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BPASmartClient
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冒菜机修改

master
pry 1 year ago
parent
f84288cd7a
commit
7e0f3dd0b7
5 changed files with 330 additions and 54 deletions
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  1. +35
    -2
      BPASmartClient.Device/VariableMonitorAttribute.cs
  2. +214
    -50
      BPASmartClient.MorkMV1/Control_MorkMV1.cs
  3. +17
    -2
      BPASmartClient.MorkMV1/GVL_MorkMV1.cs
  4. +20
    -0
      BPASmartClient.MorkMV1/Model/MOrderLocInfo.cs
  5. +44
    -0
      BPASmartClient.MorkMV1/Model/SuborderInfo.cs

+ 35
- 2
BPASmartClient.Device/VariableMonitorAttribute.cs View File

@@ -1,4 +1,5 @@
using System;
using Microsoft.EntityFrameworkCore.Storage.ValueConversion.Internal;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@@ -17,10 +18,42 @@ namespace BPASmartClient.Device
public VariableMonitorAttribute(string Notes, string PLCAddress = "", string ModbusTcpAddress = "")
{
this.PLCAddress = PLCAddress;
this.ModbusTcpAddress = ModbusTcpAddress;
this.ModbusTcpAddress = GetModbusTcpAdd(PLCAddress);// ModbusTcpAddress;
this.Notes = Notes;
}

private string GetModbusTcpAdd(string address)
{
if (address == null) return "";
if (address.Length > 0)
{
address = address.Trim();
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("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();
}
}
}
return "";
}

/// <summary>
/// PLC 地址
/// </summary>


+ 214
- 50
BPASmartClient.MorkMV1/Control_MorkMV1.cs View File

@@ -23,6 +23,7 @@ using BPA.Models;
using System.Windows.Forms;
using System.Media;
using BPASmartClient.CustomResource;
using Microsoft.EntityFrameworkCore.Metadata.Internal;
//using BPA.Helper;

namespace BPASmartClient.MorkMV1
@@ -69,10 +70,10 @@ namespace BPASmartClient.MorkMV1

string guid = new Guid().ToString();

mORKM.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid });
mORKM.RBTakeNoodleTask.Enqueue(new MOrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid });
MessageLog.GetInstance.Show($"添加订单：面条位置【{NoodleLoc}】");

mORKM.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid });
mORKM.TakeBowlTask.Enqueue(new MOrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid });
MessageLog.GetInstance.Show($"添加订单：碗位置【{BowlLoc}】");
Thread.Sleep(60000);
}), "ForOrder");
@@ -255,11 +256,12 @@ namespace BPASmartClient.MorkMV1
}
}));

GetStatus("M16.7", new Action<object>((obj) =>
GetStatus("M16.6", new Action<object>((obj) =>
{
if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 2)
{
mORKM.RobotTakeNoodleCom = bools[0];
mORKM.RobotInvertedSurfaceCom = bools[0];
mORKM.RobotTakeNoodleCom = bools[1];
}
}));

