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代码整理

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yahaha hace 2 años
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  1. +295
    -366
      BPASmartClient.MorkF/Control_MorkF.cs

+ 295
- 366
BPASmartClient.MorkF/Control_MorkF.cs Ver fichero

@@ -92,6 +92,22 @@ namespace BPASmartClient.MorkF
ServerInit(); ServerInit();
DeviceProcessLogShow("MORKF 设备初始化完成"); DeviceProcessLogShow("MORKF 设备初始化完成");
} }

/// <summary>
/// 主任务
/// </summary>
public override void MainTask()
{
MainProcessExcute();
//MinorProcessExcute();
//SingleProcess();
}

public override void Stop()
{
IsHealth = false;
}

#region 调试代码 #region 调试代码
public void CommandRegist() public void CommandRegist()
{ {
@@ -367,9 +383,240 @@ namespace BPASmartClient.MorkF
ThreadManage.GetInstance().StopTask(String.Format(striConst, fryIndex.ToString(), nowStirFryGood.GoodName), new Action(() => { Plc1Reset(num); })); ThreadManage.GetInstance().StopTask(String.Format(striConst, fryIndex.ToString(), nowStirFryGood.GoodName), new Action(() => { Plc1Reset(num); }));
} }
} }

/// <summary>
/// 重置程序
/// </summary>
public override void ResetProgram()
{
IsHealth = true;
morkFs.Clear();
morkFs = new Dictionary<int, GVL_MorkF>();
ml_morkf = new ML_MorkF();

//根据编号new炒锅实例对象
for (int i = 0; i < count; i++)
{
morkFs.Add(i, new GVL_MorkF());
}
}

#endregion

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

/// <summary>
/// PLC数据读取
/// </summary>
public override void ReadData()
{

for (int i = 0; i < morkFs.Count; i++)
{
GetStatus("LB50", new Action<object>((objects) =>
{
if (!morkFs.ContainsKey(i))
{
return;
}
if (objects is bool[] bools)
{
morkFs[i].FryPot1_InitialComplete = bools[0];
morkFs[i].FryPot1_HOBTPut = bools[1];
morkFs[i].FryPot1_HOBTGet = bools[2];
morkFs[i].FryPot1_MaterialIntoPot = bools[3];
morkFs[i].OutFoodCompelete = bools[4];
morkFs[i].CanOutFood = bools[5];
morkFs[i].GetFoodCompelete = bools[6];
morkFs[i].CanOutPotWashingWater = bools[7];
morkFs[i].ArmOnOrigin = bools[8];
morkFs[i].ArmOnWorking = bools[9];
morkFs[i].PotOnOrigin = bools[10];
}

}), i);
}
for (int j = 0; j < morkFs.Count; j++)
{
GetStatus("LB74", new Action<object>((objects) =>
{
if (!morkFs.ContainsKey(j))
{
return;
}

if (objects is bool[] bools)
{
for (int i = 0; i < 14; i++)
{
morkFs[j].PassWay1_Compelete[i] = bools[i];
}
}

}), j);
}
for (int i = 0; i < morkFs.Count; i++)
{
if (!morkFs.ContainsKey(i))
{
return;
}

GetStatus("LB90", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
morkFs[i].AutoMode = bools[0];
}

}), i);
}

//获取激光距离
GetStatus("VW270", new Action<object>((objects) =>
{
if (objects is int[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.LaserDistance = bools[i];
}
}
}), 2);

//获取坐标X
GetStatus("VD828", new Action<object>((objects) =>
{
if (objects is int[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.ArmPositionX = bools[i];
}
}
}), 2);

//获取坐标Y
GetStatus("VD832", new Action<object>((objects) =>
{
if (objects is int[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.ArmPositionY = bools[i];
}
}
}), 2);

//获取爪子到达位置
GetStatus("M11.0", new Action<object>((objects) =>
{
if (objects is bool[] bools && bools.Length > 3)
{

