                                Thread.Sleep(100);
                                DropProduct(tempProduct, tempShelf, true);
                            }
                        });
                    }
                }
            }
            else
                pokeMessage("Bağlantınızı kontrol ediniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
        }
        // =======================================
        private void btnGetProduct_Click(object sender, EventArgs e)
        {
            if (myPlc.IsConnected)
            {
                if (!bProcessExist)
                {
                    Product tempProduct = new Product();
                    Shelf tempShelf = new Shelf();
                    int num = 0;
                    List<Shelf> tempList = new List<Shelf>();
                    try
                    {
                        string sProductName = Interaction.InputBox("Koyduğunuz harfi giriniz!", "ASRS Uygulaması");
                        if (sProductName != "")
                        {
                            // ================================
                            if (sqlConnection.State != ConnectionState.Open)
                                sqlConnection.Open();
                            dataAdapter = new SqlDataAdapter("Select * from Product where Name ='" + sProductName + "'", sqlConnection);
                            dataTable = new DataTable();
                            dataAdapter.Fill(dataTable);
                            tempProduct.Id = (int)dataTable.Rows[0].ItemArray[0];
                            tempProduct.Name = dataTable.Rows[0].ItemArray[1].ToString();
                            tempProduct.Number = (int)dataTable.Rows[0].ItemArray[2];
                            if (dataTable.Rows[0].ItemArray[3].ToString() != "")
                                pokeMessage("Bu ürün zaten rafta!", MessageDialogIcon.Error, MessageDialogButtons.OK);
                            // ================================
                            dataTable.Clear();
                            dataAdapter = new SqlDataAdapter("Select * from Shelf where Status =0", sqlConnection);
                            dataAdapter.Fill(dataTable);
                            foreach (DataRow row in dataTable.Rows)
                            {
                                if (!(shelves.Contains((int)row.ItemArray[2])))
                                {
                                    Shelf temp = new Shelf();
                                    temp.Id = (int)row.ItemArray[0];
                                    temp.Number = (int)row.ItemArray[2];
                                    temp.Status = (bool)row.ItemArray[4];
                                    temp.SX = Convert.ToInt32(row.ItemArray[5]);
                                    temp.SY = Convert.ToInt32(row.ItemArray[6]);
                                    temp.SZ = Convert.ToInt32(row.ItemArray[7]);
                                    tempList.Add(temp);
                                }
                            }
                            Random random = new Random();
                            num = random.Next(0, tempList.Count + 1);
                        }
                        else
                            pokeMessage("Harf yanlış girdiniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
                    }

