临时数据提交

BPASmartClient.Business/Plugin/ConfigMgr.cs

@@ -84,7 +84,7 @@ namespace BPASmartClient.Business
             IConfigurationBuilder configurationBuilder = new ConfigurationBuilder().SetBasePath(Directory.GetCurrentDirectory());
             configurationBuilder.AddApolloConfiguration(p =>
             {
-                p.AppId = "HostComputer";
+                p.AppId = apoid;
                 p.MetaServer = apolloUri;
                 p.Namespaces = new List<string>() { "application", namespa };
             });

BPASmartClient.CustomResource/BPASmartClient.CustomResource.csproj

@@ -22,6 +22,9 @@
     <None Remove="Fonts\80号-萌趣小鱼体.ttf" />
     <None Remove="Fonts\iconfont.ttf" />
     <None Remove="Fonts\Quartz Regular.ttf" />
+    <None Remove="Image\AGV\agv.png" />
+    <None Remove="Image\AGV\AGV小车.png" />
+    <None Remove="Image\AGV\AGV炒锅.png" />
     <None Remove="Image\AGV\停车位.png" />
     <None Remove="Image\AGV\充电桩.png" />
     <None Remove="Image\AGV\墙.png" />
@@ -223,6 +226,9 @@
     <Resource Include="Fonts\80号-萌趣小鱼体.ttf" />
     <Resource Include="Fonts\iconfont.ttf" />
     <Resource Include="Fonts\Quartz Regular.ttf" />
+    <Resource Include="Image\AGV\agv.png" />
+    <Resource Include="Image\AGV\AGV小车.png" />
+    <Resource Include="Image\AGV\AGV炒锅.png" />
     <Resource Include="Image\AGV\停车位.png" />
     <Resource Include="Image\AGV\充电桩.png" />
     <Resource Include="Image\AGV\墙.png" />

BPASmartClient.CustomResource/Themes/MyStyle.xaml

@@ -172,6 +172,13 @@
     <ImageBrush x:Key="imageBJ" ImageSource="/BPASmartClient.CustomResource;component/Image/图层1.png" />
     <ImageBrush x:Key="image1" ImageSource="/BPASmartClient.CustomResource;component/Image/shape.png" />
     <ImageBrush x:Key="image2" ImageSource="/BPASmartClient.CustomResource;component/Image/shape1.png" />
+    <Style x:Key="image完成" TargetType="Image">
+        <Style.Setters>
+            <Setter Property="VerticalAlignment" Value="Stretch" />
+            <Setter Property="HorizontalAlignment" Value="Stretch" />
+            <Setter Property="Source" Value="/BPASmartClient.CustomResource;component/Image/Cb_Checked.png"  />
+        </Style.Setters>
+    </Style>
 
     <Style x:Key="image墙" TargetType="Image">
         <Style.Setters>
@@ -381,7 +388,7 @@
             </Setter>
             <Setter Property="Background">
                 <Setter.Value>
-                    <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/AGV/物流车.png" />
+                    <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/AGV/agv.png" />
                 </Setter.Value>
             </Setter>
         </Style.Setters>
@@ -451,8 +458,9 @@
 
     <Style x:Key="border碗" TargetType="Border">
         <Style.Setters>
-            <Setter Property="Height" Value="50"/>
+            <Setter Property="Height" Value="80"/>
             <Setter Property="Width" Value="40"/>
+            <Setter Property="Margin" Value="0,-20,0,-20"/>
             <Setter Property="VerticalAlignment" Value="Bottom"/>
             <Setter Property="Background">
                 <Setter.Value>
@@ -464,9 +472,9 @@
 
     <Style x:Key="border菜" TargetType="Border">
         <Style.Setters>
-            <Setter Property="Margin" Value="0,3,0,0"/>
-            <Setter Property="Height" Value="25"/>
-            <Setter Property="Width" Value="33"/>
+            <Setter Property="Margin" Value="0,-17,0,0"/>
+            <Setter Property="Height" Value="30"/>
+            <Setter Property="Width" Value="35"/>
             <Setter Property="VerticalAlignment" Value="Top"/>
             <Setter Property="Background">
                 <Setter.Value>
@@ -1823,9 +1831,10 @@
 
     <!--#region TextBlock-->
     <Style x:Key="80号字体样式" TargetType="TextBlock">
+        <Setter Property="FontSize" Value="16" />
         <Setter Property="TextWrapping" Value="Wrap" />
         <Setter Property="FontFamily" Value="/BPASmartClient.CustomResource;Component/Fonts/#zihun80hao-mengquxiaoyuti"/>
-        <Setter Property="Foreground" Value="#FFC6AE82" />
+        <Setter Property="Foreground" Value="#FFFCD5B5" />
     </Style>
     
     

BPASmartClient.CustomResource/UserControls/DosingSystem.xaml.cs

@@ -0,0 +1,28 @@
+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.CustomResource.UserControls
+{
+    /// <summary>
+    /// DosingSystem.xaml 的交互逻辑
+    /// </summary>
+    public partial class DosingSystem : UserControl
+    {
+        public DosingSystem()
+        {
+            InitializeComponent();
+        }
+    }
+}

BPASmartClient.Helper/ThreadManage.cs

@@ -32,10 +32,6 @@ namespace BPASmartClient.Helper
             if (CancellationTokenSources.ContainsKey(guid + key))
             {
                 CancellationTokenSources[guid + key]?.Cancel();
-                if (key.Equals("滚筒线1任务线程")||key.Equals("滚筒线2任务线程")||key.Equals("滚筒线3任务线程"))
-                {
-                    ActionManage.GetInstance.Send("FryPotDosingMainTaskExit");
-                }
                 ActionManage.GetInstance.Register(ExitCallback, guid + key);
             }
             else

BPASmartClient/App.config

@@ -6,14 +6,19 @@
     <!--<add key="ClientId" value="43"/>-->
     <add key="IsEnableTest" value="false"/>
 
