BPASmartClient/BPASmartClient.MorkS/Control_Morks.cs

using System;
using System.Collections.Generic;
using BPA.Message.Enum;
using BPASmartClient.Device;

using BPASmartClient.Model;
using BPASmartClient.Peripheral;

using BPA.Helper;
using System.Threading;

using BPA.Message;
using System.Linq;
using BPASmartClient.Model.PLC;
using System.Threading.Tasks;
using System.Reflection;
using BPASmartClient.MorkS.Model;
using System.Collections.ObjectModel;
using BPASmartClient.MorkS.ViewModel;
using BPASmartClient.Business;
using BPASmartClient.Model.小炒机;
using BPA.Models;
using System.Speech.Synthesis;
using System.Windows.Forms;
using System.Media;
using BPASmartClient.CustomResource;
using static BPA.Helper.EventBus;

namespace BPASmartClient.MorkS
{
    public class Control_Morks : BaseDevice
    {
        public override DeviceClientType DeviceType => DeviceClientType.MORKS;
        GVL_MORKS mORKS = new GVL_MORKS();
        Alarm alarm = new Alarm();

        public override void DoMain()
        {
            MonitorViewModel.DeviceId = DeviceId;
            ServerInit();
            DataParse();
            Json<MorksPar>.Read();
            Json<OrderStatistics>.Read();
            if (Json<MorksPar>.Data.parSets == null) Json<MorksPar>.Data.parSets = new ObservableCollection<ParSet>();
            if (Json<MorksPar>.Data.parSets.Count < 6)
            {
                Json<MorksPar>.Data.parSets.Clear();
                for (int i = 0; i < 6; i++)
                {
                    Json<MorksPar>.Data.parSets.Add(new ParSet()
                    {
                        CheckBoxContext = $"煮面口{i + 1}屏蔽",
                        Minute = 1,
                        Second = 0,
                        IsShield = false,
                        TextBlockContext = $"煮面口{i + 1}时间设定"
                    });
                }
            }

            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if (o.Length > 0)
                {
                    Random rd = new Random();
                    TaskManage.GetInstance.StartLong(new Action(() =>
                    {
                        int NoodleLoc = (int)o[0] == 0 ? rd.Next(1, 6) : (int)o[0];
                        int BowlLoc = (int)o[1] == 0 ? rd.Next(10, 12) : (int)o[1];

                        string guid = new Guid().ToString();

                        mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：面条位置【{NoodleLoc}】");

                        mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：碗位置【{BowlLoc}】");
                        Thread.Sleep(60000);
                    }), "ForOrder");
                }
            }), "EnableForOrder");

            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value);
            }), "WriteVW");
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value);
            }), "WriteBools");
            ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice");
        }

        public override void ResetProgram()
        {
            mORKS = null;
            mORKS = new GVL_MORKS();
        }

        public override void Stop()
        {

        }

        private void ServerInit()
        {
            //物料信息
            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.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is RecipeBomEvent recipe)
                {
                    recipeBoms = recipe.recipeBoms;
                    WriteRecipeBoms();
                }
            });


        }

        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            var res = mORKS.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            string goodName = string.Empty;
            string SortNum = string.Empty;
            if (res != null)
            {
                goodName = res.MorkOrder.GoodsName;
                SortNum = res.MorkOrder.SortNum.ToString();
            }

            //if (mORKS.doe.ContainsKey(subid))
            //{
            //goodName = mORKS.doe[subid].MorkOrder.GoodsName;
            //SortNum = mORKS.doe[subid].MorkOrder.SortNum.ToString();
            if (!string.IsNullOrEmpty(goodName) && !string.IsNullOrEmpty(SortNum))
            {
                EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
                var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
                if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
                {
                    if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
                    {
                        DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
                        DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
                        {
                            Status = oRDER_STATUS,
                            GoodName = goodName,
                            SortNum = SortNum,
                            StopTime = DateTime.Now.ToString("HH:mm:ss")
                        });
                    }
                    else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
                    {
                        var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
                        if (temp != null) DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
                    }
                    else
                    {
                        DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
                    }
                }
                else
                {
                    DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
                    {
                        Status = oRDER_STATUS,
                        GoodName = goodName,
                        SortNum = SortNum,
                        StartTime = DateTime.Now.ToString("HH:mm:ss")
                    });
                }
                //mORKS.doe.Remove(subid, out _);
            }
            //}

