morks设备添加

BPASmartClient.MORKSM.BK.PLC/MorksMachine.cs

@@ -11,31 +11,34 @@ namespace BPASmartClient.MORKSM.BK.PLC
 {
     public class MorksMachine : BasePeripheral
     {
-        ModbusTcp modbusTcp => modbusTcp ?? new ModbusTcp();
+        ModbusTcp modbusTcp = new ModbusTcp();
         public string IpAddress { get; set; }
         public int Port { get; set; }
 
 
         public override void Init()
         {
-            //读取布尔数据
+            //读取数据
             EventBus.EventBus.GetInstance().Subscribe<ReadModel>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 if (@event == null) return;
                 var par = @event as ReadModel;
                 ushort address = (ushort)modbusTcp.GetAddress(par?.Address);
+                object readData = new object();
                 if (par.Address.ToUpper().Contains("M"))
                 {
-                    modbusTcp.Read(address, CommandType.Coils, par.Length);
+                    //modbusTcp.Read(address, CommandType.Coils, par.Length);
+                    modbusTcp.Readbool(address, par.Length, new Action<bool[]>((s) => { readData = s; }));
                 }
                 else if (par.Address.ToUpper().Contains("VW"))
                 {
-                    modbusTcp.Read(address, CommandType.HoldingRegisters, par.Length);
+                    readData = modbusTcp.Read(address, CommandType.HoldingRegisters, par.Length);
                 }
-
+                callBack?.Invoke(readData);
+                //callBack = new EventCallBackHandle(readData);
             });
 
-            //写入布尔数据
+            //写入数据
             EventBus.EventBus.GetInstance().Subscribe<WriteModel>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 if (@event == null) return;
@@ -51,12 +54,16 @@ namespace BPASmartClient.MORKSM.BK.PLC
                 }
             });
 
-            modbusTcp.ModbusTcpConnect(IpAddress, Port);
+            ////批量读取数据
+            //EventBus.EventBus.GetInstance().Subscribe<>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            //{
+
+            //});
         }
 
         public override void Start()
         {
-
+            modbusTcp.ModbusTcpConnect(IpAddress, Port);
         }
 
         public override void Stop()

BPASmartClient.MorkS/Control.cs

@@ -6,35 +6,605 @@ using BPASmartClient.EventBus;
 using BPASmartClient.Model;
 using BPASmartClient.Peripheral;
 using static BPASmartClient.EventBus.EventBus;
+using BPASmartClient.Helper;
+using System.Threading;
+using BPASmartClient.Message;
+using BPA.Message;
+using System.Linq;
+using BPASmartClient.Model.PLC;
+using System.Threading.Tasks;
 
