180更新

BPASmartClient.CustomResource/Pages/Model/MessageLog.cs

@@ -7,6 +7,7 @@ using System.Text;
 using System.Threading.Tasks;
 using System.Windows;
 using BPASmartClient.Model;
+using System.Windows.Media;
 
 namespace BPASmartClient.CustomResource.Pages.Model
 {
@@ -72,8 +73,9 @@ namespace BPASmartClient.CustomResource.Pages.Model
                 RunLog?.Invoke(info);
             }
         }
+        
         int AlarmID;
-        public void ShowAlarmLog(string info, string AlarmNumber="_", AlarmLevel level= AlarmLevel.一般报警)
+        public void ShowAlarmLog(string info, string AlarmNumber = "_", AlarmLevel level = AlarmLevel.一般报警)
         {
             lock (alarmlock)
             {
@@ -85,7 +87,7 @@ namespace BPASmartClient.CustomResource.Pages.Model
                     Time = DateTime.Now.ToString("HH:mm:ss"),
                     Info = info,
                     Value = AlarmNumber,
-                    Grade = (level)+""
+                    Grade = (level) + ""
                 };
                 Sqlite<Alarm>.GetInstance.Base.Add(alarmLog);
                 Application.Current.Dispatcher.Invoke(new Action(() => { alarmLogs.Insert(0, alarmLog); }));

BPASmartClient.CustomResource/Pages/View/AlarmView.xaml

@@ -25,7 +25,7 @@
                     <convert:AlarmTypeTextConvert x:Key="alarmTypeTextConvert" />-->
                     <SolidColorBrush x:Key="BorderSolid" Color="#5523CACA" />
                     <SolidColorBrush x:Key="FontColor" Color="#FF2AB2E7" />
-                    <SolidColorBrush x:Key="TitleFontColor" Color="#ddd" />
+                    <SolidColorBrush x:Key="TitleFontColor" Color="White" />
                     <SolidColorBrush x:Key="CursorColor" Color="Aqua" />
                     <SolidColorBrush x:Key="TitleBorderColor" Color="#FF2AB2E7" />
 
@@ -157,7 +157,7 @@
         </StackPanel>
 
         <!--#region 表格标题栏设置-->
-        <Grid Grid.Row="1" Background="#dd2AB2E7">
+        <Grid Grid.Row="1" Background="#FF19B7EC">
             <Grid.ColumnDefinitions>
                 <ColumnDefinition Width="0.3*" />
                 <ColumnDefinition Width="0.7*" />

BPASmartClient.CustomResource/Pages/View/RunLogView.xaml

@@ -25,7 +25,7 @@
                     <convert:AlarmTypeTextConvert x:Key="alarmTypeTextConvert" />-->
                     <SolidColorBrush x:Key="BorderSolid" Color="#5523CACA" />
                     <SolidColorBrush x:Key="FontColor" Color="#FF2AB2E7" />
-                    <SolidColorBrush x:Key="TitleFontColor" Color="#ddd" />
+                    <SolidColorBrush x:Key="TitleFontColor" Color="White" />
                     <SolidColorBrush x:Key="CursorColor" Color="Aqua" />
                     <SolidColorBrush x:Key="TitleBorderColor" Color="#FF2AB2E7" />
 
@@ -158,7 +158,7 @@
         </StackPanel>
 
         <!--#region 表格标题栏设置-->
-        <Grid Grid.Row="1" Background="#dd2AB2E7">
+        <Grid Grid.Row="1" Background="#FF19B7EC">
             <Grid.ColumnDefinitions>
                 <ColumnDefinition Width="0.7*" />
                 <ColumnDefinition Width="0.7*" />
@@ -261,7 +261,8 @@
                                 <TextBlock
                                     Grid.Column="2"
                                     Style="{StaticResource DataTextBlockStyle}"
-                                    Text="{Binding RunLogInfo}" />
+                                    Text="{Binding RunLogInfo}"
+                                    />
 
                                 <!--<Grid Grid.Column="3">
                                     <TextBlock

BPASmartClient.CustomResource/Pages/View/UserLogView.xaml

@@ -26,7 +26,7 @@
                     <convert:AlarmTypeTextConvert x:Key="alarmTypeTextConvert" />-->
                     <SolidColorBrush x:Key="BorderSolid" Color="#5523CACA" />
                     <SolidColorBrush x:Key="FontColor" Color="#FF2AB2E7" />
-                    <SolidColorBrush x:Key="TitleFontColor" Color="#ddd" />
+                    <SolidColorBrush x:Key="TitleFontColor" Color="White" />
                     <SolidColorBrush x:Key="CursorColor" Color="Aqua" />
                     <SolidColorBrush x:Key="TitleBorderColor" Color="#FF2AB2E7" />
 
@@ -240,7 +240,7 @@
         </StackPanel>
 
         <!--#region 表格标题栏设置-->
-        <Grid Grid.Row="1" Background="#dd2AB2E7">
+        <Grid Grid.Row="1" Background="#FF19B7EC">
             <Grid.ColumnDefinitions>
                 <ColumnDefinition Width="0.3*" />
                 <ColumnDefinition Width="0.3*" />

FryPot_DosingSystem/Control/DosingLogicControl.cs

@@ -189,15 +189,21 @@ namespace FryPot_DosingSystem.Control
                 globalVar.agvArriveLineFour = true;
 
             }), "AgvArriveLineFourLoc");
-            
+
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                EmptyRollerCleanTaskRestart();
+
+            }), "EmptyRollerCleanTaskRestart");
+
             #endregion
             //接口调试
             ActionManage.GetInstance.Register(new Action(() =>
             {
                 string id = Guid.NewGuid().ToString();
-              string errorCode=AGVHelper._Instance.AgvToLineOneLoadRoller(id);
+                string errorCode = AGVHelper._Instance.AgvToLineOneLoadRoller(id);
                 if (errorCode == "SUCCESS")
-                {   
+                {
                     MessageLog.GetInstance.ShowRunLog($"AGV任务下发成功");
                 }
                 else if (errorCode == "Analysis Error")
@@ -209,6 +215,31 @@ namespace FryPot_DosingSystem.Control
                     MessageLog.GetInstance.ShowRunLog($"提示：AGV任务下发失败，错误码:{errorCode}");
                 }
             }), "AgvDebug");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.agvArriveLineOneLoadCom = true;
+            }), "AgvLineOneLoadEmptyCom");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.agvArriveLineTwoLoadCom = true;
+            }), "AgvLineTwoLoadEmptyCom");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.agvArriveLineThreeLoadCom = true;
+            }), "AgvLineThreeLoadEmptyCom");
+
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.rollerLineOne.CanRun = true;
+            }), "AGVLineOneLoadCom");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.rollerLineTwo.CanRun = true;
+            }), "AGVLineTwoLoadCom");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.rollerLineThree.CanRun = true;
+            }), "AGVLineThreeLoadCom");
 