-    <!--开发环境-->
+    <!--测试环境-->
     <add key="apollouri" value="http://10.2.1.21:28080/"/>
+    <add key="AppId" value="test1_HostComputer"/>
+    <add key ="Namespaces" value="DEV.test1.Config"/>
+
+    <!--开发环境-->
+    <!--<add key="apollouri" value="http://10.2.1.21:28080/"/>
     <add key="AppId" value="dev1_common"/>
-    <add key ="Namespaces" value="DEV.Config"/>
+    <add key ="Namespaces" value="DEV.Config"/>-->
 
     <!--正式环境-->
     <!--<add key="apollouri" value="http://47.108.65.220:28080/"/>
-    <add key="AppId" value="order"/>
+    <add key="AppId" value="HostComputer"/>
     <add key ="Namespaces" value="TEST1.Config"/>-->
 
     <!--阿里云上报启动方式:API 或者 LOCAL-->

BPASmartClient/Control/ShopDeviceConfigView.xaml

@@ -389,7 +389,7 @@
                     Foreground="{StaticResource TextBlockForeground}"
                     IcoText=""
                     MouseLeftButtonDown="IcoButton_MouseLeftButtonDown"
-                    Style="{StaticResource NewButtonStyle}" />
+                    Style="{StaticResource IcoButtonStyle}" />
 
                 <pry:IcoButton
                     Grid.Column="5"
@@ -400,7 +400,7 @@
                     FontSize="16"
                     Foreground="{StaticResource TextBlockForeground}"
                     IcoText="&#xe626;"
-                    Style="{StaticResource NewButtonStyle}" />
+                    Style="{StaticResource IcoButtonStyle}" />
 
             </Grid>
 

DosingSystem/BPASmartClient.DosingSystem.csproj

@@ -5,9 +5,10 @@
     <TargetFramework>net6.0-windows</TargetFramework>
     <Nullable>enable</Nullable>
     <UseWPF>true</UseWPF>
-    <ApplicationManifest>app.manifest</ApplicationManifest>
+    <ApplicationManifest></ApplicationManifest>
     <ApplicationIcon>hbl.ico</ApplicationIcon>
     <PlatformTarget>AnyCPU</PlatformTarget>
+    <EnforceCodeStyleInBuild>True</EnforceCodeStyleInBuild>
   </PropertyGroup>
 
   <ItemGroup>

DosingSystem/View/HardwareStatusView.xaml

@@ -17,11 +17,6 @@
     </UserControl.DataContext>
 
     <Grid>
-        <TextBlock
-            HorizontalAlignment="Center"
-            VerticalAlignment="Center"
-            FontSize="40"
-            Foreground="Wheat"
-            Text="硬件状态" />
+        <pry:DosingSystem/>
     </Grid>
 </UserControl>

DosingSystem/app.manifest

@@ -1,79 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<assembly manifestVersion="1.0" xmlns="urn:schemas-microsoft-com:asm.v1">
-  <assemblyIdentity version="1.0.0.0" name="MyApplication.app"/>
-  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v2">
-    <security>
-      <requestedPrivileges xmlns="urn:schemas-microsoft-com:asm.v3">
-        <!-- UAC 清单选项
-             如果想要更改 Windows 用户帐户控制级别，请使用
-             以下节点之一替换 requestedExecutionLevel 节点。
-
-        <requestedExecutionLevel  level="asInvoker" uiAccess="false" />
-        <requestedExecutionLevel  level="requireAdministrator" uiAccess="false" />
-        <requestedExecutionLevel  level="highestAvailable" uiAccess="false" />
-
-            指定 requestedExecutionLevel 元素将禁用文件和注册表虚拟化。
-            如果你的应用程序需要此虚拟化来实现向后兼容性，则移除此
-            元素。
-        -->
-        <requestedExecutionLevel  level="requireAdministrator" uiAccess="false" />
-      </requestedPrivileges>
-    </security>
-  </trustInfo>
-
-  <compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">
-    <application>
-      <!-- 设计此应用程序与其一起工作且已针对此应用程序进行测试的
-           Windows 版本的列表。取消评论适当的元素，
-           Windows 将自动选择最兼容的环境。 -->
-
-      <!-- Windows Vista -->
-      <!--<supportedOS Id="{e2011457-1546-43c5-a5fe-008deee3d3f0}" />-->
-
-      <!-- Windows 7 -->
-      <!--<supportedOS Id="{35138b9a-5d96-4fbd-8e2d-a2440225f93a}" />-->
-
-      <!-- Windows 8 -->
-      <!--<supportedOS Id="{4a2f28e3-53b9-4441-ba9c-d69d4a4a6e38}" />-->
-
-      <!-- Windows 8.1 -->
-      <!--<supportedOS Id="{1f676c76-80e1-4239-95bb-83d0f6d0da78}" />-->
-
-      <!-- Windows 10 -->
-      <!--<supportedOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}" />-->
-
-    </application>
-  </compatibility>
-
-  <!-- 指示该应用程序可感知 DPI 且 Windows 在 DPI 较高时将不会对其进行
-       自动缩放。Windows Presentation Foundation (WPF)应用程序自动感知 DPI，无需
-       选择加入。选择加入此设置的 Windows 窗体应用程序(面向 .NET Framework 4.6)还应
-       在其 app.config 中将 "EnableWindowsFormsHighDpiAutoResizing" 设置设置为 "true"。
-       
-       将应用程序设为感知长路径。请参阅 https://docs.microsoft.com/windows/win32/fileio/maximum-file-path-limitation -->
-  <!--
-  <application xmlns="urn:schemas-microsoft-com:asm.v3">
-    <windowsSettings>
-      <dpiAware xmlns="http://schemas.microsoft.com/SMI/2005/WindowsSettings">true</dpiAware>
-      <longPathAware xmlns="http://schemas.microsoft.com/SMI/2016/WindowsSettings">true</longPathAware>
-    </windowsSettings>
-  </application>
-  -->
-
-  <!-- 启用 Windows 公共控件和对话框的主题(Windows XP 和更高版本) -->
-  <!--
-  <dependency>
-    <dependentAssembly>
-      <assemblyIdentity
-          type="win32"
-          name="Microsoft.Windows.Common-Controls"
-          version="6.0.0.0"
-          processorArchitecture="*"
-          publicKeyToken="6595b64144ccf1df"
-          language="*"
-        />
-    </dependentAssembly>
-  </dependency>
-  -->
-
-</assembly>