                    catch (Exception ex)
                    {
                        pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
                    }
                    finally
                    {
                        Task.Run(() =>
                        {
                            if (GetProduct(tempProduct, tempShelf, true))
                            {
                                Thread.Sleep(100);
                                DropProduct(tempProduct, tempList[num], false);
                            }
                        });
                    }
                }
            }
            else
                pokeMessage("Bağlantınızı kontrol ediniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
        }
        // =======================================
        private void btnLocateVestel_Click(object sender, EventArgs e)
        {
            try
            {
                if (myPlc.IsConnected)
                {
                    List<Product> products = new List<Product>();
                    for (int i = 5; i >= 0; i--)
                    {
                        Product temp = new Product();
                        if (sqlConnection.State != ConnectionState.Open)
                            sqlConnection.Open();
                        dataAdapter = new SqlDataAdapter("Select * from Product where Number =" + i, sqlConnection);
                        dataTable = new DataTable();
                        dataAdapter.Fill(dataTable);
                        temp.Id = (int)dataTable.Rows[0].ItemArray[0];
                        temp.Name = dataTable.Rows[0].ItemArray[1].ToString();
                        temp.Number = (int)dataTable.Rows[0].ItemArray[2];
                        temp.ShelfId = (int)dataTable.Rows[0].ItemArray[3];
                        products.Add(temp);
                    }
                    Task.Run(() =>
                    {
                        for (int i = 0; i < products.Count; i++)
                        {
                            Shelf getShelf = new Shelf();
                            Shelf dropShelf = new Shelf();
                            // =====================
                            // find get shelf
                            if (sqlConnection.State != ConnectionState.Open)
                                sqlConnection.Open();
                            dataAdapter = new SqlDataAdapter("Select * from Shelf where Id =" + products[i].ShelfId, sqlConnection);
                            dataTable = new DataTable();
                            dataAdapter.Fill(dataTable);
                            getShelf.Id = (int)dataTable.Rows[0].ItemArray[0];
                            getShelf.Number = (int)dataTable.Rows[0].ItemArray[1];
                            getShelf.Status = (bool)dataTable.Rows[0].ItemArray[2];
                            getShelf.SX = Convert.ToInt32(dataTable.Rows[0].ItemArray[3]);
                            getShelf.SY = Convert.ToInt32(dataTable.Rows[0].ItemArray[4]);
                            getShelf.SZ = Convert.ToInt32(dataTable.Rows[0].ItemArray[5]);
                            // =====================
                            // find drop shelf
                            if (sqlConnection.State != ConnectionState.Open)
                                sqlConnection.Open();
                            dataAdapter = new SqlDataAdapter("Select * from Shelf where Number =" + shelves[i], sqlConnection);
                            dataTable = new DataTable();
                            dataAdapter.Fill(dataTable);
                            dropShelf.Id = (int)dataTable.Rows[0].ItemArray[0];
                            dropShelf.Number = (int)dataTable.Rows[0].ItemArray[1];
                            dropShelf.Status = (bool)dataTable.Rows[0].ItemArray[2];
                            dropShelf.SX = Convert.ToInt32(dataTable.Rows[0].ItemArray[3]);
                            dropShelf.SY = Convert.ToInt32(dataTable.Rows[0].ItemArray[4]);
                            dropShelf.SZ = Convert.ToInt32(dataTable.Rows[0].ItemArray[5]);
                            if ((dropShelf.SX != getShelf.SX && dropShelf.SZ != getShelf.SZ) ||
                               (dropShelf.SX == getShelf.SX && dropShelf.SZ != getShelf.SZ) ||
                               (dropShelf.SX != getShelf.SX && dropShelf.SZ == getShelf.SZ))
                            {
                                if (GetProduct(products[i], getShelf, false))
                                {
                                    Thread.Sleep(100);
                                    DropProduct(products[i], dropShelf, false);
                                }
                            }
                        }
                    });

                }
                else
                    pokeMessage("Bağlantınızı kontrol ediniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
            }
            catch (Exception ex)
            {
                pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
            }

        }
        // =======================================
        private void btnShuffle_Click(object sender, EventArgs e)
        {
            if (myPlc.IsConnected)
            {
                if (!bProcessExist)
                {
                    Product tempProduct = new Product();
                    Shelf tempShelf = new Shelf();
                    int num = 0;
                    List<Shelf> tempList = new List<Shelf>();
                    List<Product> products = new List<Product>();
                    try
                    {
                        for (int i = 5; i >= 0; i--)
                        {
                            Product temp = new Product();
                            if (sqlConnection.State != ConnectionState.Open)
                                sqlConnection.Open();
                            dataAdapter = new SqlDataAdapter("Select * from Product where Number =" + i, sqlConnection);
                            dataTable = new DataTable();
                            dataAdapter.Fill(dataTable);
                            temp.Id = (int)dataTable.Rows[0].ItemArray[0];
                            temp.Name = dataTable.Rows[0].ItemArray[1].ToString();
                            temp.Number = (int)dataTable.Rows[0].ItemArray[2];
                            temp.ShelfId = (int)dataTable.Rows[0].ItemArray[3];
                            products.Add(temp);
                        }
                        // ================================
                        dataTable.Clear();
                        dataAdapter = new SqlDataAdapter("Select * from Shelf where Status =0", sqlConnection);
                        dataAdapter.Fill(dataTable);
                        foreach (DataRow row in dataTable.Rows)
                        {
                            if (!(shelves.Contains((int)row.ItemArray[2])))
                            {
                                Shelf temp = new Shelf();
                                temp.Id = (int)row.ItemArray[0];
                                temp.Number = (int)row.ItemArray[2];
                                temp.Status = (bool)row.ItemArray[4];
                                temp.SX = Convert.ToInt32(row.ItemArray[5]);
                                temp.SY = Convert.ToInt32(row.ItemArray[6]);
                                temp.SZ = Convert.ToInt32(row.ItemArray[7]);
                                tempList.Add(temp);
                            }
                        }