 namespace BPASmartClient.MorkS
 {
-    public class Control : IDevice
+    public class Control : BaseDevice
     {
-        public string DeviceId { get; set; }
-        public string Name { get; set; }
+        public override DeviceClientType DeviceType => DeviceClientType.MORKS;
+        GVL_MORKS mORKS = new GVL_MORKS();
+        /// <summary>
+        /// 订单物料信息
+        /// </summary>
+        public OrderMaterialDelivery orderMaterialDelivery { get; set; } = new OrderMaterialDelivery();
+        /// <summary>
+        /// 配方数据信息
+        /// </summary>
+        public RecipeBoms recipeBoms { get; set; } = new RecipeBoms();
+        int OrderCount;
+        bool Initing;
+        public override void StartMain()
+        {
+
+        }
+
+        public override void Stop()
+        {
+
+        }
+
+        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
+        {
+            //EventBus.EventBus.GetInstance().Publish(new);
+        }
+
+        private void ReadData(string address, ushort len = 1, Action<bool[]> action = null)
+        {
+            EventBus.EventBus.GetInstance().Publish(new ReadModel() { Address = address, Length = len }, (o) =>
+            {
+                if (o != null && o.Length > 0 && o[0] is bool[] bools)
+                {
+                    action(bools);
+                }
+            });
+        }
+
+        private void ReadData()
+        {
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                ReadData("M0.3", 3, new Action<bool[]>((bools) =>
+                {
+                    mORKS.RobotTakeNoodle = bools[0];
+                    mORKS.RobotOutMeal = bools[1];
+                    mORKS.MoveTurntable = bools[2];
+                }));
+
+                ReadData("M100.0", 16, new Action<bool[]>((bools) =>
+                {
+                    mORKS.InitComplete = bools[0];
+                    mORKS.TakeBowlIdle = bools[1];
+                    mORKS.TemperatureReached = bools[2];
+                    mORKS.AllowFallNoodle = bools[3];
+                    mORKS.RbTakeNoodleComplete = bools[4];
+                    mORKS.RbFallNoodleComplete = bools[5];
+                    mORKS.RbOutMealComplete = bools[6];
+                    mORKS.RobotIdle = bools[7];
+                    mORKS.TakeMealDetect = bools[8];
+                    mORKS.MissingBowl = bools[9];
+                    Initing = bools[10];
+                    mORKS.TurntableLowerLimit = bools[11];
+                    mORKS.MissingBowlSignal2 = bools[12];
+                    mORKS.TurntableUpLimit = bools[13];
+                    mORKS.FeedComplete = bools[14];
+                    mORKS.TurntableMoveInPlace = bools[15];
+                }));
+
+                ReadData("M235.0", 1, new Action<bool[]>((bools) => { mORKS.Error = bools[0]; }));
+                //var errorStatus = ModbusTcpHelper.GetInstance.Read((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M235.0"), ReadType.Coils, 1);
+                //if (errorStatus != null && errorStatus is bool error) mORKS.Error = error;
+
+                ReadData("M102.0", 7, new Action<bool[]>((bools) =>
+                {
+                    for (int i = 0; i < 6; i++)
+                    {
+                        mORKS.NoodleCookerStatus[i] = bools[i];
+                    }
+                    mORKS.Feeding = bools[6];
+                }));
+
+                ReadData("M103.0", 6, new Action<bool[]>((bools) =>
+                {
+                    for (int i = 0; i < 6; i++)
+                    {
+                        mORKS.CookNoodlesComplete[i] = bools[i];
+                    }
+                }));
+
+                ReadData("M550.0", 20, new Action<bool[]>((bools) =>
+                {
+                    //alarm.MachineLeftLowTemperature = bools[0];
+                    //alarm.MachineRightLowTemperature = bools[1];
+                    //alarm.Supply1_LossBowl = bools[2];
+                    //alarm.Supply2_LossBowl = bools[3];
+                    //alarm.Supply1_ErrorOutBowl = bools[4];
+                    //alarm.Supply2_ErrorOutBowl = bools[5];
+                    //alarm.PushBowlCylinderError = bools[6];
+                    //alarm.NoodleMacCommunicateError = bools[7];
+                    //alarm.DosingMacCommunicateError = bools[8];
+                    //alarm.RobotMacCommunicateError = bools[9];
+                    //alarm.RobotInitError = bools[11];
+                    //alarm.RobotUrgentStop = bools[12];
+                    //alarm.RobotNotInRemoteMode = bools[13];
+                    //alarm.RobotNotInReady = bools[14];
+                    //alarm.RobotSelfInException = bools[15];
+                }));
+
+                EventBus.EventBus.GetInstance().Publish(new ReadModel() { Address = "VW372", Length = 1 }, (o) =>
+                    {
+                        if (o != null && o.Length > 0 && o[0] is ushort value)
+                        {
+                            mORKS.TurntableFeedbackloc = value;
+                        }
+                    });
+
+                //var ResLoc = ModbusTcpHelper.GetInstance.Read(286, ReadType.HoldingRegisters);
+                //if (ResLoc != null)
+                //{
+                //    if (ResLoc is ushort loc)
+                //    {
+                //        mORKS.TurntableFeedbackloc = loc;
+                //    }
+                //}
+
+                Thread.Sleep(500);
+            }), "ReadPLCData");
+        }
+
+        /// <summary>
+        /// 数据解析
+        /// </summary>
+        public void DataParse<T>(T order)
+        {
+            OrderCount++;
+            MessageLog.GetInstance.Show($"接收到{OrderCount}次订单");
+            if (order is MorkOrderPush morkOrderPush)
+            {
+                foreach (var item in morkOrderPush.GoodBatchings)
+                {
+                    //var res = Json<BatchingInfoPar>.Data.orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
+                    var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
+                    if (res != null)
+                    {
+                        if (ushort.TryParse(res.BatchingLoc, out ushort loc))
+                        {
+                            if (loc >= 1 && loc <= 5)
+                            {
+                                if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == morkOrderPush.SuborderId) == null)
+                                    mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = ushort.Parse(res.BatchingLoc), SuborderId = morkOrderPush.SuborderId, BatchingId = res.BatchingId });
+                            }
+                            else if (loc >= 10 && loc <= 11)
+                            {
+                                int index = 0;
+                                if (recipeBoms != null)
+                                {
+                                    index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == morkOrderPush.RecipeId);
+                                    index++;
+                                }
+                                if (mORKS.TakeBowlTask.FirstOrDefault(p => p.SuborderId == morkOrderPush.SuborderId) == null)
+                                    mORKS.TakeBowlTask.Enqueue(new OrderLocInfo()
+                                    {
+                                        Loc = ushort.Parse(res.BatchingLoc),
+                                        SuborderId = morkOrderPush.SuborderId,
+                                        RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0
+                                    });
+                            }
+                        }
+                    }
+                }
+            }
+
+        }
+
+
+        public void Main()
+        {
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                mORKS.AllowRun = mORKS.InitComplete;
+                //GeneralConfig.Healthy = mORKS.Error && mORKS.InitComplete && !GeneralConfig.EnableLocalSimOrder;
+
+                TakeBowlTask();
+
+                TakeNoodleTask();
+
+                OutNoodleTask();
+
+                SingleDetect();
+
+                TurntableControl();
+
+                Thread.Sleep(100);
+
+            }), "MainTask");
+        }
 
