From 2ccddb56c26593e5fccf6bddb6e5bf87fe70acb3 Mon Sep 17 00:00:00 2001
From: yahaha <YFB@DESKTOP-5HA1RFM>
Date: Fri, 11 Nov 2022 15:26:39 +0800
Subject: [PATCH] =?UTF-8?q?=E6=95=B4=E7=90=86=E4=BB=A3=E7=A0=81=E3=80=82?=
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---
 BPASmartClient.MorkF/Control_MorkF.cs         | 234 ++++++++++++++----
 BPASmartClient.MorkF/View/DebugView.xaml      |  22 +-
 .../ViewModel/DebugViewModel.cs               |  55 +++-
 3 files changed, 257 insertions(+), 54 deletions(-)

diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs
index 6bbdbbd5..ab657d51 100644
--- a/BPASmartClient.MorkF/Control_MorkF.cs
+++ b/BPASmartClient.MorkF/Control_MorkF.cs
@@ -32,6 +32,17 @@ namespace BPASmartClient.MorkF
         /// </summary>
         private int count = 2;
 
+        //
+        private const int materialHigh = 40000;
+
+        //炒锅1倒菜的xy坐标
+        private const int materialPutPositionXFry1 = -30000;
+        private const int materialPutPositionYFry1 = -20000;
+
+        //炒锅2倒菜的xy坐标
+        private const int materialPutPositionXFry2 = -30000;
+        private const int materialPutPositionYFry2 = -20000;
+
         //当前炒锅，默认为1号炒锅
         private int fryIndex = 0;
 
@@ -170,6 +181,47 @@ namespace BPASmartClient.MorkF
                     }
                 }), "SetArmPosition");
             }), "SetArmPosition");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunUp(startOrStop);
+                }
+            }), "ArmRunUp");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunDown(startOrStop);
+                }
+            }), "ArmRunDown");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunLeft(startOrStop);
+                }
+            }), "ArmRunLeft");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunRight(startOrStop);
+                }
+            }), "ArmRunRight");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    if (list is List<int> list_int)
+                    {
+                        if (list_int.Count == 2)
+                        {
+                            SetNowPosition(list_int[0], list_int[1]);
+                        }
+                    }
+                }), "SetNowPosition");
+            }), "SetNowPosition");
             #endregion
             //ActionManage.GetInstance.Register(PLCInite, "InitCommand");
             #region 配料控制
@@ -622,33 +674,33 @@ namespace BPASmartClient.MorkF
         /// </summary>
         /// <param name="address"></param>
         /// <param name="value"></param>
-        private void MaterailLibrary_Write(string address, object value,int num)
+        private void MaterailLibrary_Write(string address, object value,int num = 2)
         {
             WriteControlExact(address, value, num);
         }
         /// <summary>
         /// 菜品库初始化
         /// </summary>
-        public void FoodLibInit(int num = 2)
+        public void FoodLibInit()
         {
-            MaterailLibrary_Write("M0.2", true, num);
+            MaterailLibrary_Write("M0.2", true);
         }
         /// <summary>
         /// 电磁阀启停
         /// </summary>
         /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
-        public void Electromagnetism(object o,int num = 2)
+        public void Electromagnetism(object o)
         {
             if (o == null) return;
             if (o is List<bool> bs && bs.Count == 1)
             {
-                MaterailLibrary_Write("M1.3", bs[0],num);
+                MaterailLibrary_Write("M1.3", bs[0]);
             }
         }
-        public bool GetDistance_1(int num = 2)
+        public bool GetDistance_1()
         {
             MessageLog.GetInstance.Show("爪子去到1号位");
-            MaterailLibrary_Write("M1.0", true, num);
+            MaterailLibrary_Write("M1.0", true);
             for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortOne; i++)
             {
                 Thread.Sleep(sleepTime);
@@ -658,13 +710,16 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
+
+            Thread.Sleep(300);
+
             MessageLog.GetInstance.Show("爪子去到1号位完成");
             return true;
         }
-        public bool GetDistance_2(int num = 2)
+        public bool GetDistance_2()
         {
             MessageLog.GetInstance.Show("爪子去到2号位");
-            MaterailLibrary_Write("M1.1", true, num);
+            MaterailLibrary_Write("M1.1", true);
             for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortTwo; i++)
             {
                 Thread.Sleep(sleepTime);
@@ -674,13 +729,16 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
+
+            Thread.Sleep(300);
+
             MessageLog.GetInstance.Show("爪子去到2号位完成");
             return true;
         }
-        public bool GetDistance_3(int num = 2)
+        public bool GetDistance_3()
         {
             MessageLog.GetInstance.Show("爪子去到3号位");
-            MaterailLibrary_Write("M1.2", true,num);
+            MaterailLibrary_Write("M1.2", true);
             for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortThree; i++)
             {
                 Thread.Sleep(sleepTime);
@@ -690,16 +748,19 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
+
+            Thread.Sleep(300);
+
             MessageLog.GetInstance.Show("爪子去到3号位完成");
             return true;
         }
-        public void PawTurnFront(int num = 2)
+        public void PawTurnFront()
         {
-            MaterailLibrary_Write("", true, num);
+            MaterailLibrary_Write("", true);
         }
-        public void PawTurnBack(int num = 2)
+        public void PawTurnBack()
         {
-            MaterailLibrary_Write("", true, num);
+            MaterailLibrary_Write("", true);
         }
 