                    }
                    catch (Exception ex)
                    {
                        pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
                    }
                    finally
                    {
                        Task.Run(() =>
                        {
                            for (int i = 0; i < products.Count; i++)
                            {
                                Random random = new Random();
                                num = random.Next(0, tempList.Count + 1);
                                Shelf getShelf = new Shelf();
                                Shelf dropShelf = new Shelf();
                                // =====================
                                // find get shelf
                                if (sqlConnection.State != ConnectionState.Open)
                                    sqlConnection.Open();
                                dataAdapter = new SqlDataAdapter("Select * from Shelf where Id =" + products[i].ShelfId, sqlConnection);
                                dataTable = new DataTable();
                                dataAdapter.Fill(dataTable);
                                getShelf.Id = (int)dataTable.Rows[0].ItemArray[0];
                                getShelf.Number = (int)dataTable.Rows[0].ItemArray[1];
                                getShelf.Status = (bool)dataTable.Rows[0].ItemArray[2];
                                getShelf.SX = Convert.ToInt32(dataTable.Rows[0].ItemArray[3]);
                                getShelf.SY = Convert.ToInt32(dataTable.Rows[0].ItemArray[4]);
                                getShelf.SZ = Convert.ToInt32(dataTable.Rows[0].ItemArray[5]);
                                // =====================
                                // find drop shelf
                                if (sqlConnection.State != ConnectionState.Open)
                                    sqlConnection.Open();
                                dataAdapter = new SqlDataAdapter("Select * from Shelf where Id =" + tempList[num].Id, sqlConnection);
                                dataTable = new DataTable();
                                dataAdapter.Fill(dataTable);
                                dropShelf.Id = (int)dataTable.Rows[0].ItemArray[0];
                                dropShelf.Number = (int)dataTable.Rows[0].ItemArray[1];
                                dropShelf.Status = (bool)dataTable.Rows[0].ItemArray[2];
                                dropShelf.SX = Convert.ToInt32(dataTable.Rows[0].ItemArray[3]);
                                dropShelf.SY = Convert.ToInt32(dataTable.Rows[0].ItemArray[4]);
                                dropShelf.SZ = Convert.ToInt32(dataTable.Rows[0].ItemArray[5]);
                                if (shelves.Contains(getShelf.Number))
                                {
                                    if (GetProduct(products[i], getShelf, false))
                                    {
                                        Thread.Sleep(100);
                                        DropProduct(products[i], dropShelf, false);
                                    }
                                }
                                tempList.Remove(tempList[num]);
                            }
                        });
                    }
                }
            }
            else
                pokeMessage("Bağlantınızı kontrol ediniz!", MessageDialogIcon.Error, MessageDialogButtons.OK);
        }
        // =======================================
        #endregion
        // =======================================
        #region ' Sub-Methods '
        // =======================================
        private DialogResult pokeMessage(string sMessage, MessageDialogIcon messageBoxIcon, MessageDialogButtons messageBoxButtons)
        {
            Guna2MessageDialog MessageBoxG = new Guna2MessageDialog();
            MessageBoxG.Icon = messageBoxIcon;
            MessageBoxG.Buttons = messageBoxButtons;
            MessageBoxG.Style = MessageDialogStyle.Default;
            return MessageBoxG.Show(sMessage, "ASRS Uygulaması");
        }
        // =======================================
        private void GetData()
        {
            while (true)
            {
                try
                {
                    myPlc.ReadClass(plcToPc, 9);
                    // ==============
                    // x coordinate
                    pbXpoint.X = Convert.ToInt32(Map(plcToPc.ActX, 68, 850, 325, 1640));
                    pbXpoint.X = Convert.ToInt32(Map(pbXpoint.X, 0, 1640, 1640, 0));
                    pbXpoint.X = pbXpoint.X + 150;
                    pbXpoint.Y = pbX.Location.Y;
                    pbX.Location = pbXpoint;
                    // ==============
                    // z coordinate
                    pbZpoint.X = pbX.Location.X + 73;
                    pbZpoint.Y = Convert.ToInt32(Map(plcToPc.ActZ, 29, 807, 144, 597));
                    pbZpoint.Y = Convert.ToInt32(Map(pbZpoint.Y, 144, 597, 597, 144));
                    pbZpoint.Y = pbZpoint.Y - 5;
                    pbZ.Location = pbZpoint;
                }
                catch (Exception ex)
                {
                    pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
                    break;
                }
                Thread.Sleep(20);
            }
        }
        // =======================================
        public decimal Map(decimal value, decimal fromSource, decimal toSource, decimal fromTarget, decimal toTarget)
        {
            return (value - fromSource) / (toSource - fromSource) * (toTarget - fromTarget) + fromTarget;
        }
        // =======================================
        private bool GetProduct(Product product, Shelf shelf, bool IsConveyor)
        {
            while (true)
            {
                switch (getProductProcess)
                {
                    case GetProductRequestProcess.Initialize:
                        {
                            bProcessExist = true;
                            getProductProcess = GetProductRequestProcess.CheckCraneIsNotBusy;
                            break;
                        }
                    case GetProductRequestProcess.CheckCraneIsNotBusy:
                        {
                            getProductProcess = GetProductRequestProcess.SendRequest;
                            Thread.Sleep(500);
                            break;
                        }
                    case GetProductRequestProcess.SendRequest:
                        {
                            if (!plcToPc.bTaskExist)
                            {
                                pcToPlc.bTaskRequest = true;
                                pcToPlc.bGetProduct = true;
                                if (IsConveyor)
                                {
                                    pcToPlc.X = 0;
                                    pcToPlc.Y = 0;
                                    pcToPlc.Z = 0;