FryPot_DosingSystem/AGV/WhichCart.cs

@@ -0,0 +1,74 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FryPot_DosingSystem.AGV
+{
+    /// <summary>
+    /// 控制车辆型号
+    /// </summary>
+    public enum WhichCart
+    {
+        一号车,
+        二号车,
+        三号车,
+        四号车,
+    }
+    /// <summary>
+    /// 控制车辆运动方式
+    /// </summary>
+    public enum CartMotionTrajectory
+    {
+        Stop,//停止
+
+        qc_1,//取菜品 1号流水线取菜
+        qc_2,//取菜品 2号流水线取菜
+        qc_3,//取菜品 3号流水线取菜
+
+        yc_1_1,//运输菜品 1号流水线-1号炒锅
+        yc_1_2,//运输菜品 1号流水线-2号炒锅
+        yc_1_3,//运输菜品 1号流水线-3号炒锅
+        yc_1_4,//运输菜品 1号流水线-4号炒锅
+        yc_1_5,//运输菜品 1号流水线-5号炒锅
+
+        yc_2_1,//运输菜品 2号流水线-1号炒锅
+        yc_2_2,//运输菜品 2号流水线-2号炒锅
+        yc_2_3,//运输菜品 2号流水线-3号炒锅
+        yc_2_4,//运输菜品 2号流水线-4号炒锅
+        yc_2_5,//运输菜品 2号流水线-5号炒锅
+
+        yc_3_1,//运输菜品 3号流水线-1号炒锅
+        yc_3_2,//运输菜品 3号流水线-2号炒锅
+        yc_3_3,//运输菜品 3号流水线-3号炒锅
+        yc_3_4,//运输菜品 3号流水线-4号炒锅
+        yc_3_5,//运输菜品 3号流水线-5号炒锅
+
+        hs_1,//1号炒锅-运输空碗到-空碗流水线
+        hs_2,//2号炒锅-运输空碗到-空碗流水线
+        hs_3,//3号炒锅-运输空碗到-空碗流水线
+        hs_4,//4号炒锅-运输空碗到-空碗流水线
+
+        hj,//空碗流水线-回到充电桩或者停车桩
+    }
+
+    /// <summary>
+    /// 是否
+    /// </summary>
+    public enum IsBool
+    {
+        Yes,
+        No,
+        OnllYes
+    }
+    /// <summary>
+    /// 是否运行
+    /// </summary>
+    public enum IsRun
+    {
+        Start,
+        Stop
+    }
+    
+}

FryPot_DosingSystem/Control/DosingLogicControl.cs

@@ -84,9 +84,9 @@ namespace FryPot_DosingSystem.Control
         bool LThreeErrorRecipe;//线体3错误配方标识
         #endregion
         #region agv临时变量
-        bool agvArriveUpLoad = false;//agv是否到达线体1装料位置
-        bool agvArriveLTwoUpLoad = false;//agv是否到达线体2装料位置
-        bool agvArriveLThreeUpLoad = false;//agv是否到达线体3装料位置
+        bool agvArriveUpLoad = false;//agv是否到达线体1上料位置
+        bool agvArriveLTwoUpLoad = false;//agv是否到达线体2上料位置
+        bool agvArriveLThreeUpLoad = false;//agv是否到达线体3上料位置
 
         bool agvArriveUnLoad = false;//线体1 agv是否到达炒锅送料位置
         bool LTwoagvArriveUnLoad = false;//线体2 agv是否到达炒锅送料位置
@@ -224,7 +224,7 @@ namespace FryPot_DosingSystem.Control
             ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitMainTask = true; }), "FryPotDosingMainTaskExit");
             HubHelper.GetInstance.Report = new Action<object>(AgvTaskUpReportDataAnalysis);
             HubHelper.GetInstance.Upstreamrequest = new Action<object>(AgvFeedBackUpReportDataAnalysis);
-            ResetProgram();
+           // ResetProgram();
             ReadPlcData();
             MainTask();
             CommandRegist();
@@ -449,7 +449,7 @@ namespace FryPot_DosingSystem.Control
                                     globalVar = new GlobalVariable();
                                     ReicpeNum = 0;
                                     ReadPlcData();
-                                    //MainTask();
+                                    MainTask();
                                     MessageLog.GetInstance.ShowUserLog("主任务重启完成");
 
                                 }));
@@ -633,7 +633,6 @@ namespace FryPot_DosingSystem.Control
             }
             else
             {
-
                 hardWareStatusModel.RollerTwoModel.RollerAlarmState = Color.FromRgb(255, 51, 153);//有故障
             }
             if (globalVar.rollerLineTwo.OutMaterialingSingle == 1)//运行中
@@ -757,7 +756,7 @@ namespace FryPot_DosingSystem.Control
             //LOneFryPotOutputMaterial();
             //LTwoFryPotOutputMaterial();
             //LThreeFryPotOutputMaterial();
-            ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute();Thread.Sleep(10);}) , "滚筒线1任务线程");
+            ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute();Thread.Sleep(10); }) , "滚筒线1任务线程");
             ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程");
             ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程");
 
@@ -774,7 +773,9 @@ namespace FryPot_DosingSystem.Control
                 LOneRecipeDataToPlc();
                 LOneLoadRoller();
                 LOneFryPotInputMaterial();
+                LOneFallMaterial();
                 LOneFryPotOutputMaterial();
+                LOneEmptyOperate();
                 globalVar.LOneTaskLock = false;
 
 
@@ -792,7 +793,9 @@ namespace FryPot_DosingSystem.Control
                 LTwoRecipeDataToPlc();
                 LTwoAgvLoadRoller();
                 LTwoFryPotInputMaterial();
+                LTwoFallMaterial();
                 LTwoFryPotOutputMaterial();
+                LTwoEmptyOperate();
                 globalVar.LTwoTaskLock = false;
 
