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完善菜品库与小炒的流程。

样式分支
yahaha 2 years ago
parent
7d38d0f45a
commit
aa072a1532
3 changed files with 304 additions and 151 deletions
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  1. +263
    -150
      BPASmartClient.MorkF/Control_MorkF.cs
  2. +14
    -1
      BPASmartClient.MorkF/GVL_MorkF.cs
  3. +27
    -0
      BPASmartClient.MorkF/MaterialOperation.cs

+ 263
- 150
BPASmartClient.MorkF/Control_MorkF.cs View File

@@ -12,6 +12,7 @@ using BPASmartClient.Model.小炒机;
using BPASmartClient.MorkF.Model; using BPASmartClient.MorkF.Model;
using System.Text; using System.Text;
using System.Collections.Concurrent; using System.Collections.Concurrent;
using System.Windows.Documents;


namespace BPASmartClient.MorkF namespace BPASmartClient.MorkF
{ {
@@ -80,6 +81,11 @@ namespace BPASmartClient.MorkF
/// </summary> /// </summary>
private OrderLocInfo nowStirFryGood = null; private OrderLocInfo nowStirFryGood = null;


/// <summary>
/// 待取菜队列
/// </summary>
private ConcurrentQueue<MaterialOperation> materialOperationQuenes = new ConcurrentQueue<MaterialOperation>();

List<int> resultorder = new List<int>();//调试变量 List<int> resultorder = new List<int>();//调试变量


/// <summary> /// <summary>
@@ -102,6 +108,8 @@ namespace BPASmartClient.MorkF
CommandRegist();//调试 CommandRegist();//调试
ServerInit(); ServerInit();
DeviceProcessLogShow("MORKF 设备初始化完成"); DeviceProcessLogShow("MORKF 设备初始化完成");
///初始化菜品库
FoodLibInit();
} }


/// <summary> /// <summary>
@@ -681,9 +689,21 @@ namespace BPASmartClient.MorkF
/// <summary> /// <summary>
/// 菜品库初始化 /// 菜品库初始化
/// </summary> /// </summary>
public void FoodLibInit()
public bool FoodLibInit()
{ {
MaterailLibrary_Write("M0.2", true); MaterailLibrary_Write("M0.2", true);

for (int i = 0; i < sleepCount && !ml_morkf.InitialComplete; i++)
{
Thread.Sleep(sleepTime);
if (i >= sleepCount - 1)
{
MessageLog.GetInstance.Show("菜品库初始化超时");
return false;
}
}

return true;
} }
/// <summary> /// <summary>
/// 电磁阀启停 /// 电磁阀启停
@@ -691,6 +711,11 @@ namespace BPASmartClient.MorkF
/// <param name="o">电磁阀启停：true：启动。false：停止。</param> /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
public void Electromagnetism(object o) public void Electromagnetism(object o)
{ {
if (!ml_morkf.InitialComplete)
{
return;
}

if (o == null) return; if (o == null) return;
if (o is List<bool> bs && bs.Count == 1) if (o is List<bool> bs && bs.Count == 1)
{ {
@@ -699,6 +724,11 @@ namespace BPASmartClient.MorkF
} }
public bool GetDistance_1() public bool GetDistance_1()
{ {
if (!ml_morkf.InitialComplete)
{
return false;
}

MessageLog.GetInstance.Show("爪子去到1号位"); MessageLog.GetInstance.Show("爪子去到1号位");
MaterailLibrary_Write("M1.0", true); MaterailLibrary_Write("M1.0", true);
for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortOne; i++) for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortOne; i++)
@@ -718,6 +748,11 @@ namespace BPASmartClient.MorkF
} }
public bool GetDistance_2() public bool GetDistance_2()
{ {
if (!ml_morkf.InitialComplete)
{
return false;
}

MessageLog.GetInstance.Show("爪子去到2号位"); MessageLog.GetInstance.Show("爪子去到2号位");
MaterailLibrary_Write("M1.1", true); MaterailLibrary_Write("M1.1", true);
for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortTwo; i++) for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortTwo; i++)
@@ -737,6 +772,11 @@ namespace BPASmartClient.MorkF
} }
public bool GetDistance_3() public bool GetDistance_3()
{ {
if (!ml_morkf.InitialComplete)
{
return false;
}