        }

        private void GetStatus(string key, Action<object> action)
        {
            if (peripheralStatus.ContainsKey(key))
            {
                if (peripheralStatus[key] != null)
                {
                    action?.Invoke(peripheralStatus[key]);
                }
            }
        }

        public override void ReadData()
        {
            DataServer.GetInstance.morkS.Alarm.Clear();
            alarms.ForEach(item =>
            {
                DataServer.GetInstance.morkS.Alarm.Add(new AlarmModel()
                {
                    AlarmTime = $"{item.Date} {item.Time}",
                    AlarmMs = item.Info
                });
            });

            GetStatus("M230.0", new Action<object>((obj) =>
             {
                 if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 24)
                 {
                     alarm.MachineLeftLowTemperature = bools[0];
                     alarm.MachineRightLowTemperature = bools[1];
                     alarm.Supply1_LossBowl = bools[2];
                     alarm.Supply2_LossBowl = bools[3];
                     alarm.Supply1_ErrorOutBowl = bools[4];
                     alarm.Supply2_ErrorOutBowl = bools[5];
                     alarm.PushBowlCylinderError = bools[6];
                     alarm.NoodleMacCommunicateError = bools[7];
                     alarm.DosingMacCommunicateError = bools[8];
                     alarm.RobotMacCommunicateError = bools[9];
                     alarm.DeviceEstop = bools[10];
                     alarm.RobotInitError = bools[11];
                     alarm.RobotUrgentStop = bools[12];
                     alarm.RobotNotInRemoteMode = bools[13];
                     alarm.RobotNotInReady = bools[14];
                     alarm.RobotSelfInException = bools[15];
                     alarm.LeftLackWater = bools[16];
                     alarm.RightLackWater = bools[17];
                     alarm.SvrewInitFail = bools[18];
                     alarm.TurntableInitFail = bools[19];
                     alarm.RobotInitFail = bools[20];
                     alarm.NoodleCookerInitFail = bools[21];
                     alarm.PushBowlInitFail1 = bools[22];
                     alarm.PushBowlInitFail2 = bools[23];
                 }
             }));

            GetStatus("M0.3", new Action<object>((obj) =>
             {
                 if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 3)
                 {
                     mORKS.RobotTakeNoodle = bools[0];
                     mORKS.RobotOutMeal = bools[1];
                     mORKS.MoveTurntable = bools[2];
                 }
             }));

            GetStatus("M100.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 16)
                {
                    mORKS.InitComplete = bools[0];
                    mORKS.TakeBowlIdle = bools[1];
                    mORKS.TemperatureReached = bools[2];
                    mORKS.AllowFallNoodle = bools[3];
                    mORKS.RbTakeNoodleComplete = bools[4];
                    mORKS.RbFallNoodleComplete = bools[5];
                    mORKS.RbOutMealComplete = bools[6];
                    mORKS.RobotIdle = bools[7];
                    mORKS.TakeMealDetect = bools[8];
                    mORKS.MissingBowl = bools[9];
                    Initing = bools[10];
                    mORKS.TurntableLowerLimit = bools[11];
                    mORKS.MissingBowlSignal2 = bools[12];
                    mORKS.TurntableUpLimit = bools[13];
                    mORKS.FeedComplete = bools[14];
                    mORKS.TurntableMoveInPlace = bools[15];
                    DataServer.GetInstance.morkS.MorkS_Temp = mORKS.TemperatureReached;
                    DataServer.GetInstance.morkS.Morks_SiloMeasUp = mORKS.TurntableUpLimit;
                    DataServer.GetInstance.morkS.Morks_SiloMeasDown = mORKS.TurntableLowerLimit;
                    DataServer.GetInstance.morkS.MorkS_NoBowMeas1 = mORKS.MissingBowl;
                    DataServer.GetInstance.morkS.MorkS_NoBowMeas2 = mORKS.MissingBowlSignal2;
                }

            }));

            GetStatus("M235.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKS.Error = bools[0];
                }
            }));


