BPASmartClient/BPASmartClient.MorkBF/Control_MorkBF.cs

using BPA.Message;
using BPA.Message.Enum;
using BPASmartClient.Business;
using BPASmartClient.Device;
using BPASmartClient.EventBus;
using BPASmartClient.Helper;
using BPASmartClient.Message;
using BPASmartClient.Model;
using BPASmartClient.Model.大炒;
using BPASmartClient.MorkBF.Model;
using BPASmartClient.MorkBF.ViewModel;
using BPASmartClient.ViewModel;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static BPASmartClient.EventBus.EventBus;
using static BPASmartClient.Model.大炒.FryPotMessages;

namespace BPASmartClient.MorkBF
{
    public class Control_MorkBF : BaseDevice
    {
        GVL_MorkBF morkBF = new GVL_MorkBF();
        DataReport dataReport = new DataReport();

        public override DeviceClientType DeviceType => DeviceClientType.MORKCS;

        int RobotLeadTime = 5;//机器人提前动作时间 s

        public override void DoMain()
        {
            IsHealth = true;
            BPASmartClient.Helper.Json<LocalFryPotMessage>.Read();
            MonitorViewModel.DeviceId = DeviceId;
            ActionManage.GetInstance.Register(new Action(() =>
            {
                //GlobalFoodMenu.LocalFoodMenus.Clear();
                //if (BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage.Count > 0)
                //{
                //    foreach (var item in BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage)
                //    {
                //        GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel { GoodKey = item.GoodKey, GoodName = item.GoodName });
                //    }
                //}
            }), "更新菜单");
            CommandRegist();//调试
            ServerInit();
            DataParse();//数据解析
            ScreenDataServer();//大屏数据上报
            ActionManage.GetInstance.Send("更新菜单");
            ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
            ThreadManage.GetInstance().Start(FirePot2_Process, "炒锅2流程");
            DeviceProcessLogShow("MORKF 设备初始化完成");
        }

        private void DataParse()
        {
            EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                if (@event == null) return;
                if (@event is DoOrderEvent order)
                {
                    if (order.MorkOrder.GoodBatchings == null) return;
                    OrderCount++;
                    DeviceProcessLogShow($"接收到{OrderCount}次订单");
                }
            });
        }

        private void ServerInit()
        {
            //物料信息
            EventBus.EventBus.GetInstance().Subscribe<MaterialDeliveryEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is MaterialDeliveryEvent material)
                {
                    orderMaterialDelivery = material.orderMaterialDelivery;
                }
            });

            //配方数据信息
            EventBus.EventBus.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is RecipeBomEvent recipe)
                {
                    recipeBoms = recipe.recipeBoms;
                }
            });
        }
        /// <summary>
        /// 调试
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void CommandRegist()
        {
            #region 炒锅
            ActionManage.GetInstance.Register(FirePot_SetFireGear, "FirePot_SetFireGear");//炒锅设定加热挡位1-5
            ActionManage.GetInstance.Register(FirePot_SetStirGear, "FirePot_SetStirGear");//炒锅设定搅拌挡位1-5
            ActionManage.GetInstance.Register(FirePot_SetTurnSpeed, "FirePot_SetTurnSpeed");//炒锅翻转速度0-800
            ActionManage.GetInstance.Register(FirePot_SetPotAngle, "FirePot_SetPotAngle");//设定炒锅角度挡位1-4
            ActionManage.GetInstance.Register(FirePot_StartPassWay, "FirePot_StartPassWay");//通道出料需求值+启动

            ActionManage.GetInstance.Register(FirePot_StartFire, "FirePot_StartFire");//炒锅加热启动
            ActionManage.GetInstance.Register(FirePot_StartFire, "FirePot_StopFire");//炒锅关闭加热
            ActionManage.GetInstance.Register(FirePot_StartStir, "FirePot_StartStir");//炒锅搅拌启动
            ActionManage.GetInstance.Register(FirePot_StartStir, "FirePot_StopStir");//炒锅搅拌停止