-        public DeviceClientType DeviceType { get; }
 
-        public DeviceStatus Status { get; set; }
+        /// <summary>
+        /// 取碗控制
+        /// </summary>
+        private void TakeBowlTask()
+        {
+            if (mORKS.AllowRun && mORKS.TakeBowlTask.Count > 0 && !mORKS.TakeBowlIdle && !mORKS.TakeBowlInterlock)
+            {
+                if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo))
+                {
+                    mORKS.TakeBowlId = orderLocInfo.SuborderId;
+                    TakeBowlControl(orderLocInfo.Loc);
+                    SetRecipeNumber(orderLocInfo.RecipeNumber);
+                    OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
+                    MessageLog.GetInstance.Show($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
+                }
+                mORKS.TakeBowlInterlock = true;
+            }
+        }
 
-        public void Initliaze(List<IPeripheral> peripherals)
+        /// <summary>
+        /// 转台控制
+        /// </summary>
+        private void TurntableControl()
         {
-            peripherals.ForEach(item => { item.Init(); });
-            //EventBus.EventBus.GetInstance().Subscribe<Demo_MakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            //if (GeneralConfig.EnableLocalSimOrder)
             //{
+            //    //不做轮询，直接取面，模拟订单使用
+            //    if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
+            //    {
+            //        if (mORKS.TurntableLowerLimit)
+            //        {
+            //            TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc);
+            //            mORKS.TurntableLocLists.Clear();
+            //            mORKS.AllowTakeNoodle = true;
+            //            MessageLog.GetInstance.Show($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
+            //        }
+            //    }
+            //}
+            //else
+            {
+                //正常轮询
+                if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
+                {
+                    //var result = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
+                    var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
+                    if (result != null)
+                    {
+                        var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.TurntableFeedbackloc.ToString());
+                        if (mORKS.TurntableLowerLimit && res != null)
+                        {
+                            //if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc != mORKS.TurntableFeedbackloc) 
+                            TurntableStart(mORKS.TurntableFeedbackloc);
+                            mORKS.TurntableLocLists.Clear();
+                            mORKS.AllowTakeNoodle = true;
+                            MessageLog.GetInstance.Show($"控制机器人去转台【{mORKS.TurntableFeedbackloc}】号位置取面");
+                        }
+                        else
+                        {
+                            if (!mORKS.TurntableInterlock)
+                            {
+                                foreach (var item in result)
+                                {
+                                    if (ushort.TryParse(item.BatchingLoc, out ushort loc))
+                                    {
+                                        if (mORKS.TurntableFeedbackloc != loc && !mORKS.TurntableLocLists.Contains(loc))
+                                        {
+                                            TurntableStart(loc);
+                                            MessageLog.GetInstance.Show($"没有物料检测的启动转台控制,转台位置：[{loc}]");
+                                            break;
+                                        }
+                                        else if (mORKS.TurntableFeedbackloc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc);
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    else MessageLog.GetInstance.Show("未找到可用的物料信息");
+                }
+            }
+
+            //转台到位检测
+            if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace && mORKS.CurrentLoc == mORKS.TurntableFeedbackloc))
+            {
+                mORKS.CurrentLoc = 0;
+                mORKS.TurntableInterlock = false;
+                MessageLog.GetInstance.Show("转台到位检测");
+            }
+
+            //补料完成检测
+            if (RTrig.GetInstance("FeedComplete").Start(mORKS.FeedComplete))
+            {
+                if (!mORKS.AllowTakeNoodle && mORKS.TurntableLocLists.Count > 0)
+                {
+                    mORKS.TurntableLocLists.Clear();
+                    mORKS.TurntableInterlock = false;
+                    MessageLog.GetInstance.Show("补料完成检测");
+                }
+            }
 