                                }
                                else
                                {
                                    pcToPlc.X = Convert.ToInt32(shelf.SX);
                                    pcToPlc.Y = Convert.ToInt32(shelf.SY);
                                    pcToPlc.Z = Convert.ToInt32(shelf.SZ);
                                }
                                myPlc.WriteClass(pcToPlc, 8);
                            }
                            if (plcToPc.bTaskTaken)
                            {
                                getProductProcess = GetProductRequestProcess.WaitForRequestDone;
                                pcToPlc.bTaskRequest = false;
                                pcToPlc.bGetProduct = false;
                                myPlc.WriteClass(pcToPlc, 8);
                            }
                            break;
                        }
                    case GetProductRequestProcess.WaitForRequestDone:
                        {
                            if (plcToPc.bTaskDone)
                            {
                                pcToPlc.X = 0;
                                pcToPlc.Y = 0;
                                pcToPlc.Z = 0;
                                if (!IsConveyor)
                                {
                                    if (sqlConnection.State != ConnectionState.Open)
                                        sqlConnection.Open();
                                    SqlCommand sqlCommand = new SqlCommand("Update Shelf SET Status=0 where Id =" + product.ShelfId, sqlConnection);
                                    sqlCommand.ExecuteNonQuery();
                                    SqlCommand sqlCommand2 = new SqlCommand("Update Product SET ShelfId=NULL where Id =" + product.Id, sqlConnection);
                                    sqlCommand2.ExecuteNonQuery();
                                }
                                myPlc.WriteClass(pcToPlc, 8);
                                getProductProcess = GetProductRequestProcess.Done;
                            }
                            break;
                        }
                    case GetProductRequestProcess.Done:
                        {
                            if (product != null)
                                asrsProduct = product;
                            break;
                        }
                }
                if (getProductProcess == GetProductRequestProcess.Done)
                {
                    getProductProcess = GetProductRequestProcess.Initialize;
                    bProcessExist = false;
                    return true;
                }
                Thread.Sleep(500);
            }
        }
        // =======================================
        private bool DropProduct(Product product, Shelf shelf, bool IsConveyor)
        {
            while (true)
            {
                switch (dropProductProcess)
                {
                    case DropProductRequestProcess.Initialize:
                        {
                            Thread.Sleep(100);
                            bProcessExist = true;
                            dropProductProcess = DropProductRequestProcess.CheckCraneIsNotBusy;
                            break;
                        }
                    case DropProductRequestProcess.CheckCraneIsNotBusy:
                        {
                            if (!plcToPc.bTaskExist)
                                dropProductProcess = DropProductRequestProcess.SendRequest;
                            else
                                Thread.Sleep(500);
                            break;
                        }
                    case DropProductRequestProcess.SendRequest:
                        {
                            if (!plcToPc.bTaskExist)
                            {
                                pcToPlc.bTaskRequest = true;
                                pcToPlc.bDropProduct = true;
                                if (IsConveyor)
                                {
                                    pcToPlc.X = 0;
                                    pcToPlc.Y = 0;
                                    pcToPlc.Z = 0;
                                }
                                else
                                {
                                    pcToPlc.X = Convert.ToInt32(shelf.SX);
                                    pcToPlc.Y = Convert.ToInt32(shelf.SY);
                                    pcToPlc.Z = Convert.ToInt32(shelf.SZ);
                                }
                                myPlc.WriteClass(pcToPlc, 8);
                            }
                            if (plcToPc.bTaskTaken)
                            {
                                dropProductProcess = DropProductRequestProcess.WaitForRequestDone;
                                pcToPlc.bTaskRequest = false;
                                pcToPlc.bDropProduct = false;
                                myPlc.WriteClass(pcToPlc, 8);
                            }
                            break;
                        }
                    case DropProductRequestProcess.WaitForRequestDone:
                        {
                            if (plcToPc.bTaskDone)
                            {
                                pcToPlc.bTaskRequest = false;
                                pcToPlc.bDropProduct = false;
                                pcToPlc.X = 0;
                                pcToPlc.Y = 0;
                                pcToPlc.Z = 0;
                                myPlc.WriteClass(pcToPlc, 8);
                                if (IsConveyor)
                                {
                                    if (sqlConnection.State != ConnectionState.Open)
                                        sqlConnection.Open();
                                    SqlCommand sqlCommand = new SqlCommand("Update Shelf SET Status=0 where Id =" + product.ShelfId, sqlConnection);
                                    sqlCommand.ExecuteNonQuery();
                                    SqlCommand sqlCommand2 = new SqlCommand("Update Product SET ShelfId=NULL where Id =" + product.Id, sqlConnection);
                                    sqlCommand2.ExecuteNonQuery();
                                }
                                else
                                {
                                    if (sqlConnection.State != ConnectionState.Open)
                                        sqlConnection.Open();
                                    SqlCommand sqlCommand = new SqlCommand("Update Shelf SET Status=1 where Id =" + shelf.Id, sqlConnection);
                                    sqlCommand.ExecuteNonQuery();
                                    SqlCommand sqlCommand2 = new SqlCommand("Update Product SET ShelfId= " + shelf.Id + " where Id = " + product.Id, sqlConnection);
                                    sqlCommand2.ExecuteNonQuery();
                                }

