From c2e2eb7ee323af6209caa82b437ed4c48f7900f0 Mon Sep 17 00:00:00 2001 From: taoye Date: Sat, 21 May 2022 19:09:12 +0800 Subject: [PATCH 01/12] =?UTF-8?q?=E5=B0=8F=E7=82=92=E6=9C=BA=E6=B5=81?= =?UTF-8?q?=E7=A8=8B=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BPASmartClient.MorkF/Control_MorkF.cs | 101 ++++++++++++++------------ BPASmartClient.MorkF/GVL_MorkF.cs | 5 +- BPASmartClient/DeviceInfo.xml | 4 +- 3 files changed, 60 insertions(+), 50 deletions(-) diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs index 51d6a30b..36e22b15 100644 --- a/BPASmartClient.MorkF/Control_MorkF.cs +++ b/BPASmartClient.MorkF/Control_MorkF.cs @@ -62,20 +62,18 @@ namespace BPASmartClient.MorkF } //流程 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List() { StirFryRobotAction.清洗槽取锅 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.加油, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 25 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); - //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.大火持续, StirFryPotAction.低速旋转 }, During = 5 }); - //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.快速旋转 }, During = 50 }); - //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, RobotActions = new List() { StirFryRobotAction.加入A料 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, PotActions = new List() { StirFryPotAction.大火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List() { StirFryRobotAction.加入B料 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, PotActions = new List() { StirFryPotAction.大火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 15 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, RobotActions = new List() { StirFryRobotAction.加入C料 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List() { StirFryPotAction.大火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List() { StirFryPotAction.大火持续 }, During = 5 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, RobotActions = new List() { StirFryRobotAction.加入A料 }, PotActions = new List() { StirFryPotAction.加油,StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 6 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.停止火力, StirFryPotAction.搅拌臂上位 } });//加A料 + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List() { StirFryRobotAction.加入B料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 6 }); + + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() {StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料 + + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List() { StirFryRobotAction.加入C料 }, PotActions = new List() {StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 9 }); + + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料 + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List() {StirFryPotAction.中火持续,StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 }}); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); } /// @@ -117,29 +115,28 @@ namespace BPASmartClient.MorkF } //流程 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List() { StirFryRobotAction.清洗槽取锅 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 5 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, RobotActions = new List() { StirFryRobotAction.加入A料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 5 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List() { StirFryPotAction.加油 }, During = 12 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List() { StirFryRobotAction.加入A料 } }); - - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 25 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加A料 + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6,RobotActions = new List() { StirFryRobotAction.加入B料 }, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, RobotActions = new List() { StirFryRobotAction.加入B料 } }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 30 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料 + + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List() { StirFryRobotAction.加入C料 }, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料 + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6,PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); } public void TakePot() { - + WriteData("M14.0", true); } public void TakePotReset() { - + WriteData("M14.0", false); } public void TakeOff() @@ -163,7 +160,7 @@ namespace BPASmartClient.MorkF } public void ThreeBlock() { - // WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0001 + // WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0001 WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false }); } public void OverTurnOff() @@ -415,12 +412,11 @@ namespace BPASmartClient.MorkF TakeBurdenATask();//执行取A料操作 break; case StirFryRobotAction.加入B料: - // TakeBurdenBTask();//执行取B料操作 TakeBurdenATask();//执行取B料操作 break; case StirFryRobotAction.加入C料: - //TakeBurdenCTask();//执行取C料操作 - TakeBurdenATask();//执行取C料操作 + TakeBurdenCTask();//执行取C料操作 + break; case StirFryRobotAction.灶取锅: OutDishTask();//执行出餐操作 @@ -458,7 +454,7 @@ namespace BPASmartClient.MorkF KitchenAdjustGears(5); break; case StirFryPotAction.大火持续: - KitchenAdjustGears(6); + KitchenAdjustGears(7); break; case StirFryPotAction.停止火力: KitchenAdjustGears(0);//关闭灶加热 @@ -508,6 +504,7 @@ namespace BPASmartClient.MorkF morkF.TakePotLock = false; morkF.PotInPlace = false; morkF.ProcessExcuteLock = false; + morkF.SingelOrderMaterialCom = false; } } @@ -642,13 +639,10 @@ namespace BPASmartClient.MorkF { Task.Delay(5).Wait(); } + morkF.SingelOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 - while (!morkF.FallMaterialComplete)//等待倒料完成 - { - Task.Delay(5).Wait(); - } - MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，转台{loc}配料倒料完成"); + } /// @@ -672,14 +666,14 @@ namespace BPASmartClient.MorkF { Task.Delay(5).Wait(); } - + morkF.SingelOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 - while (!morkF.FallMaterialComplete)//等待倒料完成 - { - Task.Delay(5).Wait(); - } - MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，B料倒料完成"); + //while (!morkF.FallMaterialComplete)//等待倒料完成 + //{ + // Task.Delay(5).Wait(); + //} + //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，B料倒料完成"); } /// /// 取调味品C料 @@ -704,13 +698,15 @@ namespace BPASmartClient.MorkF { Task.Delay(5).Wait(); } + morkF.SingelOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 - while (!morkF.FallMaterialComplete) - { - Task.Delay(5).Wait(); - } - MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，C料倒料完成"); + //while (!morkF.FallMaterialComplete) + //{ + // Task.Delay(5).Wait(); + //} + //morkF.SingelOrderMaterialCom = true; + //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，C料倒料完成"); //} } /// @@ -806,6 +802,17 @@ namespace BPASmartClient.MorkF Task.Delay(5).Wait(); } WriteData("M8.1", false);//上升完成复位 + if (!morkF.SingelOrderMaterialCom) + { + WriteData("M14.3", true);//倒料 + while (!morkF.FallMaterialComplete)//等待倒料完成 + { + Task.Delay(5).Wait(); + } + WriteData("M14.3", false);//倒料复位 + morkF.SingelOrderMaterialCom = true; + MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】，配料倒料完成"); + } MessageLog.GetInstance.Show("翻转机上升完成"); } @@ -931,7 +938,7 @@ namespace BPASmartClient.MorkF } WriteData("M2.7", true);//加油 - WriteData("M0.7",true);//打开抽风机 + WriteData("M0.7", true);//打开抽风机 MessageLog.GetInstance.Show("开始注油"); while (!morkF.FallOilComplete) { diff --git a/BPASmartClient.MorkF/GVL_MorkF.cs b/BPASmartClient.MorkF/GVL_MorkF.cs index b08a3621..14a3155e 100644 --- a/BPASmartClient.MorkF/GVL_MorkF.cs +++ b/BPASmartClient.MorkF/GVL_MorkF.cs @@ -169,7 +169,10 @@ namespace BPASmartClient.MorkF /// 当前订单完成标志 /// public bool OutMealComplete { get; set; } - + /// + /// 单个订单取料结束 + /// + public bool SingelOrderMaterialCom { get; set; } } } diff --git a/BPASmartClient/DeviceInfo.xml b/BPASmartClient/DeviceInfo.xml index f859e106..4fb9fd66 100644 --- a/BPASmartClient/DeviceInfo.xml +++ b/BPASmartClient/DeviceInfo.xml @@ -38,7 +38,7 @@ - + From a7e645acf2617a0f73afe12f73b896b4f4c78ed5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=A6=82=E6=84=8F=20=E5=BD=AD?= <2417589739@qq.com> Date: Sat, 28 May 2022 10:23:20 +0800 Subject: [PATCH 02/12] =?UTF-8?q?=E6=8A=A5=E8=AD=A6=E6=A3=80=E6=B5=8B?= =?UTF-8?q?=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BPASmartClient.Device/AlarmHelper.cs | 14 ++++++++++---- BPASmartClient.Device/BaseDevice.cs | 2 +- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/BPASmartClient.Device/AlarmHelper.cs b/BPASmartClient.Device/AlarmHelper.cs index 4e18d268..dcdfb10d 100644 --- a/BPASmartClient.Device/AlarmHelper.cs +++ b/BPASmartClient.Device/AlarmHelper.cs @@ -15,6 +15,7 @@ namespace BPASmartClient.Device public List Alarms { get; set; } = new List(); public List HistoryAlarms { get; set; } = new List(); ConcurrentDictionary flagbit = new ConcurrentDictionary(); + ConcurrentDictionary delays = new ConcurrentDictionary(); public Action AddAction { get; set; } public Action RemoveAction { get; set; } public Action ChangeAction { get; set; } @@ -25,20 +26,25 @@ namespace BPASmartClient.Device /// 触发变量 /// 报警信息 /// 触发类型，上升沿 或 下降沿 - public void EdgeAlarm(bool Trigger, string text, AlarmLevel alarmLevel = AlarmLevel.一般报警, AlarmTriggerType edgeType = AlarmTriggerType.Rising) + public void EdgeAlarm(bool Trigger, string text, int delay = 2, AlarmLevel alarmLevel = AlarmLevel.一般报警, AlarmTriggerType edgeType = AlarmTriggerType.Rising) { if (!flagbit.ContainsKey(text)) flagbit.TryAdd(text, false); - if (edgeType == AlarmTriggerType.Rising ? Trigger : !Trigger) + if (!delays.ContainsKey(text)) delays.TryAdd(text, Delay.GetInstance(text)); + //if (edgeType == AlarmTriggerType.Rising ? Trigger : !Trigger) + if (edgeType == AlarmTriggerType.Rising ? delays[text].Start(Trigger, delay) : delays[text].Start(!Trigger, delay)) { if (edgeType == AlarmTriggerType.Rising ? !flagbit[text] : flagbit[text]) { - AddAlarm(Trigger, text, alarmLevel); + //AddAlarm(Trigger, text, alarmLevel); + AddAlarm(Trigger, text.Substring(0, text.LastIndexOf("-")), alarmLevel); + flagbit[text] = edgeType == AlarmTriggerType.Rising ? true : false; } } else { - RemoveAlarm(text); + //RemoveAlarm(text); + RemoveAlarm(text.Substring(0, text.LastIndexOf("-"))); } if (edgeType == AlarmTriggerType.Rising ? flagbit[text] : !flagbit[text]) flagbit[text] = Trigger; } diff --git a/BPASmartClient.Device/BaseDevice.cs b/BPASmartClient.Device/BaseDevice.cs index 8055356d..cb873488 100644 --- a/BPASmartClient.Device/BaseDevice.cs +++ b/BPASmartClient.Device/BaseDevice.cs @@ -279,7 +279,7 @@ namespace BPASmartClient.Device if (item.CustomAttributes.Count() > 0 && item.CustomAttributes.ElementAt(0)?.ConstructorArguments.Count() > 0) { var info = item.GetCustomAttribute().AlarmInfo; - if (info != null) alarmHelper.EdgeAlarm(blen, info.ToString()); + if (info != null) alarmHelper.EdgeAlarm(blen, $"{info.ToString()}-{DeviceId}"); } } } From 96925dce987741efed3f3316438f52191d8b22ec Mon Sep 17 00:00:00 2001 From: fyf Date: Sat, 28 May 2022 10:23:42 +0800 Subject: [PATCH 03/12] 222 --- BPASmartClient/Control/DataVView.xaml.cs | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/BPASmartClient/Control/DataVView.xaml.cs b/BPASmartClient/Control/DataVView.xaml.cs index 9b09729b..4265ebe9 100644 --- a/BPASmartClient/Control/DataVView.xaml.cs +++ b/BPASmartClient/Control/DataVView.xaml.cs @@ -70,7 +70,10 @@ namespace BPASmartClient.Control return; } istrue = DataVViewModel.GetInstance().Update(); - if (istrue) NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, MainViewModel.GetInstance().window, "提示", $"修改成功!"); + if (istrue) { + NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, MainViewModel.GetInstance().window, "提示", $"修改成功!"); + DataVClient.GetInstance().RefreshTheListOfStores(); + } else NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, MainViewModel.GetInstance().window, "提示", $"修改失败!"); break; case "Delete": @@ -80,7 +83,10 @@ namespace BPASmartClient.Control return; } istrue = DataVViewModel.GetInstance().Delete(); - if (istrue) NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, MainViewModel.GetInstance().window, "提示", $"删除成功!"); + if (istrue) { + NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, MainViewModel.GetInstance().window, "提示", $"删除成功!"); + DataVClient.GetInstance().RefreshTheListOfStores(); + } else NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, MainViewModel.GetInstance().window, "提示", $"删除失败!"); break; case "SetUrl": From 4e52c385d5502edd1c7998963eff82a9e5d80318 Mon Sep 17 00:00:00 2001 From: fyf Date: Sat, 28 May 2022 10:24:14 +0800 Subject: [PATCH 04/12] 1 --- BPASmartClient/Control/DataVView.xaml.cs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/BPASmartClient/Control/DataVView.xaml.cs b/BPASmartClient/Control/DataVView.xaml.cs index 4265ebe9..09047adb 100644 --- a/BPASmartClient/Control/DataVView.xaml.cs +++ b/BPASmartClient/Control/DataVView.xaml.cs @@ -60,7 +60,10 @@ namespace BPASmartClient.Control { case "Add": istrue = DataVViewModel.GetInstance().Add(); - if (istrue) NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, MainViewModel.GetInstance().window, "提示", $"增加成功!"); + if (istrue) { + NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, MainViewModel.GetInstance().window, "提示", $"增加成功!"); + DataVClient.GetInstance().RefreshTheListOfStores(); + } else NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, MainViewModel.GetInstance().window, "提示", $"增加失败!"); break; case "Update": From 4cd88a99ada1110c558bad11f8bd08e4891ed395 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=A6=82=E6=84=8F=20=E5=BD=AD?