//ml_morkf.PawArrivePortOne = bools[0];
//ml_morkf.PawArrivePortTwo = bools[1];
//ml_morkf.PawArrivePortThree = bools[2];

if (isInitialPaw == false)
{
isInitialArrive = true;
}
else
{
//小炒爪子到达1号位上升沿信号捕获
if (RTrig.GetInstance("SmartGitdistance1Complete").Start(bools[0]))
{
ml_morkf.PawArrivePortOne = true;
}
//小炒爪子到达3号位上升沿信号捕获
if (RTrig.GetInstance("SmartGitdistance2Complete").Start(bools[1]))
{
ml_morkf.PawArrivePortTwo = true;
}
//小炒爪子到达3号位上升沿信号捕获
if (RTrig.GetInstance("SmartGitdistance3Complete").Start(bools[2]))
{
ml_morkf.PawArrivePortThree = true;
}
isInitialArrive = true;
}
}
}), 2);

//获取定位到达状态
GetStatus("M10.0", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
for (int i = 0; i < 1; i++)
{
//ml_morkf.ArriveComplete = bools[i];
//小炒定点到达上升沿信号捕获
if (RTrig.GetInstance("SmartArriveComplete").Start(bools[i]))
{
if (isInitialArrive == false)
{
MessageLog.GetInstance.Show("到达上升沿为true，isInitialArrive is false");
isInitialArrive = true;
}
else
{
MessageLog.GetInstance.Show("到达上升沿为true");
ml_morkf.ArriveComplete = true;
isInitialArrive = true;
}
}
}
}

}), 2);

//获取总初始化完成
GetStatus("M10.2", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.InitialComplete = bools[i];
}
}
}), 2);

//抓手初始化完成
GetStatus("M10.3", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.PawInitialComplete = bools[i];
}
}
}), 2);

}

#endregion #endregion


#region 菜品库操作方法
#region 菜品库PLC操作方法
/// <summary> /// <summary>
/// 菜品库数据写入 /// 菜品库数据写入
/// </summary> /// </summary>
@@ -727,17 +974,43 @@ namespace BPASmartClient.MorkF


} }


//加油
public void AddOil()
/// <summary>
/// 炒锅初始化
/// </summary>
public void PLCInite()
{ {
for (int i = 0; i < morkFs.Count; i++)
{
FirePot_Write("LB0", true, i);


}
//加热启动
public void StartFire(int num)
{
FirePot_Write("LB1", true, num);
Thread.Sleep(200);
}
for (int j = 0; j < sleepCount && !morkFs[i].FryPot1_InitialComplete; j++)
{
Thread.Sleep(sleepTime);
if (j >= sleepCount - 1)
{
MessageLog.GetInstance.Show($"炒锅{j}初始化超时");
}
}

//while (!morkFs[i].FryPot1_InitialComplete)
//{
// Thread.Sleep(500);
//}
FirePot_Write("LB0", false, i);
}
}

//加油
public void AddOil()
{

}
//加热启动
public void StartFire(int num)
{
FirePot_Write("LB1", true, num);
Thread.Sleep(200);
}
//加热停止 //加热停止
public void StopFire(int num) public void StopFire(int num)
{ {
@@ -906,219 +1179,11 @@ namespace BPASmartClient.MorkF
#endregion #endregion




/// <summary>
/// 重置程序
/// </summary>
public override void ResetProgram()
{
IsHealth = true;
morkFs.Clear();
morkFs = new Dictionary<int, GVL_MorkF>();
ml_morkf = new ML_MorkF();

//根据编号new炒锅实例对象
for (int i = 0; i < count; i++)
{
morkFs.Add(i, new GVL_MorkF());
}
}

bool isInitialArrive = false; bool isInitialArrive = false;


bool isInitialPaw = false; bool isInitialPaw = false;


/// <summary>
/// PLC数据读取
/// </summary>
public override void ReadData()
{

for (int i = 0; i < morkFs.Count; i++)
{
GetStatus("LB50", new Action<object>((objects) =>
{
if (!morkFs.ContainsKey(i))
{
return;
}
if(objects is bool[] bools)
{
morkFs[i].FryPot1_InitialComplete = bools[0];
morkFs[i].FryPot1_HOBTPut = bools[1];
morkFs[i].FryPot1_HOBTGet = bools[2];
morkFs[i].FryPot1_MaterialIntoPot = bools[3];
morkFs[i].OutFoodCompelete = bools[4];
morkFs[i].CanOutFood = bools[5];
morkFs[i].GetFoodCompelete = bools[6];
morkFs[i].CanOutPotWashingWater = bools[7];
morkFs[i].ArmOnOrigin = bools[8];
morkFs[i].ArmOnWorking = bools[9];
morkFs[i].PotOnOrigin = bools[10];
}