@@ -348,6 +350,7 @@ namespace BPASmartClient.MorkMV1
OrderChange(order.MorkOrder.SuborderId, ORDER_STATUS.WAIT);
DeviceProcessLogShow($"接收到{OrderCount}次订单，订单ID：{order.MorkOrder.SuborderId}");
mORKM.HistorySuborderId.Add(order.MorkOrder.SuborderId);
List<MOrderLocInfo> oli = new List<MOrderLocInfo>();
foreach (var item in order.MorkOrder.GoodBatchings)
{
var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
@@ -357,38 +360,104 @@ namespace BPASmartClient.MorkMV1
{
if (loc >= 1 && loc <= 5)
{
if (mORKM.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
mORKM.RBTakeNoodleTask.Enqueue(new OrderLocInfo()
{
GoodName = order.MorkOrder.GoodsName,
Loc = ushort.Parse(res.BatchingLoc),
SuborderId = order.MorkOrder.SuborderId,
SortNum = order.MorkOrder.SortNum,
BatchingId = res.BatchingId
});
}
else if (loc >= 10 && loc <= 11)
{
int index = 0;
if (recipeBoms != null)
var x = Json<MorksPar>.Data.DishLibraryParSets.FirstOrDefault(p => p.TextBlockContext == loc.ToString());
if (x != null)
{
index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);
index++;
}
if (mORKM.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
mORKM.TakeBowlTask.Enqueue(new OrderLocInfo()
oli.Add(new MOrderLocInfo()
{
BatchingId = res.BatchingId,
GoodName = order.MorkOrder.GoodsName,
Loc = ushort.Parse(res.BatchingLoc),
SuborderId = order.MorkOrder.SuborderId,
SortNum = order.MorkOrder.SortNum,
RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0
BatchingId = res.BatchingId,
Minute = x.Minute,
Second = x.Second,
LocDishType = x.LocDishType
});
}
//if (mORKM.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
// mORKM.RBTakeNoodleTask.Enqueue(new OrderLocInfo()
// {
// GoodName = order.MorkOrder.GoodsName,
// Loc = ushort.Parse(res.BatchingLoc),
// SuborderId = order.MorkOrder.SuborderId,
// SortNum = order.MorkOrder.SortNum,
// BatchingId = res.BatchingId
// });
}
//else if (loc >= 10 && loc <= 11)
//{
// int index = 0;
// if (recipeBoms != null)
// {
// index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);
// index++;
// }
// if (mORKM.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
// mORKM.TakeBowlTask.Enqueue(new OrderLocInfo()
// {
// BatchingId = res.BatchingId,
// GoodName = order.MorkOrder.GoodsName,
// Loc = ushort.Parse(res.BatchingLoc),
// SuborderId = order.MorkOrder.SuborderId,
// SortNum = order.MorkOrder.SortNum,
// RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0
// });
//}
}
}
}

for (int i = 0; i <= 1; i++)
{
oli.Where(p => p.LocDishType == i).ToList()?.ForEach(y =>
{
mORKM.RBTakeNoodleTask.Enqueue(new MOrderLocInfo()
{
GoodName = y.GoodName,
Loc = y.Loc,
SuborderId = y.SuborderId,
SortNum = y.SortNum,
BatchingId = y.BatchingId,
LocDishType = y.LocDishType,
Minute = y.Minute,
RecipeId = y.RecipeId,
RecipeNumber = y.RecipeNumber,
Recipes = y.Recipes,
Second = y.Second
});
});
}

if (mORKM.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
mORKM.TakeBowlTask.Enqueue(new OrderLocInfo()
{
GoodName = order.MorkOrder.GoodsName,
Loc = 11,
SuborderId = order.MorkOrder.SuborderId,
SortNum = order.MorkOrder.SortNum,
});

if (!mORKM.SuborderCount.ContainsKey(order.MorkOrder.SuborderId))
{
mORKM.SuborderCount.TryAdd(order.MorkOrder.SuborderId, new SuborderInfo()
{
ActualCount = oli.Count,
AcMeatDishesCount = oli.Where(p => p.LocDishType == 0).ToList().Count,
AcVegetableCount = oli.Where(p => p.LocDishType == 1).ToList().Count,
});
}

//if (mORKM.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
// mORKM.RBTakeNoodleTask.Enqueue(new OrderLocInfo()
// {
// GoodName = order.MorkOrder.GoodsName,
// Loc = ushort.Parse(res.BatchingLoc),
// SuborderId = order.MorkOrder.SuborderId,
// SortNum = order.MorkOrder.SortNum,
// BatchingId = res.BatchingId
// });

}
});
}
@@ -575,18 +644,15 @@ namespace BPASmartClient.MorkMV1
{
if (mORKM.CurrentLoc == mORKM.CurrentFeedbackLoc)
{
//int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置
int loc = mORKM.nsm.ToList().FindIndex(p => p.NoodleCookerStatus == false && p.IsShield == false);//查找煮面炉空闲位置
if (loc >= 0 && loc <= 5)
{
//if (!Json<MorksPar>.Data.parSets.ElementAt(loc).IsShield)//检查该煮面篮是否被屏蔽
//{
if (mORKM.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
if (mORKM.RBTakeNoodleTask.TryDequeue(out MOrderLocInfo orderLocInfo))
{
//写入煮面时间
List<ushort> values = new List<ushort>();
values.Add(Json<MorksPar>.Data.parSets.ElementAt(loc).Minute);
values.Add(Json<MorksPar>.Data.parSets.ElementAt(loc).Second);
values.Add(orderLocInfo.Minute);
values.Add(orderLocInfo.Second);
WriteData($"VW{324 + (loc * 4)}", values.ToArray());

