From 1d48a26b97f4c1b535c122e24e63128d718ffa11 Mon Sep 17 00:00:00 2001 From: pengliangyang <1406009520@qq.com> Date: Sat, 20 Aug 2022 13:40:11 +0800 Subject: [PATCH] =?UTF-8?q?=E5=90=89=E9=A6=99=E5=B1=85=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Model/GVL_BigStation.cs | 20 +- .../Model/ProcessControl.cs | 247 +++++++++--------- .../ViewModel/RecipeReceiveViewModel.cs | 13 +- .../Model/ProcessControl.cs | 5 +- 4 files changed, 145 insertions(+), 140 deletions(-) diff --git a/BPASmartClient.JXJFoodBigStation/Model/GVL_BigStation.cs b/BPASmartClient.JXJFoodBigStation/Model/GVL_BigStation.cs index 91af66e9..49d9601e 100644 --- a/BPASmartClient.JXJFoodBigStation/Model/GVL_BigStation.cs +++ b/BPASmartClient.JXJFoodBigStation/Model/GVL_BigStation.cs @@ -11,18 +11,7 @@ namespace BPASmartClient.JXJFoodBigStation.Model { public class GVL_BigStation { - /// - /// 配方数据 - /// - public ObservableCollection RemoteRecipes = new ObservableCollection(); - /// - /// 配方数据 - /// - public ObservableCollection IssuedComplete = new ObservableCollection(); - /// - /// 配方队列 - /// - public ConcurrentQueue RecipeQueue = new ConcurrentQueue(); + /// /// 往输送带下发配方完成 /// @@ -38,13 +27,10 @@ namespace BPASmartClient.JXJFoodBigStation.Model /// /// 记录AGV进站送货的指令顺序 /// - public int[] AgvDeliveryPosition { get; set; }= new int[6]; + public int AgvDeliveryPosition { get; set; } /// /// 记录AGV进站取货的指令顺序 /// - public int[] AgvPickUpPosition { get; set; } = new int[6]; - - public ConcurrentQueue AGVToWorkStationQueue = new ConcurrentQueue(); - + public int AgvPickUpPosition { get; set; } } } diff --git a/BPASmartClient.JXJFoodBigStation/Model/ProcessControl.cs b/BPASmartClient.JXJFoodBigStation/Model/ProcessControl.cs index 4ccc3506..7788c885 100644 --- a/BPASmartClient.JXJFoodBigStation/Model/ProcessControl.cs +++ b/BPASmartClient.JXJFoodBigStation/Model/ProcessControl.cs @@ -25,6 +25,23 @@ namespace BPASmartClient.JXJFoodBigStation.Model public SiemensDeviceStatus SiemensDevice = new SiemensDeviceStatus(); public HKDeviceStatus HKDevice = new HKDeviceStatus(); GVL_BigStation BigStation = new GVL_BigStation(); + + /// + /// 配方数据 + /// + public ObservableCollection RemoteRecipes = new ObservableCollection(); + /// + /// 配方数据 + /// + public ObservableCollection IssuedComplete = new ObservableCollection(); + /// + /// 配方队列 + /// + public ConcurrentQueue RecipeQueue = new ConcurrentQueue(); + /// + /// AGV到达工站队列 + /// + public ConcurrentQueue AGVToWorkStationQueue = new ConcurrentQueue(); /// /// 接收原料数据 /// @@ -38,9 +55,7 @@ namespace BPASmartClient.JXJFoodBigStation.Model var res = SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.RecipeName); var res1 = SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.RecipeID); int res2 = SiemensDevice.Siemens_PLC_S7.ReadClass(RawMaterial, 0, 0); - if ((res != null && res is string recipeName) && - (res1 != null && res1 is uint recipeID) && - (res2 > 0)) + if ((res != null && res is string recipeName) && (res1 != null && res1 is uint recipeID) && (res2 > 0)) { int index = Array.FindIndex(Json.Data.Recipes.ToArray(), p => p.RecipeCode == recipeID); if (index == -1) @@ -77,12 +92,12 @@ namespace BPASmartClient.JXJFoodBigStation.Model var res1 = SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.RecipeID); if (res != null && res is int TrayLocation && res1 != null && res1 is int recipeId) { - int index = Array.FindIndex(Json.Data.Recipes.ToArray(), p => p.RecipeCode == recipeId); - if (index >= 0 && index < Json.Data.Recipes.Count) + int index = Array.FindIndex(RemoteRecipes.ToArray(), p => p.RecipeCode == recipeId); + if (index >= 0 && index < RemoteRecipes.Count) { - Json.Data.Recipes.ElementAt(index).TrayCode = TrayLocation; + RemoteRecipes.ElementAt(index).TrayCode = TrayLocation; MessageLog.GetInstance.RunLog($"接收到AGV进站信号=>配方编码：{recipeId} 、托盘位置：{TrayLocation}"); - BigStation.AGVToWorkStationQueue.Enqueue(recipeId); + AGVToWorkStationQueue.Enqueue(recipeId); } } } @@ -106,7 +121,7 @@ namespace BPASmartClient.JXJFoodBigStation.Model { } - BigStation.RecipeQueue.Clear(); + RecipeQueue.Clear(); Json.Data.Recipes = TestData.GetInstance.Recipes;//添加测试数据 ThreadManage.GetInstance().StartLong(new Action(() => { @@ -117,8 +132,7 @@ namespace BPASmartClient.JXJFoodBigStation.Model ThreadManage.GetInstance().StartLong(new Action(() => { if (HKDevice.IsConnected && SiemensDevice.IsConnected) { - AgvGetInDelivery(); - //AgvGetInPickUp(); + AgvGetInOut(); } Thread.Sleep(10); @@ -126,123 +140,120 @@ namespace BPASmartClient.JXJFoodBigStation.Model ThreadManage.GetInstance().StartLong(new Action(() => { ReadSiemensCommData(); ReadHKPLCCommData(); - }), "AGV进站送取货", true); + }), "读取西门子和海科PLC的数据", true); } /// - /// AGV进站送货 + /// AGV送货 /// - private void AgvGetInDelivery() + /// + private void AGV_Delivery(int bitNum) { - //检测AGV到站信号 - if (BigStation.AGVToWorkStationQueue.Count > 0) + if ((ReadSiemens("M4002."+ bitNum) is bool) && BigStation.AgvDeliveryPosition == 0) { - int index = BigStation.AGVToWorkStationQueue.ElementAt(0); - + BigStation.AgvDeliveryPosition = 1; + WriteHKPLC("M4002."+ bitNum, true); + WriteSiemens("M4002."+ bitNum, false); } - for (int i = 0; i < 6; i++) + else if (ReadHK("M5002."+ bitNum) is bool && BigStation.AgvDeliveryPosition == 1) { - switch (BigStation.AgvDeliveryPosition[i]) - { - case 0: - if (true) - { - BigStation.AgvDeliveryPosition[i] = 1; - HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.DeliveryAGVApply, true); - SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.DeliveryAGVApply,false); - } - break; - case 1: - if (HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.DeliveryAGVIsApply) is bool) - { - BigStation.AgvDeliveryPosition[i] = 2; - SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.DeliveryAGVIsApply, true); - } - break; - case 2: - if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.DeliveryAGVApplyJack) is bool)) - { - BigStation.AgvDeliveryPosition[i] = 3; - HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.DeliveryAGVApplyJack, true); - } - break; - case 3: - if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.DeliveryAGVIsApplyJack) is bool)) - { - BigStation.AgvDeliveryPosition[i] = 4; - SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.DeliveryAGVIsApplyJack, true); - } - break; - case 4: - if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.DeliveryAGVFinsih) is bool)) - { - BigStation.AgvDeliveryPosition[i] = 5; - HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.DeliveryAGVFinsih, true); - } - break; - case 5: - if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.StationHaveCargo) is bool)) - { - BigStation.AgvDeliveryPosition[i] = 0; - SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.StationHaveCargo, true); - } - break; - default: - break; - } - //获取工位上是否有小车 - SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.StationIsExistCar, (bool) - HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.StationIsExistCar)); + BigStation.AgvDeliveryPosition = 2; + WriteSiemens("M5002."+ bitNum, true); + WriteHKPLC("M5002."+ bitNum, false); + } + else if (ReadSiemens("M4004."+ bitNum) is bool && BigStation.AgvDeliveryPosition == 2) + { + BigStation.AgvDeliveryPosition = 3; + WriteHKPLC("M4004."+ bitNum, true); + WriteSiemens("M4004."+ bitNum, false); + } + else if (ReadHK("M5004."+ bitNum) is bool && BigStation.AgvDeliveryPosition == 3) + { + BigStation.AgvDeliveryPosition = 4; + WriteSiemens("M5004."+ bitNum, true); + WriteHKPLC("M5004."+ bitNum, false); + } + else if (ReadSiemens("M4005."+ bitNum) is bool && BigStation.AgvDeliveryPosition == 4) + { + BigStation.AgvDeliveryPosition = 5; + WriteHKPLC("M4005."+ bitNum, true); + WriteSiemens("M4005."+ bitNum, false); + } + else if (ReadHK("M5005."+ bitNum) is bool && BigStation.AgvDeliveryPosition == 5) + { + WriteSiemens("M5005."