             }
@@ -808,7 +811,9 @@ namespace FryPot_DosingSystem.Control
                 LThreeRecipeDataToPlc();
                 LThreeAgvLoadRoller();
                 LThreeFryPotInputMaterial();
+                LThreeFallMaterial();
                 LThreeFryPotOutputMaterial();
+                LThreeEmptyOperate();
                 globalVar.LThreeTaskLock = false;
 
             }
@@ -1114,25 +1119,28 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public void LOneFryPotInputMaterial()
         {
-            if (OutputMaterialQuene.Count > 0 && !globalVar.InOrOutputLock)
+            if (OutputMaterialQuene.Count > 0 && agvArriveUnLoad && globalVar.AgvToFryPot&&!globalVar.PotOneInputMaterialArrive)
             {
-                while (!agvArriveUnLoad)//等待agv到达炒锅位置
-                {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                agvArriveUnLoad = false;
                 MessageLog.GetInstance.ShowRunLog("AGV到达【1】号线体指定炒锅下料位置");
                 AgvArriveFryPotOneOrFourSingleSetDown();
+                agvArriveUnLoad = false;
+                globalVar.PotOneInputMaterialArrive = true;
+            }
+        }
+
+        public void LOneFallMaterial()
+        {
+            if (!globalVar.InOrOutputLock && (globalVar.fryPotOne.InputMaterialArrivedSingle == 1 || globalVar.fryPotFour.InputMaterialArrivedSingle == 1) && globalVar.PotOneInputMaterialArrive&&OutputMaterialQuene.Count>0&&!globalVar.PotOneOutputRollerArrive)
+            {
                 FryPotOneRollerTroubleCheck();
                 if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//炒锅滚筒无故障
                 {
                     //炒锅滚筒进料运行到位处理
                     FryPotOneOrFourInputMaterialRollerOperate();
+                    AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV
                     globalVar.InOrOutputLock = true;
+                    globalVar.PotOneOutputRollerArrive = true;
                 }
-
             }
         }
         /// <summary>
@@ -1140,25 +1148,27 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public void LTwoFryPotInputMaterial()
         {
-            if (LTwoOutputMaterialQuene.Count > 0 && !globalVar.LTwoInOrOutputLock)
+            if (LTwoOutputMaterialQuene.Count > 0 && LTwoagvArriveUnLoad && globalVar.LTwoAgvToFryPot && !globalVar.LTwoPotInputMaterialArrive)
             {
-                while (!LTwoagvArriveUnLoad)//等待agv到达炒锅位置
-                {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                LTwoagvArriveUnLoad = false;
                 MessageLog.GetInstance.ShowRunLog("AGV到达【2】号线体指定炒锅下料位置");
                 AgvArriveFryPotTwoOrFiveSingleSetDown();
+                LTwoagvArriveUnLoad = false;
+                globalVar.LTwoPotInputMaterialArrive = true;
+            }
+        }
+        public void LTwoFallMaterial()
+        {
+            if (!globalVar.LTwoInOrOutputLock && (globalVar.fryPotTwo.InputMaterialArrivedSingle == 1 || globalVar.fryPotFive.InputMaterialArrivedSingle == 1) && globalVar.LTwoPotInputMaterialArrive && LTwoOutputMaterialQuene.Count > 0 && !globalVar.LTwoPotOutputRollerArrive)
+            {
                 FryPotTwoRollerTroubleCheck();
                 if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//炒锅滚筒无故障
                 {
                     //炒锅滚筒进料运行到位处理
                     FryPotTwoOrFiveInputMaterialRollerOperate();
+                    AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV
                     globalVar.LTwoInOrOutputLock = true;
+                    globalVar.LTwoPotOutputRollerArrive = true;
                 }
-
             }
         }
         /// <summary>
@@ -1166,25 +1176,28 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public void LThreeFryPotInputMaterial()
         {
-            if (LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreeInOrOutputLock)
+            if (LThreeOutputMaterialQuene.Count > 0 && LThreeagvArriveUnLoad && globalVar.LThreeAgvToFryPot && !globalVar.LThreePotInputMaterialArrive)
             {
-                while (!LThreeagvArriveUnLoad)//等待agv到达炒锅位置
-                {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                LThreeagvArriveUnLoad = false;
                 MessageLog.GetInstance.ShowRunLog("AGV到达【3】号线体指定炒锅下料位置");
                 AgvArriveFryPotThreeSingleSetDown();
+                LThreeagvArriveUnLoad = false;
+                globalVar.LThreePotInputMaterialArrive = true;
+            }
+        }
+
+        public void LThreeFallMaterial()
+        {
+            if (!globalVar.LThreeInOrOutputLock && globalVar.fryPotThree.InputMaterialArrivedSingle == 1  && globalVar.LThreePotInputMaterialArrive && LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreePotOutputRollerArrive)
+            {
                 FryPotThreeRollerTroubleCheck();
                 if (FryPotThreeAlarm == 1)//炒锅滚筒无故障
                 {
                     //炒锅滚筒进料运行到位处理
                     FryPotThreeInputMaterialRollerOperate();
+                    AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV
                     globalVar.LThreeInOrOutputLock = true;
+                    globalVar.LThreePotOutputRollerArrive = true;
                 }
-
             }
         }
         /// <summary>
@@ -1228,117 +1241,123 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public void LOneFryPotOutputMaterial()
         {
-            if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock)
+            if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock && agvArriveUpLoad && globalVar.PotOneOutputRollerArrive&& !globalVar.AgvArrivePot)
             {
-                AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV
-                while (!agvArriveUpLoad)//等待agv到达炒锅位置
-                {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                agvArriveUpLoad = false;
+
                 MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线对应炒锅空桶上料位置");
                 AgvArriveFryPotOneOrFourOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
+                agvArriveUpLoad = false;
+                globalVar.AgvArrivePot = true;
+            }
+        }
+        public void LOneEmptyOperate()
+        {
+            if ((globalVar.fryPotOne.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 1) && agvFryPotEmptyRollerArrive&&OutputMaterialQuene.Count>0&& globalVar.AgvArrivePot)
+            {
                 FryPotOneRollerTroubleCheck();
                 if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//无故障
                 {
                     FryPotOneOrFourOutEmpetyRollerOperate();
                     if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                     {
-                        while (!agvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
-                        {
-                            Thread.Sleep(5);
-                            if (globalVar.ExitMainTask)
-                                return;
-                        }
                         agvFryPotEmptyRollerArrive = false;
+                        agvArriveUpLoad = false;
                         MessageLog.GetInstance.ShowRunLog("AGV在【1】号滚筒线对应炒锅空桶上料完成,将进行空桶回收");
                         //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                         globalVar.AllowAgvToLineLoadRoller = true;
                         globalVar.InOrOutputLock = false;
+                        globalVar.LoadRoller = false;
+                        globalVar.AgvToFryPot = false;
+                        globalVar.PotOneInputMaterialArrive = false;
+                        globalVar.PotOneOutputRollerArrive = false;
+                        globalVar.AgvArrivePot = false;
                     }
                 }
-
             }
+
         }
+      
         /// <summary>
         /// 线体2对应炒锅出桶
         /// </summary>
         public void LTwoFryPotOutputMaterial()
         {
-            if (LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoInOrOutputLock)
+            if (LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoInOrOutputLock && agvArriveLTwoUpLoad && globalVar.LTwoPotOutputRollerArrive && !globalVar.LTwoAgvArrivePot)
             {
-                AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV
-                while (!agvArriveLTwoUpLoad)//等待agv到达炒锅上料位置
-                {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                agvArriveLTwoUpLoad = false;
+
                 MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线对应炒锅空桶上料位置");
                 AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
+                agvArriveLTwoUpLoad = false;
+                globalVar.LTwoAgvArrivePot = true;
+            }
+        }
+
+        public void LTwoEmptyOperate()
+        {
