通讯库验证更新

BPASmartClient.Business/BPASmartClient.Business.csproj

@@ -8,7 +8,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.ApolloClient" Version="1.0.12" />
-    <PackageReference Include="BPA.Communication" Version="1.0.110" />
+    <PackageReference Include="BPA.Communication" Version="1.0.112" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="Microsoft.Extensions.Configuration" Version="6.0.1" />
     <PackageReference Include="Microsoft.Extensions.Configuration.FileExtensions" Version="6.0.0" />

BPASmartClient.CustomResource/BPASmartClient.CustomResource.csproj

@@ -463,7 +463,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="MahApps.Metro.IconPacks.FontAwesome" Version="4.11.0" />
   </ItemGroup>

BPASmartClient.Device/BaseDevice.cs

@@ -162,7 +162,7 @@ namespace BPASmartClient.Device
         /// <param name="info"></param>
         public void DeviceProcessLogShow(string info)
         {
-            Log.Insert(0, new { Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), Type = "流程", Text = info });
+            Log.Insert(0, new { Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff"), Type = "流程", Text = info });
             MessageLog.GetInstance.DeviceProcessLogShow(DeviceId.ToString(), info);
             if (Log.Count > 100) { Log.RemoveAt(Log.Count - 1); }
         }

BPASmartClient.DosingSystemSingle/BPASmartClient.DosingSystemSingle.csproj

@@ -16,7 +16,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
   </ItemGroup>

BPASmartClient.FoodStationTest/BPASmartClient.FoodStationTest.csproj

@@ -16,7 +16,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Communication" Version="1.0.110" />
+    <PackageReference Include="BPA.Communication" Version="1.0.112" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.JXJFoodBigStation/BPASmartClient.JXJFoodBigStation.csproj

@@ -17,8 +17,8 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Communication" Version="1.0.110" />
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Communication" Version="1.0.112" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.JakaRobot/BPASmartClient.JakaRobot.csproj

@@ -7,7 +7,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
   </ItemGroup>
 
 </Project>

BPASmartClient.Modbus/BPASmartClient.Modbus.csproj

@@ -5,7 +5,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="NModbus" Version="3.0.72" />
     <PackageReference Include="System.IO.Ports" Version="6.0.0" />
     <PackageReference Include="System.Text.Encoding.CodePages" Version="6.0.0" />

BPASmartClient.Model/BPASmartClient.Model.csproj

@@ -16,7 +16,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="log4net" Version="2.0.15" />
   </ItemGroup>

BPASmartClient.Nfc/BPASmartClient.Nfc.csproj

@@ -21,7 +21,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
   </ItemGroup>
 
 </Project>

BPASmartClient.S7Net/BPASmartClient.S7Net.csproj

@@ -7,7 +7,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
     <PackageReference Include="S7netplus" Version="0.14.0" />
     <PackageReference Include="System.Text.Encoding.CodePages" Version="6.0.0" />

BPASmartClient.ScreenLib/BPASmartClient.ScreenLib.csproj

@@ -24,7 +24,7 @@
 	</ItemGroup>
   <ItemGroup>
     <PackageReference Include="BPA.CustomResource" Version="1.0.23" />
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="Microsoft.Web.WebView2" Version="1.0.1418.22" />
   </ItemGroup>
   <ItemGroup>

BPASmartClient.SerialPort/BPASmartClient.SerialPort.csproj

@@ -5,7 +5,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.67" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="System.IO.Ports" Version="6.0.0" />
   </ItemGroup>
 

BPASmartClient.SmallBatchingSystem/BPASmartClient.SmallBatchingSystem.csproj

@@ -21,7 +21,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Communication" Version="1.0.110" />
+    <PackageReference Include="BPA.Communication" Version="1.0.112" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.Tourism/AddConvert.cs

@@ -1,29 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace BPASmartClient.MorkCL
-{
-    /// <summary>
-    /// 地址转换类
-    /// </summary>
-    internal static class AddConvert
-    {
-        public static string ToModbusAdd(this string add)
-        {
-            return "";
-        }
-
-        /// <summary>
-        /// 煮面机器人地址转换
-        /// </summary>
-        /// <param name="address"></param>
-        /// <returns></returns>
-        public static string AddressConvert(string address)
-        {
-            return (Convert.ToInt32(address.Substring(1, address.Length - 1)) + 4096).ToString();
-        }
-    }
-}

BPASmartClient.Tourism/Control_MorkCL.cs

@@ -1,5 +1,7 @@
 using BPA.Message.Enum;
 using BPASmartClient.Device;
+using BPASmartClient.MorkCL.Server;
+using SqlSugar;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -14,20 +16,134 @@ namespace BPASmartClient.MorkCL
 