             ActionManage.GetInstance.Register(new Action(() =>
             {
@@ -812,6 +843,7 @@ namespace FryPot_DosingSystem.Control
                 //线体1任务上报
                 if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LSevenrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体1空桶上料
                 {
+                    globalVar.agvArriveLineOneLoadCom = true;
                     AgvViewModel.GetInstance().Set滚筒线上数量(1, (globalVar.LOneMaterialNum - 1).ToString());
                     AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes);
                     //到清洗处
@@ -819,6 +851,7 @@ namespace FryPot_DosingSystem.Control
                 //线体2任务上报
                 if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LEightrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体2空桶上料
                 {
+                    globalVar.agvArriveLineTwoLoadCom = true;
                     AgvViewModel.GetInstance().Set滚筒线上数量(2, (globalVar.LTwoMaterialNum - 1).ToString());
                     AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes);
 
@@ -828,6 +861,7 @@ namespace FryPot_DosingSystem.Control
                 //线体3任务上报
                 if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体3空桶上料
                 {
+                    globalVar.agvArriveLineThreeLoadCom = true;
                     AgvViewModel.GetInstance().Set滚筒线上数量(3, (globalVar.LThreeMaterialNum - 1).ToString());
                     AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes);
                     //到清洗处
@@ -918,7 +952,7 @@ namespace FryPot_DosingSystem.Control
                     AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3);
                 }
 
-               
+
                 //线体1任务上报
                 if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料
                 {
@@ -1053,9 +1087,9 @@ namespace FryPot_DosingSystem.Control
 
                     ThreadManage.GetInstance().StopTask("MainViewReadPlcData", new Action(() =>
                     {
-                    //ActionManage.GetInstance.CancelRegister("RecipeSetDown");
-                    //ActionManage.GetInstance.Register(new Action<object>(RecipeDataParse), "RecipeSetDown");
-                    // ActionManage.GetInstance.Send("ClearRecipes");
+                        //ActionManage.GetInstance.CancelRegister("RecipeSetDown");
+                        //ActionManage.GetInstance.Register(new Action<object>(RecipeDataParse), "RecipeSetDown");
+                        // ActionManage.GetInstance.Send("ClearRecipes");
                         ThreadManage.GetInstance().StopTask("滚筒线1任务线程", new Action(() =>
                         {
                             ThreadManage.GetInstance().StopTask("滚筒线2任务线程", new Action(() =>
@@ -1105,7 +1139,8 @@ namespace FryPot_DosingSystem.Control
                 globalVar.agvArriveUpLoad = false;
                 globalVar.agvArriveUnLoad = false;
                 globalVar.agvFryPotEmptyRollerArrive = false;
-                globalVar.EmptyRollerUnLoadcCom = false;
+                globalVar.agvLineOneLoadCom = false;
+
                 ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute(); Thread.Sleep(10); }), "滚筒线1任务线程");
                 MessageLog.GetInstance.ShowUserLog("滚筒线【1】任务重启成功");
             }));
@@ -1136,7 +1171,8 @@ namespace FryPot_DosingSystem.Control
                 globalVar.agvArriveLTwoUpLoad = false;
                 globalVar.LTwoagvArriveUnLoad = false;
                 globalVar.LTwoagvFryPotEmptyRollerArrive = false;
-                globalVar.LTwoEmptyRollerUnLoadcCom = false;
+                globalVar.agvLineTwoLoadCom = false;
+
                 ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程");
                 MessageLog.GetInstance.ShowUserLog("滚筒线【2】任务重启成功");
             }));
@@ -1165,11 +1201,41 @@ namespace FryPot_DosingSystem.Control
                 globalVar.agvArriveLThreeUpLoad = false;
                 globalVar.LThreeagvArriveUnLoad = false;
                 globalVar.LThreeagvFryPotEmptyRollerArrive = false;
-                globalVar.LThreeEmptyRollerUnLoadcCom = false;
+                globalVar.agvLineThreeLoadCom = false;
                 ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程");
                 MessageLog.GetInstance.ShowUserLog("滚筒线【3】任务重启成功");
             }));
         }
+
+        public void EmptyRollerCleanTaskRestart()
+        {
+            ThreadManage.GetInstance().StopTask("空桶清洗任务线程", new Action(() =>
+            {
+                globalVar.rollerLineOne.EmptyRollerNums.Clear();
+                globalVar.rollerLineOne.IsEpmtyBefore = false;
+               // globalVar.rollerLineOne.CanRun = true;
+
+                globalVar.rollerLineTwo.EmptyRollerNums.Clear();
+                globalVar.rollerLineTwo.IsEpmtyBefore = false;
+                //globalVar.rollerLineTwo.CanRun = true;
+
+                globalVar.rollerLineThree.EmptyRollerNums.Clear();
+                globalVar.rollerLineThree.IsEpmtyBefore = false;
+                //globalVar.rollerLineThree.CanRun = true;
+
+                globalVar.agvArriveLineFour = false;
+                globalVar.agvArriveCleanLoad = false;
+                globalVar.agvArriveCleanUnLoad = false;
+                globalVar.agvArriveLineOneLoadEmptyRoller = false;
+                globalVar.agvArriveLineTwoLoadEmptyRoller = false;
+                globalVar.agvArriveLineThreeLoadEmptyRoller = false;
+                globalVar.agvArriveLineOneLoadCom = false;
+                globalVar.agvArriveLineTwoLoadCom = false;
+                globalVar.agvArriveLineThreeLoadCom = false;
+                ThreadManage.GetInstance().StartLong(new Action(() => { LineFourProcessExecute(); Thread.Sleep(10); }), "空桶清洗任务线程");
+                MessageLog.GetInstance.ShowUserLog("空桶清洗任务重启成功");
+            }));
+        }
         /// <summary>
         /// 实时获取plc数据
         /// </summary>
@@ -1215,9 +1281,9 @@ namespace FryPot_DosingSystem.Control
                     globalVar.rollerLineOne.OutMaterialingSingle = data[3];
                     globalVar.rollerLineTwo.OutMaterialingSingle = data[4];
                     globalVar.rollerLineThree.OutMaterialingSingle = data[5];
-                //globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6];
-                //globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7];
-                //globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8];
+                    //globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6];
+                    //globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7];
+                    //globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8];
                     AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble = data[6];
                     AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble = data[7];
                     AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble = data[8];
@@ -1257,11 +1323,11 @@ namespace FryPot_DosingSystem.Control
                 }));
                 GetAddressData("D2070", new Action<ushort[]>((data) =>
                 {
-                //globalVar.fryPotOne.RollerTroubleSingle = data[0];
-                //globalVar.fryPotTwo.RollerTroubleSingle = data[1];
-                //globalVar.fryPotThree.RollerTroubleSingle = data[2];
-                //globalVar.fryPotFour.RollerTroubleSingle = data[3];
-                //globalVar.fryPotFive.RollerTroubleSingle = data[4];
+                    //globalVar.fryPotOne.RollerTroubleSingle = data[0];
+                    //globalVar.fryPotTwo.RollerTroubleSingle = data[1];
+                    //globalVar.fryPotThree.RollerTroubleSingle = data[2];
+                    //globalVar.fryPotFour.RollerTroubleSingle = data[3];
+                    //globalVar.fryPotFive.RollerTroubleSingle = data[4];
                     AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble = data[0];
                     AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble = data[1];
                     AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble = data[2];
@@ -1284,32 +1350,32 @@ namespace FryPot_DosingSystem.Control
 
