From bbb5b314a8f3760c2b700ab36b3b1dfa5d19f075 Mon Sep 17 00:00:00 2001
From: NXX <447201003@qq>
Date: Thu, 5 Jan 2023 10:45:06 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B0=8F=E7=82=92?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 BPASmartClient.Modbus/ModbusTcp.cs    | 16 ++++++++-
 BPASmartClient.MorkF/Control_MorkF.cs | 50 ++++++++++++++++++---------
 BPASmartClient.MorkF/ML_MorkF.cs      |  4 +++
 3 files changed, 53 insertions(+), 17 deletions(-)

diff --git a/BPASmartClient.Modbus/ModbusTcp.cs b/BPASmartClient.Modbus/ModbusTcp.cs
index 711c303c..132808f6 100644
--- a/BPASmartClient.Modbus/ModbusTcp.cs
+++ b/BPASmartClient.Modbus/ModbusTcp.cs
@@ -140,7 +140,21 @@ namespace BPASmartClient.Modbus
                         }
                     }
                 }
-              
+
+                else if (address.ToUpper().Contains("I") && address.Length >= 2)
+                {
+                    var res = address.Substring(1).Split('.');
+                    if (res != null && res.Length == 2)
+                    {
+                        if (int.TryParse(res[0], out int firstAddress) && int.TryParse(res[1], out int ExitAddress))
+                        {
+                            if (ExitAddress >= 0 && ExitAddress <= 7)
+                            {
+                                return (firstAddress * 8)  + ExitAddress;
+                            }
+                        }
+                    }
+                }
                 else if (address.ToUpper().Contains("GI") && address.Length >= 3)
                 {
                     var res = address.Remove(0, 2);
diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs
index 6093e261..2d687cdf 100644
--- a/BPASmartClient.MorkF/Control_MorkF.cs
+++ b/BPASmartClient.MorkF/Control_MorkF.cs
@@ -161,7 +161,7 @@ namespace BPASmartClient.MorkF
         /// <summary>
         /// 是否为本地炒菜模式，默认为联网的
         /// </summary>
-        private bool isLocalFryingMode { get; set; } = false;
+        private bool isLocalFryingMode { get; set; } = true;
 
         /// <summary>
         /// 入口
@@ -201,7 +201,7 @@ namespace BPASmartClient.MorkF
                 MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
                 MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
                 MaterialCoordinate.GetInstance().MaterialOneX = materialCoordinate.MaterialOneX;
-                MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
+                    MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
                 MaterialCoordinate.GetInstance().MaterialThreeX = materialCoordinate.MaterialThreeX;
             }
             ////菜品库编号与坐标系对象存储
@@ -371,6 +371,17 @@ namespace BPASmartClient.MorkF
                 }
             }), 2);
 
+            //抓手初始化完成
+            GetStatus("I0.1", new Action<object>((objects) =>
+            {
+                if (objects is bool[] bools && bools.Length > 2)
+                {
+                    ml_morkf.PawPositon_1 = bools[0];
+                    ml_morkf.PawPositon_2 = bools[1];
+                    ml_morkf.PawPositon_3 = bools[2];
+                }
+            }), 2);
+
         }
 
         public override void Stop()
@@ -1041,8 +1052,9 @@ namespace BPASmartClient.MorkF
                 return false;
             }
 
-            //MessageLog.GetInstance.Show("爪子去到2号位");
             MaterailLibrary_Write("M1.1", true);
+            //MessageLog.GetInstance.Show("爪子去到2号位");
+
 
             Thread.Sleep(500);
 
@@ -1055,7 +1067,7 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
-
+            
             Thread.Sleep(300);
 
             //MessageLog.GetInstance.Show("爪子去到2号位完成");
@@ -1084,7 +1096,11 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
-
+            if (!ml_morkf.PawPositon_3)
+            {
+                MaterailLibrary_Write("M1.2", true);
+                Thread.Sleep(3000);
+            }
             Thread.Sleep(300);
 
             //MessageLog.GetInstance.Show("爪子去到3号位完成");
@@ -1358,8 +1374,9 @@ namespace BPASmartClient.MorkF
             Thread.Sleep(1000);
 
             //获取传感器的距离，转换成坐标系的点
-            int laserHigh = ml_morkf.LaserDistance;
+            //int laserHigh = ml_morkf.LaserDistance;
 
+            int laserHigh = 400;
             //秦工要求读取后置0
             WriteDistance(0);
 
@@ -1379,7 +1396,7 @@ namespace BPASmartClient.MorkF
             }
 
             //设置到传感器感应的距离处
-            if (!SetArmPosition(x - moveX, y))
+            if (!SetArmPosition(x, y))
             {
                 return false;
             }
@@ -1436,6 +1453,7 @@ namespace BPASmartClient.MorkF
                 MessageLog.GetInstance.ShowEx("错误：未设置当前菜品库出菜位置");
                 return false;
             }
+         
 
             //爪子去2号位放菜
             if (!PawToPoint2())
@@ -1444,12 +1462,12 @@ namespace BPASmartClient.MorkF
             }
 
             WriteSpeed(50000);
-
-            ThreadManage.GetInstance().Start(new Action(() =>
-            {
-                //收缩爪子
-                PawShrink();
-            }), "GetMaterialPawShrink");
+            //ThreadManage.GetInstance().Start(new Action(() =>
+            //{
+            //    //收缩爪子
+            //    PawShrink();
+            //}), "GetMaterialPawShrink");
+            PawShrink();
 
             //判断炒锅是否可以放盒
             for (int i = 0; materialSleepCount > i && !morkFs[fryIndex].FryPot1_HOBTPut; i++)
@@ -1465,7 +1483,7 @@ namespace BPASmartClient.MorkF
             //关闭启磁吸
             MagnetOff(fryNum);
 
-            Thread.Sleep(200);
+            //Thread.Sleep(2000);
 
             //根据炒锅不同设置不同的出菜处
             if (fryNum % 2 == 0)
@@ -1494,7 +1512,7 @@ namespace BPASmartClient.MorkF
             //开启磁吸
             MagnetOn(fryNum);
 
-            Thread.Sleep(200);
+            Thread.Sleep(500);
 
             //设置到炒锅1出菜处
             if (!SetArmPosition(x, y))
@@ -1962,7 +1980,7 @@ namespace BPASmartClient.MorkF
                         //搅拌设置为1档
                         SetStir(new List<int> { 1 }, i);
                         //火力设置为2档
-                        SetFire(new List<int> { 1 }, num);
+                        SetFire(new List<int> { 3 }, num);
                     }
                     Thread.Sleep(materialSleepTime);
                     if (i >= materialSleepCount * 2 - 1)
diff --git a/BPASmartClient.MorkF/ML_MorkF.cs b/BPASmartClient.MorkF/ML_MorkF.cs
index b7a6b624..993de6c1 100644
--- a/BPASmartClient.MorkF/ML_MorkF.cs
+++ b/BPASmartClient.MorkF/ML_MorkF.cs
@@ -109,6 +109,10 @@ namespace BPASmartClient.MorkF
                 _PawArrivePortThree = value;
             }
         }
+
+        public bool PawPositon_1 { get; set; }
+        public bool PawPositon_2 { get; set; }
+        public bool PawPositon_3 { get; set; }
         #endregion
 
         #region