= <2417589739@qq.com> Date: Sat, 28 May 2022 17:46:06 +0800 Subject: [PATCH 05/12] =?UTF-8?q?=E7=85=AE=E9=9D=A2=E6=9C=BA=E6=B5=81?= =?UTF-8?q?=E7=A8=8B=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BPASmartClient.MorkS/Control_Morks.cs | 44 ++++----------- BPASmartClient.MorkS/GVL_MORKS.cs | 1 - BPASmartClient.ViewModel/MainViewModel.cs | 6 +- .../OrderStatusViewModel.cs | 56 +------------------ 4 files changed, 15 insertions(+), 92 deletions(-) diff --git a/BPASmartClient.MorkS/Control_Morks.cs b/BPASmartClient.MorkS/Control_Morks.cs index 99ed126a..8ebe8c34 100644 --- a/BPASmartClient.MorkS/Control_Morks.cs +++ b/BPASmartClient.MorkS/Control_Morks.cs @@ -279,7 +279,6 @@ namespace BPASmartClient.MorkS }); } - public override void MainTask() { mORKS.AllowRun = mORKS.InitComplete; @@ -322,8 +321,6 @@ namespace BPASmartClient.MorkS { if (mORKS.AllowRun && mORKS.TakeBowlTask.Count > 0 && !mORKS.TakeBowlIdle && !mORKS.TakeBowlInterlock) { - //if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo)) - //{ ushort BowLoc = 0; var res = orderMaterialDelivery?.BatchingInfo?.Where(p => p.BatchingId == mORKS.TakeBowlTask.ElementAt(0).BatchingId).ToList(); if (res == null || res?.Count == 0) @@ -355,27 +352,6 @@ namespace BPASmartClient.MorkS BowlControl(orderLocInfo); } } - - //if (BowLoc >= 10 && BowLoc <= 11) - //{ - // mORKS.TakeBowlInterlock = true; - // mORKS.TakeBowlId = orderLocInfo.SuborderId; - // TakeBowlControl(BowLoc); - // SetRecipeNumber(orderLocInfo.RecipeNumber); - // OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING); - // DeviceProcessLogShow($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]"); - //} - - - //之前版本 - //mORKS.TakeBowlId = orderLocInfo.SuborderId; - //TakeBowlControl(orderLocInfo.Loc); - //SetRecipeNumber(orderLocInfo.RecipeNumber); - //OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING); - //DeviceProcessLogShow($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]"); - //mORKS.TakeBowlInterlock = true; - //} - } } @@ -493,7 +469,6 @@ namespace BPASmartClient.MorkS mORKS.TakeNoodleInterlock = true; } } - } } @@ -547,15 +522,7 @@ namespace BPASmartClient.MorkS } //取餐完成逻辑处理 - //if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.RbOutMealComplete && !mORKS.TakeMealDetect, 2)) - //{ - // OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE); - // DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成"); - // ResetCookComplete(); - // mORKS.OutMealId = string.Empty; - //} - - if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.CookCompleteFlatBit && !mORKS.TakeMealDetect, 2)) + if (Delay.GetInstance("CompleteChange1").Start(mORKS.CookCompleteFlatBit && !mORKS.TakeMealDetect, 2)) { OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE); DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成"); @@ -564,6 +531,15 @@ namespace BPASmartClient.MorkS mORKS.OutMealId = string.Empty; } + //if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.CookCompleteFlatBit && !mORKS.TakeMealDetect, 2)) + //{ + // OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE); + // DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成"); + // ResetCookComplete(); + // mORKS.CookCompleteFlatBit = false; + // mORKS.OutMealId = string.Empty; + //} + //机器人取面完成信号检测 if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete)) { diff --git a/BPASmartClient.MorkS/GVL_MORKS.cs b/BPASmartClient.MorkS/GVL_MORKS.cs index a889adc4..bc1c6a73 100644 --- a/BPASmartClient.MorkS/GVL_MORKS.cs +++ b/BPASmartClient.MorkS/GVL_MORKS.cs @@ -83,7 +83,6 @@ namespace BPASmartClient.MorkS public bool TurntableInterlock { get; set; } #endregion - /// /// 初始化完成 /// PLC -> M100.0 diff --git a/BPASmartClient.ViewModel/MainViewModel.cs b/BPASmartClient.ViewModel/MainViewModel.cs index 47a3a476..05ecf3df 100644 --- a/BPASmartClient.ViewModel/MainViewModel.cs +++ b/BPASmartClient.ViewModel/MainViewModel.cs @@ -71,15 +71,17 @@ namespace BPASmartClient.ViewModel System.Windows.Application.Current?.Dispatcher.Invoke((Action)(() => { NetworkConnectState = UniversalHelper.GetInstance().GetNetworkState(); + CurrentOrderCount = Json.Data.orderLists.Count; })); }; dispatcherTimer.Interval = TimeSpan.FromSeconds(1); dispatcherTimer.Start(); - } - public int CurrentOrderCount { get { return Json.Data.orderLists.Count; } set { OnPropertyChanged(); } } + + public int CurrentOrderCount { get { return _mCurrentOrderCount; } set { _mCurrentOrderCount = value; OnPropertyChanged(); } } + private int _mCurrentOrderCount; public bool AutoStart { get { return SystemHelper.GetInstance.IsAutoStart(); } set { SystemHelper.GetInstance.AutoStart(value); OnPropertyChanged(); } } diff --git a/BPASmartClient.ViewModel/OrderStatusViewModel.cs b/BPASmartClient.ViewModel/OrderStatusViewModel.cs index 9e786960..fcab5843 100644 --- a/BPASmartClient.ViewModel/OrderStatusViewModel.cs +++ b/BPASmartClient.ViewModel/OrderStatusViewModel.cs @@ -96,60 +96,6 @@ namespace BPASmartClient.ViewModel }), "AddOrder"); EventBus.EventBus.GetInstance().Subscribe(0, OrderStatusChangedHandle); - - //ActionManage.GetInstance.Register(new Action((o) => - //{ - // if (o is OrderStatusChangedEvent orderStatusChange) - // { - // int index = Array.FindIndex(orderStatusLists.ToArray(), p => p.OrderPush.SuborderId == orderStatusChange.SubOrderId); - // switch (orderStatusChange.Status) - // { - // case ORDER_STATUS.COOKING: - // if (index >= 0 && index < orderStatusLists.Count) - // orderStatusLists.ElementAt(index).OrderStatus = orderStatusChange.Status; - // break; - // case ORDER_STATUS.COMPLETED_COOK: - // if (index >= 0 && index < orderStatusLists.Count) - // { - // Application.Current.Dispatcher.BeginInvoke((Action)delegate - // { - // orderStatusLists.ElementAt(index).OrderStatus = orderStatusChange.Status; - // orderStatusLists.ElementAt(index).EndDate = DateTime.Now.ToString("HH:mm:ss"); - // TimeSpan timeSpan = DateTime.Now.Subtract(Convert.ToDateTime(orderStatusLists.ElementAt(index).StartDate)); - // orderStatusLists.ElementAt(index).CompleteDate = $"{timeSpan.TotalSeconds.ToString("0.00")} S"; - - // //压力测试时注释，正常使用需要取消注释 - // if (!BPASmartClient.Business.InternetInfo.IsEnableTest) - // { - // WaitTakeMeal.Insert(0, orderStatusLists.ElementAt(index)); - // orderStatusLists.RemoveAt(index); - // } - - // }); - // } - - // break; - // case ORDER_STATUS.COMPLETED_TAKE: - // if (BPASmartClient.Business.InternetInfo.IsEnableTest) - // orderStatusLists.ElementAt(index).OrderStatus = orderStatusChange.Status; - - // //压力测试时注释，正常使用需要取消注释 - // var re = WaitTakeMeal.FirstOrDefault(p => p.OrderPush.SuborderId == orderStatusChange.SubOrderId); - // if (re != null) - // { - // Application.Current.Dispatcher.BeginInvoke((Action)delegate - // { - // WaitTakeMeal.Remove(re); - // var removeObj = Json.Data.orderLists.FirstOrDefault(p => p.morkOrderPushes.FirstOrDefault(s => s.OrderPush.SuborderId == re.OrderPush.SuborderId) != null); - // if (removeObj != null) Json.Data.orderLists.Remove(removeObj); - // }); - // } - // break; - // default: - // break; - // } - // } - //}), "OrderStatusChange"); } private static void OrderStatusChangedHandle(IEvent @event, EventBus.EventBus.EventCallBackHandle callBack) @@ -184,7 +130,7 @@ namespace BPASmartClient.ViewModel break; case ORDER_STATUS.COMPLETED_TAKE: - if (BPASmartClient.Business.InternetInfo.IsEnableTest) + if (BPASmartClient.Business.InternetInfo.IsEnableTest && index >= 0 && index < orderStatusLists.Count) orderStatusLists.ElementAt(index).OrderStatus = orderStatusChange.Status; //压力测试时注释，正常使用需要取消注释 From bd13b4a15adc0252bfa5066cf6ef03d5347d44d2 Mon Sep 17 00:00:00 2001 From: taoye Date: Mon, 30 May 2022 10:30:19 +0800 Subject: [PATCH 06/12] =?UTF-8?q?=E5=B0=8F=E7=82=92=E5=A4=9A=E8=AE=A2?= =?UTF-8?q?=E5=8D=95=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BPASmartClient.MorkF/Control_MorkF.cs | 293 ++++++++++++++++++++++---- BPASmartClient.MorkF/GVL_MorkF.cs | 78 ++++++- BPASmartClient/App.config | 2 +- BPASmartClient/DeviceInfo.xml | 8 +- 4 files changed, 325 insertions(+), 56 deletions(-) diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs index 36e22b15..42b1c2ea 100644 --- a/BPASmartClient.MorkF/Control_MorkF.cs +++ b/BPASmartClient.MorkF/Control_MorkF.cs @@ -15,9 +15,11 @@ namespace BPASmartClient.MorkF public class Control_MorkF : BaseDevice { public override DeviceClientType DeviceType => DeviceClientType.MORKSF; - + public AutoResetEvent minorReset = new AutoResetEvent(false); + public AutoResetEvent mainReset = new AutoResetEvent(false); GVL_MorkF morkF = new GVL_MorkF();//全局对象声明 public StirFryBom stirFryBom = new StirFryBom();//创建获取流程的对象 + List resultorder = new List();//调试变量 public static readonly object taskLock = new object(); /// @@ -63,17 +65,17 @@ namespace BPASmartClient.MorkF //流程 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List() { StirFryRobotAction.清洗槽取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List() { StirFryPotAction.大火持续 }, During = 5 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, RobotActions = new List() { StirFryRobotAction.加入A料 }, PotActions = new List() { StirFryPotAction.加油,StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 6 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, RobotActions = new List() { StirFryRobotAction.加入A料 }, PotActions = new List() { StirFryPotAction.加油, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 6 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.停止火力, StirFryPotAction.搅拌臂上位 } });//加A料 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List() { StirFryRobotAction.加入B料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 6 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() {StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料 + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料 - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List() { StirFryRobotAction.加入C料 }, PotActions = new List() {StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 9 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List() { StirFryRobotAction.加入C料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 9 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料 - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List() {StirFryPotAction.中火持续,StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 }); - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 }}); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); } /// @@ -118,14 +120,14 @@ namespace BPASmartClient.MorkF stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, RobotActions = new List() { StirFryRobotAction.加入A料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 5 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List() { StirFryPotAction.加油 }, During = 12 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加A料 - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6,RobotActions = new List() { StirFryRobotAction.加入B料 }, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, RobotActions = new List() { StirFryRobotAction.加入B料 }, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料 - + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List() { StirFryRobotAction.加入C料 }, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料 - stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6,PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 }); + stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); } public void TakePot() @@ -369,7 +371,7 @@ namespace BPASmartClient.MorkF } } - //根据ID 查找对应制作流程 + //根据ID 查找对应制作流程， } }); @@ -382,20 +384,144 @@ namespace BPASmartClient.MorkF { TakePlatelTask(); TurntableControl(); - ProcessExecute(); + MainProcessExecute(); + MinorProcessExcute(); SingleProcess(); } - //机器人，锅灶流程执行 - public void ProcessExecute() + //辅流程执行 + private void MinorProcessExcute() { - if (!morkF.ProcessExcuteLock) + if (!morkF.MinorProcessExcuteLock) { - morkF.ProcessExcuteLock = true; + morkF.MinorProcessExcuteLock = true; + Task.Run(() => + { + if (morkF.MinorProcessFlag && !morkF.RoobotIdle && morkF.TakeMaterialQueue.Count > 0) + { + morkF.MinorProessStatus = true; + morkF.MainProcessStatus = false; + StirFryBom bom = morkF.listStirBom.ElementAt(0); + morkF.listStirBom.RemoveAt(0); + foreach (var res in bom.StirFryActions) + { + MessageLog.GetInstance.Show($"执行流程{res.Time}"); + //机器人线程 + Task taskRobot = Task.Run(new Action(() => + { + foreach (var temp in res.RobotActions) + { + switch (temp) + { + case StirFryRobotAction.清洗槽取锅: + TakePotTask();//执行取锅操作 + break; + case StirFryRobotAction.加入A料: + TakeBurdenATask();//执行取A料操作 + break; + case StirFryRobotAction.加入B料: + TakeBurdenATask();//执行取B料操作 + break; + case StirFryRobotAction.加入C料: + TakeBurdenCTask();//执行取C料操作 + break; + case StirFryRobotAction.灶取锅: + OutDishTask();//执行出餐操作 + CleanPotTask();//洗锅操作 + break; + } + + } + + })); + //炒锅线程操作 + Task taskPot = Task.Run(new Action(() => + { + foreach (var temp in res.PotActions) + { + switch (temp) + { + case StirFryPotAction.NONE: + break; + case StirFryPotAction.