+ bitNum, true); + WriteHKPLC("M5005."+ bitNum, false); } - } /// - /// AGV进站取货 + /// AGV取货 /// - private void AgvGetInPickUp() + /// + private void AGV_Pick(int bitNum) { - /*switch (BigStation.AgvPickUpPosition) + if (ReadSiemens("M4003"+ bitNum) is bool && BigStation.AgvPickUpPosition == 0) { - case 0: - if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.PickAGVApply) is bool)) - { - BigStation.AgvPickUpPosition = 1; - HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.PickAGVApply, true); - } - break; - case 1: - if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.PickAGVIsApply) is bool)) - { - BigStation.AgvPickUpPosition = 2; - SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.PickAGVIsApply, true); - } - break; - case 2: - if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.PickCargoAGVFinish) is bool)) + BigStation.AgvPickUpPosition = 1; + WriteHKPLC("M4003" + bitNum, true); + WriteSiemens("M4003" + bitNum, false); + } + if (ReadHK("M5003" + bitNum) is bool && BigStation.AgvPickUpPosition == 1) + { + BigStation.AgvPickUpPosition = 2; + WriteSiemens("M5003" + bitNum, true); + WriteHKPLC("M5003" + bitNum,false); + } + if (ReadSiemens("M4006" + bitNum) is bool && BigStation.AgvPickUpPosition == 2) + { + BigStation.AgvPickUpPosition = 3; + WriteHKPLC("M4006" + bitNum, true); + WriteSiemens("M4006" + bitNum, false); + } + if (ReadHK("M5006" + bitNum) is bool && BigStation.AgvPickUpPosition == 3) + { + WriteSiemens("M5006" + bitNum, true); + WriteHKPLC("M5006" + bitNum, false); + } + } + /// + /// AGV进站送货 + /// + private void AgvGetInOut() + { + //获取工位上是否有小车 + SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.StationIsExistCar, (bool) + HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.StationIsExistCar)); + //检测AGV到站信号 + if (AGVToWorkStationQueue.Count > 0) + { + int index = Array.FindIndex(RemoteRecipes.ToArray(), p => p.RecipeCode == AGVToWorkStationQueue.ElementAt(0)); + int TrayLocation = RemoteRecipes.ElementAt(index).TrayCode;//根据配方编号，找到托盘的ID 托盘ID1-6 + int recipe = (int)RemoteRecipes.ElementAt(index).RecipeCode; + if (TrayLocation > 0 && TrayLocation < 7) + { + AGV_Delivery(TrayLocation - 1); + if (BigStation.AgvDeliveryPosition == 5) { - BigStation.AgvPickUpPosition = 3; - HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.PickCargoAGVFinish, true); + BigStation.AgvDeliveryPosition = 0; + AGVToWorkStationQueue.TryDequeue(out recipe); } - break; - case 3: - if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.PickAGVFinish) is bool)) + AGV_Pick(TrayLocation - 1); + if (BigStation.AgvPickUpPosition == 3) { BigStation.AgvPickUpPosition = 0; - SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.PickAGVFinish, true); + AGVToWorkStationQueue.TryDequeue(out recipe); } - break; - default: - break; - }*/ + } + } } private void ReceviceData() { - BigStation.RemoteRecipes = Json.Data.Recipes; - if (Json.Data.Recipes.Count > 0) + RemoteRecipes = Json.Data.Recipes; + if (RemoteRecipes.Count > 0) { - foreach (var data in Json.Data.Recipes) + foreach (var data in RemoteRecipes) { - if(!(BigStation.RecipeQueue.Contains(data.RecipeCode))) - BigStation.RecipeQueue.Enqueue(data.RecipeCode); + if(!(RecipeQueue.Contains(data.RecipeCode))) + RecipeQueue.Enqueue(data.RecipeCode); } } } @@ -251,19 +262,19 @@ namespace BPASmartClient.JXJFoodBigStation.Model ushort[] Weight = new ushort[15]; private void RecipeInfoToHKPLC() { - if (BigStation.RecipeQueue.Count > 0) + if (RecipeQueue.Count > 0) { - int index = Array.FindIndex(BigStation.RemoteRecipes.ToArray(), p => p.RecipeCode == BigStation.RecipeQueue.ElementAt(0)); - if (index >= 0 && index <= BigStation.RemoteRecipes.Count) + int index = Array.FindIndex(RemoteRecipes.ToArray(), p => p.RecipeCode == RecipeQueue.ElementAt(0)); + if (index >= 0 && index <= RemoteRecipes.Count) { - long code = BigStation.RemoteRecipes.ElementAt(index).RecipeCode; + long