            GetStatus("M102.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 7)
                {
                    for (int i = 0; i < 6; i++)
                    {
                        mORKS.NoodleCookerStatus[i] = bools[i];
                    }
                    mORKS.Feeding = bools[6];
                }
            }));

            GetStatus("M103.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 6)
                {
                    for (int i = 0; i < 6; i++)
                    {
                        mORKS.CookNoodlesComplete[i] = bools[i];
                        DataServer.GetInstance.morkS.Morks_NoodleUpOrDown[i] = bools[i];
                    }
                }

            }));

            GetStatus("VW372", new Action<object>((obj) =>
            {
                if (obj is ushort[] UshortValue && UshortValue.Length > 0 && UshortValue.Length <= 1)
                    mORKS.TurntableFeedbackloc = UshortValue[0];
                DataServer.GetInstance.morkS.MorkS_BinLocation = mORKS.TurntableFeedbackloc;
            }));
        }

        /// <summary>
        /// 数据解析
        /// </summary>
        private void DataParse()
        {
            EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                if (@event == null) return;
                if (@event is DoOrderEvent order)
                {
                    mORKS.doOrderEvents.Add(order);
                    //mORKS.doe.TryAdd(order.MorkOrder.SuborderId, order);
                    DeviceProcessLogShow($"接收到{order.MorkOrder.SortNum}号订单");
                    if (order.MorkOrder.GoodBatchings == null) return;
                    if (mORKS.HistorySuborderId.Contains(order.MorkOrder.SuborderId)) return;
                    OrderCount++;
                    if (DateTime.Now.Subtract(Json<OrderStatistics>.Data.StatisticsTime).Days != 0)
                        Json<OrderStatistics>.Data.Count = 0;
                    Json<OrderStatistics>.Data.StatisticsTime = DateTime.Now;
                    Json<OrderStatistics>.Data.Count++;
                    Json<OrderStatistics>.Save();
                    OrderChange(order.MorkOrder.SuborderId, ORDER_STATUS.WAIT);
                    if (order.MorkOrder.GoodBatchings.Count <= 1)
                    {
                        DeviceProcessLogShow($"数据解析失败，商品物料信息为空,请检查后台配置！");
                        return;
                    }
                    DeviceProcessLogShow($"接收到{OrderCount}次订单，订单ID：{order.MorkOrder.SuborderId}");
                    mORKS.HistorySuborderId.Add(order.MorkOrder.SuborderId);
                    foreach (var item in order.MorkOrder.GoodBatchings)
                    {
                        var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
                        if (res != null)
                        {
                            if (ushort.TryParse(res.BatchingLoc, out ushort loc))
                            {
                                if (loc >= 1 && loc <= 5)
                                {
                                    if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                                        mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo()
                                        {
                                            GoodName = order.MorkOrder.GoodsName,
                                            Loc = ushort.Parse(res.BatchingLoc),
                                            SuborderId = order.MorkOrder.SuborderId,
                                            SortNum = order.MorkOrder.SortNum,
                                            BatchingId = res.BatchingId
                                        });
                                }
                                else if (loc >= 10 && loc <= 11)
                                {
                                    int index = 0;
                                    if (recipeBoms != null)
                                    {
                                        index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);
                                        index++;
                                    }
                                    if (mORKS.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                                        mORKS.TakeBowlTask.Enqueue(new OrderLocInfo()
                                        {
                                            BatchingId = res.BatchingId,
                                            GoodName = order.MorkOrder.GoodsName,
                                            Loc = ushort.Parse(res.BatchingLoc),
                                            SuborderId = order.MorkOrder.SuborderId,
                                            SortNum = order.MorkOrder.SortNum,
                                            RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0
                                        });
                                }
                            }
                        }
                        else
                        {
                            DeviceProcessLogShow($"数据解析失败，未找到商品信息,请检查后台配置！");
                        }
                    }
                }
            });
        }

        public override void MainTask()
        {
            mORKS.AllowRun = mORKS.InitComplete;
            if (Json<KeepDataBase>.Data.IsVerify)
                IsHealth = mORKS.Error && mORKS.InitComplete;
            else
                IsHealth = true;

            TakeBowlTask();

            TakeNoodleTask();

            OutNoodleTask();