+            if ((globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotFive.EmptyBarrelArrivedSingle == 1) && LTwoagvFryPotEmptyRollerArrive && LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoAgvArrivePot)
+            {
                 FryPotTwoRollerTroubleCheck();
                 if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//无故障
                 {
                     FryPotTwoOrFiveOutEmpetyRollerOperate();
                     if (LTwoOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                     {
-                        while (!LTwoagvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
-                        {
-                            Thread.Sleep(5);
-                            if (globalVar.ExitMainTask)
-                                return;
-                        }
                         LTwoagvFryPotEmptyRollerArrive = false;
+                        agvArriveLTwoUpLoad = false;
                         MessageLog.GetInstance.ShowRunLog("AGV在【2】号滚筒线对应炒锅空桶上料完成,将进行空桶回收");
                         //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                         globalVar.AllowAgvToLineTwoLoadRoller = true;
                         globalVar.LTwoInOrOutputLock = false;
+                        globalVar.LTwoLoadRoller = false;
+                        globalVar.LTwoAgvToFryPot = false;
+                        globalVar.LTwoPotInputMaterialArrive = false;
+                        globalVar.LTwoPotOutputRollerArrive = false;
+                        globalVar.LTwoAgvArrivePot = false;
                     }
                 }
-
             }
+
         }
         /// <summary>
         /// 线体3对应炒锅出桶
         /// </summary>
         public void LThreeFryPotOutputMaterial()
         {
-            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeInOrOutputLock)
+            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeInOrOutputLock && agvArriveLThreeUpLoad && globalVar.LThreePotOutputRollerArrive && !globalVar.LThreeAgvArrivePot)
             {
-                AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV
-                while (!agvArriveLThreeUpLoad)//等待agv到达炒锅位置
-                {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                agvArriveLThreeUpLoad = false;
+
                 MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线对应炒锅空桶上料位置");
                 AgvArriveFryPotThreeOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
+                agvArriveLThreeUpLoad = false;
+                globalVar.LThreeAgvArrivePot = true;
+            }
+        }
+
+        public void LThreeEmptyOperate()
+        {
+            if (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 1 && LThreeagvFryPotEmptyRollerArrive && LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeAgvArrivePot)
+            {
                 FryPotThreeRollerTroubleCheck();
-                if (FryPotThreeAlarm == 1)//无故障
+                if (FryPotThreeAlarm == 1 )//无故障
                 {
                     FryPotThreeOutEmpetyRollerOperate();
                     if (LThreeOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                     {
-                        while (!LThreeagvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
-                        {
-                            Thread.Sleep(5);
-                            if (globalVar.ExitMainTask)
-                                return;
-                        }
                         LThreeagvFryPotEmptyRollerArrive = false;
+                        agvArriveLThreeUpLoad = false;
                         MessageLog.GetInstance.ShowRunLog("AGV在【3】号滚筒线对应炒锅空桶上料完成,将进行空桶回收");
                         //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                         globalVar.AllowAgvToLineThreeLoadRoller = true;
                         globalVar.LThreeInOrOutputLock = false;
+                        globalVar.LThreeLoadRoller = false;
+                        globalVar.LThreeAgvToFryPot = false;
+                        globalVar.LThreePotInputMaterialArrive = false;
+                        globalVar.LThreePotOutputRollerArrive = false;
+                        globalVar.LThreeAgvArrivePot = false;
                     }
                 }
-
             }
+
         }
         /// <summary>
         /// 炒锅滚筒进料运行到位处理
@@ -1393,18 +1412,18 @@ namespace FryPot_DosingSystem.Control
             switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
-                    while (globalVar.fryPotOne.InputMaterialArrivedSingle == 0)
-                    {
-                        Thread.Sleep(5); if (globalVar.ExitMainTask)
-                            return;
-                    }
+                    //while (globalVar.fryPotOne.InputMaterialArrivedSingle == 0)
+                    //{
+                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
+                    //        return;
+                    //}
                     MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
                 case 4:
-                    while (globalVar.fryPotFour.InputMaterialArrivedSingle == 0)
-                    {
-                        Thread.Sleep(5); if (globalVar.ExitMainTask)
-                            return;
-                    }
+                    //while (globalVar.fryPotFour.InputMaterialArrivedSingle == 0)
+                    //{
+                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
+                    //        return;
+                    //}
                     MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
             }
         }
@@ -1493,18 +1512,18 @@ namespace FryPot_DosingSystem.Control
             switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
-                    while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
-                    {
-                        Thread.Sleep(5); if (globalVar.ExitMainTask)
-                            return;
-                    }
+                    //while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
+                    //{
+                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
+                    //        return;
+                    //}
                     MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                 case 4:
-                    while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
-                    {
-                        Thread.Sleep(5); if (globalVar.ExitMainTask)
-                            return;
-                    }
+                    //while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
+                    //{
+                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
+                    //        return;
+                    //}
                     MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
             }
         }
@@ -1754,30 +1773,23 @@ namespace FryPot_DosingSystem.Control
         /// <param name="lineAlarm"></param>
         public void AgvFromLineOneToFryPot()
         {
-        erp: if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//无故障
+        erp: if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble ==0)
             {
-                while (!agvArriveUpLoad)//等待AGV到线体装料位置
+                if (agvArriveUpLoad && globalVar.LoadRoller && globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.AgvToFryPot)//无故障
                 {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                agvArriveUpLoad = false;
-                MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
-                AgvArriveLineSingelSetDown(InputMaterialQuene);
-                if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
-                {
-                    while (!(globalVar.rollerLineOne.StationEight == materialInfo.materialType.MaterialLoc))//等待线体工号位8存放对应原料桶号
+                    MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
+                    AgvArriveLineSingelSetDown(InputMaterialQuene);
+                    if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                     {
-                        Thread.Sleep(5);
-                        if (globalVar.ExitMainTask)
-                            return;
+                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
+                        OutputMaterialQuene.Enqueue(materialInfo);
+                        agvArriveUpLoad = false;
+                        globalVar.AgvToFryPot = true;
+                        //原料到位，agv到位，agv自行运料到炒锅
                     }
-                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
-                    OutputMaterialQuene.Enqueue(materialInfo);
-                    //原料到位，agv到位，agv自行运料到炒锅
-                }
 