mORKM.CurrentLoc = 0;
@@ -597,6 +663,14 @@ namespace BPASmartClient.MorkMV1
OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
DeviceProcessLogShow($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");

if (mORKM.SuborderCount.ContainsKey(orderLocInfo.SuborderId))
{
if (orderLocInfo.LocDishType == 0)
mORKM.SuborderCount[orderLocInfo.SuborderId].MeatDishesLoc.Add(loc + 1);
else if (orderLocInfo.LocDishType == 1)
mORKM.SuborderCount[orderLocInfo.SuborderId].VegetableLoc.Add(loc + 1);
}

mORKM.TakeNoodleInterlock = true;
}
}
@@ -609,28 +683,89 @@ namespace BPASmartClient.MorkMV1
/// </summary>
private void OutNoodleTask()
{
if (mORKM.AllowInvertedFace && mORKM.RobotTaskInterlock && !mORKM.TakeNoodleInterlock && mORKM.RobotStatus)
if (mORKM.AllowInvertedFace && !mORKM.RobotOutDinnigLock && mORKM.RobotTaskInterlock && !mORKM.TakeNoodleInterlock && mORKM.RobotStatus)
{
int loc = Array.FindIndex(mORKM.CookNodelId, p => p == mORKM.IngredientsCompleteId && p.Length > 0);
if (loc >= 0 && loc <= 5)
for (int i = 0; i < mORKM.CookNodelId.Length; i++)
{
if (mORKM.CookNoodleCom[loc])
if (mORKM.CookNodelId[i] == mORKM.IngredientsCompleteId && !string.IsNullOrEmpty(mORKM.CookNodelId[i]))
{
SetTakeNoodleLoc((ushort)(loc + 1));
mORKM.NoodleCookerStatus[loc] = false;
WriteData($"VW260", (ushort)0);//设置出汤时间
OrderChange(mORKM.IngredientsCompleteId, ORDER_STATUS.COMPLETED_COOK);
DeviceProcessLogShow($"订单【{mORKM.IngredientsCompleteId}】制作完成");
mORKM.CookCompleteFlatBit = true;
mORKM.OutMealId = mORKM.IngredientsCompleteId;
mORKM.OutMealName = mORKM.IngredientsCompleteName;
mORKM.OutMealSortNum = mORKM.IngredientsCompleteSortNum;
mORKM.IngredientsCompleteId = string.Empty;
mORKM.CookNodelId[loc] = string.Empty;
DeviceProcessLogShow($"{loc + 1} 号位置出餐控制,订单ID：{mORKM.OutMealId}");
mORKM.CookNoodleCom[loc] = false;
if (mORKM.CookNoodleCom[i] && mORKM.SuborderCount.ContainsKey(mORKM.CookNodelId[i]))
{
var x = mORKM.SuborderCount[mORKM.CookNodelId[i]];

//执行取素菜操作
if (x.AcVegetableCount != x.CuVegetableCount)
{
int index = x.VegetableLoc.FindIndex(p => p == i + 1);
if (index >= 0)
{
//SetTakeNoodleLoc((ushort)(index + 1));
SetTakeNoodleLoc((ushort)(x.VegetableLoc.ElementAt(index)));
mORKM.NoodleCookerStatus[i] = false;
WriteData($"VW260", (ushort)0);//设置出汤时间
DeviceProcessLogShow($"{x.VegetableLoc.ElementAt(index)} 号位置-[素菜]-出餐控制,订单ID：{mORKM.CookNodelId[i]}");
mORKM.CookNodelId[i] = string.Empty;
mORKM.CookNoodleCom[i] = false;
x.VegetableLoc.RemoveAt(index);
x.CuVegetableCount++;
mORKM.RobotOutDinnigLock = true;
}
}