                                dropProductProcess = DropProductRequestProcess.Done;
                            }
                            break;
                        }
                    case DropProductRequestProcess.Done:
                        {
                            break;
                        }
                }
                if (dropProductProcess == DropProductRequestProcess.Done)
                {
                    bProcessExist = false;
                    dropProductProcess = DropProductRequestProcess.Initialize;
                    return true;
                }
                Thread.Sleep(500);
            }
        }
        #endregion
        // =======================================
        #region ' Form Methods '
        private void Form1_Load(object sender, EventArgs e)
        {
            this.DoubleBuffered = true;
            this.ResizeRedraw = true;
            lblProcess.Text = "";
            CheckForIllegalCrossThreadCalls = false;
            myPlc = new Plc(CpuType.S71500, "192.168.127.100", 0, 1);、、
            sqlConnection = new SqlConnection("Data Source=192.168.127.40,49170; Initial Catalog=ASRSConsol;Persist Security Info=False; User ID=AGVTEAM; Password=agv.1234;");
          //  thread = new Thread(GetData);
          //  shelfTimer.Start();
        }
        // =======================================
        [Obsolete]
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            pcToPlc.bPcActive = false;
            if (myPlc.IsConnected)
                myPlc.WriteClass(pcToPlc, 8);
            if (thread.ThreadState == ThreadState.WaitSleepJoin)
                thread.Abort();
            else if (thread.ThreadState == ThreadState.Suspended)
            {
                thread.Resume();
                thread.Abort();
            }
        }
        // =======================================
        private void shelfTimer_Tick(object sender, EventArgs e)
        {
            try
            {
                if (plcToPc.bAutomaticMode)
                    lblMode.Text = "Otomatik";
                else
                    lblMode.Text = "Manual";
                if (plcToPc.bTaskDeleted)
                    lblTaskStatus.Text = "Görev silindi!";
                else if (plcToPc.bTaskDone)
                    lblTaskStatus.Text = "Görev tamamlandı!";
                else if (plcToPc.bTaskTaken)
                    lblTaskStatus.Text = "Görev alındı!";
                else if (plcToPc.bTaskExist)
                    lblTaskStatus.Text = "Görev var!";
                else
                    lblTaskStatus.Text = "Görev bekleniyor!";
                // ==============
                // shelf status update
                if (sqlConnection.State != ConnectionState.Open)
                    sqlConnection.Open();
                dataAdapter = new SqlDataAdapter("Select * From Shelf", sqlConnection);
                dataTable = new DataTable();
                dataAdapter.Fill(dataTable);
                sqlConnection.Close();
            }
            catch (Exception ex)
            {
                pokeMessage(ex.Message, MessageDialogIcon.Error, MessageDialogButtons.OK);
            }
            finally
            {
                foreach (DataRow dataRow in dataTable.Rows)
                {
                    string panel = "p" + dataRow.ItemArray[1];
                    var panel1 = this.Controls.Find(panel, true)[0];