            SingleDetect();

            TurntableControl();

            var data = new List<bool>();
            for (int i = 0; i < Json<MorksPar>.Data.parSets.Count; i++)
            {
                data.Add(Json<MorksPar>.Data.parSets.ElementAt(i).IsShield);
            }

            WriteControl("M260.0", data.ToArray());

        }

        private void BowlControl(OrderLocInfo orderLocInfo)
        {
            if (orderLocInfo.Loc >= 10 && orderLocInfo.Loc <= 11)
            {
                mORKS.TakeBowlId = orderLocInfo.SuborderId;
                mORKS.TakeBowName = orderLocInfo.GoodName;
                mORKS.TakeBowSortNum = orderLocInfo.SortNum;
                TakeBowlControl(orderLocInfo.Loc);
                SetRecipeNumber(orderLocInfo.RecipeNumber);
                OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
                DeviceProcessLogShow($"订单【{mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                mORKS.TakeBowlInterlock = true;
            }
        }

        /// <summary>
        /// 取碗控制
        /// </summary>
        private void TakeBowlTask()
        {
            if (mORKS.AllowRun && mORKS.TakeBowlTask.Count > 0 && !mORKS.TakeBowlIdle && !mORKS.TakeBowlInterlock)
            {
                DeviceProcessLogShow("开始取碗流程");
                ushort BowLoc = 0;
                var res = orderMaterialDelivery?.BatchingInfo?.Where(p => p.BatchingId == mORKS.TakeBowlTask.ElementAt(0).BatchingId).ToList();
                if (res == null || res?.Count == 0)
                {
                    if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo)) BowlControl(orderLocInfo);
                }
                else
                {
                    foreach (var item in res)
                    {
                        if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                        {
                            //DeviceProcessLogShow($"位置：={loc}，检测开关1:{alarm.Supply1_LossBowl},检测开关1:{alarm.Supply2_LossBowl}");
                            if (loc == 10 && !alarm.Supply1_LossBowl)
                            {
                                BowLoc = loc;
                                break;
                            }
                            else if (loc == 11 && !alarm.Supply2_LossBowl)
                            {
                                BowLoc = loc;
                                break;
                            }
                        }
                    }

                    if (BowLoc >= 10 && BowLoc <= 11)
                    {
                        if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo))
                        {
                            orderLocInfo.Loc = BowLoc;
                            BowlControl(orderLocInfo);
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 转台控制
        /// </summary>
        private void TurntableControl()
        {
            if (Global.EnableLocalSimOrder)
            {
                //不做轮询，直接取面，模拟订单使用
                if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
                {
                    if (mORKS.TurntableLowerLimit)
                    {
                        TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc);
                        mORKS.TurntableLocLists.Clear();
                        mORKS.AllowTakeNoodle = true;
                        DeviceProcessLogShow($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
                    }
                }
            }
            else
            {
                //正常轮询
                if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
                {
                    var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
                    if (result != null)
                    {
                        var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.TurntableFeedbackloc.ToString());
                        if (mORKS.TurntableLowerLimit && res != null)
                        {
                            TurntableStart(mORKS.TurntableFeedbackloc);
                            mORKS.TurntableLocLists.Clear();
                            mORKS.AllowTakeNoodle = true;
                            DeviceProcessLogShow($"控制机器人去转台【{mORKS.TurntableFeedbackloc}】号位置取面");
                        }
                        else
                        {
                            if (!mORKS.TurntableInterlock)
                            {
                                foreach (var item in result)
                                {
                                    if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                                    {
                                        if (mORKS.TurntableFeedbackloc != loc && !mORKS.TurntableLocLists.Contains(loc))
                                        {
                                            if (!mORKS.TurntableLowerLimit)
                                            {
                                                WriteData("M32.7", false);
                                                DeviceProcessLogShow($"执行了转台启动互锁信号复位");
                                            }
                                            TurntableStart(loc);
                                            DeviceProcessLogShow($"没有物料检测的启动转台控制,转台位置：[{loc}]");
                                            break;
                                        }
                                        else if (mORKS.TurntableFeedbackloc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc);
                                    }
                                }
                            }
                        }
                    }
                    else DeviceProcessLogShow("未找到可用的物料信息");
                }
            }