-            //});
         }
 
-        public void StartMain()
+        /// <summary>
+        /// 取面任务
+        /// </summary>
+        private void TakeNoodleTask()
         {
+            //取面控制
+            if (mORKS.AllowRun && mORKS.RobotIdle && !mORKS.Feeding && !mORKS.RobotTaskInterlock && mORKS.AllowTakeNoodle && mORKS.TurntableMoveInPlace && !mORKS.TakeNoodleInterlock && !mORKS.OutNoodleing && mORKS.RBTakeNoodleTask.Count > 0)
+            {
+                int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置
+                if (loc >= 0 && loc <= 5)
+                {
+                    if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
+                    {
+                        mORKS.CookNodelId[loc] = orderLocInfo.SuborderId;
+                        SetFallNoodleLoc((ushort)(loc + 1));
+                        //机器人开始取面
+                        RobotTakeNoodle();
+                        OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
+                        MessageLog.GetInstance.Show($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");
+                        //写入煮面时间
+                        //List<ushort> values = new List<ushort>();
+                        //values.Add(Json<KeepDataBase>.Data.parSets.ElementAt(loc).Minute);
+                        //values.Add(Json<KeepDataBase>.Data.parSets.ElementAt(loc).Second);
+                        //ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray());
 
+                        mORKS.TakeNoodleInterlock = true;
+                    }
+                }
+
+            }
         }
 
-        public void Stop()
+        /// <summary>
+        /// 出餐控制
+        /// </summary>
+        private void OutNoodleTask()
         {
+            if (mORKS.AllowFallNoodle && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotIdle && !mORKS.TakeMealDetect)
+            {
+                int loc = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId && p.Length > 0);
+                if (loc >= 0 && loc <= 5)
+                {
+                    if (mORKS.CookNoodlesComplete[loc])
+                    {
+                        SetTakeNoodleLoc((ushort)(loc + 1));
+                        RobotOutMeal();
+                        CookNoodleStatusReset((ushort)(loc + 1));
+                        ResetAllowFallNoodle();
+                        mORKS.OutMealId = mORKS.IngredientsCompleteId;
+                        mORKS.IngredientsCompleteId = string.Empty;
+                        mORKS.CookNodelId[loc] = string.Empty;
+                        MessageLog.GetInstance.Show($"{loc + 1}号位置出餐控制");
+                        mORKS.OutNoodleing = true;
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// 信号检测
+        /// </summary>
+        private void SingleDetect()
+        {
+            //允许倒面信号检测
+            if (RTrig.GetInstance("AllowFallNoodle").Start(mORKS.AllowFallNoodle))
+            {
+                mORKS.IngredientsCompleteId = mORKS.TakeBowlId;
+                mORKS.TakeBowlId = string.Empty;
+                MessageLog.GetInstance.Show($"碗到位，允许到面,{mORKS.IngredientsCompleteId}");
+                mORKS.TakeBowlInterlock = false;
+            }
+
+            //出餐完成信号检测
+            if (RTrig.GetInstance("CompleteChange").Start(mORKS.RbOutMealComplete))
+            {
+                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_COOK);
+                MessageLog.GetInstance.Show($"订单【{mORKS.OutMealId}】制作完成");
+                mORKS.OutNoodleing = false;
+            }
+
+            //取餐完成逻辑处理
+            if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.RbOutMealComplete && !mORKS.TakeMealDetect, 2))
+            {
+                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
+                MessageLog.GetInstance.Show($"订单【{mORKS.OutMealId}】取餐完成");
+                ResetCookComplete();
+                mORKS.OutMealId = string.Empty;
+            }
+
+            //机器人取面完成信号检测
+            if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete))
+            {
+                mORKS.TakeNoodleInterlock = false;
+                mORKS.AllowTakeNoodle = false;
+                mORKS.TurntableInterlock = false;
+                MessageLog.GetInstance.Show("机器人取面完成信号检测");
+                TakeNoodleCompleteReset();
+            }
+
+            //转台到位检测
+            //if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace))
+            //{
+            //    mORKS.TurntableInterlock = false;
+            //}
 