MessageLog.GetInstance.Show("爪子去到3号位"); MessageLog.GetInstance.Show("爪子去到3号位");
MaterailLibrary_Write("M1.2", true); MaterailLibrary_Write("M1.2", true);
for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortThree; i++) for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortThree; i++)
@@ -770,6 +810,11 @@ namespace BPASmartClient.MorkF
/// <param name="y"></param> /// <param name="y"></param>
public bool SetArmPosition(int x, int y) public bool SetArmPosition(int x, int y)
{ {
if(!ml_morkf.InitialComplete)
{
return false;
}

//取反 //取反
x -= 2 * x; x -= 2 * x;
y -= 2 * y; y -= 2 * y;
@@ -936,6 +981,10 @@ namespace BPASmartClient.MorkF
////关闭电磁阀 ////关闭电磁阀
//Electromagnetism(new List<bool> { false }); //Electromagnetism(new List<bool> { false });
//Thread.Sleep(300); //Thread.Sleep(300);
if(morkFs.ContainsKey(fryNum))
{
morkFs[fryNum].GetMaterialComplete = true;
}
} }


/// <summary> /// <summary>
@@ -1169,13 +1218,39 @@ namespace BPASmartClient.MorkF
{ {
return; return;
} }
int i = 0;
//判断是否完成取菜
for (i = 0; i < sleepCount*2 && !morkFs[num].GetMaterialComplete; i++)
{
if(i == 3)
{
//停止搅拌
StopStir(num);
//火力设置为2档
SetFire(new List<int> { 2 }, num);
}
Thread.Sleep(sleepTime);
if (i >= sleepCount * 2 - 1)
{
MessageLog.GetInstance.Show($"炒锅{num}倒菜超时：未能等到取菜完成");
return;
}
}

if (i > 3)
{
//开启搅拌
StartStir(num);
//火力设置回原本火力
SetFire(new List<int> { morkFs[num].Fire }, num);
}


FirePot_Write("LB3", true, num); FirePot_Write("LB3", true, num);
MessageLog.GetInstance.Show("倒菜启动"); MessageLog.GetInstance.Show("倒菜启动");


Thread.Sleep(400);
Thread.Sleep(200);


for (int i = 0; i < sleepCount && !morkFs[num].FryPot1_MaterialIntoPot; i++)
for (i = 0; i < sleepCount && !morkFs[num].FryPot1_MaterialIntoPot; i++)
{ {
Thread.Sleep(sleepTime); Thread.Sleep(sleepTime);
if (i >= sleepCount - 1) if (i >= sleepCount - 1)
@@ -1571,7 +1646,7 @@ namespace BPASmartClient.MorkF
//遍历炒锅，找到合适、空闲的炒锅 //遍历炒锅，找到合适、空闲的炒锅
for(int i = 0;i<morkFs.Count;i++) for(int i = 0;i<morkFs.Count;i++)
{ {
if (/*morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete &&*/
if (morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete &&
!morkFs[i].FryWorking)//炒锅在自动状态&&初始化完成&&是否在炒菜中 !morkFs[i].FryWorking)//炒锅在自动状态&&初始化完成&&是否在炒菜中
{ {
lock(lock_MainProcessExcute) lock(lock_MainProcessExcute)
@@ -1579,161 +1654,175 @@ namespace BPASmartClient.MorkF
//待炒小炒队列出队列 //待炒小炒队列出队列
if (StirFryGoodsQuenes.TryDequeue(out var res)) if (StirFryGoodsQuenes.TryDequeue(out var res))
{ {
//设置当前炒制菜品
nowStirFryGood = res;
//炒锅工作状态置为正在工作中
morkFs[i].FryWorking = true;
//空闲炒锅入队列
morkFs[i].StirFryGoodsQuenes.Enqueue(res);
MessageLog.GetInstance.Show($"炒锅{i}开始炒制菜品{res.GoodName}");

//开启线程进行炒制
ThreadManage.GetInstance().Start(new Action(() =>
//设置当前炒制菜品
nowStirFryGood = res;
//炒锅工作状态置为正在工作中
morkFs[i].FryWorking = true;
//空闲炒锅入队列
morkFs[i].StirFryGoodsQuenes.Enqueue(res);
//炒锅取菜状态置为未取到
morkFs[i].GetMaterialComplete = false;
MessageLog.GetInstance.Show($"炒锅{i}开始炒制菜品{res.GoodName}");