            //if (DelayRTrig.GetInstance("互锁信号复位").Start(!mORKS.TurntableLowerLimit && mORKS.TurntableMoveInPlace, 2))
            //{
            //    if (!mORKS.TurntableLowerLimit)
            //    {
            //        WriteData("M32.7", false);
            //        DeviceProcessLogShow($"执行了转台启动互锁信号复位");
            //    }
            //}

            //补料中检测
            if (RTrig.GetInstance("mORKS.Feeding").Start(mORKS.Feeding))
            {
                mORKS.AllowTakeNoodle = false;
                mORKS.TakeNoodleInterlock = false;
            }

            //转台到位检测
            if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace && mORKS.CurrentLoc == mORKS.TurntableFeedbackloc))
            {
                mORKS.CurrentLoc = 0;
                mORKS.TurntableInterlock = false;
                DeviceProcessLogShow("转台到位检测");
            }

            //补料完成检测
            if (RTrig.GetInstance("FeedComplete").Start(mORKS.FeedComplete))
            {
                if (!mORKS.AllowTakeNoodle && mORKS.TurntableLocLists.Count > 0)
                {
                    mORKS.TurntableLocLists.Clear();
                    mORKS.TurntableInterlock = false;
                    DeviceProcessLogShow("补料完成检测");
                }
            }

        }

        /// <summary>
        /// 取面任务
        /// </summary>
        private void TakeNoodleTask()
        {
            //取面控制
            if (mORKS.AllowRun && mORKS.RobotIdle && !mORKS.Feeding && !mORKS.RobotTaskInterlock && mORKS.AllowTakeNoodle && mORKS.TurntableMoveInPlace && !mORKS.TakeNoodleInterlock && !mORKS.OutNoodleing && mORKS.RBTakeNoodleTask.Count > 0)
            {
                int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
                    {
                        mORKS.CookNodelId[loc] = orderLocInfo.SuborderId;
                        SetFallNoodleLoc((ushort)(loc + 1));
                        //机器人开始取面
                        RobotTakeNoodle();
                        OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
                        DeviceProcessLogShow($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");
                        //写入煮面时间
                        List<ushort> values = new List<ushort>();
                        values.Add(Json<MorksPar>.Data.parSets.ElementAt(loc).Minute);
                        values.Add(Json<MorksPar>.Data.parSets.ElementAt(loc).Second);
                        WriteData($"VW{116 + (loc * 6)}", values.ToArray());
                        mORKS.TakeNoodleInterlock = true;
                    }
                }
            }
        }

        /// <summary>
        /// 出餐控制
        /// </summary>
        private void OutNoodleTask()
        {
            if (mORKS.AllowFallNoodle && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotIdle && !mORKS.TakeMealDetect)
            {
                int loc = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId && p.Length > 0);
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.CookNoodlesComplete[loc])
                    {
                        SetTakeNoodleLoc((ushort)(loc + 1));
                        RobotOutMeal();
                        CookNoodleStatusReset((ushort)(loc + 1));
                        ResetAllowFallNoodle();


                        //新增，待测试
                        if (mORKS.RbOutMealComplete)
                        {
                            ResetCookComplete();
                            mORKS.CookCompleteFlatBit = false;
                            DeviceProcessLogShow("取餐过程中复位出餐完成信号");
                        }

                        if (!string.IsNullOrEmpty(mORKS.OutMealId)) OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
                        mORKS.OutMealId = mORKS.IngredientsCompleteId;
                        mORKS.OutMealName = mORKS.IngredientsCompleteName;
                        mORKS.OutMealSortNum = mORKS.IngredientsCompleteSortNum;
                        mORKS.IngredientsCompleteId = string.Empty;
                        mORKS.CookNodelId[loc] = string.Empty;
                        DeviceProcessLogShow($"{loc + 1} 号位置出餐控制,订单ID：{mORKS.OutMealId}");

                        mORKS.OutNoodleing = true;
                    }
                }
            }
        }

