From 76b1b2f112dfa2d8d60069cc0d4042119194b2f1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=A6=82=E6=84=8F=20=E5=BD=AD?= <2417589739@qq.com> Date: Wed, 20 Apr 2022 18:29:37 +0800 Subject: [PATCH 1/3] =?UTF-8?q?morks=E8=AE=BE=E5=A4=87=E6=B7=BB=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BPASmartClient.MORKSM.BK.PLC/MorksMachine.cs | 23 +- BPASmartClient.MorkS/Control.cs | 592 ++++++++++++++++++- BPASmartClient.MorkS/GVL_MORKS.cs | 346 +++++++++++ BPASmartClient.MorkS/OrderLocInfo.cs | 16 + BPASmartClient/DeviceInfo.xml | 11 - 5 files changed, 958 insertions(+), 30 deletions(-) create mode 100644 BPASmartClient.MorkS/GVL_MORKS.cs create mode 100644 BPASmartClient.MorkS/OrderLocInfo.cs diff --git a/BPASmartClient.MORKSM.BK.PLC/MorksMachine.cs b/BPASmartClient.MORKSM.BK.PLC/MorksMachine.cs index a0d2415a..3fd7d3e3 100644 --- a/BPASmartClient.MORKSM.BK.PLC/MorksMachine.cs +++ b/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(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((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(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() diff --git a/BPASmartClient.MorkS/Control.cs b/BPASmartClient.MorkS/Control.cs index 0c926bfd..3bf80358 100644 --- a/BPASmartClient.MorkS/Control.cs +++ b/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(); + /// + /// 订单物料信息 + /// + public OrderMaterialDelivery orderMaterialDelivery { get; set; } = new OrderMaterialDelivery(); + /// + /// 配方数据信息 + /// + 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 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((bools) => + { + mORKS.RobotTakeNoodle = bools[0]; + mORKS.RobotOutMeal = bools[1]; + mORKS.MoveTurntable = bools[2]; + })); + + ReadData("M100.0", 16, new Action((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((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((bools) => + { + for (int i = 0; i < 6; i++) + { + mORKS.NoodleCookerStatus[i] = bools[i]; + } + mORKS.Feeding = bools[6]; + })); + + ReadData("M103.0", 6, new Action((bools) => + { + for (int i = 0; i < 6; i++) + { + mORKS.CookNoodlesComplete[i] = bools[i]; + } + })); + + ReadData("M550.0", 20, new Action((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"); + } + + /// + /// 数据解析 + /// + public void DataParse(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.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; } + /// + /// 取碗控制 + /// + 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 peripherals) + /// + /// 转台控制 + /// + private void TurntableControl() { - peripherals.ForEach(item => { item.Init(); }); - //EventBus.EventBus.GetInstance().Subscribe(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($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面"); + // } + // } + //} + //else + { + //正常轮询 + if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0) + { + //var result = Json.Data.orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList(); + var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList(); + if (result != null) + { + var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.TurntableFeedbackloc.ToString()); + if (mORKS.TurntableLowerLimit && res != null) + { + //if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc != mORKS.TurntableFeedbackloc) + TurntableStart(mORKS.TurntableFeedbackloc); + mORKS.TurntableLocLists.Clear(); + mORKS.AllowTakeNoodle = true; + MessageLog.GetInstance.Show($"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($"没有物料检测的启动转台控制,转台位置:[{loc}]"); + break; + } + else if (mORKS.TurntableFeedbackloc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc); + } + } + } + } + } + else