+            int OutMealRequstCount = mORKS.CookNoodlesComplete.Where(p => p == true).ToList().Count;
+            int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count;
+            mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0);
         }
+
+
+        #region PLC 控制函数
+
+        private void WriteData(string address, object value)
+        {
+            EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = address, Value = value });
+        }
+
+        /// <summary>
+        /// 写入配方数据到 PLC
+        /// </summary>
+        private void WriteRecipeBoms()
+        {
+            List<ushort> recipeBoms = new List<ushort>();
+            if (this.recipeBoms == null) return;
+            foreach (var item in this.recipeBoms.RecipeIds)
+            {
+                foreach (var rec in item.Recipes)
+                {
+                    recipeBoms.Add((ushort)rec);
+                }
+            }
+            if (recipeBoms.Count > 0)
+            {
+                //配方数据地址范围：VW2000 - VW2278
+                WriteData("VW2000", recipeBoms.ToArray());
+            }
+            else { MessageLog.GetInstance.Show("配方数据为空"); }
+        }
+
+
+        /// <summary>
+        /// 取面完成复位
+        /// </summary>
+        private void TakeNoodleCompleteReset()
+        {
+            WriteData("M100.4", false);
+            //ModbusTcpHelper.GetInstance.Write(1124, WriteType.Coils, false);
+        }
+
+        /// <summary>
+        /// 指定煮面口状态复位
+        /// </summary>
+        /// <param name="num"></param>
+        private void CookNoodleStatusReset(int num)
+        {
+            if (num >= 1 && num <= 6)
+            {
+                //ushort addRess = (ushort)(1136 + num - 1);
+
+                WriteData($"102.{num - 1}", false);
+
+                //ModbusTcpHelper.GetInstance.Write(addRess, WriteType.Coils, false);
+                MessageLog.GetInstance.Show($"{num}号煮面口占用复位");
+            }
+
+        }
+
+        /// <summary>
+        /// 写配方编号
+        /// </summary>
+        /// <param name="num"></param>
+        private void SetRecipeNumber(ushort num)
+        {
+            WriteData("VW0", num);
+            //ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, num);
+        }
+
+        /// <summary>
+        /// 启动转台
+        /// </summary>
+        /// <param name="loc"></param>
+        private void TurntableStart(ushort loc)
+        {
+            mORKS.CurrentLoc = loc;
+            mORKS.TurntableInterlock = true;
+            mORKS.TurntableLocLists.Add(loc);
+            WriteData("VW0", loc);
+            WriteData("M0.5", true);
+            //ModbusTcpHelper.GetInstance.Write(101, WriteType.HoldingRegisters, loc);
+            //ModbusTcpHelper.GetInstance.Write(325, WriteType.Coils, true);
+        }
+
+        /// <summary>
+        /// 设置倒面位置
+        /// </summary>
+        /// <param name="loc"></param>
+        private void SetFallNoodleLoc(ushort loc)
+        {
+            WriteData("VW4", loc);
+            //ModbusTcpHelper.GetInstance.Write(102, WriteType.HoldingRegisters, loc);
+        }
+
+        /// <summary>
+        /// 设置取面位置
+        /// </summary>
+        /// <param name="loc"></param>
+        private void SetTakeNoodleLoc(ushort loc)
+        {
+            WriteData("VW6", loc);
+            //ModbusTcpHelper.GetInstance.Write(103, WriteType.HoldingRegisters, loc);
+        }
+
+        /// <summary>
+        /// 取碗控制
+        /// </summary>
+        /// <param name="loc"></param>
+        private void TakeBowlControl(ushort loc)
+        {
+            if (loc == 10)//小碗
+            {
+                WriteData("M0.1", true);
+                //ModbusTcpHelper.GetInstance.Write(321, WriteType.Coils, true);
+            }
+            else if (loc == 11)//大碗
+            {
+                WriteData("M0.2", true);
+                //ModbusTcpHelper.GetInstance.Write(322, WriteType.Coils, true);
+            }
+        }
+
+        /// <summary>
+        /// 机器人取面
+        /// </summary>
+        private void RobotTakeNoodle()
+        {
+            WriteData("M0.3", true);
+            //ModbusTcpHelper.GetInstance.Write(323, WriteType.Coils, true);
+        }
+
+        /// <summary>
+        /// 机器人取餐
+        /// </summary>
+        private void RobotOutMeal()
+        {
+            WriteData("M0.4", true);
+            //ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true);
+            //var result = ModbusTcpHelper.GetInstance.Read(324, ReadType.Coils);
+            //if (result is bool res)
+            //    while (!res)
+            //    {
+            //        ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true);
+            //    }
+        }
+
+        /// <summary>
+        /// 制作完成信号复位
+        /// </summary>
+        private void ResetCookComplete()
+        {
+            WriteData("M100.6", false);
+            //ModbusTcpHelper.GetInstance.Write(1126, WriteType.Coils, false);
+        }
+
+        /// <summary>
+        /// 复位允许取面信号
+        /// </summary>
+        private void ResetAllowFallNoodle()
+        {
+            WriteData("M100.3", false);
+            //ModbusTcpHelper.GetInstance.Write(1123, WriteType.Coils, false);
+        }
+
+        /// <summary>
+        /// 设备初始化
+        /// </summary>
+        public async void DeviceInit()
+        {
+            WriteData("M0.0", true);
+            //ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, true);
+            await Task.Delay(1000);
+            //ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, false);
+            WriteData("M0.0", false);
+
+        }
+        #endregion
+
+
     }
 }