        /// <summary>
        /// 信号检测
        /// </summary>
        private void SingleDetect()
        {
            //允许倒面信号检测
            if (RTrig.GetInstance("AllowFallNoodle").Start(mORKS.AllowFallNoodle))
            {
                mORKS.IngredientsCompleteId = mORKS.TakeBowlId;
                mORKS.IngredientsCompleteName = mORKS.TakeBowName;
                mORKS.IngredientsCompleteSortNum = mORKS.TakeBowSortNum;
                mORKS.TakeBowlId = string.Empty;
                mORKS.TakeBowName = string.Empty;
                mORKS.TakeBowSortNum = 0;
                DeviceProcessLogShow($"碗到位，允许到面,{mORKS.IngredientsCompleteId}");
                mORKS.TakeBowlInterlock = false;
            }

            //出餐完成信号检测
            if (RTrig.GetInstance("CompleteChange").Start(mORKS.RbOutMealComplete))
            {
                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_COOK);
                DeviceProcessLogShow($"订单【{mORKS.OutMealId}】制作完成");
                mORKS.CookCompleteFlatBit = true;
                mORKS.OutNoodleing = false;
            }

            //加汤
            /*if (Delay.GetInstance("加汤延时判断").Start(mORKS.TakeMealDetect && mORKS.CookCompleteFlatBit, 1))
            {
                AddSoup();
            }*/

            //取餐完成逻辑处理
            if (Delay.GetInstance("CompleteChange1").Start(!mORKS.TakeMealDetect, 1) && mORKS.CookCompleteFlatBit == true)
            {
                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
                DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成");
                ResetCookComplete();
                DeviceProcessLogShow($"出餐订单【{mORKS.OutMealSortNum.ToString()}】");
                DeviceProcessLogShow($"出餐订单序号【{mORKS.OutMealSortNum}】");
                VoiceAPI.Speak(mORKS.OutMealSortNum.ToString());
                //DeviceProcessLogShow($"叫号系统通知主题【MORKS/VoiceCall/{DeviceId}】");
                //Plugin.GetInstance().GetPlugin<MQTTMgr>().Publish($"MORKS/VoiceCall/{DeviceId}", mORKS.OutMealSortNum.ToString());
                mORKS.CookCompleteFlatBit = false;
                mORKS.OutMealId = string.Empty;
                mORKS.OutMealName = string.Empty;
                mORKS.OutMealSortNum = 0;
            }

            //机器人取面完成信号检测
            if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete))
            {
                mORKS.TakeNoodleInterlock = false;
                mORKS.AllowTakeNoodle = false;
                mORKS.TurntableInterlock = false;
                DeviceProcessLogShow("机器人取面完成信号检测");
                TakeNoodleCompleteReset();
            }

            int OutMealRequstCount = mORKS.CookNoodlesComplete.Where(p => p == true).ToList().Count;
            int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count;
            int index = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId);

            bool isok = index >= 0 && index < mORKS.CookNoodlesComplete.Length && mORKS.CookNoodlesComplete[index];

            mORKS.PriorityJudgment = Delay.GetInstance("取餐优先级判断").Start(mORKS.TurntableLocLists.Count > 0 && !mORKS.TurntableLowerLimit, 4);
            //mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0 || mORKS.PriorityJudgment);
            mORKS.InvertedNoodlesOpenBusy = Json<MorksPar>.Data.InvertedNoodles_OpenBusyNum;
            mORKS.RobotTaskInterlock = isok && mORKS.AllowFallNoodle && (mlCount >= mORKS.InvertedNoodlesOpenBusy || mORKS.RBTakeNoodleTask.Count == 0 || mORKS.PriorityJudgment) && !mORKS.TakeMealDetect;//加个取餐口检测判断是否去面


        }
        ///// <summary>
        ///// 语音提醒取餐
        ///// </summary>
        ///// <param name="meal"></param>
        //private void WaitMeaLSpeak(string meal)
        //{
        //    VoiceAPI.m_SystemPlayWav(@"Vioce\电子提示音.wav");
        //    Thread.Sleep(1000);
        //    if (meal != null) mORKS.speech.Speak(meal);
        //    VoiceAPI.m_SystemPlayWav(@"Vioce\取餐通知.wav");
        //}



        #region PLC 控制函数

        private void WriteData(string address, object value)
        {
            EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });
        }