大火t1s: + KitchenAdjustGears(3); + Task.Delay(1000).Wait(); //大火加热1s//执行大火锅干操作 + break; + case StirFryPotAction.加油: + AddOil();//注油//执行加油操作 + break; + case StirFryPotAction.中火t2s: + KitchenAdjustGears(2); + Task.Delay(2000).Wait();//执行操作 + break; + case StirFryPotAction.小火持续: + KitchenAdjustGears(1); + break; + case StirFryPotAction.中火持续: + KitchenAdjustGears(5); + break; + case StirFryPotAction.大火持续: + KitchenAdjustGears(7); + break; + case StirFryPotAction.停止火力: + KitchenAdjustGears(0);//关闭灶加热 + break; + case StirFryPotAction.搅拌臂上位: + TurnUpStatusDetect();//执行搅拌臂上位操作 + break; + case StirFryPotAction.搅拌臂下位: + TurnDownStatusDetect();//执行搅拌臂下位操作 + break; + case StirFryPotAction.低速旋转: + TurnMachineGearsControl(1);//执行搅拌臂速度1挡操作 + break; + case StirFryPotAction.快速旋转: + TurnMachineGearsControl(2);//执行搅拌臂速度3挡操作 + break; + case StirFryPotAction.停止旋转: + TurnMachineGearsControl(0);//执行搅拌臂速度0挡操作 + break; + } + } + })); + Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束 + Task.Delay(res.During * 1000).Wait();//当前流程延迟 + if (morkF.MainProcessWait) + { + + KitchenAdjustGears(0);//关闭灶加热 + morkF.MinorProessStatus = false; + morkF.MainProcessStatus = true; + //阻塞辅流程 + minorReset.WaitOne(); + } + morkF.MinorProessStatus = true; + morkF.MainProcessStatus = false; + } + morkF.MinorOutMealComplete = true; + } + else + { + morkF.MinorProcessExcuteLock = false;//解除辅流程自锁 + } + }); + } + } + + //机器人，锅灶主流程执行 + public void MainProcessExecute() + { + if (!morkF.MainProcessExcuteLock) + { + morkF.MainProcessExcuteLock = true; Task.Run(new Action(() => { - if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakeMaterialQueue.Count > 0) + if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakeMaterialQueue.Count > 0 && morkF.MainProcessFlag) { - foreach (var res in stirFryBom.StirFryActions)//遍历所有流程 + morkF.MainProcessStatus = true; + morkF.MinorProessStatus = false; + StirFryBom bom = morkF.listStirBom.ElementAt(0); + morkF.listStirBom.RemoveAt(0); + foreach (var res in bom.StirFryActions)//遍历所有流程 { MessageLog.GetInstance.Show($"执行流程{res.Time}"); //机器人线程 @@ -416,7 +542,6 @@ namespace BPASmartClient.MorkF break; case StirFryRobotAction.加入C料: TakeBurdenCTask();//执行取C料操作 - break; case StirFryRobotAction.灶取锅: OutDishTask();//执行出餐操作 @@ -477,14 +602,26 @@ namespace BPASmartClient.MorkF } } })); + Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束 - Task.Delay(res.During * 1000).Wait();//当前流程延迟 + Task.Delay(res.During * 1000).Wait();//当前流程延迟 + if (morkF.MinorProcessWait) + { + KitchenAdjustGears(0);//关闭灶加热 + morkF.MinorProessStatus = true; + morkF.MainProcessStatus = false; + //阻塞主流程 + mainReset.WaitOne(); + } + morkF.MinorProessStatus = false; + morkF.MainProcessStatus = true; + } - morkF.OutMealComplete = true; + morkF.MainOutMealComplete = true; } else { - morkF.ProcessExcuteLock = false;//解除流程互锁 + morkF.MainProcessExcuteLock = false;//解除流程自锁 } })); } @@ -498,13 +635,20 @@ namespace BPASmartClient.MorkF //出餐完成，相应变量复位 - if (morkF.OutMealComplete) + if (morkF.MainOutMealComplete) { morkF.TakePlateLock = false; - morkF.TakePotLock = false; morkF.PotInPlace = false; - morkF.ProcessExcuteLock = false; - morkF.SingelOrderMaterialCom = false; + morkF.MainProcessExcuteLock = false; + morkF.MainOrderMaterialCom = false; + } + + if (morkF.MinorOutMealComplete) + { + morkF.TakePlateLock = false; + morkF.PotInPlace = false; + morkF.MinorProcessExcuteLock = false; + morkF.MinorOrderMaterialCom = false; } } @@ -564,8 +708,9 @@ namespace BPASmartClient.MorkF StartTakePlate(); morkF.CurrentOrderId = order.SuborderId; morkF.TakePlateLock = true; //订单完成后置false - morkF.OutMealComplete = false; - // OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COOKING); + morkF.MainOutMealComplete = false; + morkF.MinorOutMealComplete = false; + // OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COOKING); MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取碗控制"); } } @@ -577,7 +722,11 @@ namespace BPASmartClient.MorkF /// private void TakePotTask() { - while (!(!morkF.CleanModule && !morkF.KitchenOneStatus && morkF.CleanComplete))//等待清洗1准备就绪 + //while (!((!morkF.CleanModule && !morkF.KitchenOneStatus && morkF.CleanComplete) || (!morkF.SecondCleanModule && !morkF.KitchenSecondStatus && morkF.SecondCleanComplete))) + //{ + // Task.Delay(5).Wait(); + //} + while ((!morkF.CleanModule||!morkF.SecondCleanModule)&&(!morkF.KitchenOneStatus||!morkF.KitchenSecondStatus)&&(morkF.CleanComplete|| morkF.SecondCleanComplete))//等待取锅条件满足 { Task.Delay(5).Wait(); } @@ -639,10 +788,10 @@ namespace BPASmartClient.MorkF { Task.Delay(5).Wait(); } - morkF.SingelOrderMaterialCom = false; + morkF.MainOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 - + } /// @@ -666,7 +815,7 @@ namespace BPASmartClient.MorkF { Task.Delay(5).Wait(); } - morkF.SingelOrderMaterialCom = false; + morkF.MainOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 //while (!morkF.FallMaterialComplete)//等待倒料完成 @@ -698,7 +847,7 @@ namespace BPASmartClient.MorkF { Task.Delay(5).Wait(); } - morkF.SingelOrderMaterialCom = false; + morkF.MainOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 //while (!morkF.FallMaterialComplete) @@ -733,17 +882,24 @@ namespace BPASmartClient.MorkF /// private void CleanPotTask() { - - while (!morkF.PlaceRinseTableComplete || morkF.CleanModule) { Task.Delay(5).Wait(); } MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】出餐完成"); WriteData("M14.2", false);//机器人出餐完成复位 - //OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COMPLETED_COOK); - + //OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COMPLETED_COOK); CleanModuleControl("Start"); + if (morkF.MainProcessStatus)//主流程 + { + morkF.MainProcessFlag = false; + minorReset.Set(); + } + else if (morkF.MinorProessStatus)//辅流程 + { + morkF.MinorProcessFlag = false; + mainReset.Set(); + } } /// /// 任务复位重启 @@ -784,7 +940,14 @@ namespace BPASmartClient.MorkF } WriteData("M8.3", false);//下降完成复位 MessageLog.GetInstance.Show($"翻转机下降完成"); - + //if (morkF.MaterialCount == 3 && morkF.MainProcessStatus) + //{ + // morkF.MainProcessWait = true; + //} + //else if (morkF.MaterialCount == 3 && morkF.MinorProessStatus) + //{ + // morkF.MinorProcessWait = true; + //} } /// @@ -802,17 +965,59 @@ namespace BPASmartClient.MorkF Task.Delay(5).Wait(); } WriteData("M8.1", false);//上升完成复位 - if (!morkF.SingelOrderMaterialCom) + if (morkF.MainProcessStatus)//代表主流程执行的操作 + { + if (!morkF.MainOrderMaterialCom) + { + WriteData("M14.3", true);//倒料 + while (!morkF.FallMaterialComplete)//等待倒料完成 + { + Task.Delay(5).Wait(); + } + morkF.MaterialCount++; + WriteData("M14.3", false);//倒料复位 + if (morkF.MaterialCount == 3) + { + //允许执行下一个订单流程 + morkF.MaterialCount = 0; + morkF.MinorProcessFlag = true; + + } + morkF.MainOrderMaterialCom = true; + MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】，配料倒料完成"); + } + else //主流程准备阻塞 + { + morkF.MainProcessWait = true; + } + } + else if (morkF.MinorProessStatus)//代表辅流程执行的操作 { - WriteData("M14.3", true);//倒料 - while (!morkF.FallMaterialComplete)//等待倒料完成 + if (!morkF.MinorOrderMaterialCom) { - Task.Delay(5).Wait(); + WriteData("M14.3", true);//倒料 + while (!morkF.FallMaterialComplete)//等待倒料完成 + { + Task.Delay(5).Wait(); + } + morkF.MaterialCount++; + WriteData("M14.3", false);//倒料复位 + if (morkF.MaterialCount == 3) + { + //允许执行下一个订单流程 + morkF.MaterialCount = 0; + morkF.MainProcessFlag = true; + + } + morkF.MinorOrderMaterialCom = true; + MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】，配料倒料完成"); + } + else //辅流程准备阻塞 + { + morkF.MinorProcessWait = true; } - WriteData("M14.3", false);//倒料复位 - morkF.SingelOrderMaterialCom = true; - MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】，配料倒料完成"); } + MessageLog.GetInstance.Show("翻转机上升完成"); } diff --git a/BPASmartClient.MorkF/GVL_MorkF.cs b/BPASmartClient.MorkF/GVL_MorkF.cs index 14a3155e..773f54ed 100644 --- a/BPASmartClient.MorkF/GVL_MorkF.cs +++ b/BPASmartClient.MorkF/GVL_MorkF.cs @@ -1,4 +1,5 @@ -using System; +using BPA.Models; +using System; using System.Collections.Concurrent; using System.Collections.Generic; using System.Linq; @@ -25,14 +26,29 @@ namespace BPASmartClient.MorkF /// 清洗模组1状态 忙碌1 空闲0 /// public bool CleanModule { get; set; } + + /// + /// 清洗模组2状态 忙碌1 空闲0 + /// + public bool SecondCleanModule { get; set; } /// /// 清洗模组1完成状态 /// public bool CleanComplete { get; set; } + + // + /// 清洗模组2完成状态 + /// + public bool SecondCleanComplete { get; set; } /// /// 锅灶1状态 忙碌1 空闲0 /// public bool KitchenOneStatus { get; set; } + + /// + /// 锅灶1状态 忙碌1 空闲0 + /// + public bool KitchenSecondStatus { get; set; } /// /// 注油完成状态 /// @@ -159,20 +175,68 @@ namespace BPASmartClient.MorkF /// 转台互锁 /// public bool TurnTableLock { get; set; } - - public bool ProcessExcuteLock { get; set; } + /// + /// 主流程自锁 + /// + public bool MainProcessExcuteLock { get; set; } + /// + /// 辅流程自锁 + /// + public bool MinorProcessExcuteLock { get; set; } /// /// 开始取料标志 /// public bool AllowTakeMaterial { get; set; } /// - /// 当前订单完成标志 + /// 主流程订单完成标志 + /// + public bool MainOutMealComplete { get; set; } + /// + /// 辅流程订单完成标志 + /// + public bool MinorOutMealComplete { get; set; } + /// + /// 主流程订单取料结束 + /// + public bool MainOrderMaterialCom { get; set; } + /// + /// 主流程等待 + /// + public bool MainProcessWait { get; set; } + /// + /// 辅流程等待 + /// + public bool MinorProcessWait { get; set; } + /// + /// 辅流程订单取料结束 + /// + public bool MinorOrderMaterialCom { get; set; } + /// + /// 存储订单对应流程对象 + /// + public List listStirBom=new List(); + + + /// + /// 下配料次数 + /// + public int MaterialCount { get; set; } + /// + /// 允许执行辅流程标识 + /// + public bool MinorProcessFlag { get; set; } + /// + /// 辅流程执行状态 + /// + public bool MinorProessStatus { get; set; } + /// + /// 允许执行主流程标识 /// - public bool OutMealComplete { get; set; } + public bool MainProcessFlag { get; set; } = true; /// - /// 单个订单取料结束 + /// 主流程执行状态 /// - public bool SingelOrderMaterialCom { get; set; } + public bool MainProcessStatus { get; set; } } } diff --git a/BPASmartClient/App.config b/BPASmartClient/App.config index 0004434b..81af1bb0 100644 --- a/BPASmartClient/App.config +++ b/BPASmartClient/App.config @@ -3,7 +3,7 @@ - + diff --git a/BPASmartClient/DeviceInfo.xml b/BPASmartClient/DeviceInfo.xml index f59cf981..e9948716 100644 --- a/BPASmartClient/DeviceInfo.xml +++ b/BPASmartClient/DeviceInfo.xml @@ -43,7 +43,7 @@ --> - + - + + -->--> From 87072fa3bd30c06740beaf2849ff6d146fcb947d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=A6=82=E6=84=8F=20=E5=BD=AD?= <2417589739@qq.com> Date: Mon, 30 May 2022 11:50:07 +0800 Subject: [PATCH 07/12] =?UTF-8?q?=E8=AE=BE=E5=A4=87=E7=A7=BB=E6=A4=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../HardwareStatusAttribute.cs | 28 + BPASmartClient.Device/IHardwareStatus.cs | 15 + BPASmartClient.MorkM/Alarm.cs | 207 +++ .../BPASmartClient.MorkM.csproj | 40 + BPASmartClient.MorkM/Control_MORKM.cs | 1148 +++++++++++++++++ BPASmartClient.MorkM/GVL_MORKM.cs | 402 ++++++ BPASmartClient.MorkM/HardwareStatus.cs | 18 + BPASmartClient.MorkM/Model/MorksPar.cs | 16 + BPASmartClient.MorkM/Model/ParSet.cs | 29 + BPASmartClient.MorkM/Model/WritePar.cs | 14 + BPASmartClient.MorkM/OrderLocInfo.cs | 29 + BPASmartClient.MorkM/View/Debug.xaml | 32 + BPASmartClient.MorkM/View/Debug.xaml.cs | 28 + BPASmartClient.MorkM/View/Monitor.xaml | 242 ++++ BPASmartClient.MorkM/View/Monitor.xaml.cs | 28 + BPASmartClient.MorkM/View/ParSet.xaml | 130 ++ BPASmartClient.MorkM/View/ParSet.xaml.cs | 28 + .../ViewModel/DebugViewModel.cs | 21 + .../ViewModel/MonitorViewModel.cs | 25 + .../ViewModel/ParSetViewModel.cs | 43 + .../BPASmartClient.MorkT.Lebai.JC.csproj | 9 + BPASmartClient.MorkT.Lebai.JC/Class1.cs | 8 + .../BPASmartClient.Morkt.JAKA.JC.csproj | 9 + BPASmartClient.Morkt.JAKA.JC/Class1.cs | 8 + SmartClient.sln | 69 + 25 files changed, 2626 insertions(+) create mode 100644 BPASmartClient.Device/HardwareStatusAttribute.cs create mode 100644 BPASmartClient.Device/IHardwareStatus.cs create mode 100644 BPASmartClient.MorkM/Alarm.cs create mode 100644 BPASmartClient.MorkM/BPASmartClient.MorkM.csproj create mode 100644 BPASmartClient.MorkM/Control_MORKM.cs create mode 100644 BPASmartClient.MorkM/GVL_MORKM.cs create mode 100644 BPASmartClient.MorkM/HardwareStatus.cs create mode 100644 BPASmartClient.MorkM/Model/MorksPar.cs create mode 100644 BPASmartClient.MorkM/Model/ParSet.cs create mode 100644 BPASmartClient.MorkM/Model/WritePar.cs create mode 100644 BPASmartClient.MorkM/OrderLocInfo.cs create mode 100644 BPASmartClient.MorkM/View/Debug.xaml create mode 100644 BPASmartClient.MorkM/View/Debug.xaml.cs create mode 100644 BPASmartClient.MorkM/View/Monitor.xaml create mode 100644 BPASmartClient.MorkM/View/Monitor.xaml.cs create mode 100644 BPASmartClient.MorkM/View/ParSet.xaml create mode 100644 BPASmartClient.MorkM/View/ParSet.xaml.cs create mode 100644 BPASmartClient.MorkM/ViewModel/DebugViewModel.cs create mode 100644 BPASmartClient.MorkM/ViewModel/MonitorViewModel.cs create mode 100644 BPASmartClient.MorkM/ViewModel/ParSetViewModel.cs create mode 100644 BPASmartClient.MorkT.Lebai.JC/BPASmartClient.MorkT.Lebai.JC.csproj create mode 100644 