         /// <summary>
@@ -707,20 +768,20 @@ namespace BPASmartClient.MorkF
         /// </summary>
         /// <param name="x"></param>
         /// <param name="y"></param>
-        public bool SetArmPosition(int x, int y, int num = 2)
+        public bool SetArmPosition(int x, int y)
         {
             //取反
             x -= 2 * x;
             y -= 2 * y;
-            MaterailLibrary_Write("VD836", x, num);
+            MaterailLibrary_Write("VD836", x);
             Thread.Sleep(100);
-            MaterailLibrary_Write("VD840", y, num);
+            MaterailLibrary_Write("VD840", y);
 
             Thread.Sleep(200);
 
             MessageLog.GetInstance.Show($"机械臂移动到[{x}，{y}]");
             //定位启动
-            MaterailLibrary_Write("M0.0", true, num);
+            MaterailLibrary_Write("M0.0", true);
 
             for (int i = 0; i < sleepCount && !ml_morkf.ArriveComplete; i++)
             {
@@ -739,15 +800,73 @@ namespace BPASmartClient.MorkF
             return true;
         }
 
+        /// <summary>
+        /// 设定机械臂的当前坐标
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
+        public void SetNowPosition(int x, int y)
+        {
+            //取反
+            x -= 2 * x;
+            y -= 2 * y;
+            MessageLog.GetInstance.Show($"设置机械臂当前坐标为[{x}，{y}]");
+            MaterailLibrary_Write("VD828", x);
+            Thread.Sleep(200);
+            MaterailLibrary_Write("VD832", y);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向上移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunUp(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.3", startOrStop);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向下移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunDown(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.4", startOrStop);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向左移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunLeft(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.5", startOrStop);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向右移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunRight(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.6", startOrStop);
+            Thread.Sleep(200);
+        }
+
         //菜品库锁
         object lock_Materail = new object();
 
-        private const int up = 10000;
-
         /// <summary>
-        /// 获取菜品
+        /// 取菜操作
         /// </summary>
-        public void GetMaterail(int x,int y)
+        /// <param name="x">取菜x轴坐标</param>
+        /// <param name="y">取菜y轴坐标</param>
+        /// <param name="fryNum"></param>
+        public void GetMaterail(int x,int y,int fryNum = 0)
         {
             //设置到抓菜处
             if(!SetArmPosition(x, y))
@@ -755,36 +874,65 @@ namespace BPASmartClient.MorkF
                 return;
             }
 