         GVL_MorkCL morkCL = new GVL_MorkCL();
         Alarm alarm = new Alarm();
+        /// <summary>
+        /// 设备信息集合
+        /// </summary>
+        ConcurrentDictionary<EDeviceType, IModbus> devices { get; set; } = new();
+
+        /// <summary>
+        /// 任务集合
+        /// </summary>
+        ConcurrentDictionary<EDeviceType, TaskServer> TaskList { get; set; } = new();
 
         public override void DoMain()
         {
             MonitorViewModel.DeviceId = DeviceId;
+
+            //注册本地配方接收
+            ActionManage.GetInstance.Register(new Action<object>(o =>
+            {
+                if (o != null && o is ControlData cd) morkCL.cds.Enqueue(cd);
+            }), NotifyTopic.FormulaDistribution);
+
+            //初始化通讯对象
+            devices.TryAdd(EDeviceType.炒锅1, new FryingPanServer());
+            devices.TryAdd(EDeviceType.炒锅2, new FryingPanServer());
+            devices.TryAdd(EDeviceType.机器人, new RobotServer());
+            devices.TryAdd(EDeviceType.压力锅, new PressureCookerServer());
+            devices.TryAdd(EDeviceType.外部设备, new OtherServer());
+
+            devices[EDeviceType.炒锅1].Init(ConnectPar.FryingPanIP1);
+            devices[EDeviceType.炒锅2].Init(ConnectPar.FryingPanIP2);
+            devices[EDeviceType.机器人].Init(ConnectPar.RobotIP);
+            devices[EDeviceType.压力锅].Init(ConnectPar.PressureCookerIP);
+            devices[EDeviceType.外部设备].Init(ConnectPar.PPortName);
         }
 
         public override void MainTask()
         {
-            //throw new NotImplementedException();
+            if (morkCL.cds.Count > 0 && !TaskList.ContainsKey(morkCL.cds.ElementAt(0).DeviceType))
+            {
+                if (morkCL.cds.TryDequeue(out ControlData cd))
+                {
+                    TaskList.TryAdd(cd.DeviceType, new TaskServer());
+                    TaskList[cd.DeviceType].TaskName = $"{cd.DeviceType.ToString()}-{cd.Name}";
+                    TaskList[cd.DeviceType].RunTask = new Task(new Action(() => { FryingPanControl(cd.DeviceType, cd); }));
+                    TaskList[cd.DeviceType].RunTask.Start();
+                }
+            }
+            //检查到有任务完成后将对已完成的任务进行清理
+            var res = TaskList.FirstOrDefault(p => p.Value.IsComplete).Key;
+            if (TaskList.ContainsKey(res)) TaskList.TryRemove(res, out _);
+        }
+
+        private void FryingPanControl(EDeviceType et, ControlData cd)
+        {
+            DeviceProcessLogShow($"开始执行-{cd.Name} 任务");
+            for (int i = 0; i < cd.ControlFuncs.Count; i++)
+            {
+                if (TaskList.ContainsKey(et) && TaskList[et].Cts.IsCancellationRequested) return;
+                var device = (FryingPanServer)devices[et];
+                var robot = (RobotServer)devices[EDeviceType.机器人];
+                var keyValues = cd.ControlFuncs.ElementAt(i);
+                int index = (ushort)et - 1;
+                DeviceProcessLogShow($"{cd.Name}-任务执行-{keyValues.Key.ToString()}-步骤");
+                switch (keyValues.Key)
+                {
+                    case EFunc.搅拌启动:
+                        device.MixingFrequencySet(keyValues.Value[0].ParValue);
+                        device.StirStartOrStop = true;
+                        break;
+                    case EFunc.搅拌停止:
+                        device.StirStartOrStop = false;
+                        break;
+                    case EFunc.加热启动:
+                        device.HeatingGearSet(keyValues.Value[0].ParValue);
+                        device.HeatStartOrStop = true;
+                        break;
+                    case EFunc.加热停止:
+                        device.HeatStartOrStop = false;
+                        break;
+                    case EFunc.添加调料:
+                        var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == keyValues.Value[0].Id);
+                        if (Seasoning != null)
+                        {
+                            device.CuttingControl(Seasoning.Loc.ToString(), keyValues.Value[1].ParValue);
+                        }
+                        break;
+                    case EFunc.添加主料:
+                    case EFunc.添加辅料:
+                        MaterialBase mb = new MaterialBase();
+                        if (keyValues.Key == EFunc.添加辅料)
+                            mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == keyValues.Value[0].Id);
+                        else mb = SqliteHelper.GetInstance.GetIngredients().FirstOrDefault(p => p.Id == keyValues.Value[0].Id);
+                        robot.RobotTaskControl(mb.Loc.ToString(), et);
+                        device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                        robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
+                        robot.AllowPourVegetables(et);//允许机器人开始投料
+                        robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
+                        break;
+                    case EFunc.炒锅回原点位:
+                        device.FryingPanHome = true;
+                        break;
+                    case EFunc.出餐启动:
+                        robot.RobotTaskControl("1", et);//取空盆
+                        robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置
+                        device.DiningOutStart = true;
+                        break;
+                    case EFunc.炒锅清洗:
+                        device.FryingPanClear = true;
+                        break;
+                    case EFunc.炒锅回投料位置:
+                        device.FryingPanFeedingLoc = true;
+                        break;
+                    case EFunc.去指定炒制位:
+                        device.SetStirFryingLoc(keyValues.Value[0].ParValue);
+                        break;
+                    case EFunc.炒制:
+                        if (int.TryParse(keyValues.Value[0].ParValue, out int time))
+                            Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);
+                        break;
+                    default:
+                        break;
+                }
+
+            }
         }
 
