583 lines
24 KiB
C#
583 lines
24 KiB
C#
using Cowain.Bake.BLL;
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using Cowain.Bake.Common;
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using Cowain.Bake.Common.Core;
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using Cowain.Bake.Common.Enums;
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using Cowain.Bake.Common.Interface;
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using Cowain.Bake.Common.Models;
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using Cowain.Bake.Communication.Interface;
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using Cowain.Bake.Communication.MOM;
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using Cowain.Bake.Main.ViewModels;
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using Cowain.Bake.Model;
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using Cowain.Bake.Model.Entity;
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using Cowain.Bake.Model.Models;
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using HslCommunication;
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using Newtonsoft.Json;
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using Opc.Ua;
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using Prism.Ioc;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using Unity;
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using JSON = Newtonsoft.Json.JsonConvert;
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namespace Cowain.Bake.Main.Station
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{
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public class TaskStation: IServerManager
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{
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public string Name { get; set; }
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static Int16 _lastStepId = 0;
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public IUnityContainer _unityContainer { get; set; }
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readonly CancellationTokenSource cts = new CancellationTokenSource();
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readonly TDeviceConfig config;
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IPLCDevice agv = null;
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readonly List<CavityInfoModel> _stationCavity;
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public List<TStation> _station = null;
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public AutoResetEvent _newTaskEvent = new AutoResetEvent(true);
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public TaskStation(IUnityContainer unityContainer)
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{
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_unityContainer = unityContainer;
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_station = _unityContainer.Resolve<MemoryDataProvider>().AllStation;
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config = _unityContainer.Resolve<DeviceConfigService>().GetConfig(EDeviceType.PLC, EDeviceName.AGV)[0];
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_stationCavity = _unityContainer.Resolve<CavityInfoService>().GetAllStation();
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Start();
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StartNewTask();
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}
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public void Start()
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{
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var task = _unityContainer.Resolve<TaskRecordService>().UnexecuteTask();
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if (null == task)
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{
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_lastStepId = (int)ETaskStep.None;
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}
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else
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{
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_lastStepId = (short)task.StepId;
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}
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agv = _unityContainer.Resolve<IPLCDevice>(config.Name);
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//TTaskRecord task = await GenerateTask(); #测试
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}
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public async Task DealTask(DataValue data, Variable node)
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{
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bool dealResult = false; //进去这里，看会不会触发别的
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LogHelper.Instance.Info($"开始任务--------------信号,线程ID:{System.Threading.Thread.CurrentThread.ManagedThreadId},{node.VarDesc}");
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do
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{
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// 启动任务并等待结果
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//dealResult = await Task.Run(() => ThreadDealTask(data, node));
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dealResult = ThreadDealTask(data, node);
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if (!dealResult)
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{
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LogHelper.Instance.Error("-------------------------处理任务异常!");
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await Task.Delay(2 * 1000);
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}
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} while(!dealResult);
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LogHelper.Instance.Info($"完成任务--------------信号,线程ID:{System.Threading.Thread.CurrentThread.ManagedThreadId}");
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}
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void StartNewTask()
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{
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Task.Run( () =>
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{
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agv = _unityContainer.Resolve<IPLCDevice>(config.Name);
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while (!cts.Token.IsCancellationRequested)
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{
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if (Global.AppExit)
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{
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return;
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}
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DealNewTask();
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}
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});
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}
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public void DealNewTask()
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{
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_newTaskEvent.WaitOne(10*1000);
