using System.Collections.Generic; using System.Linq; using System.Threading.Tasks; using System.Threading; using IMCS.CCS.Entitys; using IMCS.CCS.Models.vo; using IMCS.CCS.Models; using IMCS.CCS.DeviceProtocol; using System; using S7.Net; using IMCS_CCS.Utils; using IMCS_CCS.Utils.DeviceProtocol; using HslCommunication.Profinet.Siemens; using Microsoft.Extensions.Configuration; using IMCS.CCS.Service; using IMCS_CCS.Model.vo; using FTP; using HslCommunication; using System.Text.RegularExpressions; using System.IO; using System.Reflection; using Newtonsoft.Json; using static Google.Protobuf.Reflection.SourceCodeInfo.Types; using System.Drawing; using Google.Protobuf.WellKnownTypes; using Type = System.Type; using Flurl.Util; using HslCommunication.Enthernet; using MySqlX.XDevAPI.Common; using Newtonsoft.Json.Linq; namespace IMCS.CCS.Services { public class HttpRequestService : IHttpRequestService { private readonly IDeviceService _deviceService; private readonly ITaskCallbackService _taskCallbackService; private readonly ICcsActionService _ccsActionService; private readonly ICcsTagValueService _ccsTagValueService; private readonly IEquipmentMonitorService _equipmentMonitorService; private readonly ICcsActionAddressService _ccsActionAddressService; private readonly ITaskJobService _taskJobService; private int SLEEP_TIME = 3000; string LocalPath = "D:\\PROG"; private string mazakUrlContext; private string ecsRootUrlContext; public IConfiguration Configuration { get; } private readonly IApiRequestService _apiRequestService; private static Dictionary pointDict = new Dictionary(); private static Dictionary threeDengDict = new Dictionary(); private static Dictionary threeDengPostDict = new Dictionary(); private static Dictionary ipDict = new Dictionary(); public HttpRequestService(IDeviceService deviceService, ITaskCallbackService taskCallbackService, ICcsActionService ccsActionService, ICcsTagValueService ccsTagValueService, IEquipmentMonitorService equipmentMonitorService, ICcsActionAddressService ccsActionAddressService, IApiRequestService apiRequestService, ITaskJobService taskJobService, IConfiguration configuration) { _deviceService = deviceService; _taskCallbackService = taskCallbackService; _ccsActionService = ccsActionService; _ccsTagValueService = ccsTagValueService; _equipmentMonitorService = equipmentMonitorService; _ccsActionAddressService = ccsActionAddressService; _apiRequestService = apiRequestService; _taskJobService = taskJobService; Configuration = configuration; mazakUrlContext = Configuration.GetConnectionString("mazakUrlContext"); ecsRootUrlContext = Configuration.GetConnectionString("ecsRootUrlContext"); if(pointDict.Count == 0) { pointDict.Add("1", "DB1.116"); pointDict.Add("2", "DB1.118"); pointDict.Add("3", "DB1.120"); pointDict.Add("201", "DB1.124"); pointDict.Add("202", "DB1.126"); pointDict.Add("11", "DB1.122"); } if (threeDengDict.Count == 0) { threeDengDict.Add("201", "DB1.124"); threeDengDict.Add("202", "DB1.126"); } if (threeDengPostDict.Count == 0) { threeDengPostDict.Add("201", "DB2.120"); threeDengPostDict.Add("202", "DB2.122"); } if (ipDict.Count == 0) { Console.WriteLine("ipDict:" + ipDict.Count); ipDict.Add("10.161.30.245", "DB1.116"); ipDict.Add("10.161.30.246", "DB1.118"); ipDict.Add("10.161.30.247", "DB1.120"); } } /// /// 获取状态当前值 /// public string GetTagValue(RequestTagValueData req) { CcsTagValue queryParam = new CcsTagValue(); queryParam.Ip = req.ip; queryParam.Address = req.tagname; List tagValues = _ccsTagValueService.GetList(queryParam); string tagValue = "0"; if (tagValues != null && tagValues.Count > 0) { tagValue = tagValues[0].TagValue; } return tagValue; } /// /// 益模调用接口，显示3D /// public async Task> GetDigitalTwins() { List devices = _deviceService.GetDeviceList(); List list = new List(); //String query3dUrl = ecsRootUrlContext + "/api/authority/agv/agvCallbackService/query3dResouceDataInfo"; //var result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, query3dUrl, new Object(), null); //ResponsePageData responseData = JsonConvert.DeserializeObject>(result.Message); //list = responseData.Data; ResponseDigitalTwinsData aa = new ResponseDigitalTwinsData(); list.Add(aa); List collectDatas = new List(); foreach (ResponseDigitalTwinsData responseDigitalTwinsData in list) { //EquipmentMonitor equipmentMonitor = await _equipmentMonitorService.GetById(long.Parse(responseDigitalTwinsData.resourceId)); //if (equipmentMonitor == null || equipmentMonitor.IP == null) //{ // continue; //} //Device device = devices.Where(x => x.Ip.Equals(equipmentMonitor.IP)).FirstOrDefault(); //if (null != device && equipmentMonitor.Type == ProtocalTypeEnum.MAZAK.ToString()) if(1==1) { RequestHeidhData reqBody = new RequestHeidhData(); reqBody.ServerUrl = "127.0.0.1"; reqBody.DeviceType = "Mazaka"; reqBody.Type = "Collect"; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, mazakUrlContext, reqBody, null); if (Result.IsSuccess) { ResponseHeidhData retData = JsonConvert.DeserializeObject(Result.Message); if (retData != null && retData.code == 0) { ResponseDigitalTwinsData twinsData = JsonConvert.DeserializeObject(retData.runDatasInfo); //responseDigitalTwinsData.feedRate = !string.IsNullOrEmpty(twinsData.feedRate) ? twinsData.feedRate : "0"; //responseDigitalTwinsData.spindleMagnification = !string.IsNullOrEmpty(twinsData.spindleMagnification) ? twinsData.spindleMagnification : "0"; //responseDigitalTwinsData.spindleSpeed = !string.IsNullOrEmpty(twinsData.spindleSpeed) ? twinsData.spindleSpeed + "00" : "0"; //responseDigitalTwinsData.spindleLoad = !string.IsNullOrEmpty(twinsData.spindleLoad) ? twinsData.spindleMagnification : "-"; twinsData.toolsInfo = JsonConvert.DeserializeObject>(retData.toolsInfo); //twinsData.alarms = JsonConvert.DeserializeObject>(retData.errorsInfo); twinsData.id = responseDigitalTwinsData.id; twinsData.deviceType = responseDigitalTwinsData.deviceType; twinsData.resourceId = responseDigitalTwinsData.resourceId; twinsData.deviceName = responseDigitalTwinsData.deviceName; twinsData.monitoringStatus = responseDigitalTwinsData.monitoringStatus; collectDatas.Add(twinsData); } } } } return list; } /// /// 查询设备状态 /// public async Task> GetEquipMent() { return await _equipmentMonitorService.GetList(); } /// /// 机器人取放动作 /// public async Task RobotAction(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device device = devices.Where(x => x.Ip == req.url && x.Port == req.port).FirstOrDefault(); if (device == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = ActionTypeEnum.RobotAction + "设备已离线===>>" + req.url; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.RobotAction.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.Ip); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.msg = ActionTypeEnum.RobotAction + "异常===>>" + "PLC连接不上" + actionInfo.Ip; responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); List CcsActionAddressChecks = new List(); CcsActionAddressChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.CHECK_PLC.