         public override void ReadData()
         {
-            //throw new NotImplementedException();
+
         }
 
         public override void ResetProgram()

BPASmartClient.Tourism/ExtensionMethod.cs

@@ -0,0 +1,78 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL
+{
+    /// <summary>
+    /// 地址转换类
+    /// </summary>
+    internal static class ExtensionMethod
+    {
+        /// <summary>
+        /// Modbus 地址转换
+        /// </summary>
+        /// <param name="address"></param>
+        /// <returns></returns>
+        public static string ToModbusAdd(this string address)
+        {
+            if (address == null) return "";
+            if (address.Length > 0)
+            {
+                address = address.Trim();
+                if (address.ToUpper().Contains("GM") && address.Length >= 3)
+                {
+                    var res = address.Remove(0, 2);
+                    if (res != null && res.Length > 0) return (int.Parse(res) + 4096).ToString();
+                }
+                else if (address.ToUpper().Contains("M") && address.Length >= 4)
+                {
+                    var res = address.Substring(1).Split('.');
+                    if (res != null && res.Length == 2)
+                    {
+                        if (int.TryParse(res[0], out int firstAddress) && int.TryParse(res[1], out int ExitAddress))
+                        {
+                            if (ExitAddress >= 0 && ExitAddress <= 7)
+                            {
+                                return ((firstAddress * 8) + 320 + ExitAddress).ToString();
+                            }
+                        }
+                    }
+                }
+                else if (address.ToUpper().Contains("GI") && address.Length >= 3)
+                {
+                    var res = address.Remove(0, 2);
+                    if (res != null && res.Length > 0) return res;
+                }
+                else if (address.ToUpper().Contains("LB") && address.Length >= 3)
+                {
+                    var res = address.Substring(2);
+                    if (res != null && res.Length > 0)
+                    {
+                        if (int.TryParse(res, out int firstAddress)) return firstAddress.ToString();
+                    }
+                }
+                else if ((address.ToUpper().Contains("VW") || address.ToUpper().Contains("VD")) && address.Length >= 3)
+                {
+                    var res = address.Substring(2);
+                    if (res != null && int.TryParse(res, out int tempAddress))
+                    {
+                        return ((tempAddress / 2) + 100).ToString();
+                    }
+                }
+                else if (address.ToUpper().Contains("LW") && address.Length >= 3)
+                {
+                    var res = address.Substring(2);
+                    if (res != null && int.TryParse(res, out int LwAddress))
+                    {
+                        return LwAddress.ToString();
+                    }
+                }
+            }
+            return "";
+        }
+    }
+}

BPASmartClient.Tourism/GVL_MorkCL.cs

@@ -8,6 +8,8 @@ namespace BPASmartClient.MorkCL
 {
     public class GVL_MorkCL : IStatus
     {
+        public ConcurrentQueue<ControlData> cds { get; set; } = new ConcurrentQueue<ControlData>();
+
         #region 炒锅1
 
         #endregion

BPASmartClient.Tourism/GlobalUsing.cs

@@ -15,4 +15,5 @@ global using System.Collections.ObjectModel;
 global using BPASmartClient.Device;
 global using BPASmartClient.MorkCL.Model.Func;
 global using System.Threading;
-global using BPA.Communication.Base;
+global using BPA.Communication.Base;
+global using BPASmartClient.MorkCL.Model.Control;