            ActionManage.GetInstance.Register(FirePot_PotGotoOrigin, "FirePot_PotGotoOrigin");//炒锅回原点
            ActionManage.GetInstance.Register(FirePot_StartOutFood, "FirePot_StartOutFood");//出餐启动
            ActionManage.GetInstance.Register(FirePot_Clean, "FirePot_Clean");//清洗

            ActionManage.GetInstance.Register(FirePot_Reset, "FirePot_Reset");//复位;
            ActionManage.GetInstance.Register(FirePot_StartPumpWater, "FirePot_StartPumpWater");//抽水启动
            ActionManage.GetInstance.Register(FirePot_StartPumpWater, "FirePot_StopPumpWater");//抽水关闭
            ActionManage.GetInstance.Register(FirePot_PotGotoInFoodPosition, "FirePot_PotGotoInFoodPosition");//炒锅去投料位置

            ActionManage.GetInstance.Register(FirePot_PushReach, "FirePot_PushReach");//推杆伸出
            ActionManage.GetInstance.Register(FirePot_PushRetract, "FirePot_PushRetract");//推杆缩回
            ActionManage.GetInstance.Register(FirePot_PotForward, "FirePot_PotForward");//翻转正转
            ActionManage.GetInstance.Register(FirePot_PotReversal, "FirePot_PotReversal");//翻转反转
            #endregion
            #region 机器人
            
            ActionManage.GetInstance.Register(RobotAction, "RobotAction");//上使能


            #endregion
        }

        public override void MainTask()
        {
            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Start)//机器人启动
            {
               if( morkBF.RobotActinQueue.TryDequeue(out RobotAction_Pot robotAction))
               {
                    morkBF.Robot_IsBusy = true;
                    RobotProcess(robotAction);
               }
            }
        }

        private void FirePot1_Process()
        {
            if (morkBF.FirePan1_Order.Count > 0 && morkBF.FryPan1_InitComplete && morkBF.FryPan1_ManualOrAutoMode && !morkBF.FirePan1_Busy)
            {
                if (morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
                {
                    morkBF.FirePan1_Busy = true;
                    morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
                    foreach (var item in result.fryPotProcesses)
                    {
                        switch (item.fryActions)
                        {
                            case FryAction.冷锅加热:
                                FirePot_PotPerHeat(item, 1);
                                MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
                                break;
                            case FryAction.热油:
                                FirePot_HeatOil(item, 1);
                                MessageLog.GetInstance.Show("炒锅1---热油完成");
                                break;
                            case FryAction.机器人加调料:
                                FirePot_RobotGetSeasoning(item, 1);
                                MessageLog.GetInstance.Show("炒锅1---机器人加调料完成");
                                break;
                            case FryAction.通道出调料:
                                FirePot_PasswayOutSeasoning(item, 1);
                                MessageLog.GetInstance.Show("炒锅1---通道出调料完成");
                                break;
                            case FryAction.炒制菜品:
                                FirePot_FryFood(item, 1);
                                MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
                                break;
                            default:
                                break;
                        }
                    }
                    FirePot_StartFire(new object[] { 1, false });//关火
                    Thread.Sleep(result.FryOffStirTime * 1000);//关火翻炒时间
                    FirePot_StartStir(new object[] { 1, false });//关闭搅拌
                    Message.MessageLog.GetInstance.Show($"炒锅1炒制{result.GoodName}完成");