}), i);
}
for (int j = 0; j < morkFs.Count; j++)
{
GetStatus("LB74", new Action<object>((objects) =>
{
if (!morkFs.ContainsKey(j))
{
return;
}

if (objects is bool[] bools)
{
for (int i = 0; i < 14; i++)
{
morkFs[j].PassWay1_Compelete[i] = bools[i];
}
}

}), j);
}
for (int i = 0; i < morkFs.Count; i++)
{
if (!morkFs.ContainsKey(i))
{
return;
}

GetStatus("LB90", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
morkFs[i].AutoMode = bools[0];
}

}), i);
}

//获取激光距离
GetStatus("VW270", new Action<object>((objects) =>
{
if (objects is int[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.LaserDistance = bools[i];
}
}
}), 2);

//获取坐标X
GetStatus("VD828", new Action<object>((objects) =>
{
if (objects is int[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.ArmPositionX = bools[i];
}
}
}), 2);

//获取坐标Y
GetStatus("VD832", new Action<object>((objects) =>
{
if (objects is int[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.ArmPositionY = bools[i];
}
}
}), 2);

//获取爪子到达位置
GetStatus("M11.0", new Action<object>((objects) =>
{
if (objects is bool[] bools&&bools.Length > 3)
{

//ml_morkf.PawArrivePortOne = bools[0];
//ml_morkf.PawArrivePortTwo = bools[1];
//ml_morkf.PawArrivePortThree = bools[2];

if(isInitialPaw == false)
{
isInitialArrive = true;
}
else
{
//小炒爪子到达1号位上升沿信号捕获
if (RTrig.GetInstance("SmartGitdistance1Complete").Start(bools[0]))
{
ml_morkf.PawArrivePortOne = true;
}
//小炒爪子到达3号位上升沿信号捕获
if (RTrig.GetInstance("SmartGitdistance2Complete").Start(bools[1]))
{
ml_morkf.PawArrivePortTwo = true;
}
//小炒爪子到达3号位上升沿信号捕获
if (RTrig.GetInstance("SmartGitdistance3Complete").Start(bools[2]))
{
ml_morkf.PawArrivePortThree = true;
}
isInitialArrive = true;
}
}
}), 2);

//获取定位到达状态
GetStatus("M10.0", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
for (int i = 0; i < 1; i++)
{
//ml_morkf.ArriveComplete = bools[i];
//小炒定点到达上升沿信号捕获
if (RTrig.GetInstance("SmartArriveComplete").Start(bools[i]))
{
if(isInitialArrive == false)
{
MessageLog.GetInstance.Show("到达上升沿为true，isInitialArrive is false");
isInitialArrive = true;
}
else
{
MessageLog.GetInstance.Show("到达上升沿为true");
ml_morkf.ArriveComplete = true;
isInitialArrive = true;
}
}
}
}

}), 2);

//获取总初始化完成
GetStatus("M10.2", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.InitialComplete = bools[i];
}
}
}), 2);

//抓手初始化完成
GetStatus("M10.3", new Action<object>((objects) =>
{
if (objects is bool[] bools)
{
for (int i = 0; i < 1; i++)
{
ml_morkf.PawInitialComplete = bools[i];
}
}
}), 2);

}
#region 联网交互
private void ServerInit() private void ServerInit()
{ {
//物料信息 //物料信息
@@ -1269,7 +1334,11 @@ namespace BPASmartClient.MorkF
}); });
} }



/// <summary>
/// 订单排序
/// </summary>
/// <param name="potActions"></param>
/// <returns></returns>
private List<PotActions> OrderSort(List<PotActions> potActions) private List<PotActions> OrderSort(List<PotActions> potActions)
{ {
if (potActions.Count > 1) if (potActions.Count > 1)
@@ -1287,6 +1356,7 @@ namespace BPASmartClient.MorkF
} }
return potActions; return potActions;
} }
/// <summary> /// <summary>
/// 订单状态发布 /// 订单状态发布
/// </summary> /// </summary>
@@ -1297,8 +1367,6 @@ namespace BPASmartClient.MorkF
EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid }); EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid });
} }