-            //Thread.Sleep(2000);
+            //获取传感器的距离
+            int laserHigh = ml_morkf.LaserDistance;
 
-            //关闭电磁阀
-            Electromagnetism(new List<bool> { true });
-            Thread.Sleep(500);
+            //设置到传感器感应的距离处
+            if(!SetArmPosition(x+ laserHigh, y ))
+            {
+                return;
+            }
+
+            ////关闭电磁阀
+            //Electromagnetism(new List<bool> { true });
+            //Thread.Sleep(500);
 
             //爪子去1号位抓菜
             if (!GetDistance_1())
             {
                 return;
             }
-            Thread.Sleep(500);
 
-            //移动前开启电磁阀
-            Electromagnetism(new List<bool> { false });
-            Thread.Sleep(500);
+            //设置到该层菜品库最高处
+            if (!SetArmPosition(x + materialHigh, y))
+            {
+                return;
+            }
+
+            ////移动前开启电磁阀
+            //Electromagnetism(new List<bool> { false });
+            //Thread.Sleep(500);
 
-            //设置到出菜处，都在x轴-40000处出菜
-            if (!SetArmPosition(-40000, y))
+            //爪子去2号位放菜
+            if (!GetDistance_2())
             {
                 return;
             }
 
-            Thread.Sleep(500);
+            //根据炒锅不同设置不同的出菜处
+            if (fryNum == 0)
+            {
+                //设置到炒锅1出菜处
+                if (!SetArmPosition(materialPutPositionXFry1, materialPutPositionYFry1))
+                {
+                    return;
+                }
+            }
+            else
+            {
+                //设置到炒锅2出菜处
+                if (!SetArmPosition(materialPutPositionXFry1, materialPutPositionYFry1))
+                {
+                    return;
+                }
+            }
+
             //爪子去3号位放菜
             if (!GetDistance_3())
             {
                 return;
             }
-            Thread.Sleep(500);
+
             ////关闭电磁阀
             //Electromagnetism(new List<bool> { false });
             //Thread.Sleep(300);
@@ -836,23 +984,9 @@ namespace BPASmartClient.MorkF
                     {
                         ml_morkf.MaterailIsWorking = true;
                     }
-                    //菜品库去指定位置
-                    if (!SetArmPosition(x1, y))
-                    {
-                        MessageLog.GetInstance.Show("菜品库[机械臂操作失败]");
-                        return;
-                    }
                     //取菜操作
                     GetMaterail(x2,y);
 
-
-                    //机械臂去取菜放位
-                    if (!SetArmPosition(-30000, -20000))
-                    {
-                        MessageLog.GetInstance.Show("菜品库[机械臂操作失败]");
-                        return;
-                    }
-
                     //机械臂回原点
                     if (!SetArmPosition(0, 0))
                     {
@@ -876,7 +1010,6 @@ namespace BPASmartClient.MorkF
         }
         #endregion
 
-
         #region 炒锅PLC基本操作方法
         /// <summary>
         /// 炒锅写寄存器方法，num为炒锅对应编号，从0开始
@@ -1178,7 +1311,6 @@ namespace BPASmartClient.MorkF
 
         #endregion
 
-
         bool isInitialArrive = false;
 
