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 Newtonsoft.Json; 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.Text; 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 = 1000; string LocalPath = "D:\\PROG"; private string fanucUrlContext; private string opcuacUrlContext; private string hdhUrlContext; private string ftpUrlContext; private string ftpUserContext; private string ftpPwdContext; private string ecsRootUrlContext; // 科德httpserver接口地址 private string kedeContext; public IConfiguration Configuration { get; } private readonly IApiRequestService _apiRequestService; 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; fanucUrlContext = Configuration.GetConnectionString("fanucUrlContext"); opcuacUrlContext = Configuration.GetConnectionString("opcuacUrlContext"); hdhUrlContext = Configuration.GetConnectionString("hdhUrlContext"); ftpUrlContext = Configuration.GetConnectionString("FTPServer"); ftpUserContext = Configuration.GetConnectionString("FTPUser"); ftpPwdContext = Configuration.GetConnectionString("FTPPwd"); ecsRootUrlContext = Configuration.GetConnectionString("ecsRootUrlContext"); kedeContext = Configuration.GetConnectionString("kedeContext"); } /// /// 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; 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 == "HEIDEHAIN") { RequestHeidhData hdhReq = new RequestHeidhData(); hdhReq.ServerUrl = device.ServerUrl; hdhReq.MachineName = device.UserName; hdhReq.Type = "Collect"; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, hdhUrlContext, hdhReq, null); if (Result.IsSuccess) { ResponseHeidhData retData = JsonConvert.DeserializeObject(Result.Message); if (!string.IsNullOrEmpty(retData.runDatasInfo.Trim())) { 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 : "-"; } } } else if(null != device && equipmentMonitor.Type == "FANUC") { string Url = fanucUrlContext + "?ip=" + device.Ip + "&port=" + device.Port; //调用发那科接口 var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Get, Url + "&fun=All", null, null); if (Result.IsSuccess) { ResponseFanucData responseFanucData = JsonConvert.DeserializeObject(Result.Message); responseDigitalTwinsData.feedRate = !string.IsNullOrEmpty(responseFanucData.ActFeed)? responseFanucData.ActFeed:"0"; responseDigitalTwinsData.spindleMagnification = !string.IsNullOrEmpty(responseFanucData.SpindleMagnification)? responseFanucData.SpindleMagnification:"0"; responseDigitalTwinsData.spindleSpeed = !string.IsNullOrEmpty(responseFanucData.ActSpindle)? responseFanucData.ActSpindle : "0"; responseDigitalTwinsData.spindleLoad = !string.IsNullOrEmpty(responseFanucData.SpindleLoad)? responseFanucData.SpindleLoad : "-"; } } } return list; } /// /// 查询设备状态 /// public async Task> GetEquipMent() { return await _equipmentMonitorService.GetList(); } /// /// 智能单元取物品 /// public async Task GetIntelligenceUnit(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.GetIntelligenceUnit + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetIntelligenceUnit)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.GetIntelligenceUnit.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); Plc s7 = DevicePlcS7.S7(req.url, ProtocalTypeEnum.S7_1500.ToString()); if (s7.IsConnected != true) { Log.Instance.WriteLogAdd(ActionTypeEnum.GetIntelligenceUnit + "取物品异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetIntelligenceUnit)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = ((ushort)s7.Read(CheckAddress)).ConvertToShort(); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != actionAddress.Value) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.GetIntelligenceUnit + "取物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetIntelligenceUnit)); responseData.result = "false"; 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)) { string Address = ToolUtils.AddressConvertDBW(actionAddress.Address); s7.Write(Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } s7.Close(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.GetIntelligenceUnit.ToString(), EnumHelper.GetDescription(ActionTypeEnum.GetIntelligenceUnit), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.GetIntelligenceUnit) + "取物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.GetIntelligenceUnit)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.GetIntelligenceUnit + "取物品异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetIntelligenceUnit)); responseData.result = "false"; return responseData; } } /// /// 柔性线取物品 /// public async Task GetFlexibleWire(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.GetFlexibleWire + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetFlexibleWire)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.GetFlexibleWire.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); Plc s7 = DevicePlcS7.S7(req.url, ProtocalTypeEnum.S7_1500.ToString()); if (s7.IsConnected != true) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.GetFlexibleWire + "取物品异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetFlexibleWire)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = ((ushort)s7.Read(CheckAddress)).ConvertToShort(); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != actionAddress.Value) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.GetFlexibleWire + "取物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetFlexibleWire)); responseData.result = "false"; 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)) { string Address = ToolUtils.AddressConvertDBW(actionAddress.Address); s7.Write(Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } s7.Close(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.GetFlexibleWire.ToString(), EnumHelper.GetDescription(ActionTypeEnum.GetFlexibleWire), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.GetFlexibleWire) + "取物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.GetFlexibleWire)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.GetFlexibleWire + "取物品异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetFlexibleWire)); responseData.result = "false"; return responseData; } } /// /// 质量中心取物品 /// public async Task GetQualityCenter(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.GetQualityCenter + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter)); responseData.result = "false"; return responseData; } //移动取放条件 bool IsAllowFlag = await robotActionCondition(req.url, req.data.IsAllowFlag, ActionTypeEnum.GetQualityCenter.ToString()); if (!IsAllowFlag) { Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter) + "并发动作异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter)); responseData.result = "false"; responseData.concurrency = "true"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.GetQualityCenter.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); Plc s7 = DevicePlcS7.S7(req.url, ProtocalTypeEnum.S7_1500.ToString()); if (s7.IsConnected != true) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.GetQualityCenter + "取物品异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = ((ushort)s7.Read(CheckAddress)).ConvertToShort(); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != actionAddress.Value) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.GetQualityCenter + "取物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter)); responseData.result = "false"; 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)) { string Address = ToolUtils.AddressConvertDBW(actionAddress.Address); s7.Write(Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } s7.Close(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.GetQualityCenter.ToString(), EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter), req.taskId, req.taskNodeId); taskCallbackData = setCallBackValue(CcsActionAddresses, taskCallbackData); await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter) + "取物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.GetQualityCenter + "取物品异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetQualityCenter)); responseData.result = "false"; return responseData; } } /// /// 智能单元送物品 /// public async Task SendIntelligenceUnit(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.SendIntelligenceUnit + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendIntelligenceUnit)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.SendIntelligenceUnit.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); Plc s7 = DevicePlcS7.S7(req.url, ProtocalTypeEnum.S7_1500.ToString()); if (s7.IsConnected != true) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendIntelligenceUnit + "放物品异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendIntelligenceUnit)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = ((ushort)s7.Read(CheckAddress)).ConvertToShort(); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != actionAddress.Value) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendIntelligenceUnit + "取物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendIntelligenceUnit)); responseData.result = "false"; 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)) { string Address = ToolUtils.AddressConvertDBW(actionAddress.Address); s7.Write(Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } s7.Close(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.SendIntelligenceUnit.ToString(), EnumHelper.GetDescription(ActionTypeEnum.SendIntelligenceUnit), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.SendIntelligenceUnit) + "放物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.SendIntelligenceUnit)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendIntelligenceUnit + "放物品故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendIntelligenceUnit)); responseData.result = "false"; return responseData; } } /// /// 柔性线送物品 /// public async Task SendFlexibleWire(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.SendFlexibleWire + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendFlexibleWire)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.SendFlexibleWire.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); Plc s7 = DevicePlcS7.S7(req.url, ProtocalTypeEnum.S7_1500.ToString()); if (s7.IsConnected != true) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendFlexibleWire + "放物品异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendFlexibleWire)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = ((ushort)s7.Read(CheckAddress)).ConvertToShort(); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != actionAddress.Value) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendFlexibleWire + "取物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendFlexibleWire)); responseData.result = "false"; 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)) { string Address = ToolUtils.AddressConvertDBW(actionAddress.Address); s7.Write(Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } s7.Close(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.SendFlexibleWire.ToString(), EnumHelper.GetDescription(ActionTypeEnum.SendFlexibleWire), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.SendFlexibleWire) + "放物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.SendFlexibleWire)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendFlexibleWire + "放物品异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendFlexibleWire)); responseData.result = "false"; return responseData; } } /// /// 质量中心送物品 /// public async Task SendQualityCenter(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.SendQualityCenter + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter)); responseData.result = "false"; return responseData; } //移动取放条件 bool IsAllowFlag = await robotActionCondition(req.url, req.data.IsAllowFlag, ActionTypeEnum.SendQualityCenter.ToString()); if (!IsAllowFlag) { Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter) + "并发动作异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter)); responseData.result = "false"; responseData.concurrency = "true"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.SendQualityCenter.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); Plc s7 = DevicePlcS7.S7(req.url, ProtocalTypeEnum.S7_1500.ToString()); if (s7.IsConnected != true) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendQualityCenter + "放物品异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = ((ushort)s7.Read(CheckAddress)).ConvertToShort(); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != actionAddress.Value) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendQualityCenter + "放物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter)); responseData.result = "false"; return responseData; } } } //放入恒轮工位,作为启动 string currentWorkStation = ""; if (req.url == "192.168.11.150" && (req.data.Location == "127" || req.data.Location == "128")) { string workStationAddress = ToolUtils.AddressConvertDBW("DB200.332"); currentWorkStation = ((ushort)s7.Read(workStationAddress)).ConvertToShort().ToString(); //string currentWorkStation = s7.ReadInt16("DB200.332").Content.ToString(); //string writeValue = req.data.Location; //if (currentWorkStation == "1")//工作台1 //{ // writeValue = "128"; //} //else if (currentWorkStation == "2")//工作台2 //{ // writeValue = "127"; //} if (string.IsNullOrEmpty(req.data.fileName)) { s7.Close(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendQualityCenter + "放物品异常===>>" + "恒轮程序名为空" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter)); responseData.result = "false"; return responseData; } string proNo = Path.GetFileNameWithoutExtension(req.data.fileName); s7.Write(ToolUtils.AddressConvertDBW("DB200.334"), Convert.ToInt16(proNo)); Thread.Sleep(SLEEP_TIME); s7.Write(ToolUtils.AddressConvertDBW("DB200.46"), Convert.ToInt16(req.data.Location)); Thread.Sleep(SLEEP_TIME); s7.Write(ToolUtils.AddressConvertDBW("DB200.50"), Convert.ToInt16("4")); } else { List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { string Address = ToolUtils.AddressConvertDBW(actionAddress.Address); s7.Write(Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } } s7.Close(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.SendQualityCenter.ToString(), EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter), req.taskId, req.taskNodeId); taskCallbackData = setCallBackValue(CcsActionAddresses, taskCallbackData); //放入恒轮工位,作为启动 ,传递给后续启动 if (req.url == "192.168.11.150" && (req.data.Location == "127" || req.data.Location == "128")) { taskCallbackData.Data = currentWorkStation; taskCallbackData.Description = ProtocalTypeEnum.OPCUA.ToString(); } /*//清洗机启动时更新回调值 if(!string.IsNullOrEmpty(req.data.Location) && req.data.Location == "123") { taskCallbackData.Address = "DB200.48"; taskCallbackData.CallbackValue = "1"; }*/ await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter) + "放物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendQualityCenter + "放物品故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendQualityCenter)); responseData.result = "false"; return responseData; } } /// /// 柔性线机器人移动物品 /// public async Task MoveRobotPosition(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.MoveRobotPosition + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition)); responseData.result = "false"; return responseData; } //移动取放条件 bool IsAllowFlag = await robotActionCondition(req.url, req.data.IsAllowFlag, ActionTypeEnum.MoveRobotPosition.ToString()); if (!IsAllowFlag) { Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition) + "并发动作异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition)); responseData.result = "false"; responseData.concurrency = "true"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.MoveRobotPosition.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.MoveRobotPosition + "移动物品异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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)) { var operateResult = s7.ReadInt16(actionAddress.Address); if (actionAddress.CheckType ? operateResult.Content.ToString().Equals(actionAddress.Value) : operateResult.Content.ToString() != actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.MoveRobotPosition + "取物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition)); responseData.result = "false"; 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(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } s7.ConnectClose(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.MoveRobotPosition.ToString(), EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition) + "移动物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.MoveRobotPosition + "移动物品故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.MoveRobotPosition)); 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 deviceFtp = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.FTP.ToString())).FirstOrDefault(); Device deviceOpcUa = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.OPCUA.ToString())).FirstOrDefault(); Device deviceFanuc = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.FANUC.ToString())).FirstOrDefault(); Device deviceHeidenhain = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.HEIDEHAIN.ToString())).FirstOrDefault(); Device deviceKeDe = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.KEDE.ToString())).FirstOrDefault(); if (deviceOpcUa == null && deviceFanuc == null && deviceHeidenhain == null && deviceKeDe == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } //西门子系统上传 if (deviceOpcUa != null) { RequestOpcUaData opcUaReq = new RequestOpcUaData(); opcUaReq.ServerUrl = deviceOpcUa.ServerUrl; opcUaReq.UserName = deviceOpcUa.UserName; opcUaReq.Password = deviceOpcUa.Password; opcUaReq.Path = req.data.fileName; opcUaReq.Type = OpcUaActionTypeEnum.Upload.ToString(); var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, opcuacUrlContext, opcUaReq, 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.result = "false"; return responseData; } } else if (deviceFanuc != null) { Regex regex = new Regex(@"^(?([a-zA-Z]:\\)([\s\.\-\w]+\\)*)(?[\w]+)(?(\.[\w]+)*)(?\.[\w]+)"); Match result = regex.Match(req.data.fileName); string strResult = result.Success ? result.Result("${fname}") + result.Result("${suffix}"): req.data.fileName; string Url = fanucUrlContext + "?ip=" + deviceFanuc.Ip + "&port=" + deviceFanuc.Port + "&prgname=" + strResult; //调用发那科上传接口 var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Get, Url + "&fun=" + ActionTypeEnum.UploadFile.ToString(), null, null); if (!Result.IsSuccess) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常,scp连接失败," + Result.Message + "，" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } } else if(deviceHeidenhain != null) { //海德汉程序上传后,同时写入编号 if (string.IsNullOrEmpty(req.data.fileName)) { Log.Instance.WriteLogAdd("ECS编号传空不处理逻辑===>>" + req.data.fileName , EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); } else { if (deviceHeidenhain.Description.Contains("哈默")) { //写入程序编号 CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartNCProgram.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); //查询启动动作地址 CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.PlcIp); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "写入编号异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } //查询写入地址列表 List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); if (CcsActionAddressWrites.Count < 2) { s7.ConnectClose(); Log.Instance.WriteLogAdd("写入程序编号异常===>>" + "地址错误" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } string prgNo = !string.IsNullOrEmpty(req.data.fileName) ? System.IO.Path.GetFileNameWithoutExtension(req.data.fileName) : CcsActionAddressWrites[0].Value; s7.Write(CcsActionAddressWrites[0].Address, Convert.ToInt16(prgNo)); s7.ConnectClose(); Log.Instance.WriteLogAdd("写入编号成功===>>编号位:" + prgNo + ",写入地址==" + CcsActionAddressWrites[0].Address, EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); } else if (deviceHeidenhain.Description.Contains("德玛吉")) { RequestHeidhData hdhReq = new RequestHeidhData(); hdhReq.ServerUrl = deviceHeidenhain.ServerUrl; hdhReq.MachineName = deviceHeidenhain.UserName; hdhReq.Path = req.data.fileName; hdhReq.Type = OpcUaActionTypeEnum.Upload.ToString(); var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, hdhUrlContext, hdhReq, null); ResponseHeidhData responseHeidhData = JsonConvert.DeserializeObject(Result.Message); if (!Result.IsSuccess || !responseHeidhData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "预上传异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } } else if (deviceHeidenhain.Description.Contains("SMC")) { Console.WriteLine("SMC机床NC上传========"); RequestHeidhData hdhReq = new RequestHeidhData(); hdhReq.ServerUrl = deviceHeidenhain.ServerUrl; hdhReq.MachineName = deviceHeidenhain.UserName; hdhReq.Path = req.data.fileName; hdhReq.Type = OpcUaActionTypeEnum.Upload.ToString(); var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, hdhUrlContext, hdhReq, null); ResponseHeidhData responseHeidhData = JsonConvert.DeserializeObject(Result.Message); if (!Result.IsSuccess || !responseHeidhData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } } //return responseData; } } else if (deviceKeDe != null) { Console.WriteLine("==============科德机床上传程序并设置此程序为主程序================="); RequestKeDeData kedeReq = new RequestKeDeData(); kedeReq.serverUrl = deviceKeDe.ServerUrl; kedeReq.type = "2"; kedeReq.userName = deviceKeDe.UserName; kedeReq.password = deviceKeDe.Password; kedeReq.port = deviceKeDe.Port; kedeReq.localFilePath = req.data.fileName; kedeReq.remoteFilePath = req.data.remotePath; Console.WriteLine("nc上传请求地址{0},参数{1}", kedeContext, kedeReq); var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, kedeContext, kedeReq, 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.result = "false"; return