BPASmartClient.Tourism/Model/Control/FryingPanGet.cs

@@ -36,7 +36,7 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <summary>
         /// 炒锅在投料位置反馈
         /// </summary>
-        public bool FeedingLocFB { get; set; }
+        public bool FeedingLocFB;
 
         /// <summary>
         /// 炒锅在洗锅位置反馈

BPASmartClient.Tourism/Model/Control/FryingPanSet.cs

@@ -22,56 +22,60 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <summary>
         /// 通道下料启动控制（1-3）
         /// </summary>
-        /// <param name="ChannelNum">通道编号，1-3</param>
-        /// <param name="value">通道需求值</param>
-        public void CuttingControl(int ChannelNum, ushort value)
+        /// <param name="Num">通道编号，1-3</param>
+        /// <param name="demandValue">通道需求值</param>
+        public void CuttingControl(string Num, string demandValue)
         {
-            if (ChannelNum >= 1 && ChannelNum <= 3)
-            {
-                byte[] VWOffset = new byte[3] { 6, 8, 10 };
-                byte[] LBOffset = new byte[3] { 6, 7, 0 };
-                MyModbus.Write($"VW10{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value);
-                MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), true);
-            }
+            if (ushort.TryParse(Num, out ushort ChannelNum) && ushort.TryParse(demandValue, out ushort value))
+                if (ChannelNum >= 1 && ChannelNum <= 3)
+                {
+                    byte[] VWOffset = new byte[3] { 6, 8, 10 };
+                    byte[] LBOffset = new byte[3] { 6, 7, 0 };
+                    MyModbus.Write($"VW10{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value);
+                    MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), true);
+                }
         }
 
         /// <summary>
         /// 加热档位设定
         /// </summary>
-        /// <param name="Gear">档位，1-8挡</param>
-        public void HeatingGearSet(ushort Gear)
+        /// <param name="value">档位，1-8挡</param>
+        public void HeatingGearSet(string value)
         {
-            if (Gear >= 1 && Gear <= 8)
-            {
-                MyModbus.Write($"VW100".ToModbusAdd(), Gear);
-                MyModbus.Write($"LB9".ToModbusAdd(), true);
-            }
+            if (ushort.TryParse(value, out ushort Gear))
+                if (Gear >= 1 && Gear <= 8)
+                {
+                    MyModbus.Write($"VW100".ToModbusAdd(), Gear);
+                    MyModbus.Write($"LB9".ToModbusAdd(), true);
+                }
         }
 
         /// <summary>
         /// 搅拌频率设定
         /// </summary>
-        /// <param name="Frequency">频率，0-50HZ</param>
-        public void MixingFrequencySet(ushort Frequency)
+        /// <param name="value">频率，0-50HZ</param>
+        public void MixingFrequencySet(string value)
         {
-            if (Frequency >= 0 && Frequency <= 50)
-            {
-                MyModbus.Write($"VW102".ToModbusAdd(), Frequency);
-                MyModbus.Write($"LB10".ToModbusAdd(), true);
-            }
+            if (ushort.TryParse(value, out ushort Frequency))
+                if (Frequency >= 0 && Frequency <= 50)
+                {
+                    MyModbus.Write($"VW102".ToModbusAdd(), Frequency);
+                    MyModbus.Write($"LB10".ToModbusAdd(), true);
+                }
         }
 
         /// <summary>
         /// 翻转频率设定
         /// </summary>
-        /// <param name="Frequency">频率，0-50HZ</param>
-        public void OverturnFrequencySet(ushort Frequency)
+        /// <param name="value">频率，0-50HZ</param>
+        public void OverturnFrequencySet(string value)
         {
-            if (Frequency >= 0 && Frequency <= 50)
-            {
-                MyModbus.Write($"VW104".ToModbusAdd(), Frequency);
-                MyModbus.Write($"LB11".ToModbusAdd(), true);
-            }
+            if (ushort.TryParse(value, out ushort Frequency))
+                if (Frequency >= 0 && Frequency <= 50)
+                {
+                    MyModbus.Write($"VW104".ToModbusAdd(), Frequency);
+                    MyModbus.Write($"LB11".ToModbusAdd(), true);
+                }
         }
 
         /// <summary>
@@ -90,20 +94,21 @@ namespace BPASmartClient.MorkCL.Model.Control
         public bool FryingPanClear { get { return default; } set { MyModbus.Write("LB14".ToModbusAdd(), value); } }
 
         /// <summary>
-        /// 炒锅回投料位置
+        /// 炒锅到投料位置
         /// </summary>
         public bool FryingPanFeedingLoc { get { return default; } set { MyModbus.Write("LB15".ToModbusAdd(), value); } }
 