        /// <summary>
        /// 写入配方数据到 PLC
        /// </summary>
        private void WriteRecipeBoms()
        {
            List<ushort> recipeBoms = new List<ushort>();
            if (this.recipeBoms == null) return;
            foreach (var item in this.recipeBoms.RecipeIds)
            {
                foreach (var rec in item.Recipes)
                {
                    recipeBoms.Add((ushort)rec);
                }
            }
            if (recipeBoms.Count > 0)
            {
                //配方数据地址范围：VW2000 - VW2278
                WriteData("VW2000", recipeBoms.ToArray());
                DeviceProcessLogShow("写配方成功");
            }
            else { DeviceProcessLogShow("配方数据为空"); }
        }


        /// <summary>
        /// 取面完成复位
        /// </summary>
        private void TakeNoodleCompleteReset()
        {
            WriteData("M100.4", false);

        }

        /// <summary>
        /// 指定煮面口状态复位
        /// </summary>
        /// <param name="num"></param>
        private void CookNoodleStatusReset(int num)
        {
            if (num >= 1 && num <= 6)
            {
                WriteData($"102.{num - 1}", false);
                DeviceProcessLogShow($"{num}号煮面口占用复位");
            }

        }

        /// <summary>
        /// 写配方编号
        /// </summary>
        /// <param name="num"></param>
        private void SetRecipeNumber(ushort num)
        {
            WriteData("VW0", num);
        }

        /// <summary>
        /// 启动转台
        /// </summary>
        /// <param name="loc"></param>
        private void TurntableStart(ushort loc)
        {
            mORKS.CurrentLoc = loc;
            mORKS.TurntableInterlock = true;
            mORKS.TurntableLocLists.Add(loc);
            WriteData("VW2", loc);
            WriteData("M0.5", true);
        }

        /// <summary>
        /// 设置倒面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetFallNoodleLoc(ushort loc)
        {
            WriteData("VW4", loc);
        }

        /// <summary>
        /// 设置取面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetTakeNoodleLoc(ushort loc)
        {
            WriteData("VW6", loc);
        }

        /// <summary>
        /// 加汤控制
        /// </summary>
        private async void AddSoup()
        {
            //M0.6
            WriteData("M0.6", true);
            await Task.Delay(Convert.ToInt32(Json<MorksPar>.Data.AddSoupTime * 1000));
            WriteData("M0.6", false);
        }

        /// <summary>
        /// 取碗控制
        /// </summary>
        /// <param name="loc"></param>
        private void TakeBowlControl(ushort loc)
        {
            if (loc == 10)//小碗
            {
                WriteData("M0.1", true);
            }
            else if (loc == 11)//大碗
            {
                WriteData("M0.2", true);
            }
        }

        /// <summary>
        /// 机器人取面
        /// </summary>
        private void RobotTakeNoodle()
        {
            WriteData("M0.3", true);
        }

        /// <summary>
        /// 机器人取餐
        /// </summary>
        private void RobotOutMeal()
        {
            WriteData("M0.4", true);
        }

        /// <summary>
        /// 制作完成信号复位
        /// </summary>
        private void ResetCookComplete()
        {
            WriteData("M100.6", false);
        }

        /// <summary>
        /// 复位允许取面信号
        /// </summary>
        private void ResetAllowFallNoodle()
        {
            WriteData("M100.3", false);
        }

        /// <summary>
        /// 设备初始化
        /// </summary>
        public async void DeviceInit()
        {
            WriteData("M0.0", true);
            await Task.Delay(1000);
            WriteData("M0.0", false);
        }

        public override void SimOrder()
        {
            EventBus.GetInstance().Subscribe<MorksSimorderModel>(0, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                if (@event != null && @event is MorksSimorderModel msm)
                {
                    string guid = Guid.NewGuid().ToString();
                    if (msm.NoodleLoc >= 1 && msm.NoodleLoc <= 5)
                    {
                        mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)msm.NoodleLoc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：面条位置【{(ushort)msm.NoodleLoc}】");
                    }

                    if (msm.Bowloc >= 10 && msm.Bowloc <= 11)
                    {
                        mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)msm.Bowloc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：碗位置【{(ushort)msm.Bowloc}】");
                    }

                }
            });
        }
        #endregion


    }
}