         bool isInitialPaw = false;
diff --git a/BPASmartClient.MorkF/View/DebugView.xaml b/BPASmartClient.MorkF/View/DebugView.xaml
index 63e9fecd..63ad05c5 100644
--- a/BPASmartClient.MorkF/View/DebugView.xaml
+++ b/BPASmartClient.MorkF/View/DebugView.xaml
@@ -22,7 +22,7 @@
         <Grid.RowDefinitions>
             <RowDefinition Height="81" ></RowDefinition>
             <RowDefinition Height="81" ></RowDefinition>
-            <RowDefinition Height="285"></RowDefinition>
+            <RowDefinition Height="325"></RowDefinition>
             <RowDefinition></RowDefinition>
         </Grid.RowDefinitions>
         <GroupBox Header="设备控制" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
@@ -65,6 +65,8 @@
                     <RowDefinition Height="*"/>
                     <RowDefinition Height="*"/>
                     <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
                 </Grid.RowDefinitions>
                 <WrapPanel Orientation="Horizontal" >
                     <TextBlock Text="取料手臂实时位置" Margin="0,0,10,0"/>
@@ -94,13 +96,29 @@
                     <Button Content="感应器3测距" Margin="5,0" Command="{Binding GetDistance_3}"/>
                     <TextBox Text="{Binding SensingDistance_3}" Margin="5,0" Width="60" IsReadOnly="True"/>
                 </WrapPanel>
-                <WrapPanel Grid.Row="2" Orientation="Horizontal" >
+                <WrapPanel Grid.Row="2" Orientation="Horizontal"  >
+                    <TextBlock Text="设定手臂当前位置" Margin="0,0,10,0"/>
+                    <TextBlock Text="X:" Margin="5,0"/>
+                    <TextBox Text="{Binding SettingNowX}" Width="70" Margin="5,0"  VerticalAlignment="Center" />
+                    <TextBlock Text="Y:" Margin="5,0"/>
+                    <TextBox Text="{Binding SettingNowY}" Width="70" Margin="5,0"  VerticalAlignment="Center"  />
+                    <Button Content="设置"  Margin="10,0,5,0" Command="{Binding SetNowPosition}"/>
+                </WrapPanel>
+                <WrapPanel Grid.Row="3" Orientation="Horizontal" >
                     <Button  Content="夹爪正转" Command="{Binding PawTurnFront}" Margin="5,0" Cursor="Hand"/>
                     <Button  Content="夹爪反转" Command="{Binding PawTurnBack}" Margin="5,0" Cursor="Hand"/>
                     <RadioButton Content="位置1" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PawPositon1}" Command="{Binding GetDistance_1}" GroupName="PawTurn"/>
                     <RadioButton Content="位置2" Margin="5,0" IsEnabled="True" IsChecked="{Binding PawPositon2}"  Command="{Binding GetDistance_2}" GroupName="PawTurn"/>
                     <RadioButton Content="位置3" Margin="5,0 " IsEnabled="True" IsChecked="{Binding PawPositon3}" Command="{Binding GetDistance_3}" GroupName="PawTurn"/>
                 </WrapPanel>
+                <WrapPanel Grid.Row="4" Orientation="Horizontal" >
+                    <RadioButton Content="上" Margin="5,0"  IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunUp}" Command="{Binding GetDistance_1}" GroupName="ArmRun"/>
+                    <RadioButton Content="下" Margin="5,0" IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunDown}"  Command="{Binding GetDistance_2}" GroupName="ArmRun"/>
+                    <RadioButton Content="左" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunLeft}" Command="{Binding GetDistance_3}" GroupName="ArmRun"/>
+                    <RadioButton Content="右" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunRight}" Command="{Binding GetDistance_3}" GroupName="ArmRun"/>
+                    <Button Content="{Binding ArmButtonName}" Command="{Binding ArmRun}" Margin="5,0" Cursor="Hand">
+                    </Button>
+                </WrapPanel>
             </Grid>
 
         </GroupBox>
diff --git a/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs b/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs
index 7f44ff3b..091de4ac 100644
--- a/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs
+++ b/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs
@@ -50,6 +50,11 @@ namespace BPASmartClient.MorkF.ViewModel
         public int SettingY { get { return _settingY; } set { _settingY = value; OnPropertyChanged(); } }
         private int _settingY = 0;
 