         /// <summary>
         /// 去炒制位控制
         /// </summary>
-        /// <param name="loc">炒锅位置，1-4</param>
-        public void SetStirFryingLoc(ushort loc)
+        /// <param name="value">炒锅位置，1-4</param>
+        public void SetStirFryingLoc(string value)
         {
-            if (loc >= 1 && loc <= 4)
-            {
-                MyModbus.Write($"LB{loc + 15}".ToModbusAdd(), true);
-            }
+            if (ushort.TryParse(value, out ushort loc))
+                if (loc >= 1 && loc <= 4)
+                {
+                    MyModbus.Write($"LB{loc + 15}".ToModbusAdd(), true);
+                }
         }
 
     }

BPASmartClient.Tourism/Model/Control/OtherDeviceGet.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.Model.Control
+{
+    internal class OtherDeviceGet : ModbusBase
+    {
+        /// <summary>
+        /// 电子秤当前重量
+        /// </summary>
+        public float CurrentWeight { get; set; }
+
+        /// <summary>
+        /// 空箱子检测
+        /// </summary>
+        public bool[] BoxDetection { get; set; } = new bool[4];
+    }
+}

BPASmartClient.Tourism/Model/DeviceType.cs → BPASmartClient.Tourism/Model/Control/OtherDeviceSet.cs

@@ -4,12 +4,9 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 
-namespace BPASmartClient.MorkCL.Model
+namespace BPASmartClient.MorkCL.Model.Control
 {
-    internal enum DeviceType
+    internal class OtherDeviceSet : OtherDeviceGet
     {
-        炒锅1,
-        炒锅2,
-        压力锅
     }
 }

BPASmartClient.Tourism/Model/Control/PressureCookerGet.cs

@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.Model.Control
+{
+    internal class PressureCookerGet : ModbusBase
+    {
+    }
+}

BPASmartClient.Tourism/Model/Control/PressureCookerSet.cs

@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.Model.Control
+{
+    internal class PressureCookerSet : PressureCookerGet
+    {
+    }
+}

BPASmartClient.Tourism/Model/Control/RobotGet.cs

@@ -14,12 +14,12 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <summary>
         /// 倒料请求
         /// </summary>
-        public bool[] MaterialPouringRequest { get; set; } = new bool[3];
+        public bool[] MaterialPouringRequest = new bool[3];
 
         /// <summary>
         /// 倒料完成
         /// </summary>
-        public bool[] MaterialPouringComplete { get; set; } = new bool[3];
+        public bool[] MaterialPouringComplete = new bool[3];
 
         /// <summary>
         /// 出餐请求，机器人到位请求炒锅出餐
@@ -29,7 +29,27 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <summary>
         /// 入库完成
         /// </summary>
-        public bool[] WarehousingComplete { get; set; } = new bool[3];
+        public bool[] WarehousingComplete { get; set; } = new bool[12];
+
+        /// <summary>
+        /// 机器人原点状态
+        /// </summary>
+        public bool Home { get; set; }
+
+        /// <summary>
+        /// 机器人使能状态
+        /// </summary>
+        public bool EnableState { get; set; }
+
+        /// <summary>
+        /// 机器人远程模式
+        /// </summary>
+        public bool RemoteMode { get; set; }
+
+        /// <summary>
+        /// 机器人程序运行中
+        /// </summary>
+        public bool ProgramRuning { get; set; }
 
         /// <summary>
         /// 机器人任务反馈

BPASmartClient.Tourism/Model/Control/RobotSet.cs

@@ -11,48 +11,129 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <summary>
         /// 机器人任务控制
         /// </summary>
-        /// <param name="mainTask"></param>
-        /// <param name="subTask"></param>
-        public void RobotTaskControl(ushort mainTask, ushort subTask)
+        /// <param name="MainTask"></param>
+        /// <param name="SubTask"></param>
+        public void RobotTaskControl(string MainTask, EDeviceType SubTask)
         {
-            MyModbus.Write("", mainTask);
-            MyModbus.Write("", subTask);
+            if (ushort.TryParse(MainTask, out ushort mainTask))
+                if (mainTask >= 0 && mainTask <= 24)
+                {
+                    MyModbus.Write("GI1".ToModbusAdd(), (ushort)SubTask);
+                    MyModbus.Write("GI0".ToModbusAdd(), mainTask);
+                }
         }
 
