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morkBF

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NXX 2 years ago
parent
6197515201
commit
907030d03c
10 changed files with 319 additions and 444 deletions
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  1. +16
    -10
      BPASmartClient.Model/大炒/FryPotMessages.cs
  2. +57
    -14
      BPASmartClient.Model/大炒/RobotActionModel.cs
  3. +142
    -307
      BPASmartClient.MorkBF/Control_MorkBF.cs
  4. +6
    -6
      BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs
  5. +15
    -20
      BPASmartClient.MorkBF/GVL_MorkBF.cs
  6. +17
    -10
      BPASmartClient.MorkBF/VIew/DebugView.xaml
  7. +5
    -3
      BPASmartClient.MorkBF/VIew/FoodManagerView.xaml
  8. +1
    -0
      BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs
  9. +48
    -72
      BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs
  10. +12
    -2
      BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs

+ 16
- 10
BPASmartClient.Model/大炒/FryPotMessages.cs View File

@@ -1,4 +1,5 @@
using System;
using Microsoft.Toolkit.Mvvm.ComponentModel;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@@ -11,15 +12,23 @@ namespace BPASmartClient.Model.大炒
public string GoodName { get; set; }
public string GoodKey { get; set; }
public List<FryPotProcess> fryPotProcesses { get; set; } = new List<FryPotProcess>();
public int FryOffStirTime;//关火翻炒时间;
/// <summary>
/// 翻转速度0到800
/// </summary>
public int TurnSpeed { get; set; } = 0;
/// <summary>
/// 关火翻炒时间;
/// </summary>
public int FryOffStirTime;
}

public class FryPotProcess
public class FryPotProcess:ObservableObject
{
/// <summary>
/// 步骤
/// </summary>
public int FryTime { get; set; }
public int FryTime { get { return _fryTime; } set { _fryTime = value; OnPropertyChanged(); } }
private int _fryTime;
/// <summary>
/// 动作
/// </summary>
@@ -36,10 +45,7 @@ namespace BPASmartClient.Model.大炒
/// 搅拌挡位 小炒1-10 大炒1-5
/// </summary>
public int StirGear { get; set; } = 0;
/// <summary>
/// 翻转速度0到800
/// </summary>
public int TurnSpeed { get; set; }= 0;
/// <summary>
/// 炒制位置1到4
/// </summary>
@@ -67,8 +73,8 @@ namespace BPASmartClient.Model.大炒
{
冷锅加热,
热油,
加调料,
加辅料,
机器人加调料,
通道出调料,
炒制菜品,
}


+ 57
- 14
BPASmartClient.Model/大炒/RobotActionModel.cs View File

@@ -9,24 +9,67 @@ namespace BPASmartClient.Model.大炒
public class RobotAction_Pot
{
public int Pot { get; set; }
public RobotActionModel robotActionModel { get; set; }
public MainTask MainTask { get; set; }
public SubTask1 subTask1 { get; set; } = 0;
public SubTask2 subTask2 { get; set; } = 0;
public SubTask3 subTask3 { get; set; } = 0;
public SubTask4 subTask4 { get; set; } = 0;
}

public enum RobotActionModel

public enum MainTask
{
无任务,
机器人炒制任务,
机器人补料任务,
}
public enum SubTask1
{
无任务,
取1号炒锅荤菜盆倒1号炒锅,
取1号炒锅素菜盆1倒1号炒锅,
取1号炒锅素菜盆2倒1号炒锅,
取1号炒锅调料盆倒入1号炒锅,
取1号炒锅辅料盆1倒入1号炒锅,
取1号空盆出餐,
机器人取1号菜盆,
机器人取2号菜盆,
机器人取3号菜盆,
机器人取4号菜盆,
机器人取5号菜盆,
机器人取6号菜盆,
机器人取7号菜盆,
机器人取8号菜盆,
机器人取9号菜盆,
机器人取1号调料,
机器人取2号调料,
机器人取3号调料,
机器人取4号调料,
机器人取5号调料,
机器人取6号调料,
机器人取1号空盆,
机器人取2号空盆,
机器人取3号空盆,
机器人取4号空盆,

取2号炒锅荤菜盆1倒2号炒锅 = 20,
取2号炒锅素菜盆1倒2号炒锅 = 21,
取2号炒锅素菜盆2倒2号炒锅 =22,
取2号炒锅调料盆倒入2号炒锅 =23,
取2号炒锅辅料盆1倒入2号炒锅 =24,
取2号空盆出餐 =25,
}
public enum SubTask2
{
无任务,
倒料至1号锅,
倒料至2号锅,
}

public enum SubTask3
{
无任务,
机器人上料口取料
}
public enum SubTask4
{
无任务,
放盆至1号库位,
放盆至2号库位,
放盆至3号库位,
放盆至4号库位,
放盆至5号库位,
放盆至6号库位,
放盆至7号库位,
放盆至8号库位,
}

