From 81f7097f5225d58363e0a155d9ee5b84ab4579d1 Mon Sep 17 00:00:00 2001 From: yahaha Date: Fri, 11 Nov 2022 09:41:44 +0800 Subject: [PATCH] =?UTF-8?q?=E8=8F=9C=E5=93=81=E5=BA=93=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BPASmartClient.MORKSM.BK.PLC/PLCMachine.cs | 4 +- BPASmartClient.MorkF/Control_MorkF.cs | 786 +++++++++++++----- BPASmartClient.MorkF/GVL_MorkF.cs | 2 + BPASmartClient.MorkF/ML_MorkF.cs | 127 +++ BPASmartClient.MorkF/View/DebugView.xaml | 6 +- .../ViewModel/DebugViewModel.cs | 4 +- BPASmartClient/App.config | 8 +- 7 files changed, 728 insertions(+), 209 deletions(-) create mode 100644 BPASmartClient.MorkF/ML_MorkF.cs diff --git a/BPASmartClient.MORKSM.BK.PLC/PLCMachine.cs b/BPASmartClient.MORKSM.BK.PLC/PLCMachine.cs index a14a0740..657783a2 100644 --- a/BPASmartClient.MORKSM.BK.PLC/PLCMachine.cs +++ b/BPASmartClient.MORKSM.BK.PLC/PLCMachine.cs @@ -16,6 +16,8 @@ namespace BPASmartClient.PLC { Task.Run(new Action(() => { modbusTcp.ModbusTcpConnect(communicationPar.IPAddress, communicationPar.IPPort); })); //PLC 设备连接 + Thread.Sleep(1000); + ThreadManage.GetInstance().StartLong(new Action(() => { IsConnected = modbusTcp.Connected; @@ -41,7 +43,7 @@ namespace BPASmartClient.PLC Thread.Sleep(500); } Thread.Sleep(1000); - }), $"设备[{DeviceId}]PLC读取线程", true); + }), $"设备[{DeviceId}][{modbusTcp.IPAdress}]PLC读取线程", true); //写入数据 EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs index 4469134d..1b17d48f 100644 --- a/BPASmartClient.MorkF/Control_MorkF.cs +++ b/BPASmartClient.MorkF/Control_MorkF.cs @@ -39,8 +39,16 @@ namespace BPASmartClient.MorkF public AutoResetEvent minorReset = new AutoResetEvent(false); public AutoResetEvent mainReset = new AutoResetEvent(false); + /// + /// 炒锅编号与炒锅实例 + /// Dictionary morkFs = new Dictionary();//全局对象声明 + /// + /// 菜品库对象 + /// + ML_MorkF ml_morkf = new ML_MorkF(); + /// /// 小炒菜单集合 /// @@ -51,6 +59,9 @@ namespace BPASmartClient.MorkF /// private ConcurrentQueue StirFryGoodsQuenes = new ConcurrentQueue(); + /// + /// 炒锅炒制线程名称 + /// private const String striConst = "炒锅{0}炒制{1}线程"; /// @@ -65,23 +76,21 @@ namespace BPASmartClient.MorkF /// public override void DoMain() { - - WriteControl("VD836", 0); - WriteControl("VD840", 0); - Thread.Sleep(400); - WriteControl("M0.0", true); + IsHealth = true; + //WriteControl("VD836", 0); + //WriteControl("VD840", 0); + //Thread.Sleep(400); + //WriteControl("M0.0", true); for (int i = 0;i< count;i++) { morkFs.Add(i, new GVL_MorkF()); - DataParse(i);//数据解析 } + DataParse();//数据解析 CommandRegist();//调试 ServerInit(); DeviceProcessLogShow("MORKF 设备初始化完成"); - - ReadData(); } #region 调试代码 public void CommandRegist() @@ -89,19 +98,62 @@ namespace BPASmartClient.MorkF #region 设备控制 ActionManage.GetInstance.Register(PLCInite, "InitCommand"); ActionManage.GetInstance.Register(StartOrder, "StartOrder"); + ActionManage.GetInstance.Register(StartOrderMain, "开始下单"); ActionManage.GetInstance.Register(StartLocalOrder, "StartLocalOrder"); ActionManage.GetInstance.Register(StopLocalOrder, "StopLocalOrder"); #endregion #region 菜品库 - ActionManage.GetInstance.Register(FoodLibInit, "FoodLibInit"); - ActionManage.GetInstance.Register(Electromagnetism, "Electromagnetism"); - ActionManage.GetInstance.Register(GetDistance_1, "GetDistance_1"); - ActionManage.GetInstance.Register(GetDistance_2, "GetDistance_2"); - ActionManage.GetInstance.Register(GetDistance_3, "GetDistance_3"); + ActionManage.GetInstance.Register(new