MessageLog.GetInstance.Show("未找到可用的物料信息"); + } + } + + //转台到位检测 + if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace && mORKS.CurrentLoc == mORKS.TurntableFeedbackloc)) + { + mORKS.CurrentLoc = 0; + mORKS.TurntableInterlock = false; + MessageLog.GetInstance.Show("转台到位检测"); + } + + //补料完成检测 + if (RTrig.GetInstance("FeedComplete").Start(mORKS.FeedComplete)) + { + if (!mORKS.AllowTakeNoodle && mORKS.TurntableLocLists.Count > 0) + { + mORKS.TurntableLocLists.Clear(); + mORKS.TurntableInterlock = false; + MessageLog.GetInstance.Show("补料完成检测"); + } + } - //}); } - public void StartMain() + /// + /// 取面任务 + /// + private void TakeNoodleTask() { + //取面控制 + if (mORKS.AllowRun && mORKS.RobotIdle && !mORKS.Feeding && !mORKS.RobotTaskInterlock && mORKS.AllowTakeNoodle && mORKS.TurntableMoveInPlace && !mORKS.TakeNoodleInterlock && !mORKS.OutNoodleing && mORKS.RBTakeNoodleTask.Count > 0) + { + int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置 + if (loc >= 0 && loc <= 5) + { + if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo)) + { + mORKS.CookNodelId[loc] = orderLocInfo.SuborderId; + SetFallNoodleLoc((ushort)(loc + 1)); + //机器人开始取面 + RobotTakeNoodle(); + OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING); + MessageLog.GetInstance.Show($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏"); + //写入煮面时间 + //List values = new List(); + //values.Add(Json.Data.parSets.ElementAt(loc).Minute); + //values.Add(Json.Data.parSets.ElementAt(loc).Second); + //ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray()); + mORKS.TakeNoodleInterlock = true; + } + } + + } } - public void Stop() + /// + /// 出餐控制 + /// + private void OutNoodleTask() { + if (mORKS.AllowFallNoodle && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotIdle && !mORKS.TakeMealDetect) + { + int loc = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId && p.Length > 0); + if (loc >= 0 && loc <= 5) + { + if (mORKS.CookNoodlesComplete[loc]) + { + SetTakeNoodleLoc((ushort)(loc + 1)); + RobotOutMeal(); + CookNoodleStatusReset((ushort)(loc + 1)); + ResetAllowFallNoodle(); + mORKS.OutMealId = mORKS.IngredientsCompleteId; + mORKS.IngredientsCompleteId = string.Empty; + mORKS.CookNodelId[loc] = string.Empty; + MessageLog.GetInstance.Show($"{loc + 1}号位置出餐控制"); + mORKS.OutNoodleing = true; + } + } + } + } + + /// + /// 信号检测 + /// + 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($"订单【{mORKS.OutMealId}】取餐完成"); + ResetCookComplete(); + mORKS.OutMealId = string.Empty; + } + + //机器人取面完成信号检测 + if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete)) + { + mORKS.TakeNoodleInterlock = false; + mORKS.AllowTakeNoodle = false; + mORKS.TurntableInterlock = false; + MessageLog.GetInstance.Show("机器人取面完成信号检测"); + TakeNoodleCompleteReset(); + } + + //转台到位检测 + //if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace)) + //{ + // mORKS.TurntableInterlock = false; + //} + int OutMealRequstCount = mORKS.CookNoodlesComplete.Where(p => p == true).ToList().Count; + int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count; + mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0); } + + + #region PLC 控制函数 + + private void WriteData(string address, object value) + { + EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = address, Value = value }); + } + + /// + /// 写入配方数据到 PLC + /// + private void WriteRecipeBoms() + { + List recipeBoms = new List(); + if (this.recipeBoms == null) return; + foreach (var item in this.recipeBoms.RecipeIds) + { + foreach (var rec in item.Recipes) + { + recipeBoms.Add((ushort)rec); + } + } + if (recipeBoms.Count > 0) + { + //配方数据地址范围:VW2000 - VW2278 + WriteData("VW2000", recipeBoms.ToArray()); + } + else { MessageLog.GetInstance.Show("配方数据为空"); } + } + + + /// + /// 取面完成复位 + /// + private void TakeNoodleCompleteReset() + { + WriteData("M100.4", false); + //ModbusTcpHelper.GetInstance.Write(1124, WriteType.Coils, false); + } + + /// + /// 指定煮面口状态复位 + /// + /// + private void CookNoodleStatusReset(int num) + { + if (num >= 1 && num <= 6) + { + //ushort addRess = (ushort)(1136 + num - 1); + + WriteData($"102.