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Variable nodeTemp = (from secondaryList in agv.Storages //不能做触发，因为没有任务。要地直运行里面，来检测是否有任务
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from item in secondaryList.VariableList
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where item.ParamName == EAgvPLC.RetCount.ToString()
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select item).FirstOrDefault();
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Variable node = BasicFramework.DeepCopy<Variable>(nodeTemp);
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if (null == node || !node.Quality || null == node.CurValue) //无值，退出
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{
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return;
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}
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TTaskRecord oldTask = _unityContainer.Resolve<TaskRecordService>().UnexecuteTask();
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//1.有任务 + 自动 ，退出
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//2.有任务 + 手动 + 任务执行中： 退出
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if (null != oldTask)
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{
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if (oldTask.Status != (int)ETaskStatus.UnExecute)
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{
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return;
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}
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}
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TaskEntity task = GetTask();
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if (null == task)
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{
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return;
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}
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CommonCoreHelper.Instance.BlockTask.Add(task); //更新界面(任务未执行)
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SetCount(node);
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_lastStepId = (int)ETaskStep.MoveFrom; //StepId：手动第一次为1，自动第一次为10
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if (!SendNextStep(task, node.Json, false)) //发送第一步
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{
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return; //发送失败
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}
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//一条任务第一次发任务时
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if (!_unityContainer.Resolve<TaskRecordService>().ModifyTaskStatus(ETaskStatus.Executing)) //更新任务状态为执行中
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{
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LogHelper.Instance.Fatal("更改任务状态失败");
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}
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CommonCoreHelper.Instance.BlockTask.Add(task); //任务没有执行完。所以不需要更新界面
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}
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void SetCount(Variable node)
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{
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var model = agv.Read<Int16>(node.Address + node.VarName);
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if (!model.IsSuccess
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|| 1 != model.Content)
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{
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SettingProvider.Instance.CountCmd = 0; //每条任务从1开始
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}
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else
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{
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SettingProvider.Instance.CountCmd = 100;
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}
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}
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private TaskEntity GetTask()
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{
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if (SettingProvider.Instance.DispMode == EDispatchMode.Auto)
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{
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var oldTask = _unityContainer.Resolve<TaskRecordService>().UnexecuteTask();
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if (oldTask != null)
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{
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return GetStationManualTask(oldTask);
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}
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//看到过有任务还生成
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return _unityContainer.Resolve<TaskRecordService>().GetTask(); //获得调度任务，并插入一条任务进任务记录表
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}
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else //手动从数据库获取
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{
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TTaskRecord manualTask = _unityContainer.Resolve<TaskRecordService>().UnexecuteTask();
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if (null == manualTask)
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{
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return null; //没有任务(手动任务)，就退出
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}
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return GetStationManualTask(manualTask);
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}
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}
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/*
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//1.执行中:机器人正在执行任务中, 如果上位机重启，会触发,
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//2.无务任或任务执行完成:计命令计算为0或最后一步执行完成，更新状态(无任务不需要)，生成任务，下发下一步指令
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//3.一步任务完成： 更新状态， 下发下一步指令
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*/
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public bool ThreadDealTask(DataValue data, Variable node)
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{
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string msg = "";
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LogHelper.Instance.Error("开始接收调度机器人信息!");
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Int16 countValue ;
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dynamic d = JsonConvert.DeserializeObject<dynamic>(node.TrigJson);
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if (null == agv || !agv.IsConnect)
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{
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msg = "连接机器人的PLC断开!";
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LogHelper.Instance.Error(msg);
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_unityContainer.Resolve<MainWindowViewModel>().AddPromptContent(msg);
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return false;
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}
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try
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{