//开启线程进行炒制
ThreadManage.GetInstance().Start(new Action(() =>
{
try
{ {
try
int getMaterailNum = 0;
foreach (var potActions in res.StirPotActions)
{ {
int getMaterailNum = 0;
foreach (var potActions in res.StirPotActions)
if (ThreadManage.GetInstance().IsCanncel(String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)))
{ {
if (ThreadManage.GetInstance().IsCanncel(String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)))
{
return;
}

switch (potActions.Actions)
{
case nameof(StirFryPotActionEnum.加热开启):
StartFire(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位1):
SetFire(new List<int> { 1 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位2):
SetFire(new List<int> { 2 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位3):
SetFire(new List<int> { 3 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位4):
SetFire(new List<int> { 4 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位5):
SetFire(new List<int> { 5 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位6):
SetFire(new List<int> { 6 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位7):
SetFire(new List<int> { 7 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位8):
SetFire(new List<int> { 8 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位9):
SetFire(new List<int> { 9 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位10):
SetFire(new List<int> { 10 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.停止加热):
StopFire(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.加调料):
OutSeasonings(potActions.SeasoningLists, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.取原料):
GetMaterailTest(getMaterailNum);
getMaterailNum++;
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.开启搅拌):
StartStir(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置搅拌挡位1):
SetStir(new List<int> { 1 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置搅拌挡位2):
SetStir(new List<int> { 2 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置搅拌挡位3):
SetStir(new List<int> { 3 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.关闭搅拌):
StopStir(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.出餐启动):
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.道菜启动):
OutFood(i);
break;
case nameof(StirFryPotActionEnum.炒制菜品):
Thread.Sleep(potActions.During * 1000);
break;
case nameof(StirFryPotActionEnum.搅拌臂原点位):
StirArmGoOrigin(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.搅拌臂炒制位):
StirArmGoWork(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.洗锅):
MessageLog.GetInstance.Show(potActions.Actions);
break;
default:
break;

}
return;
} }


switch (potActions.Actions)
{
case nameof(StirFryPotActionEnum.加热开启):
StartFire(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位1):
morkFs[i].Fire = 1;
SetFire(new List<int> { 1 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位2):
morkFs[i].Fire = 2;
SetFire(new List<int> { 2 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位3):
morkFs[i].Fire = 3;
SetFire(new List<int> { 3 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位4):
morkFs[i].Fire = 4;
SetFire(new List<int> { 4 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位5):
morkFs[i].Fire = 5;
SetFire(new List<int> { 5 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位6):
morkFs[i].Fire = 6;
SetFire(new List<int> { 6 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位7):
morkFs[i].Fire = 7;
SetFire(new List<int> { 7 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位8):
morkFs[i].Fire = 8;
SetFire(new List<int> { 8 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位9):
morkFs[i].Fire = 9;
SetFire(new List<int> { 9 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置加热挡位10):
morkFs[i].Fire = 10;
SetFire(new List<int> { 10 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.停止加热):
StopFire(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.加调料):
OutSeasonings(potActions.SeasoningLists, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.取原料):
//炒锅取菜状态置为未取到
morkFs[i].GetMaterialComplete = false;
materialOperationQuenes.Enqueue(new MaterialOperation() { fryNum = i, x = 0, y = 0 });
getMaterailNum++;
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.开启搅拌):
StartStir(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置搅拌挡位1):
SetStir(new List<int> { 1 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置搅拌挡位2):
SetStir(new List<int> { 2 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.设置搅拌挡位3):
SetStir(new List<int> { 3 }, i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.关闭搅拌):
StopStir(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.出餐启动):
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.道菜启动):
OutFood(i);
break;
case nameof(StirFryPotActionEnum.炒制菜品):
Thread.Sleep(potActions.During * 1000);
break;
case nameof(StirFryPotActionEnum.搅拌臂原点位):
StirArmGoOrigin(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.搅拌臂炒制位):
StirArmGoWork(i);
MessageLog.GetInstance.Show(potActions.Actions);
break;
case nameof(StirFryPotActionEnum.洗锅):
MessageLog.GetInstance.Show(potActions.Actions);
break;
default:
break;


Plc1Reset(i);//复位
Thread.Sleep(3000);
//回原点位
StirArmGoOrigin(i);
}
}


//while (!morkFs[i].ArmOnOrigin)
//{
// Thread.Sleep(100);
//}
//出餐
//OutMeal(i);
MessageLog.GetInstance.Show($"菜品{res.GoodName}完成");


Plc1Reset(i);//复位
Thread.Sleep(3000);
//回原点位
StirArmGoOrigin(i);


}
catch (Exception ex)
{
ThreadManage.GetInstance().StopTask($"炒锅{i}{res.GoodName}炒制线程");
MessageLog.GetInstance.Show($"炒锅{i}炒制菜品{res.GoodName}出错，错误信息：" + ex.Message);
}
finally
{
nowStirFryGood = null;
//炒完后出队列
morkFs[i].StirFryGoodsQuenes.TryDequeue(out var orderQueue);
morkFs[i].FryWorking = false;
}
}), String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)/*$"炒锅{i}炒制{res.GoodName}线程"*/);
//while (!morkFs[i].ArmOnOrigin)
//{
// Thread.Sleep(100);
//}
//出餐
//OutMeal(i);
MessageLog.GetInstance.Show($"菜品{res.GoodName}完成");


}
catch (Exception ex)
{
ThreadManage.GetInstance().StopTask($"炒锅{i}{res.GoodName}炒制线程");
MessageLog.GetInstance.Show($"炒锅{i}炒制菜品{res.GoodName}出错，错误信息：" + ex.Message);
}
finally
{
nowStirFryGood = null;
//炒完后出队列
morkFs[i].StirFryGoodsQuenes.TryDequeue(out var orderQueue);
morkFs[i].FryWorking = false;
}
}), String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)/*$"炒锅{i}炒制{res.GoodName}线程"*/);
} }
} }
break; break;
@@ -1742,6 +1831,30 @@ namespace BPASmartClient.MorkF
} }
} }


/// <summary>
/// 菜品库主流程
/// </summary>
private void MainProcessMaterial()
{
if(materialOperationQuenes.Count > 0)
{
//判断是否初始化与是否在工作中
if (ml_morkf.InitialComplete && !ml_morkf.MaterailIsWorking)
{
//待菜品库操作列出队列
if (materialOperationQuenes.TryDequeue(out var res))
{
ml_morkf.MaterailIsWorking = true;
MessageLog.GetInstance.Show("开始操作菜品库");
//ThreadManage.GetInstance().Start(new Action(()=>{
// GetMaterail(res.x, res.y, res.fryNum);
//}),"菜品库操作");
GetMaterailTest(res.fryNum);
}
}
}
}

/// <summary> /// <summary>
/// 信号处理 /// 信号处理
/// </summary> /// </summary>


+ 14
- 1
BPASmartClient.MorkF/GVL_MorkF.cs View File

@@ -18,7 +18,15 @@ namespace BPASmartClient.MorkF


public bool IsAuto = true; public bool IsAuto = true;


#region 炒锅1
#region 炒锅
/// <summary>
/// 炒锅上一次搅拌档位
/// </summary>
public int Stir { set; get; }
/// <summary>
/// 炒锅上一次火力
/// </summary>
public int Fire { get; set; }
/// <summary> /// <summary>
/// 炒锅是否在工作状态中 /// 炒锅是否在工作状态中
/// </summary> /// </summary>
@@ -73,6 +81,11 @@ namespace BPASmartClient.MorkF
/// </summary> /// </summary>
public bool PotOnOrigin { get; set; } public bool PotOnOrigin { get; set; }


/// <summary>
/// 获取菜品是否完成
/// </summary>
public bool GetMaterialComplete { get; set; }

#endregion #endregion


#region 调料通道 #region 调料通道


+ 27
- 0
BPASmartClient.MorkF/MaterialOperation.cs View File

@@ -0,0 +1,27 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace BPASmartClient.MorkF
{
/// <summary>
/// 菜品库操作类
/// </summary>
internal class MaterialOperation
{
/// <summary>
/// x轴坐标
/// </summary>
public int x;
/// <summary>
/// y轴坐标
/// </summary>
public int y;
/// <summary>
/// 炒锅编号
/// </summary>
public int fryNum;
}
}

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