code = RemoteRecipes.ElementAt(index).RecipeCode; if (HKDevice.HK_PLC_S7.Read("M5001.0") is bool)//配方1是否允许下发配发 { - for (int i = 0; i < BigStation.RemoteRecipes.ElementAt(index).RawMaterial.Count; i++) + for (int i = 0; i < RemoteRecipes.ElementAt(index).RawMaterial.Count; i++) { - BarrelNum[i] = (ushort)BigStation.RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(i).RawMaterialBarrelNum; - Location[i] = (ushort)BigStation.RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(i).RawMaterialLocation; - Weight[i] = (ushort)BigStation.RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(i).RawMaterialWeight; + BarrelNum[i] = (ushort)RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(i).RawMaterialBarrelNum; + Location[i] = (ushort)RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(i).RawMaterialLocation; + Weight[i] = (ushort)RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(i).RawMaterialWeight; } HKDevice.StockBinPar(BarrelNum, Location, Weight); HKDevice.HK_PLC_S7.Write("M4001.0", 1);//配发下发完成，to plc @@ -273,9 +284,8 @@ namespace BPASmartClient.JXJFoodBigStation.Model if (RTrig.GetInstance("StockState").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.RecipeDosingFinish) is bool)) { HKDevice.RecipeDosingFinishReset(); - BigStation.RecipeQueue.TryDequeue(out code); - - BigStation.IssuedComplete.Add(BigStation.RemoteRecipes.ElementAt(index));//将该配方添加到下 + RecipeQueue.TryDequeue(out code); + IssuedComplete.Add(RemoteRecipes.ElementAt(index));//将该配方添加到下 Json.Data.Recipes.RemoveAt(index);//制作完成，移除当前配方 } } @@ -289,8 +299,10 @@ namespace BPASmartClient.JXJFoodBigStation.Model { GetSiemensStatus("", new Action((obj) => { - - + if (obj is bool[] bools && bools.Length > 0) + { + + } })); } } @@ -298,6 +310,7 @@ namespace BPASmartClient.JXJFoodBigStation.Model { if (HKDevice.IsConnected) { + } } private void GetHKStatus(string key,Action action) diff --git a/BPASmartClient.JXJFoodBigStation/ViewModel/RecipeReceiveViewModel.cs b/BPASmartClient.JXJFoodBigStation/ViewModel/RecipeReceiveViewModel.cs index c463d75b..74fe86f7 100644 --- a/BPASmartClient.JXJFoodBigStation/ViewModel/RecipeReceiveViewModel.cs +++ b/BPASmartClient.JXJFoodBigStation/ViewModel/RecipeReceiveViewModel.cs @@ -45,7 +45,7 @@ namespace BPASmartClient.JXJFoodBigStation.ViewModel RawMaterials.Clear(); string recipeName = "配方" + (Json.Data.Recipes.Count + 1) + ""; go: - long recipeCode = new Random().Next(1000, 9999); + long recipeCode = new Random().Next(10000, 99999); foreach (var item in Recipes) { if (item.RecipeCode == recipeCode) @@ -53,13 +53,18 @@ namespace BPASmartClient.JXJFoodBigStation.ViewModel goto go; } } - int trayCode = new Random().Next(1, 3); - for (int i = 1; i < 16; i++) + int trayCode = new Random().Next(1,6); + for (int i = 1; i < 13; i++) { + int a = new Random().Next(1, 5); + if (a == 3) + { + a = 1; + } RawMaterials.Add(new RemoteRecipeRawMaterial() { RawMaterialWeight = new Random().Next(10, 1000), - RawMaterialBarrelNum = new Random().Next(1, 3), + RawMaterialBarrelNum = a, RawMaterialLocation = i, }); } diff --git a/BPASmartClient.JXJFoodSmallStation/Model/ProcessControl.cs b/BPASmartClient.JXJFoodSmallStation/Model/ProcessControl.cs index 292e5ce2..23ecc220 100644 --- a/BPASmartClient.JXJFoodSmallStation/Model/ProcessControl.cs +++ b/BPASmartClient.JXJFoodSmallStation/Model/ProcessControl.cs @@ -97,14 +97,15 @@ namespace BPASmartClient.JXJFoodSmallStation.Model } SmallStation.RecipeQueue.Clear(); - Json.Data.Recipes = TestData.GetInstance.Recipes;//添加测试数据 + //Json.Data.Recipes = TestData.GetInstance.Recipes;//添加测试数据 ThreadManage.GetInstance().StartLong(new Action(() => { ReceviceData(); RecipeInfoToHKPLC(); Thread.Sleep(10); }), "流程处理", true); - ThreadManage.GetInstance().StartLong(new Action(() => { + ThreadManage.GetInstance().StartLong(new Action(() => + { if (SiemensDevice.IsConnected && HKDevice.IsConnected) { AgvGetInDelivery();