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var stepValue = agv.Read<Int16>((string)d.ReadCmd); //可以改成直接读PLC [命令地址]
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var resultValue = agv.Read<int>((string)d.ReadResult); //这是直接读PLC [执行命令结果]
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if (!stepValue.IsSuccess || !resultValue.IsSuccess)
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{
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LogHelper.Instance.Error($"PLC反馈任务时，读取失败!,失败原因:{stepValue.Message},{stepValue.Message}");
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return false;
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}
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if (data.WrappedValue.TypeInfo.BuiltInType == Opc.Ua.BuiltInType.Int16)
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{
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countValue = (Int16)data.WrappedValue.Value;
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LogHelper.Instance.Debug($"接收任务信息:计数:{countValue},命令步:{stepValue.Content},结果:{resultValue.Content}，当前命令步:{_lastStepId},当前计数:{SettingProvider.Instance.CountCmd}");
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}
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else
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{
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LogHelper.Instance.Warn($"没有找到这个数据类型，节点名为{node.VarDesc}", true);
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return false;
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}
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if (!EnumHelper.IsDefined<ETaskStep>(stepValue.Content)) //不在范围内
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{
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LogHelper.Instance.Warn($"获取PLC的命令有问题，值:{countValue}", true);
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return false;
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}
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_unityContainer.Resolve<EquipmentMonitorViewModel>().SetAgvImage(resultValue.Content);
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if (resultValue.Content == (int)EAgvMoveStatus.Error) // -1:表示没有完成
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{
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//if (countValue > SettingProvider.Instance.CountCmd) 此时上位机是1，PLC是3。 如果执行下面，后续PLC执行1，就不会任务了
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//{
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// SettingProvider.Instance.CountCmd = countValue;
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// LogHelper.Instance.Debug($"更改当前计数:{SettingProvider.Instance.CountCmd}");
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//}
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return false;
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}
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//1.机器人正在执行任务中, 如果上位机重启，此时又有任务
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//如果:countValue=3000,Instance.CountCmd=1,时，到下面退出，也不影响。
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if (countValue == SettingProvider.Instance.CountCmd - 1) //(重启上位机,任务在执行中)
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{
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LogHelper.Instance.Warn($"重启上位机,此时又有任务在执行中!");
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return true;
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}
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if (_lastStepId == (int)ETaskStep.None)
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{
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LogHelper.Instance.Warn($"重启上位机, 没有任务在执行!");
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return true;
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}
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//表示执行完成了，执行下一个; 或无任务
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if (
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countValue >= SettingProvider.Instance.CountCmd
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&& stepValue.Content == _lastStepId
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)
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{
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SettingProvider.Instance.CountCmd = countValue; //PLC跳步
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TTaskRecord task = _unityContainer.Resolve<TaskRecordService>().UnexecuteTask();
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if (null == task) //无任务:不需要做什么,有任务:更新状态
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{
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LogHelper.Instance.Fatal($"此时应该数据库中要有未执行的任务，计数:{countValue},命令:{stepValue}");
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return true;
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}
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TaskEntity detailTask = GetStationManualTask(task); //通过任务，获取工站信息
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detailTask.StepId = (sbyte)stepValue.Content;
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if (!DealFinishCmd(detailTask, _lastStepId))
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{
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return false;
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}
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if (_lastStepId == (int)ETaskStep.Place //表示当前是一个任务的最后一条命令
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/* || 0 == countCmd*/) //PLC重启为0，一条完整的任务完成了,将获取最后一条指令
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{
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detailTask.StepId = (int)ETaskStep.Finish;
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CommonCoreHelper.Instance.BlockTask.Add(detailTask); //机器人界面显示
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CommonCoreHelper.Instance.MainViewAutoEvent.Set();
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_newTaskEvent.Set();
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return true; //完成了一条完整的任务，另外一个方法生成新的任务
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}
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//发送下一步命令
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if (!SendNextStep(detailTask, node.Json))
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{
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return false;
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}
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CommonCoreHelper.Instance.BlockTask.Add(detailTask); //机器人界面显示
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CommonCoreHelper.Instance.MainViewAutoEvent.Set();
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LogHelper.Instance.Error("处理完接收调度机器人信息!");
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}
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else
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{
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LogHelper.Instance.Error($"接收到的信息PLC的调试任务异常,plc cmd:{stepValue},plc 计数:{countValue};\r" +