BPASmartClient.MorkS/GVL_MORKS.cs

@@ -0,0 +1,346 @@
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkS
+{
+    public class GVL_MORKS
+    {
+        /// <summary>
+        /// 机器人取面
+        /// PLC -> M0.3
+        /// ModbusTcp -> 323
+        /// </summary>
+        public bool RobotTakeNoodle { get; set; }
+
+        /// <summary>
+        /// 机器人出餐
+        /// PLC -> M0.4
+        /// ModbusTcp -> 324
+        /// </summary>
+        public bool RobotOutMeal { get; set; }
+
+        /// <summary>
+        /// 移动转台
+        /// PLC -> M0.5
+        /// ModbusTcp -> 325
+        /// </summary>
+        public bool MoveTurntable { get; set; }
+
+
+        #region 临时变量
+        /// <summary>
+        /// 允许运行
+        /// </summary>
+        //[Circuit(new string[] { "机器人取面", "取碗控制" }, "允许运行")]
+        //[VariableMonitor("允许运行")]
+        public bool AllowRun { get; set; }
+
+        /// <summary>
+        /// //机器人任务互锁信号
+        /// </summary>
+        //[Circuit(new string[] { "机器人取面", "出面控制" }, "机器人互锁", new bool[] { true, false })]
+        //[VariableMonitor("机器人任务互锁信号")]
+        public bool RobotTaskInterlock { get; set; }
+
+        /// <summary>
+        /// 取碗互锁信号
+        /// </summary>
+        //[Circuit("取碗控制", "取碗互锁", true)]
+        //[VariableMonitor("取碗互锁信号")]
+        public bool TakeBowlInterlock { get; set; }
+
+        /// <summary>
+        /// 取面互锁信号
+        /// </summary>
+        //[Circuit(new string[] { "机器人取面", "出面控制" }, "取面互锁信号", new bool[] { true, true })]
+        //[VariableMonitor("取面互锁信号")]
+        public bool TakeNoodleInterlock { get; set; }
+
+        /// <summary>
+        /// 出面中
+        /// </summary>
+        //[Circuit("机器人取面", "出面中", true)]
+        //[VariableMonitor("出面中")]
+        public bool OutNoodleing { get; set; }
+
+        /// <summary>
+        /// 允许取面
+        /// </summary>
+        //[Circuit(new string[] { "转台控制", "机器人取面" }, "允许取面", new bool[] { true, false })]
+        //[VariableMonitor("允许取面")]
+        public bool AllowTakeNoodle { get; set; }
+
+        /// <summary>
+        /// 转台互锁信号
+        /// </summary>
+        //[VariableMonitor("转台互锁信号")]
+        public bool TurntableInterlock { get; set; }
+        #endregion
+
+
+        /// <summary>
+        /// 初始化完成
+        /// PLC -> M100.0
+        /// ModbusTcp -> 1120
+        /// </summary>
+        //[Circuit(new string[] { "允许运行", "转台控制", "转台控制" }, "初始化完成")]
+        //[VariableMonitor("初始化完成", "M100.0", "1120")]
+        public bool InitComplete { get; set; }
+
+        /// <summary>
+        /// 取碗机构空闲，True:忙碌，false:空闲
+        /// PLC -> M100.1
+        /// ModbusTcp -> 1121
+        /// </summary>
+        //[Circuit("取碗控制", "取碗机构空闲", true)]
+        //[VariableMonitor("取碗机构空闲", "M100.1", "1121")]
+        public bool TakeBowlIdle { get; set; }
+
+        /// <summary>
+        /// 温度到达,True:表示到达，false：未到达
+        /// PLC -> M100.2
+        /// ModbusTcp -> 1122
+        /// </summary>
+        //[Circuit("允许运行", "温度到达")]
+        //[VariableMonitor("温度到达", "M100.2", "1122")]
+        public bool TemperatureReached { get; set; }
+
+        /// <summary>
+        /// 允许到面,配料完成
+        /// PLC -> M100.3
+        /// ModbusTcp -> 1123
+        /// </summary>
+        //[Circuit("出面控制", "允许到面")]
+        //[VariableMonitor("允许到面", "M100.3", "1123")]
+        public bool AllowFallNoodle { get; set; }
+
+        /// <summary>
+        /// 机器人取面完成
+        /// PLC -> M100.4
+        /// ModbusTcp -> 1124
+        /// </summary>
+        //[VariableMonitor("机器人取面完成", "M100.4", "1124")]
+        public bool RbTakeNoodleComplete { get; set; }
+
+        /// <summary>
+        /// 机器人倒面完成
+        /// PLC -> M100.5
+        /// ModbusTcp -> 1125
+        /// </summary>
+        //[VariableMonitor("机器人倒面完成", "M100.5", "1125")]
+        public bool RbFallNoodleComplete { get; set; }
+
+        /// <summary>
+        /// 机器人出餐完成,上报取餐完成
+        /// PLC -> M100.6
+        /// ModbusTcp -> 1126
+        /// </summary>
+        //[VariableMonitor("机器人出餐完成", "M100.6", "1126")]
+        public bool RbOutMealComplete { get; set; }
+
+        /// <summary>
+        /// 机器人空闲
+        /// PLC -> M100.7
+        /// ModbusTcp -> 1127
+        /// </summary>
+        //[Circuit(new string[] { "机器人取面", "出面控制" }, "机器人空闲")]
+        //[VariableMonitor("机器人空闲", "M100.7", "1127")]
+        public bool RobotIdle { get; set; }
+
+        /// <summary>
+        /// 取餐口检测
+        /// PLC -> M101.0
+        /// ModbusTcp -> 1128
+        /// </summary>
+        //[Circuit("出面控制", "取餐口检测", true)]
+        //[VariableMonitor("取餐口检测", "M101.0", "1128")]
+        public bool TakeMealDetect { get; set; }
+
+        /// <summary>
+        /// 缺碗信号，false:缺碗，true:有碗
+        /// PLC -> M101.1
+        /// ModbusTcp -> 1129
+        /// </summary>
+        //[VariableMonitor("缺碗信号", "M101.1", "1129")]
+        public bool MissingBowl { get; set; }
+
+        /// <summary>
+        /// 设备初始化中，执行中等于1,2秒后复位
+        /// PLC -> M101.2
+        /// ModbusTcp -> 1130
+        /// </summary>
+        //[VariableMonitor("设备初始化中", "M101.2", "1130")]
+        public bool DeviceIniting { get; set; }
+
+        /// <summary>
+        /// 转台下限检测
+        /// PLC -> M101.3
+        /// ModbusTcp -> 1131
+        /// </summary>
+        //[Circuit("转台控制", "转台下限检测有物料")]
+        //[VariableMonitor("转台下限检测", "M101.3", "1131")]
+        public bool TurntableLowerLimit { get; set; }
+
+        /// <summary>
+        /// 缺碗信号 2
+        /// PLC -> M101.4
+        /// ModbusTcp -> 1132
+        /// </summary>
+        //[VariableMonitor("缺碗信号 2", "M101.4", "1132")]
+        public bool MissingBowlSignal2 { get; set; }
+
+        /// <summary>
+        /// 转台上限检测
+        /// PLC -> M101.5
+        /// ModbusTcp -> 1133
+        /// </summary>
+        //[VariableMonitor("转台上限检测", "M101.5", "1133")]
+        public bool TurntableUpLimit { get; set; }
+
+        /// <summary>
+        /// 补料完成
+        /// PLC -> M101.6
+        /// ModbusTcp -> 1134
+        /// </summary>
+        //[VariableMonitor("补料完成", "M101.6", "1134")]
+        public bool FeedComplete { get; set; }
+
+        /// <summary>
+        /// 转台移动到位
+        /// PLC -> M101.7
+        /// ModbusTcp -> 1135
+        /// </summary>
+        //[Circuit(new string[] { "转台控制", "机器人取面" }, "转台移动到位")]
+        //[VariableMonitor("转台移动到位", "M101.7", "1135")]
+        public bool TurntableMoveInPlace { get; set; }
+
+        /// <summary>
+        /// 煮面炉状态,True:忙碌，false:空闲
+        /// M102.0 - M102.5
+        /// 1136   - 1141
+        /// </summary>
+        //[VariableMonitor("煮面炉状态", "M102.0", "1136")]
+        public bool[] NoodleCookerStatus { get; set; } = new bool[6] { false, false, false, false, false, false };
+
+        /// <summary>
+        /// 补料中
+        /// M102.6
+        /// 1142
+        /// </summary>
+        //[VariableMonitor("补料中", "M102.6", "1142")]
+        public bool Feeding { get; set; }
+
+        /// <summary>
+        /// 煮面完成,上升后给信号
+        /// M103.0 - M103.5
+        /// 1144   - 1149
+        /// </summary>
+        //[VariableMonitor("煮面完成", "M103.0", "1144")]
+        public bool[] CookNoodlesComplete { get; set; } = new bool[6] { false, false, false, false, false, false };