+
+                }
             }
             else//有故障
             {
@@ -1800,26 +1812,20 @@ namespace FryPot_DosingSystem.Control
         {
         erp: if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//无故障
             {
-                while (!agvArriveLTwoUpLoad)//等待AGV到线体装料位置
-                {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                agvArriveLTwoUpLoad = false;
-                MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
-                AgvArriveLineSingelSetDown(LTwoInputMaterialQuene);
-                if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
+                if (agvArriveLTwoUpLoad && globalVar.LTwoLoadRoller && globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LTwoAgvToFryPot)//无故障
                 {
-                    while (!(globalVar.rollerLineTwo.StationEight == materialInfo.materialType.MaterialLoc))//等待线体工号位8存放对应原料桶号
+                    MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
+                    AgvArriveLineSingelSetDown(LTwoInputMaterialQuene);
+                    if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                     {
-                        Thread.Sleep(5);
-                        if (globalVar.ExitMainTask)
-                            return;
+                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
+                        LTwoOutputMaterialQuene.Enqueue(materialInfo);
+                        agvArriveLTwoUpLoad = false;
+                        globalVar.LTwoAgvToFryPot = true;
+                        //原料到位，agv到位，agv自行运料到炒锅
                     }
-                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
-                    LTwoOutputMaterialQuene.Enqueue(materialInfo);
-                    //原料到位，agv到位，agv运料到炒锅
+
+
                 }
 
             }
@@ -1844,26 +1850,20 @@ namespace FryPot_DosingSystem.Control
         {
         erp: if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//无故障
             {
-                while (!agvArriveLThreeUpLoad)//等待AGV到线体装料位置
+                if (agvArriveLThreeUpLoad && globalVar.LThreeLoadRoller && globalVar.rollerLineThree.StationEight == LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LThreeAgvToFryPot)//无故障
                 {
-                    Thread.Sleep(5);
-                    if (globalVar.ExitMainTask)
-                        return;
-                }
-                agvArriveLThreeUpLoad = false;
-                MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
-                AgvArriveLineSingelSetDown(LThreeInputMaterialQuene);
-                if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
-                {
-                    while (!(globalVar.rollerLineThree.StationEight == materialInfo.materialType.MaterialLoc))//等待线体工号位8存放对应原料桶号
+                    MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
+                    AgvArriveLineSingelSetDown(LThreeInputMaterialQuene);
+                    if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                     {
-                        Thread.Sleep(5);
-                        if (globalVar.ExitMainTask)
-                            return;
+                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
+                        LThreeOutputMaterialQuene.Enqueue(materialInfo);
+                        agvArriveLThreeUpLoad = false;
+                        globalVar.LThreeAgvToFryPot = true;
+                        //原料到位，agv到位，agv自行运料到炒锅
                     }
-                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
-                    LThreeOutputMaterialQuene.Enqueue(materialInfo);
-                    //原料到位，agv到位，agv运料到炒锅
+
+
                 }
 