                    if ((bool)dataRow.ItemArray[2])
                    {
                        if (sqlConnection.State != ConnectionState.Open)
                            sqlConnection.Open();
                        dataAdapter = new SqlDataAdapter("Select Name From Product where ShelfId=" + dataRow.ItemArray[0], sqlConnection);
                        dataTable = new DataTable();
                        dataAdapter.Fill(dataTable);
                        Label lblLetter = new Label();
                        lblLetter.AutoSize = true;
                        lblLetter.TextAlign = ContentAlignment.MiddleRight;
                        lblLetter.ForeColor = Color.DarkRed;
                        lblLetter.Font = new Font("Corbel", 100, FontStyle.Bold);
                        if (dataTable.Rows[0].ItemArray[0].ToString() == "EE")
                            lblLetter.Text = "E";
                        else
                            lblLetter.Text = dataTable.Rows[0].ItemArray[0].ToString();
                        if (panel1.Controls.Count > 0)
                        {

                        }
                        else
                        {
                            panel1.Controls.Add(lblLetter);
                        }

                        panel1.BackColor = Color.LightCoral;
                    }
                    else
                    {
                        if (panel1.Controls.Count > 0)
                        {
                            panel1.Controls.Remove(panel1.Controls[0]);
                        }
                        panel1.BackColor = Color.LightGreen;
                    }
                }

            }
        }
        #endregion
        // =======================================
    }
}