+        public int SettingNowX { get { return _settingNowX; } set { _settingNowX = value; OnPropertyChanged(); } }
+        private int _settingNowX = 0;
+        public int SettingNowY { get { return _settingNowY; } set { _settingNowY = value; OnPropertyChanged(); } }
+        private int _settingNowY = 0;
+
         public int MoveSpeed { get { return _moveSpeed; } set { _moveSpeed = value; OnPropertyChanged(); } }
         private int _moveSpeed;
         public string SensingDistance_1 { get { return _sensingDistance_1; } set { _sensingDistance_1 = value; OnPropertyChanged(); } }
@@ -65,7 +70,21 @@ namespace BPASmartClient.MorkF.ViewModel
         public bool PawPositon3 { get { return _pawPositon3; } set { _pawPositon3 = value; OnPropertyChanged(); } }
         private bool _pawPositon3;
 
+        public bool ArmRunUp { get { return _armRunUp; } set { _armRunUp = value; OnPropertyChanged(); } }
+        private bool _armRunUp;
+        public bool ArmRunDown { get { return _armRunDown; } set { _armRunDown = value; OnPropertyChanged(); } }
+        private bool _armRunDown;
+        public bool ArmRunLeft { get { return _armRunLeft; } set { _armRunLeft = value; OnPropertyChanged(); } }
+        private bool _armRunLeft;
+        public bool ArmRunRight { get { return _armRunRight; } set { _armRunRight = value; OnPropertyChanged(); } }
+        private bool _armRunRight;
+        public bool ArmRunEnable { get { return _ArmRunEnable; } set { _ArmRunEnable = value; OnPropertyChanged(); } }
+        private bool _ArmRunEnable = true;
+
+        public string ArmButtonName { get { return _ArmButtonName; } set { _ArmButtonName = value; OnPropertyChanged(); } }
+        private string _ArmButtonName = "启动";
 
+        public RelayCommand SetNowPosition { get; set; }//设置机械臂当前坐标
         public RelayCommand FoodLibInit { get; set; }//初始化
         public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
         public RelayCommand StopElectromagnetism { get; set; }
@@ -76,9 +95,10 @@ namespace BPASmartClient.MorkF.ViewModel
         public RelayCommand PawTurnFront { get; set; }//夹爪正转
         public RelayCommand PawTurnBack { get; set; }//夹爪反转
         public RelayCommand SetArmPosition { get; set; }//机器臂位置设定
+        public RelayCommand ArmRun { get; set; }//机械臂运动
 
         #endregion
-        
+
 
         #region 配料仓控制
         public List<string> PassageWays { get; set; } = new List<string>() 
@@ -195,6 +215,39 @@ namespace BPASmartClient.MorkF.ViewModel
             PawTurnFront = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnFront"); });//夹爪正转
             PawTurnBack = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnBack"); });//夹爪反转
             SetArmPosition = new RelayCommand(() => { ActionManage.GetInstance.Send("SetArmPosition", new List<int> { SettingX, SettingY }); });//设定机械臂位置
+            SetNowPosition = new RelayCommand(() => { ActionManage.GetInstance.Send("SetNowPosition", new List<int> { SettingX, SettingY }); });//设定机械臂当前位置
+            ArmRun = new RelayCommand(() => {
+                //判断是否都未点击
+                if(!ArmRunDown&&!ArmRunUp&&!ArmRunLeft&&!ArmRunRight)
+                {
+                    return;
+                }
+                ArmRunEnable = !ArmRunEnable;
+                if(ArmRunEnable)
+                {
+                    ArmButtonName = "启动";
+                }
+                else
+                {
+                    ArmButtonName = "停止";
+                }
+                if(ArmRunUp)
+                {
+                    ActionManage.GetInstance.Send("ArmRunUp", !ArmRunEnable);
+                }
+                else if(ArmRunDown)
+                {
+                    ActionManage.GetInstance.Send("ArmRunDown", !ArmRunEnable);
+                }
+                else if (ArmRunLeft)
+                {
+                    ActionManage.GetInstance.Send("ArmRunLeft", !ArmRunEnable);
+                }
+                else if(ArmRunRight)
+                {
+                    ActionManage.GetInstance.Send("ArmRunRight", !ArmRunEnable);
+                }
+            });//设定机械臂位置
             #endregion
 
             #region 配料仓控制