             }
@@ -1926,14 +1926,8 @@ namespace FryPot_DosingSystem.Control
         {
             if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//输送线无故障
             {
-                if (InputMaterialQuene.Count > 0)
+                if (InputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineLoadRoller && globalVar.rollerLineOne.OutMaterialingSingle == 1 && !globalVar.LoadRoller)
                 {
-                    while (!globalVar.AllowAgvToLineLoadRoller || globalVar.rollerLineOne.OutMaterialingSingle == 0)
-                    {
-                        Thread.Sleep(5);
-                        if (globalVar.ExitMainTask)
-                            return;
-                    }
                 e: string id = Guid.NewGuid().ToString("N");
                     if (id == LOnerobotJobId)
                         goto e;
@@ -1942,74 +1936,81 @@ namespace FryPot_DosingSystem.Control
                     LOnerobotJobId = id;
                     Thread.Sleep(500);
                     LineCarryTaskErrorCodeAnalysis(info, 1);
+                    globalVar.LoadRoller = true;
+
+
                 }
             }
-            else
-            {
-                MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【1】故障！！！");
-                //  lineAlarm = -1;
-            }
-            // lineAlarm = 1;
+            //else
+            //{
+            //    MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【1】故障！！！");
+            //    //  lineAlarm = -1;
+            //}
+            //// lineAlarm = 1;
         }
         public void AgvToLineTwoLoadRoller()
         {
             if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//输送线无故障
             {
-                if (LTwoInputMaterialQuene.Count > 0)
+                if (LTwoInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineTwoLoadRoller && globalVar.rollerLineTwo.OutMaterialingSingle == 1 && !globalVar.LTwoLoadRoller)
                 {
-                    while (!globalVar.AllowAgvToLineTwoLoadRoller || globalVar.rollerLineTwo.OutMaterialingSingle == 0) //后续考虑是否用while
-                    {
-                        Thread.Sleep(5);
-                        if (globalVar.ExitMainTask)
-                            return;
-                    }
-                p: string id = Guid.NewGuid().ToString();
+                e: string id = Guid.NewGuid().ToString("N");
                     if (id == LTworobotJobId)
-                        goto p;
+                        goto e;
+
                     string info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
-                    // MessageLog.GetInstance.ShowRunLog("AGV去【2】号滚筒线装桶");
                     LTworobotJobId = id;
                     Thread.Sleep(500);
                     LineCarryTaskErrorCodeAnalysis(info, 2);
+                    globalVar.LTwoLoadRoller = true;
                 }
-
             }
-            else
-            {
-                MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【2】故障！！！");
-                //lineAlarm = -1;
-            }
-            // lineAlarm = 1;
         }
         public void AgvToLineThreeLoadRoller()
         {
             if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
             {
-                if (LThreeInputMaterialQuene.Count > 0)
+                if (LThreeInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineThreeLoadRoller && globalVar.rollerLineThree.OutMaterialingSingle == 1 && !globalVar.LThreeLoadRoller)
                 {
-                    while (!globalVar.AllowAgvToLineThreeLoadRoller || globalVar.rollerLineThree.OutMaterialingSingle == 0) //后续考虑是否用while
-                    {
-                        Thread.Sleep(5);
-                        if (globalVar.ExitMainTask)
-                            return;
-                    }
-                g: string id = Guid.NewGuid().ToString();
+                e: string id = Guid.NewGuid().ToString("N");
                     if (id == LThreerobotJobId)
-                        goto g;
+                        goto e;
+
                     string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
-                    //  MessageLog.GetInstance.ShowRunLog("AGV去【3】号滚筒线装桶");
                     LThreerobotJobId = id;
                     Thread.Sleep(500);
                     LineCarryTaskErrorCodeAnalysis(info, 3);
+                    globalVar.LThreeLoadRoller = true;
                 }
-
-            }
-            else
-            {
-                MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【3】故障！！！");
-                // lineAlarm = -1;
             }
-            // lineAlarm = 1;
+
+            //if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
+            //{
+            //    if (LThreeInputMaterialQuene.Count > 0)
+            //    {
+            //        while (!globalVar.AllowAgvToLineThreeLoadRoller || globalVar.rollerLineThree.OutMaterialingSingle == 0) //后续考虑是否用while
+            //        {
+            //            Thread.Sleep(5);
+            //            if (globalVar.ExitMainTask)
+            //                return;
+            //        }
+            //    g: string id = Guid.NewGuid().ToString();
+            //        if (id == LThreerobotJobId)
+            //            goto g;
+            //        string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
+            //        //  MessageLog.GetInstance.ShowRunLog("AGV去【3】号滚筒线装桶");
+            //        LThreerobotJobId = id;
+            //        Thread.Sleep(500);
+            //        LineCarryTaskErrorCodeAnalysis(info, 3);
+            //    }
+
+            //}
+            //else
+            //{
+            //    MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【3】故障！！！");
+            //    // lineAlarm = -1;
+            //}
+      
         }
         /// <summary>
         /// 1号线体数据下发

FryPot_DosingSystem/Control/GlobalVariable.cs

@@ -115,7 +115,36 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public string LThreeCurrentRecipeName { get; set; } = string.Empty;
         #endregion
+        #region 线体1流程互锁变量
 
+        public bool LoadRoller { get; set; }
+
+        public bool AgvToFryPot { get; set; }
+
+        public bool PotOneInputMaterialArrive { get; set; }
+        public bool PotOneOutputRollerArrive { get; set; }
+        public bool AgvArrivePot { get; set; }
+        #endregion
+        #region 线体2流程互锁变量
+
+        public bool LTwoLoadRoller { get; set; }
+
+        public bool LTwoAgvToFryPot { get; set; }
+
+        public bool LTwoPotInputMaterialArrive { get; set; }
+        public bool LTwoPotOutputRollerArrive { get; set; }
+        public bool LTwoAgvArrivePot { get; set; }
+        #endregion
+        #region 线体3流程互锁变量
+
+        public bool LThreeLoadRoller { get; set; }
+
+        public bool LThreeAgvToFryPot { get; set; }
+
+        public bool LThreePotInputMaterialArrive { get; set; }
+        public bool LThreePotOutputRollerArrive { get; set; }
+        public bool LThreeAgvArrivePot { get; set; }
+        #endregion
     }
     /// <summary>
     /// 滚筒线1相关变量