!chen
关注
  • 2
    点赞
  • 踩
  • 4
    收藏
    觉得还不错? 一键收藏
  • 打赏
    打赏
  • 2
    评论
专栏目录
【精讲版】上位机C#/.NET与西门子PLC通信
xiketangAndy的博客
06-18 3994
据某份数据不完全统计，目前中国市场十大国际PLC品牌如下（避免争议，排名不分先后）： 西门子、施耐德、欧姆龙、三菱、罗克韦尔、松下、ABB、倍福、艾默生、GE 再盘点一下中国市场十大国内PLC品牌： 和利时、台达、汇川、信捷、永宏、丰炜、南大傲拓、厦门海为、黄石科威、上海正航 当代电气工程师之所以这么厉害（Ku Bi），一部分原因大概就是PLC品牌太多了，终其一生，可能都学不完！ 以上均为有感而发，不作为今天的主题，今天的主题主要是跟大家介绍一下，如何站在电气工程师的角度上，实现C#/.NET与西
C#使用S7netPlus与PLC通讯（超简单）
啊鹏的博客
02-17 7156
C#使用S7netPlus连接PLC进行读写，简单到爆炸！
C#.net PLC通讯
11-09
byte[] dd = { 0x10, 0x02, 0x00, 0x5C, 0x5E, 0x16 }; // serialPort1.Write(dd, 0, dd.Length); axMSComm1.Output = dd; System.Threading.Thread.Sleep(100); string q = q8 + q7 + q6 + q5 + q4+ q3 + q2+ q1; int dataer = Convert.ToInt32(q, 2);//二进制转十进制 string datah = Convert.ToString(dataer, 16);//十进制转十六进制 while (datah.Length < 2) datah = "0"+datah; string temp = "02007C320100000000000E00050501120A1002000100008200000000040008"+datah; int sum = 0; for (int i = 0; i < (temp.Length / 2); i++)//求校验 { int c=Convert .ToInt32 (temp.Substring ((i*2),2),16); sum = sum + c; } string check = Convert.ToString(sum, 16); string checkdata = check.Substring(check.Length - 2, 2);//校验和后两位 //textBox1.Text = checkdata; checkdata = checkdata.ToUpper(); temp = "68202068"+temp+checkdata+"16" ; byte[] outdata3 = new byte[38]; for (int i = 0; i < (temp.Length / 2); i++) { outdata3[i] = Convert.ToByte((temp.Substring(i * 2, 2)), 16); } //serialPort1.Write(outdata3, 0, outdata3.Length); axMSComm1.Output = outdata3;
C#中使用S7.Net库读取西门子plc S7-200
weixin_67244432的博客
05-17 391
【代码】C#中使用S7.Net库读取西门子plc S7-200。
C#使用S7.net连接西门子S1200PLC，C#直接连接西门子PLC
weixin_38801976的博客
05-06 3万+
距离上一篇C#使用KepService连接已经好久了，这次把S7.net的更新上来。在此鸣谢一下(李，罗，任。) 附上github链接：https://github.com/S7NetPlus/s7netplus/wiki 第一步，首先把西门子PLC端配置好，如下图。这个很重要，后面编码都会依据这个，也就是说想要C#做读做写那么PLC部分要先规划好。 这个是DB1块的。 这个是DB3块的。 上面步骤不懂请自行学习PLC相关知识。 二、添加S7.NET引用。 安装完成后我们开始正
堆垛机S7-1200 PLC程序_LAD_屏幕_通讯
02-06
适合堆垛机电气工程师或初学者。
记录｜.NET上位机开发和PLC通信的实现
最新发布
技术小白=-=的博客
07-15 1070
根据视频所做的笔记，视频的内容是可实现的。
基于S7-200 PLC的堆垛机自动控制系统的设计
05-10