+
+        /// <summary>
+        /// 硬件设备异常
+        /// PLC -> M235.0
+        /// True:设备正常，False:设备异常
+        /// </summary>
+        //[VariableMonitor("硬件设备异常", "M235.0", "")]
+        public bool Error { get; set; } = false;
+
+        /// <summary>
+        /// 配方编号
+        /// PLC -> VW0
+        /// ModbusTcp -> 100
+        /// </summary>
+        //[VariableMonitor("配方编号", "VW0", "100")]
+        public ushort RecipeNumber { get; set; }
+
+        /// <summary>
+        /// 转台设置位置
+        /// PLC -> VW2
+        /// ModbusTcp -> 101
+        /// </summary>
+        //[VariableMonitor("转台设置位置", "VW2", "101")]
+        public ushort TurntableLoc { get; set; }
+
+        /// <summary>
+        /// 到面至煮面炉位置
+        /// PLC -> VW4
+        /// ModbusTcp -> 102
+        /// </summary>
+        //[VariableMonitor("到面至煮面炉位置", "VW4", "102")]
+        public ushort FallNoodleLoc { get; set; }
+
+        /// <summary>
+        /// 取面位置
+        /// PLC -> VW6
+        /// ModbusTcp -> 103
+        /// </summary>
+        //[VariableMonitor("取面位置", "VW6", "103")]
+        public ushort TakeNoodleLoc { get; set; }
+
+        /// <summary>
+        /// 转台反馈位置
+        /// PLC -> VW372
+        /// ModbusTcp -> 286
+        /// </summary>
+        //[VariableMonitor("转台反馈位置", "VW372", "286")]
+        public ushort TurntableFeedbackloc { get; set; }
+
+        /// <summary>
+        /// 机器人取面位置队列
+        /// </summary>
+        //[Circuit(new string[] { "转台控制", "机器人取面" }, "有机器人取面队列")]
+        public ConcurrentQueue<OrderLocInfo> RBTakeNoodleTask { get; set; } = new ConcurrentQueue<OrderLocInfo>();
+
+        /// <summary>
+        /// 出碗队列
+        /// </summary>
+        //[Circuit("取碗控制", "有取碗队列数量")]
+        public ConcurrentQueue<OrderLocInfo> TakeBowlTask { get; set; } = new ConcurrentQueue<OrderLocInfo>();
+
+        /// <summary>
+        /// 是否有面条
+        /// </summary>
+        public bool IsNoodles { get; set; } = true;
+
+
+
+        #region 订单ID记录
+        /// <summary>
+        /// 取碗订单ID
+        /// </summary>
+        public string TakeBowlId = string.Empty;
+
+        /// <summary>
+        /// 配料完成订单ID
+        /// </summary>
+        public string IngredientsCompleteId = string.Empty;
+
+        /// <summary>
+        /// 煮面口对应的订单ID
+        /// </summary>
+        public string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, };
+
+        /// <summary>
+        /// 出餐订单ID
+        /// </summary>
+        public string OutMealId = string.Empty;
+
+        /// <summary>
+        /// 转台位置轮询
+        /// </summary>
+        public List<ushort> TurntableLocLists = new List<ushort>();
+
+        /// <summary>
+        /// 转台当前启动位置
+        /// </summary>
+        //[VariableMonitor("转台当前启动位置")]
+        public ushort CurrentLoc { get; set; } = 0;
+
+        #endregion
+    }
+}

BPASmartClient.MorkS/OrderLocInfo.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkS
+{
+    public class OrderLocInfo
+    {
+        public string SuborderId { get; set; }
+        public ushort Loc { get; set; }
+        public ushort RecipeNumber { get; set; }
+        public int BatchingId { get; set; }
+    }
+}

BPASmartClient/DeviceInfo.xml

@@ -43,17 +43,6 @@
     </Peripherals>
   </Device>
 
-  <!--<Device Name="MorkM" Module="BPASmartClient.MorkS.Control" DeviceId="2">
-    <Peripherals>
-      <Peripheral Module="BPASmartClient.MORKSM.BK.PLC.MorksMachine">
-        <Parameters>
-          <IpAddress>127.0.0.1</IpAddress>
-          <Port>1</Port>
-        </Parameters>
-      </Peripheral>
-    </Peripherals>
-  </Device>-->
-
 
 
 </BPADevices>