FryPot_DosingSystem/View/AgvView.xaml.cs

@@ -1,4 +1,5 @@
-using FryPot_DosingSystem.ViewModel;
+using FryPot_DosingSystem.AGV;
+using FryPot_DosingSystem.ViewModel;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -26,42 +27,147 @@ namespace FryPot_DosingSystem.View
         {
             InitializeComponent();
             this.DataContext = AgvViewModel.GetInstance();
+            控制命令.ItemsSource = AgvViewModel.GetInstance().GetCommand();
         }
 
         private void Button_Click(object sender, RoutedEventArgs e)
         {
-            AnimationByPath(yunshuche,qc_1);
-        }
-
-        /// <summary>
-        /// 路径动画
-        /// </summary>
-        /// <param name="cvs">画板</param>
-        /// <param name="path">路径</param>
-        /// <param name="target">动画对象</param>
-        /// <param name="duration">时间</param>
-        private void AnimationByPath(TextBox target, Path path, int duration = 5)
-        {
-            target.RenderTransformOrigin = new Point(0.5, 0.5);
+            int id = 1;
+            if (sender is Button)
+            {
+                byte[] data;
+                bool istrue = false;
+                Button button = sender as Button;
+                if (button.Tag != null)
+                {
+                    switch (button.Tag.ToString())
+                    {
+                        case "设置有车":
+                            try
+                            {
+                                id=int.Parse(tcz_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-5 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set停车桩(id, IsBool.Yes);
+                            break;
+                        case "设置无车":
+                            
+                            try
+                            {
+                                id = int.Parse(tcz_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-5 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set停车桩(id, IsBool.No);
+                            break;
+                        case "启动":
+                            try
+                            {
+                                id = int.Parse(liaotong_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-5 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set滚筒线状态(id, IsRun.Start);
+                            break;
+                        case "停止":
+                            try
+                            {
+                                id = int.Parse(liaotong_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-5 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set滚筒线状态(id, IsRun.Stop);
+                            break;
+                        case "设置物料":
+                            try
+                            {
+                                id = int.Parse(liaotongwuliao_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-8 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set滚筒线上数量(id, liaotongwuliaoshuliang_text.Text);
+                            break;
+                        case "小车停止":
+                            try
+                            {
+                                id = int.Parse(xiaoche_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-4 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set小车停止(id);
+                            break;
+                        case "运行小车":
+                            try
+                            {
+                                id = int.Parse(xiaoche_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-4 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set小车运动(id, AgvViewModel.GetInstance().GetCommandValue(控制命令.Text));
+                            break;
+                        case "有菜和碗":
+                            try
+                            {
+                                id = int.Parse(xiaochewuping_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-4 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set小车是否承载物品(id, IsBool.Yes);
+                            break;
+                        case "只有碗":
+                            try
+                            {
+                                id = int.Parse(xiaochewuping_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-4 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set小车是否承载物品(id, IsBool.OnllYes);
+                            break;
+                        case "无物品":
+                            try
+                            {
+                                id = int.Parse(xiaochewuping_text.Text.ToString());
+                            }
+                            catch (Exception ex)
+                            {
+                                MessageBox.Show("只能输入 1-4 的数字！");
+                                return;
+                            }
+                            AgvViewModel.GetInstance().Set小车是否承载物品(id, IsBool.No);
+                            break;
 
-            MatrixTransform matrix = new MatrixTransform();
-            TransformGroup groups = new TransformGroup();
-            groups.Children.Add(matrix);
-            target.RenderTransform = groups;
-            string registname = "matrix" + Guid.NewGuid().ToString().Replace("-", "");
-            this.RegisterName(registname, matrix);
-            MatrixAnimationUsingPath matrixAnimation = new MatrixAnimationUsingPath();
-            matrixAnimation.PathGeometry = PathGeometry.CreateFromGeometry(Geometry.Parse(path.Data.ToString()));
-            matrixAnimation.Duration = new Duration(TimeSpan.FromSeconds(duration));
-            matrixAnimation.DoesRotateWithTangent = true;//跟随路径旋转
-            matrixAnimation.RepeatBehavior = RepeatBehavior.Forever;//循环
-            Storyboard story = new Storyboard();
-            story.Children.Add(matrixAnimation);
-            Storyboard.SetTargetName(matrixAnimation, registname);
-            Storyboard.SetTargetProperty(matrixAnimation, new PropertyPath(MatrixTransform.MatrixProperty));
+                    }
+                }
+            }
+        }
 
-            story.FillBehavior = FillBehavior.Stop;
-            story.Begin(target, true);
-        }    
     }
 }

SmartClient.sln

@@ -1,6 +1,6 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
+# Blend for Visual Studio Version 17
 VisualStudioVersion = 17.0.32002.185
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.DRCoffee", "BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj", "{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}"
@@ -116,6 +116,8 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "TestDemo", "TestDemo\TestDe
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.HubHelper", "BPASmartClient.HubHelper\BPASmartClient.HubHelper.csproj", "{099E047C-F40E-47A3-A5BA-81FC1500D5E8}"
 EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTM", "BPASmartClient.MorkTM\BPASmartClient.MorkTM.csproj", "{76B6B333-0109-4EE8-A9B2-3E53A7421D92}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -1090,6 +1092,26 @@ Global
 		{099E047C-F40E-47A3-A5BA-81FC1500D5E8}.Release|x64.Build.0 = Release|Any CPU
 		{099E047C-F40E-47A3-A5BA-81FC1500D5E8}.Release|x86.ActiveCfg = Release|Any CPU
 		{099E047C-F40E-47A3-A5BA-81FC1500D5E8}.Release|x86.Build.0 = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|ARM.Build.0 = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|x64.Build.0 = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Debug|x86.Build.0 = Debug|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|Any CPU.Build.0 = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|ARM.ActiveCfg = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|ARM.Build.0 = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|ARM64.Build.0 = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|x64.ActiveCfg = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|x64.Build.0 = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|x86.ActiveCfg = Release|Any CPU
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -1143,6 +1165,7 @@ Global
 		{E7168B03-68E5-4285-BB95-5660F877577A} = {8712125E-14CD-4E1B-A1CE-4BDE03805942}
 		{A49E1C5A-9489-451C-9CE6-CEA586234B84} = {8712125E-14CD-4E1B-A1CE-4BDE03805942}
 		{099E047C-F40E-47A3-A5BA-81FC1500D5E8} = {3D1D0E04-03FD-480A-8CF8-6E01A2E28625}
+		{76B6B333-0109-4EE8-A9B2-3E53A7421D92} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}