                     globalVar.CleadBarrelExitSingle = data[0];
                 }));
-            //炒锅1状态数据
+                //炒锅1状态数据
                 GetFryOneData("D2001", new Action<ushort[]>(data =>
                 {
 
                 }));
-            //炒锅2状态数据
+                //炒锅2状态数据
                 GetFryTwoData("D2001", new Action<ushort[]>(data =>
                 {
 
                 }));
-            //炒锅3状态数据
+                //炒锅3状态数据
                 GetFryThreeData("D2001", new Action<ushort[]>(data =>
                 {
 
                 }));
-            //炒锅4状态数据
+                //炒锅4状态数据
                 GetFryFourData("D2001", new Action<ushort[]>(data =>
                 {
 
                 }));
-            //炒锅5状态数据
+                //炒锅5状态数据
                 GetFryFiveData("D2001", new Action<ushort[]>(data =>
                 {
 
                 }));
-            //线体上放空桶
+                //线体上放空桶
                 if (globalVar.rollerLineOne.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineOne.EmptyRollerNum != 0)
                 {
                     globalVar.rollerLineOne.EmptyRollerNums.Add(globalVar.rollerLineOne.EmptyRollerNum);
@@ -1322,7 +1388,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     globalVar.rollerLineThree.EmptyRollerNums.Add(globalVar.rollerLineThree.EmptyRollerNum);
                 }
-            //炒锅状态数据
+                //炒锅状态数据
                 if (globalVar.fryPotOne.OilConfirm == 1)
                 {
                     FryPotMonitorManage.GetInstance.fryOne.OilCapacity = globalVar.fryPotOne.OilCapacity;
@@ -1348,7 +1414,7 @@ namespace FryPot_DosingSystem.Control
                     FryPotMonitorManage.GetInstance.fryFive.OilCapacity = globalVar.fryPotFive.OilCapacity;
                     FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy += globalVar.fryPotFive.OilCapacity;
                 }
-            //炒锅状态实时显示
+                //炒锅状态实时显示
                 FryPotStatusDisplay();
                 RollerLineStatusDisplay();
                 Thread.Sleep(10);
@@ -1807,7 +1873,7 @@ namespace FryPot_DosingSystem.Control
             ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute(); Thread.Sleep(10); }), "滚筒线1任务线程");
             ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程");
             ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程");
-            ThreadManage.GetInstance().StartLong(new Action(() => { LineFourProcessExecute(); Thread.Sleep(10); }), "清洗台任务线程");
+            ThreadManage.GetInstance().StartLong(new Action(() => { LineFourProcessExecute(); Thread.Sleep(10); }), "空桶清洗任务线程");
 
         }
 
@@ -1869,11 +1935,13 @@ namespace FryPot_DosingSystem.Control
         }
         private void LineFourProcessExecute()
         {
+            //
             AgvFromLineToCleanPlate();
+            AgvArriveCleanPlate();
+
+            CallAgvToLineFour();
             CleanPlateUpLoad();
             EmptyRollerToLinFour();
-            CallAgvToLineFour();
-            AgvArriveCleanPlate();
         }
 