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$"上位机 cmd:{_lastStepId},上位机 计数:{SettingProvider.Instance.CountCmd},正常不会执行到这里！");
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}
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}
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catch(Exception ex)
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{
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LogHelper.Instance.GetCurrentClassError($"{ex.Message}-{ex.StackTrace}");
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return false;
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}
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return true;
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}
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public bool SendNextStep(TaskEntity detailTask, string json, bool next = true)
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{
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LogHelper.Instance.Info($"发送步骤:{detailTask.StepId},命令计数:{SettingProvider.Instance.CountCmd}");
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detailTask = SetNextStep(detailTask, next); //会设置CountCmd StepId
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if (!SendTask(detailTask, json)) //发送任务
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{
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LogHelper.Instance.Error($"发送任务信息失败,{JsonConvert.SerializeObject(detailTask)}!");
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return false;
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}
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_lastStepId = detailTask.StepId;
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SettingProvider.Instance.CountCmd = detailTask.CountCmd;
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LogHelper.Instance.Debug($"计数改变:{SettingProvider.Instance.CountCmd}");
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return StartStep(detailTask);
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}
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public bool ManualTaskCmd(TTaskRecord task, short stepId) //界面上指定再发送一次时，
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{
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Variable nodeCountCmd = (from secondaryList in agv.Storages //不能做触发，因为没有任务。要地直运行里面，来检测是否有任务
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from item in secondaryList.VariableList
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where item.ParamName == EAgvPLC.RetCount.ToString()
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select item).FirstOrDefault();
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_lastStepId = (short)stepId;
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TaskEntity detailTask = GetStationManualTask(task); //通过任务，获取工站信息
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return SendNextStep(detailTask, nodeCountCmd.Json, false);
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}
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bool DealFinishCmd(TaskEntity detailTask, Int16 cmdValue)
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{
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if (0 >= _unityContainer.Resolve<TaskStepService>().UpdateEndTime(detailTask.Id, (ETaskStep)cmdValue))
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{
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LogHelper.Instance.Error($"修改命令结束时间失败！任务ID:{detailTask.Id},命令:{_lastStepId}");
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}
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return UpdateFinishStep(detailTask);
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}
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bool StartStep(TaskEntity detailTask)
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{
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if (0 >= _unityContainer.Resolve<TaskStepService>().UpdateStartTime((int)detailTask.Id, detailTask.CountCmd, detailTask.StepId))
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{
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LogHelper.Instance.Error($"修改命令开始时间失败！任务ID:{detailTask.Id},命令:{detailTask.StepId},命令计算:{detailTask.CountCmd}");
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return false;
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}
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return true;
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}
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bool UpdateFinishStep(TaskEntity stationTask)
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{
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int result = 0;
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switch (stationTask.StepId)
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{
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case (int)ETaskStep.MoveFrom:
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//修改机器人的位置，给界面发信号
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result =_unityContainer.Resolve<CavityInfoService>().SetRobotPos(stationTask.FromStationNumber);
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break;
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case (int)ETaskStep.Pick:
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UpdateOutStoveTime(stationTask); //更改出炉时间
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result = _unityContainer.Resolve<TaskRecordService>().BindPalletToRobot(); //将夹具绑定在机器人上
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break;
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case (int)ETaskStep.MoveTo:
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result = _unityContainer.Resolve<CavityInfoService>().SetRobotPos(stationTask.ToStationNumber);
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break;
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case (int)ETaskStep.Place:
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result = _unityContainer.Resolve<TaskRecordService>().UpdateTask(); //1.加锁，解锁，2.绑定，解绑夹具，3.更新机器人的位置,4.更新任务状态完成,
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SendIntoStove(stationTask); //如果是满载夹具，要将调用烘烤进站接口
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_unityContainer.Resolve<TaskRecordService>().UpdateFinishStepId(stationTask.Id); //修改任务步为完成
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break;
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default:
|
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break;
|
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}
|
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if (result <= 0)
|
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{
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LogHelper.Instance.Error($"接到任务完成，但处理异常:{result},cmd:{stationTask.StepId}");
|
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//return false;
|
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}
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return true;
|
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}
|
||
|