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressChecks) { if (!string.IsNullOrEmpty(actionAddress.Address) && !string.IsNullOrEmpty(actionAddress.Value)) { string operateResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); Console.WriteLine(req.taskNodeId+ "RobotAction:" + actionAddress.Address + ":" + operateResult); Log.Instance.WriteLogAdd(req.taskNodeId + "RobotAction:" + actionAddress.Address + ":" + operateResult, EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); if (actionAddress.CheckType ? operateResult != actionAddress.Value : operateResult == actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "条件不满足==地址：" + actionAddress.Address + "实际值：" + operateResult + "期望值：" + actionAddress.Value, EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = ActionTypeEnum.RobotAction + "异常===>>" + "条件不满足==地址：" + actionAddress.Address + "实际值：" + operateResult + "期望值：" + actionAddress.Value; return responseData; } } } //为装载站三色灯特殊判断 if (threeDengDict.ContainsKey(req.data.location)) { //取 string location = threeDengDict[req.data.location]; string getResult = s7.ReadInt16(location).Content.ToString(); //判断装载站是否允许取料 if (getResult != "9") { //判断装载站是否有料 if (getResult != "1" && getResult != "3") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,非有托盘状态" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,非有托盘状态"; s7.ConnectClose(); return responseData; } else { string postLocation = threeDengPostDict[req.data.location]; string postResult = s7.ReadInt16(postLocation).Content.ToString(); if (postResult == "8") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,等待允许取料中" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,等待允许取料中,请按装载站上的允许卸料按钮"; s7.ConnectClose(); return responseData; } //先请求取料 s7.Write(postLocation, Convert.ToInt16("8")); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,已请求取料" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,已请求取料"; s7.ConnectClose(); return responseData; } } else if (getResult == "9") { //判断是否存在请求取料 string postLocation = threeDengPostDict[req.data.location]; string postResult = s7.ReadInt16(location).Content.ToString(); if (postResult == "9") { //消除请求 s7.Write(postLocation, Convert.ToInt16("0")); } } } else if (threeDengDict.ContainsKey(req.data.destLocation)) { //放 string destLocation = threeDengDict[req.data.destLocation]; string getResult = s7.ReadInt16(destLocation).Content.ToString(); //判断装载站是否允许放料 if (getResult != "16") { //判断装载站是否有料 if (getResult != "0" && getResult != "2") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】,非无托盘状态" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】,非无托盘状态"; s7.ConnectClose(); return responseData; } else { string postLocation = threeDengPostDict[req.data.destLocation]; string postResult = s7.ReadInt16(postLocation).Content.ToString(); if (postResult == "16") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "放条件不满足【" + getResult + "】,等待允许放料中" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "放条件不满足【" + getResult + "】,等待允许放料中,请按装载站上的允许装载按钮"; s7.ConnectClose(); return responseData; } //先请求放料 s7.Write(postLocation, Convert.ToInt16("16")); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】，已请求放料" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】，已请求放料"; s7.ConnectClose(); return responseData; } } else if (getResult == "16") { //判断是否存在请求取料 string postLocation = threeDengPostDict[req.data.destLocation]; string postResult = s7.ReadInt16(postLocation).Content.ToString(); if (postResult == "16") { //消除请求 s7.Write(postLocation, Convert.ToInt16("0")); } } } //判断取地址是否满足条件 if (pointDict.ContainsKey(req.data.location)) { string location = pointDict[req.data.location]; //取 if (location != null) { string getResult = s7.ReadInt16(location).Content.ToString(); if (getResult != "9" && getResult != "8") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】"; return responseData; } } } //判断放地址是否满足条件 if (pointDict.ContainsKey(req.data.destLocation)) { string destLocation = pointDict[req.data.destLocation]; //放 if (destLocation != null) { string putResult = s7.ReadInt16(destLocation).Content.ToString(); if (putResult != "16") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + putResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + putResult + "】"; return responseData; } } } //查询写入地址列表 string log = "任务【" + req.taskNodeId + "】写入:"; List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); log = log + "地址:" + actionAddress.Address + "【" + dataValue + "】"; } } else { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); log = log + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; } } } Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.RobotAction) + "===>>" + log , EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); Thread.Sleep(SLEEP_TIME); //写入检查 List CcsActionAddressWriteChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_CHECK.ToString()).ToList(); bool checkFlag = true; string returnMsg = ""; foreach (CcsActionAddress actionAddress in CcsActionAddressWriteChecks) { if (!string.IsNullOrEmpty(actionAddress.Address)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); //读取写入结果 string readWriteResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (dataValue != readWriteResult) { returnMsg = "地址位:" + actionAddress.Address + "写入值：" + dataValue + "读出值：" + readWriteResult; checkFlag = false; break; } } } //不通过不写执行 if (!checkFlag) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "写入失败,plc没有写入相应的值" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "写入异常===>>" + returnMsg; return responseData; } //二次写入地址列表 string log2 = "任务【" + req.taskNodeId + "】二次写入:"; List CcsActionAddressWriteSeconds = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SECOND.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWriteSeconds) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); } } else { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } Thread.Sleep(SLEEP_TIME); } } Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.RobotAction) + "二次写入===>>" + log2 , EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); s7.ConnectClose(); //查询回调表是否存在此数据（避免在数据重复下发时，产生多条回调数据） TaskCallback vo = new TaskCallback(null, ActionTypeEnum.RobotAction.ToString(), null, req.taskId, req.taskNodeId); List taskCallbackList = await _taskCallbackService.GetListByCondition(vo); //插入回调 TaskCallback taskCallbackData = new TaskCallback(); if (taskCallbackList != null && taskCallbackList.Count > 0) { taskCallbackData = taskCallbackList[0]; taskCallbackData.State = true; } else { taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.RobotAction.ToString(), EnumHelper.GetDescription(ActionTypeEnum.RobotAction), req.taskId, req.taskNodeId); } taskCallbackData = setCallBackValue(CcsActionAddresses, taskCallbackData); if(req.data.taskType == "1" && (req.data.destLocation == "30" || req.data.destLocation == "900")) //取料完成 { taskCallbackData.CallbackValue = "2"; }else if (req.data.taskType == "1" && (req.data.destLocation != "30" && req.data.destLocation != "900")) //放料完成 { taskCallbackData.CallbackValue = "5"; } else if (req.data.taskType == "512" ) //移动完成 { taskCallbackData.CallbackValue = "4"; //todo 待确定移动完成 值 } await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.RobotAction) + "操作成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "取异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; return responseData; } } /// /// 上传文件 /// public async Task UploadFile(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device deviceMazak = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.OPCUA.ToString())).FirstOrDefault(); if (deviceMazak == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.msg = "设备已离线"; responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartNCProgram.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); // 成航发没有允许上传nc的状态的db块，隐藏此代码 /* SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.PlcIp); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.msg = "PLC连接不上"; responseData.result = "false"; return responseData; } //判断是是否允许上传 if (ipDict.ContainsKey(req.url)) { string db = ipDict[req.url]; if (db != null) { string getResult = s7.ReadInt16(db).Content.ToString(); *//* if (getResult != "2") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "url" + req.url + "上传程序条件不满足【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = req.url + "上传程序条件不满足【" + getResult + "】"; return responseData; }*//* } } */ if(req.data.subFileList !