Action(() => + { + ThreadManage.GetInstance().Start(new Action(() => + { + FoodLibInit(); + }), "FoodLibInit"); + }), "FoodLibInit"); + ActionManage.GetInstance.Register(new Action((o) => + { + ThreadManage.GetInstance().Start(new Action(() => + { + Electromagnetism(o); + }), "Electromagnetism"); + }), "Electromagnetism"); + ActionManage.GetInstance.Register(new Action(() => + { + ThreadManage.GetInstance().Start(new Action(() => + { + GetDistance_1(); + }), "GetDistance_1"); + }), "GetDistance_1"); + ActionManage.GetInstance.Register(new Action(() => + { + ThreadManage.GetInstance().Start(new Action(() => + { + GetDistance_2(); + }), "GetDistance_2"); + }), "GetDistance_2"); + ActionManage.GetInstance.Register(new Action(() => + { + ThreadManage.GetInstance().Start(new Action(() => + { + GetDistance_3(); + }), "GetDistance_3"); + }), "GetDistance_3"); ActionManage.GetInstance.Register(PawTurnFront, "PawTurnFront"); ActionManage.GetInstance.Register(PawTurnBack, "PawTurnBack"); - ActionManage.GetInstance.Register(SetArmPosition, "SetArmPosition"); + ActionManage.GetInstance.Register(new Action((list) => + { + ThreadManage.GetInstance().Start(new Action(() => + { + if(list is List list_int) + { + if (list_int.Count == 2) + { + SetArmPosition(list_int[0], list_int[1]); + } + } + }), "SetArmPosition"); + }), "SetArmPosition"); #endregion //ActionManage.GetInstance.Register(PLCInite, "InitCommand"); #region 配料控制 @@ -115,7 +167,7 @@ namespace BPASmartClient.MorkF //ActionManage.GetInstance.Register(OutSeasoning, "OutMaterials"); #endregion - #region 炒锅1 + #region 炒锅 ActionManage.GetInstance.Register(new Action(() => { ThreadManage.GetInstance().Start(new Action(() => @@ -232,123 +284,415 @@ namespace BPASmartClient.MorkF } - #region 菜品库 + /// + /// 本地菜单下单 + /// + private void StartOrder(object o) + { + if(o==null) return; + if(o is int goodId) + { + var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey == goodId);//匹配订单对应制作流程 + if (res != null) + { + /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程 + if (StirFryGoodsQuenes.Count > 0) return; + StirFryGoodsQuenes.Enqueue(new OrderLocInfo() + { + SuborderId = Guid.NewGuid().ToString(), + StirPotActions = res.StirPotActions, + GoodName = "本地菜品" + }); + MessageLog.GetInstance.Show($"添加本地订单{res.GoodsKey}"); + } + } + } + + /// + /// 本地菜单下单 + /// + private void StartOrderMain(object o) + { + if (o == null) return; + if (o is string goodId) + { + var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey.ToString() == goodId);//匹配订单对应制作流程 + if (res != null) + { + /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程 + if (StirFryGoodsQuenes.Count > 0) return; + StirFryGoodsQuenes.Enqueue(new OrderLocInfo() + { + SuborderId = Guid.NewGuid().ToString(), + StirPotActions = res.StirPotActions, + GoodName = "本地菜品" + }); + MessageLog.GetInstance.Show($"添加本地订单{res.GoodsKey}"); + } + } + } + + private void StartLocalOrder() + { + if (StirFryGoodsQuenes.Count > 0) return;//只能一个一个做 + if (Json.Data.LocalstirFryGoods.StirPotActions.Count>0) + { + StirFryGoodsQuenes.Enqueue(new OrderLocInfo() + { + SuborderId = Guid.NewGuid().ToString(), + StirPotActions = Json.Data.LocalstirFryGoods.StirPotActions, + GoodName = "本地菜品" + }); + MessageLog.GetInstance.Show($"添加本地模拟的订单{Json.Data.LocalstirFryGoods.GoodsKey}"); + } + } + + /// + /// 停止本地菜单炒制 + /// + private void StopLocalOrder(int num = -1) + { + //判断当前是否有炒制菜品 + if (nowStirFryGood == null) return; + + //根据morkFs中是否有num执行不同的停止操作 + if (!morkFs.ContainsKey(num)) + { + //根据调试界面的当前炒锅编号停止炒制线程 + ThreadManage.GetInstance().StopTask(String.Format(striConst, fryIndex.ToString(), nowStirFryGood.GoodName), new Action(() => { Plc1Reset(fryIndex); })); + } + else + { + //根据炒锅编号停止炒制线程 + ThreadManage.GetInstance().StopTask(String.Format(striConst, fryIndex.ToString(), nowStirFryGood.GoodName), new Action(() => { Plc1Reset(num); })); + } + } + #endregion + + #region 菜品库操作方法 /// /// 菜品库数据写入 /// /// /// - private void MaterailLibrary_Write(string address,object value) + private void MaterailLibrary_Write(string address, object value,int num) { - WriteControlExact(address, value, 1); + WriteControlExact(address, value, num); } /// /// 菜品库初始化 /// - public void FoodLibInit() + public void FoodLibInit(int num = 2) { - MaterailLibrary_Write("", true); + MaterailLibrary_Write("M0.2", true, num); } /// /// 电磁阀启停 /// - /// - public void Electromagnetism(object o) + /// 电磁阀启停：true：启动。false：停止。 + public void Electromagnetism(object o,int num = 2) { if (o == null) return; if (o is List bs && bs.Count == 1) { - MaterailLibrary_Write("", bs[0]); + MaterailLibrary_Write("M1.3", bs[0],num); } } - public void GetDistance_1() + public bool GetDistance_1(int num = 2) { - MaterailLibrary_Write("", true); + MessageLog.GetInstance.Show("爪子去到1号位"); + MaterailLibrary_Write("M1.0", true, num); + for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortOne; i++) + { + Thread.Sleep(sleepTime); + if (i >= sleepCount - 1) + { + MessageLog.GetInstance.Show("爪子去到1号位超时"); + return false; + } + } + MessageLog.GetInstance.Show("爪子去到1号位完成"); + return true; } - public void GetDistance_2() + public bool GetDistance_2(int num = 2) { - MaterailLibrary_Write("", true); + MessageLog.GetInstance.Show("爪子去到2号位"); + MaterailLibrary_Write("M1.1", true, num); + for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortTwo; i++) + { + Thread.Sleep(sleepTime); + if (i >= sleepCount - 1) + { + MessageLog.GetInstance.Show("爪子去到2号位超时"); + return false; + } + } + MessageLog.GetInstance.Show("爪子去到2号位完成"); + return true; } - public void GetDistance_3() + public bool GetDistance_3(int num = 2) { - MaterailLibrary_Write("", true); + MessageLog.GetInstance.Show("爪子去到3号位"); + MaterailLibrary_Write("M1.2", true,num); + for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortThree; i++) + { + Thread.Sleep(sleepTime); + if (i >= sleepCount - 1) + { + MessageLog.GetInstance.Show("爪子去到3号位超时"); + return false; + } + } + MessageLog.GetInstance.Show("爪子去到3号位完成"); + return true; } - public void PawTurnFront() + public void PawTurnFront(int num = 2) { - MaterailLibrary_Write("", true); + MaterailLibrary_Write("", true, num); } - public void PawTurnBack() + public void PawTurnBack(int num = 2) { - MaterailLibrary_Write("", true); + MaterailLibrary_Write("", true, num); } + /// /// 设定机械臂的位置 /// - /// + /// /// - public void SetArmPosition(int X, int y) + public bool SetArmPosition(int x, int y, int num = 2) + { + //取反 + x -= 2 * x; + y -= 2 * y; + MaterailLibrary_Write("VD836", x, num); + Thread.Sleep(100); + MaterailLibrary_Write("VD840", y, num); + + Thread.Sleep(200); + + MessageLog.GetInstance.Show($"机械臂移动到[{x}，{y}]"); + //定位启动 + MaterailLibrary_Write("M0.0", true, num); + + for (int i = 0; i < sleepCount && !ml_morkf.ArriveComplete; i++) + { + Thread.Sleep(sleepTime); + if (i >= sleepCount - 1) + { + MessageLog.GetInstance.Show("机械臂移动操作超时"); + return false; + } + } + + MessageLog.GetInstance.Show("机械臂移动操作完成"); + + Thread.Sleep(500); + + return true; + } + + //菜品库锁 + object lock_Materail = new object(); + + private const int up = 10000; + + /// + /// 获取菜品 + /// + public void GetMaterail(int x,int y) { - MaterailLibrary_Write("", true); + //设置到抓菜处 + if(!SetArmPosition(x, y)) + { + return; + } + + //Thread.Sleep(2000); + + //关闭电磁阀 + Electromagnetism(new List { true }); + Thread.Sleep(500); + + //爪子去1号位抓菜 + if (!GetDistance_1()) + { + return; + } + Thread.Sleep(500); + + //移动前开启电磁阀 + Electromagnetism(new List { false }); + Thread.Sleep(500); + + //设置到出菜处，都在x轴-40000处出菜 + if (!SetArmPosition(-40000, y)) + { + return; + } + + Thread.Sleep(500); + //爪子去3号位放菜 + if (!GetDistance_3()) + { + return; + } + Thread.Sleep(500); + ////关闭电磁阀 + //Electromagnetism(new List { false }); + //Thread.Sleep(300); + } + + /// + /// 获取菜品测试 + /// + /// + private void GetMaterailTest(int getNum) + { + ThreadManage.GetInstance().Start(new Action(()=>{ + int x1 = 0, x2 = 0, y= 0; + + for (int i = 0; i < sleepCount * 2 && ml_morkf.MaterailIsWorking; i++) + { + Thread.Sleep(sleepTime); + if (i >= sleepCount * 2 - 1) + { + MessageLog.GetInstance.Show("菜品库正在工作中....."); + return; + } + } + + //if (!ml_morkf.InitialComplete) + //{ + // MessageLog.GetInstance.Show("菜品库未初始化"); + // return; + //} + if (getNum == 0) + { + x2 = -20000; + y = 40000; + + } + else if (getNum == 1) + { + x2 = -15000; + y = -52500; + } + else + { + MessageLog.GetInstance.Show("菜品库无效操作"); + return; + } + try + { + lock (lock_Materail) + { + ml_morkf.MaterailIsWorking = true; + } + //菜品库去指定位置 + if (!SetArmPosition(x1, y)) + { + MessageLog.GetInstance.Show("菜品库[机械臂操作失败]"); + return; + } + //取菜操作 + GetMaterail(x2,y); + + + //机械臂去取菜放位 + if (!SetArmPosition(-30000, -20000)) + { + MessageLog.GetInstance.Show("菜品库[机械臂操作失败]"); + return; + } + + //机械臂回原点 + if (!SetArmPosition(0, 0)) + { + MessageLog.GetInstance.Show("菜品库[机械臂操作失败]"); + return; + } + } + catch (Exception ex) + { + + } + finally + { + lock (lock_Materail) + { + ml_morkf.MaterailIsWorking = false; + } + } + + }),$"菜品库操作{getNum}"); } #endregion + #region 炒锅PLC基本操作方法 + /// + /// 炒锅写寄存器方法，num为炒锅对应编号，从0开始 + /// + /// 寄存器地址 + /// 值 + /// 炒锅编号 + private void FirePot_Write(string address, object value, int num) + { + WriteControlExact(address, value, num); + } /// /// 出调料 /// /// - public void OutSeasoning(object o,int num) + public void OutSeasoning(object o, int num) { if (o == null) return; - if (o is List ints && ints.Count == 2&&morkFs.ContainsKey(num)) + if (o is List ints && ints.Count == 2 && morkFs.ContainsKey(num)) { - FirePot1_Write(morkFs[num].PassWayValue[ints[0]], (ushort)ints[1],num);//写入通道值 + FirePot_Write(morkFs[num].PassWayValue[ints[0]], (ushort)ints[1], num);//写入通道值 Thread.Sleep(400); - FirePot1_Write(morkFs[num].StartPassWay[ints[0]], true, num);//开启通道 + FirePot_Write(morkFs[num].StartPassWay[ints[0]], true, num);//开启通道 Thread.Sleep(400); - FirePot1_Write(morkFs[num].StartPassWay[ints[0]], false, num);//开启通道 + FirePot_Write(morkFs[num].StartPassWay[ints[0]], false, num);//开启通道 } } + /// /// 出多个调料 /// - public void OutSeasonings(List seasoningLists,int num) + public void OutSeasonings(List seasoningLists, int num) { //防止越界 - if(!morkFs.ContainsKey(num)) + if (!morkFs.ContainsKey(num)) { return; } foreach (SeasoningList seasoning in seasoningLists) { - FirePot1_Write(morkFs[num].PassWayValue[seasoning.Loc], (ushort)seasoning.Qty, num); + FirePot_Write(morkFs[num].PassWayValue[seasoning.Loc], (ushort)seasoning.Qty, num); Thread.Sleep(300); } foreach (SeasoningList seasoning in seasoningLists) { - FirePot1_Write(morkFs[num].StartPassWay[seasoning.Loc], true, num); + FirePot_Write(morkFs[num].StartPassWay[seasoning.Loc], true, num); Thread.Sleep(300); } foreach (SeasoningList seasoning in seasoningLists) { - FirePot1_Write(morkFs[num].StartPassWay[seasoning.Loc], false, num); + FirePot_Write(morkFs[num].StartPassWay[seasoning.Loc], false, num); Thread.Sleep(300); } foreach (SeasoningList seasoning in seasoningLists) { - FirePot1_Write(morkFs[num].StartPassWay[seasoning.Loc], false, num); + FirePot_Write(morkFs[num].StartPassWay[seasoning.Loc], false, num); Thread.Sleep(300); } } - #region 炒锅1 - private void FirePot1_Write(string address,object value,int num) - { - WriteControlExact(address, value, num); - } /// /// 复位 /// @@ -360,28 +704,29 @@ namespace BPASmartClient.MorkF Thread.Sleep(200); StopStir(num); Thread.Sleep(200); - FirePot1_Write("LB5", false, num); + FirePot_Write("LB5", false, num); Thread.Sleep(200); - FirePot1_Write("LB3", false, num); + FirePot_Write("LB3", false, num); Thread.Sleep(200); - FirePot1_Write("LB6", false, num); + FirePot_Write("LB6", false, num); Thread.Sleep(200); - FirePot1_Write("LB7", false, num); + FirePot_Write("LB7", false, num); Thread.Sleep(200); - FirePot1_Write("LB4", false, num); + FirePot_Write("LB4", false, num); Thread.Sleep(200); - FirePot1_Write("LB53", false, num); - if(morkFs.ContainsKey(num)) + FirePot_Write("LB53", false, num); + if (morkFs.ContainsKey(num)) { foreach (var item in morkFs[num].StartPassWay.Values) { Thread.Sleep(200); - FirePot1_Write(item, false, num); + FirePot_Write(item, false, num); } } - }),"炒锅1初始化"); - + }), "炒锅1初始化"); + } + //加油 public void AddOil() { @@ -390,36 +735,36 @@ namespace BPASmartClient.MorkF //加热启动 public void StartFire(int num) { - FirePot1_Write("LB1", true, num); + FirePot_Write("LB1", true, num); Thread.Sleep(200); } //加热停止 public void StopFire(int num) { - FirePot1_Write("LB1", false, num); + FirePot_Write("LB1", false, num); Thread.Sleep(200); } //搅拌启动 public void StartStir(int num) { - FirePot1_Write("LB2", true, num); + FirePot_Write("LB2", true, num); Thread.Sleep(200); } //搅拌启停止 public void StopStir(int num) { - FirePot1_Write("LB2", false, num); + FirePot_Write("LB2", false, num); Thread.Sleep(200); } //倒菜 public void OutFood(int num) { - if(!morkFs.ContainsKey(num)) + if (!morkFs.ContainsKey(num)) { return; } - FirePot1_Write("LB3", true, num); + FirePot_Write("LB3", true, num); MessageLog.GetInstance.Show("倒菜启动"); Thread.Sleep(400); @@ -433,7 +778,7 @@ namespace BPASmartClient.MorkF } } - FirePot1_Write("LB3", false, num); + FirePot_Write("LB3", false, num); Thread.Sleep(200); MessageLog.GetInstance.Show("倒菜完成"); } @@ -445,7 +790,7 @@ namespace BPASmartClient.MorkF return; } - FirePot1_Write("LB5", true, num); + FirePot_Write("LB5", true, num); MessageLog.GetInstance.Show("搅拌臂去原点位"); for (int i = 0; i < sleepCount && !morkFs[num].ArmOnOrigin; i++) @@ -461,11 +806,11 @@ namespace BPASmartClient.MorkF //{ // Thread.Sleep(200); //} - FirePot1_Write("LB5", false, num); + FirePot_Write("LB5", false, num); Thread.Sleep(200); MessageLog.GetInstance.Show("搅拌臂到达原点位"); - + } @@ -479,7 +824,7 @@ namespace BPASmartClient.MorkF if (!morkFs[num].ArmOnWorking/* && morkFs[num].PotOnOrigin*/) { - FirePot1_Write("LB6", true, num); + FirePot_Write("LB6", true, num); MessageLog.GetInstance.Show("搅拌臂去工作位"); for (int i = 0; i < sleepCount && !morkFs[num].ArmOnWorking; i++) @@ -496,7 +841,7 @@ namespace BPASmartClient.MorkF // Thread.Sleep(200); //} - FirePot1_Write("LB6", false, num); + FirePot_Write("LB6", false, num); Thread.Sleep(200); MessageLog.GetInstance.Show("搅拌臂到达工作位"); } @@ -505,9 +850,9 @@ namespace BPASmartClient.MorkF //HBOT放盒子到位 public void HBOTGoWork(int num) { - FirePot1_Write("LB7", true, num); + FirePot_Write("LB7", true, num); Thread.Sleep(400); - FirePot1_Write("LB7", false, num); + FirePot_Write("LB7", false, num); } //出餐启动 public void OutMeal(int num) @@ -517,9 +862,9 @@ namespace BPASmartClient.MorkF MessageLog.GetInstance.Show("搅拌臂不在原点位，无法完成出餐"); return; } - FirePot1_Write("LB4", true, num); + FirePot_Write("LB4", true, num); Thread.Sleep(200); - FirePot1_Write("LB4", false, num); + FirePot_Write("LB4", false, num); } //加热挡位设定 public void SetFire(object o, int num) @@ -527,7 +872,7 @@ namespace BPASmartClient.MorkF if (o == null) return; if (o is List ints && ints.Count == 1) { - FirePot1_Write("LW14", (ushort)ints[0],num); + FirePot_Write("LW14", (ushort)ints[0], num); Thread.Sleep(200); } @@ -552,76 +897,36 @@ namespace BPASmartClient.MorkF if (o == null) return; if (o is List ints && ints.Count == 1) { - FirePot1_Write("LW15", (ushort)ints[0],num); + FirePot_Write("LW15", (ushort)ints[0], num); Thread.Sleep(200); - + } } #endregion - - /// - /// 本地菜单下单 + /// 重置程序 /// - private void StartOrder(object o) - { - if(o==null) return; - if(o is int goodId) - { - var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey == goodId);//匹配订单对应制作流程 - if (res != null) - { - /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程 - if (StirFryGoodsQuenes.Count > 0) return; - StirFryGoodsQuenes.Enqueue(new OrderLocInfo() - { - SuborderId = Guid.NewGuid().ToString(), - StirPotActions = res.StirPotActions, - GoodName = "本地菜品" - }); - MessageLog.GetInstance.Show($"添加本地订单{res.GoodsKey}"); - } - } - } - - private void StartLocalOrder() - { - if (StirFryGoodsQuenes.Count > 0) return;//只能一个一个做 - if (Json.Data.LocalstirFryGoods.StirPotActions.Count>0) - { - StirFryGoodsQuenes.Enqueue(new OrderLocInfo() - { - SuborderId = Guid.NewGuid().ToString(), - StirPotActions = Json.Data.LocalstirFryGoods.StirPotActions, - GoodName = "本地菜品" - }); - MessageLog.GetInstance.Show($"添加本地模拟的订单{Json.Data.LocalstirFryGoods.GoodsKey}"); - } - } - - private void StopLocalOrder() - { - //判断当前是否有炒制菜品 - if (nowStirFryGood == null) return; - - ThreadManage.GetInstance().StopTask(String.Format(striConst, fryIndex.ToString(), nowStirFryGood.GoodName), new Action(() => { Plc1Reset(fryIndex); })); - } - #endregion - public override void ResetProgram() { + IsHealth = true; morkFs.Clear(); morkFs = new Dictionary(); + 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 isInitialPaw = false; + /// /// PLC数据读取 /// @@ -689,60 +994,129 @@ namespace BPASmartClient.MorkF }), i); } - - for (int j = 0; j < morkFs.Count; j++) + //获取激光距离 + GetStatus("VW270", new Action((objects) => { - GetStatus("VD808", new Action((objects) => + if (objects is int[] bools) { - if (!morkFs.ContainsKey(j)) + for (int i = 0; i < 1; i++) { - return; + ml_morkf.LaserDistance = bools[i]; } + } + }), 2); - if (objects is object[] bools) + //获取坐标X + GetStatus("VD828", new Action((objects) => + { + if (objects is int[] bools) + { + for (int i = 0; i < 1; i++) { - for (int i = 0; i < 1; i++) - { - var a = bools[i]; - } + ml_morkf.ArmPositionX = bools[i]; } + } + }), 2); + //获取坐标Y + GetStatus("VD832", new Action((objects) => + { + if (objects is int[] bools) + { + for (int i = 0; i < 1; i++) + { + ml_morkf.ArmPositionY = bools[i]; + } + } + }), 2); - }), j); - GetStatus("VD814", new Action((objects) => + //获取爪子到达位置 + GetStatus("M11.0", new Action((objects) => + { + if (objects is bool[] bools&&bools.Length > 3) { - if (!morkFs.ContainsKey(j)) + + //ml_morkf.PawArrivePortOne = bools[0]; + //ml_morkf.PawArrivePortTwo = bools[1]; + //ml_morkf.PawArrivePortThree = bools[2]; + + if(isInitialPaw == false) { - return; + 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); - if (objects is object[] bools) + //获取定位到达状态 + GetStatus("M10.0", new Action((objects) => + { + if (objects is bool[] bools) + { + for (int i = 0; i < 1; i++) { - 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])) { - var a = 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); - }), j); - GetStatus("VD816", new Action((objects) => + //获取总初始化完成 + GetStatus("M10.2", new Action((objects) => + { + if (objects is bool[] bools) { - if (!morkFs.ContainsKey(j)) + for (int i = 0; i < 1; i++) { - return; + ml_morkf.InitialComplete = bools[i]; } + } + }), 2); - if (objects is object[] bools) + //抓手初始化完成 + GetStatus("M10.3", new Action((objects) => + { + if (objects is bool[] bools) + { + for (int i = 0; i < 1; i++) { - for (int i = 0; i < 1; i++) - { - var a = bools[i]; - } + ml_morkf.PawInitialComplete = bools[i]; } - - }), j); - } + } + }), 2); } private void ServerInit() @@ -773,15 +1147,23 @@ namespace BPASmartClient.MorkF if (@event == null) return; if (@event is StirFryGoodsEvent stirFry) { - if (stirFry.stirFrymessage.stirFryGoods.Count > 0) + if(stirFry.stirFrymessage != null) { - foreach (var item in stirFry.stirFrymessage.stirFryGoods) + if (stirFry.stirFrymessage.stirFryGoods.Count > 0) { - LocalstirFryGoods.Add(new StirFryGoods + foreach (var item in stirFry.stirFrymessage.stirFryGoods) { - GoodsKey = item.GoodsKey, - StirPotActions = OrderSort(item.StirPotActions), - }); + LocalstirFryGoods.Add(new StirFryGoods + { + GoodsKey = item.GoodsKey, + StirPotActions = OrderSort(item.StirPotActions), + }); + GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel + { + GoodKey = item.GoodsKey.ToString(), + GoodName = "", + }); + } } } @@ -920,12 +1302,12 @@ namespace BPASmartClient.MorkF /// /// 数据解析 /// - private void DataParse(int num) + private void DataParse() { - if (!morkFs.ContainsKey(num)) - { - return; - } + //if (!morkFs.ContainsKey(num)) + //{ + // return; + //} EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle) { @@ -937,24 +1319,36 @@ namespace BPASmartClient.MorkF DeviceProcessLogShow($"接收到{OrderCount}次订单"); Enum.GetNames(typeof(StirFryPotActionEnum)); - var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey == order.MorkOrder.RecipeId);//匹配订单对应制作流程 - if (res != null) + //var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey == order.MorkOrder.RecipeId);//匹配订单对应制作流程 + if(order.MorkOrder.GoodBatchings.Count <= 0) { - /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程 - //添加到带炒小炒队列 - if (StirFryGoodsQuenes.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) - { - lock (lock_MainProcessExcute) - { - StirFryGoodsQuenes.Enqueue(new OrderLocInfo() - { - SuborderId = order.MorkOrder.SuborderId, - StirPotActions = res.StirPotActions, - GoodName = order.MorkOrder.GoodsName - }); - } - } + return; } + + if(order.MorkOrder.DeviceId != DeviceId) + { + return; + } + + //var res = LocalstirFryGoods[0]; + //if (res != null) + //{ + // /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程 + // //添加到带炒小炒队列 + // if (StirFryGoodsQuenes.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + // { + // lock (lock_MainProcessExcute) + // { + // StirFryGoodsQuenes.Enqueue(new OrderLocInfo() + // { + // SuborderId = order.MorkOrder.SuborderId, + // StirPotActions = res.StirPotActions, + // GoodName = order.MorkOrder.GoodsName + // }); + // } + // } + //} + StartLocalOrder(); } }); @@ -982,7 +1376,7 @@ namespace BPASmartClient.MorkF //遍历炒锅，找到合适、空闲的炒锅 for(int i = 0;i= sleepCount - 1) - { - MessageLog.GetInstance.Show($"炒锅{i}炒制过程完成后，搅拌臂去原点位超时"); - } - } - //while (!morkFs[i].ArmOnOrigin) //{ // Thread.Sleep(100); @@ -1285,7 +1673,7 @@ namespace BPASmartClient.MorkF { for(int i = 0;i /// 炒锅自动模式 /// + [VariableMonitor("炒锅1锅低温度", "VW120", "160")] public bool AutoMode { get; set; } /// /// 炒锅1初始化完成 diff --git a/BPASmartClient.MorkF/ML_MorkF.cs b/BPASmartClient.MorkF/ML_MorkF.cs new file mode 100644 index 00000000..74a66a0a --- /dev/null +++ b/BPASmartClient.MorkF/ML_MorkF.cs @@ -0,0 +1,127 @@ +using BPA.Helper; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkF +{ + internal class ML_MorkF + { + #region 菜品库的操作状态 + /// + /// 激光距离 + /// + public int LaserDistance { get; set; } + + /// + /// 菜品库当前X轴坐标 + /// + public int ArmPositionX { get; set; } + + /// + /// 菜品库当前Y轴坐标 + /// + public int ArmPositionY { get; set; } + + /// + /// 菜品库是否在工作中 + /// + public bool MaterailIsWorking { get; set; } + + /// + /// 初始化是否完成 + /// + public bool InitialComplete { get; set; } + + private bool _ArriveComplete = false; + /// + /// 定位到达，上升沿捕获需要特殊处理 + /// + public bool ArriveComplete + { + get + { + var ret = _ArriveComplete; + _ArriveComplete = false; + if(ret) + { + MessageLog.GetInstance.Show("到达上升沿为true"); + } + else + { + MessageLog.GetInstance.Show("到达上升沿为false"); + } + return ret; + } + set + { + _ArriveComplete = value; + } + } + + /// + /// 爪子初始化完成 + /// + public bool PawInitialComplete { get; set; } + + private bool _PawArrivePortOne = false; + /// + /// 爪子到达一号位，上升沿捕获需要特殊处理 + /// + public bool PawArrivePortOne + { + get + { + var ret = _PawArrivePortOne; + _PawArrivePortOne = false; + return ret; + } + set + { + _PawArrivePortOne = value; + } + } + + private bool _PawArrivePortTwo = false; + /// + /// 爪子到达二号位，上升沿捕获需要特殊处理 + /// + public bool PawArrivePortTwo + { + get + { + var ret = _PawArrivePortTwo; + _PawArrivePortTwo = false; + return ret; + } + set + { + _PawArrivePortTwo = value; + } + } + + private bool _PawArrivePortThree = false; + /// + /// 爪子到达三号位 + /// + public bool PawArrivePortThree + { + get + { + var ret = _PawArrivePortThree; + _PawArrivePortThree = false; + return ret; + } + set + { + _PawArrivePortThree = value; + } + } + #endregion + + #region + #endregion + } +} diff --git a/BPASmartClient.MorkF/View/DebugView.xaml b/BPASmartClient.MorkF/View/DebugView.xaml index 26a99eca..63e9fecd 100644 --- a/BPASmartClient.MorkF/View/DebugView.xaml +++ b/BPASmartClient.MorkF/View/DebugView.xaml @@ -97,9 +97,9 @@