}

+ 142
- 307
BPASmartClient.MorkBF/Control_MorkBF.cs View File

@@ -51,6 +51,7 @@ namespace BPASmartClient.MorkBF
DataParse();//数据解析
ScreenDataServer();//大屏数据上报
ActionManage.GetInstance.Send("更新菜单");
ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
DeviceProcessLogShow("MORKF 设备初始化完成");
}

@@ -64,9 +65,7 @@ namespace BPASmartClient.MorkBF
if (order.MorkOrder.GoodBatchings == null) return;
OrderCount++;
DeviceProcessLogShow($"接收到{OrderCount}次订单");
}

});
}

@@ -122,17 +121,8 @@ namespace BPASmartClient.MorkBF
ActionManage.GetInstance.Register(FirePot_PotReversal, "FirePot_PotReversal");//翻转反转
#endregion
#region 机器人
ActionManage.GetInstance.Register(RobotStart, "RobotStart");//机器人启动
ActionManage.GetInstance.Register(RobotStop, "RobotStop");//机器人停止
ActionManage.GetInstance.Register(RobotReset, "RobotReset");//复位
ActionManage.GetInstance.Register(RobotProgramStart, "RobotProgramStart");//程序启动
ActionManage.GetInstance.Register(Robot_Pot1AllowInMaterail, "Robot_Pot1AllowInMaterail");//1号炒锅允许机器人投料
ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料到减速位
ActionManage.GetInstance.Register(Robot_Pot1OutFood, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料完成
ActionManage.GetInstance.Register(Robot_Pot2AllowInMaterail, "Robot_Pot2AllowInMaterail");//2号炒锅允许机器人投料
ActionManage.GetInstance.Register(Robot_Pot2OutFoodInSlowDown, "Robot_Pot2OutFoodInSlowDown");//2号炒锅出餐倒料到减速位
ActionManage.GetInstance.Register(Robot_Pot2OutFood, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
ActionManage.GetInstance.Register(RobotActionStart, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
ActionManage.GetInstance.Register(RobotAction, "RobotAction");//上使能


#endregion
@@ -141,12 +131,8 @@ namespace BPASmartClient.MorkBF

public override void MainTask()
{
if(morkBF.FirePan1_Order.Count>0&& morkBF.FirePot1_InitCompleted&&morkBF.FirePot2_IsAuto&&!morkBF.FirePan1_Busy)
{
ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
}

if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Origin)//机器人在原点为
if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Start)//机器人启动
{
if( morkBF.RobotActinQueue.TryDequeue(out RobotAction_Pot robotAction))
{
@@ -158,44 +144,48 @@ namespace BPASmartClient.MorkBF

private void FirePot1_Process()
{
if(morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
if (morkBF.FirePan1_Order.Count > 0 && morkBF.FirePot1_InitCompleted && morkBF.FirePot2_IsAuto && !morkBF.FirePan1_Busy)
{

morkBF.FirePan1_Busy = true;
morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
foreach (var item in result.fryPotProcesses)
if (morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
{
switch (item.fryActions)

morkBF.FirePan1_Busy = true;
morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
foreach (var item in result.fryPotProcesses)
{
case FryAction.冷锅加热:
FirePot_PotPerHeat(item, 1);
MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
break;

case FryAction.热油:
FirePot_HeatOil(item,1);
MessageLog.GetInstance.Show("炒锅1---热油完成");
break;
case FryAction.加调料:
FirePot_AddSeasoning(item, 1);
MessageLog.GetInstance.Show("炒锅1---加调料完成");
break;
case FryAction.加辅料:
FirePot_AddAccessories(item,1);
MessageLog.GetInstance.Show("炒锅1---加辅料完成");
break;
case FryAction.炒制菜品:
FirePot_FryFood(item,1);
MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
break;

default:
break;
switch (item.fryActions)
{
case FryAction.冷锅加热:
FirePot_PotPerHeat(item, 1);
MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
break;
case FryAction.热油:
FirePot_HeatOil(item, 1);
MessageLog.GetInstance.Show("炒锅1---热油完成");
break;
case FryAction.机器人加调料:
FirePot_RobotGetSeasoning(item, 1);
MessageLog.GetInstance.Show("炒锅1---机器人加调料完成");
break;
case FryAction.通道出调料:
FirePot_PasswayOutSeasoning(item, 1);
MessageLog.GetInstance.Show("炒锅1---通道出调料完成");
break;
case FryAction.炒制菜品:
FirePot_FryFood(item, 1);
MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
break;
default:
break;
}
}
FirePot_StartFire(new object[] { 1, false });//关火
Thread.Sleep(result.FryOffStirTime*1000);//关火翻炒时间
FirePot_StartStir(new object[] { 1, false });//关闭搅拌
Message.MessageLog.GetInstance.Show($"炒锅1炒制{result.GoodName}完成");

}
}
}
}

private void FirePot2_Process()
@@ -206,13 +196,21 @@ namespace BPASmartClient.MorkBF