         private void CleanPlateUpLoad()
@@ -1893,11 +1961,12 @@ namespace FryPot_DosingSystem.Control
             if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//输送线无故障
             {
                 //线体1到清洗台
-                if (!globalVar.rollerLineOne.IsEpmtyBefore)
+                if (!globalVar.rollerLineOne.IsEpmtyBefore && globalVar.rollerLineOne.CanRun)
                 {
                     var res = InputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineOne.StationEight);
-                    if (res == null && globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.EmptyRollerNums.Count > 0 && globalVar.rollerLineOne.StationEight == globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶且工位8的桶号和plc上报的桶号一致,即空桶
+                    if ((globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.EmptyRollerNums.Count > 0 && globalVar.rollerLineOne.StationEight == globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0) && InputMaterialQuene.Count > 0 && globalVar.rollerLineOne.StationEight != InputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.EmptyRollerNums.Count > 0 && globalVar.rollerLineOne.StationEight == globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0)))//工位8上面有桶且不是配方上的原料桶且工位8的桶号和plc上报的桶号一致,即空桶
                     {
+
                     //下发AGV去空桶线洗桶任务
                     e: string id = Guid.NewGuid().ToString("N");
                         if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
@@ -1908,6 +1977,7 @@ namespace FryPot_DosingSystem.Control
                         Thread.Sleep(500);
                         LineToCleanCarryTaskErrorCodeAnalysis(info, 1);
                         globalVar.rollerLineOne.IsEpmtyBefore = true;
+                        //globalVar.rollerLineOne.CanRun = false;
                         AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                     }
                 }
@@ -1919,10 +1989,10 @@ namespace FryPot_DosingSystem.Control
             // 线体2到清洗台
             if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//输送线无故障
             {
-                if (!globalVar.rollerLineTwo.IsEpmtyBefore)
+                if (!globalVar.rollerLineTwo.IsEpmtyBefore && globalVar.rollerLineTwo.CanRun)
                 {
                     var res = LTwoInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineTwo.StationEight);
-                    if (res == null && globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.EmptyRollerNums.Count > 0 && globalVar.rollerLineTwo.StationEight == globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶,即空桶
+                    if ((globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.EmptyRollerNums.Count > 0 && globalVar.rollerLineTwo.StationEight == globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0) && LTwoInputMaterialQuene.Count > 0 && globalVar.rollerLineTwo.StationEight != LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.EmptyRollerNums.Count > 0 && globalVar.rollerLineTwo.StationEight == globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0)))//工位8上面有桶且不是配方上的原料桶,即空桶
                     {
                     //下发AGV去空桶线洗桶任务
                     e: string id = Guid.NewGuid().ToString("N");
@@ -1934,6 +2004,7 @@ namespace FryPot_DosingSystem.Control
                         Thread.Sleep(500);
                         LineToCleanCarryTaskErrorCodeAnalysis(info, 2);
                         globalVar.rollerLineTwo.IsEpmtyBefore = true;
+                        // globalVar.rollerLineTwo.CanRun = false;
                         AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体2到清洗处
                     }
                 }
@@ -1945,10 +2016,10 @@ namespace FryPot_DosingSystem.Control
             //线体3到清洗台
             if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
             {
-                if (!globalVar.rollerLineThree.IsEpmtyBefore)
+                if (!globalVar.rollerLineThree.IsEpmtyBefore && globalVar.rollerLineThree.CanRun)
                 {
                     var res = LThreeInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineThree.StationEight);
-                    if (res == null && globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.EmptyRollerNums.Count > 0 && globalVar.rollerLineThree.StationEight == globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶,即空桶
+                    if ((globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.EmptyRollerNums.Count > 0 && globalVar.rollerLineThree.StationEight == globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0) && LThreeInputMaterialQuene.Count > 0 && globalVar.rollerLineThree.StationEight != LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.EmptyRollerNums.Count > 0 && globalVar.rollerLineThree.StationEight == globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0)))//工位8上面有桶且不是配方上的原料桶,即空桶
                     {
                     //下发AGV去空桶线洗桶任务
                     e: string id = Guid.NewGuid().ToString("N");
@@ -1960,6 +2031,7 @@ namespace FryPot_DosingSystem.Control
                         Thread.Sleep(500);
                         LineToCleanCarryTaskErrorCodeAnalysis(info, 3);
                         globalVar.rollerLineThree.IsEpmtyBefore = true;
+                        //globalVar.rollerLineThree.CanRun = false;
                         AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                     }
                 }
@@ -1993,7 +2065,7 @@ namespace FryPot_DosingSystem.Control
             {
                 //是否需要手动给PLC置位？？
                 globalVar.CleanComplete = 0;
-                e: string id = Guid.NewGuid().ToString("N");
+            e: string id = Guid.NewGuid().ToString("N");
                 if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                     goto e;
 
@@ -2063,6 +2135,7 @@ namespace FryPot_DosingSystem.Control
                         }
                         else
                         {
+                            MessageLog.GetInstance.ShowRunLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                             MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                             LThreeInputMaterialQuene.Clear();
                             LThreeErrorRecipe = true;
@@ -2164,6 +2237,7 @@ namespace FryPot_DosingSystem.Control
                         }
                         else
                         {
+                            MessageLog.GetInstance.ShowRunLog($"【2】号滚筒线配方桶号配置错误,取消【{result.RecipeName}】配方制作");
                             MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线配方桶号配置错误,取消【{result.RecipeName}】配方制作");
                             LTwoInputMaterialQuene.Clear();
                             LTwoErrorRecipe = true;
@@ -2262,6 +2336,7 @@ namespace FryPot_DosingSystem.Control
                         }
                         else
                         {
+                            MessageLog.GetInstance.ShowRunLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                             MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                             InputMaterialQuene.Clear();
                             ErrorRecipe = true;
@@ -2363,8 +2438,23 @@ namespace FryPot_DosingSystem.Control
             {
                 AgvToLineOneLoadRoller();
                 AgvFromLineOneToFryPot();//AGV到1号线体装桶
+                AgvLineOneLoadRollerCom();
+            }
+        }
+        /// <summary>
+        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
+        /// </summary>
+        /// <exception cref="NotImplementedException"></exception>
+        private void AgvLineOneLoadRollerCom()
+        {
+            if (globalVar.agvLineOneLoadCom)
+            {
+                globalVar.rollerLineOne.CanRun = true;
+                globalVar.agvLineOneLoadCom = false;
+                MessageLog.GetInstance.ShowRunLog("AGV在【1】号滚筒线装桶完成");
             }
         }
+
         /// <summary>
         ///  AGV到配方线体2装桶以及出料到炒锅
         /// </summary>
@@ -2372,13 +2462,25 @@ namespace FryPot_DosingSystem.Control
         {
             if (LTwoInputMaterialQuene.Count > 0)
             {
-
                 AgvToLineTwoLoadRoller();
                 AgvFromLineTwoToFryPot();//AGV到2号线体装桶 
+                AgvLineTwoLoadRollerCom();
 
