PLC现场调试更改

Service/Execute/Api/PlcApi.cs

@@ -4,6 +4,7 @@ using Service.Charger.Client;
 using Service.Mgr;
 using Service.Padar.Client;
 using Service.PlcAfrica.Client;
+using Service.PlcAfrica.Msg;
 
 namespace Service.Execute.Api;
 
@@ -81,9 +82,9 @@ public class PlcApi
         if (PlcAfricaMgr.DistributeTask(ushort.Parse(inBinNo), ushort.Parse(outBinNo)))
         {
             Log.Info($"PlcApi StartSwapping done");
-         return   PlcAfricaMgr.StartSwap();
+            return PlcAfricaMgr.StartSwap();
         }
-        return false;
+        return PlcAfricaMgr.StationCommandFeedback();
     }
 
     /// <summary>

Service/Execute/Step/DoSwappingState.cs

@@ -256,7 +256,7 @@ public class DoSwappingState : IState
         return Invoker.Invoke("plc Pack Finish", 500, 5, machine.IsCanceled,
             () => machine.FinishNewBatteryFlag, () =>
             {
-                if (PlcApi.ReadAction()==44 || PlcApi.RobotWorkFinish() || PlcApi.RobotReady())
+                if (PlcApi.ReadAction()==44 && (PlcApi.RobotWorkFinish() || PlcApi.RobotReady()))
                 {
                     machine.FinishNewBatteryFlag = true;
                     machine.BusinessSwappingForCloudState =

Service/Fire/Client/FireClient.cs

@@ -11,7 +11,7 @@ public class FireClient: ModbusTcpMaster
     public  FireClient()
     {
         ReadAction = BatchRead;
-        Ip = "192.168.3.100";
+        Ip = "192.168.3.210";
         Port = 23;
         Duration = 1000;
         AutoReConnect = true;

Service/Led/LedClient.cs

@@ -177,7 +177,7 @@ public class LedClient
 
     private static readonly ILog Log = LogManager.GetLogger(typeof(LedClient));
     private static Socket? _socket;
-    private static string _ip = "192.168.3.79";
+    private static string _ip = "192.168.3.212";
    // private static string _ip = "127.0.0.1";
     private static int _port = 10000;
     

Service/MyTask/PlcHeartTask.cs

@@ -0,0 +1,68 @@
+using HybirdFrameworkCore.Autofac.Attribute;
+using HybirdFrameworkCore.AutoTask;
+using log4net;
+using Service.PlcAfrica.Client;
+using Service.PlcAfrica.Msg;
+
+namespace Service.MyTask;
+
+[Scope]
+public class PlcHeartTask : ITask
+{
+   
+    private static readonly ILog Log = LogManager.GetLogger("PlcHeart");
+    private volatile bool _stop;
+
+    public string Name()
+    {
+        return "PlcHeartTask";
+    }
+
+    public int Interval()
+    {
+        return 1000 * 1;
+    }
+
+    private static bool heart = false;
+    
+    public void Handle()
+    {
+        Log.Info("Plc Start write heart");
+        if (PlcAfricaMgr.PlcAfricaClient != null && PlcAfricaMgr.PlcAfricaClient.Connected)
+        {
+            heart = !heart;
+            PlcAfricaMsg writeHostToPlc = new PlcAfricaMsg();
+            writeHostToPlc.Heart.Value = (ushort)(heart ? 1 : 0);
+            Log.Info("Plc Start write heart write begin");
+            bool write0 = PlcAfricaMgr.PlcAfricaClient.WriteValue(writeHostToPlc.Heart);
+            Log.Info($"write return {write0}");
+            if (!write0)
+            {
+                Log.Info("Plc Start write heart write timeout");
+            }
+            else
+            {
+                Log.Info("Plc Start write heart write success");
+            }
+
+           
+        }
+        else
+            Log.Info("Plc Start write heart fail");
+    }
+
+    public bool Stoped()
+    {
+        return _stop;
+    }
+
+    public void Stop()
+    {
+        _stop = true;
+    }
+
+    public void ResetStop()
+    {
+        _stop = false;
+    }
+}

Service/Padar/Client/PadarMgr.cs

@@ -21,8 +21,8 @@ public class PadarMgr
     {
         PadarClient client = AppInfo.Container.Resolve<PadarClient>();
         client.AutoReconnect = true;
-       //client.InitBootstrap("192.168.3.55", int.Parse("2048"));
+        //client.InitBootstrap("192.168.3.55", int.Parse("2048"));
-      client.InitBootstrap("192.168.3.52", int.Parse("2048"), 10,0, 0);
+        client.InitBootstrap("192.168.3.199", int.Parse("2048"), 10,0, 0);
         Task.Run(() =>
         {
             client.Connect();

Service/PlcAfrica/Client/PlcAfricaClient.cs

@@ -41,7 +41,6 @@ namespace Service.PlcAfrica.Client
                     EndingConst.ByteSeq.AB,
                     EndingConst.WordSeq.DC);
                 
-                var vv= PlcAfricaMgr.PlcAfricaMsg.PowerChangeMode.Value;
             }
 
             return resul;

Service/PlcAfrica/Client/PlcAfricaMgr.cs

@@ -65,7 +65,7 @@ namespace Service.PlcAfrica.Client
       
         public static bool StartSwap()
         {
-            if (PlcAfricaClient == null)
+            if (PlcAfricaClient != null)
             {
                 PlcAfricaMsg.OperationInstruction.Value = 2;
                 PlcAfricaClient!.WriteValue(PlcAfricaMsg.OperationInstruction);
@@ -77,6 +77,11 @@ namespace Service.PlcAfrica.Client
             return false;
         }
 
+        public static bool StationCommandFeedback()
+        {
+            return PlcAfricaMsg.StationCommandFeedback.Value == 2;
+        }
+
         /// <summary>
         /// 操作指令
         /// </summary>
@@ -179,7 +184,7 @@ namespace Service.PlcAfrica.Client
             {
                
                 InBinNo = inBinNo,
-                OutBinNo = outBinNo,
+                OutBinNo = inBinNo,//outBinNo,
              
             };
             byte[] encode = ModelConvert.Encode(distributeTask);
@@ -195,7 +200,7 @@ namespace Service.PlcAfrica.Client
             }
 
             //需要将数据转换成byte数组
-            OperateResult operateResult = PlcAfricaClient.Write("x=16;111", encode);
+            OperateResult operateResult = PlcAfricaClient.Write("x=16;7008", encode);
 
             return operateResult.IsSuccess;
         }