#region 炒锅流程功能

private bool IsRobotNextWork(List<FryPotProcess> currentProcess, int currentFryTime)
/// <summary>
/// 判断下个动作是否需要机器人
/// </summary>
/// <param name="i"></param>
/// <param name="currentFryTime"></param>
/// <returns></returns>
private bool IsRobotNextWork(int i, int currentFryTime)
{
bool res = false;
if(currentProcess.Count> currentFryTime)
List<FryPotProcess> currentProcess = new List<FryPotProcess>();
currentProcess = i == 1 ? morkBF.FryPot1_CurrentProcess: morkBF.FryPot2_CurrentProcess;
if (currentProcess.Count> currentFryTime)
{
if (currentProcess[currentFryTime + 1].fryActions == FryAction.加调料 ||
currentProcess[currentFryTime + 1].fryActions == FryAction.加辅料 ||
if (currentProcess[currentFryTime + 1].fryActions == FryAction.机器人加调料 ||
currentProcess[currentFryTime + 1].fryActions == FryAction.炒制菜品)
{
res = true;
@@ -227,19 +225,11 @@ namespace BPASmartClient.MorkBF
private void FirePot_PotPerHeat(FryPotProcess item,int i)
{
bool isRobotWork = false;
if(i == 1)//炒锅1
{
//FirePot1_SetFireGear(item.FryGear);
Thread.Sleep(200);
//FirePot1_StartFire(true);
isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess,item.FryTime);
}
else if(i == 2)//炒锅2
{
//FirePot2_SetFireGear(item.FryGear);
//FirePot2_StartFire(true);
isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
}
FirePot_SetFireGear(new object[]{ i, item.FryGear});//设定加热挡位
FirePot_StartFire(new object[] { i, true });
isRobotWork = IsRobotNextWork(i,item.FryTime);//下个流程动作是否需要机器人

if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
else Thread.Sleep(item.FryDuration * 1000);

@@ -254,91 +244,66 @@ namespace BPASmartClient.MorkBF
bool isRobotWork = false;
if (item.FryGear != 0)
{
/* FirePot1_SetFireGear(item.FryGear);*///设定加热挡位
//FirePot1_StartFire(true);//开启加热
//isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess, item.FryTime);
FirePot_SetFireGear(new object[] { i, item.FryGear });//设定加热挡位
FirePot_StartFire(new object[] { i, true });
}
if (item.StirGear != 0)
{
//FirePot1_SetStirGear(item.StirGear);//设定搅拌挡位
//FirePot1_StartFire(true);//开启搅拌
isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
FirePot_SetStirGear(new object[] { i, item.StirGear });//设定搅拌挡位
FirePot_StartStir(new object[] { i, true });
}
isRobotWork = IsRobotNextWork(i, item.FryTime);
if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
else Thread.Sleep(item.FryDuration * 1000);//加热时间;
}

/// <summary>
/// 加调料
/// 通道出调料
/// </summary>
private void FirePot_AddSeasoning(FryPotProcess item,int i)
private void FirePot_PasswayOutSeasoning(FryPotProcess item,int i)
{

if(i == 1)
{
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot =1,robotActionModel = RobotActionModel.取1号炒锅调料盆倒入1号炒锅});
Thread.Sleep(item.FryDuration);

}

else if(i == 2)
foreach(var acc in item.accessories)
{
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅调料盆倒入2号炒锅 });
Thread.Sleep(item.FryDuration);
FirePot_StartPassWay(new object[] { i, acc.Loc, acc.Qry });
}
}

/// <summary>
/// 加辅料
/// 机器人取调料
/// </summary>
private void FirePot_AddAccessories(FryPotProcess item, int i)
private void FirePot_RobotGetSeasoning(FryPotProcess item, int i)
{
if (i == 1)
{
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = RobotActionModel.取1号炒锅辅料盆1倒入1号炒锅 });
Thread.Sleep(item.FryDuration);

}

else if (i == 2)
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot
{
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅辅料盆1倒入2号炒锅 });
Thread.Sleep(item.FryDuration);
}

Pot = i,
MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
subTask1 = (SubTask1)item.accessories[0].Loc + 9,
subTask2 = (SubTask2)i
});
}



/// <summary>
/// 炒制菜品
/// </summary>
private void FirePot_FryFood(FryPotProcess item, int i)
{
bool isRobotWork = false;
if (i == 1)
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot
{
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = (RobotActionModel)item.accessories[0].Loc });
while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
{
Thread.Sleep(100);
}
isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);