         /// <summary>
         /// 入库控制
         /// </summary>
-        /// <param name="loc"></param>
-        public void WarehousingControl(ushort loc)
+        /// <param name="Loc"></param>
+        public void WarehousingControl(string Loc)
         {
+            if (ushort.TryParse(Loc, out ushort loc))
+                if (loc >= 1 && loc <= 12) MyModbus.Write("GI0".ToModbusAdd(), (ushort)(loc + 29));
+        }
 
+        /// <summary>
+        /// 机器人到位允许倒菜到炒锅
+        /// </summary>
+        /// <param name="num">炒锅类型</param>
+        public void AllowPourVegetables(EDeviceType num)
+        {
+            switch (num)
+            {
+                case EDeviceType.炒锅1:
+                    MyModbus.Write("GM500".ToModbusAdd(), true);
+                    break;
+                case EDeviceType.炒锅2:
+                    MyModbus.Write("GM501".ToModbusAdd(), true);
+                    break;
+                case EDeviceType.压力锅:
+                    MyModbus.Write("GM502".ToModbusAdd(), true);
+                    break;
+                default:
+                    break;
+            }
         }
 
         /// <summary>
-        /// 运行倒菜
+        /// 出餐减速到位
         /// </summary>
-        /// <param name="num">炒锅编号</param>
-        public void AllowPourVegetables(ushort num)
+        /// <param name="num">炒锅类型</param>
+        public void ModerateInPlace(EDeviceType num)
         {
+            switch (num)
+            {
+                case EDeviceType.炒锅1:
+                    MyModbus.Write("GM503".ToModbusAdd(), true);
+                    break;
+                case EDeviceType.炒锅2:
+                    MyModbus.Write("GM505".ToModbusAdd(), true);
+                    break;
+                case EDeviceType.压力锅:
+                    MyModbus.Write("GM507".ToModbusAdd(), true);
+                    break;
+                default:
+                    break;
+            }
+        }
 
+        /// <summary>
+        /// 出餐倒菜完成
+        /// </summary>
+        /// <param name="num">炒锅类型</param>
+        public void DiningOutComplete(EDeviceType num)
+        {
+            switch (num)
+            {
+                case EDeviceType.炒锅1:
+                    MyModbus.Write("GM504".ToModbusAdd(), true);
+                    break;
+                case EDeviceType.炒锅2:
+                    MyModbus.Write("GM506".ToModbusAdd(), true);
+                    break;
+                case EDeviceType.压力锅:
+                    MyModbus.Write("GM508".ToModbusAdd(), true);
+                    break;
+                default:
+                    break;
+            }
         }
 
         /// <summary>
-        /// 出餐减速到位
+        /// 设置远程启动（暂停后也可以启动） M702
         /// </summary>
-        /// <param name="num">炒锅编号</param>
-        public void ModerateInPlace(ushort num)
+        public bool RobotStart
         {
+            get { return MyModbus.Read<bool>("GM702".ToModbusAdd()).Content; }
+            set { MyModbus.Write("GM702".ToModbusAdd(), value); }
+        }
 
+        /// <summary>
+        /// 设置远程暂停 M703
+        /// </summary>
+        public bool RobotSuspend
+        {
+            get { return MyModbus.Read<bool>("GM703".ToModbusAdd()).Content; }
+            set { MyModbus.Write("GM703".ToModbusAdd(), value); }
         }
 
         /// <summary>
-        /// 出餐倒菜完成
+        /// 设置使能 M700
         /// </summary>
-        /// <param name="num">炒锅编号</param>
-        public void DiningOutComplete(ushort num)
+        public bool RobotEnable
         {
+            get { return MyModbus.Read<bool>("GM700".ToModbusAdd()).Content; }
+            set { MyModbus.Write("GM700".ToModbusAdd(), value); }
+        }
 
+        /// <summary>
+        /// 机器人复位
+        /// </summary>
+        public bool RobotReset
+        {
+            get { return MyModbus.Read<bool>("GM701".ToModbusAdd()).Content; }
+            set { MyModbus.Write("GM701".ToModbusAdd(), value); }
         }
+
     }
 }

BPASmartClient.Tourism/Model/ControlData.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Security.RightsManagement;
 using System.Text;
 using System.Threading.Tasks;
 using BPASmartClient.MorkCL.Model.DataInfo;
@@ -8,8 +9,16 @@ using BPASmartClient.MorkCL.Model.Func;
 
 namespace BPASmartClient.MorkCL.Model
 {
-    internal class ControlData : RawMaterial
+    public class ControlData : RawMaterial
     {
+        /// <summary>
+        /// 选择设备类型
+        /// </summary>
+        public EDeviceType DeviceType { get; set; }
+
+        /// <summary>
+        /// 功能配方
+        /// </summary>
         public ConcurrentDictionary<EFunc, List<FuncPar>> ControlFuncs { get; set; } = new ConcurrentDictionary<EFunc, List<FuncPar>>();
     }
 }