-
             }
         }
+        /// <summary>
+        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
+        /// </summary>
+        private void AgvLineTwoLoadRollerCom()
+        {
+            if (globalVar.agvLineTwoLoadCom)
+            {
+                globalVar.rollerLineTwo.CanRun = true;
+                globalVar.agvLineTwoLoadCom = false;
+                MessageLog.GetInstance.ShowRunLog("AGV在【2】号滚筒线装桶完成");
+            }
+        }
+
         /// <summary>
         ///  AGV到配方线体3装桶以及出料到炒锅
         /// </summary>
@@ -2389,8 +2491,19 @@ namespace FryPot_DosingSystem.Control
 
                 AgvToLineThreeLoadRoller();
                 AgvFromLineThreeToFryPot();//AGV到2号线体装桶  
-
-
+                AgvLineThreeLoadRollerCom();
+            }
+        }
+        /// <summary>
+        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
+        /// </summary>
+        private void AgvLineThreeLoadRollerCom()
+        {
+            if (globalVar.agvLineThreeLoadCom)
+            {
+                globalVar.rollerLineThree.CanRun = true;
+                globalVar.agvLineThreeLoadCom = false;
+                MessageLog.GetInstance.ShowRunLog("AGV在【3】号滚筒线装桶完成");
             }
         }
         /// <summary>
@@ -2772,7 +2885,7 @@ namespace FryPot_DosingSystem.Control
             {
                 globalVar.agvArriveLineFour = false;
                 //线体四信号交互
-                MessageLog.GetInstance.ShowRunLog("空桶到达空桶回收线体，准备卸桶");
+                MessageLog.GetInstance.ShowRunLog("AGV到达【4】号回收线体，准备卸桶");
                 MessageLog.GetInstance.ShowRunLog("卸桶完成");
             }
         }
@@ -3265,14 +3378,19 @@ namespace FryPot_DosingSystem.Control
                 {
                     MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
                     DeviceOperate.GetInstance.WritePlcData("D1052", 1);//agv到达线体1上料位置信号下发plc
-                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{emptyRollerNum}号空料桶");
+                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");
                     AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start);
                     globalVar.LOneMaterialNum--;
                     globalVar.agvArriveLineOneLoadEmptyRoller = false;
-                    globalVar.rollerLineOne.IsEpmtyBefore = false;
-                    globalVar.rollerLineOne.EmptyRollerNums.RemoveAt(0);
                     //原料到位，agv到位，agv自行运料到清洗处
                 }
+                if (globalVar.agvArriveLineOneLoadCom)//上料完成
+                {
+                    globalVar.rollerLineOne.EmptyRollerNums.RemoveAt(0);
+                    globalVar.agvArriveLineOneLoadCom = false;
+                    globalVar.rollerLineOne.IsEpmtyBefore = false;
+                    MessageLog.GetInstance.ShowRunLog($"AGV在【1】号线体完成{emptyRollerNum}号空料桶装载");
+                }
             }
             else//有故障
             {
@@ -3339,14 +3457,20 @@ namespace FryPot_DosingSystem.Control
                 {
                     MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
                     DeviceOperate.GetInstance.WritePlcData("D1053", 1);//agv到达线体2上料位置信号下发plc
-                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{emptyRollerNum}号空料桶");
+                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");
                     AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start);
                     globalVar.LTwoMaterialNum--;
                     globalVar.agvArriveLineTwoLoadEmptyRoller = false;
-                    globalVar.rollerLineTwo.IsEpmtyBefore = false;
-                    globalVar.rollerLineTwo.EmptyRollerNums.RemoveAt(0);
+
                     //原料到位，agv到位，agv自行运料到清洗处
                 }
+                if (globalVar.agvArriveLineTwoLoadCom)//上料完成
+                {
+                    globalVar.rollerLineTwo.EmptyRollerNums.RemoveAt(0);
+                    globalVar.agvArriveLineTwoLoadCom = false;
+                    globalVar.rollerLineTwo.IsEpmtyBefore = false;
+                    MessageLog.GetInstance.ShowRunLog($"AGV在【2】号线体完成【{emptyRollerNum}】号空料桶装载");
+                }
             }
             else//有故障
             {
@@ -3413,14 +3537,21 @@ namespace FryPot_DosingSystem.Control
                 {
                     MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
                     DeviceOperate.GetInstance.WritePlcData("D1054", 1);//agv到达线体3上料位置信号下发plc
-                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{emptyRollerNum}号空料桶");
+                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");
                     AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start);
                     globalVar.LThreeMaterialNum--;
                     globalVar.agvArriveLineThreeLoadEmptyRoller = false;
-                    globalVar.rollerLineThree.IsEpmtyBefore = false;
-                    globalVar.rollerLineThree.EmptyRollerNums.RemoveAt(0);
+                    //  globalVar.rollerLineThree.IsEpmtyBefore = false;
+
                     //原料到位，agv到位，agv自行运料到清洗处
                 }
+                if (globalVar.agvArriveLineThreeLoadCom)//上料完成
+                {
+                    globalVar.rollerLineThree.EmptyRollerNums.RemoveAt(0);
+                    globalVar.agvArriveLineThreeLoadCom = false;
+                    globalVar.rollerLineThree.IsEpmtyBefore = false;
+                    MessageLog.GetInstance.ShowRunLog($"AGV在【3】号线体完成【{emptyRollerNum}】号空料桶装载");
+                }
             }
             else//有故障
             {
@@ -3535,6 +3666,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     if (globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineOne.IsEpmtyBefore)//工位8上面是配方料桶
                     {
+                        globalVar.rollerLineOne.CanRun = false;
                     e: string id = Guid.NewGuid().ToString("N");
                         if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                             goto e;
@@ -3545,6 +3677,10 @@ namespace FryPot_DosingSystem.Control
                         LineCarryTaskErrorCodeAnalysis(info, 1);
                         globalVar.LoadRoller = true;
                     }
+                    //else if (globalVar.rollerLineOne.StationEight != InputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
+                    //{
+                    //    globalVar.rollerLineOne.CanRun = true;
+                    //}
                     //else // 工位8上面不是配方料桶或没有桶时
                     //{
                     //    if (!globalVar.rollerLineOne.IsEpmtyBefore)
@@ -3588,6 +3724,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     if (globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineTwo.IsEpmtyBefore)//工位8上面是配方料桶
                     {
+                        globalVar.rollerLineTwo.CanRun = false;
                     e: string id = Guid.NewGuid().ToString("N");
                         if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                             goto e;
@@ -3598,6 +3735,10 @@ namespace FryPot_DosingSystem.Control
                         LineCarryTaskErrorCodeAnalysis(info, 2);
                         globalVar.LTwoLoadRoller = true;
                     }
+                    //else if (globalVar.rollerLineTwo.StationEight != LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
+                    //{
+                    //    globalVar.rollerLineTwo.CanRun = true;
+                    //}
                 }
                 //else// 工位8上面不是配方料桶或没有桶时
                 //{
@@ -3634,6 +3775,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     if (globalVar.rollerLineThree.StationEight == LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineThree.IsEpmtyBefore)//工位8上面是配方料桶
                     {
+                        globalVar.rollerLineThree.CanRun = false;
                     e: string id = Guid.NewGuid().ToString("N");
                         if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                             goto e;
@@ -3644,6 +3786,10 @@ namespace FryPot_DosingSystem.Control
                         LineCarryTaskErrorCodeAnalysis(info, 3);
                         globalVar.LThreeLoadRoller = true;
                     }
+                    //else if (globalVar.rollerLineThree.StationEight != LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
+                    //{
+                    //    globalVar.rollerLineThree.CanRun = true;
+                    //}
                     //else // 工位8上面不是配方料桶或没有桶时
                     //{
                     //    if (!globalVar.rollerLineThree.IsEpmtyBefore)