}

else if (i == 2)
Pot = i,
MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
subTask1 = (SubTask1)item.accessories[1].Loc,
subTask2 =(SubTask2)i
});
while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
{
morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = (RobotActionModel)(item.accessories[0].Loc+19) });//炒制菜品位置
while (!morkBF.FirePot2_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
{
Thread.Sleep(100);
}
isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
Thread.Sleep(100);
}
isRobotWork = IsRobotNextWork(i, item.FryTime);
if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
else Thread.Sleep(item.FryDuration * 1000);//加热时间;
}
@@ -350,76 +315,50 @@ namespace BPASmartClient.MorkBF
/// <param name="robotAction"></param>
private void RobotProcess(RobotAction_Pot robotAction)
{
Robot_Write("GI0",(int)robotAction.robotActionModel);
while (morkBF.Robot_ActionCallback != (int)robotAction.robotActionModel)//机器人动作执行完动作反馈
Robot_Write("GI0", (int)robotAction.MainTask);//设定机器人主要任务
while(morkBF.Robot_GI0ActionCallback != (int)robotAction.MainTask)//等待主程序完成反馈
{
Thread.Sleep(100);
Thread.Sleep(300);
}
if(robotAction.Pot == 1)//炒锅1
if((int)robotAction.subTask1>0)//任务1
{
if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
{
Robot_Write("GM520", true);//机器人去出餐倒料减速位置
while(!morkBF.Robot_ArriveFirePot1)//机器人到位，请求1#炒锅倒菜
{
Thread.Sleep(100);
}
FirePot_StartOutFood(1);//炒锅出餐;
while (!morkBF.FirePot1_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
{
Thread.Sleep(1000);
}
Thread.Sleep(6 * 1000);//等待6s出餐
Robot_Write("GM521", true);//机器人出餐到料完成

}
else
Robot_Write("GI1", (int)robotAction.subTask1);
Thread.Sleep(1000);
while (morkBF.Robot_GI1ActionCallback != (int)robotAction.subTask1)//等待子程序1完成反馈
{
//FirePot_Write("M11.6", true);//炒锅去投料位置
while (!morkBF.FirePot1_PotOnIntoFoodPosition)//等待炒锅允许倒料
{
Thread.Sleep(100);
}
Robot_Write("GM531", true);//机器人投料
Thread.Sleep(300);
}
}
else if (robotAction.Pot == 2)
if ((int)robotAction.subTask2 > 0)//任务2
{
if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
Robot_Write("GI2", (int)robotAction.subTask2);
Thread.Sleep(1000);
while (morkBF.Robot_GI2ActionCallback != (int)robotAction.subTask2)//等待子程序2完成反馈
{
Robot_Write("GM522", true);//炒锅去出餐倒料减速位置
while (!morkBF.Robot_ArriveFirePot2)//机器人到位，请求1#炒锅倒菜
{
Thread.Sleep(100);
}
FirePot_StartOutFood(2);//炒锅去出餐倒料位置
while (!morkBF.FirePot2_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
{
Thread.Sleep(1000);
}
Thread.Sleep(6 * 1000);//等待20s出餐
Robot_Write("GM523", true);//机器人出餐倒料完成

Thread.Sleep(300);
}
else
}
if ((int)robotAction.subTask3 > 0)//任务3
{
Robot_Write("GI3", (int)robotAction.subTask3);
Thread.Sleep(1000);
while (morkBF.Robot_GI3ActionCallback != (int)robotAction.subTask3)//等待子程序3完成反馈
{
//FirePot_Write("M16.7", true);
while (!morkBF.FirePot2_PotOnIntoFoodPosition)
{
Thread.Sleep(100);
}
Robot_Write("GM531", true);
Thread.Sleep(300);
}
}
while(!morkBF.Robot_Origin)
if ((int)robotAction.subTask4 > 0)//任务4
{
Robot_Write("GI4", (int)robotAction.subTask4);
Thread.Sleep(1000);
while (morkBF.Robot_GI4ActionCallback != (int)robotAction.subTask4)//等待主程序4完成反馈
{
Thread.Sleep(300);
}
}
morkBF.Robot_IsBusy = false;
MessageLog.GetInstance.Show($"机器人完成[{robotAction.robotActionModel.ToString()}]任务");


MessageLog.GetInstance.Show($"机器人完成[{robotAction.MainTask.ToString()}]任务");
}

public override void ReadData()
@@ -501,45 +440,7 @@ namespace BPASmartClient.MorkBF

}
}), 0);
GetStatus("GM500", new Action<object>((o) =>
{
if (o == null) return;
if (o is bool[] values && values.Length == 7)
{

morkBF.FirePot1_CompleteSingle[0] = values[0];
morkBF.FirePot1_CompleteSingle[1] = values[1];
morkBF.FirePot1_CompleteSingle[2] = values[2];
morkBF.Robot_FirePot1OutSeasoning = values[3];
morkBF.Robot_FirePot1OutAccessories = values[4];
morkBF.Robot_ArriveFirePot1 = values[5];
morkBF.Robot_FirePot1OutFoodComplete = values[6];

}
}), 1);
GetStatus("GM510", new Action<object>((o) =>
{
if (o == null) return;
if (o is bool[] values && values.Length == 7)
{
morkBF.FirePot2_CompleteSingle[0] = values[0];
morkBF.FirePot2_CompleteSingle[1] = values[1];
morkBF.FirePot2_CompleteSingle[2] = values[2];
morkBF.Robot_FirePot2OutSeasoning = values[3];
morkBF.Robot_FirePot2OutAccessories = values[4];
morkBF.Robot_ArriveFirePot2 = values[5];
morkBF.Robot_FirePot2OutFoodComplete = values[6];

}
}), 1);
GetStatus("GI5", new Action<object>((o) =>
{
if (o == null) return;
if (o is int[] values && values.Length == 1)
{
morkBF.Robot_ActionCallback = values[0];
}
}), 1);

GetStatus("VW2250", new Action<object>((o) =>
{
@@ -836,7 +737,6 @@ namespace BPASmartClient.MorkBF
{
FirePot2_Write("M10.6", true);
}

}
Thread.Sleep(200);
}
@@ -971,98 +871,33 @@ namespace BPASmartClient.MorkBF
#endregion

#region 机器人
/// <summary>
/// 机器人启动
/// </summary>
private void RobotStart()
{
Robot_Write("GM600",true);
Thread.Sleep(200);
}
/// <summary>
/// 机器人停止
/// </summary>
private void RobotStop()
private void RobotAction(object[] o)
{
Robot_Write("GM601", true);
Thread.Sleep(200);
}
/// <summary>
/// 机器人复位
/// </summary>
private void RobotReset()
{
Robot_Write("GM602", true);
Thread.Sleep(200);
}
/// <summary>
/// 机器人程序重启
/// </summary>
private void RobotProgramStart()
{
Robot_Write("GM603", true);
Thread.Sleep(200);
}
/// <summary>
/// 1号炒锅允许机器人投料（炒锅在投料位给出）
/// </summary>
private void Robot_Pot1AllowInMaterail()
{
Robot_Write("GM531", true);
Thread.Sleep(200);
}
/// <summary>
/// 1号炒锅出餐倒料到减速位
/// </summary>
private void Robot_Pot1OutFoodInSlowDown()
{
Robot_Write("GM620", true);
Thread.Sleep(200);
}
/// <summary>
/// 1号炒锅出餐倒料完成
/// </summary>
private void Robot_Pot1OutFood()
{
Robot_Write("GM521", true);
Thread.Sleep(200);
}
/// <summary>
/// 2号炒锅允许机器人投料（炒锅在投料位给出）
/// </summary>
private void Robot_Pot2AllowInMaterail()
{
Robot_Write("GM530", true);
Thread.Sleep(200);
}
/// <summary>
/// 2号炒锅出餐倒料到减速位。开始倒菜
/// </summary>
private void Robot_Pot2OutFoodInSlowDown()
{
Robot_Write("GM522", true);
Thread.Sleep(200);
}
/// <summary>
/// 2号炒锅出餐倒料完成
/// </summary>
private void Robot_Pot2OutFood()
{
Robot_Write("GM523", true);
Thread.Sleep(200);
}
/// <summary>
///
/// </summary>
private void RobotActionStart(object o)
{
if (o == null) return;
if(int.TryParse(o.ToString(), out int value))
if (o[0] is int value)
{
Robot_Write("GI0",value);
switch (value)
{
case 0:
Robot_Write("GI0", (ushort)(MainTask)o[1]);
break;
case 1:
Robot_Write("GI1", (ushort)(SubTask1)o[1]);
break;
case 2:
Robot_Write("GI2", (ushort)(SubTask2)o[1]);
break;
case 3:
Robot_Write("GI3", (ushort)(SubTask3)o[1]);
break;
case 4:
Robot_Write("GI4", (ushort)(SubTask4)o[1]);
break;
default:
break;
}
}
Thread.Sleep(200);
}

#endregion


@@ -1082,7 +917,7 @@ namespace BPASmartClient.MorkBF
IsRun = IsHealth ? IsRun.运行 : IsRun.停止,
WorkStatus_1 = morkBF.FirePot1_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
WorkStatus_2 = morkBF.FirePot2_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
RobotStatu = morkBF.Robot_ActionCallback == 0? WorkStatus.待机 : WorkStatus.工作,
RobotStatu = WorkStatus.工作,
Alarm = new List<AlarmModel>(),
FailuresCount = 0,
StatsCount = statsModels,


+ 6
- 6
BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs View File

@@ -25,10 +25,10 @@ namespace BPASmartClient.MorkBF.Convert
case FryAction.热油:
visibility = Visibility.Visible;
break;
case FryAction.加调料:
case FryAction.机器人加调料:
visibility = Visibility.Collapsed;
break;
case FryAction.加辅料:
case FryAction.通道出调料:
visibility = Visibility.Collapsed;
break;
case FryAction.炒制菜品:
@@ -63,10 +63,10 @@ namespace BPASmartClient.MorkBF.Convert
case FryAction.热油:
visibility = Visibility.Visible;
break;
case FryAction.加调料:
case FryAction.机器人加调料:
visibility = Visibility.Collapsed;
break;
case FryAction.加辅料:
case FryAction.通道出调料:
visibility = Visibility.Collapsed;
break;
case FryAction.炒制菜品:
@@ -101,10 +101,10 @@ namespace BPASmartClient.MorkBF.Convert
case FryAction.热油:
visibility = Visibility.Collapsed;
break;
case FryAction.加调料:
case FryAction.机器人加调料:
visibility = Visibility.Visible;
break;
case FryAction.加辅料:
case FryAction.通道出调料:
visibility = Visibility.Visible;
break;
case FryAction.炒制菜品:


+ 15
- 20
BPASmartClient.MorkBF/GVL_MorkBF.cs View File

@@ -284,22 +284,22 @@ namespace BPASmartClient.MorkBF
/// 机器人上使能
/// </summary>
[VariableMonitor("机器人上使能", "GM600.0", "4596")]
public bool Robot_FirePot1OutMeal { get; set; }
public bool Robot_Enable { get; set; }
/// <summary>
/// 机器人复位
/// </summary>
[VariableMonitor("机器人复位", "GM600.1", "4597")]
public bool Robot_FirePot1OutVegetables1 { get; set; }
public bool Robot_Reset { get; set; }
/// <summary>
/// 机器人启动
/// </summary>
[VariableMonitor("机器人启动", "GM600.2", "4598")]
public bool Robot_FirePot1OutVegetables2 { get; set; }
public bool Robot_Start { get; set; }
/// <summary>
/// 机器人停止
/// </summary>
[VariableMonitor("机器人停止", "GM600.3", "4599")]
public bool Robot_FirePot1OutSeasoning { get; set; }
public bool Robot_Stop { get; set; }
/// <summary>
/// 机器人动作反馈GI0
/// </summary>
@@ -309,22 +309,22 @@ namespace BPASmartClient.MorkBF
/// 机器人动作反馈GI1
/// </summary>
[VariableMonitor("机器人动作反馈GI1", "GI1", "1")]
public int Robot_GI1ActionCallback0 { get; set; }
public int Robot_GI1ActionCallback { get; set; }
/// <summary>
/// 机器人动作反馈GI2
/// </summary>
[VariableMonitor("机器人动作反馈GI2", "GI2", "2")]
public int Robot_GI2ActionCallback0 { get; set; }
public int Robot_GI2ActionCallback { get; set; }
/// <summary>
/// 机器人动作反馈GI3
/// </summary>
[VariableMonitor("机器人动作反馈GI3", "GI3", "3")]
public int Robot_GI3ActionCallback0 { get; set; }
public int Robot_GI3ActionCallback { get; set; }
/// <summary>
/// 机器人动作反馈GI4
/// </summary>
[VariableMonitor("机器人动作反馈GI4", "GI4", "4")]
public int Robot_GI4ActionCallback0 { get; set; }
public int Robot_GI4ActionCallback { get; set; }

#endregion

@@ -336,18 +336,13 @@ namespace BPASmartClient.MorkBF
public GVL_MorkBF()
{
FirePot1_CompleteSingle = new Dictionary<int, bool>
{
{1,Robot_FirePot1OutMeal },
{2,Robot_FirePot1OutVegetables1 },
{3,Robot_FirePot1OutVegetables2 },
};
FirePot2_CompleteSingle = new Dictionary<int, bool>
{
{1,Robot_FirePot2OutMeal },
{2,Robot_FirePot2OutVegetables1 },
{3,Robot_FirePot2OutVegetables2 },
};
//FirePot1_CompleteSingle = new Dictionary<int, bool>
//{
// {1,Robot_FirePot1OutMeal },
// {2,Robot_FirePot1OutVegetables1 },
// {3,Robot_FirePot1OutVegetables2 },
//};

//炒锅1通道完成信号
Fire1_PasswayCompleteSingle = new Dictionary<int, bool>


+ 17
- 10
BPASmartClient.MorkBF/VIew/DebugView.xaml View File

@@ -129,16 +129,23 @@
<Button Content="机器人启动" Width="110" Margin="10,5" Command="{Binding RobotStartCommand}"/>
<Button Content="复位" Width="110" Margin="10,5" Command="{Binding RobotResetCommand}"/>
<Button Content="程序启动" Width="110" Margin="10,5" Command="{Binding RobotProgramStartCommand}"/>
<Button Content="机器人停止" Width="110" Margin="10,5" Command="{Binding RobotStopCommand}"/>
<Button Content="1号炒锅允许机器人投料" Width="160" Margin="10,5" Command="{Binding Robot_Pot1AllowInMaterailCommand}" Cursor="Hand"/>
<Button Content="1号炒锅出餐倒料到减速位" Width="160" Margin="10,5" Command="{Binding Robot_Pot1OutFoodInSlowDownCommand}" Cursor="Hand"/>
<Button Content="1号炒锅出餐倒料完成" Width="160" Margin="10,5" Command="{Binding Robot_Pot1OutFoodCommand}"/>
<Button Content="2号炒锅允许机器人投料" Width="160" Margin="10,5" Command="{Binding Robot_Pot2AllowInMaterailCommand}"/>
<Button Content="2号炒锅出餐倒料到减速位" Width="160" Margin="10,5" Command="{Binding Robot_Pot2OutFoodInSlowDownCommand}"/>
<Button Content="2号炒锅出餐倒料完成" Width="160" Margin="10,5" Command="{Binding Robot_Pot2OutFoodCommand}"/>
<TextBlock Text="机器人取菜出餐动作" Margin="10,5"/>
<ComboBox ItemsSource="{Binding RobotActions}" DisplayMemberPath="Value" SelectedValuePath="Key" SelectedValue="{Binding RobotAction}" Height="30" Width="200" Margin="10,0"/>
<Button Content="动作启动" Width="100" Margin="10,5" Command="{Binding RobotActionStartCommand}"/>
<Button Content="机器人上使能" Width="110" Margin="10,5" Command="{Binding RobotEnableCommand}"/>
<TextBlock Text="主程序任务" Margin="10,5"/>
<ComboBox ItemsSource="{Binding RobotMainTask}" SelectedValue="{Binding MainTask}" Height="30" Width="200" Margin="10,0"/>
<Button Content="任务设定" Width="100" Margin="10,5" Command="{Binding RobotActionCommand}" CommandParameter="0"/>
<TextBlock Text="主程序炒制任务1" Margin="30,5,10,0"/>
<ComboBox ItemsSource="{Binding RobotSubTask1}" SelectedValue="{Binding SubTask1}" Height="30" Width="200" Margin="10,0"/>
<Button Content="任务设定" Width="100" Margin="10,5" Command="{Binding RobotActionCommand}" CommandParameter="1"/>
<TextBlock Text="主程序炒制任务2" Margin="30,5,10,0"/>
<ComboBox ItemsSource="{Binding RobotSubTask2}" SelectedValue="{Binding SubTask2}" Height="30" Width="200" Margin="10,0"/>
<Button Content="任务设定" Width="100" Margin="10,5" Command="{Binding RobotActionCommand}" CommandParameter="2"/>
<TextBlock Text="子程序补料任务1" Margin="30,5,10,0"/>
<ComboBox ItemsSource="{Binding RobotSubTask3}" SelectedValue="{Binding SubTask3}" Height="30" Width="200" Margin="10,0"/>
<Button Content="任务设定" Width="100" Margin="10,5" Command="{Binding RobotActionCommand}" CommandParameter="3"/>
<TextBlock Text="子程序补料任务2" Margin="30,5,10,0"/>
<ComboBox ItemsSource="{Binding RobotSubTask4}" SelectedValue="{Binding SubTask4}" Height="30" Width="200" Margin="10,0"/>
<Button Content="任务设定" Width="100" Margin="10,5" Command="{Binding RobotActionCommand}" CommandParameter="4"/>
</WrapPanel>
</GroupBox>
</Grid>


+ 5
- 3
BPASmartClient.MorkBF/VIew/FoodManagerView.xaml View File

@@ -23,7 +23,7 @@
</ResourceDictionary>
</Window.Resources>
<Border CornerRadius="1,60,00,70" Background="#1E1E1E" >
<Grid MouseLeftButtonDown="Grid_MouseLeftButtonDown">
<Grid MouseLeftButtonDown="Grid_MouseLeftButtonDown" Margin="0,-4,0,4">
<Grid.Background>
<ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/不规则矩形.png"/>
</Grid.Background>
@@ -40,12 +40,12 @@
<Button Content="退出" Margin="10,0" Style="{StaticResource ButtonStyle}" Height="36" Width="80" Click="Button_Click"/>
</StackPanel>
<Grid Grid.Row="1">
<ListBox ItemsSource="{Binding FryPotProcesses}" FontSize="15">
<ListBox ItemsSource="{Binding FryPotProcesses}" FontSize="15" x:Name="mylist">
<ListBox.ItemTemplate>
<DataTemplate>
<StackPanel Orientation="Horizontal" Margin="0,10">
<TextBlock Text="步骤--" Margin="10,0,2,0" VerticalAlignment="Center"/>
<TextBlock Text="{Binding FryTime}" VerticalAlignment="Center"/>
<TextBlock Text="{Binding FryTime,Mode=TwoWay}" VerticalAlignment="Center"/>
<TextBlock Text="加热时间--" Margin="10,0,2,0" VerticalAlignment="Center"/>
<TextBox Text="{Binding FryDuration}" Margin="10,0" Width="40" VerticalAlignment="Center"/>
<TextBlock Text="动作--" Margin="10,0,2,0" VerticalAlignment="Center"/>
@@ -66,6 +66,8 @@
Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
<TextBox Text="{Binding accessories[0].Loc}" VerticalAlignment="Center" Width="50"
Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
<Button Content="删除" Margin="10,0" Command="{Binding DataContext.DeleteCommand, RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}"
CommandParameter="{Binding DataContext,RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}"/>
</StackPanel>
</DataTemplate>
</ListBox.ItemTemplate>


+ 1
- 0
BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs View File

@@ -29,6 +29,7 @@ namespace BPASmartClient.MorkBF.VIew
{
this.Close();
}), "FoodManagerViewClose");
}

private void Button_Click(object sender, RoutedEventArgs e)


+ 48
- 72
BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs View File

@@ -322,25 +322,23 @@ namespace BPASmartClient.MorkBF.ViewModel


#region 机器人
public Dictionary<int,string> RobotActions { get; set; } = new Dictionary<int, string>()
{
{0, "无任务"},
{1, "取1号炒锅荤菜盆倒1号炒锅"},
{2, "取1号炒锅素菜盆1倒1号炒锅"},
{3, "取1号炒锅素菜盆2倒1号炒锅"},
{4, "取1号炒锅调料盆倒入1号炒锅"},
{5, "取1号炒锅辅料盆1倒入1号炒锅"},
{6, "取1号空盆出餐"},
{20, "取2号炒锅荤菜盆1倒1号炒锅"},
{21, "取2号炒锅素菜盆1倒1号炒锅"},
{22, "取2号炒锅素菜盆2倒1号炒锅"},
{23, "取2号炒锅调料盆倒入1号炒锅"},
{24, "取2号炒锅辅料盆1倒入1号炒锅"},
{25, "取2号空盆出餐"},
};
public ObservableCollection<MainTask> RobotMainTask { get; set; } = new ObservableCollection<MainTask>(Enum.GetValues<MainTask>());
public ObservableCollection<SubTask1> RobotSubTask1 { get; set; } = new ObservableCollection<SubTask1>(Enum.GetValues<SubTask1>());
public ObservableCollection<SubTask2> RobotSubTask2 { get; set; } = new ObservableCollection<SubTask2>(Enum.GetValues<SubTask2>());
public ObservableCollection<SubTask3> RobotSubTask3 { get; set; } = new ObservableCollection<SubTask3>(Enum.GetValues<SubTask3>());
public ObservableCollection<SubTask4> RobotSubTask4 { get; set; } = new ObservableCollection<SubTask4>(Enum.GetValues<SubTask4>());

[ObservableProperty]
private int _robotAction;
private MainTask _mainTask;
[ObservableProperty]
private SubTask1 _subTask1;
[ObservableProperty]
private SubTask2 _subTask2;
[ObservableProperty]
private SubTask3 _subTask3;
[ObservableProperty]
private SubTask4 _subTask4;

/// <summary>
/// 机器人启动
/// </summary>
@@ -366,74 +364,52 @@ namespace BPASmartClient.MorkBF.ViewModel
ActionManage.GetInstance.Send("RobotReset");
}
/// <summary>
/// 程序启动
/// </summary>
[RelayCommand]
private void RobotProgramStart()
{
ActionManage.GetInstance.Send("RobotProgramStart");
}
/// <summary>
/// 1号炒锅允许机器人投料
/// 机器人上使能
/// </summary>
[RelayCommand]
private void Robot_Pot1AllowInMaterail()
private void RobotEnable()
{
ActionManage.GetInstance.Send("Robot_Pot1AllowInMaterail");
}
/// <summary>
/// 1号炒锅出餐倒料到减速位
/// </summary>
[RelayCommand]
private void Robot_Pot1OutFoodInSlowDown()
{
ActionManage.GetInstance.Send("Robot_Pot1OutFoodInSlowDown");
}
/// <summary>
/// 1号炒锅出餐倒料完成
/// </summary>
[RelayCommand]
private void Robot_Pot1OutFood()
{
ActionManage.GetInstance.Send("Robot_Pot1OutFood");
}
/// <summary>
/// 2号炒锅允许机器人投料
/// </summary>
[RelayCommand]
private void Robot_Pot2AllowInMaterail()
{
ActionManage.GetInstance.Send("Robot_Pot2AllowInMaterail");
}
/// <summary>
/// 2号炒锅出餐倒料到减速位
/// </summary>
[RelayCommand]
private void Robot_Pot2OutFoodInSlowDown()
{
ActionManage.GetInstance.Send("Robot_Pot2OutFoodInSlowDown");
}
/// <summary>
/// 2号炒锅出餐倒料完成
/// </summary>
[RelayCommand]
private void Robot_Pot2OutFood()
{
ActionManage.GetInstance.Send("Robot_Pot2OutFood");
ActionManage.GetInstance.Send("RobotEnable");
}

/// <summary>
/// 机器人动作启动
/// 机器人动作
/// </summary>
[RelayCommand]
private void RobotActionStart()
private void RobotAction(object o)
{
ActionManage.GetInstance.Send("RobotProgramStart",RobotAction );
if(int.TryParse(o.ToString(), out int value))
{
object item = new object();
switch (value)
{
case 0:
item = MainTask;
break;
case 1:
item = SubTask1;
break;
case 2:
item = SubTask2;
break;
case 3:
item = SubTask3;
break;
case 4:
item = SubTask4;
break;
default:
break;
}
ActionManage.GetInstance.Send("RobotAction", new object[] { value, item });
}
}


#endregion




}
}

+ 12
- 2
BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs View File

@@ -7,6 +7,7 @@ using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;

namespace BPASmartClient.MorkBF.ViewModel
{
@@ -69,10 +70,19 @@ namespace BPASmartClient.MorkBF.ViewModel
if (o == null) return;
if (o is FryPotProcess value)
{

foreach (var item in FryPotProcesses)
{
if (item.FryTime > value.FryTime)
{
Application.Current?.Dispatcher.Invoke(new Action(() =>
{
item.FryTime -= 1;
}));
}
}
FryPotProcesses.Remove(value);
}
ActionManage.GetInstance.Send("更新菜单");

}




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