BPASmartClient.Tourism/Model/ControlDeviceType.cs → BPASmartClient.Tourism/Model/EDeviceType.cs

@@ -6,12 +6,13 @@ using System.Threading.Tasks;
 
 namespace BPASmartClient.MorkCL.Model
 {
-    internal enum ControlDeviceType
+    public enum EDeviceType : ushort
     {
-        炒锅1,
-        炒锅2,
-        压力锅,
-        机器人,
-        其它
+        无 = 0,
+        炒锅1 = 1,
+        炒锅2 = 2,
+        压力锅 = 3,
+        机器人 = 4,
+        外部设备 = 5,
     }
 }

BPASmartClient.Tourism/Model/Func/FuncPar.cs

@@ -11,6 +11,11 @@ namespace BPASmartClient.MorkCL.Model.Func
     /// </summary>
     public class FuncPar
     {
+        /// <summary>
+        /// 物料ID
+        /// </summary>
+        public string Id { get; set; }
+
         /// <summary>
         /// 参数名
         /// </summary>

BPASmartClient.Tourism/Model/Func/InitData.cs

@@ -31,7 +31,7 @@ namespace BPASmartClient.MorkCL.Model.Func
             { EFunc.出餐启动,new FuncPar[0]   },
             { EFunc.炒锅清洗,new FuncPar[0]   },
             { EFunc.炒锅回投料位置,new FuncPar[0]   },
-            { EFunc.去指定炒制位,new FuncPar[] { new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--3 选择一个合适的炒制位置"} } },
+            { EFunc.去指定炒制位,new FuncPar[] { new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--4 选择一个合适的炒制位置"} } },
             { EFunc.炒制,new FuncPar[] { new FuncPar() {  ParName="设置炒制时间",ParUnit="秒",  ParDescribe="请设置一个合适的炒制时间"} } },
         };
     }

BPASmartClient.Tourism/Model/NotifyTopic.cs

@@ -17,5 +17,10 @@ namespace BPASmartClient.MorkCL.Model
         /// 机器人初始化
         /// </summary>
         public static string RobotInit => $"{Header}RobotInit";
+
+        /// <summary>
+        /// 本地配方下发通知
+        /// </summary>
+        public static string FormulaDistribution => $"{Header}FormulaDistribution";
     }
 }

BPASmartClient.Tourism/Model/Result.cs

@@ -0,0 +1,14 @@
+//using System;
+//using System.Collections.Generic;
+//using System.Linq;
+//using System.Text;
+//using System.Threading.Tasks;
+
+//namespace BPASmartClient.MorkCL.Model
+//{
+//    public class Result
+//    {
+//        public bool IsSuccess { get; set; }
+//        public string Message { get; set; }
+//    }
+//}

BPASmartClient.Tourism/Server/ISqlLIte.cs → BPASmartClient.Tourism/Server/ISqlite.cs

@@ -7,7 +7,7 @@ using System.Threading.Tasks;
 
 namespace BPASmartClient.MorkCL.Server
 {
-    internal interface ISqlLIte : IServer
+    internal interface ISqlite : IServer
     {
         //主料
         bool AddIngredients(IngredientsTB mb);

BPASmartClient.Tourism/Server/OtherServer.cs

@@ -3,13 +3,33 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Controls;
 
 namespace BPASmartClient.MorkCL.Server
 {
     /// <summary>
     /// 其它服务类
     /// </summary>
-    internal class OtherServer
+    internal class OtherServer : OtherDeviceSet, IModbus
     {
+        public void Init(string IP = "", int Port = 502, string PortName = "")
+        {
+            MyModbus = new ModbusRtu();
+            MyModbus.Connected = () =>
+            {
+                TaskManage.GetInstance.StartLong(new Action(() =>
+                {
+                    var box = MyModbus.Read<bool[]>("LB100".ToModbusAdd(), 4);
+                    if (box.IsSuccess)
+                    {
+                        for (byte i = 0; i < box.Content.Length; i++) BoxDetection[i] = box.Content[i];
+                    }
+                    var weight = MyModbus.Read<float>("LW20".ToModbusAdd());
+                    if (weight.IsSuccess) CurrentWeight = weight.Content;
+                    Thread.Sleep(10);
+                }), $"其它外部设备-{PortName}", true);
+            };
+            MyModbus.Connect(new ConfigurationOptions() { PortName = PortName });
+        }
     }
 }