FryPot_DosingSystem/Control/GlobalVariable.cs

@@ -165,6 +165,7 @@ namespace FryPot_DosingSystem.Control
         public bool agvArriveUnLoad { get; set; }
         public bool agvFryPotEmptyRollerArrive { get; set; }
         public bool EmptyRollerUnLoadcCom { get; set; }//AGV空桶4号线体下料完成
+        public bool agvLineOneLoadCom { get; set; }//线体1上料完成
 
        public int LTwoMaterialNum { get; set; } = 0;
        public int LTwoFryPotSerial { get; set; } = 2;
@@ -172,7 +173,7 @@ namespace FryPot_DosingSystem.Control
         public bool agvArriveLTwoUpLoad { get; set; }
         public bool LTwoagvArriveUnLoad { get; set; }
         public bool LTwoagvFryPotEmptyRollerArrive { get; set; }
-        public bool LTwoEmptyRollerUnLoadcCom { get; set; }//AGV空桶4号线体下料完成
+        public bool agvLineTwoLoadCom { get; set; }//线体2上料完成
 
         public int LThreeMaterialNum { get; set; } = 0;
         public int LThreeFryPotSerial { get; set; } = 3;
@@ -180,11 +181,11 @@ namespace FryPot_DosingSystem.Control
         public bool agvArriveLThreeUpLoad { get; set; }
         public bool LThreeagvArriveUnLoad { get; set; }
         public bool LThreeagvFryPotEmptyRollerArrive { get; set; }
-        public bool LThreeEmptyRollerUnLoadcCom { get; set; }//AGV空桶4号线体下料完成
+        public bool agvLineThreeLoadCom { get; set; }//线体1上料完成
 
         public int LFourRollerNum { get; set; } = 0;//4号线体空桶数量
-        //新增
-        public bool agvArriveLineFour { get; set; }//agv到达线体4下料位置从清戏台或炒锅
+        //新增空桶清洗系列变量
+        public bool agvArriveLineFour { get; set; }//agv到达线体4下料位置从清洗台或炒锅
         public bool agvArriveCleanUnLoad { get; set; }//agv到达清洗台下料位置
         public bool agvArriveCleanLoad { get; set; }//agv到达清洗台上料位置
 
@@ -192,6 +193,11 @@ namespace FryPot_DosingSystem.Control
         public bool agvArriveLineTwoLoadEmptyRoller { get; set; }//agv到达线体2空桶上料位置
 
         public bool agvArriveLineThreeLoadEmptyRoller { get; set; }//agv到达线体3空桶上料位置
+
+        public bool agvArriveLineOneLoadCom { get; set; } //agv线体1空桶上料完成
+        public bool agvArriveLineTwoLoadCom { get; set; } //agv线体2空桶上料完成
+        public bool agvArriveLineThreeLoadCom { get; set; }//agv线体3空桶上料完成
+        //空桶清洗流程锁
         #endregion
     }
     /// <summary>
@@ -255,7 +261,9 @@ namespace FryPot_DosingSystem.Control
         /// <summary>
         /// 上一个桶是否是空桶
         /// </summary>
-        public bool IsEpmtyBefore { get; set; }
+        public bool IsEpmtyBefore { get; set; } //空桶上料结束后，配方料桶AGV才能去1号线装桶
+
+        public bool CanRun { get; set; } = true; //配方料桶上料结束后，线体空桶AGV才能1号线装桶
         /// <summary>
         /// 线体1上所有空桶的编号集合
         /// </summary>
@@ -324,10 +332,11 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public bool IsEpmtyBefore { get; set; }
 
+        public bool CanRun { get; set; } = true; //配方料桶上料结束后，线体空桶AGV才能1号线装桶
         /// <summary>
         /// 线体2上所有空桶的编号集合
         /// </summary>
-        public List<ushort> EmptyRollerNums { get; set; }=new List<ushort>();
+        public List<ushort> EmptyRollerNums { get; set; }=new List<ushort>() { 208};
     }
     /// <summary>
     /// 滚筒线3相关变量
@@ -392,6 +401,8 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public bool IsEpmtyBefore { get; set; }
 
+        public bool CanRun { get; set; } = true;//配方料桶上料结束后，线体空桶AGV才能1号线装桶
+
         /// <summary>
         /// 线体3上所有空桶的编号集合
         /// </summary>