//执行取荤菜
if (x.AcVegetableCount == x.CuVegetableCount && x.AcMeatDishesCount != x.CuMeatDishesCount)
{
int index = x.MeatDishesLoc.FindIndex(p => p == i + 1);
if (index >= 0)
{
//SetTakeNoodleLoc((ushort)(index + 1));
SetTakeNoodleLoc((ushort)(x.VegetableLoc.ElementAt(index)));
mORKM.NoodleCookerStatus[i] = false;
WriteData($"VW260", (ushort)0);//设置出汤时间
DeviceProcessLogShow($"{x.VegetableLoc.ElementAt(index)} 号位置-[荤菜]-出餐控制,订单ID：{mORKM.CookNodelId[i]}");
mORKM.CookNodelId[i] = string.Empty;
mORKM.CookNoodleCom[i] = false;
x.MeatDishesLoc.RemoveAt(index);
x.CuMeatDishesCount++;
mORKM.RobotOutDinnigLock = true;
}
}

//if (x.CuMeatDishesCount + x.CuVegetableCount == x.ActualCount)
//{
// OrderChange(mORKM.IngredientsCompleteId, ORDER_STATUS.COMPLETED_COOK);
// DeviceProcessLogShow($"订单【{mORKM.IngredientsCompleteId}】制作完成");
// mORKM.CookCompleteFlatBit = true;
// mORKM.OutMealId = mORKM.IngredientsCompleteId;
// mORKM.OutMealName = mORKM.IngredientsCompleteName;
// mORKM.OutMealSortNum = mORKM.IngredientsCompleteSortNum;
// mORKM.IngredientsCompleteId = string.Empty;
//}
}
}
}


//int loc = Array.FindIndex(mORKM.CookNodelId, p => p == mORKM.IngredientsCompleteId && p.Length > 0);
//if (loc >= 0 && loc <= 5)
//{
// if (mORKM.CookNoodleCom[loc])
// {
// SetTakeNoodleLoc((ushort)(loc + 1));
// mORKM.NoodleCookerStatus[loc] = false;
// WriteData($"VW260", (ushort)0);//设置出汤时间
// OrderChange(mORKM.IngredientsCompleteId, ORDER_STATUS.COMPLETED_COOK);
// DeviceProcessLogShow($"订单【{mORKM.IngredientsCompleteId}】制作完成");
// mORKM.CookCompleteFlatBit = true;
// mORKM.OutMealId = mORKM.IngredientsCompleteId;
// mORKM.OutMealName = mORKM.IngredientsCompleteName;
// mORKM.OutMealSortNum = mORKM.IngredientsCompleteSortNum;
// mORKM.IngredientsCompleteId = string.Empty;
// mORKM.CookNodelId[loc] = string.Empty;
// DeviceProcessLogShow($"{loc + 1} 号位置出餐控制,订单ID：{mORKM.OutMealId}");
// mORKM.CookNoodleCom[loc] = false;
// }
//}
}
}

@@ -677,6 +812,27 @@ namespace BPASmartClient.MorkMV1
DeviceProcessLogShow("机器人取面完成信号检测");
}

if (RTrig.GetInstance("RobotInvertedSurfaceCom").Start(mORKM.RobotInvertedSurfaceCom))
{
if (mORKM.SuborderCount.ContainsKey(mORKM.IngredientsCompleteId))
{
var x = mORKM.SuborderCount[mORKM.IngredientsCompleteId];
if (x.CuMeatDishesCount + x.CuVegetableCount == x.ActualCount)
{
OrderChange(mORKM.IngredientsCompleteId, ORDER_STATUS.COMPLETED_COOK);
DeviceProcessLogShow($"订单【{mORKM.IngredientsCompleteId}】制作完成");
mORKM.CookCompleteFlatBit = true;
mORKM.OutMealId = mORKM.IngredientsCompleteId;
mORKM.OutMealName = mORKM.IngredientsCompleteName;
mORKM.OutMealSortNum = mORKM.IngredientsCompleteSortNum;
mORKM.IngredientsCompleteId = string.Empty;
CookComplete();
DeviceProcessLogShow($"倒面完成");
}
}
mORKM.RobotOutDinnigLock = false;
}

int OutMealRequstCount = mORKM.CookNoodleCom.Where(p => p == true).ToList().Count;
//int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count - Json<MorksPar>.Data.parSets.Where(x => x.IsShield == true).ToList().Count;
int mlCount = mORKM.nsm.Where(p => p.NoodleCookerStatus == true && p.IsShield == false).ToList().Count;
@@ -770,6 +926,14 @@ namespace BPASmartClient.MorkMV1
WriteData($"M15.{loc - 1}", true);
}

/// <summary>
/// 上位机单订单执行完成
/// </summary>
private void CookComplete()
{
WriteData("M11.0", true);
}



public override void SimOrder()
@@ -781,7 +945,7 @@ namespace BPASmartClient.MorkMV1
string guid = Guid.NewGuid().ToString();
if (msm.NoodleLoc >= 1 && msm.NoodleLoc <= 5)
{
mORKM.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)msm.NoodleLoc, SuborderId = guid });
mORKM.RBTakeNoodleTask.Enqueue(new MOrderLocInfo() { Loc = (ushort)msm.NoodleLoc, SuborderId = guid });
MessageLog.GetInstance.Show($"添加订单：面条位置【{(ushort)msm.NoodleLoc}】");
}



+ 17
- 2
BPASmartClient.MorkMV1/GVL_MorkMV1.cs View File

@@ -30,6 +30,12 @@ namespace BPASmartClient.MorkMV1
[VariableMonitor("机器人任务互锁信号")]
public bool RobotTaskInterlock { get; set; }

/// <summary>
/// 机器人倒冒菜互锁
/// </summary>
[VariableMonitor("机器人倒冒菜互锁")]
public bool RobotOutDinnigLock { get; set; }

/// <summary>
/// 取碗互锁信号
/// </summary>
@@ -96,7 +102,7 @@ namespace BPASmartClient.MorkMV1
/// <summary>
/// 机器人取面位置队列
/// </summary>
public ConcurrentQueue<OrderLocInfo> RBTakeNoodleTask { get; set; } = new ConcurrentQueue<OrderLocInfo>();
public ConcurrentQueue<MOrderLocInfo> RBTakeNoodleTask { get; set; } = new ConcurrentQueue<MOrderLocInfo>();

/// <summary>
/// 出碗队列
@@ -106,7 +112,10 @@ namespace BPASmartClient.MorkMV1

public List<DoOrderEvent> doOrderEvents { get; set; } = new List<DoOrderEvent>();

public ConcurrentDictionary<string, DoOrderEvent> doe { get; set; } = new ConcurrentDictionary<string, DoOrderEvent>();
/// <summary>
/// 子订单对应的物料数量
/// </summary>
public ConcurrentDictionary<string, SuborderInfo> SuborderCount { get; set; } = new ConcurrentDictionary<string, SuborderInfo>();

public List<string> HistorySuborderId { get; set; } = new List<string>();

@@ -271,6 +280,12 @@ namespace BPASmartClient.MorkMV1
[VariableMonitor("料仓到位", "M13.5", "429")]
public bool SiloInPlace { get; set; }

/// <summary>
/// 机器人将面倒入碗中完成
/// </summary>
[VariableMonitor("机器人取面倒入碗中完成", "M16.6")]
public bool RobotInvertedSurfaceCom { get; set; }

/// <summary>
/// 机器人料仓取面完成
/// </summary>


+ 20
- 0
BPASmartClient.MorkMV1/Model/MOrderLocInfo.cs View File

@@ -0,0 +1,20 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace BPASmartClient.MorkMV1.Model
{
public class MOrderLocInfo : OrderLocInfo
{
public ushort Minute { get; set; }

public ushort Second { get; set; }

/// <summary>
/// 库位菜品类型,0，荤菜，1素菜
/// </summary>
public int LocDishType { get; set; }
}
}

+ 44
- 0
BPASmartClient.MorkMV1/Model/SuborderInfo.cs View File

@@ -0,0 +1,44 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace BPASmartClient.MorkMV1.Model
{
public class SuborderInfo
{
/// <summary>
/// 实际荤素物料总数
/// </summary>
public int ActualCount { get; set; }

/// <summary>
/// 当前荤菜总数
/// </summary>
public int CuMeatDishesCount { get; set; }
/// <summary>
/// 实际荤菜出餐数量
/// </summary>
public int AcMeatDishesCount { get; set; }

/// <summary>
/// 荤菜位置集合信息
/// </summary>
public List<int> MeatDishesLoc { get; set; } = new List<int>();

/// <summary>
/// 当前素菜总数
/// </summary>
public int CuVegetableCount { get; set; }
/// <summary>
/// 实际素菜出餐数量
/// </summary>
public int AcVegetableCount { get; set; }
/// <summary>
/// 素菜位置集合信息
/// </summary>
public List<int> VegetableLoc { get; set; } = new List<int>();

}
}

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