{num - 1}", false); + + //ModbusTcpHelper.GetInstance.Write(addRess, WriteType.Coils, false); + MessageLog.GetInstance.Show($"{num}号煮面口占用复位"); + } + + } + + /// + /// 写配方编号 + /// + /// + private void SetRecipeNumber(ushort num) + { + WriteData("VW0", num); + //ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, num); + } + + /// + /// 启动转台 + /// + /// + 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); + } + + /// + /// 设置倒面位置 + /// + /// + private void SetFallNoodleLoc(ushort loc) + { + WriteData("VW4", loc); + //ModbusTcpHelper.GetInstance.Write(102, WriteType.HoldingRegisters, loc); + } + + /// + /// 设置取面位置 + /// + /// + private void SetTakeNoodleLoc(ushort loc) + { + WriteData("VW6", loc); + //ModbusTcpHelper.GetInstance.Write(103, WriteType.HoldingRegisters, loc); + } + + /// + /// 取碗控制 + /// + /// + 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); + } + } + + /// + /// 机器人取面 + /// + private void RobotTakeNoodle() + { + WriteData("M0.3", true); + //ModbusTcpHelper.GetInstance.Write(323, WriteType.Coils, true); + } + + /// + /// 机器人取餐 + /// + 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); + // } + } + + /// + /// 制作完成信号复位 + /// + private void ResetCookComplete() + { + WriteData("M100.6", false); + //ModbusTcpHelper.GetInstance.Write(1126, WriteType.Coils, false); + } + + /// + /// 复位允许取面信号 + /// + private void ResetAllowFallNoodle() + { + WriteData("M100.3", false); + //ModbusTcpHelper.GetInstance.Write(1123, WriteType.Coils, false); + } + + /// + /// 设备初始化 + /// + 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 + + } } diff --git a/BPASmartClient.MorkS/GVL_MORKS.cs b/BPASmartClient.MorkS/GVL_MORKS.cs new file mode 100644 index 00000000..5d3ba143 --- /dev/null +++ b/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 + { + /// + /// 机器人取面 + /// PLC -> M0.3 + /// ModbusTcp -> 323 + /// + public bool RobotTakeNoodle { get; set; } + + /// + /// 机器人出餐 + /// PLC -> M0.4 + /// ModbusTcp -> 324 + /// + public bool RobotOutMeal { get; set; } + + /// + /// 移动转台 + /// PLC -> M0.5 + /// ModbusTcp -> 325 + /// + public bool MoveTurntable { get; set; } + + + #region 临时变量 + /// + /// 允许运行 + /// + //[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; } + + /// + /// //机器人任务互锁信号 + /// + //[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; } + + /// + /// 取碗互锁信号 + /// + //[Circuit("取碗控制", "取碗互锁", true)] + //[VariableMonitor("取碗互锁信号")] + public bool TakeBowlInterlock { get; set; } + + /// + /// 取面互锁信号 + /// + //[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; } + + /// + /// 出面中 + /// + //[Circuit("机器人取面", "出面中", true)] + //[VariableMonitor("出面中")] + public bool OutNoodleing { get; set; } + + /// + /// 允许取面 + /// + //[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; } + + /// + /// 转台互锁信号 + /// + //[VariableMonitor("转台互锁信号")] + public bool TurntableInterlock { get; set; } + #endregion + + + /// + /// 初始化完成 + /// PLC -> M100.0 + /// ModbusTcp -> 1120 + /// + //[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; } + + /// + /// 取碗机构空闲,True:忙碌,false:空闲 + /// PLC -> M100.1 + /// ModbusTcp -> 1121 + /// + //[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; } + + /// + /// 温度到达,True:表示到达,false:未到达 + /// PLC -> M100.2 + /// ModbusTcp -> 1122 + /// + //[Circuit("允许运行", "温度到达")] + //[VariableMonitor("温度到达", "M100.2", "1122")] + public bool TemperatureReached { get; set; } + + /// + /// 允许到面,配料完成 + /// PLC -> M100.3 + /// ModbusTcp -> 1123 + /// + //[Circuit("出面控制", "允许到面")] + //[VariableMonitor("允许到面", "M100.3", "1123")] + public bool AllowFallNoodle { get; set; } + + /// + /// 机器人取面完成 + /// PLC -> M100.4 + /// ModbusTcp -> 1124 + /// + //[VariableMonitor("机器人取面完成", "M100.4", "1124")] + public bool RbTakeNoodleComplete { get; set; } + + /// + /// 机器人倒面完成 + /// PLC -> M100.5 + /// ModbusTcp -> 1125 + /// + //[VariableMonitor("机器人倒面完成", "M100.5", "1125")] + public bool RbFallNoodleComplete { get; set; } + + /// + /// 机器人出餐完成,上报取餐完成 + /// PLC -> M100.6 + /// ModbusTcp -> 1126 + /// + //[VariableMonitor("机器人出餐完成", "M100.6", "1126")] + public bool RbOutMealComplete { get; set; } + + /// + /// 机器人空闲 + /// PLC -> M100.7 + /// ModbusTcp -> 1127 + /// + //[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; } + + /// + /// 取餐口检测 + /// PLC -> M101.0 + /// ModbusTcp -> 1128 + /// + //[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; } + + /// + /// 缺碗信号,false:缺碗,true:有碗 + /// PLC -> M101.1 + /// ModbusTcp -> 1129 + /// + //[VariableMonitor("缺碗信号", "M101.1", "1129")] + public bool MissingBowl { get; set; } + + /// + /// 设备初始化中,执行中等于1,2秒后复位 + /// PLC -> M101.2 + /// ModbusTcp -> 1130 + /// + //[VariableMonitor("设备初始化中", "M101.2", "1130")] + public bool DeviceIniting { get; set; } + + /// + /// 转台下限检测 + /// PLC -> M101.3 + /// ModbusTcp -> 1131 + /// + //[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; } + + /// + /// 缺碗信号 2 + /// PLC -> M101.4 + /// ModbusTcp -> 1132 + /// + //[VariableMonitor("缺碗信号 2", "M101.4", "1132")] + public bool MissingBowlSignal2 { get; set; } + + /// + /// 转台上限检测 + /// PLC -> M101.5 + /// ModbusTcp -> 1133 + /// + //[VariableMonitor("转台上限检测", "M101.5", "1133")] + public bool TurntableUpLimit { get; set; } + + /// + /// 补料完成 + /// PLC -> M101.6 + /// ModbusTcp -> 1134 + /// + //[VariableMonitor("补料完成", "M101.6", "1134")] + public bool FeedComplete { get; set; } + + /// + /// 转台移动到位 + /// PLC -> M101.7 + /// ModbusTcp -> 1135 + /// + //[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; } + + /// + /// 煮面炉状态,True:忙碌,false:空闲 + /// M102.0 - M102.5 + /// 1136 - 1141 + /// + //[VariableMonitor("煮面炉状态", "M102.0", "1136")] + public bool[] NoodleCookerStatus { get; set; } = new bool[6] { false, false, false, false, false, false }; + + /// + /// 补料中 + /// M102.6 + /// 1142 + /// + //[VariableMonitor("补料中", "M102.6", "1142")] + public bool Feeding { get; set; } + + /// + /// 煮面完成,上升后给信号 + /// M103.0 - M103.5 + /// 1144 - 1149 + /// + //[VariableMonitor("煮面完成", "M103.0", "1144")] + public bool[] CookNoodlesComplete { get; set; } = new bool[6] { false, false, false, false, false, false }; + + /// + /// 硬件设备异常 + /// PLC -> M235.0 + /// True:设备正常,False:设备异常 + /// + //[VariableMonitor("硬件设备异常", "M235.0", "")] + public bool Error { get; set; } = false; + + /// + /// 配方编号 + /// PLC -> VW0 + /// ModbusTcp -> 100 + /// + //[VariableMonitor("配方编号", "VW0", "100")] + public ushort RecipeNumber { get; set; } + + /// + /// 转台设置位置 + /// PLC -> VW2 + /// ModbusTcp -> 101 + /// + //[VariableMonitor("转台设置位置", "VW2", "101")] + public ushort TurntableLoc { get; set; } + + /// + /// 到面至煮面炉位置 + /// PLC -> VW4 + /// ModbusTcp -> 102 + /// + //[VariableMonitor("到面至煮面炉位置", "VW4", "102")] + public ushort FallNoodleLoc { get; set; } + + /// + /// 取面位置 + /// PLC -> VW6 + /// ModbusTcp -> 