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void UpdateOutStoveTime(TaskEntity stationTask)
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{
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var cavityStove = _stationCavity.Where(x => x.Id == stationTask.Source && x.Type == (int)EStationType.Stove).FirstOrDefault();
|
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if (null != cavityStove) //更改出炉时间
|
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{
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_unityContainer.Resolve<PalletInfoService>().UpdateOutStoveTime(cavityStove.PalletId);
|
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}
|
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}
|
||
|
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void SendIntoStove(TaskEntity stationTask)
|
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{
|
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//if (!_unityContainer.Resolve<TaskTypeService>().IsPullInBaker(stationTask.TaskTypeId))
|
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if (1 != stationTask.TaskTypeId)// 1: 上料满夹具->烤箱
|
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{
|
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return ;
|
||
}
|
||
|
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var cavityInfo = _stationCavity.Where(x=>x.Id == stationTask.Target).FirstOrDefault();
|
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var palletInfo = _unityContainer.Resolve<PalletInfoService>().GetPalletInfo(stationTask.PalletId);
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List<string> batteryCodes = _unityContainer.Resolve<BatteryInfoService>().GetBatteryInfos(palletInfo.VirtualId).Select(x=>x.BatteryCode).ToList();
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if (int.Parse(_unityContainer.Resolve<SysSetupService>().GetValueByParaID(ESysSetup.MOMEnable.ToString())) == (int)EMOMEnable.Enable
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&& 0 != batteryCodes.Count)
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{
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_unityContainer.Resolve<MESProcess>().MESBakingInput(cavityInfo.CavityName, palletInfo.PalletCode, batteryCodes, _unityContainer.Resolve<BasicInfoViewModel>().CurrentOperation);
|
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}
|
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}
|
||
|
||
|
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public TaskEntity GetStationManualTask(TTaskRecord task)
|
||
{
|
||
TaskEntity taskEn = JSON.DeserializeObject<TaskEntity>(JSON.SerializeObject(task));
|
||
var sourceDetail = _unityContainer.Resolve<CavityInfoService>().GetStationDetailById(task.Source);
|
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var targetDetail = _unityContainer.Resolve<CavityInfoService>().GetStationDetailById(task.Target);
|
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var stationTask = MakeManualTask(taskEn, sourceDetail, targetDetail);
|
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//stationTask.Copy(task, stationTask);
|
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return stationTask;
|
||
}
|
||
|
||
TaskEntity SetNextStep(TaskEntity task, bool isNext = true)
|
||
{
|
||
sbyte nextStepId = (sbyte)_lastStepId;
|
||
if (isNext)
|
||
{
|
||
nextStepId = (sbyte)_unityContainer.Resolve<RgvActionService>().GetNext(_lastStepId); //下一步
|
||
}
|
||
task.CountCmd = SettingProvider.Instance.CountCmd + 1; //下一个计数
|
||
task.StepId = (sbyte)nextStepId;
|
||
return task;
|
||
}
|
||
|
||
public TaskEntity MakeManualTask(TaskEntity taskEn, TCavityInfo src, TCavityInfo desc)
|
||
{
|
||
taskEn.FromStationNumber = src.StationNumber;
|
||
taskEn.FromRow = src.Layer;
|
||
taskEn.FromColumn = src.Column;
|
||
taskEn.ToStationNumber = desc.StationNumber;
|
||
taskEn.ToRow = desc.Layer;
|
||
taskEn.ToColumn = desc.Column;
|
||
return taskEn;
|
||
}
|
||
|
||
public bool SendTask(TaskEntity task, string json)
|
||
{
|
||
LogHelper.Instance.Info($"发送任务开始");
|
||
List<AddrValue> makeAddrValues = new List<AddrValue>();
|
||
dynamic d = JsonConvert.DeserializeObject<dynamic>(json);
|
||
string fromStation = d.FromStation;
|
||
string fromLayer = d.FromRow;
|
||
string fromColumn = d.FromColumn;
|
||
string toStation = d.ToStation;
|
||
string toLayer = d.ToRow;
|
||
string toColumn = d.ToColumn;
|
||
string cmd = d.Cmd;
|
||
string countAddr = d.Count;
|
||
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = fromStation,
|
||
Value = (int)task.FromStationNumber,
|
||
});
|
||
|
||
var from = _station.Where(p => p.Id == (int)task.FromStationNumber).FirstOrDefault();
|
||
if (from.Type == (int)EStationType.Loading
|
||
|| from.Type == (int)EStationType.UnLoading)
|
||
{
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = fromLayer,
|
||
Value = (int)task.FromRow,
|
||
});
|
||
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = fromColumn,
|
||
Value = (int)task.FromColumn,
|
||
});
|
||
}
|
||
else
|
||
{
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = fromLayer,
|
||
Value = (int)task.FromColumn,
|
||
});
|
||
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = fromColumn,
|
||
Value = (int)task.FromRow,
|
||
});
|
||
}
|
||
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = toStation,
|
||
Value = (int)task.ToStationNumber,
|
||
});
|
||
var to = _station.Where(p => p.Id == (int)task.ToStationNumber).FirstOrDefault();
|
||
if (to.Type == (int)EStationType.Loading
|
||
|| to.Type == (int)EStationType.UnLoading)
|
||
{
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = toLayer,
|
||
Value = (int)task.ToRow,
|
||
});
|
||
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = toColumn,
|
||
Value = (int)task.ToColumn,
|
||
});
|
||
}
|
||
else
|
||
{
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = toLayer,
|
||
Value = (int)task.ToColumn,
|
||
});
|
||
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = toColumn,
|
||
Value = (int)task.ToRow,
|
||
});
|
||
}
|
||
|
||
makeAddrValues.Add(new AddrValue()
|
||
{
|
||
Addr = cmd,
|
||
Value = (Int16)task.StepId,
|
||
});
|
||
|
||
//makeAddrValues.Add(new AddrValue()
|
||
//{
|
||
// Addr = countAddr,
|
||
// Value = (Int16)task.CountCmd, //必须最后一个写
|
||
//});
|
||
|
||
OperateResult result = agv.Writes(makeAddrValues.Select(x => x.Addr).ToArray(), makeAddrValues.Select(x => x.Value).ToArray());
|
||
if (!result.IsSuccess)
|
||
{
|
||
LogHelper.Instance.Fatal($"写任务步骤失败:{JsonConvert.SerializeObject(makeAddrValues)},{JsonConvert.SerializeObject(makeAddrValues)}");
|
||
}
|
||
|
||
result = agv.Write<Int16>(countAddr, (Int16)task.CountCmd);
|
||
if (!result.IsSuccess)
|
||
{
|
||
LogHelper.Instance.Fatal($"写任务计数失败:{JsonConvert.SerializeObject(makeAddrValues)},{JsonConvert.SerializeObject(makeAddrValues)}");
|
||
}
|
||
|
||
LogHelper.Instance.Debug($"发送任务:{JsonConvert.SerializeObject(makeAddrValues)}");
|
||
LogHelper.Instance.Debug($"发送计数:{countAddr}:{(Int16)task.CountCmd}");
|
||
//_unityContainer.Resolve<LogService>().AddLog("TaskStation:SendTask:发送任务结束", E_LogType.Info.ToString());
|
||
return result.IsSuccess;
|
||
}
|
||
|
||
public void Stop()
|
||
{
|
||
// 在需要取消任务的时候，调用以下代码：
|
||
cts.Cancel();
|
||
}
|
||
|
||
}
|
||
}
|