BPASmartClient.MorkT.Lebai.JC/Class1.cs create mode 100644 BPASmartClient.Morkt.JAKA.JC/BPASmartClient.Morkt.JAKA.JC.csproj create mode 100644 BPASmartClient.Morkt.JAKA.JC/Class1.cs diff --git a/BPASmartClient.Device/HardwareStatusAttribute.cs b/BPASmartClient.Device/HardwareStatusAttribute.cs new file mode 100644 index 00000000..8e322a07 --- /dev/null +++ b/BPASmartClient.Device/HardwareStatusAttribute.cs @@ -0,0 +1,28 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.Device +{ + public class HardwareStatusAttribute : Attribute + { + public HardwareStatusAttribute(string describe, string address) + { + Describe = describe; + this.Address = address; + } + + /// + /// 描述 + /// + public string Describe { get; set; } + + + /// + /// 地址 + /// + public string Address { get; set; } + } +} diff --git a/BPASmartClient.Device/IHardwareStatus.cs b/BPASmartClient.Device/IHardwareStatus.cs new file mode 100644 index 00000000..b9a95b53 --- /dev/null +++ b/BPASmartClient.Device/IHardwareStatus.cs @@ -0,0 +1,15 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.Device +{ + /// + /// 硬件状态接口 + /// + public interface IHardwareStatus + { + } +} diff --git a/BPASmartClient.MorkM/Alarm.cs b/BPASmartClient.MorkM/Alarm.cs new file mode 100644 index 00000000..3bf2d5d7 --- /dev/null +++ b/BPASmartClient.MorkM/Alarm.cs @@ -0,0 +1,207 @@ +using BPASmartClient.Device; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkM +{ + public class Alarm : IAlarm + { + + /// + /// 煮面机左侧低温报警 + /// PLC ---> M230.0 + /// ModbusTcp --> 1570 + /// + [Alarm("煮面机左侧低温报警")] + public bool MachineLeftLowTemperature { get; set; } + + /// + /// 煮面机左侧低温报警 + /// PLC ---> M230.1 + /// ModbusTcp --> 1571 + /// + [Alarm("煮面机右侧低温报警")] + public bool MachineRightLowTemperature { get; set; } + + /// + /// 供碗1缺碗 + /// PLC ---> 230.2 + /// ModbusTcp --> 1572 + /// + [Alarm("供碗1缺碗")] + public bool Supply1_LossBowl { get; set; } + + /// + /// 供碗2缺碗 + /// PLC ---> M230.3 + /// ModbusTcp --> 1573 + /// + [Alarm("供碗2缺碗")] + public bool Supply2_LossBowl { get; set; } + + /// + /// 供碗1出碗检测异常 + /// PLC ---> M230.4 + /// ModbusTcp --> 1574 + /// + [Alarm("供碗1出碗检测异常")] + public bool Supply1_ErrorOutBowl { get; set; } + + /// + /// 供碗2出碗检测异常 + /// PLC ---> M230.5 + /// ModbusTcp --> 1575 + /// + [Alarm("供碗2出碗检测异常")] + public bool Supply2_ErrorOutBowl { get; set; } + + /// + /// 推碗气缸故障 + /// PLC ---> M230.6 + /// ModbusTcp --> 1576 + /// + [Alarm("推碗气缸故障")] + public bool PushBowlCylinderError { get; set; } + + /// + /// 煮面机通讯异常 + /// PLC ---> M230.7 + /// ModbusTcp --> 1577 + /// + [Alarm("煮面机通讯异常")] + public bool NoodleMacCommunicateError { get; set; } + + /// + /// 配料机通讯异常 + /// PLC ---> M231.0 + /// ModbusTcp --> 1580 + /// + [Alarm("配料机通讯异常")] + public bool DosingMacCommunicateError { get; set; } + + /// + /// 机器人通讯异常 + /// PLC ---> M231.1 + /// ModbusTcp --> 1581 + /// + [Alarm("机器人通讯异常")] + public bool RobotMacCommunicateError { get; set; } + + /// + /// 机器人通讯异常 + /// PLC ---> M231.2 + /// ModbusTcp --> 1581 + /// + [Alarm("设备急停")] + public bool DeviceEstop { get; set; } + + /// + /// PLC电池电压低 + /// PLC ---> M231.3 + /// ModbusTcp --> 1583 + /// + [Alarm("PLC电池电压低")] + public bool RobotInitError { get; set; } + + /// + /// 机器人急停 + /// PLC ---> M231.4 + /// ModbusTcp --> 1584 + /// + [Alarm("机器人急停")] + public bool RobotUrgentStop { get; set; } + + /// + /// 机器人不在远程模式 + /// PLC ---> M231.5 + /// ModbusTcp --> 1585 + /// + [Alarm("机器人不在远程模式")] + public bool RobotNotInRemoteMode { get; set; } + + /// + /// 机器人伺服未就绪 + /// PLC ---> M231.6 + /// ModbusTcp --> 1586 + /// + [Alarm("机器人伺服未就绪")] + public bool RobotNotInReady { get; set; } + + /// + /// 机器人本体异常 + /// PLC ---> M231.7 + /// ModbusTcp --> 1587 + /// + [Alarm("机器人本体异常")] + public bool RobotSelfInException { get; set; } + + /// + /// 煮面机左侧缺水 + /// PLC ---> M232.0 + /// ModbusTcp --> 1570 + /// + [Alarm("煮面机左侧缺水报警")] + public bool LeftLackWater { get; set; } + + /// + /// 煮面机右侧缺水 + /// PLC ---> M232.1 + /// ModbusTcp --> 1571 + /// + [Alarm("煮面机右侧缺水报警")] + public bool RightLackWater { get; set; } + + /// + /// 丝杆初始化失败 + /// PLC ---> M232.2 + /// ModbusTcp --> 1571 + /// + [Alarm("丝杆初始化失败")] + public bool SvrewInitFail { get; set; } + + /// + /// 转盘初始化失败 + /// PLC ---> M232.3 + /// ModbusTcp --> 1571 + /// + [Alarm("转盘初始化失败")] + public bool TurntableInitFail { get; set; } + + /// + /// 机器人初始化失败 + /// PLC ---> M232.4 + /// ModbusTcp --> 1571 + /// + [Alarm("机器人初始化失败")] + public bool RobotInitFail { get; set; } + + /// + /// 煮面机初始化失败 + /// PLC ---> M232.5 + /// ModbusTcp --> 1571 + /// + [Alarm("煮面机初始化失败")] + public bool NoodleCookerInitFail { get; set; } + + /// + /// 推碗1步进推杆初始化失败 + /// PLC ---> M232.6 + /// ModbusTcp --> 1571 + /// + [Alarm("推碗1步进推杆初始化失败")] + public bool PushBowlInitFail1 { get; set; } + + /// + /// 推碗2步进推杆初始化失败 + /// PLC ---> M232.7 + /// ModbusTcp --> 1571 + /// + [Alarm("推碗2步进推杆初始化失败")] + public bool PushBowlInitFail2 { get; set; } + + + } +} diff --git a/BPASmartClient.MorkM/BPASmartClient.MorkM.csproj b/BPASmartClient.MorkM/BPASmartClient.MorkM.csproj new file mode 100644 index 00000000..7eaf6836 --- /dev/null +++ b/BPASmartClient.MorkM/BPASmartClient.MorkM.csproj @@ -0,0 +1,40 @@ + + + + net6.0-windows + enable + true + + + + + + + + + Code + + + Code + + + Code + + + + + + $(DefaultXamlRuntime) + Designer + + + $(DefaultXamlRuntime) + Designer + + + $(DefaultXamlRuntime) + Designer + + + + diff --git a/BPASmartClient.MorkM/Control_MORKM.cs b/BPASmartClient.MorkM/Control_MORKM.cs new file mode 100644 index 00000000..27eb253a --- /dev/null +++ b/BPASmartClient.MorkM/Control_MORKM.cs @@ -0,0 +1,1148 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading; +using System.Threading.Tasks; +using System.Diagnostics; +using BPASmartClient.Device; +using BPASmartClient.Helper; +using BPA.Message.Enum; +using BPASmartClient.Model; +using BPASmartClient.EventBus; +using static BPASmartClient.EventBus.EventBus; +using BPASmartClient.MorkS.ViewModel; +using BPASmartClient.MorkM.Model; + +namespace BPASmartClient.MorkM +{ + public class Control_MORKM : BaseDevice + { + + GVL_MORKM mORKS = new GVL_MORKM(); + Alarm alarm = new Alarm(); + HardwareStatus hardwareStatus = new HardwareStatus(); + + public void Init() + { + ActionManage.GetInstance.Register(new Action(() => { WriteRecipeBoms(); }), "recipeBom"); + ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitCommand"); + } + //public void ConnectOk() + //{ + // WriteRecipeBoms(); + // ReadData(); + // Main(); + // ResetProgram(); + // ActionManage.GetInstance.Register(new Action(() => + // { + // Random rd = new Random(); + // ThreadManage.GetInstance().StartLong(new Action(() => + // { + // int NoodleLoc = rd.Next(1, 6); + // int BowlLoc = rd.Next(10, 11); + // string guid = new Guid().ToString(); + + // mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid }); + // MessageLog.GetInstance.Show($"添加订单：面条位置【{NoodleLoc}】"); + + // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid }); + // MessageLog.GetInstance.Show($"添加订单：碗位置【{BowlLoc}】"); + // Thread.Sleep(60000); + // }), "ForOrder"); + // }), "EnableForOrder"); + + // ActionManage.GetInstance.Register(new Action(() => + // { + // ThreadManage.GetInstance.StopTask("ForOrder", new Action(() => + // { + // mORKS.RBTakeNoodleTask.Clear(); + // mORKS.TakeBowlTask.Clear(); + // })); + // }), "StopForOrder"); + + // MessageLog.GetInstance.Show("MORKM 设备初始化完成"); + //} + + //private void ResetProgram() + //{ + // ThreadManage.GetInstance.StartLong(new Action(() => + // { + // if (RTrig.GetInstance("ResetProgram").Start(DeviceData.Initing)) + // { + // ThreadManage.GetInstance.StopTask("MainTask", new Action(() => + // { + // ThreadManage.GetInstance.StopTask("ReadPLCData", new Action(() => + // { + // mORKS = null; + // mORKS = new GVL_MORKM(); + // ActionManage.GetInstance.Send("ResetProgram"); + // ActionManage.GetInstance.Send("ClearOrders"); + // ReadData(); + // Main(); + // })); + // })); + // } + + // Thread.Sleep(10); + // }), "ResetProgram"); + //} + + /// + /// 数据读取 + /// + //public void ReadData() + //{ + // ThreadManage.GetInstance.StartLong(new Action(() => + // { + // ModbusTcpHelper.GetInstance.Readbool(323, 3, new Action((bools) => + // { + // mORKS.RobotTakeNoodle = bools[0]; + // mORKS.RobotOutMeal = bools[1]; + // mORKS.MoveTurntable = bools[2]; + // })); + + // ModbusTcpHelper.GetInstance.Readbool(1120, 16, new Action((bools) => + // { + // mORKS.InitComplete = bools[0]; + // mORKS.TakeBowlIdle = bools[1]; + // mORKS.TemperatureReached = bools[2]; + // mORKS.AllowFallNoodle = bools[3]; + // mORKS.RbTakeNoodleComplete = bools[4]; + // mORKS.RbFallNoodleComplete = bools[5]; + // mORKS.RbOutMealComplete = bools[6]; + // mORKS.RobotIdle = bools[7]; + // mORKS.TakeMealDetect = bools[8]; + // mORKS.MissingBowl = bools[9]; + // DeviceData.Initing = bools[10]; + // mORKS.TurntableLowerLimit = bools[11]; + // mORKS.MissingBowlSignal2 = bools[12]; + // mORKS.TurntableUpLimit = bools[13]; + // mORKS.FeedComplete = bools[14]; + // mORKS.TurntableMoveInPlace = bools[15]; + // })); + + // var errorStatus = ModbusTcpHelper.GetInstance.Read((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M235.0"), ReadType.Coils, 1); + // if (errorStatus != null && errorStatus is bool error) mORKS.Error = error; + + // ModbusTcpHelper.GetInstance.Readbool(1136, 7, new Action((bools) => + // { + // for (int i = 0; i < 6; i++) + // { + // mORKS.NoodleCookerStatus[i] = bools[i]; + // } + // mORKS.Feeding = bools[6]; + // })); + + // ModbusTcpHelper.GetInstance.Readbool(1144, 6, new Action((bools) => + // { + // for (int i = 0; i < 6; i++) + // { + // mORKS.CookNoodlesComplete[i] = bools[i]; + // } + // })); + + // ModbusTcpHelper.GetInstance.Readbool(1570, 20, new Action((bools) => + // { + // alarm.MachineLeftLowTemperature = bools[0]; + // alarm.MachineRightLowTemperature = bools[1]; + // alarm.Supply1_LossBowl = bools[2]; + // alarm.Supply2_LossBowl = bools[3]; + // alarm.Supply1_ErrorOutBowl = bools[4]; + // alarm.Supply2_ErrorOutBowl = bools[5]; + // alarm.PushBowlCylinderError = bools[6]; + // alarm.NoodleMacCommunicateError = bools[7]; + // alarm.DosingMacCommunicateError = bools[8]; + // alarm.RobotMacCommunicateError = bools[9]; + // alarm.RobotInitError = bools[11]; + // alarm.RobotUrgentStop = bools[12]; + // alarm.RobotNotInRemoteMode = bools[13]; + // alarm.RobotNotInReady = bools[14]; + // alarm.RobotSelfInException = bools[15]; + // })); + + + // var ResLoc = ModbusTcpHelper.GetInstance.Read(286, ReadType.HoldingRegisters); + // if (ResLoc != null) + // { + // if (ResLoc is ushort loc) + // { + // mORKS.TurntableFeedbackloc = loc; + // } + // } + + // Thread.Sleep(500); + // }), "ReadPLCData"); + //} + + //public void SimOrder(T simOrder) + //{ + + // if (simOrder != null) + // { + + // if (simOrder is List locs) + // { + // OrderInformation newOrder = new OrderInformation();//新加 + // List orders = new List(); + // string subId = Guid.NewGuid().ToString(); + // foreach (var item in locs) + // { + // if (item >= 1 && item <= 5) + // { + // orders.Add(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); + // //mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId }); + // //MessageLog.GetInstance.Show($"添加订单：面条位置【{item}】"); + // } + // if (item >= 10 && item <= 11) + // { + // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); + // MessageLog.GetInstance.Show($"添加订单：碗位置【{item}】"); + // } + // } + // mORKS.DishNumber = orders.Count;//订单中配菜的数量 + // while (orders.Count > 0) + // { + // for (int i = 0; i < orders.Count; i++) + // { + // var res = orders.FirstOrDefault(p => p.Loc % 2 != 0); + // if (res != null) + // { + // //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == res.SuborderId) == null) + // mORKS.RBTakeNoodleTask.Enqueue(res); + + // orders.Remove(res); + + // } + // else + // { + // //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == orders[i].SuborderId) == null) + // mORKS.RBTakeNoodleTask.Enqueue(orders[i]); + // mORKS.VegtabNum++; + // orders.RemoveAt(i); + + // } + // } + // } + // Dictionary dic = new Dictionary(); + // newOrder.DishNum = mORKS.DishNumber; + // newOrder.VegatableNumber = mORKS.VegtabNum; + // dic.Add(subId, newOrder); + // mORKS.Conqueue.Enqueue(dic); + // mORKS.VegtabNum = 0; + // mORKS.DishNumber = 0; + // } + // } + //} + + ///// + ///// IOT 广播消息命令 + ///// + //public void IotBroadcast(T broadcast) + //{ + // if (broadcast != null && broadcast is IOTCommandModel iOTCommand) + // { + // MessageLog.GetInstance.Show($"IOT 广播消息命令 {iOTCommand.deviceName} 设备命令 {iOTCommand.CommandName} 控制变量{iOTCommand.CommandValue.Keys.First()}{iOTCommand.CommandValue[iOTCommand.CommandValue.Keys.First()]}"); + // switch (iOTCommand.CommandName) + // { + // case 0://控制类 + // if (iOTCommand.CommandValue != null) + // { + // if (iOTCommand.CommandValue.ContainsKey("order")) + // { + // List vs = new List(); + // vs.Add((ushort)(new Random().Next(1, 5))); + // vs.Add(ushort.Parse(iOTCommand.CommandValue["order"])); + // SimOrder(vs); + // } + // else if (iOTCommand.CommandValue.ContainsKey("init")) + // { + // DeviceInit(); + // } + // else if (iOTCommand.CommandValue.ContainsKey("stop")) + // { + // } + // else if (iOTCommand.CommandValue.ContainsKey("start")) + // { + // } + // } + // break; + // case 1://设置属性 + + // break; + // case 2://通知消息 + + // break; + // default: + // break; + // } + // } + //} + + int OrderCount = 0; + + public override DeviceClientType DeviceType => DeviceClientType.MORKM; + + ///// + ///// 数据解析 + ///// + //public void DataParse(T order) + //{ + // OrderCount++; + // MessageLog.GetInstance.Show($"接收到{OrderCount}次订单"); + // if (order is MorkOrderPush morkOrderPush) + // { + // OrderInformation newOrder = new OrderInformation();//2022.4.30 修改 + // List locs = new List(); + // foreach (var item in morkOrderPush.GoodBatchings) + // { + // var res = Json.Data.orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId); + // if (res != null) + // { + // if (ushort.TryParse(res.BatchingLoc, out ushort loc)) + // { + // if (loc >= 1 && loc <= 5) + // { + // locs.Add(new OrderLocInfo() { Loc = ushort.Parse(res.BatchingLoc), SuborderId = morkOrderPush.SuborderId, BatchingId = res.BatchingId, MakeType = morkOrderPush.MakeID == "2" }); //新增冒菜干拌or加汤 + // } + // else if (loc >= 10 && loc <= 11) + // { + // int index = 0; + // if (Json.Data.recipeBoms != null) + // { + // index = Array.FindIndex(Json.Data.recipeBoms?.RecipeIds.ToArray(), p => p.RecipeId == morkOrderPush.RecipeId); + // index++; + // } + // if (mORKS.TakeBowlTask.FirstOrDefault(p => p.SuborderId == morkOrderPush.SuborderId) == null) + // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() + // { + // Loc = 11, + // SuborderId = morkOrderPush.SuborderId, + // RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0 + // }); + // } + // } + // } + // } + // //手动供碗 调试用 + // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() + // { + // Loc = 11, + // SuborderId = morkOrderPush.SuborderId, + // MakeType = morkOrderPush.MakeID == "2" + // }); + // mORKS.DishNumber = locs.Count;//订单中配菜的数量 2022.4.30 修改 + // while (locs.Count > 0) + // { + // for (int i = 0; i < locs.Count; i++) + // { + // var res = locs.FirstOrDefault(p => p.Loc % 2 != 0); + // if (res != null) + // { + // //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == res.SuborderId) == null) + // mORKS.RBTakeNoodleTask.Enqueue(res); + // locs.Remove(res); + + // } + // else + // { + // //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == locs[i].SuborderId) == null) + // mORKS.RBTakeNoodleTask.Enqueue(locs[i]); + // mORKS.VegtabNum++; + // locs.RemoveAt(i); + + // } + // } + // } + + // Dictionary dic = new Dictionary(); + // newOrder.DishNum = mORKS.DishNumber; + // newOrder.VegatableNumber = mORKS.VegtabNum; + // //newOrder.MakeType = morkOrderPush.MakeType; + // dic.Add(morkOrderPush.SuborderId, newOrder); + // mORKS.Conqueue.Enqueue(dic); + // mORKS.VegtabNum = 0; + // mORKS.DishNumber = 0; + // } + //} + + public void Main() + { + //ThreadManage.GetInstance.StartLong(new Action(() => + //{ + // mORKS.AllowRun = mORKS.InitComplete; + // GeneralConfig.Healthy = mORKS.Error && mORKS.InitComplete && !GeneralConfig.EnableLocalSimOrder; + // //GeneralConfig.Healthy = true; + // TakeBowlTask(); + + // TakeNoodleTask(); + + // OutNoodleTask(); + + // SingleDetect(); + + // TurntableControl(); + + // Thread.Sleep(100); + + //}), "MainTask"); + } + + /// + /// 取碗控制 + /// + private void TakeBowlTask() + { + if (mORKS.AllowRun && mORKS.TakeBowlTask.Count > 0 && !mORKS.TakeBowlIdle && !mORKS.TakeBowlInterlock) + { + if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo)) + { + mORKS.TakeBowlId = orderLocInfo.SuborderId; + mORKS.OutMealType = orderLocInfo.MakeType;//新增冒菜干拌or加汤 + TakeBowlControl(orderLocInfo.Loc); + SetRecipeNumber(orderLocInfo.RecipeNumber); + SimpleFactory.GetInstance.OrderChanged(mORKS.TakeBowlId, ORDER_STATUS.COOKING); + MessageLog.GetInstance.Show($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]"); + } + mORKS.TakeBowlInterlock = true; + } + } + + /// + /// 转台控制 + /// + private void TurntableControl() + { + if (GeneralConfig.EnableLocalSimOrder) + { + //不做轮询，直接取面，模拟订单使用 + if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0) + { + if (mORKS.TurntableLowerLimit) + { + TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc); + if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc == mORKS.TurntableFeedbackloc) + { + mORKS.TurntableLocLists.Clear(); + mORKS.AllowTakeNoodle = true; + MessageLog.GetInstance.Show($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面"); + } + } + } + } + else + { + //正常轮询 + if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0) + { + var result = Json.Data.orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList(); + if (result != null) + { + var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.TurntableFeedbackloc.ToString()); + if (mORKS.TurntableLowerLimit && res != null) + { + //if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc != mORKS.TurntableFeedbackloc) + TurntableStart(mORKS.TurntableFeedbackloc); + mORKS.TurntableLocLists.Clear(); + mORKS.AllowTakeNoodle = true; + MessageLog.GetInstance.Show($"控制机器人去转台【{mORKS.TurntableFeedbackloc}】号位置取面"); + } + else + { + if (!mORKS.TurntableInterlock) + { + foreach (var item in result) + { + if (ushort.TryParse(item.BatchingLoc, out ushort loc)) + { + if (mORKS.TurntableFeedbackloc != loc && !mORKS.TurntableLocLists.Contains(loc)) + { + TurntableStart(loc); + MessageLog.GetInstance.Show($"没有物料检测的启动转台控制,转台位置：[{loc}]"); + break; + } + else if (mORKS.TurntableFeedbackloc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc); + } + } + } + } + } + else MessageLog.GetInstance.Show("未找到可用的物料信息"); + } + } + + //转台到位检测 + if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace && mORKS.CurrentLoc == mORKS.TurntableFeedbackloc)) + { + mORKS.CurrentLoc = 0; + mORKS.TurntableInterlock = false; + MessageLog.GetInstance.Show("转台到位检测"); + } + + //补料完成检测 + if (RTrig.GetInstance("FeedComplete").Start(mORKS.FeedComplete)) + { + if (!mORKS.AllowTakeNoodle && mORKS.TurntableLocLists.Count > 0) + { + mORKS.TurntableLocLists.Clear(); + mORKS.TurntableInterlock = false; + MessageLog.GetInstance.Show("补料完成检测"); + } + } + } + /// + /// 取面任务 + /// + private void TakeNoodleTask() + { + //取面控制 + if (mORKS.AllowRun && mORKS.RobotIdle && !mORKS.Feeding && (!mORKS.RobotTaskInterlock || !mORKS.VegNoodlesLock && mORKS.relock) && mORKS.AllowTakeNoodle && mORKS.TurntableMoveInPlace && !mORKS.TakeNoodleInterlock && !mORKS.OutNoodleing && mORKS.RBTakeNoodleTask.Count > 0) + { + + int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置 + if (loc >= 0 && loc <= 5) + { + + if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo)) + { + + // mORKS.CookNodelId[loc] = orderLocInfo.SuborderId; + mORKS.orderLocInfos[loc] = orderLocInfo; + SetFallNoodleLoc((ushort)(loc + 1)); + //机器人开始取面 + RobotTakeNoodle(); + // SimpleFactory.GetInstance.OrderChanged(orderLocInfo.SuborderId, ORDER_STATUS.COOKING); + MessageLog.GetInstance.Show($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏"); + + //写入煮菜时间 + List values = new List(); + if (mORKS.orderLocInfos[loc].Loc % 2 == 0)//素菜 + { + values.Add(2);//分 + values.Add(0);//秒 + ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray()); + } + else //荤菜 + { + values.Add(4);//分 + values.Add(0);//秒 + ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray()); + } + + + mORKS.TakeNoodleInterlock = true; + } + } + + } + } + + /// + /// 出餐控制 + /// + private void OutNoodleTask() + { + if (mORKS.AllowFallNoodle && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotIdle && !mORKS.TakeMealDetect) + { + // var list= mORKS.CookNoodlesComplete.Where(p => p == true).ToList(); + mORKS.HasVeg = false; + for (int i = 0; i < mORKS.CookNoodlesComplete.Length; i++) + { + if (mORKS.CookNoodlesComplete[i] && mORKS.orderLocInfos[i] != null && mORKS.orderLocInfos[i].SuborderId == mORKS.IngredientsCompleteId) + { + if (!mORKS.relock) + { + if (mORKS.Conqueue.TryDequeue(out Dictionary dic)) + { + mORKS.Vnum = dic[mORKS.orderLocInfos[i].SuborderId].VegatableNumber; + mORKS.TotalNum = dic[mORKS.orderLocInfos[i].SuborderId].DishNum; + mORKS.relock = true; + } + } + if (mORKS.orderLocInfos[i].Loc % 2 == 0) + { + mORKS.HasVeg = true; + mORKS.ListOrder.Add(i, mORKS.orderLocInfos[i]);//找出当前订单煮熟的素菜 + } + else if (!mORKS.HasVeg) + { + mORKS.ListOrderMeat.Add(i, mORKS.orderLocInfos[i]);//找出当前订单煮熟的荤菜 + } + } + } + if (mORKS.ListOrder.Count > 0) + { + foreach (KeyValuePair item in mORKS.ListOrder) + { + while (!mORKS.RobotIdle) + { + + } + int location = item.Key; //煮面炉位置 + ushort number = item.Value.Loc;//荤素编号 + SetTakeNoodleLoc((ushort)(location + 1)); + RobotOutMeal(); + CookNoodleStatusReset((ushort)(location + 1)); + // ResetAllowFallNoodle(); + mORKS.OutMealId = mORKS.IngredientsCompleteId; + // mORKS.CookNodelId[loc] = string.Empty; + mORKS.orderLocInfos[location] = null; + + MessageLog.GetInstance.Show($"{location + 1}号位置出餐控制"); + mORKS.OutNoodleing = true; + mORKS.Count++; + CheckLastDish(); + } + + } + if (mORKS.ListOrderMeat.Count > 0 && mORKS.Count == mORKS.Vnum && mORKS.ListOrder.Count == 0) + { + foreach (KeyValuePair item in mORKS.ListOrderMeat) + { + while (!mORKS.RobotIdle) + { + + } + int location = item.Key; //煮面炉位置 + ushort number = item.Value.Loc;//荤素编号 + SetTakeNoodleLoc((ushort)(location + 1)); + RobotOutMeal(); + CookNoodleStatusReset((ushort)(location + 1)); + // ResetAllowFallNoodle(); + mORKS.OutMealId = mORKS.IngredientsCompleteId; + // mORKS.CookNodelId[loc] = string.Empty; + mORKS.orderLocInfos[location] = null; + // mORKS.Count++; + MessageLog.GetInstance.Show($"{location + 1}号位置出餐控制"); + mORKS.OutNoodleing = true; + mORKS.CountMeat++; + CheckLastDish(); + } + + } + mORKS.ListOrder.Clear(); + mORKS.ListOrderMeat.Clear(); + } + } + + /// + /// 检查是否是当前订单最后一个配菜 + /// + public void CheckLastDish() + { + mORKS.Num = 0; + foreach (var item1 in mORKS.orderLocInfos) + { + if (item1 != null) + { + if (item1.SuborderId == mORKS.OutMealId) + { + mORKS.Num++; + //mORKS.Count++; + //mORKS.CountMeat++; + } + } + + } + if (mORKS.Num == 0 && mORKS.Count + mORKS.CountMeat == mORKS.TotalNum) + { + if (mORKS.OutMealType) + { + AddSoup();//加汤 + MessageLog.GetInstance.Show("正在加汤"); + } + else + { + //不加汤 + } + CookComplete(); //告诉机器人冒菜已经煮完 + ResetAllowFallNoodle(); + //mORKS.VegNoodlesLock = false; + mORKS.VegN = 0; + mORKS.relock = false; + mORKS.Count = 0; + mORKS.CountMeat = 0; + mORKS.IngredientsCompleteId = string.Empty; + mORKS.TakeBowlId = string.Empty; + mORKS.TakeBowlInterlock = false; + + } + else + { + + while (mORKS.RobotIdle) + { + + } + // Thread.Sleep(3000); + } + + } + /// + /// 信号检测 + /// + private void SingleDetect() + { + + //允许倒面信号检测 + if (RTrig.GetInstance("AllowFallNoodle").Start(mORKS.AllowFallNoodle)) + { + + mORKS.IngredientsCompleteId = mORKS.TakeBowlId; + // mORKS.TakeBowlId = string.Empty; + // MessageLog.GetInstance.Show("碗到位，允许到面"); + MessageLog.GetInstance.Show($"碗到位，允许到面,{mORKS.IngredientsCompleteId}"); + // mORKS.TakeBowlInterlock = false; + } + + //出餐完成信号检测 + if (RTrig.GetInstance("CompleteChange").Start(mORKS.RbOutMealComplete)) + { + + SimpleFactory.GetInstance.OrderChanged(mORKS.OutMealId, ORDER_STATUS.COMPLETED_COOK); + MessageLog.GetInstance.Show($"订单【{mORKS.OutMealId}】制作完成"); + mORKS.OutNoodleing = false; + } + + //取餐完成逻辑处理 + if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.RbOutMealComplete && !mORKS.TakeMealDetect, 2)) + { + SimpleFactory.GetInstance.OrderChanged(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE); + MessageLog.GetInstance.Show($"订单【{mORKS.OutMealId}】取餐完成"); + ResetCookComplete(); + mORKS.OutMealId = string.Empty; + } + + //机器人取面完成信号检测 + if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete)) + { + mORKS.TakeNoodleInterlock = false; + mORKS.AllowTakeNoodle = false; + mORKS.TurntableInterlock = false; + MessageLog.GetInstance.Show("机器人取面完成信号检测"); + TakeNoodleCompleteReset(); + } + + //转台到位检测 + //if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace)) + //{ + // mORKS.TurntableInterlock = false; + //} + + mORKS.VegNoodlesLock = false; + + for (int i = 0; i < mORKS.CookNoodlesComplete.Length; i++) + { + if (mORKS.CookNoodlesComplete[i] && mORKS.orderLocInfos[i] != null && mORKS.orderLocInfos[i].SuborderId == mORKS.IngredientsCompleteId) + { + if ((mORKS.orderLocInfos[i].Loc % 2 == 0 || mORKS.Vnum == 0) && mORKS.relock) + { + mORKS.VegNoodlesLock = true; + mORKS.VegN++; + break; + } + + + } + } + if (mORKS.VegN == mORKS.Vnum && mORKS.VegN < mORKS.TotalNum && mORKS.relock) + { + mORKS.VegNoodlesLock = true; + } + int OutMealRequstCount = mORKS.CookNoodlesComplete.Where(p => p == true).ToList().Count; + int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count; + mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 1 || mORKS.RBTakeNoodleTask.Count == 0); + if (mORKS.RobotIdle && mORKS.RobotTaskInterlock == false) + { + mORKS.OutNoodleing = false; + } + } + + + #region PLC 控制函数 + + /// + /// 写入配方数据到 PLC + /// + private void WriteRecipeBoms() + { + List recipeBoms = new List(); + if (Json.Data.recipeBoms == null) return; + foreach (var item in Json.Data.recipeBoms.RecipeIds) + { + foreach (var rec in item.Recipes) + { + recipeBoms.Add((ushort)rec); + } + } + if (recipeBoms.Count > 0) + { + if (ModbusTcpHelper.GetInstance.Write(1100, WriteType.HoldingRegisters, recipeBoms.ToArray())) + { + MessageLog.GetInstance.Show("成功写入配方数据"); + } + } + else { MessageLog.GetInstance.Show("配方数据为空"); } + } + + /// + /// 取面完成复位 + /// + private void TakeNoodleCompleteReset() + { + ModbusTcpHelper.GetInstance.Write(1124, WriteType.Coils, false); + } + + /// + /// 指定煮面口状态复位 + /// + /// + private void CookNoodleStatusReset(int num) + { + if (num >= 1 && num <= 6) + { + ushort addRess = (ushort)(1136 + num - 1); + ModbusTcpHelper.GetInstance.Write(addRess, WriteType.Coils, false); + MessageLog.GetInstance.Show($"{num}号煮面口占用复位"); + } + + } + + /// + /// 写配方编号 + /// + /// + private void SetRecipeNumber(ushort num) + { + ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, num); + } + + /// + /// 启动转台 + /// + /// + private void TurntableStart(ushort loc) + { + mORKS.CurrentLoc = loc; + mORKS.TurntableInterlock = true; + mORKS.TurntableLocLists.Add(loc); + ModbusTcpHelper.GetInstance.Write(101, WriteType.HoldingRegisters, loc); + ModbusTcpHelper.GetInstance.Write(325, WriteType.Coils, true); + } + + /// + /// 设置倒面位置 + /// + /// + private void SetFallNoodleLoc(ushort loc) + { + ModbusTcpHelper.GetInstance.Write(102, WriteType.HoldingRegisters, loc); + } + + /// + /// 设置取面位置 + /// + /// + private void SetTakeNoodleLoc(ushort loc) + { + ModbusTcpHelper.GetInstance.Write(103, WriteType.HoldingRegisters, loc); + } + + /// + /// 取碗控制 + /// + /// + private void TakeBowlControl(ushort loc) + { + if (loc == 10)//小碗 + { + ModbusTcpHelper.GetInstance.Write(321, WriteType.Coils, true); + } + else if (loc == 11)//大碗 + { + ModbusTcpHelper.GetInstance.Write(322, WriteType.Coils, true); + } + } + + /// + /// 机器人取面 + /// + private void RobotTakeNoodle() + { + ModbusTcpHelper.GetInstance.Write(323, WriteType.Coils, true); + } + + /// + /// 机器人取餐 + /// + private void RobotOutMeal() + { + ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true); + var result = ModbusTcpHelper.GetInstance.Read(324, ReadType.Coils); + if (result is bool res) + while (!res) + { + ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true); + } + } + + /// + /// 制作完成信号复位 + /// + private void ResetCookComplete() + { + ModbusTcpHelper.GetInstance.Write(1126, WriteType.Coils, false); + } + + /// + /// 复位允许取面信号 + /// + private void ResetAllowFallNoodle() + { + ModbusTcpHelper.GetInstance.Write(1123, WriteType.Coils, false); + } + + /// + /// 设备初始化 + /// + public async void DeviceInit() + { + ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, true); + await Task.Delay(1000); + ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, false); + + } + + /// + /// 制作完成，允许机器人往外推碗 + /// + public void CookComplete() + { + ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M0.6"), WriteType.Coils, true); + } + + /// + /// 是否加汤 + /// + public void AddSoup() + { + ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M0.7"), WriteType.Coils, true); + } + + private void ServerInit() + { + //物料信息 + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (@event == null) return; + if (@event is MaterialDeliveryEvent material) + { + orderMaterialDelivery = material.orderMaterialDelivery; + } + }); + + //配方数据信息 + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (@event == null) return; + if (@event is RecipeBomEvent recipe) + { + recipeBoms = recipe.recipeBoms; + WriteRecipeBoms(); + } + }); + } + + public override void DoMain() + { + MonitorViewModel.DeviceId = DeviceId; + ServerInit(); + DataParse(); + + Json.Read(); + if (Json.Data.parSets == null) Json.Data.parSets = new ObservableCollection(); + if (Json.Data.parSets.Count < 6) + { + Json.Data.parSets.Clear(); + for (int i = 0; i < 6; i++) + { + Json.Data.parSets.Add(new ParSet() + { + CheckBoxContext = $"煮面口{i + 1}屏蔽", + Minute = 1, + Second = 0, + IsShield = false, + TextBlockContext = $"煮面口{i + 1}时间设定" + }); + } + } + + ActionManage.GetInstance.Register(new Action((o) => + { + if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value); + }), "WriteVW"); + ActionManage.GetInstance.Register(new Action((o) => + { + if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value); + }), "WriteBools"); + ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice"); + } + + public override void ResetProgram() + { + mORKS = null; + mORKS = new GVL_MORKM(); + } + + private void GetStatus(string key, Action action) + { + if (peripheralStatus.ContainsKey(key)) + { + if (peripheralStatus[key] != null) + { + action?.Invoke(peripheralStatus[key]); + } + } + } + + private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS) + { + var res = mORKS.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid); + string goodName = string.Empty; + string SortNum = string.Empty; + if (res != null) + { + goodName = res.MorkOrder.GoodsName; + SortNum = res.MorkOrder.SortNum.ToString(); + } + EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType }); + } + + + public override void Stop() + { + throw new NotImplementedException(); + } + + public override void ReadData() + { + GetStatus("M230.0", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 24) + { + alarm.MachineLeftLowTemperature = bools[0]; + alarm.MachineRightLowTemperature = bools[1]; + alarm.Supply1_LossBowl = bools[2]; + alarm.Supply2_LossBowl = bools[3]; + alarm.Supply1_ErrorOutBowl = bools[4]; + alarm.Supply2_ErrorOutBowl = bools[5]; + alarm.PushBowlCylinderError = bools[6]; + alarm.NoodleMacCommunicateError = bools[7]; + alarm.DosingMacCommunicateError = bools[8]; + alarm.RobotMacCommunicateError = bools[9]; + alarm.DeviceEstop = bools[10]; + alarm.RobotInitError = bools[11]; + alarm.RobotUrgentStop = bools[12]; + alarm.RobotNotInRemoteMode = bools[13]; + alarm.RobotNotInReady = bools[14]; + alarm.RobotSelfInException = bools[15]; + alarm.LeftLackWater = bools[16]; + alarm.RightLackWater = bools[17]; + alarm.SvrewInitFail = bools[18]; + alarm.TurntableInitFail = bools[19]; + alarm.RobotInitFail = bools[20]; + alarm.NoodleCookerInitFail = bools[21]; + alarm.PushBowlInitFail1 = bools[22]; + alarm.PushBowlInitFail2 = bools[23]; + } + })); + + GetStatus("M0.3", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 3) + { + mORKS.RobotTakeNoodle = bools[0]; + mORKS.RobotOutMeal = bools[1]; + mORKS.MoveTurntable = bools[2]; + } + })); + + GetStatus("M100.0", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 16) + { + mORKS.InitComplete = bools[0]; + mORKS.TakeBowlIdle = bools[1]; + mORKS.TemperatureReached = bools[2]; + mORKS.AllowFallNoodle = bools[3]; + mORKS.RbTakeNoodleComplete = bools[4]; + mORKS.RbFallNoodleComplete = bools[5]; + mORKS.RbOutMealComplete = bools[6]; + mORKS.RobotIdle = bools[7]; + mORKS.TakeMealDetect = bools[8]; + mORKS.MissingBowl = bools[9]; + Initing = bools[10]; + mORKS.TurntableLowerLimit = bools[11]; + mORKS.MissingBowlSignal2 = bools[12]; + mORKS.TurntableUpLimit = bools[13]; + mORKS.FeedComplete = bools[14]; + mORKS.TurntableMoveInPlace = bools[15]; + } + + })); + + GetStatus("M235.0", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1) + { + mORKS.Error = bools[0]; + } + })); + + + GetStatus("M102.0", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 7) + { + for (int i = 0; i < 6; i++) + { + mORKS.NoodleCookerStatus[i] = bools[i]; + } + mORKS.Feeding = bools[6]; + } + })); + + GetStatus("M103.0", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 6) + { + for (int i = 0; i < 6; i++) + { + mORKS.CookNoodlesComplete[i] = bools[i]; + } + } + + })); + + GetStatus("VW372", new Action((obj) => + { + if (obj is ushort[] UshortValue && UshortValue.Length > 0 && UshortValue.Length <= 1) + mORKS.TurntableFeedbackloc = UshortValue[0]; + })); + } + + public override void MainTask() + { + throw new NotImplementedException(); + } + + + #endregion + + + + } + +} + + diff --git a/BPASmartClient.MorkM/GVL_MORKM.cs b/BPASmartClient.MorkM/GVL_MORKM.cs new file mode 100644 index 00000000..27aaf9b0 --- /dev/null +++ b/BPASmartClient.MorkM/GVL_MORKM.cs @@ -0,0 +1,402 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Collections.Concurrent; +using BPA.Message; +using BPASmartClient.Device; +using BPASmartClient.Model; + +namespace BPASmartClient.MorkM +{ + /// + /// MORKS 设备数据 + /// + public class GVL_MORKM : IStatus + { + public GVL_MORKM() + { + for (int i = 0; i < 6; i++) + { + CookNodelId.Add(new CookNodleLocAndId() { CookNodelId = "", Loc = -1 }); + } + } + + /// + /// 机器人取面 + /// PLC -> M0.3 + /// ModbusTcp -> 323 + /// + public bool RobotTakeNoodle { get; set; } + + /// + /// 机器人出餐 + /// PLC -> M0.4 + /// ModbusTcp -> 324 + /// + public bool RobotOutMeal { get; set; } + + /// + /// 移动转台 + /// PLC -> M0.5 + /// ModbusTcp -> 325 + /// + public bool MoveTurntable { get; set; } + + + #region 临时变量 + /// + /// 允许运行 + /// + [VariableMonitor("允许运行")] + public bool AllowRun { get; set; } + + /// + /// //机器人任务互锁信号 + /// + [VariableMonitor("机器人任务互锁信号")] + public bool RobotTaskInterlock { get; set; } + + /// + /// 取碗互锁信号 + /// + [VariableMonitor("取碗互锁信号")] + public bool TakeBowlInterlock { get; set; } + + /// + /// 取面互锁信号 + /// + [VariableMonitor("取面互锁信号")] + public bool TakeNoodleInterlock { get; set; } + + /// + /// 出面中 + /// + [VariableMonitor("出面中")] + public bool OutNoodleing { get; set; } + + /// + /// 允许取面 + /// + [VariableMonitor("允许取面")] + public bool AllowTakeNoodle { get; set; } + + /// + /// 转台互锁信号 + /// + [VariableMonitor("转台互锁信号")] + public bool TurntableInterlock { get; set; } + + /// + /// 荤素出餐互锁 + /// + [VariableMonitor("荤素出餐互锁")] + public bool ERLoc { get; set; } = false; + + /// + /// 当前取餐位置 + /// + [VariableMonitor("当前取餐位置")] + public int CurrentTakeMeakLoc { get; set; } = -1; + #endregion + + + /// + /// 初始化完成 + /// PLC -> M100.0 + /// ModbusTcp -> 1120 + /// + [VariableMonitor("初始化完成", "M100.0", "1120")] + public bool InitComplete { get; set; } + + /// + /// 取碗机构空闲，True:忙碌，false:空闲 + /// PLC -> M100.1 + /// ModbusTcp -> 1121 + /// + [VariableMonitor("取碗机构空闲", "M100.1", "1121")] + public bool TakeBowlIdle { get; set; } + + /// + /// 温度到达,True:表示到达，false：未到达 + /// PLC -> M100.2 + /// ModbusTcp -> 1122 + /// + [VariableMonitor("温度到达", "M100.2", "1122")] + public bool TemperatureReached { get; set; } + + /// + /// 允许到面,配料完成 + /// PLC -> M100.3 + /// ModbusTcp -> 1123 + /// + [VariableMonitor("允许到面", "M100.3", "1123")] + public bool AllowFallNoodle { get; set; } + + /// + /// 机器人取面完成 + /// PLC -> M100.4 + /// ModbusTcp -> 1124 + /// + [VariableMonitor("机器人取面完成", "M100.4", "1124")] + public bool RbTakeNoodleComplete { get; set; } + + /// + /// 机器人倒面完成 + /// PLC -> M100.5 + /// ModbusTcp -> 1125 + /// + [VariableMonitor("机器人倒面完成", "M100.5", "1125")] + public bool RbFallNoodleComplete { get; set; } + + /// + /// 机器人出餐完成,上报取餐完成 + /// PLC -> M100.6 + /// ModbusTcp -> 1126 + /// + [VariableMonitor("机器人出餐完成", "M100.6", "1126")] + public bool RbOutMealComplete { get; set; } + + /// + /// 机器人空闲 + /// PLC -> M100.7 + /// ModbusTcp -> 1127 + /// + [VariableMonitor("机器人空闲", "M100.7", "1127")] + public bool RobotIdle { get; set; } + + /// + /// 取餐口检测 + /// PLC -> M101.0 + /// ModbusTcp -> 1128 + /// + [VariableMonitor("取餐口检测", "M101.0", "1128")] + public bool TakeMealDetect { get; set; } + + /// + /// 缺碗信号，false:缺碗，true:有碗 + /// PLC -> M101.1 + /// ModbusTcp -> 1129 + /// + [VariableMonitor("缺碗信号", "M101.1", "1129")] + public bool MissingBowl { get; set; } + + /// + /// 设备初始化中，执行中等于1,2秒后复位 + /// PLC -> M101.2 + /// ModbusTcp -> 1130 + /// + [VariableMonitor("设备初始化中", "M101.2", "1130")] + public bool DeviceIniting { get; set; } + + /// + /// 转台下限检测 + /// PLC -> M101.3 + /// ModbusTcp -> 1131 + /// + [VariableMonitor("转台下限检测", "M101.3", "1131")] + public bool TurntableLowerLimit { get; set; } + + /// + /// 缺碗信号 2 + /// PLC -> M101.4 + /// ModbusTcp -> 1132 + /// + [VariableMonitor("缺碗信号 2", "M101.4", "1132")] + public bool MissingBowlSignal2 { get; set; } + + /// + /// 转台上限检测 + /// PLC -> M101.5 + /// ModbusTcp -> 1133 + /// + [VariableMonitor("转台上限检测", "M101.5", "1133")] + public bool TurntableUpLimit { get; set; } + + /// + /// 补料完成 + /// PLC -> M101.6 + /// ModbusTcp -> 1134 + /// + [VariableMonitor("补料完成", "M101.6", "1134")] + public bool FeedComplete { get; set; } + + /// + /// 转台移动到位 + /// PLC -> M101.7 + /// ModbusTcp -> 1135 + /// + [VariableMonitor("转台移动到位", "M101.7", "1135")] + public bool TurntableMoveInPlace { get; set; } + + /// + /// 煮面炉状态,True:忙碌，false:空闲 + /// M102.0 - M102.5 + /// 1136 - 1141 + /// + [VariableMonitor("煮面炉状态", "M102.0", "1136")] + public bool[] NoodleCookerStatus { get; set; } = new bool[6] { false, false, false, false, false, false }; + + /// + /// 补料中 + /// M102.6 + /// 1142 + /// + [VariableMonitor("补料中", "M102.6", "1142")] + public bool Feeding { get; set; } + + /// + /// 煮面完成,上升后给信号 + /// M103.0 - M103.5 + /// 1144 - 1149 + /// + [VariableMonitor("煮面完成", "M103.0", "1144")] + public bool[] CookNoodlesComplete { get; set; } = new bool[6] { false, false, false, false, false, false }; + + /// + /// 硬件设备异常 + /// PLC -> M235.0 + /// True:设备正常，False:设备异常 + /// + [VariableMonitor("硬件设备异常", "M235.0", "")] + public bool Error { get; set; } = false; + + /// + /// 配方编号 + /// PLC -> VW0 + /// ModbusTcp -> 100 + /// + [VariableMonitor("配方编号", "VW0", "100")] + public ushort RecipeNumber { get; set; } + + /// + /// 转台设置位置 + /// PLC -> VW2 + /// ModbusTcp -> 101 + /// + [VariableMonitor("转台设置位置", "VW2", "101")] + public ushort TurntableLoc { get; set; } + + /// + /// 到面至煮面炉位置 + /// PLC -> VW4 + /// ModbusTcp -> 102 + /// + [VariableMonitor("到面至煮面炉位置", "VW4", "102")] + public ushort FallNoodleLoc { get; set; } + + /// + /// 取面位置 + /// PLC -> VW6 + /// ModbusTcp -> 103 + /// + [VariableMonitor("取面位置", "VW6", "103")] + public ushort TakeNoodleLoc { get; set; } + + /// + /// 转台反馈位置 + /// PLC -> VW372 + /// ModbusTcp -> 286 + /// + [VariableMonitor("转台反馈位置", "VW372", "286")] + public ushort TurntableFeedbackloc { get; set; } + + /// + /// 机器人取面位置队列 + /// + public ConcurrentQueue RBTakeNoodleTask { get; set; } = new ConcurrentQueue(); + + /// + /// 出碗队列 + /// + public ConcurrentQueue TakeBowlTask { get; set; } = new ConcurrentQueue(); + + /// + /// 是否有面条 + /// + public bool IsNoodles { get; set; } = true; + + public Dictionary ListOrder { get; set; } = new Dictionary(); //存放当前订单已做好素菜 + + public Dictionary ListOrderMeat { get; set; } = new Dictionary(); //存放当前订单已做好荤菜 + + public int DishNumber { set; get; } = 0; //当前订单中配菜的数量 + + #region 订单ID记录 + /// + /// 取碗订单ID + /// + public string TakeBowlId = string.Empty; + + /// + /// 配料完成订单ID + /// + public string IngredientsCompleteId = string.Empty; + + /// + /// 煮面口对应的订单ID + /// + //public string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, }; + public List CookNodelId { get; set; } = new List(); + + + //public string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, }; + + public OrderLocInfo[] orderLocInfos = new OrderLocInfo[6] { null, null, null, null, null, null }; + /// + /// 出餐订单ID + /// + public string OutMealId = string.Empty; + + + /// + /// 冒菜制作方式,true:加汤，false:不加汤 + /// + public bool OutMealType { get; set; } = false; + + /// + /// 转台位置轮询 + /// + public List TurntableLocLists = new List(); + + /// + /// 转台当前启动位置 + /// + [VariableMonitor("转台当前启动位置")] + public ushort CurrentLoc { get; set; } = 0; + + public List doOrderEvents { get; set; } = new List(); + + + + public int Num { get; set; } //记录同一个订单是否所有配菜均已出锅 + + public int Count { get; set; } = 0; //用于素菜的计数 + + public int CountMeat { get; set; } = 0;//用于荤菜计数 + + public int Vnum { get; set; } = 0; //单次订单素菜的总数 + public int VegtabNum { get; set; } = 0;//记录一个订单中素菜的数量 + + public int TotalNum { get; set; } = 0; //单次订单的配菜总数 + + public ConcurrentQueue> Conqueue = new ConcurrentQueue>(); //记录订单的ID 以及素菜数量 + public bool relock { get; set; } = false; //单次订单互锁 + + public bool HasVeg { get; set; } //是否有素菜判断 + + + public bool VegNoodlesLock { get; set; } = false; //取面和取餐互锁 + + public int VegN { get; set; } = 0; //素菜出餐计数 + #endregion + } + + public class CookNodleLocAndId + { + public string CookNodelId { get; set; } + + public int Loc { get; set; } + } +} diff --git a/BPASmartClient.MorkM/HardwareStatus.cs b/BPASmartClient.MorkM/HardwareStatus.cs new file mode 100644 index 00000000..ac34e10a --- /dev/null +++ b/BPASmartClient.MorkM/HardwareStatus.cs @@ -0,0 +1,18 @@ +using BPASmartClient.Device; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkM +{ + public class HardwareStatus : IHardwareStatus + { + [HardwareStatus("输入状态", "I0.0")] + public bool Input1 { get; set; } + + [HardwareStatus("输出状态", "Q0.0")] + public bool OutPut1 { get; set; } + } +} diff --git a/BPASmartClient.MorkM/Model/MorksPar.cs b/BPASmartClient.MorkM/Model/MorksPar.cs new file mode 100644 index 00000000..6f97207c --- /dev/null +++ b/BPASmartClient.MorkM/Model/MorksPar.cs @@ -0,0 +1,16 @@ +using BPASmartClient.Model; +using System; +using System.Collections.Generic; +using System.Collections.ObjectModel; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using Microsoft.Toolkit.Mvvm.ComponentModel; + +namespace BPASmartClient.MorkM.Model +{ + internal class MorksPar + { + public ObservableCollection parSets { get; set; } = new ObservableCollection(); + } +} diff --git a/BPASmartClient.MorkM/Model/ParSet.cs b/BPASmartClient.MorkM/Model/ParSet.cs new file mode 100644 index 00000000..39eb45a6 --- /dev/null +++ b/BPASmartClient.MorkM/Model/ParSet.cs @@ -0,0 +1,29 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkM.Model +{ + public class ParSet + { + public ushort Minute { get { return _mMinute; } set { _mMinute = value; } } + private ushort _mMinute; + + public ushort Second { get { return _mSecond; } set { _mSecond = value; } } + private ushort _mSecond; + + + public bool IsShield { get { return _mIsShield; } set { _mIsShield = value; } } + private bool _mIsShield; + + + public string TextBlockContext { get { return _mTextBlockContext; } set { _mTextBlockContext = value; } } + private string _mTextBlockContext; + + public string CheckBoxContext { get { return _mCheckBoxContext; } set { _mCheckBoxContext = value; } } + private string _mCheckBoxContext; + + } +} diff --git a/BPASmartClient.MorkM/Model/WritePar.cs b/BPASmartClient.MorkM/Model/WritePar.cs new file mode 100644 index 00000000..b3c769fd --- /dev/null +++ b/BPASmartClient.MorkM/Model/WritePar.cs @@ -0,0 +1,14 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkM.Model +{ + public class WritePar + { + public string Address { get; set; } + public object Value { get; set; } + } +} diff --git a/BPASmartClient.MorkM/OrderLocInfo.cs b/BPASmartClient.MorkM/OrderLocInfo.cs new file mode 100644 index 00000000..40eda077 --- /dev/null +++ b/BPASmartClient.MorkM/OrderLocInfo.cs @@ -0,0 +1,29 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkM +{ + public class OrderLocInfo + { + public string SuborderId { get; set; } + public ushort Loc { get; set; } + public ushort RecipeNumber { get; set; } + public int BatchingId { get; set; } + public string GoodName { get; set; } + } + + /// + /// 存储订单中素菜荤菜数量 + /// + public class OrderInformation + { + public int VegatableNumber { get; set; } + + public int DishNum { get; set; } + + // public GoodsMakeType MakeType { get; set; } + } +} diff --git a/BPASmartClient.MorkM/View/Debug.xaml b/BPASmartClient.MorkM/View/Debug.xaml new file mode 100644 index 00000000..456ec5dc --- /dev/null +++ b/BPASmartClient.MorkM/View/Debug.xaml @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/BPASmartClient.MorkF/View/DebugView.xaml.cs b/BPASmartClient.MorkF/View/DebugView.xaml.cs new file mode 100644 index 00000000..2812751f --- /dev/null +++ b/BPASmartClient.MorkF/View/DebugView.xaml.cs @@ -0,0 +1,30 @@ +using BPASmartClient.MorkF.ViewModel; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using System.Windows; +using System.Windows.Controls; +using System.Windows.Data; +using System.Windows.Documents; +using System.Windows.Input; +using System.Windows.Media; +using System.Windows.Media.Imaging; +using System.Windows.Navigation; +using System.Windows.Shapes; + +namespace BPASmartClient.MorkF.View +{ + /// + /// DebugView.xaml 的交互逻辑 + /// + public partial class DebugView : UserControl + { + public DebugView() + { + InitializeComponent(); + this.DataContext = new DebugViewModel(); + } + } +} diff --git a/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs b/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs new file mode 100644 index 00000000..ddbc8129 --- /dev/null +++ b/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs @@ -0,0 +1,55 @@ +using BPASmartClient.Helper; +using Microsoft.Toolkit.Mvvm.ComponentModel; +using Microsoft.Toolkit.Mvvm.Input; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkF.ViewModel +{ + internal class DebugViewModel : ObservableObject + { + + public RelayCommand PlcInite { get; set; } + public RelayCommand SimulateOrder { get; set; } + public RelayCommand TakePot { get; set; } + public RelayCommand TakePotReset { get; set; } + public RelayCommand TempTurnOff { get; set; } + public RelayCommand OneBlock { get; set; } + public RelayCommand TwoBlock { get; set; } + public RelayCommand ThreeBlock { get; set; } + + public RelayCommand OverTurnOff { get; set; } + public RelayCommand OverOneBlock { get; set; } + public RelayCommand OverTwoBlock { get; set; } + public RelayCommand OverThreeBlock { get; set; } + public RelayCommand OverGoOn { get; set; } + public RelayCommand OverGoDown { get; set; } + public RelayCommand ShreddCabbage { get; set; } + public RelayCommand FryPork { get; set; } + public RelayCommand XingBaoGu { get; set; } + public DebugViewModel() + { + PlcInite = new RelayCommand(() => { ActionManage.GetInstance.Send("InitCommand"); }); + SimulateOrder = new RelayCommand(() => { ActionManage.GetInstance.Send("SimultaorOrder"); }); + TakePot = new RelayCommand(() => { ActionManage.GetInstance.Send("TakePot"); }); + TakePotReset = new RelayCommand(() => { ActionManage.GetInstance.Send("TakePotReset"); }); + TempTurnOff = new RelayCommand(() => { ActionManage.GetInstance.Send("TakeOff"); }); + OneBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OneBlock"); }); + TwoBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("TwoBlock"); }); + ThreeBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("ThreeBlock"); }); + OverTurnOff = new RelayCommand(() => { ActionManage.GetInstance.Send("OverTurnOff"); }); + OverOneBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OverOneBlock"); }); + OverTwoBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OverTwoBlock"); }); + OverThreeBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OverThreeBlock"); }); + OverGoOn = new RelayCommand(() => { ActionManage.GetInstance.Send("OverGoOn"); }); + OverGoDown = new RelayCommand(() => { ActionManage.GetInstance.Send("OverGoDown"); }); + ShreddCabbage = new RelayCommand(() => { ActionManage.GetInstance.Send("ShreddCabbage"); }); + FryPork = new RelayCommand(() => { ActionManage.GetInstance.Send("FryPork"); }); + XingBaoGu = new RelayCommand(() => { ActionManage.GetInstance.Send("XingBaoGu"); }); + } + + } +} diff --git a/BPASmartClient.MorkM/BPASmartClient.MorkM.csproj b/BPASmartClient.MorkM/BPASmartClient.MorkM.csproj index 7eaf6836..69d03903 100644 --- a/BPASmartClient.MorkM/BPASmartClient.MorkM.csproj +++ b/BPASmartClient.MorkM/BPASmartClient.MorkM.csproj @@ -7,13 +7,12 @@ + + - - Code - Code @@ -23,10 +22,6 @@ - - $(DefaultXamlRuntime) - Designer - $(DefaultXamlRuntime) Designer diff --git a/BPASmartClient.MorkM/Control_MORKM.cs b/BPASmartClient.MorkM/Control_MORKM.cs index 69357e64..c521ac8a 100644 --- a/BPASmartClient.MorkM/Control_MORKM.cs +++ b/BPASmartClient.MorkM/Control_MORKM.cs @@ -11,231 +11,81 @@ using BPA.Message.Enum; using BPASmartClient.Model; using BPASmartClient.EventBus; using static BPASmartClient.EventBus.EventBus; -using BPASmartClient.MorkS.ViewModel; using BPASmartClient.MorkM.Model; using System.Collections.ObjectModel; using BPASmartClient.Model.PLC; +using BPASmartClient.MorkM.ViewModel; namespace BPASmartClient.MorkM { public class Control_MORKM : BaseDevice { - + public override DeviceClientType DeviceType => DeviceClientType.MORKM; GVL_MORKM mORKS = new GVL_MORKM(); Alarm alarm = new Alarm(); HardwareStatus hardwareStatus = new HardwareStatus(); - public void Init() - { - ActionManage.GetInstance.Register(new Action(() => { WriteRecipeBoms(); }), "recipeBom"); - ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitCommand"); - } - //public void ConnectOk() - //{ - // WriteRecipeBoms(); - // ReadData(); - // Main(); - // ResetProgram(); - // ActionManage.GetInstance.Register(new Action(() => - // { - // Random rd = new Random(); - // ThreadManage.GetInstance().StartLong(new Action(() => - // { - // int NoodleLoc = rd.Next(1, 6); - // int BowlLoc = rd.Next(10, 11); - // string guid = new Guid().ToString(); - - // mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid }); - // DeviceProcessLogShow($"添加订单：面条位置【{NoodleLoc}】"); - - // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid }); - // DeviceProcessLogShow($"添加订单：碗位置【{BowlLoc}】"); - // Thread.Sleep(60000); - // }), "ForOrder"); - // }), "EnableForOrder"); - - // ActionManage.GetInstance.Register(new Action(() => - // { - // ThreadManage.GetInstance.StopTask("ForOrder", new Action(() => - // { - // mORKS.RBTakeNoodleTask.Clear(); - // mORKS.TakeBowlTask.Clear(); - // })); - // }), "StopForOrder"); - - // DeviceProcessLogShow("MORKM 设备初始化完成"); - //} - - //private void ResetProgram() - //{ - // ThreadManage.GetInstance.StartLong(new Action(() => - // { - // if (RTrig.GetInstance("ResetProgram").Start(DeviceData.Initing)) - // { - // ThreadManage.GetInstance.StopTask("MainTask", new Action(() => - // { - // ThreadManage.GetInstance.StopTask("ReadPLCData", new Action(() => - // { - // mORKS = null; - // mORKS = new GVL_MORKM(); - // ActionManage.GetInstance.Send("ResetProgram"); - // ActionManage.GetInstance.Send("ClearOrders"); - // ReadData(); - // Main(); - // })); - // })); - // } - - // Thread.Sleep(10); - // }), "ResetProgram"); - //} - - /// - /// 数据读取 - /// - //public void ReadData() - //{ - // ThreadManage.GetInstance.StartLong(new Action(() => - // { - // ModbusTcpHelper.GetInstance.Readbool(323, 3, new Action((bools) => - // { - // mORKS.RobotTakeNoodle = bools[0]; - // mORKS.RobotOutMeal = bools[1]; - // mORKS.MoveTurntable = bools[2]; - // })); - - // ModbusTcpHelper.GetInstance.Readbool(1120, 16, new Action((bools) => - // { - // mORKS.InitComplete = bools[0]; - // mORKS.TakeBowlIdle = bools[1]; - // mORKS.TemperatureReached = bools[2]; - // mORKS.AllowFallNoodle = bools[3]; - // mORKS.RbTakeNoodleComplete = bools[4]; - // mORKS.RbFallNoodleComplete = bools[5]; - // mORKS.RbOutMealComplete = bools[6]; - // mORKS.RobotIdle = bools[7]; - // mORKS.TakeMealDetect = bools[8]; - // mORKS.MissingBowl = bools[9]; - // DeviceData.Initing = bools[10]; - // mORKS.TurntableLowerLimit = bools[11]; - // mORKS.MissingBowlSignal2 = bools[12]; - // mORKS.TurntableUpLimit = bools[13]; - // mORKS.FeedComplete = bools[14]; - // mORKS.TurntableMoveInPlace = bools[15]; - // })); - - // var errorStatus = ModbusTcpHelper.GetInstance.Read((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M235.0"), ReadType.Coils, 1); - // if (errorStatus != null && errorStatus is bool error) mORKS.Error = error; - - // ModbusTcpHelper.GetInstance.Readbool(1136, 7, new Action((bools) => - // { - // for (int i = 0; i < 6; i++) - // { - // mORKS.NoodleCookerStatus[i] = bools[i]; - // } - // mORKS.Feeding = bools[6]; - // })); - - // ModbusTcpHelper.GetInstance.Readbool(1144, 6, new Action((bools) => - // { - // for (int i = 0; i < 6; i++) - // { - // mORKS.CookNoodlesComplete[i] = bools[i]; - // } - // })); - - // ModbusTcpHelper.GetInstance.Readbool(1570, 20, new Action((bools) => - // { - // alarm.MachineLeftLowTemperature = bools[0]; - // alarm.MachineRightLowTemperature = bools[1]; - // alarm.Supply1_LossBowl = bools[2]; - // alarm.Supply2_LossBowl = bools[3]; - // alarm.Supply1_ErrorOutBowl = bools[4]; - // alarm.Supply2_ErrorOutBowl = bools[5]; - // alarm.PushBowlCylinderError = bools[6]; - // alarm.NoodleMacCommunicateError = bools[7]; - // alarm.DosingMacCommunicateError = bools[8]; - // alarm.RobotMacCommunicateError = bools[9]; - // alarm.RobotInitError = bools[11]; - // alarm.RobotUrgentStop = bools[12]; - // alarm.RobotNotInRemoteMode = bools[13]; - // alarm.RobotNotInReady = bools[14]; - // alarm.RobotSelfInException = bools[15]; - // })); - - - // var ResLoc = ModbusTcpHelper.GetInstance.Read(286, ReadType.HoldingRegisters); - // if (ResLoc != null) - // { - // if (ResLoc is ushort loc) - // { - // mORKS.TurntableFeedbackloc = loc; - // } - // } - // Thread.Sleep(500); - // }), "ReadPLCData"); - //} - //public void SimOrder(T simOrder) - //{ + public void SimOrder(T simOrder) + { - // if (simOrder != null) - // { + if (simOrder != null) + { - // if (simOrder is List locs) - // { - // OrderInformation newOrder = new OrderInformation();//新加 - // List orders = new List(); - // string subId = Guid.NewGuid().ToString(); - // foreach (var item in locs) - // { - // if (item >= 1 && item <= 5) - // { - // orders.Add(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); - // //mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId }); - // //DeviceProcessLogShow($"添加订单：面条位置【{item}】"); - // } - // if (item >= 10 && item <= 11) - // { - // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); - // DeviceProcessLogShow($"添加订单：碗位置【{item}】"); - // } - // } - // mORKS.DishNumber = orders.Count;//订单中配菜的数量 - // while (orders.Count > 0) - // { - // for (int i = 0; i < orders.Count; i++) - // { - // var res = orders.FirstOrDefault(p => p.Loc % 2 != 0); - // if (res != null) - // { - // //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == res.SuborderId) == null) - // mORKS.RBTakeNoodleTask.Enqueue(res); + if (simOrder is List locs) + { + OrderInformation newOrder = new OrderInformation();//新加 + List orders = new List(); + string subId = Guid.NewGuid().ToString(); + foreach (var item in locs) + { + if (item >= 1 && item <= 5) + { + orders.Add(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); + //mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId }); + //DeviceProcessLogShow($"添加订单：面条位置【{item}】"); + } + if (item >= 10 && item <= 11) + { + mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); + DeviceProcessLogShow($"添加订单：碗位置【{item}】"); + } + } + mORKS.DishNumber = orders.Count;//订单中配菜的数量 + while (orders.Count > 0) + { + for (int i = 0; i < orders.Count; i++) + { + var res = orders.FirstOrDefault(p => p.Loc % 2 != 0); + if (res != null) + { + //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == res.SuborderId) == null) + mORKS.RBTakeNoodleTask.Enqueue(res); - // orders.Remove(res); + orders.Remove(res); - // } - // else - // { - // //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == orders[i].SuborderId) == null) - // mORKS.RBTakeNoodleTask.Enqueue(orders[i]); - // mORKS.VegtabNum++; - // orders.RemoveAt(i); + } + else + { + //if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == orders[i].SuborderId) == null) + mORKS.RBTakeNoodleTask.Enqueue(orders[i]); + mORKS.VegtabNum++; + orders.RemoveAt(i); - // } - // } - // } - // Dictionary dic = new Dictionary(); - // newOrder.DishNum = mORKS.DishNumber; - // newOrder.VegatableNumber = mORKS.VegtabNum; - // dic.Add(subId, newOrder); - // mORKS.Conqueue.Enqueue(dic); - // mORKS.VegtabNum = 0; - // mORKS.DishNumber = 0; - // } - // } - //} + } + } + } + Dictionary dic = new Dictionary(); + newOrder.DishNum = mORKS.DishNumber; + newOrder.VegatableNumber = mORKS.VegtabNum; + dic.Add(subId, newOrder); + mORKS.Conqueue.Enqueue(dic); + mORKS.VegtabNum = 0; + mORKS.DishNumber = 0; + } + } + } ///// ///// IOT 广播消息命令 @@ -282,9 +132,6 @@ namespace BPASmartClient.MorkM //} int OrderCount = 0; - - public override DeviceClientType DeviceType => DeviceClientType.MORKM; - ///// ///// 数据解析 ///// @@ -378,26 +225,25 @@ namespace BPASmartClient.MorkM }); } - public void Main() + public override void MainTask() { - //ThreadManage.GetInstance.StartLong(new Action(() => - //{ - // mORKS.AllowRun = mORKS.InitComplete; - // GeneralConfig.Healthy = mORKS.Error && mORKS.InitComplete && !GeneralConfig.EnableLocalSimOrder; - // //GeneralConfig.Healthy = true; - // TakeBowlTask(); - - // TakeNoodleTask(); + mORKS.AllowRun = mORKS.InitComplete; + if (Json.Data.IsVerify) + IsHealth = mORKS.Error && mORKS.InitComplete; + else + IsHealth = true; - // OutNoodleTask(); + //if (mORKS.AllowRun) + //{ + TakeBowlTask(); - // SingleDetect(); + TakeNoodleTask(); - // TurntableControl(); + OutNoodleTask(); - // Thread.Sleep(100); + SingleDetect(); - //}), "MainTask"); + TurntableControl(); } /// @@ -425,24 +271,24 @@ namespace BPASmartClient.MorkM /// private void TurntableControl() { - //if (GeneralConfig.EnableLocalSimOrder) - //{ - // //不做轮询，直接取面，模拟订单使用 - // if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0) - // { - // if (mORKS.TurntableLowerLimit) - // { - // TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc); - // if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc == mORKS.TurntableFeedbackloc) - // { - // mORKS.TurntableLocLists.Clear(); - // mORKS.AllowTakeNoodle = true; - // DeviceProcessLogShow($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面"); - // } - // } - // } - //} - //else + if (GeneralConfig.EnableLocalSimOrder) + { + //不做轮询，直接取面，模拟订单使用 + if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0) + { + if (mORKS.TurntableLowerLimit) + { + TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc); + if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc == mORKS.TurntableFeedbackloc) + { + mORKS.TurntableLocLists.Clear(); + mORKS.AllowTakeNoodle = true; + DeviceProcessLogShow($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面"); + } + } + } + } + else { //正常轮询 if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0) @@ -453,7 +299,6 @@ namespace BPASmartClient.MorkM var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.TurntableFeedbackloc.ToString()); if (mORKS.TurntableLowerLimit && res != null) { - //if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc != mORKS.TurntableFeedbackloc) TurntableStart(mORKS.TurntableFeedbackloc); mORKS.TurntableLocLists.Clear(); mORKS.AllowTakeNoodle = true; @@ -532,7 +377,6 @@ namespace BPASmartClient.MorkM { values.Add(2);//分 values.Add(0);//秒 - // //ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray()); EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address =$"VW{ 116 + (loc * 6) }" , Value = values.ToArray() }); } else //荤菜 @@ -780,8 +624,8 @@ namespace BPASmartClient.MorkM private void WriteRecipeBoms() { List recipeBoms = new List(); - if (Json.Data.recipeBoms == null) return; - foreach (var item in Json.Data.recipeBoms.RecipeIds) + if (this.recipeBoms == null) return; + foreach (var item in this.recipeBoms.RecipeIds) { foreach (var rec in item.Recipes) { @@ -790,10 +634,9 @@ namespace BPASmartClient.MorkM } if (recipeBoms.Count > 0) { - //if (//ModbusTcpHelper.GetInstance.Write(1100, WriteType.HoldingRegisters, recipeBoms.ToArray())) - //{ - // DeviceProcessLogShow("成功写入配方数据"); - //} + //配方数据地址范围：VW2000 - VW2278 + WriteData("VW2000", recipeBoms.ToArray()); + DeviceProcessLogShow("写配方成功"); } else { DeviceProcessLogShow("配方数据为空"); } } @@ -803,7 +646,7 @@ namespace BPASmartClient.MorkM /// private void TakeNoodleCompleteReset() { - ////ModbusTcpHelper.GetInstance.Write(1124, WriteType.Coils, false); + WriteData("M100.4", false); } /// @@ -814,8 +657,7 @@ namespace BPASmartClient.MorkM { if (num >= 1 && num <= 6) { - ushort addRess = (ushort)(1136 + num - 1); - //ModbusTcpHelper.GetInstance.Write(addRess, WriteType.Coils, false); + WriteData($"102.{num - 1}", false); DeviceProcessLogShow($"{num}号煮面口占用复位"); } @@ -827,7 +669,7 @@ namespace BPASmartClient.MorkM /// private void SetRecipeNumber(ushort num) { - //ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, num); + WriteData("VW0", num); } /// @@ -839,8 +681,8 @@ namespace BPASmartClient.MorkM mORKS.CurrentLoc = loc; mORKS.TurntableInterlock = true; mORKS.TurntableLocLists.Add(loc); - //ModbusTcpHelper.GetInstance.Write(101, WriteType.HoldingRegisters, loc); - //ModbusTcpHelper.GetInstance.Write(325, WriteType.Coils, true); + WriteData("VW2", loc); + WriteData("M0.5", true); } /// @@ -849,7 +691,7 @@ namespace BPASmartClient.MorkM /// private void SetFallNoodleLoc(ushort loc) { - //ModbusTcpHelper.GetInstance.Write(102, WriteType.HoldingRegisters, loc); + WriteData("VW4", loc); } /// @@ -858,7 +700,7 @@ namespace BPASmartClient.MorkM /// private void SetTakeNoodleLoc(ushort loc) { - //ModbusTcpHelper.GetInstance.Write(103, WriteType.HoldingRegisters, loc); + WriteData("VW6", loc); } /// @@ -869,11 +711,11 @@ namespace BPASmartClient.MorkM { if (loc == 10)//小碗 { - //ModbusTcpHelper.GetInstance.Write(321, WriteType.Coils, true); + WriteData("M0.1", true); } else if (loc == 11)//大碗 { - //ModbusTcpHelper.GetInstance.Write(322, WriteType.Coils, true); + WriteData("M0.2", true); } } @@ -882,7 +724,7 @@ namespace BPASmartClient.MorkM /// private void RobotTakeNoodle() { - //ModbusTcpHelper.GetInstance.Write(323, WriteType.Coils, true); + WriteData("M0.3", true); } /// @@ -890,13 +732,7 @@ namespace BPASmartClient.MorkM /// private void RobotOutMeal() { - // ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true); - // var result = ModbusTcpHelper.GetInstance.Read(324, ReadType.Coils); - //if (result is bool res) - // while (!res) - // { - //ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true); - // } + WriteData("M0.4", true); } /// @@ -904,7 +740,7 @@ namespace BPASmartClient.MorkM /// private void ResetCookComplete() { - //ModbusTcpHelper.GetInstance.Write(1126, WriteType.Coils, false); + WriteData("M100.6", false); } /// @@ -912,7 +748,7 @@ namespace BPASmartClient.MorkM /// private void ResetAllowFallNoodle() { - //ModbusTcpHelper.GetInstance.Write(1123, WriteType.Coils, false); + WriteData("M100.3", false); } /// @@ -920,9 +756,9 @@ namespace BPASmartClient.MorkM /// public async void DeviceInit() { - //ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, true); + WriteData("M0.0", true); await Task.Delay(1000); - //ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, false); + WriteData("M0.0", false); } @@ -1000,7 +836,9 @@ namespace BPASmartClient.MorkM { if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value); }), "WriteBools"); - ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice"); + ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice");//设备初始化注册 + ActionManage.GetInstance.Register(new Action((o) => {SimOrder(o); }), "SimOrder");//模拟订单委托注册 + } private void WriteData(string address, object value) { @@ -1039,7 +877,7 @@ namespace BPASmartClient.MorkM public override void Stop() { - throw new NotImplementedException(); + } public override void ReadData() @@ -1149,11 +987,7 @@ namespace BPASmartClient.MorkM })); } - public override void MainTask() - { - throw new NotImplementedException(); - } - + #endregion diff --git a/BPASmartClient.MorkM/Model/GeneralConfig.cs b/BPASmartClient.MorkM/Model/GeneralConfig.cs new file mode 100644 index 00000000..bbc76b18 --- /dev/null +++ b/BPASmartClient.MorkM/Model/GeneralConfig.cs @@ -0,0 +1,16 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkM.Model +{ + internal class GeneralConfig + { + /// + /// 激活本地模拟订单 + /// + public static bool EnableLocalSimOrder { get; set; } + } +} diff --git a/BPASmartClient.MorkM/View/Debug.xaml b/BPASmartClient.MorkM/View/Debug.xaml deleted file mode 100644 index 456ec5dc..00000000 --- a/BPASmartClient.MorkM/View/Debug.xaml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - -