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菜品库流程优化，改为通过校准获取各参数。

样式分支
yahaha 1 year ago
parent
5561d6b2e1
commit
a31a3189d4
6 changed files with 1063 additions and 779 deletions
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  1. +251
    -161
      BPASmartClient.MorkF/Control_MorkF.cs
  2. +17
    -0
      BPASmartClient.MorkF/Model/MaterialCoordinate.cs
  3. +34
    -46
      BPASmartClient.MorkF/View/DebugView.xaml
  4. +618
    -562
      BPASmartClient.MorkF/View/MaterialCalibration.xaml
  5. +4
    -0
      BPASmartClient.MorkF/ViewModel/DebugViewModel.cs
  6. +139
    -10
      BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs

+ 251
- 161
BPASmartClient.MorkF/Control_MorkF.cs View File

@@ -57,14 +57,19 @@ namespace BPASmartClient.MorkF
//传感器到菜品库的高度（坐标系）
private const int materialLaserHigh = 34500;

/// <summary>
/// 菜品盒坐标系高度
/// </summary>
private const int materialBoxHeight = 9500;

//传感器1到菜品库的高度（厘米）
private const int materialLaserHighCM_1 = 29;
private const int materialLaserHighCM_1 = 22;

//传感器2到菜品库的高度（厘米）
private const int materialLaserHighCM_2 = 29;
private const int materialLaserHighCM_2 = 27;

//传感器3到菜品库的高度（厘米）
private const int materialLaserHighCM_3 = 29;
private const int materialLaserHighCM_3 = 31;

/// <summary>
/// 传感器到隔板的距离（坐标系）
@@ -164,6 +169,12 @@ namespace BPASmartClient.MorkF
{
MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
MaterialCoordinate.GetInstance().MLCoordinateList = materialCoordinate.MLCoordinateList;
MaterialCoordinate.GetInstance().distance_1 = materialCoordinate.distance_1;
MaterialCoordinate.GetInstance().distance_2 = materialCoordinate.distance_2;
MaterialCoordinate.GetInstance().distance_3 = materialCoordinate.distance_3;
MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;
MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
}
////菜品库编号与坐标系对象存储
//SaveMaterialCoordinate();
@@ -555,6 +566,22 @@ namespace BPASmartClient.MorkF
}), "StopStir");
}), "StopStir");

ActionManage.GetInstance.Register(new Action(() =>
{
ThreadManage.GetInstance().Start(new Action(() =>
{
MagnetOn(fryIndex);
}), "MagnetOn");
}), "MagnetOn");

ActionManage.GetInstance.Register(new Action(() =>
{
ThreadManage.GetInstance().Start(new Action(() =>
{
MagnetOff(fryIndex);
}), "MagnetOff");
}), "MagnetOff");

ActionManage.GetInstance.Register(new Action(() =>
{
ThreadManage.GetInstance().Start(new Action(() =>
@@ -855,15 +882,15 @@ namespace BPASmartClient.MorkF
/// <param name="o">电磁阀启停：true：启动。false：停止。</param>
public void PawExtend()
{
//if (!ml_morkf.InitialComplete)
//{
// MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
// return;
//}
if (!ml_morkf.InitialComplete)
{
MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
return;
}

MaterailLibrary_Write("M0.6", true);
//等待爪子伸出延时4s
Thread.Sleep(4200);
Thread.Sleep(6000);
}
/// <summary>
/// 爪子收缩
@@ -871,15 +898,15 @@ namespace BPASmartClient.MorkF
/// <param name="o">电磁阀启停：true：启动。false：停止。</param>
public void PawShrink()
{
//if (!ml_morkf.InitialComplete)
//{
// MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
// return;
//}
if (!ml_morkf.InitialComplete)
{
MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
return;
}

MaterailLibrary_Write("M0.7", true);
//等待爪子收缩延时4s
Thread.Sleep(4200);
Thread.Sleep(6000);
}
/// <summary>
/// 电磁阀启停
@@ -910,6 +937,9 @@ namespace BPASmartClient.MorkF

MessageLog.GetInstance.Show("爪子去到1号位");
MaterailLibrary_Write("M1.0", true);

Thread.Sleep(500);

for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortOne; i++)
{
Thread.Sleep(materialSleepTime);
@@ -936,6 +966,9 @@ namespace BPASmartClient.MorkF

MessageLog.GetInstance.Show("爪子去到2号位");
MaterailLibrary_Write("M1.1", true);

Thread.Sleep(500);

for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortTwo; i++)
{
Thread.Sleep(materialSleepTime);
@@ -962,6 +995,9 @@ namespace BPASmartClient.MorkF

MessageLog.GetInstance.Show("爪子去到3号位");
MaterailLibrary_Write("M1.2", true);

Thread.Sleep(500);

for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortThree; i++)
{
Thread.Sleep(materialSleepTime);
@@ -993,6 +1029,8 @@ namespace BPASmartClient.MorkF
MessageLog.GetInstance.Show("1号测距开启完成");
MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");

ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "1",ml_morkf.LaserDistance.ToString() });//通知获取测距界面

return true;
}
public bool GetDistance_2()
@@ -1009,6 +1047,9 @@ namespace BPASmartClient.MorkF

MessageLog.GetInstance.Show("2号测距开启完成");
MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");

ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "2", ml_morkf.LaserDistance.ToString() });//通知获取测距界面

return true;
}
public bool GetDistance_3()
@@ -1025,9 +1066,21 @@ namespace BPASmartClient.MorkF

MessageLog.GetInstance.Show("3号测距开启完成");
MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");

ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "3", ml_morkf.LaserDistance.ToString() });//通知获取测距界面

return true;
}

/// <summary>
/// 写入传感器距离
/// </summary>
/// <param name="distance"></param>
public void WriteDistance(int distance)
{
MaterailLibrary_Write("VW270", distance);
}

/// <summary>
/// 根据x坐标获取传感器距离
/// </summary>
@@ -1220,24 +1273,27 @@ namespace BPASmartClient.MorkF
//获取传感器的距离，转换成坐标系的点
int laserHigh = ml_morkf.LaserDistance;

//秦工要求读取后置0
WriteDistance(0);

MessageLog.GetInstance.Show($"传感器的距离{laserHigh}");

if (laserHigh > 29)
{
MessageLog.GetInstance.Show("错误：传感器获取数据大于隔板与传感器之间的距离");
return false;
}
//if (laserHigh > 29)
//{
// MessageLog.GetInstance.Show("错误：传感器获取数据大于隔板与传感器之间的距离");
// return false;
//}

int moveX = 0;
if (LaserDistance2Coordinate(laserHigh, x, out moveX) != Laser2CoordinateState.MaterialNormal)
{
MessageLog.GetInstance.Show("错误：传感器距离转坐标值失败");
MessageLog.GetInstance.ShowEx("错误：传感器距离转坐标值失败");
return false;
}

if(x < moveX)
{
MessageLog.GetInstance.Show("错误：传感器距离转坐标值大于当前x轴坐标");
MessageLog.GetInstance.ShowEx("错误：传感器距离转坐标值大于当前x轴坐标");
return false;
}

@@ -1260,15 +1316,15 @@ namespace BPASmartClient.MorkF

#endif

//伸出爪子
PawExtend();

//移动前开启电磁阀
Electromagnetism(new List<bool> { false });
Thread.Sleep(500);

//伸出爪子
PawExtend();

//设置到该层菜品库最高处
if (!SetArmPosition(x - materialHigh, y))
//菜品盒子出菜品库，往上移动一个盒子的距离
if (!SetArmPosition(x - moveX - materialBoxHeight, y))
{
return false;
}
@@ -1300,13 +1356,13 @@ namespace BPASmartClient.MorkF
//根据炒锅不同设置不同的出菜处
if (fryNum % 2 == 0)
{
x = materialPutPositionXFry1;
y = materialPutPositionYFry1;
x = MaterialCoordinate.GetInstance().frying1.X;
y = MaterialCoordinate.GetInstance().frying1.Y;
}
else
{
x = materialPutPositionXFry2;
y = materialPutPositionYFry2;
x = MaterialCoordinate.GetInstance().frying2.X;
y = MaterialCoordinate.GetInstance().frying2.Y;
}

//设置到炒锅1出菜处
@@ -1332,15 +1388,15 @@ namespace BPASmartClient.MorkF
Electromagnetism(new List<bool> { true });
Thread.Sleep(300);

//收缩爪子
PawShrink();

//设置到炒锅i出菜处
if (!SetArmPosition(x + materialToFryDistance, y))
{
return false;
}

//收缩爪子
PawShrink();

#if true
//爪子回到2号位
if (!PawToPoint2())
@@ -1396,6 +1452,10 @@ namespace BPASmartClient.MorkF

//获取传感器的距离
int laserHigh = ml_morkf.LaserDistance;

//秦工要求读取后置0
WriteDistance(0);

int surplus = 0;
//根据距离算出菜品余量
Laser2CoordinateState state = LaserDistance2MaterialCount(laserHigh, out surplus);
@@ -1425,117 +1485,139 @@ namespace BPASmartClient.MorkF
/// <param name="distance"></param>
/// <param name="x_high"></param>
/// <returns></returns>
public Laser2CoordinateState LaserDistance2Coordinate(int distance,int x,out int x_high)
public Laser2CoordinateState LaserDistance2Coordinate(int distance, int x, out int x_high)
{
x_high = 0;
int heightDifferent = 0;
int boxCount = 0;
//传感器高度小于6，无法移出，菜品库满
if (distance < 60)
{
MessageLog.GetInstance.ShowEx("错误：传感器距离不满足出菜高度");
return Laser2CoordinateState.MaterialOverdo;
}
try
{
if (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
{
//菜盒放多了
if (distance < 10)
{
return Laser2CoordinateState.MaterialOverdo;
}
else if (distance >= 10 && distance < 15)
{
x_high = 11441;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 15 && distance < 19)
{
x_high = 5720;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 19 && distance < 23)
{
x_high = 0;
return Laser2CoordinateState.MaterialNormal;
}
else
{
return Laser2CoordinateState.MaterialEmpty;
}
heightDifferent = MaterialCoordinate.GetInstance().distance_1 - distance;
////菜盒放多了
//if (heightDifferent < 10)
//{
// return Laser2CoordinateState.MaterialOverdo;
//}
//else if (distance >= 10 && distance < 15)
//{
// x_high = 11441;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 15 && distance < 19)
//{
// x_high = 5720;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 19 && distance < 23)
//{
// x_high = 0;
// return Laser2CoordinateState.MaterialNormal;
//}
//else
//{
// return Laser2CoordinateState.MaterialEmpty;
//}
}
else if (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
{
//菜盒放多了
if (distance < 6)
{
return Laser2CoordinateState.MaterialOverdo;
}
else if (distance >= 6 && distance < 10)
{
x_high = 24882;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 10 && distance < 15)
{
x_high = 18661;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 15 && distance < 19)
{
x_high = 12441;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 19 && distance < 23)
{
x_high = 6220;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 23 && distance < 28)
{
x_high = 0;
return Laser2CoordinateState.MaterialNormal;
}
else
{
return Laser2CoordinateState.MaterialEmpty;
}
heightDifferent = MaterialCoordinate.GetInstance().distance_2 - distance;
////菜盒放多了
//if (distance < 6)
//{
// return Laser2CoordinateState.MaterialOverdo;
//}
//else if (distance >= 6 && distance < 10)
//{
// x_high = 24882;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 10 && distance < 15)
//{
// x_high = 18661;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 15 && distance < 19)
//{
// x_high = 12441;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 19 && distance < 23)
//{
// x_high = 6220;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 23 && distance < 28)
//{
// x_high = 0;
// return Laser2CoordinateState.MaterialNormal;
//}
//else
//{
// return Laser2CoordinateState.MaterialEmpty;
//}
}
else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X)
{
//菜盒放多了
if (distance < 7)
{
return Laser2CoordinateState.MaterialOverdo;
}
else if (distance >= 7 && distance < 12)
{
x_high = 24882;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 12 && distance < 17)
{
x_high = 18661;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 17 && distance < 21)
{
x_high = 12441;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 21 && distance < 26)
{
x_high = 6220;
return Laser2CoordinateState.MaterialNormal;
}
else if (distance >= 26 && distance < 30)
{
x_high = 0;
return Laser2CoordinateState.MaterialNormal;
}
else
{
return Laser2CoordinateState.MaterialEmpty;
}
heightDifferent = MaterialCoordinate.GetInstance().distance_3 - distance;
////菜盒放多了
//if (distance < 7)
//{
// return Laser2CoordinateState.MaterialOverdo;
//}
//else if (distance >= 7 && distance < 12)
//{
// x_high = 24882;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 12 && distance < 17)
//{
// x_high = 18661;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 17 && distance < 21)
//{
// x_high = 12441;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 21 && distance < 26)
//{
// x_high = 6220;
// return Laser2CoordinateState.MaterialNormal;
//}
//else if (distance >= 26 && distance < 30)
//{
// x_high = 0;
// return Laser2CoordinateState.MaterialNormal;
//}
//else
//{
// return Laser2CoordinateState.MaterialEmpty;
//}
}
else
{

return Laser2CoordinateState.MaterialOverdo;
}
//盒子高度为45，但是需要考虑到误差，因此除以50
boxCount = heightDifferent / 50;
if (heightDifferent <= 20)
{
MessageLog.GetInstance.ShowEx("错误：菜品量为空");
return Laser2CoordinateState.MaterialEmpty;
}

//盒子高度计算除去起始位置的那个盒子
x_high = boxCount * materialBoxHeight;
return Laser2CoordinateState.MaterialNormal;

}
catch(Exception ex)
@@ -1977,12 +2059,20 @@ namespace BPASmartClient.MorkF
}
}

/// <summary>
/// 开启磁吸
/// </summary>
/// <param name="num"></param>
public void MagnetOn(int num)
{
FirePot_Write("LB8", false, num);
Thread.Sleep(200);
}

/// <summary>
/// 关闭磁吸
/// </summary>
/// <param name="num"></param>
public void MagnetOff(int num)
{
FirePot_Write("LB8", true, num);
@@ -2374,45 +2464,45 @@ namespace BPASmartClient.MorkF
//炒锅取菜状态置为未取到
morkFs[i].GetMaterialComplete = false;

if(testi % 2==0)
{
MaterialInfo materialInfo = new MaterialInfo();
materialInfo.Loc = "5";
materialInfo.Qty = 10;
materialInfo.Name = "肉片";
materialInfo.Id = "1232131";
materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
}
else
{
MaterialInfo materialInfo = new MaterialInfo();
materialInfo.Loc = "15";
materialInfo.Qty = 10;
materialInfo.Name = "青椒";
materialInfo.Id = "1232131";
materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
}
testi++;

//if (potActions.MaterialLists != null)
//if(testi % 2==0)
//{
// foreach (var item in potActions.MaterialLists)
// {
// //通过ID获取有效的菜品对象
// MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().GetVailedMaterial(item.MaterialId);
// if (materialInfo == null)
// {
// MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品[{item.MaterialId}]失败，库存不足");
// continue;
// }

// materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
// }
// MaterialInfo materialInfo = new MaterialInfo();
// materialInfo.Loc = "5";
// materialInfo.Qty = 10;
// materialInfo.Name = "肉片";
// materialInfo.Id = "1232131";
// materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
//}
//else
//{
// MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品失败，菜品列表为空");
// MaterialInfo materialInfo = new MaterialInfo();
// materialInfo.Loc = "24";
// materialInfo.Qty = 10;
// materialInfo.Name = "青椒";
// materialInfo.Id = "1232131";
// materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
//}
//testi++;

if (potActions.MaterialLists != null)
{
foreach (var item in potActions.MaterialLists)
{
//通过ID获取有效的菜品对象
MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().GetVailedMaterial(item.MaterialId);
if (materialInfo == null)
{
MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品[{item.MaterialId}]失败，库存不足");
continue;
}

materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
}
}
else
{
MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品失败，菜品列表为空");
}
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.开启搅拌):


+ 17
- 0
BPASmartClient.MorkF/Model/MaterialCoordinate.cs View File

@@ -38,8 +38,21 @@ namespace BPASmartClient.MorkF.Model
}
}
}
//dicSpecificMaterialCoordinate.Add("MaterialHeight",new Coordinate() { X = 0,Y=0});
//dicSpecificMaterialCoordinate.Add("Fry1", new Coordinate() { X = 0, Y = 0 });
//dicSpecificMaterialCoordinate.Add("Fry2", new Coordinate() { X = 0, Y = 0 });
}

public Coordinate frying1 { get; set; } = new Coordinate() { X = 0, Y = 0 };

public Coordinate frying2 { get; set; } = new Coordinate() { X = 0, Y = 0 };

public Coordinate materialHeight { get; set; } = new Coordinate() { X = 0, Y = 0 };

public int distance_1 { get; set; } = 0;
public int distance_2 { get; set; } = 0;
public int distance_3 { get; set; } = 0;

/// <summary>
/// 更新键值对
/// </summary>
@@ -63,6 +76,10 @@ namespace BPASmartClient.MorkF.Model
/// 每个取菜点的编号与坐标字典
/// </summary>
public Dictionary<string, Coordinate> dicNoMaterialCoordinate { get; set; } = new Dictionary<string, Coordinate>();
/// <summary>
/// 每个取菜点的编号与坐标字典
/// </summary>
//public Dictionary<string, Coordinate> dicSpecificMaterialCoordinate { get; set; } = new Dictionary<string, Coordinate>();
//{
// {"A1",new Coordinate(){ X = 34500,Y=0} },
// {"A2",new Coordinate(){ X = 34500,Y=9000} },


+ 34
- 46
BPASmartClient.MorkF/View/DebugView.xaml View File

@@ -140,57 +140,45 @@
</WrapPanel>
</GroupBox>

<GroupBox Header="炒锅" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" Height="140">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="*"/>
<RowDefinition Height="*"/>
</Grid.RowDefinitions>
<WrapPanel VerticalAlignment="Top" Margin="0,5,0,0">
<Button Content="注油" Command="{Binding AddOil}" Margin="10,0,10,0"></Button>
<Button Content="加热启动" Command="{Binding StartFire}" Margin="10,0,10,0"></Button>
<Button Content="加热停止" Command="{Binding StopFire}" Margin="10,0,10,0"></Button>
<Button Content="搅拌启动" Command="{Binding StartStir}" Margin="10,0,10,0" Cursor="Hand"></Button>
<Button Content="搅拌停止" Command="{Binding StopStir}" Margin="10,0,15,0" Cursor="Hand"></Button>
<Button Content="倒菜启动" Command="{Binding OutFood}" Margin="10,0,15,0" Cursor="Hand"/>
<Button Content="搅拌臂去原点位" Command="{Binding StirArmGoOrigin}" Margin="10,0,10,0"></Button>
<Button Content="搅拌臂去炒制位" Command="{Binding StirArmGoWork}" Margin="10,0,10,0"></Button>
<Button Content="HBOT放盒子到位" Command="{Binding HBOTGoWork}" Margin="10,0,10,0"></Button>
<Button Content="出餐启动" Command="{Binding OutMeal}" Margin="10,0,10,0"></Button>
</WrapPanel>
<GroupBox Header="炒锅" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" Height="140">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="*"/>
<RowDefinition Height="*"/>
<RowDefinition Height="*"/>
</Grid.RowDefinitions>
<WrapPanel VerticalAlignment="Top" Margin="0,5,0,0">
<Button Content="注油" Command="{Binding AddOil}" Margin="10,0,10,0"></Button>
<Button Content="倒菜启动" Command="{Binding OutFood}" Margin="10,0,15,0" Cursor="Hand"/>
<Button Content="搅拌臂去原点位" Command="{Binding StirArmGoOrigin}" Margin="10,0,10,0"></Button>
<Button Content="搅拌臂去炒制位" Command="{Binding StirArmGoWork}" Margin="10,0,10,0"></Button>
<Button Content="HBOT放盒子到位" Command="{Binding HBOTGoWork}" Margin="10,0,10,0"></Button>
<Button Content="出餐启动" Command="{Binding OutMeal}" Margin="10,0,10,0"></Button>
</WrapPanel>
<WrapPanel Grid.Row="1" VerticalAlignment="Top" Margin="0,5,0,0">
<Button Content="加热启动" Command="{Binding StartFire}" Margin="10,0,10,0"></Button>
<Button Content="加热停止" Command="{Binding StopFire}" Margin="10,0,10,0"></Button>
<Button Content="搅拌启动" Command="{Binding StartStir}" Margin="10,0,10,0" Cursor="Hand"></Button>
<Button Content="搅拌停止" Command="{Binding StopStir}" Margin="10,0,15,0" Cursor="Hand"></Button>
<Button Content="开启磁吸" Command="{Binding MagnetOn}" Margin="10,0,15,0" Cursor="Hand"></Button>
<Button Content="关闭磁吸" Command="{Binding MagnetOff}" Margin="10,0,15,0" Cursor="Hand"></Button>
</WrapPanel>

<WrapPanel Grid.Row="2">
<TextBlock Text="加热挡位:" Margin="10,0,0,0" />
<ComboBox ItemsSource="{Binding lstFire}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
<WrapPanel Grid.Row="2">
<TextBlock Text="加热挡位:" Margin="10,0,0,0" />
<ComboBox ItemsSource="{Binding lstFire}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
SelectedValue="{Binding FireGear}"/>
<Button Content="设定" Margin="0,0,30,0" Command="{Binding SetFire}"/>
<TextBlock Text="搅拌挡位:" Margin="10,0,0,0" />
<ComboBox ItemsSource="{Binding lstStir}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
<Button Content="设定" Margin="0,0,30,0" Command="{Binding SetFire}"/>
<TextBlock Text="搅拌挡位:" Margin="10,0,0,0" />
<ComboBox ItemsSource="{Binding lstStir}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
SelectedValue="{Binding StirGear}"/>
<Button Content="设定" Margin="0,0,30,0" Command="{Binding SetStir}"/>
</WrapPanel>
</Grid>
<Button Content="设定" Margin="0,0,30,0" Command="{Binding SetStir}"/>
</WrapPanel>
</Grid>

</GroupBox>
<GroupBox Header="炒锅" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" Height="140">
<WrapPanel VerticalAlignment="Top" Margin="0,5,0,0">
<Button Content="注油" Command="{Binding SecAddOil}" Margin="10,0,10,0"></Button>
<Button Content="加热关闭" Command="{Binding SecTempTurnOff}" Margin="10,0,10,0"></Button>
<Button Content="加热1挡" Command="{Binding SecOneBlock}" Margin="10,0,10,0"></Button>
<Button Content="加热2挡" Command="{Binding SecTwoBlock}" Margin="10,0,10,0"></Button>
<Button Content="加热3挡" Command="{Binding SecThreeBlock}" Margin="10,0,10,0"></Button>
<Button Content="翻炒机关闭" Command="{Binding SecOverTurnOff}" Margin="10,0,10,0" Cursor="Hand"></Button>
<Button Content="翻炒机上升" Command="{Binding SecOverGoOn}" Margin="10,0,15,0" Cursor="Hand"></Button>
<Button Content="翻炒机下降" Command="{Binding SecOverGoDown}" Margin="10,0,10,0"></Button>
<Button Content="翻炒机1挡" Command="{Binding SecOverOneBlock}" Margin="10,0,10,0"></Button>
<Button Content="翻炒机2挡" Command="{Binding SecOverTwoBlock}" Margin="10,0,10,0"></Button>
<Button Content="翻炒机3挡" Command="{Binding SecOverThreeBlock}" Margin="10,0,10,0"></Button>

</WrapPanel>

</GroupBox>
</GroupBox>

</StackPanel>
</StackPanel>

</Grid>
</ScrollViewer>


+ 618
- 562
BPASmartClient.MorkF/View/MaterialCalibration.xaml
File diff suppressed because it is too large
View File


+ 4
- 0
BPASmartClient.MorkF/ViewModel/DebugViewModel.cs View File

@@ -136,6 +136,8 @@ namespace BPASmartClient.MorkF.ViewModel
public RelayCommand StopFire { get; set; }
public RelayCommand StartStir { get; set; }
public RelayCommand StopStir { get; set; }
public RelayCommand MagnetOn { get; set; }
public RelayCommand MagnetOff { get; set; }
public RelayCommand OutFood { get; set; }
public RelayCommand StirArmGoOrigin { get; set; }
public RelayCommand StirArmGoWork { get; set; }
@@ -269,6 +271,8 @@ namespace BPASmartClient.MorkF.ViewModel
StopFire = new RelayCommand(() => { ActionManage.GetInstance.Send("StopFire"); });//加热停止
StartStir = new RelayCommand(() => { ActionManage.GetInstance.Send("StartStir"); });//搅拌启动
StopStir = new RelayCommand(() => { ActionManage.GetInstance.Send("StopStir"); });//搅拌停止
MagnetOn = new RelayCommand(() => { ActionManage.GetInstance.Send("MagnetOn"); });//磁吸开启
MagnetOff = new RelayCommand(() => { ActionManage.GetInstance.Send("MagnetOff"); });//磁吸开启
OutFood = new RelayCommand(() => { ActionManage.GetInstance.Send("OutFood"); });//倒菜启动
StirArmGoOrigin = new RelayCommand(() => { ActionManage.GetInstance.Send("StirArmGoOrigin"); });//搅拌臂去原点位
StirArmGoWork = new RelayCommand(() => { ActionManage.GetInstance.Send("StirArmGoWork"); });//搅拌臂去炒制位


+ 139
- 10
BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs View File

@@ -231,7 +231,38 @@ namespace BPASmartClient.MorkF.ViewModel
public int TwentySevenY { get { return _TwentySevenY; } set { _TwentySevenY = value; OnPropertyChanged(); } }
private int _TwentySevenY;
#endregion

#region 菜品库高度测距点位
public bool PositionMaterialHeight { get { return _PositionMaterialHeight; } set { _PositionMaterialHeight = value; OnPropertyChanged(); } }
private bool _PositionMaterialHeight;
public int MaterialHeightX { get { return _MaterialHeightX; } set { _MaterialHeightX = value; OnPropertyChanged(); } }
private int _MaterialHeightX;
public int MaterialHeightY { get { return _MaterialHeightY; } set { _MaterialHeightY = value; OnPropertyChanged(); } }
private int _MaterialHeightY;
#endregion
#region 炒锅1菜品交互位置
public bool PositionFrying1 { get { return _PositionFrying1; } set { _PositionFrying1 = value; OnPropertyChanged(); } }
private bool _PositionFrying1;
public int Frying1X { get { return _Frying1X; } set { _Frying1X = value; OnPropertyChanged(); } }
private int _Frying1X;
public int Frying1Y { get { return _Frying1Y; } set { _Frying1Y = value; OnPropertyChanged(); } }
private int _Frying1Y;
#endregion
#region 炒锅2菜品交互位置
public bool PositionFrying2 { get { return _PositionFrying2; } set { _PositionFrying2 = value; OnPropertyChanged(); } }
private bool _PositionFrying2;
public int Frying2X { get { return _Frying2X; } set { _Frying2X = value; OnPropertyChanged(); } }
private int _Frying2X;
public int Frying2Y { get { return _Frying2Y; } set { _Frying2Y = value; OnPropertyChanged(); } }
private int _Frying2Y;
#endregion
#region 菜品库各传感器高度临时值
public int Distance_1 { get { return _Distance_1; } set { _Distance_1 = value; OnPropertyChanged(); } }
private int _Distance_1;
public int Distance_2 { get { return _Distance_2; } set { _Distance_2 = value; OnPropertyChanged(); } }
private int _Distance_2;
public int Distance_3 { get { return _Distance_3; } set { _Distance_3 = value; OnPropertyChanged(); } }
private int _Distance_3;
#endregion
public bool Up { get { return _Up; } set { _Up = value; OnPropertyChanged(); } }
private bool _Up;

@@ -251,14 +282,6 @@ namespace BPASmartClient.MorkF.ViewModel

private string _str;

public RelayCommand FoodLibInit { get; set; }//初始化
public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
public RelayCommand StopElectromagnetism { get; set; }
public RelayCommand PawTurnFront { get; set; }//夹爪正转
public RelayCommand PawTurnBack { get; set; }//夹爪反转
public RelayCommand PawToPoint1 { get; set; }//感应测距1
public RelayCommand PawToPoint2 { get; set; }//感应测距2
public RelayCommand PawToPoint3 { get; set; }//感应测距3
/// <summary>
/// 操作时，x轴移动的距离
/// </summary>
@@ -309,6 +332,18 @@ namespace BPASmartClient.MorkF.ViewModel

public RelayCommand SetNowDownPosition { get; set; }//设置机械臂基于当前坐标往下移动

public RelayCommand FoodLibInit { get; set; }//初始化
public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
public RelayCommand StopElectromagnetism { get; set; }
public RelayCommand PawTurnFront { get; set; }//夹爪正转
public RelayCommand PawTurnBack { get; set; }//夹爪反转
public RelayCommand PawToPoint1 { get; set; }//感应测距1
public RelayCommand PawToPoint2 { get; set; }//感应测距2
public RelayCommand PawToPoint3 { get; set; }//感应测距3
public RelayCommand GetDistance_1 { get; set; }//感应测距1
public RelayCommand GetDistance_2 { get; set; }//感应测距2
public RelayCommand GetDistance_3 { get; set; }//感应测距3

private static object saveMaterialCoordinateLock = new object();
/// <summary>
/// 保存当前的坐标系
@@ -434,8 +469,23 @@ namespace BPASmartClient.MorkF.ViewModel
}
}

materialCoordinate.frying1.X = Frying1X;
materialCoordinate.frying1.Y = Frying1Y;
materialCoordinate.frying2.X = Frying2X;
materialCoordinate.frying2.Y = Frying2Y;
materialCoordinate.materialHeight.X = MaterialHeightX;
materialCoordinate.materialHeight.Y = MaterialHeightY;
materialCoordinate.distance_1 = Distance_1;
materialCoordinate.distance_2 = Distance_2;
materialCoordinate.distance_3 = Distance_3;

Json<MaterialCoordinate>.Data = materialCoordinate;
Json<MaterialCoordinate>.Save();
//更新当前的菜品库数据
MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;
MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
}

/// <summary>
@@ -463,6 +513,11 @@ namespace BPASmartClient.MorkF.ViewModel
{
MaterialCoordinate materialCoordinate = ReadMaterialCoordinate();

if(materialCoordinate == null)
{
return;
}

if (materialCoordinate.dicNoMaterialCoordinate.Count == 27)
{
foreach (var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)
@@ -577,12 +632,33 @@ namespace BPASmartClient.MorkF.ViewModel
TwentySevenX = dicNoMaterialCoordinate.Value.X;
TwentySevenY = dicNoMaterialCoordinate.Value.Y;
break;
case "MaterialHeight":
MaterialHeightX = materialCoordinate.materialHeight.X;
MaterialHeightY = materialCoordinate.materialHeight.Y;
break;
case "Frying1":
Frying1X = materialCoordinate.frying1.X;
Frying1Y = materialCoordinate.frying1.Y;
break;
case "Frying2":
Frying2X = materialCoordinate.frying2.X;
Frying2Y = materialCoordinate.frying2.Y;
break;
default:
break;
}
}
}

MaterialHeightX = materialCoordinate.materialHeight.X;
MaterialHeightY = materialCoordinate.materialHeight.Y;
Frying1X = materialCoordinate.frying1.X;
Frying1Y = materialCoordinate.frying1.Y;
Frying2X = materialCoordinate.frying2.X;
Frying2Y = materialCoordinate.frying2.Y;
Distance_1 = materialCoordinate.distance_1;
Distance_2 = materialCoordinate.distance_2;
Distance_3 = materialCoordinate.distance_3;
}

/// <summary>
@@ -701,6 +777,18 @@ namespace BPASmartClient.MorkF.ViewModel
TwentySevenX = TwentySevenX + OperationX;
TwentySevenY = TwentySevenY + OperationY;
break;
case "MaterialHeight":
MaterialHeightX = MaterialHeightX + OperationX;
MaterialHeightY = MaterialHeightY + OperationY;
break;
case "Frying1":
Frying1X = Frying1X + OperationX;
Frying1Y = Frying1Y + OperationY;
break;
case "Frying2":
Frying2X = Frying1X + OperationX;
Frying2Y = Frying2Y + OperationY;
break;
default:
break;
}
@@ -713,7 +801,8 @@ namespace BPASmartClient.MorkF.ViewModel
//判断是否有选择下发的设备
if (!PositionOne && !PositionTwo && !PositionThree && !PositionFour && !PositionFive && !PositionSix && !PositionSeven && !PositionEight && !PositionNine
&& !PositionTen && !PositionEleven && !PositionTwelve && !PositionThirteen && !PositionFourteen && !PositionFifteen && !PositionSixteen && !PositionSeventeen && !PositionEighteen
&& !PositionNineteen && !PositionTwenty && !PositionTwentyOne && !PositionTwentyTwo && !PositionTwentyThree && !PositionTwentyFour && !PositionTwentyFive && !PositionTwentySix && !PositionTwentySeven)
&& !PositionNineteen && !PositionTwenty && !PositionTwentyOne && !PositionTwentyTwo && !PositionTwentyThree && !PositionTwentyFour && !PositionTwentyFive && !PositionTwentySix && !PositionTwentySeven
&& !PositionMaterialHeight && !PositionFrying1 && !PositionFrying2)
{
MessageBox.Show("未选择点位");
return;
@@ -827,6 +916,18 @@ namespace BPASmartClient.MorkF.ViewModel
{
ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "27", TwentySevenX + OperationX, TwentySevenY + OperationY });//设定机械臂当前位置
}
if (PositionMaterialHeight)
{
ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialHeight", MaterialHeightX + OperationX, MaterialHeightY + OperationY });//设定机械臂当前位置
}
if (PositionFrying1)
{
ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying1", Frying1X + OperationX, Frying1Y + OperationY });//设定机械臂当前位置
}
if (PositionFrying2)
{
ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying2", Frying2X + OperationX, Frying2Y + OperationY });//设定机械臂当前位置
}
}

public MaterialCalibrationViewModel()
@@ -840,6 +941,9 @@ namespace BPASmartClient.MorkF.ViewModel
PawToPoint3 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint3"); });//爪子去3号位
PawTurnFront = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnFront"); });//夹爪正转
PawTurnBack = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnBack"); });//夹爪反转
GetDistance_1 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_1"); });//感应距离1
GetDistance_2 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_2"); });//感应距离2
GetDistance_3 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_3"); });//感应距离3

PhysicalMaterialCoordinate();
ActionManage.GetInstance.Register(new Action<object>((o) =>
@@ -852,6 +956,31 @@ namespace BPASmartClient.MorkF.ViewModel
}
}), "CalibrationCallBack");
}), "CalibrationCallBack");
ActionManage.GetInstance.Register(new Action<object>((o) =>
{
ThreadManage.GetInstance().Start(new Action(() =>
{
if (o is List<string> nums)
{
int distance = 0;
bool ret = false;
ret = int.TryParse(nums[1], out distance);
if (ret == false) { return; }
if (nums[0] == "1")
{
Distance_1= distance;
}
else if (nums[0] == "2")
{
Distance_2 = distance;
}
else if (nums[0] == "3")
{
Distance_3 = distance;
}
}
}), "GetDistanceCallBack");
}), "GetDistanceCallBack");
SetNowPosition = new RelayCommand(() =>
{
if(!Point && !Left && !Right && !Down && !Up)


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