/// <summary> /// <summary>
/// 数据解析 /// 数据解析
/// </summary> /// </summary>
@@ -1348,23 +1416,18 @@ namespace BPASmartClient.MorkF
// } // }
// } // }
//} //}

//暂时使用本地菜单
StartLocalOrder(); StartLocalOrder();
} }


}); });
} }
/// <summary>
/// 主任务
/// </summary>
public override void MainTask()
{
MainProcessExcute();
//MinorProcessExcute();
//SingleProcess();
}
#endregion



private object lock_MainProcessExcute = new object(); private object lock_MainProcessExcute = new object();
/// <summary> /// <summary>
/// 炒锅主流程 /// 炒锅主流程
/// </summary> /// </summary>
@@ -1546,79 +1609,6 @@ namespace BPASmartClient.MorkF
} }
} }
} }
//辅流程执行
//private void MinorProcessExcute()
//{
// if (!morkF.MinorProcessExcuteLock)
// {
// morkF.MinorProcessExcuteLock = true;
// Task.Run(() =>
// {
// if (morkF.MinorProcessFlag && morkF.TakeMaterialQueue.Count > 0 && morkF.listStirBom.Count > 0 )
// {
// morkF.MinorProessStatus = true;
// morkF.MainProcessStatus = false;
// StirFryBom bom = morkF.listStirBom.ElementAt(0);
// morkF.listStirBom.RemoveAt(0);
// foreach (var res in bom.StirFryActions)
// {
// DeviceProcessLogShow($"执行流程{res.Time}");
// //机器人线程
// Task taskRobot = Task.Run(new Action(() =>
// {
// foreach (var temp in res.RobotActions)
// {
// switch (temp)
// {

// }

// }

// }));
// //炒锅线程操作
// Task taskPot = Task.Run(new Action(() =>
// {
// foreach (var temp in res.PotActions)
// {
// switch (temp)
// {
// case StirFryPotAction.NONE:
// break;

// }
// }
// }));
// Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束
// Task.Delay(res.During * 1000).Wait();//当前流程延迟
// if (morkF.MainProcessWait)
// {
// if (morkF.MainHasTakeMaterial)
// {

// }
// else
// {
// //关闭灶加热
// //阻塞辅流程
// minorReset.WaitOne();
// //morkF.MinorProessStatus = true;
// //morkF.MainProcessStatus = false;
// }

// }

// }
// morkF.MinorOutMealComplete = true;
// }
// else
// {
// morkF.MinorProcessExcuteLock = false;//解除辅流程自锁
// }
// });
// }
//}



/// <summary> /// <summary>
/// 信号处理 /// 信号处理
@@ -1640,67 +1630,6 @@ namespace BPASmartClient.MorkF


} }


/// <summary>
/// 获取炒锅PLC的所有状态
/// </summary>
/// <param name="key"></param>
/// <param name="action"></param>
/// <param name="num">炒锅编号</param>
private void GetStatus(string key, Action<object> action,int num)
{
if(dicPort2peripheralStatus.ContainsKey(num))
{
if (dicPort2peripheralStatus[num].ContainsKey(key))
{
action((object)dicPort2peripheralStatus[num][key]);//获取PLC指定地址的状态值
}
}
}
///// <summary>
///// 写数据
///// </summary>
///// <param name="address"></param>
///// <param name="value"></param>
//private void WriteData(string address, object value)
//{
// EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });
//}

/// <summary>
/// 炒锅初始化
/// </summary>
public void PLCInite()
{
for(int i = 0;i<morkFs.Count;i++)
{
FirePot_Write("LB0", true, i);

for (int j = 0; j < sleepCount && !morkFs[i].FryPot1_InitialComplete; j++)
{
Thread.Sleep(sleepTime);
if(j>=sleepCount-1)
{
MessageLog.GetInstance.Show($"炒锅{j}初始化超时");
}
}

//while (!morkFs[i].FryPot1_InitialComplete)
//{
// Thread.Sleep(500);
//}
FirePot_Write("LB0", false, i);
}
}


/// <summary>
public override void Stop()
{
IsHealth = false;
}

public override void SimOrder() public override void SimOrder()
{ {
ActionManage.GetInstance.Register(morkSim, "模拟小炒锅1订单"); ActionManage.GetInstance.Register(morkSim, "模拟小炒锅1订单");


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