                }
            } 
        }
        private void FirePot2_Process()
        {
            if (morkBF.FirePan2_Order.Count > 0 && morkBF.FryPan2_InitComplete && morkBF.FryPan2_ManualOrAutoMode && !morkBF.FirePan2_Busy)
            {
                if (morkBF.FirePan2_Order.TryDequeue(out FryPotMessages result))
                {
                    morkBF.FirePan2_Busy = true;
                    morkBF.FryPot2_CurrentProcess = result.fryPotProcesses;
                    foreach (var item in result.fryPotProcesses)
                    {
                        switch (item.fryActions)
                        {
                            case FryAction.冷锅加热:
                                FirePot_PotPerHeat(item, 2);
                                MessageLog.GetInstance.Show("炒锅2---冷锅加热完成");
                                break;
                            case FryAction.热油:
                                FirePot_HeatOil(item, 2);
                                MessageLog.GetInstance.Show("炒锅2---热油完成");
                                break;
                            case FryAction.机器人加调料:
                                FirePot_RobotGetSeasoning(item, 2);
                                MessageLog.GetInstance.Show("炒锅2---机器人加调料完成");
                                break;
                            case FryAction.通道出调料:
                                FirePot_PasswayOutSeasoning(item, 2);
                                MessageLog.GetInstance.Show("炒锅2---通道出调料完成");
                                break;
                            case FryAction.炒制菜品:
                                FirePot_FryFood(item, 2);
                                MessageLog.GetInstance.Show("炒锅2---炒制菜品完成");
                                break;
                            default:
                                break;
                        }
                    }
                    FirePot_StartFire(new object[] { 1, false });//关火
                    Thread.Sleep(result.FryOffStirTime * 1000);//关火翻炒时间
                    FirePot_StartStir(new object[] { 1, false });//关闭搅拌
                    Message.MessageLog.GetInstance.Show($"炒锅1炒制{result.GoodName}完成");

                }
            }
        }


        #region 炒锅流程功能

        /// <summary>
        /// 判断下个动作是否需要机器人
        /// </summary>
        /// <param name="i"></param>
        /// <param name="currentFryTime"></param>
        /// <returns></returns>
        private bool IsRobotNextWork(int i, int currentFryTime)
        {
            bool res = false;
            List<FryPotProcess> currentProcess = new List<FryPotProcess>();
            currentProcess = i == 1 ? morkBF.FryPot1_CurrentProcess: morkBF.FryPot2_CurrentProcess;
            
            if (currentProcess.Count> currentFryTime)
            {
                if (currentProcess[currentFryTime + 1].fryActions == FryAction.机器人加调料 ||
                    currentProcess[currentFryTime + 1].fryActions == FryAction.炒制菜品)
                {
                    res =  true;
                }
            }
            return res;
        }

        /// <summary>
        /// 冷锅预热
        /// </summary>
        private void FirePot_PotPerHeat(FryPotProcess item,int i)
        {
            bool isRobotWork = false;
            
            FirePot_SetFireGear(new object[]{ i, item.FryGear});//设定加热挡位
            FirePot_StartFire(new object[] { i, true });
            isRobotWork = IsRobotNextWork(i,item.FryTime);//下个流程动作是否需要机器人

            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
            else Thread.Sleep(item.FryDuration * 1000);


        }

        /// <summary>
        /// 热油
        /// </summary>
        private void FirePot_HeatOil(FryPotProcess item, int i)
        {
            bool isRobotWork = false;
            if (item.FryGear != 0)
            {
                FirePot_SetFireGear(new object[] { i, item.FryGear });//设定加热挡位
                FirePot_StartFire(new object[] { i, true });
            }
            if (item.StirGear != 0) 
            {
                FirePot_SetStirGear(new object[] { i, item.StirGear });//设定搅拌挡位
                FirePot_StartStir(new object[] { i, true });

            }
            isRobotWork = IsRobotNextWork(i, item.FryTime);
            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
            else Thread.Sleep(item.FryDuration * 1000);//加热时间;
        }

        /// <summary>
        /// 通道出调料
        /// </summary>
        private void FirePot_PasswayOutSeasoning(FryPotProcess item,int i)
        {
            foreach(var acc in item.accessories)
            {
                FirePot_StartPassWay(new object[] { i, acc.Loc, acc.Qry });
            }
        }

        /// <summary>
        /// 机器人取调料
        /// </summary>
        private void FirePot_RobotGetSeasoning(FryPotProcess item, int i)
        {

            morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot
            {
                Pot = i,
                MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
                subTask1 = (SubTask1)item.accessories[0].Loc + 9,
                subTask2 = (SubTask2)i
            });
        }



        /// <summary>
        /// 炒制菜品
        /// </summary>
        private void FirePot_FryFood(FryPotProcess item, int i)
        {
            bool isRobotWork = false;
            morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot 
            {
                Pot = i,
                MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
                subTask1 = (SubTask1)item.accessories[1].Loc,
                subTask2 =(SubTask2)i
            });
            while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
            {
                Thread.Sleep(100);
            }
            isRobotWork = IsRobotNextWork(i, item.FryTime);
            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
            else Thread.Sleep(item.FryDuration * 1000);//加热时间;
        }
        #endregion

        /// <summary>
        /// 机器人进程
        /// </summary>
        /// <param name="robotAction"></param>
        private void RobotProcess(RobotAction_Pot robotAction)
        {
            Robot_Write("GI0", (int)robotAction.MainTask);//设定机器人主要任务
            while(morkBF.Robot_GI0ActionCallback != (int)robotAction.MainTask)//等待主程序完成反馈
            {
                Thread.Sleep(300);
            }
            if ((int)robotAction.subTask1 > 0 && (int)robotAction.subTask1 < 16)//任务1
            {
                Robot_Write("GI1", (int)robotAction.subTask1);
                Thread.Sleep(1000);
                while (morkBF.Robot_GI1ActionCallback != (int)robotAction.subTask1)//等待子程序1完成反馈
                {
                    Thread.Sleep(300);
                }
            }
            if ((int)robotAction.subTask1 > 15) //出餐
            {

            }

            if ((int)robotAction.subTask2 > 0)//任务2
            {
                Robot_Write("GI2", (int)robotAction.subTask2);
                Thread.Sleep(1000);
                while (morkBF.Robot_GI2ActionCallback != (int)robotAction.subTask2)//等待子程序2完成反馈
                {
                    Thread.Sleep(300);
                }
                while (morkBF.Robot_OutMaterialCompleted)//等待子程序2完成反馈
                {
                    Thread.Sleep(300);
                }
            }
            if ((int)robotAction.subTask3 > 0)//任务3
            {
                Robot_Write("GI3", (int)robotAction.subTask3);
                Thread.Sleep(1000);
                while (morkBF.Robot_GI3ActionCallback != (int)robotAction.subTask3)//等待子程序3完成反馈
                {
                    Thread.Sleep(300);
                }
            }
            if ((int)robotAction.subTask4 > 0)//任务4
            {
                Robot_Write("GI4", (int)robotAction.subTask4);
                Thread.Sleep(1000);
                while (morkBF.Robot_GI4ActionCallback != (int)robotAction.subTask4)//等待主程序4完成反馈
                {
                    Thread.Sleep(300);
                }
            }


            MessageLog.GetInstance.Show($"机器人完成[{robotAction.MainTask.ToString()}]任务");
        }

        /// <summary>
        /// PLC——>上位机（PLC反馈的数据）
        /// </summary>
        public override void ReadData()
        {
            GetStatus("M40.0",new Action<object>((o)=>
            {
                if (o == null) return;
                if(o is bool[] values&&values.Length == 18)
                {
                    morkBF.FryPan1_InitComplete = values[0];
                    morkBF.FryPan1_ManualOrAutoMode = values[1];
                    morkBF.FryPan1_EStop = values[2];
                    morkBF.FryPan1_InPosition1 = values[3];
                    morkBF.FryPan1_InPosition2 = values[4];
                    morkBF.FryPan1_InPosition3 = values[5];
                    morkBF.FryPan1_InPosition4 = values[6];
                    morkBF.FryPan1_InPositionUnload = values[7];
                    morkBF.FryPan1_InPositionload = values[8];
                    morkBF.FryPan1_InPositionWashPot = values[9];
                    morkBF.FryPan1_UnloadFinishCH1 = values[10];
                    morkBF.FryPan1_UnloadFinishCH2 = values[11];
                    morkBF.FryPan1_UnloadFinishCH3 = values[12];
                    morkBF.FryPan1_UnloadFinishCH4 = values[13];
                    morkBF.FryPan1_UnloadFinishCH5 = values[14];
                    morkBF.FryPan1_UnloadFinishCH6 = values[15];
                    morkBF.FryPan1_UnloadFinishCH7 = values[16];
                    morkBF.FryPan1_UnloadFinishCH8 = values[17];
                }
            }),0);

            GetStatus("VW200", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is short[] values&&values.Length == 4)
                {
                    morkBF.FryPan1_TemperatureNow = values[0];
                    morkBF.FryPan1_MixingSpeedNow = values[1];
                    morkBF.FryPan1_FryAngle = values[2]; 
                    morkBF.FryPan1_HeatingGearNow = values[3];
                }
            }), 0);
            GetStatus("M40.0", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is bool[] values && values.Length == 18)
                {
                    morkBF.FryPan2_InitComplete = values[0];
                    morkBF.FryPan2_ManualOrAutoMode = values[1];
                    morkBF.FryPan2_EStop = values[2];
                    morkBF.FryPan2_InPosition1 = values[3];
                    morkBF.FryPan2_InPosition2 = values[4];
                    morkBF.FryPan2_InPosition3 = values[5];
                    morkBF.FryPan2_InPosition4 = values[6];
                    morkBF.FryPan2_InPositionUnload = values[7];
                    morkBF.FryPan2_InPositionload = values[8];
                    morkBF.FryPan2_InPositionWashPot = values[9];
                    morkBF.FryPan2_UnloadFinishCH1 = values[10];
                    morkBF.FryPan2_UnloadFinishCH2 = values[11];
                    morkBF.FryPan2_UnloadFinishCH3 = values[12];
                    morkBF.FryPan2_UnloadFinishCH4 = values[13];
                    morkBF.FryPan2_UnloadFinishCH5 = values[14];
                    morkBF.FryPan2_UnloadFinishCH6 = values[15];
                    morkBF.FryPan2_UnloadFinishCH7 = values[16];
                    morkBF.FryPan2_UnloadFinishCH8 = values[17];
                }
            }), 1);

            GetStatus("VW200", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is short[] values && values.Length == 4)
                {
                    morkBF.FryPan2_TemperatureNow = values[0];
                    morkBF.FryPan2_MixingSpeedNow = values[1];
                    morkBF.FryPan2_FryAngle = values[2];
                    morkBF.FryPan2_HeatingGearNow = values[3];
                }
            }), 1);
        }

        public override void ResetProgram()
        {
            morkBF = null;
            morkBF = new GVL_MorkBF();
        }

        public override void SimOrder()
        {
            
        }

        public override void Stop()
        {
            
        }

        /// <summary>
        /// 获取炒锅PLC的所有状态
        /// </summary>
        /// <param name="key"></param>
        /// <param name="action"></param>
        /// <param name="num">炒锅编号</param>
        private void GetStatus(string key, Action<object> action, int num)
        {
            if (dicPort2peripheralStatus.ContainsKey(num))
            {
                if (dicPort2peripheralStatus[num].ContainsKey(key))
                {
                    action((object)dicPort2peripheralStatus[num][key]);//获取PLC指定地址的状态值
                }
            }
        }

        #region 控制
        private void FirePot1_Write(string address, object value, int i = 0)
        {
            WriteControlExact(address, value, i);
        }
        private void FirePot2_Write(string address, object value, int i = 1)
        {
            WriteControlExact(address, value, i);
        }
        private void Robot_Write(string address, object value, int i = 2)
        {
            WriteControlExact(address, value, i);
        }

        #region 炒锅

        /// <summary>
        /// 炒锅设定加热挡位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetFireGear(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value) 
            {
                if(fryNo == 1)
                {
                    FirePot1_Write("VW100", (ushort)value);
                }
                else if(fryNo == 2)
                {
                    FirePot2_Write("VW100", (ushort)value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅1设置搅拌挡位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetStirGear(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("VW102", (ushort)value);
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write("VW102", (ushort)value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 设置炒锅翻转速度
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetTurnSpeed(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("VW104", (ushort)value);
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write("VW104", (ushort)value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 设定炒锅角度
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetPotAngle(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("VW106", (ushort)value);
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write("VW106", (ushort)value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 通道出料启动
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_StartPassWay(object[] o)
        {
            if (o == null) return;
            if (o.Length == 3 && o[0] is int fryNo && o[1] is int value1 && o[2] is int value2)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write(morkBF.Fire_PasswayValue[value1], (ushort)value2);//写入需求值
                    Thread.Sleep(200);
                    FirePot1_Write(morkBF.Fire_PasswayWrite[value1], true);//启动通道
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write(morkBF.Fire_PasswayValue[value1], (ushort)value2);
                    Thread.Sleep(200);
                    FirePot2_Write(morkBF.Fire_PasswayWrite[value1], true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅1加热启停
        /// </summary>
        /// <param name="b"></param>
        private void FirePot_StartFire(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is bool value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("M10.0", value);
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write("M10.0", value);
                }
            }
            Thread.Sleep(200);
        }    
        
        /// <summary>
        /// 炒锅搅拌启停
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_StartStir(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is bool value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("M10.1", value);
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write("M10.1", value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅复位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_Reset(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {

                }
                else if (i == 2)
                {

                }
            }
        }
        /// <summary>
        /// 炒锅设定加热挡位 锁定
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetFireGearLock(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("M10.2", value);
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write("M10.2", value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅1设置搅拌挡位锁定
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetStirGearLock(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("M10.3", value);
                }
                else if (fryNo == 2)
                {
                    FirePot1_Write("M10.3", value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 设置炒锅翻转速度锁定
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetTurnSpeedLock(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("M10.4", value);
                }
                else if (fryNo == 2)
                {
                    FirePot1_Write("M10.4", value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 设定炒锅角度值锁定
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_SetPotAngleLock(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("M11.1", value);
                }
                else if (fryNo == 2)
                {
                    FirePot1_Write("M11.1", value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅回原点
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoOrigin(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M10.5", true);
                }
                else if (i == 2)
                {
                    FirePot2_Write("M10.5", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 出餐启动
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_StartOutFood(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M10.6", true);
                }
                else if (i == 2)
                {
                    FirePot2_Write("M10.6", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 清洗
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_Clean(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M10.7", true);

                }
                else if (i == 2)
                {
                    FirePot2_Write("M10.7", true);
                }
            }
            Thread.Sleep(200);
        }
        
        /// <summary>
        /// 抽洗锅水启动
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_StartPumpWater(object[] o)
        {
            if (o == null) return;
            if (o.Length == 2 && o[0] is int fryNo && o[1] is int value)
            {
                if (fryNo == 1)
                {
                    FirePot1_Write("M11.0", value);
                }
                else if (fryNo == 2)
                {
                    FirePot2_Write("M11.0", value);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅去投料位置
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoInFoodPosition(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M11.2", true);
                }
                else if (i == 2)
                {
                    FirePot2_Write("M11.2", true);
                }
            }
            Thread.Sleep(200);
        }

        /// <summary>
        /// 推杆伸出
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PushReach(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M12.3", true);

                }
                else if (i == 2)
                {
                    FirePot2_Write("M12.3", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 推杆缩回
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PushRetract(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M12.4", true);

                }
                else if (i == 2)
                {
                    FirePot2_Write("M12.4", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 翻转正转
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotForward(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M12.5", true);

                }
                else if (i == 2)
                {
                    FirePot2_Write("M12.5", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 翻转正转
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotReversal(object o)
        {
            if (o == null) return;
            if (o is int i)
            {
                if (i == 1)
                {
                    FirePot1_Write("M12.6", true);

                }
                else if (i == 2)
                {
                    FirePot2_Write("M12.6", true);
                }
            }
            Thread.Sleep(200);
        }


        #endregion

        #region 机器人
        private void RobotAction(object[] o)
        {
            if (o[0] is int value)
            {
                switch (value)
                {
                    case 0:
                        Robot_Write("GI0", (ushort)(MainTask)o[1]);
                        break;
                    case 1:
                        Robot_Write("GI1", (ushort)(SubTask1)o[1]);
                        break;
                    case 2:
                        Robot_Write("GI2", (ushort)(SubTask2)o[1]);
                        break;
                    case 3:
                        Robot_Write("GI3", (ushort)(SubTask3)o[1]);
                        break;
                    case 4:
                        Robot_Write("GI4", (ushort)(SubTask4)o[1]);
                        break;
                    default:
                        break;
                }
            }
        }

        #endregion



        #endregion


        private void ScreenDataServer()
        {
            LocalMqtt.GetInstance.Init(ScreenDeviceType.大炒);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                List<StatsModel> statsModels = new List<StatsModel>();
                statsModels.Add(new StatsModel() { Name = "帝王蟹", Count = 666 });
                ScreenModelMaxWok maxWok = new ScreenModelMaxWok
                {
                    IsRun = IsHealth ? IsRun.运行 : IsRun.停止,
                    WorkStatus_1 = morkBF.FryPan1_TemperatureNow > 0 ? WorkStatus.工作 : WorkStatus.待机,
                    WorkStatus_2 = morkBF.FryPan2_TemperatureNow > 0 ? WorkStatus.工作 : WorkStatus.待机,
                    RobotStatu =  WorkStatus.工作,
                    Alarm = new List<BPA.Message.AlarmModel>(),
                    FailuresCount = 0,
                    StatsCount = statsModels,
                    MaxWok_Dishes_1 = "满汉全席",
                    MaxWok_Dishes_2 = "海鲜大餐",
                    MaxWok_Task_1 = ((PotState)dataReport.FirePot1_PotState).ToString(),
                    MaxWok_Task_2 = ((PotState)dataReport.FirePot2_PotState).ToString(),
                    MaxWok_Process_1 = SetFirePotPorcess(new Random().Next(0,11)),
                    MaxWok_Process_2 = SetFirePotPorcess(new Random().Next(0, 11)),
                    MaxWok_HeatGear_1 = morkBF.FryPan1_HeatingGearNow.ToString(),
                    MaxWok_HeatGear_2 = morkBF.FryPan2_HeatingGearNow.ToString(),
                    MaxWok_StirGear_1 = morkBF.FryPan1_FryAngle.ToString(),
                    MaxWok_StirGear_2 = morkBF.FryPan2_FryAngle.ToString(),
                    MaxWok_FlipSpeed_1 = morkBF.FryPan1_MixingSpeedNow.ToString(),
                    MaxWok_FlipSpeed_2 = morkBF.FryPan2_MixingSpeedNow.ToString(),
                    MaxWok_Temp_1 = new Random().Next(250, 450).ToString(),
                    MaxWok_Temp_2 = new Random().Next(250, 450).ToString(),
                    MaxWok_OrderCount_1 = 2,
                    MaxWok_OrderCount_2 = 2,
                    MaxWok_ErrorOrderCount_1 = 0,
                    MaxWok_ErrorOrderCount_2 = 0,

                };
                LocalMqtt.GetInstance.Publish(maxWok);
                Thread.Sleep(1000);

            }), "大屏数据上报");
            
        }

        private List<ProcessModel> SetFirePotPorcess(int potState)
        {
            if (potState > 0)
            {
                if (potState <= 3)
                {
                    SetState(2);
                }
                else if (potState > 3 && potState < 9) SetState(3);
                else if (potState == 9) SetState(4);
                else if (potState == 10) SetState(5);
            }
            else
            {
                foreach (var item in dataReport.processModels)
                {
                    item.Status = ProcessStatus.未执行;
                }
            }
            return dataReport.processModels;


        }

        public void SetState(int c )
        {
            for (int i = 0; i < dataReport.processModels.Count; i++)
            {
                if (i == c)
                {
                    dataReport.processModels[i].Status = ProcessStatus.正在执行;
                }
                else if (i < c) dataReport.processModels[i].Status = ProcessStatus.执行完成;
                else if (i > c) dataReport.processModels[i].Status = ProcessStatus.未执行;
            }
        }
    }
}