responseData; } } //插入回调 TaskCallback 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; } } /// /// 预上传文件,不插入回调 /// public async Task PreUploadFile(RequestData req) { ResponseECSData responseData = new ResponseECSData(req.taskId, req.taskNodeId); try { List devices = _deviceService.GetDeviceList(); //Device deviceFtp = devices.Where(x => x.Ip.Equals(req.url) // && x.ProtocolType.Equals(ProtocalTypeEnum.FTP.ToString())).FirstOrDefault(); Device deviceOpcUa = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.OPCUA.ToString())).FirstOrDefault(); Device deviceFanuc = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.FANUC.ToString())).FirstOrDefault(); Device deviceHeidenhain = devices.Where(x => x.Ip.Equals(req.url) && x.ProtocolType.Equals(ProtocalTypeEnum.HEIDEHAIN.ToString())).FirstOrDefault(); if (deviceOpcUa == null && deviceFanuc == null && deviceHeidenhain == null) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } //西门子系统上传 if (deviceOpcUa != null) { RequestOpcUaData opcUaReq = new RequestOpcUaData(); opcUaReq.ServerUrl = deviceOpcUa.ServerUrl; opcUaReq.UserName = deviceOpcUa.UserName; opcUaReq.Password = deviceOpcUa.Password; opcUaReq.Path = req.data.fileName; opcUaReq.Type = OpcUaActionTypeEnum.Upload.ToString(); var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, opcuacUrlContext, opcUaReq, 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.result = "false"; return responseData; } } else if (deviceFanuc != null) { Regex regex = new Regex(@"^(?([a-zA-Z]:\\)([\s\.\-\w]+\\)*)(?[\w]+)(?(\.[\w]+)*)(?\.[\w]+)"); Match result = regex.Match(req.data.fileName); string strResult = result.Success ? result.Result("${fname}") + result.Result("${suffix}") : req.data.fileName; string Url = fanucUrlContext + "?ip=" + deviceFanuc.Ip + "&port=" + deviceFanuc.Port + "&prgname=" + strResult; //调用发那科上传接口 var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Get, Url + "&fun=" + ActionTypeEnum.UploadFile.ToString(), null, null); if (!Result.IsSuccess) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "上传异常,scp连接失败," + Result.Message + "，" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } } else if (deviceHeidenhain != null) { RequestHeidhData hdhReq = new RequestHeidhData(); hdhReq.ServerUrl = deviceHeidenhain.ServerUrl; hdhReq.MachineName = deviceHeidenhain.UserName; hdhReq.Path = req.data.fileName; hdhReq.Type = OpcUaActionTypeEnum.Upload.ToString(); var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, hdhUrlContext, hdhReq, null); ResponseHeidhData responseHeidhData = JsonConvert.DeserializeObject(Result.Message); if (!Result.IsSuccess || !responseHeidhData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "预上传异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); responseData.result = "false"; return responseData; } } Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "预上传成功===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.UploadFile)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.UploadFile + "预上传异常===>>" + 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"; 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); //opcua启动程序 if (actionInfo.ProtocolType == ProtocalTypeEnum.OPCUA.ToString()) { //插入回调 //获取启动前放的 工位 TaskCallback queryTaskCallBack = new TaskCallback(); queryTaskCallBack.IP = actionInfo.PlcIp; queryTaskCallBack.Description = ProtocalTypeEnum.OPCUA.ToString(); TaskCallback TaskBean = await _taskCallbackService.GetRobotSendAction(queryTaskCallBack); TaskCallback taskCallbackData = new TaskCallback(actionInfo.PlcIp, ActionTypeEnum.StartNCProgram.ToString(), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram), req.taskId, req.taskNodeId); taskCallbackData = setCallBackValue(CcsActionAddresses, taskCallbackData); taskCallbackData.Description = ProtocalTypeEnum.OPCUA.ToString(); if(TaskBean != null) { taskCallbackData.Data = TaskBean.Data; } else { Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "失败,上一放动作 没有工位信息===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); return responseData; } await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动成功===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); return responseData; } else if (actionInfo.ProtocolType == ProtocalTypeEnum.FANUC.ToString()) { string Url = fanucUrlContext + "?ip=" + device.Ip + "&port=" + device.Port; //调用发那科是否连接接口 var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Get, Url + "&fun=" + OpcUaActionTypeEnum.SelectNcProgram.ToString()+"&prgname=" + req.data.remotePath, null, null); if(!Result.IsSuccess || Result.Message != "0") { Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动程序异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } //Plc s7 = DevicePlcS7.S7(actionInfo.PlcIp, ProtocalTypeEnum.S7_1500.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"; return responseData; } /* if (s7.IsConnected != true) { s7.Close(); 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"; 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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = s7.ReadInt16(CheckAddress).Content.ToString(); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != 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"; 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)) { string Address = ToolUtils.AddressConvertDBW(actionAddress.Address); s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); Thread.Sleep(SLEEP_TIME); } } s7.ConnectClose(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(actionInfo.PlcIp, 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 if (actionInfo.ProtocolType == ProtocalTypeEnum.HEIDEHAIN.ToString() || actionInfo.ProtocolType == ProtocalTypeEnum.KEDE.ToString()) { //调用机器人plc启动海德汉程序 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"; 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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); string operateResult = s7.ReadInt16(CheckAddress).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"; return responseData; } } } if(device.Description.Contains("哈默")) { //查询写入地址列表 List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); if(CcsActionAddressWrites.Count < 2) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动程序异常===>>" + "地址错误" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } CcsActionAddress CcsActionAddressWriteCheck = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_CHECK.ToString()).FirstOrDefault(); string writeCheckResult = s7.ReadInt16(CcsActionAddressWriteCheck.Address).Content.ToString(); if(writeCheckResult == "0") { Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动程序异常===>>" + "程序编号没有应用" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } //写入海德汉启动信号 s7.Write(CcsActionAddressWrites[1].Address, Convert.ToInt16(CcsActionAddressWrites[1].Value) ); //重置清零 s7.Write(CcsActionAddressWrites[0].Address, Convert.ToInt16("0")); s7.Write(CcsActionAddressWriteCheck.Address, Convert.ToInt16("0")); }else if (device.Description.Contains("德玛吉")) { RequestHeidhData hdhReq = new RequestHeidhData(); hdhReq.ServerUrl = device.ServerUrl; hdhReq.MachineName = device.UserName; hdhReq.Path = req.data.remotePath; hdhReq.Type = OpcUaActionTypeEnum.StartNcProgram.ToString(); var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, hdhUrlContext, hdhReq, null); ResponseHeidhData responseHeidhData = JsonConvert.DeserializeObject(Result.Message); if (!Result.IsSuccess || !responseHeidhData.result) { Log.Instance.WriteLogAdd(ActionTypeEnum.StartNCProgram + "启动异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } }else if (device.Description.Contains("科德")) { CcsActionAddress CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList().FirstOrDefault(); s7.Write(CcsActionAddressWrites.Address, Convert.ToInt16(CcsActionAddressWrites.Value)); } s7.ConnectClose(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(actionInfo.PlcIp, 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; } } /// /// 恒轮机床空闲标志 /// public async Task hellerFreeStatus(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"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartNCProgram.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); //恒轮设备 对应plc ip SiemensS7Net s7 = DevicePlcS7.SiemensS7(actionInfo.PlcIp); OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd("查询恒轮是否空闲异常===>PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } string status = s7.ReadInt16("DB200.336").Content.ToString(); //是否有料 string currentWorkStation = s7.ReadInt16("DB200.332").Content.ToString();//当前工位 responseData.data = currentWorkStation; if (status == "1")//状态1 有料 { Log.Instance.WriteLogAdd("查询恒轮当前外面工作台有料===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } else if(status == "2")//状态2 无料 { Log.Instance.WriteLogAdd("查询恒轮当前外面工作台无料===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "true"; } s7.ConnectClose(); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd("查询恒轮是否程序异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram)); responseData.result = "false"; return responseData; } } /// /// 粗偏写入 /// public async Task SendLinShift(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.SendLinShift + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShift)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.SendLinShift.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); DeviceOPCUat opcUa = new DeviceOPCUat(device.ServerUrl, device.UserName, device.Password); Thread.Sleep(500); if (opcUa.IsConnection) { List Tags = new List(); string TagName = "";// actionInfo.Address; string OpcTagNameX = TagName + "01]"; Tags.Add(OpcTagNameX); string OpcTagNameY = TagName + "02]"; Tags.Add(OpcTagNameY); string OpcTagNameZ = TagName + "03]"; Tags.Add(OpcTagNameZ); string OpcTagNameA = TagName + "04]"; Tags.Add(OpcTagNameA); string OpcTagNameB = TagName + "05]"; Tags.Add(OpcTagNameB); List values = new List(); values.Add(req.data.X); values.Add(req.data.Y); values.Add(req.data.Z); values.Add(req.data.A); values.Add(req.data.B); opcUa.OpcUa_WriteValue(values, Tags); opcUa.disConnect(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.SendLinShift.ToString(), EnumHelper.GetDescription(ActionTypeEnum.SendLinShift), req.taskId, req.taskNodeId); Log.Instance.WriteLogAdd(ActionTypeEnum.SendLinShift + "粗偏写入成功===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShift)); return responseData; } else { Log.Instance.WriteLogAdd(ActionTypeEnum.SendLinShift + "粗偏写入异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShift)); responseData.result = "false"; return responseData; } } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendLinShift + "粗偏写入异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShift)); responseData.result = "false"; return responseData; } } /// /// 精偏写入 /// public async Task SendLinShiftFine(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.SendLinShiftFine + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShiftFine)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.SendLinShiftFine.ToString(); actionQuery.Ip = req.url; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); DeviceOPCUat opcUa = new DeviceOPCUat(device.ServerUrl, device.UserName, device.Password); Thread.Sleep(500); if (opcUa.IsConnection) { List Tags = new List(); string TagName = "";// actionInfo.Address; string OpcTagNameX = TagName + "06]"; Tags.Add(OpcTagNameX); string OpcTagNameY = TagName + "07]"; Tags.Add(OpcTagNameY); string OpcTagNameZ = TagName + "08]"; Tags.Add(OpcTagNameZ); string OpcTagNameA = TagName + "09]"; Tags.Add(OpcTagNameA); string OpcTagNameB = TagName + "10]"; Tags.Add(OpcTagNameB); Tags.Add(OpcTagNameB); List values = new List(); values.Add(req.data.X); values.Add(req.data.Y); values.Add(req.data.Z); values.Add(req.data.A); values.Add(req.data.B); opcUa.OpcUa_WriteValue(values, Tags); opcUa.disConnect(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.SendLinShift.ToString(), EnumHelper.GetDescription(ActionTypeEnum.SendLinShiftFine), req.taskId, req.taskNodeId); Log.Instance.WriteLogAdd(ActionTypeEnum.SendLinShiftFine + "精偏写入成功===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShiftFine)); return responseData; } else { Log.Instance.WriteLogAdd(ActionTypeEnum.SendLinShiftFine + "精偏写入异常===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShiftFine)); responseData.result = "false"; return responseData; } } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendLinShiftFine + "精偏写入异常===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendLinShiftFine)); responseData.result = "false"; return responseData; } } /// /// 启动清洗机 /// 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"; 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"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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 CheckAddress = ToolUtils.AddressConvertDBW(actionAddress.Address); var operateResult = s7.ReadBool(CheckAddress); if (actionAddress.CheckType ? operateResult.ToString().Equals(actionAddress.Value) : operateResult.ToString() != actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartCleanMachine + "启动异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartCleanMachine)); responseData.result = "false"; 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)); Thread.Sleep(200); } }*/ s7.ConnectClose(); //插入回调 TaskCallback 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)); 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; } } /// /// 启动打标机 /// public async Task StartLabelMachine(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.StartLabelMachine + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartLabelMachine)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartLabelMachine.ToString(); actionQuery.Ip = req.url; List actions = _ccsActionService.GetList(actionQuery); CcsAction actionInfo = actions[0]; string TypeNo = string.IsNullOrEmpty(req.data.TypeNo) ? "C" : req.data.TypeNo; //string SmallTypeNo = string.IsNullOrEmpty(req.data.SmallTypeNo) ? "1" : req.data.SmallTypeNo; //string SmallTypeNo = string.IsNullOrEmpty(req.data.SmallTypeNo) ? "1" : req.data.SmallTypeNo; byte SmallTypeNo = req.data.SmallTypeNo; string OrderNo = req.data.OrderNo; string TaskNo = req.data.TaskNo; string ProductNo = req.data.TaskNo; string BatchNo = req.data.BatchNo; string SerialNo = string.IsNullOrEmpty(req.data.SerialNo) ? "4" : req.data.SerialNo; SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.StartLabelMachine + "启动打标机异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartLabelMachine)); 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 List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (actionAddress.Sort == 1) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(TypeNo)); }else if (actionAddress.Sort == 2) { //byte writeSmallTypeNo = 0; //foreach (byte smallTypeNoByte in SmallTypeNoBytes) //{ // writeSmallTypeNo += smallTypeNoByte; //} s7.Write(actionAddress.Address, SmallTypeNo); //s7.Write(actionAddress.Address, int.Parse(SmallTypeNo)); } else if (actionAddress.Sort == 3) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(OrderNo, 128)); } else if (actionAddress.Sort == 4) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(TaskNo, 128)); } else if (actionAddress.Sort == 5) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(ProductNo, 128)); } else if (actionAddress.Sort == 6) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(BatchNo, 32)); } else if (actionAddress.Sort == 7) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(SerialNo, 100)); } else if (actionAddress.Sort == 8 || actionAddress.Sort == 9) { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } Thread.Sleep(100); } } s7.ConnectClose(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.StartLabelMachine.ToString(), EnumHelper.GetDescription(ActionTypeEnum.StartLabelMachine), req.taskId, req.taskNodeId); await _taskCallbackService.CreateOrUpdateAndCache(setCallBackValue(CcsActionAddresses, taskCallbackData)); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.StartLabelMachine) + "启动打标机成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.StartLabelMachine)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.StartLabelMachine + "启动打标机故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.StartLabelMachine)); responseData.result = "false"; return responseData; } } /// /// 查询三坐标检测空闲位置 /// public async Task QueryThreeCoordinatesFreePos(RequestToolData req) { ResponseECSData responseData = new ResponseECSData("", ""); 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.QueryThreeCoordinatesFreePos + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.QueryThreeCoordinatesFreePos)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.QueryThreeCoordinatesFreePos.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.QueryThreeCoordinatesFreePos + "查询三坐标检测空闲位置===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.QueryThreeCoordinatesFreePos)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //初始化为false,否则返回点位 responseData.result = "false"; //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)) { var operateResult = s7.ReadInt16(actionAddress.Address); if (operateResult.Content.ToString() == actionAddress.Value ) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.QueryThreeCoordinatesFreePos + "三坐标检测空闲位置===>>"+ actionAddress.Address + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.QueryThreeCoordinatesFreePos)); responseData.result = Enum.GetName(typeof(ThreeCoordinatesPosEnum), actionAddress.Sort); //actionAddress.Address; return responseData; } } } s7.ConnectClose(); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.QueryThreeCoordinatesFreePos + "查询三坐标检测空闲位置===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.QueryThreeCoordinatesFreePos)); responseData.result = "false"; return responseData; } } /// /// 三坐标中间位是否可取 /// public async Task GetMiddleThreeCoordinates(RequestToolData req) { ResponseECSData responseData = new ResponseECSData("", ""); 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.SendThreeCoordinates + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendThreeCoordinates + "三坐标中间位是否可取===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } var operateResult = s7.ReadInt16("DB200.10"); if (operateResult.Content.ToString() != "1") { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendThreeCoordinates + "三坐标中间位不可取===>>" + operateResult.Content.ToString() + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } s7.ConnectClose(); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendThreeCoordinates + "三坐标中间位===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } } /// /// 三坐标中间位工件ID /// public async Task GetMiddleWorkIdThreeCoordinates(RequestToolData req) { ResponseECSData responseData = new ResponseECSData("", ""); 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.SendThreeCoordinates + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendThreeCoordinates + "三坐标中间位工件Id===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } var workIdResult = s7.Read(EnumHelper.GetDescription(ThreeCoordinatesFinishedWrokIdEnum.M), 40); Log.Instance.WriteLogAdd(ActionTypeEnum.SendThreeCoordinates + "三坐标中间位工件Id===>>" + ToolUtils.ReturnStringByBytes(workIdResult.Content) + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = ToolUtils.ReturnStringByBytes(workIdResult.Content); s7.ConnectClose(); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendThreeCoordinates + "三坐标中间位工件Id===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } } /// /// 放三坐标滑台 /// public async Task SendThreeCoordinates(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.SendThreeCoordinates + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.SendThreeCoordinates.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.SendThreeCoordinates + "启动三坐标异常===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); string stationId = string.IsNullOrEmpty(req.data.stationId) ? "M" : req.data.stationId; //int key = 0; //if(stationId == "L") //{ // key = (int)ThreeCoordinatesPosEnum.L; //} //else if (stationId == "M") //{ // key = (int)ThreeCoordinatesPosEnum.M; //} //else if (stationId == "R") //{ // key = (int)ThreeCoordinatesPosEnum.R; //} //根据sort顺序,查询左中右空闲位置,写入地址列表 //List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString() && o.Sort == key).ToList(); //foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) //{ // if (!string.IsNullOrEmpty(actionAddress.Address)) // { // if(actionAddress.Value == "workProgramName") // { // s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(req.data.workProgramName, 40)); // } // else if (actionAddress.Value == "workId") // { // s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(req.data.workId, 60)); // } // else if (actionAddress.Value == "procedureNo") // { // s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(req.data.procedureNo, 40)); // } // Thread.Sleep(100); // } //} ////查询写入地址列表 //List CcsActionAddressWriteSends = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SEND.ToString()).OrderBy(o=>o.Sort).ToList(); //foreach (CcsActionAddress actionAddress in CcsActionAddressWriteSends) //{ // if (!string.IsNullOrEmpty(actionAddress.Address)) // { // s7.Write(actionAddress.Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); // Thread.Sleep(SLEEP_TIME); // } //} Thread.Sleep(SLEEP_TIME); s7.ConnectClose(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.SendThreeCoordinates.ToString(), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates), req.taskId, req.taskNodeId); taskCallbackData = setCallBackValue(CcsActionAddresses, taskCallbackData); taskCallbackData.Description = stationId; taskCallbackData.CallbackFailValue3 = req.data.workId; await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates) + "放测量三坐标成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendThreeCoordinates + "放测量三坐标故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendThreeCoordinates)); responseData.result = "false"; return responseData; } } /// /// 伺服舵机取物品 /// public async Task GetServoStacker(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.GetServoStacker + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetServoStacker)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.GetServoStacker.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.GetServoStacker + "取物品故障===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetServoStacker)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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)) { var operateResult = s7.ReadInt16(actionAddress.Address); if (actionAddress.CheckType ? (operateResult.Content.ToString() == actionAddress.Value) : operateResult.Content.ToString() != actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.GetServoStacker + "取物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetServoStacker)); responseData.result = "false"; return responseData; } } } //查询写入地址列表 List CcsActionAddressWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString()).ToList(); if (req.data.Location == "373") { s7.Write("DB200.46", Convert.ToInt16("373")); s7.Write("DB200.48", Convert.ToInt16("16")); Thread.Sleep(SLEEP_TIME); s7.Write("DB200.50", Convert.ToInt16("1")); } else { //非打标机取动作操作取 if (string.IsNullOrEmpty(req.data.Location) || req.data.Location != "370") { foreach (CcsActionAddress actionAddress in CcsActionAddressWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (actionAddress.Sort != 3) { s7.Write(actionAddress.Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); } else if (actionAddress.Sort == 3 && !string.IsNullOrEmpty(req.data.DestLocation)) { s7.Write(actionAddress.Address, Convert.ToInt16(req.data.DestLocation)); } Thread.Sleep(SLEEP_TIME); } } } } s7.ConnectClose(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.GetServoStacker.ToString(), EnumHelper.GetDescription(ActionTypeEnum.GetServoStacker), req.taskId, req.taskNodeId); taskCallbackData = setCallBackValue(CcsActionAddresses, taskCallbackData); //当是打标机取操作,插入回调打标机取标志 if (!string.IsNullOrEmpty(req.data.Location) && req.data.Location == "370") { taskCallbackData.Description = req.data.Location; } await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.GetServoStacker) + "取物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.GetServoStacker)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.GetServoStacker + "取物品故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.GetServoStacker)); responseData.result = "false"; return responseData; } } /// /// 伺服舵机放物品 /// public async Task SendServoStacker(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.SendServoStacker + "设备已离线===>>" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendServoStacker)); responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.SendServoStacker.ToString(); actionQuery.Ip = req.url; List actions = _ccsActionService.GetList(actionQuery); CcsAction actionInfo = actions[0]; SiemensS7Net s7 = DevicePlcS7.SiemensS7(req.url); HslCommunication.OperateResult ConnectionResult = s7.ConnectServer(); if (!ConnectionResult.IsSuccess) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendServoStacker + "放物品故障===>>" + "PLC连接不上" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendServoStacker)); responseData.result = "false"; return responseData; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); List CcsActionAddresses = new List(); //保障中心 放三坐标 if (!string.IsNullOrEmpty(req.data.Location) && req.data.Location == "373" && req.url == "192.168.11.130") { //强制三坐标动作ID actionAddressQuery.ActionId = 47; CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); string stationId = req.data.stationId; int key = 0; if (stationId == "L") { key = (int)ThreeCoordinatesPosEnum.L; } else if (stationId == "M") { key = (int)ThreeCoordinatesPosEnum.M; } else if (stationId == "R") { key = (int)ThreeCoordinatesPosEnum.R; } //根据sort顺序,查询左中右空闲位置,写入地址列表 List CcsActionAddressThreeCoordinatesWrites = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE.ToString() && o.Sort == key).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressThreeCoordinatesWrites) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (actionAddress.Value == "workProgramName") { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(req.data.workProgramName, 40)); } else if (actionAddress.Value == "workId") { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(req.data.workId, 40)); } else if (actionAddress.Value == "procedureNo") { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(req.data.procedureNo, 40)); } Thread.Sleep(100); } } //查询写入地址列表 List CcsActionAddressWriteSends = CcsActionAddresses.Where(o => o.Type == ActionAddressTypeEnum.WRITE_SEND.ToString()).OrderBy(o => o.Sort).ToList(); foreach (CcsActionAddress actionAddress in CcsActionAddressWriteSends) { if (!string.IsNullOrEmpty(actionAddress.Address)) { s7.Write(actionAddress.Address, Convert.ToInt16(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); Thread.Sleep(SLEEP_TIME); } } } else { actionAddressQuery.ActionId = actionInfo.Id; CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); //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)) { var operateResult = s7.ReadInt16(actionAddress.Address); if (actionAddress.CheckType ? (operateResult.Content.ToString() == actionAddress.Value) : operateResult.Content.ToString() != actionAddress.Value) { s7.ConnectClose(); Log.Instance.WriteLogAdd(ActionTypeEnum.SendServoStacker + "放物品异常===>>" + "条件不满足" + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendServoStacker)); responseData.result = "false"; 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(string.IsNullOrEmpty(actionAddress.Value) ? req.data.Location : actionAddress.Value)); ; Thread.Sleep(SLEEP_TIME); } } } s7.ConnectClose(); //插入回调 TaskCallback taskCallbackData = new TaskCallback(req.url, ActionTypeEnum.SendServoStacker.ToString(), EnumHelper.GetDescription(ActionTypeEnum.SendServoStacker), req.taskId, req.taskNodeId); taskCallbackData = setCallBackValue(CcsActionAddresses, taskCallbackData); if(!string.IsNullOrEmpty(req.data.Location) && req.data.Location == "373") { taskCallbackData.Description = req.data.stationId; } await _taskCallbackService.CreateOrUpdateAndCache(taskCallbackData); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.SendServoStacker) + "放物品成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.SendServoStacker)); return responseData; } catch (Exception ex) { Log.Instance.WriteLogAdd(ActionTypeEnum.SendServoStacker + "放物品故障===>>" + ex.Message + JsonConvert.SerializeObject(req), EnumHelper.GetDescription(ActionTypeEnum.SendServoStacker)); 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.OPCUA.ToString()) { CcsTagValue tagValueQuery = new CcsTagValue(); tagValueQuery.Ip = req.url; tagValueQuery.Component = "刀具"; List tagValues = _ccsTagValueService.GetList(tagValueQuery); List toolNumberList = tagValues.GroupBy(x => x.ComponentNumber) .Select(group => new CcsTagValue { ComponentNumber = group.Key }).ToList(); foreach (CcsTagValue toolNumber in toolNumberList) { ResponseToolData toolData = new ResponseToolData(); foreach (CcsTagValue tagValue in tagValues) { if (toolNumber.ComponentNumber == tagValue.ComponentNumber) { toolData.number = toolNumber.ComponentNumber; if (tagValue.Description == "刀具寿命预警") { toolData.warnLife = tagValue.TagValue; } else if (tagValue.Description == "刀具寿命目标值") { toolData.targetLife = tagValue.TagValue; } else if (tagValue.Description == "工件数") { toolData.workPiece = tagValue.TagValue; } else if (tagValue.Description == "工件数预警值") { toolData.workPieceWarn = tagValue.TagValue; } else if (tagValue.Description == "工件数目标值") { toolData.workPieceTarget = tagValue.TagValue; } else if (tagValue.Description == "磨损量") { toolData.wear = tagValue.TagValue; } else if (tagValue.Description == "磨损量预警值") { toolData.wearWarn = tagValue.TagValue; } else if (tagValue.Description == "磨损量目标值") { toolData.wearTarget = tagValue.TagValue; } else if (tagValue.Description == "刀具名称") { toolData.name = tagValue.TagValue; } } } list.Add(toolData); } } else if (device.ProtocolType == ProtocalTypeEnum.FANUC.ToString()) { string Url = fanucUrlContext + "?ip=" + device.Ip + "&port=" + device.Port; //调用发那科接口 var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Get, Url + "&fun=ToolList", null, null); if (Result.IsSuccess) { List responseFanucData = JsonConvert.DeserializeObject>(Result.Message); //list = JsonConvert.DeserializeObject>(Result.Message.ToolLife); //list = JsonConvert.DeserializeObject>(responseFanucData.ToolLife); list = responseFanucData; } }else if(device.ProtocolType == ProtocalTypeEnum.HEIDEHAIN.ToString()) { RequestHeidhData hdhReq = new RequestHeidhData(); hdhReq.ServerUrl = device.ServerUrl; hdhReq.MachineName = device.UserName; hdhReq.Type = "ToolList"; var Result = await _apiRequestService.RequestAsync(RequsetModeEnum.Post, hdhUrlContext, hdhReq, null); if (Result.IsSuccess) { ResponseHeidhData responseData = JsonConvert.DeserializeObject(Result.Message); list = JsonConvert.DeserializeObject>(responseData.toolsInfo); } } return list; } /// /// 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; } CcsActionAddress actionAddressQuery = new CcsActionAddress(); actionAddressQuery.ActionId = actionInfo.Id; actionAddressQuery.Type = ActionAddressTypeEnum.WRITE.ToString() + req.data.positionIndex; //根据positionIndex确认哪个工作台 List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); foreach (CcsActionAddress actionAddress in CcsActionAddresses) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { var resultBytes = s7.Read(actionAddress.Address, 360); responseData.result = ToolUtils.ReturnStringByBytes(resultBytes.Content); req.data.content = responseData.result; } else { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } } } s7.ConnectClose(); Log.Instance.WriteLogAdd(EnumHelper.GetDescription(ActionTypeEnum.ReadRFID) + " 读取RFID成功===>>" + JsonConvert.SerializeObject(req) , EnumHelper.GetDescription(ActionTypeEnum.ReadRFID)); 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.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; actionAddressQuery.Type = ActionAddressTypeEnum.WRITE.ToString() + req.data.positionIndex; //根据positionIndex确认哪个工作台 List CcsActionAddresses = _ccsActionAddressService.GetList(actionAddressQuery); foreach (CcsActionAddress actionAddress in CcsActionAddresses) { if (!string.IsNullOrEmpty(actionAddress.Address)) { if (string.IsNullOrEmpty(actionAddress.Value)) { s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString("", 360)); Thread.Sleep(100); s7.Write(actionAddress.Address, ToolUtils.ReturnBtyesWtitString(req.data.content, 360)); //var resultBytes = s7.Read("DB200.868", 40); //Console.WriteLine(ToolUtils.ReturnStringByBytes(resultBytes.Content)); } else { s7.Write(actionAddress.Address, Convert.ToInt16(actionAddress.Value)); } Thread.Sleep(SLEEP_TIME); } } s7.ConnectClose(); 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; } } /// /// 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; } if (!string.IsNullOrEmpty(vo.State)) { taskCallback.State = vo.State.Equals("1")? true:false; } list = await _taskCallbackService.GetListByCondition(taskCallback); } catch (Exception ex) { return list; } return list; } /// /// 更新复位回调状态 /// public async Task UpdateReCallState(RequestCallBackData vo) { ResponseCommonData responseData = new ResponseCommonData(); try { List list = await this.GetCallBackListByCondition(vo); if (list.Count == 0) { responseData.msg = "回调数据不存在"; responseData.result = "false"; return responseData; } TaskCallback reCallCallback = list.Last(); reCallCallback.State = true; await _taskCallbackService.CreateOrUpdateAndCache(reCallCallback); } catch (Exception ex) { responseData.msg = ex.Message; responseData.result = "false"; return responseData; } return responseData; } /// /// 获取回调列表 /// public async Task AddMachineCallback(RequestCallBackData vo) { List list = new List(); ResponseCommonData responseData = new ResponseCommonData(); 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); if (list.Count > 0) { responseData.msg = "回调已存在"; responseData.result = "false"; return responseData; } CcsAction actionQuery = new CcsAction(); actionQuery.OperateType = ActionTypeEnum.StartNCProgram.ToString(); actionQuery.Ip = vo.IP; CcsAction actionInfo = _ccsActionService.GetList(actionQuery).FirstOrDefault(); CcsActionAddress ccsActionAddressQuery = new CcsActionAddress(); ccsActionAddressQuery.ActionId = actionInfo.Id; ccsActionAddressQuery.Type = "CALLBACK"; CcsActionAddress ccsActionAddress = _ccsActionAddressService.GetList(ccsActionAddressQuery).FirstOrDefault(); TaskCallback machineCallback = new TaskCallback(actionInfo.PlcIp, ActionTypeEnum.StartNCProgram.ToString(), EnumHelper.GetDescription(ActionTypeEnum.StartNCProgram), vo.TaskId, vo.TaskNodeId); machineCallback.Address = ccsActionAddress.Address; machineCallback.State = true; machineCallback.CallbackValue = "1"; await _taskCallbackService.CreateOrUpdateAndCache(machineCallback); } catch (Exception ex) { responseData.msg = ex.Message; responseData.result = "false"; return responseData; } return responseData; } //移动取放 条件限制 private async Task robotActionCondition(string ip ,string isAllowFlag,string currentAction) { //isAllowFlag 不传或为1时限制条件 if (string.IsNullOrEmpty(isAllowFlag) || isAllowFlag == "1") { //查询当前执行过的任务 TaskCallback queryTaskCallback = new TaskCallback(); queryTaskCallback.IP = ip; TaskCallback taskCallBack = await _taskCallbackService.GetRobotActionList(queryTaskCallback); if(taskCallBack != null) { if (taskCallBack.State || (currentAction == ActionTypeEnum.MoveRobotPosition.ToString() && taskCallBack.OperateType != ActionTypeEnum.SendQualityCenter.ToString()) || (currentAction == ActionTypeEnum.GetQualityCenter.ToString() && taskCallBack.OperateType != ActionTypeEnum.MoveRobotPosition.ToString()) || (currentAction == ActionTypeEnum.SendQualityCenter.ToString() && taskCallBack.OperateType != ActionTypeEnum.GetQualityCenter.ToString())) { return false; } } return true; } return true; } //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; } } }