以常州市电子技工学校的自动化立体仓库为例,介绍了自动化立体仓库堆垛机自动控制系统的设计方法,分析了系统工作过程,阐述了系统硬件及软件设计,并给出了配套传感器的应用。实际应用表明,该系统达到了较好的控制效果...
堆垛机PLC堆垛站Factoryio项目文件
12-14
本项目文件——"堆垛机PLC堆垛站Factoryio项目文件"，正是针对这种自动化设备进行模拟与设计的宝贵资料。FactoryIO作为一款强大的工厂自动化模拟软件，为工程师提供了直观的编程和调试环境，使得堆垛机的控制逻辑和...
基于PLC的立体仓库堆垛机控制系统设计.doc
02-06
通过扩展模块EM235，可以实现与变频器的通信，从而实现对三相交流异步电动机和单相交流异步电动机的精确控制。 电机参数计算是确保堆垛机性能的关键环节。根据设计要求，水平移动由220W的三相交流异步电动机驱动，...
基于西门子S7-1200PLC的立体仓库堆垛机控制与监控.pdf
08-07
#资源达人分享计划#
C#上位机S7.Net与PLC通信
02-24
通过C#语言做的一个与西门子PLC通信的上位机DEMO，可做参考使用。使用的是西门子的S7.NET库文件进行，对上位机开发有帮助
C# S7.Net 连接西门子S7PLC
06-30
C# S7.Net 连接S7PLC代码
堆垛机PLCS7-200与调度PLCS7-300之间的通讯协议说明
09-16
堆垛机(S7-200)与输送线(S7-300)的通讯协议，以供大家参考。
立体库监控机与堆垛机通讯协议
08-17
监控机与下游堆垛机的信息交互是通过PROFIBUS 网实现，采用PROFIBUS-DP 协议。格式为ASCⅡ码，电报定长，为30 字节，波特率为1.5M，总线地址分配 按1-X 号堆垛机依次分配为2、4、6„2X。 堆垛机与监控机通过信息电报进行通讯信息交换。信息电报中与任务有关的 电报，如入出库电报、入出库完成电报等任何情况下都不能抛弃，以保证任何一 方应用程序因意外退出、或断电、或关闭等情况后再运行时整个系统能继续正常 运行。
C# S7.Net.dll连接读写PLC
03-21
C# S7.Net.dll连接读写PLC C# S7.Net.dll连接读写PLCC# S7.Net.dll连接读写PLC
LabVIEW通过以太网（TCP）与S7-1200 PLC通信
热门推荐
laipin7的专栏
09-01 8万+
LabVIEW通过以太网（TCP）与S7-1200 PLC通信 laiping 20170901 摘要：本文介绍LabView采用以太网（TCP）方式与西门子S7-1200PLC通讯 关键字：LabView、S7-1200、TCP、PLC、通信 1、概述 西门子S7-1200 PLC支持多种协议通过以太网通讯方式，如OPC、TCP、S7、MODBUS-TCP等
通过S7.Net,实现与西门子PLC的通讯
Xingxing99988的博客
09-26 2750
通过S7.Net,实现与西门子PLC的通讯 初步接触C#，写个小文件练手，实现与200Smart、1500进行Bool、Int、DInt、Real等数据量的读写，并最终封装成exe 文件，效果图如下 private void Btn_read_Click(object sender, EventArgs e) { textBox1.Clear(); typenum = this.cmb_numtype.SelectedIndex;
使用S7.net与PLC通讯
weixin_38528374的博客
03-19 512
链接：https://pan.baidu.com/s/10V98radZBAqk_Wlh6HCSxg?您的 PLC 必须具有 Profinet CPU 或 Profinet 外部卡（CPxxx 卡）。S7.Net 是一个 PLC 驱动程序，仅适用于西门子 PLC 和以太网连接。S7.Net 完全用 C# 编写，因此您可以轻松调试它，而无需通过本机 dll。以下是我实现的demo，欢迎下载。
自动化立体仓库堆垛机PLC控制与监控系统设计
论文中，作者将模糊控制与PLC（Programmable Logic Controller）相结合，克服了传统调节器超调的问题，同时发挥了PLC的灵活性、编程便捷性和强大的适应性，提升了控制精度和堆垛机的运行速度。具体到实现上，研究...
评论 2
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包

打赏作者

!chen

你的鼓励将是我创作的最大动力

¥1 ¥2 ¥4 ¥6 ¥10 ¥20
扫码支付：¥1
获取中
扫码支付

您的余额不足，请更换扫码支付或充值

打赏作者

实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值