=null && req.data.subFileList.Count > 0) { //西门子one系统子文件上传 if (deviceMazak != null) { RequestOpcUaData deviceReq = new RequestOpcUaData(); deviceReq.ServerUrl = "opc.tcp://"+req.url+ ":4840"; deviceReq.UserName = "OpcUaClient"; deviceReq.Password = "12345678"; deviceReq.Type = OpcUaActionTypeEnum.UploadFileList.ToString(); deviceReq.prgName = req.data.fileName; deviceReq.subFileList = req.data.subFileList; deviceReq.Ip = req.url; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, mazakUrlContext, deviceReq, null); ResponseOpcUaData responseOpcUaData = JsonConvert.DeserializeObject(Result.Message); if (!Result.IsSuccess || !responseOpcUaData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常===>>" + Result.Message + "===>>" + deviceReq.Path, EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.msg = "上传失败===>>" + Result.Message + "===>>" + deviceReq.Path; responseData.result = "false"; return responseData; } } } else { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常===>>加工程序为空", EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.msg = "上传失败===>>加工程序为空"; responseData.result = "false"; return responseData; } //查询回调表是否存在此数据（避免在数据重复下发时，产生多条回调数据） TaskCallback vo = new TaskCallback(null, ActionTypeEnum.UploadFile.ToString(), null, req.taskId, req.taskNodeId); List taskCallbackList = await _taskCallbackService.GetListByCondition(vo); //插入回调 TaskCallback taskCallbackData = new TaskCallback(); if (taskCallbackList != null && taskCallbackList.Count > 0) { taskCallbackData = taskCallbackList[0]; taskCallbackData.State = true; } else { taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.UploadFile.ToString(), EnumHelper.GetDescription(ActionTypeEnum.UploadFile), req.taskId, req.taskNodeId); } await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传成功===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } } /// /// 启动机床程序 /// public async Task StartNCProgram(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device device = devices.Where(x => x.Ip.Equals(req.url) && x.Port.Equals(req.port)).FirstOrDefault(); if (device == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; responseData.msg = req.url+ "设备已离线"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartNCProgram.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); if (actionInfo.ProtocolType == ProtocalTypeEnum.OPCUA.ToString()) { SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.PlcIp); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动程序异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; responseData.msg = req.url + "PLC连接不上"; return responseData; } //判断是否允许启动 if (ipDict.ContainsKey(req.url)) { string db = ipDict[req.url]; string getResult = s7.ReadInt16(db).Content.ToString(); if (getResult != "2") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "异常===>>" + "url:" + req.url + "启动程序条件不满足【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; responseData.msg = req.url + "启动程序条件不满足【" + getResult + "】"; return responseData; } } //查询条件 List CcsActionAddressChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.CHECK.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressChecks) { if (!string.IsNullOrEmpty(actionAddress.Address) && !string.IsNullOrEmpty(actionAddress.Value)) { string operateResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (actionAddress.CheckType ? operateResult.Equals(actionAddress.Value) : operateResult != actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动程序异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; responseData.msg = req.url + "条件不满足,地址：" + actionAddress.Address + "值：" + operateResult; return responseData; } } } //查询写入地址列表 /* List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "写入正常===>>地址位:" + actionAddress.Address + "值：" + actionAddress.Value + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); }else { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(dataValue, dataValue.Length)); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "写入正常===>>地址位:" + actionAddress.Address + "值：" + dataValue + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); } else { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动程序异常===>>" + "程序名为空" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; responseData.msg = req.url + "条件不满足程序名为空"; return responseData; } } }*/ //Thread.Sleep(2000); //写入检查 /* List CcsActionAddressWriteChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_CHECK.ToString()).ToList(); bool checkFlag = true; string returnMsg = ""; foreach (CcsActionAddress actionAddress in CcsActionAddressWriteChecks) { if (!string.IsNullOrEmpty(actionAddress.Address)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); //读取写入结果 byte[] bytes = s7.Read(actionAddress.Address, 32).Content; string value = ToolUtils.ReturnStringByBytes(bytes); string readWriteResult = value.Trim(); if (dataValue != readWriteResult) { returnMsg = "地址位:" + actionAddress.Address + "写入值：" + dataValue + "读出值：" + readWriteResult; checkFlag = false; break; } } }*/ //不通过不写执行 /* if (!checkFlag) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "异常===>>" + "写入失败,plc没有写入相应的值" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; responseData.msg = "程序名写入异常===>>" + returnMsg; return responseData; }*/ //二次写入地址列表 string log2 = "任务【" + req.taskNodeId + "】二次写入:"; List CcsActionAddressWriteSeconds = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SECOND.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWriteSeconds) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); } } else { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } } Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram) + "二次写入===>>" + log2 , EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); Thread.Sleep(5000); //查询写入地址列表 List CcsActionAddressDeclear = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SECOND.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressDeclear) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16("0")); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "写入正常===>>地址位清零" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); } } s7.ConnectClose(); //查询回调表是否存在此数据（避免在数据重复下发时，产生多条回调数据） TaskCallback vo = new TaskCallback(null, ActionTypeEnum.StartNCProgram.ToString(), null, req.taskId, req.taskNodeId); List taskCallbackList = await _taskCallbackService.GetListByCondition(vo); //插入回调 TaskCallback taskCallbackData = new TaskCallback(); if (taskCallbackList != null && taskCallbackList.Count > 0) { taskCallbackData = taskCallbackList[0]; taskCallbackData.State = true; } else { taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.StartNCProgram.ToString(), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram), req.taskId, req.taskNodeId); } await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动成功===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); return responseData; } else { Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "程序异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } } /// /// 启动喷墨机 /// public async Task StartCleanMachine(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device device = devices.Where(x => x.Ip.Equals(req.url) && x.Port.Equals(req.port)).FirstOrDefault(); if (device == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.StartCleanMachine + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); responseData.result = "false"; responseData.msg = "设备已离线"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartCleanMachine.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartCleanMachine + "启动故障===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); responseData.result = "false"; responseData.msg = "PLC连接不上"; return responseData; } s7.Write("DB2.220", ToolUtils.ReturnBtyesWtitString("", 64)); s7.Write("DB2.118", Convert.ToInt16("0")); CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //查询写入地址列表 string log = "任务【" + req.taskNodeId + "】写入:"; List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { //string operateResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { if (actionAddress.dataType == "bytes") { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(dataValue, dataValue.Length)); log = log + "地址:" + actionAddress.Address + "【" + dataValue + "】"; } else if(actionAddress.dataType == "int") { s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); log = log + "地址:" + actionAddress.Address + "【" + dataValue + "】"; } } } else { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); log = log + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; } } } Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine) + "===>>" + log , EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); Thread.Sleep(2000); //写入检查 List CcsActionAddressWriteChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_CHECK.ToString()).ToList(); bool checkFlag = true; string returnMsg = ""; foreach (CcsActionAddress actionAddress in CcsActionAddressWriteChecks) { if (!string.IsNullOrEmpty(actionAddress.Address)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); string readWriteResult = ""; //读取写入结果 if (actionAddress.dataType == "bytes") { byte[] bytes = s7.Read(actionAddress.Address, 64).Content; readWriteResult = ToolUtils.ReturnStringByBytes(bytes); readWriteResult = readWriteResult.Trim(); } else if (actionAddress.dataType == "int") { readWriteResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); } if (dataValue != readWriteResult) { returnMsg = "地址位:" + actionAddress.Address + "写入值：" + dataValue + "读出值：" + readWriteResult; checkFlag = false; break; } } } //不通过不写执行 if (!checkFlag) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartCleanMachine + "异常===>>" + "写入失败,plc没有写入相应的值" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); responseData.result = "false"; responseData.msg = "写入异常===>>" + returnMsg; return responseData; } List CcsActionAddressChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.CHECK_PLC.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressChecks) { if (!string.IsNullOrEmpty(actionAddress.Address) && !string.IsNullOrEmpty(actionAddress.Value)) { string operateResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (actionAddress.CheckType ? operateResult != actionAddress.Value : operateResult == actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartCleanMachine + "异常===>>" + "启动条件不满足==地址：" + actionAddress.Address + "目标值：" + operateResult + "期望值：" + actionAddress.Value, EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); responseData.result = "false"; responseData.msg = "启动条件不满足==地址：" + actionAddress.Address + "目标值：" + operateResult + "期望值：" + actionAddress.Value; return responseData; } } } //二次写入地址列表 string log2 = "任务【" + req.taskNodeId + "】二次写入:"; List CcsActionAddressWriteSeconds = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SECOND.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWriteSeconds) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); } } else { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } } Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine) + "二次写入===>>" + log2 , EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); Thread.Sleep(5000); //清空 List CcsActionAddressDeclear = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SECOND.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressDeclear) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16("0")); Log.Instance.WriteLogAdd(ActionTypeEnum.StartCleanMachine + "写入正常===>>地址位清零" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); } } //查询回调表是否存在此数据（避免在数据重复下发时，产生多条回调数据） TaskCallback vo = new TaskCallback(null, ActionTypeEnum.StartCleanMachine.ToString(), null, req.taskId, req.taskNodeId); List taskCallbackList = await _taskCallbackService.GetListByCondition(vo); //插入回调 TaskCallback taskCallbackData = new TaskCallback(); if (taskCallbackList != null && taskCallbackList.Count > 0) { taskCallbackData = taskCallbackList[0]; taskCallbackData.State = true; } else { taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.StartCleanMachine.ToString(), EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine), req.taskId, req.taskNodeId); } await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine) + "启动成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); //s7.ConnectClose(); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.StartCleanMachine + "启动故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); responseData.result = "false"; return responseData; } } /// /// 读RFID /// public async Task ReadRFID(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device device = devices.Where(x => x.Ip.Equals(req.url) && x.Port.Equals(req.port)).FirstOrDefault(); if (device == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.ReadRFID + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ReadRFID)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.ReadRFID.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.ReadRFID + "读取RFID故障===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ReadRFID)); responseData.result = "false"; return responseData; } //查询写入地址列表 if (req.type == "AUTO") { } else { //校验 if(req.type == "FIVE") { string state = s7.ReadInt16("DB1.2100").Content.ToString(); if (!(state == "1" || state == "3" || state == "5")) { Log.Instance.WriteLogAdd(ActionTypeEnum.WriteRFID + "写RFID故障===>>" + "读写头未就绪" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); responseData.result = "false"; return responseData; } } } RFIData rFIData = new RFIData(); CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; //actionAddressQuery.Type = ActionAddressTypeEnum.WRITE.ToString(); List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //读启动 string typeReadStart = "TOOl_READ_" + req.type; List CcsActionAddressReadStart = CcsActionAddresses.Where(o => o.Type == typeReadStart + "_START").ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressReadStart) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } Thread.Sleep(1000); string type = "TOOl_READ_" + req.type; //查询写入地址列表 List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == type).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { string value = ""; if (actionAddress.dataType == "bytes") { byte[] bytes = s7.Read(actionAddress.Address, 19).Content; value = ToolUtils.ReturnStringByBytes(bytes); } else if (actionAddress.dataType == "int") { value = s7.ReadInt16(actionAddress.Address).Content.ToString(); } else if (actionAddress.dataType == "float") { value = s7.ReadFloat(actionAddress.Address).Content.ToString(); } else if (actionAddress.dataType == "byte") { value = s7.ReadByte(actionAddress.Address).Content.ToString(); } SetProperty(rFIData, actionAddress.Description, value); } //读归零 string typeReadZero = "TOOl_READ_" + req.type; List CcsActionAddressReadZero = CcsActionAddresses.Where(o => o.Type == typeReadStart + "_ZERO").ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressReadZero) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } /* List CcsActionAddressWriteChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_CHECK.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWriteChecks) { if (!string.IsNullOrEmpty(actionAddress.Address) && !string.IsNullOrEmpty(actionAddress.Value)) { string operateResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (operateResult != actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.ReadRFID + "异常===>>" + "写入失败" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ReadRFID)); responseData.result = "false"; return responseData; } } } //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.ReadRFID.ToString(), EnumHelper.GetDescription(ActionTypeEnum.ReadRFID), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine) + "读取RFID成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.ReadRFID)); return responseData;*/ s7.ConnectClose(); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.ReadRFID) + " 读取RFID成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.ReadRFID)); responseData.data = JsonConvert.SerializeObject(rFIData); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.ReadRFID + "读取RFID故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ReadRFID)); responseData.result = "false"; return responseData; } } /// /// 写RFID /// public async Task WriteRFID(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); List devices = _deviceService.GetDeviceList(); try { Device device = devices.Where(x => x.Ip.Equals(req.url) && x.Port.Equals(req.port)).FirstOrDefault(); if (device == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.WriteRFID + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); responseData.msg = "设备已离线"; responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.WriteRFID.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.WriteRFID + "写RFID故障===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //查询写入地址列表 if (req.type == "AUTO") { } else { if(req.type == "FIVE"){ //校验 string state = s7.ReadInt16("DB1.2100").Content.ToString(); if (!(state == "1" || state == "3" || state == "5")) { Log.Instance.WriteLogAdd(ActionTypeEnum.WriteRFID + "写RFID故障===>>" + "读写头未就绪" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); responseData.result = "false"; return responseData; } } } string type = "TOOl_WRITE_" + req.type; List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == type).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { if(actionAddress.dataType == "bytes") { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(dataValue, 19)); }else if(actionAddress.dataType == "int") { s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); }else if (actionAddress.dataType == "float") { s7.Write(actionAddress.Address, float.Parse(dataValue)); }else if (actionAddress.dataType == "byte") { s7.Write(actionAddress.Address, Convert.ToByte(dataValue)); } } } else { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } } //启动 List CcsActionAddressWriteStart = CcsActionAddresses.Where(o => o.Type == type+ "_START").ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWriteStart) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } Thread.Sleep(2000); //校验是否已写入RFID---读一下 CcsAction actionQueryRead = new CcsAction(); actionQueryRead.OperateType = ActionTypeEnum.ReadRFID.ToString(); actionQueryRead.Ip = req.url; CcsAction actionInfoRead = _ccsActionService.GetList(actionQueryRead).FirstOrDefault(); CcsActionAddress actionAddressQueryRead = new CcsActionAddress(); actionAddressQueryRead.ActionId = actionInfoRead.Id; List CcsActionAddressesRead = _ccsActionAddressService.GetList(actionAddressQueryRead); string typeReadStart = "TOOl_READ_" + req.type; List CcsActionAddressReadStart = CcsActionAddressesRead.Where(o => o.Type == typeReadStart+"_START").ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressReadStart) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } Thread.Sleep(1000); RFIData rFIData = new RFIData(); string typeRead = "TOOl_READ_" + req.type; //查询写入地址列表 List CcsActionAddressReads = CcsActionAddressesRead.Where(o => o.Type == typeRead).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressReads) { if (!string.IsNullOrEmpty(actionAddress.Address)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); //读取写入结果 string value = ""; if (actionAddress.dataType == "bytes") { byte[] bytes = s7.Read(actionAddress.Address, 19).Content; value = ToolUtils.ReturnStringByBytes(bytes); } else if (actionAddress.dataType == "int") { value = s7.ReadInt16(actionAddress.Address).Content.ToString(); } else if (actionAddress.dataType == "float") { value = s7.ReadFloat(actionAddress.Address).Content.ToString(); } else if (actionAddress.dataType == "byte") { value = s7.ReadByte(actionAddress.Address).Content.ToString(); } if (value != dataValue) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.WriteRFID + "异常===>>" + "写入失败:" + actionAddress.Description + "写入值【"+ dataValue + "】和读出值【"+ value + "】不一致" , EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); responseData.msg = "写入失败:" + actionAddress.Description + "写入值【" + dataValue + "】和读出值【" + value + "】不一致"; responseData.result = "false"; return responseData; } SetProperty(rFIData, actionAddress.Description, value); } } string typeReadZero = "TOOl_READ_" + req.type; List CcsActionAddressReadZero = CcsActionAddressesRead.Where(o => o.Type == typeReadStart + "_ZERO").ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressReadZero) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } s7.ConnectClose(); //插入回调 /*TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.WriteRFID.ToString(), EnumHelper.GetDescription(ActionTypeEnum.WriteRFID), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.WriteRFID) + "写RFID成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); return responseData;*/ Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.WriteRFID) + " 写RFID成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.WriteRFID + "写RFID故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.WriteRFID)); responseData.result = "false"; return responseData; } } /// /// 刀具接口列表 /// public async Task> GetTools(RequestToolData req) { List devices = _deviceService.GetDeviceList(); Device device = devices.Where(x => x.Ip.Equals(req.url) && x.Port.Equals(req.port)).FirstOrDefault(); List list = new List(); if(device.ProtocolType == ProtocalTypeEnum.MAZAK.ToString()) { RequestHeidhData hdhReq = new RequestHeidhData(); hdhReq.ServerUrl = device.ServerUrl; hdhReq.Type = "ToolList"; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, mazakUrlContext, hdhReq, null); if (Result.IsSuccess) { ResponseHeidhData responseData = JsonConvert.DeserializeObject(Result.Message); list = JsonConvert.DeserializeObject>(responseData.toolsInfo); } } return list; } /// /// 设备上线离线 /// public async Task UpdateDeviceState(RequestDeviceUpdateData req) { ResponseCommonData responseData = new ResponseCommonData(); List devices = _deviceService.GetDevices(); try { Device device = devices.Where(x => x.Ip == req.ip).FirstOrDefault(); if (device == null) { responseData.msg = "设备不存在"; responseData.result = "false"; return responseData; } device.UseState = req.useState; device.OfflineUpdateTime = DateTime.Now; await _deviceService.UpdateAndCache(device); return responseData; } catch (Exception ex) { responseData.msg = ex.Message; responseData.result = "false"; return responseData; } } /// /// 获取回调列表 /// public async Task> GetCallBackListByCondition(RequestCallBackData vo) { List list = new List(); try { TaskCallback taskCallback = new TaskCallback(); if (!string.IsNullOrEmpty(vo.IP)) { taskCallback.IP = vo.IP; } if (!string.IsNullOrEmpty(vo.TaskId)) { taskCallback.TaskId = vo.TaskId; } if (!string.IsNullOrEmpty(vo.TaskNodeId)) { taskCallback.TaskNodeId = vo.TaskNodeId; } list = await _taskCallbackService.GetListByCondition(taskCallback); } catch (Exception ex) { return list; } return list; } //设置回调值 private TaskCallback setCallBackValue(List CcsActionAddresses, TaskCallback taskCallbackData) { List CcsActionAddressCallBacks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.CALLBACK.ToString()).ToList(); List CcsActionAddressCallBackFails = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.CALLBACK_FAIL.ToString()).ToList(); List CcsActionAddressCallBackResets = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.RESET.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressCallBacks) { if (actionAddress.Sort == 1) { taskCallbackData.Address = actionAddress.Address; taskCallbackData.CallbackValue = actionAddress.Value; } else if (actionAddress.Sort == 2) { taskCallbackData.Address2 = actionAddress.Address; taskCallbackData.CallbackValue2 = actionAddress.Value; } else if (actionAddress.Sort == 3) { taskCallbackData.Address3 = actionAddress.Address; taskCallbackData.CallbackValue3 = actionAddress.Value; } } foreach (CcsActionAddress actionAddress in CcsActionAddressCallBackFails) { if (actionAddress.Sort == 1) { taskCallbackData.FailAddress = actionAddress.Address; taskCallbackData.CallbackFailValue = actionAddress.Value; } else if (actionAddress.Sort == 2) { taskCallbackData.FailAddress2 = actionAddress.Address; taskCallbackData.CallbackFailValue2 = actionAddress.Value; } else if (actionAddress.Sort == 3) { taskCallbackData.FailAddress3 = actionAddress.Address; taskCallbackData.CallbackFailValue3 = actionAddress.Value; } } foreach (CcsActionAddress actionAddress in CcsActionAddressCallBackResets) { if (actionAddress.Sort == 1) { taskCallbackData.SuccessResetAddress = actionAddress.Address; taskCallbackData.SuccessResetValue = actionAddress.Value; } else if (actionAddress.Sort == 2) { taskCallbackData.SuccessResetAddress2 = actionAddress.Address; taskCallbackData.SuccessResetValue2 = actionAddress.Value; } } return taskCallbackData; } public string getProperties(T t , string propertyName) { string tStr = string.Empty; if (t == null) { return tStr; } System.Reflection.PropertyInfo[] properties = t.GetType().GetProperties(System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.Public); if (properties.Length <= 0) { return tStr; } foreach (System.Reflection.PropertyInfo item in properties) { string name = item.Name; object value = item.GetValue(t, null); if ((item.PropertyType.IsValueType || item.PropertyType.Name.StartsWith("String")) && name == propertyName) { tStr = value.ToString(); break; } } return tStr; } public void SetProperty(T t, string propertyName, object value) { // 获取对象的类型 Type type = t.GetType(); // 获取指定名称的属性 PropertyInfo propertyInfo = type.GetProperty(propertyName); if (propertyInfo != null && propertyInfo.CanWrite) { // 设置属性值 propertyInfo.SetValue(t, value); } } /// /// 非任务上传文件 /// public async Task UploadFileWithOutTask(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device deviceMazak = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.MAZAK.ToString())).FirstOrDefault(); if (deviceMazak == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "上传异常===>>设备离线【" + req.url + "】"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartNCProgram.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.PlcIp); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "上传异常===>>PLC连接不上" + req.url; return responseData; } //判断是是否允许上传 if (ipDict.ContainsKey(req.url)) { string db = ipDict[req.url]; if (db != null) { string getResult = s7.ReadInt16(db).Content.ToString(); /*if (getResult == "0") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "url：" + req.url + "当前机床不在线【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "上传失败===>>url：" + req.url + "当前机床不在线【" + getResult + "】"; return responseData; }*/ if (getResult == "1") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "url：" + req.url + "当前机床正在加工【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "上传失败===>>url：" + req.url + "当前机床正在加工【" + getResult + "】"; return responseData; } } } //mazak系统上传 if (deviceMazak != null) { RequestOpcUaData deviceReq = new RequestOpcUaData(); deviceReq.ServerUrl = req.url; deviceReq.Path = req.data.fileName; deviceReq.Type = OpcUaActionTypeEnum.UploadNoSet.ToString(); deviceReq.deviceType = "Mazaka"; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, mazakUrlContext, deviceReq, null); ResponseOpcUaData responseOpcUaData = JsonConvert.DeserializeObject(Result.Message); if (!Result.IsSuccess || !responseOpcUaData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.msg = "上传失败===>>" + Result.Message + "===>>" + JsonConvert.SerializeObject(req); responseData.result = "false"; return responseData; } } return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "上传异常:" + ex.Message + "===>> " + JsonConvert.SerializeObject(req); return responseData; } } /// /// 非任务删除文件 /// public async Task DeleteFileWithOutTask(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device deviceMazak = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.MAZAK.ToString())).FirstOrDefault(); if (deviceMazak == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "删除异常===>>设备离线【" + req.url + "】"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartNCProgram.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.PlcIp); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "删除异常===>>PLC连接不上" + req.url; return responseData; } //判断是是否允许删除 if (ipDict.ContainsKey(req.url)) { string db = ipDict[req.url]; if (db != null) { string getResult = s7.ReadInt16(db).Content.ToString(); if (getResult == "0") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "url：" + req.url + "当前机床不在线【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "删除失败===>>url：" + req.url + "当前机床不在线【" + getResult + "】"; return responseData; } if (getResult == "1") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "异常===>>" + "url：" + req.url + "当前机床正在加工【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "上传失败===>>url：" + req.url + "当前机床正在加工【" + getResult + "】"; return responseData; } } } //mazak系统删除 if (deviceMazak != null) { RequestOpcUaData deviceReq = new RequestOpcUaData(); deviceReq.ServerUrl = req.url; deviceReq.Path = req.data.fileName; deviceReq.Type = OpcUaActionTypeEnum.DeleteNc.ToString(); deviceReq.deviceType = "Mazaka"; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, mazakUrlContext, deviceReq, null); ResponseOpcUaData responseOpcUaData = JsonConvert.DeserializeObject(Result.Message); if (!Result.IsSuccess || !responseOpcUaData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "删除异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.msg = "删除失败===>>" + Result.Message + "===>>" + JsonConvert.SerializeObject(req); responseData.result = "false"; return responseData; } } return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "删除异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; responseData.msg = "删除异常:" + ex.Message + "===>> " + JsonConvert.SerializeObject(req); return responseData; } } public async Task>> readPoint(RequestData req) { ResponseCCSData> responseData = new ResponseCCSData>(); List pointList = req.data.pointList; if (pointList == null || pointList.Count == 0) { responseData.result = "false"; responseData.msg = "参数点位集合为空"; return responseData; } SiemensS7Net s7 = DevicePlcS7.SiemensS7("10.161.30.248"); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); responseData.result = "false"; responseData.msg = "PLC连接不上"; return responseData; } List responseEcsPointList = new List(); foreach (string point in pointList) { ResponseEcsPoint responseEcsPoint = new ResponseEcsPoint(); string result = s7.ReadInt16(point).Content.ToString(); responseEcsPoint.point = point; responseEcsPoint.result = result; responseEcsPointList.Add(responseEcsPoint); } responseData.result = "true"; responseData.data = responseEcsPointList; return responseData; } public async Task writePoint(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); List pointList = req.data.pointList; if (pointList == null || pointList.Count == 0) { responseData.result = "false"; responseData.msg = "参数点位集合为空"; return responseData; } SiemensS7Net s7 = DevicePlcS7.SiemensS7("10.161.30.248"); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); responseData.result = "false"; responseData.msg = "PLC连接不上"; return responseData; } foreach (string point in pointList) { ResponseEcsPoint responseEcsPoint = new ResponseEcsPoint(); s7.Write(point, Convert.ToInt16("0")); } responseData.result = "true"; return responseData; } public async Task updateToolInfo(RequestData req) { string type = req.type; ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); SiemensS7Net s7 = DevicePlcS7.SiemensS7("10.161.30.248"); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); responseData.result = "false"; responseData.msg = "PLC连接不上"; return responseData; } //判断是是否已执行换刀小程序 if (type == "ONE") { //一号机床 } else if (type == "TWO") { //二号机床 } else if (type == "THREE") { //三号机床 } else if (type == "FOUR") { //四号机床 } else if (type == "FIVE") { //五号机床 string state = s7.ReadInt16("DB1.2110").Content.ToString(); if (state != "1") { responseData.result = "false"; responseData.msg = "机床五换刀小程序未执行"; return responseData; } } RequestBody deviceReq = new RequestBody(); deviceReq.serverUrl = req.url; deviceReq.type = OpcUaActionTypeEnum.DeleteOrSetTool.ToString(); deviceReq.deviceType = "Mazaka"; deviceReq.toolNo = req.toolNo; deviceReq.data = req.data; if(req.storgeFlag == "in") { deviceReq.value = "set"; }else if(req.storgeFlag == "out") { deviceReq.value = "delete"; } var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, mazakUrlContext, deviceReq, null); ResponseOpcUaData responseOpcUaData = JsonConvert.DeserializeObject(Result.Message); if (!responseOpcUaData.result || !responseOpcUaData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "更新刀库信息异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.msg = "更新刀库信息失败===>>" + Result.Message ; responseData.result = "false"; return responseData; } responseData.data = responseOpcUaData.toolsData; //清除手动换刀信息 if (type == "ONE") { //一号机床 } else if (type == "TWO") { //二号机床 } else if (type == "THREE") { //三号机床 } else if (type == "FOUR") { //四号机床 } else if (type == "FIVE") { //五号机床 //取放刀标识 s7.Write("DB2.3096", Convert.ToInt16("0")); } responseData.result = "true"; return responseData; } /// /// 写RFID /// public async Task WriteRFIDTemp(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); //刀具ID s7.Write("DB2.14", ToolUtils.ReturnBtyesWtitString("2754691583333295000", 19)); byte[] toolIdBt = s7.Read("DB2.14",19).Content; string toolId = ToolUtils.ReturnStringByBytes(toolIdBt); //刀柄ID s7.Write("DB2.54", ToolUtils.ReturnBtyesWtitString("1754691583333294081", 19)); byte[] toolHandleIdBt = s7.Read("DB2.54", 19).Content; string toolHandleId = ToolUtils.ReturnStringByBytes(toolHandleIdBt); //刀号 s7.Write("DB2.94", Convert.ToInt16("40")); string tno = s7.ReadInt16("DB2.94").Content.ToString(); //刀长 float len = float.Parse("153.26"); s7.Write("DB2.96", len); string length = s7.ReadFloat("DB2.96").Content.ToString(); //刀具名称 s7.Write("DB2.100", Convert.ToByte("10")); string name = s7.ReadByte("DB2.100").Content.ToString(); //公称径 float intll = float.Parse("0.21"); s7.Write("DB2.102", intll); string int0 = s7.ReadFloat("DB2.102").Content.ToString(); //刀具径刀尖角 float diametep = float.Parse("0.36"); s7.Write("DB2.106", diametep); string diameter = s7.ReadFloat("DB2.106").Content.ToString(); //刀具寿命 s7.Write("DB2.110", Convert.ToInt16("480")); string lifetime = s7.ReadInt16("DB2.110").Content.ToString(); //刀具次数 s7.Write("DB2.112", Convert.ToInt16("50")); string lifenumber = s7.ReadInt16("DB2.112").Content.ToString(); //刀具已使用寿命 s7.Write("DB2.114", Convert.ToInt16("360")); string usetime = s7.ReadInt16("DB2.114").Content.ToString(); //刀具已使用次数 s7.Write("DB2.116", Convert.ToInt16("20")); string usenumber = s7.ReadInt16("DB2.116").Content.ToString(); //组号 s7.Write("DB2.118", Convert.ToInt16("104")); string int1 = s7.ReadInt16("DB2.118").Content.ToString(); //磨损补偿 s7.Write("DB2.120", float.Parse("20.265")); string wearcompZ = s7.ReadFloat("DB2.120").Content.ToString(); //磨损极限 s7.Write("DB2.124", float.Parse("120.253")); string maxwearZ = s7.ReadFloat("DB2.124").Content.ToString(); //刀具补偿 s7.Write("DB2.128", float.Parse("40.23")); string angle = s7.ReadFloat("DB2.128").Content.ToString(); //最高转速 s7.Write("DB2.132", float.Parse("50000")); string easycompX = s7.ReadFloat("DB2.132").Content.ToString(); //径补偿量 s7.Write("DB2.136", float.Parse("200")); string easycompY = s7.ReadFloat("DB2.136").Content.ToString(); //长度补偿 s7.Write("DB2.140", float.Parse("15.289")); string conscompZ = s7.ReadFloat("DB2.140").Content.ToString(); //托盘 //托盘ID s7.Write("DB2.144", ToolUtils.ReturnBtyesWtitString("1778980910222282754", 19)); byte[] trayIdBt = s7.Read("DB2.144", 19).Content; string trayId = ToolUtils.ReturnStringByBytes(trayIdBt); //托盘类型 s7.Write("DB2.184", Convert.ToByte("1")); string type = s7.ReadByte("DB2.184").Content.ToString(); //零件状态 s7.Write("DB2.185", Convert.ToByte("3")); string state = s7.ReadByte("DB2.185").Content.ToString(); //零件ID s7.Write("DB2.186", ToolUtils.ReturnBtyesWtitString("1778980910222282755", 19)); byte[] itemIdBt = s7.Read("DB2.186", 19).Content; string itemId = ToolUtils.ReturnStringByBytes(itemIdBt); return responseData; } /// /// 手动换刀 /// public async Task HandleChangeTool(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); responseData.result = "false"; responseData.msg = "PLC连接不上"; return responseData; } HandleChangeTool handleChangeTool = req.data; if(handleChangeTool.location == "ONE") { //一号机床 }else if (handleChangeTool.location == "TWO") { //二号机床 } else if (handleChangeTool.location == "THREE") { //三号机床 } else if (handleChangeTool.location == "FOUR") { //四号机床 } else if (handleChangeTool.location == "FIVE") { //五号机床 //刀号 s7.Write("DB2.2968", Convert.ToInt16(handleChangeTool.tno)); //取放刀标识 s7.Write("DB2.3096", Convert.ToInt16(handleChangeTool.handleFlag)); } return responseData; } public async Task StorgeOut(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { //读取刀具信息 RequestBody deviceReq = new RequestBody(); deviceReq.serverUrl = req.url; deviceReq.type = OpcUaActionTypeEnum.ToolNoData.ToString(); deviceReq.deviceType = "Mazaka"; deviceReq.toolNo = req.toolNo; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, mazakUrlContext, deviceReq, null); ResponseOpcUaData responseOpcUaData = JsonConvert.DeserializeObject(Result.Message); if (!responseOpcUaData.result || responseOpcUaData.toolsData == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.ToolOut + "刀具手动出库==》获取刀具信息异常" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ToolOut)); responseData.msg = "获取刀具【" + req.toolNo + "】信息失败===>>" + Result.Message; responseData.result = "false"; return responseData; } ToolData toolData = JsonConvert.DeserializeObject(responseOpcUaData.toolsData); //更新RFID信息 RFIData rFIData = req.data; rFIData.length = toolData.lengthA + ""; rFIData.name = toolData.name + ""; rFIData.int0 = toolData.int0 + ""; rFIData.diameter = toolData.diameter + ""; rFIData.lifetime = toolData.lifetime + ""; rFIData.lifenumber = toolData.lifenumber + ""; rFIData.usetime = toolData.usetime + ""; rFIData.usenumber = toolData.usenumber + ""; rFIData.int1 = toolData.int1 + ""; rFIData.wearcompZ = toolData.wearcompZ + ""; rFIData.maxwearZ = toolData.maxwearZ + ""; rFIData.angle = toolData.angle + ""; rFIData.easycompX = toolData.easycompX + ""; rFIData.easycompY = toolData.easycompY + ""; rFIData.conscompZ = toolData.conscompZ + ""; RequestData rfidReq = new RequestData(); rfidReq.url = "10.161.30.248"; rfidReq.port = "102"; rfidReq.type = req.type; rfidReq.data = rFIData; Task rfidResult = this.WriteRFID(rfidReq); if (rfidResult.Result.result != "true") { Log.Instance.WriteLogAdd(ActionTypeEnum.ToolOut + "刀具出库==》写入RFID失败" + rfidResult.Result.msg + "=========" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ToolOut)); responseData.msg = "写入RFID失败===》" + rfidResult.Result.msg; responseData.result = "false"; return responseData; } responseData.data = JsonConvert.SerializeObject(rfidReq); //更新机床刀具库 RequestData toolOutReq = new RequestData(); toolOutReq.url = req.url; toolOutReq.port = req.port; toolOutReq.toolNo = req.toolNo; toolOutReq.storgeFlag = req.storgeFlag; toolOutReq.type = req.type; Task toolOutResult = this.updateToolInfo(toolOutReq); if (toolOutResult.Result.result != "true") { Log.Instance.WriteLogAdd(ActionTypeEnum.ToolOut + "刀具出库==》更新机床刀具库失败：" + toolOutResult.Result.msg + "=====" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ToolOut)); responseData.msg = "更新机床刀具库失败===》" + toolOutResult.Result.msg; responseData.result = "false"; return responseData; } } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.ToolOut + "刀具出库===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.ToolOut)); responseData.msg = "更新机床刀具库失败===》" + ex.Message; responseData.result = "false"; return responseData; } responseData.result = "true"; return responseData; } /// /// 手动处理机器人取放动作 /// public async Task HandRobotAction(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); Device device = devices.Where(x => x.Ip == req.url && x.Port == req.port).FirstOrDefault(); if (device == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = ActionTypeEnum.RobotAction + "设备已离线===>>" + req.url; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.RobotAction.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.Ip); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.msg = ActionTypeEnum.RobotAction + "异常===>>" + "PLC连接不上" + actionInfo.Ip; responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //查询条件 List CcsActionAddressChecks = new List(); CcsActionAddressChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.CHECK_PLC.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressChecks) { if (!string.IsNullOrEmpty(actionAddress.Address) && !string.IsNullOrEmpty(actionAddress.Value)) { string operateResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (actionAddress.CheckType ? operateResult != actionAddress.Value : operateResult == actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "条件不满足==地址：" + actionAddress.Address + "目标值：" + operateResult + "期望值：" + actionAddress.Value, EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = ActionTypeEnum.RobotAction + "异常===>>" + "条件不满足==地址：" + actionAddress.Address + "目标值：" + operateResult + "期望值：" + actionAddress.Value; return responseData; } } } //为装载站三色灯特殊判断 if (threeDengDict.ContainsKey(req.data.location)) { //取 string location = threeDengDict[req.data.location]; string getResult = s7.ReadInt16(location).Content.ToString(); //判断装载站是否允许取料 if (getResult != "9") { //判断装载站是否有料 if (getResult != "1" && getResult != "3") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,非有托盘状态" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,非有托盘状态"; s7.ConnectClose(); return responseData; } else { string postLocation = threeDengPostDict[req.data.location]; string postResult = s7.ReadInt16(postLocation).Content.ToString(); if (postResult == "8") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,等待允许取料中" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,等待允许取料中"; s7.ConnectClose(); return responseData; } //先请求取料 s7.Write(postLocation, Convert.ToInt16("8")); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,已请求取料" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】,已请求取料"; s7.ConnectClose(); return responseData; } } else if (getResult == "9") { //判断是否存在请求取料 string postLocation = threeDengPostDict[req.data.location]; string postResult = s7.ReadInt16(location).Content.ToString(); if (postResult == "9") { //消除请求 s7.Write(postLocation, Convert.ToInt16("0")); } } } else if (threeDengDict.ContainsKey(req.data.destLocation)) { //放 string destLocation = threeDengDict[req.data.destLocation]; string getResult = s7.ReadInt16(destLocation).Content.ToString(); //判断装载站是否允许放料 if (getResult != "16") { //判断装载站是否有料 if (getResult != "0" && getResult != "2") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】,非无托盘状态" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】,非无托盘状态"; s7.ConnectClose(); return responseData; } else { string postLocation = threeDengPostDict[req.data.destLocation]; string postResult = s7.ReadInt16(postLocation).Content.ToString(); if (postResult == "16") { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "放条件不满足【" + getResult + "】,等待允许放料中" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "放条件不满足【" + getResult + "】,等待允许放料中"; s7.ConnectClose(); return responseData; } //先请求放料 s7.Write(postLocation, Convert.ToInt16("16")); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】，已请求放料" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + getResult + "】，已请求放料"; s7.ConnectClose(); return responseData; } } else if (getResult == "16") { //判断是否存在请求取料 string postLocation = threeDengPostDict[req.data.destLocation]; string postResult = s7.ReadInt16(postLocation).Content.ToString(); if (postResult == "16") { //消除请求 s7.Write(postLocation, Convert.ToInt16("0")); } } } //判断取放地址是否满足条件 if (pointDict.ContainsKey(req.data.location)) { string location = pointDict[req.data.location]; //取 if (location != null) { string getResult = s7.ReadInt16(location).Content.ToString(); if (getResult != "9" && getResult != "8") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.location + "取条件不满足【" + getResult + "】"; return responseData; } } } if (pointDict.ContainsKey(req.data.destLocation)) { string destLocation = pointDict[req.data.destLocation]; //放 if (destLocation != null) { string putResult = s7.ReadInt16(destLocation).Content.ToString(); if (putResult != "16") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + putResult + "】" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "异常===>>" + "点位" + req.data.destLocation + "放条件不满足【" + putResult + "】"; return responseData; } } } string log = "任务【" + req.taskNodeId + "】写入:"; //查询写入地址列表 List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { //string operateResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); log = log + "地址:" + actionAddress.Address + "【" + dataValue + "】"; } } else { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); log = log + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; } //同步更新数据库状态 //CcsTagValue tagValueQuery = new CcsTagValue(); //tagValueQuery.Ip = req.url; //tagValueQuery.Address = actionAddress.Address; //CcsTagValue tagValue = _ccsTagValueService.GetList(tagValueQuery).ToList().FirstOrDefault(); //if(tagValue != null) //{ // tagValue.TagValue = actionAddress.Value; // await _ccsTagValueService.Update(tagValue); //} } } Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.RobotAction) + "===>>" + log , EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); Thread.Sleep(SLEEP_TIME); List CcsActionAddressWriteChecks = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_CHECK.ToString()).ToList(); bool checkFlag = true; string returnMsg = ""; foreach (CcsActionAddress actionAddress in CcsActionAddressWriteChecks) { if (!string.IsNullOrEmpty(actionAddress.Address)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); //读取写入结果 string readWriteResult = s7.ReadInt16(actionAddress.Address).Content.ToString(); if (dataValue != readWriteResult) { returnMsg = "地址位:" + actionAddress.Address + "写入值：" + dataValue + "读出值：" + readWriteResult; checkFlag = false; break; } } } //不通过不写执行 if (!checkFlag) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "异常===>>" + "写入失败,plc没有写入相应的值" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; responseData.msg = "写入异常===>>" + returnMsg; return responseData; } //二次写入地址列表 string log2 = "任务【" + req.taskNodeId + "】二次写入:"; List CcsActionAddressWriteSeconds = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SECOND.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWriteSeconds) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { //取参数传参值 string dataValue = getProperties(req.data, actionAddress.Description); if (!string.IsNullOrEmpty(dataValue)) { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(dataValue)); } } else { log2 = log2 + "地址:" + actionAddress.Address + "【" + actionAddress.Value + "】"; s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } Thread.Sleep(SLEEP_TIME); } } Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.RobotAction) + "二次写入===>>" + log2 , EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); s7.ConnectClose(); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.RobotAction + "取异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.RobotAction)); responseData.result = "false"; return responseData; } } } }