FryPot_DosingSystem/View/DebugView.xaml

@@ -39,10 +39,12 @@
                         <ComboBox SelectionChanged="ComboBox_SelectionChanged" ItemsSource="{Binding LineOneRollerCode}" Background="Transparent" Width="100" Height="34" Margin="3,3"/>
                         <Button Content="炒锅进料就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotInputArrive}"/>
                         <Button Content="炒锅空桶就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotEmptyRollerArrive}"/>
+                    <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <Button Content="线体1任务重置" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding LineOneTaskExit}"></Button>
                     <Button Content="AGV接口调试" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvDebug}"/>
-                        <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
-                        <WrapPanel Orientation="Horizontal">
+                    <Button Content="空桶清洗任务重置" Width="140" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding EmptyRollerCleanTaskRestart}"/>
+                    <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
+                    <WrapPanel Orientation="Horizontal">
                             <Button Content="清洗台呼叫AGV" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding CleanPlateCallAgv}"/>
                         </WrapPanel>
                     </WrapPanel>
@@ -53,13 +55,15 @@
                
                     <WrapPanel Orientation="Horizontal">
                         <Button Content="AGV线体1上料就位" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLOneArrive}"/>
-                        <Button Content="AGV炒锅下料就位" Style="{StaticResource buttonStyle}" RenderTransformOrigin="0.5,0.5" Width="114" Command="{Binding AGVFryPotDownArrive}">
+                    <Button Content="AGV线体1上料完成" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLineOneLoadCom}"/>
+                    <Button Content="AGV炒锅下料就位" Style="{StaticResource buttonStyle}" RenderTransformOrigin="0.5,0.5" Width="114" Command="{Binding AGVFryPotDownArrive}">
                         </Button>
                         <Button Content="AGV炒锅空桶上料就位" Style="{StaticResource buttonStyle}" Width="139" Command="{Binding AGVFryPotUpArrive}"/>
                     <Button Content="AGV拿到空桶信号" Style="{StaticResource buttonStyle}" Width="114" Command="{Binding AGVFryPotGetEmptyRoller}"/>
                     <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <WrapPanel Orientation="Horizontal">
                         <Button Content="AGV线体1空桶上料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveLineOneEmptyRollerLoc}"/>
+                        <Button Content="AGV线体1空桶上料完成" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvLineOneLoadEmptyCom}"/>
                         <Button Content="AGV空桶清洗下料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveCleanPlateLoc}"/>
                         <Button Content="AGV线体4空桶下料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveLineFourLoc}"/>
                         <Button Content="AGV空桶清洗上料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveCleanPlateLocLoad}"/>
@@ -77,6 +81,7 @@
                     <ComboBox SelectionChanged="ComboBox_SelectionChanged_1" ItemsSource="{Binding LineTwoRollerCode}" Background="Transparent" Width="100" Height="34" Margin="3,3"/>
                     <Button Content="炒锅进料就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotTwoInputArrive}"/>
                     <Button Content="炒锅空桶就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotTwoEmptyRollerArrive}"/>
+                    <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <Button Content="线体2任务重置" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding LineTwoTaskExit}"></Button>
                     <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <WrapPanel Orientation="Horizontal">
@@ -87,6 +92,7 @@
             <GroupBox Grid.Column="2" Header="AGV信号" Foreground="Aqua">
                 <WrapPanel Orientation="Horizontal">
                     <Button Content="AGV线体2上料就位" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLTwoArrive}"/>
+                    <Button Content="AGV线体2上料完成" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLineTwoLoadCom}"/>
                     <Button Content="AGV炒锅下料就位" Style="{StaticResource buttonStyle}" RenderTransformOrigin="0.5,0.5" Width="114" Command="{Binding AGVFryPotTwoDownArrive}">
                     </Button>
                     <Button Content="AGV炒锅空桶上料就位" Style="{StaticResource buttonStyle}" Width="139" Command="{Binding AGVFryPotTwoUpArrive}"/>
@@ -94,8 +100,10 @@
                     <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <WrapPanel Orientation="Horizontal">
                         <Button Content="AGV线体2空桶上料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveLineTwoEmptyRollerLoc}"/>
+                        <Button Content="AGV线体2空桶上完成" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvLineTwoLoadEmptyCom}"/>
                         <Button Content="AGV空桶清洗下料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveCleanPlateLoc}"/>
                         <Button Content="AGV线体4空桶下料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveLineFourLoc}"/>
+                        <Button Content="AGV空桶清洗上料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveCleanPlateLocLoad}"/>
                     </WrapPanel>
                 </WrapPanel>
             </GroupBox>
@@ -108,6 +116,7 @@
                     <ComboBox SelectionChanged="ComboBox_SelectionChanged_2" ItemsSource="{Binding LineThreeRollerCode}" Background="Transparent" Width="100" Height="34" Margin="3,3"/>
                     <Button Content="炒锅进料就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotThreeInputArrive}"/>
                     <Button Content="炒锅空桶就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotThreeEmptyRollerArrive}"/>
+                    <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <Button Content="线体3任务重置" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding LineThreeTaskExit}"></Button>
                     <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <WrapPanel Orientation="Horizontal">
@@ -118,6 +127,7 @@
             <GroupBox Grid.Column="2" Header="AGV信号" Foreground="Aqua">
                 <WrapPanel Orientation="Horizontal">
                     <Button Content="AGV线体3上料就位" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLThreeArrive}"/>
+                    <Button Content="AGV线体3上料完成" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLineThreeLoadCom}"/>
                     <Button Content="AGV炒锅下料就位" Style="{StaticResource buttonStyle}" RenderTransformOrigin="0.5,0.5" Width="114" Command="{Binding AGVFryPotThreeDownArrive}">
                     </Button>
                     <Button Content="AGV炒锅空桶上料就位" Style="{StaticResource buttonStyle}" Width="139" Command="{Binding AGVFryPotThreeUpArrive}"/>
@@ -125,8 +135,10 @@
                     <Line Stroke="Aqua" StrokeThickness="2" X1="0" X2="800" Y1="0" Y2="0"/>
                     <WrapPanel Orientation="Horizontal">
                         <Button Content="AGV线体3空桶上料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveLineThreeEmptyRollerLoc}"/>
+                        <Button Content="AGV线体3空桶上料完成" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvLineThreeLoadEmptyCom}"/>
                         <Button Content="AGV空桶清洗下料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveCleanPlateLoc}"/>
                         <Button Content="AGV线体4空桶下料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveLineFourLoc}"/>
+                        <Button Content="AGV空桶清洗上料就位" Width="145" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding AgvArriveCleanPlateLocLoad}"/>
                     </WrapPanel>
                 </WrapPanel>
             </GroupBox>