BPASmartClient.Tourism/Server/PressureCookerServer.cs

@@ -9,7 +9,20 @@ namespace BPASmartClient.MorkCL.Server
     /// <summary>
     /// 压力锅服务类
     /// </summary>
-    internal class PressureCookerServer
+    internal class PressureCookerServer : PressureCookerSet, IModbus
     {
+        public void Init(string IP = "", int Port = 502, string PortName = "")
+        {
+            MyModbus = new ModbusTcp();
+            MyModbus.Connected = () =>
+            {
+                TaskManage.GetInstance.StartLong(new Action(() =>
+                {
+
+                    Thread.Sleep(10);
+                }), $"压力锅服务-{IP}", true);
+            };
+            MyModbus.Connect(new ConfigurationOptions() { IpAddress = IP, Port = Port });
+        }
     }
 }

BPASmartClient.Tourism/Server/RobotServer.cs

@@ -19,7 +19,25 @@ namespace BPASmartClient.MorkCL.Server
             {
                 TaskManage.GetInstance.StartLong(new Action(() =>
                 {
+                    var m600 = MyModbus.Read<bool[]>("M600".ToModbusAdd(), 9);
+                    if (m600.IsSuccess)
+                    {
+                        for (byte i = 0; i < 3; i++)
+                        {
+                            MaterialPouringRequest[i] = m600.Content[i * 3];
+                            MaterialPouringComplete[i] = m600.Content[i * 3 + 1];
+                            DiningOutRequest[i] = m600.Content[i * 3 + 2];
+                        }
+                    }
 
+                    var m630 = MyModbus.Read<bool[]>("M630".ToModbusAdd(), 12);
+                    if (m630.IsSuccess)
+                    {
+                        for (byte i = 0; i < m630.Content.Length; i++) WarehousingComplete[i] = m630.Content[i];
+                    }
+
+                    var gi = MyModbus.Read<ushort>("GI5".ToModbusAdd(), 1);
+                    if (gi.IsSuccess) TaskFeedback = (RobotMainTask)gi.Content;
 
                     Thread.Sleep(10);
                 }), $"机器人服务-{IP}", true);
@@ -29,7 +47,37 @@ namespace BPASmartClient.MorkCL.Server
 
         private void RobotInit()
         {
+            if (EnableState && ProgramRuning) return;
+            //if (!CR_Data.Home)
+            //{
+            //    Noticer.GetInstance().Show("煮面机器人初始化失败，机器人不在原点");
+            //    return;
+            //}
+
+            while (!EnableState || !ProgramRuning)
+            {
+                //复位
+                RobotReset = true;
+                Thread.Sleep(1000);
+                RobotReset = false;
+                Thread.Sleep(500);
+
+                if (!EnableState)
+                {
+                    //上使能
+                    RobotEnable = true;
+                    Thread.Sleep(1000);
+                    RobotEnable = false;
+                    Thread.Sleep(500);
+                }
+
+                //启动
+                RobotStart = true;
+                Thread.Sleep(1000);
+                RobotStart = false;
 
+                Thread.Sleep(1000);
+            }
         }
     }
 }

BPASmartClient.Tourism/Server/SqliteHelper.cs

@@ -10,7 +10,7 @@ using System.Threading.Tasks;
 
 namespace BPASmartClient.MorkCL.Server
 {
-    internal class SqliteHelper : ISqlLIte
+    internal class SqliteHelper : ISqlite
     {
 
         private volatile static SqliteHelper _Instance;

BPASmartClient.Tourism/Server/TaskServer.cs

@@ -0,0 +1,29 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.Server
+{
+    public class TaskServer
+    {
+        /// <summary>
+        /// 获取任务是否执行完成
+        /// </summary>
+        public bool IsComplete => RunTask == null ? false : RunTask.IsCompleted;
+
+        /// <summary>
+        /// 任务取消标识
+        /// </summary>
+        public CancellationTokenSource Cts { get; set; } = new CancellationTokenSource();
+
+        /// <summary>
+        /// 任务名称
+        /// </summary>
+        public string TaskName { get; set; }
+
+
+        public Task RunTask { get; set; }
+    }
+}

BPASmartClient.Update/BPASmartClient.Update.csproj

@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
   </ItemGroup>
 
 </Project>

DosingSystem/BPASmartClient.DosingSystem.csproj

@@ -21,7 +21,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
   </ItemGroup>

WpfTest/WpfTest.csproj

@@ -9,7 +9,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.CustomResource" Version="1.0.16" />
-    <PackageReference Include="BPA.Helper" Version="1.0.71" />
+    <PackageReference Include="BPA.Helper" Version="1.0.73" />
   </ItemGroup>
 
 </Project>