103 + /// + //[VariableMonitor("取面位置", "VW6", "103")] + public ushort TakeNoodleLoc { get; set; } + + /// + /// 转台反馈位置 + /// PLC -> VW372 + /// ModbusTcp -> 286 + /// + //[VariableMonitor("转台反馈位置", "VW372", "286")] + public ushort TurntableFeedbackloc { get; set; } + + /// + /// 机器人取面位置队列 + /// + //[Circuit(new string[] { "转台控制", "机器人取面" }, "有机器人取面队列")] + public ConcurrentQueue RBTakeNoodleTask { get; set; } = new ConcurrentQueue(); + + /// + /// 出碗队列 + /// + //[Circuit("取碗控制", "有取碗队列数量")] + public ConcurrentQueue TakeBowlTask { get; set; } = new ConcurrentQueue(); + + /// + /// 是否有面条 + /// + public bool IsNoodles { get; set; } = true; + + + + #region 订单ID记录 + /// + /// 取碗订单ID + /// + public string TakeBowlId = string.Empty; + + /// + /// 配料完成订单ID + /// + public string IngredientsCompleteId = string.Empty; + + /// + /// 煮面口对应的订单ID + /// + public string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, }; + + /// + /// 出餐订单ID + /// + public string OutMealId = string.Empty; + + /// + /// 转台位置轮询 + /// + public List TurntableLocLists = new List(); + + /// + /// 转台当前启动位置 + /// + //[VariableMonitor("转台当前启动位置")] + public ushort CurrentLoc { get; set; } = 0; + + #endregion + } +} diff --git a/BPASmartClient.MorkS/OrderLocInfo.cs b/BPASmartClient.MorkS/OrderLocInfo.cs new file mode 100644 index 00000000..b3243f5e --- /dev/null +++ b/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; } + } +} diff --git a/BPASmartClient/DeviceInfo.xml b/BPASmartClient/DeviceInfo.xml index 7f8cf4c8..31b3514e 100644 --- a/BPASmartClient/DeviceInfo.xml +++ b/BPASmartClient/DeviceInfo.xml @@ -43,17 +43,6 @@ - - From d7ce867dd573acdd8328624d19cafbbc8a5f8fe5 Mon Sep 17 00:00:00 2001 From: fyf <11621@LAPTOP-04QQU0AO> Date: Wed, 20 Apr 2022 18:30:11 +0800 Subject: [PATCH 2/3] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=B5=84=E6=BA=90?= =?UTF-8?q?=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../BPASmartClient.CustomResource.csproj | 17 ++ .../Image/顶部.png | Bin 0 -> 47854 bytes .../Image/顶部切图/Button_No.png | Bin 0 -> 1641 bytes .../Image/顶部切图/Button_Select.png | Bin 0 -> 1156 bytes .../Image/顶部切图/Top_L.png | Bin 0 -> 2008 bytes .../Image/顶部切图/窗体背景.png | Bin 0 -> 100252 bytes .../Image/顶部切图/顶部矩形.png | Bin 0 -> 1242 bytes 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zC(VJcsSm=+9iq$tLelnsUtJ0n5OLlAE{TvW6?udGdU=riVQK=Szp=?MG z@!2gE-SpdcN|=cv(}h7+O~EqU3@9z{HWukgW~bQN`kBaav>aD6EuWlbX5t^7R+2?3yZu3sizm20Yu@c=%`Grt~46XcsV6 z)`e7g8@#q=mGu_LQs`^r>Qnnc8O(0TXU_nV|$N?PCP;t^1 zk^_At5S A%m4rY literal 0 HcmV?d00001 diff --git a/BPASmartClient.CustomResource/Themes/GenricStyle.xaml b/BPASmartClient.CustomResource/Themes/GenricStyle.xaml index 6887a275..a1a72597 100644 --- a/BPASmartClient.CustomResource/Themes/GenricStyle.xaml +++ b/BPASmartClient.CustomResource/Themes/GenricStyle.xaml @@ -451,7 +451,7 @@ - - + + + @@ -46,7 +32,7 @@ - + @@ -71,6 +57,47 @@ + + + + + + + + + + + + + + + + + + + + + - + + - + + diff --git a/BPASmartClient/MainWindow.xaml b/BPASmartClient/MainWindow.xaml index bdbfbea1..22925022 100644 --- a/BPASmartClient/MainWindow.xaml +++ b/BPASmartClient/MainWindow.xaml @@ -5,8 +5,8 @@ xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" xmlns:local="clr-namespace:BPASmartClient" xmlns:pry="clr-namespace:BPASmartClient.CustomResource.UserControls;assembly=BPASmartClient.CustomResource" - Title="MainWindow" Width="1400" - Height="850" + Title="MainWindow" Width="1600" + Height="900" AllowsTransparency="True" Background="{x:Null}" Topmost="False" @@ -26,73 +26,100 @@ - - - + + - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 星期一 + 2021-11-13 + + + +