FryPot_DosingSystem/View/RecipeSendDownView.xaml

@@ -116,7 +116,8 @@
                                                 </Grid.ColumnDefinitions>
                                                 <Line StrokeThickness="3" Grid.Column="0" HorizontalAlignment="Left" Stroke="LawnGreen" X1="0" Y1="5" X2="0" Y2="110"></Line>
                                                 <StackPanel Grid.Column="1" HorizontalAlignment="Center" VerticalAlignment="Center">
-                                                    <Button Margin="0,0,0,5" Height="27" Command="{Binding DataContext.RecipeSetDownCommand,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}" CommandParameter="{Binding RecipeId}" Cursor="Hand" >
+                                                    <TextBlock  FontSize="16" Text="{Binding RecipeSetInfo}" VerticalAlignment="Center" HorizontalAlignment="Center"></TextBlock>
+                                                    <Button Margin="0,5,0,0" Height="27" Command="{Binding DataContext.RecipeSetDownCommand,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}" CommandParameter="{Binding RecipeId}" Cursor="Hand" >
                                                         <Button.Template>
                                                             <ControlTemplate TargetType="{x:Type Button}">
                                                                 <StackPanel Orientation="Horizontal" >
@@ -133,7 +134,7 @@
                                                            
                                                         </Button.Template>
                                                     </Button>
-                                                    <TextBlock  FontSize="16" Text="{Binding RecipeSetInfo}" VerticalAlignment="Center" HorizontalAlignment="Center"></TextBlock>
+                                                    
                                                 </StackPanel>
                                               
                                             </Grid>

FryPot_DosingSystem/ViewModel/DebugViewModel.cs

@@ -28,6 +28,7 @@ namespace FryPot_DosingSystem.ViewModel
         public RelayCommand AGVFryPotDownArrive { get; set; }
         public RelayCommand AGVFryPotUpArrive { get; set; }
         public RelayCommand AGVFryPotGetEmptyRoller { get; set; }
+        public RelayCommand AGVLineOneLoadCom { get; set; }//线体1上料完成
 
         //滚筒线2绑定命令
         public RelayCommand RollerLineTwoRunning { get; set; }
@@ -41,6 +42,7 @@ namespace FryPot_DosingSystem.ViewModel
         public RelayCommand AGVFryPotTwoDownArrive { get; set; }
         public RelayCommand AGVFryPotTwoUpArrive { get; set; }
         public RelayCommand AGVFryPotTwoGetEmptyRoller { get; set; }
+        public RelayCommand AGVLineTwoLoadCom { get; set; }//线体2上料完成
         //滚筒线3绑定命令
         public RelayCommand RollerLineThreeRunning { get; set; }
         //public RelayCommand EightWorkLoc { get; set; }
@@ -52,27 +54,62 @@ namespace FryPot_DosingSystem.ViewModel
         public RelayCommand AGVFryPotThreeDownArrive { get; set; }
         public RelayCommand AGVFryPotThreeUpArrive { get; set; }
         public RelayCommand AGVFryPotThreeGetEmptyRoller { get; set; }
+        public RelayCommand AGVLineThreeLoadCom { get; set; }//线体3上料完成
 
         //AGV接口联调
         public RelayCommand AgvDebug { get; set; }
 
         //线体123空桶清洗以及回收
         public RelayCommand AgvArriveLineOneEmptyRollerLoc { get; set; }
+
+        public RelayCommand AgvLineOneLoadEmptyCom { get; set; }
         public RelayCommand AgvArriveLineTwoEmptyRollerLoc { get; set; }
+        public RelayCommand AgvLineTwoLoadEmptyCom { get; set; }
         public RelayCommand AgvArriveLineThreeEmptyRollerLoc { get; set; }
+        public RelayCommand AgvLineThreeLoadEmptyCom { get; set; }
         public RelayCommand CleanPlateCallAgv { get; set; }
         public RelayCommand AgvArriveCleanPlateLoc { get; set; }//下料
         public RelayCommand AgvArriveLineFourLoc { get; set; }
 
         public RelayCommand AgvArriveCleanPlateLocLoad { get; set; }//上料
+
+        public RelayCommand EmptyRollerCleanTaskRestart { get; set; }
         public DebugViewModel()
         {
             AgvDebug = new RelayCommand(new Action(() => 
             {
                 ActionManage.GetInstance.Send("AgvDebug");
-                
-                
             }));
+
+            EmptyRollerCleanTaskRestart = new RelayCommand(() => 
+            {
+
+                ActionManage.GetInstance.Send("EmptyRollerCleanTaskRestart");
+            });
+            AgvLineOneLoadEmptyCom = new RelayCommand(() => {
+                ActionManage.GetInstance.Send("AgvLineOneLoadEmptyCom");
+            });
+            AgvLineTwoLoadEmptyCom = new RelayCommand(() => {
+                ActionManage.GetInstance.Send("AgvLineTwoLoadEmptyCom");
+            });
+            AgvLineThreeLoadEmptyCom = new RelayCommand(() => {
+                ActionManage.GetInstance.Send("AgvLineThreeLoadEmptyCom");
+            });
+            AGVLineOneLoadCom = new RelayCommand(() => 
+            {
+                ActionManage.GetInstance.Send("AGVLineOneLoadCom");
+            
+            });
+            AGVLineTwoLoadCom = new RelayCommand(() =>
+            {
+                ActionManage.GetInstance.Send("AGVLineTwoLoadCom");
+
+            });
+            AGVLineThreeLoadCom = new RelayCommand(() =>
+            {
+                ActionManage.GetInstance.Send("AGVLineThreeLoadCom");
+
+            });
             AgvArriveLineOneEmptyRollerLoc = new RelayCommand(new Action(() => 
             {
                 ActionManage.GetInstance.Send("AgvArriveLineOneEmptyRollerLoc");