From db149553ba81b6bb0adcf7bbc57c8656cdb0108d Mon Sep 17 00:00:00 2001 From: ZhaoGang <15196688790@163.com> Date: Fri, 30 Jun 2023 18:03:43 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B5=B7=E7=A7=91=E8=B0=83=E8=AF=95=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../BPASmartClient.MorkCL.csproj | 4 +- BPASmartClient.MorkCL/Control_MorkCL.cs | 158 +++++++++++++----- BPASmartClient.MorkCL/GVL_MorkCL.cs | 48 +++++- .../Model/Control/FryingPanGet.cs | 15 +- .../Model/Control/FryingPanSet.cs | 28 +++- .../Model/Control/RobotGet.cs | 4 +- .../Model/Control/RobotSet.cs | 22 ++- .../Model/Json/ConnectPar.cs | 32 ++-- .../Server/FryingPanServer.cs | 6 +- BPASmartClient.MorkCL/Server/RobotServer.cs | 12 +- BPASmartClient.MorkCL/View/Debug.xaml | 24 ++- .../ViewModel/DebugViewModel.cs | 18 ++ .../ViewModel/ItemStorageViewModel.cs | 8 +- 13 files changed, 295 insertions(+), 84 deletions(-) create mode 100644 BPASmartClient.MorkCL/ViewModel/DebugViewModel.cs diff --git a/BPASmartClient.MorkCL/BPASmartClient.MorkCL.csproj b/BPASmartClient.MorkCL/BPASmartClient.MorkCL.csproj index c111e642..945c9e55 100644 --- a/BPASmartClient.MorkCL/BPASmartClient.MorkCL.csproj +++ b/BPASmartClient.MorkCL/BPASmartClient.MorkCL.csproj @@ -6,9 +6,7 @@ true - - $(DefineConstants);FORMAL - + diff --git a/BPASmartClient.MorkCL/Control_MorkCL.cs b/BPASmartClient.MorkCL/Control_MorkCL.cs index 2717cf98..83ca143b 100644 --- a/BPASmartClient.MorkCL/Control_MorkCL.cs +++ b/BPASmartClient.MorkCL/Control_MorkCL.cs @@ -8,6 +8,7 @@ using SqlSugar; using System; using System.Collections.Generic; using System.Linq; +using System.Net.WebSockets; using System.Reflection; using System.Text; using System.Threading.Tasks; @@ -63,10 +64,10 @@ namespace BPASmartClient.MorkCL #if !FORMAL devices[EDeviceType.炒锅1].Init(Json.Data.FryingPanIP1); - devices[EDeviceType.炒锅2].Init(Json.Data.FryingPanIP2); + //devices[EDeviceType.炒锅2].Init(Json.Data.FryingPanIP2); devices[EDeviceType.机器人].Init(Json.Data.RobotIP); - devices[EDeviceType.压力锅].Init(Json.Data.PressureCookerIP); - devices[EDeviceType.外部设备].Init(Json.Data.PPortName); + //devices[EDeviceType.压力锅].Init(Json.Data.PressureCookerIP); + //devices[EDeviceType.外部设备].Init(Json.Data.PPortName); ManualActionRegiester(); #endif @@ -98,7 +99,7 @@ namespace BPASmartClient.MorkCL if (TaskList.ContainsKey(res)) TaskList.TryRemove(res, out _); } - private void FryingPanControl(EDeviceType et, ControlData cd) + private async void FryingPanControl(EDeviceType et, ControlData cd) { DeviceProcessLogShow($"开始执行-{cd.Name} 任务"); if (TaskList.ContainsKey(et) && TaskList[et].Cts.IsCancellationRequested) return; @@ -106,35 +107,38 @@ namespace BPASmartClient.MorkCL { if (cd.ControlFuncs.TryDequeue(out FuncModel fm)) { - //var device = (FryingPanServer)devices[et]; - //var robot = (RobotServer)devices[EDeviceType.机器人]; + var device = (FryingPanServer)devices[et]; + var robot = (RobotServer)devices[EDeviceType.机器人]; int index = (ushort)et - 1; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}。"); switch (fm.eFunc) { case EFunc.搅拌启动: DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ。"); - //device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString()); + device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString()); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ完成。"); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌。"); - //device.StirStartOrStop = true; + device.StirStartOrStop = true; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌完成。"); + break; case EFunc.搅拌停止: DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌。"); - //device.StirStartOrStop = false; + device.StirStartOrStop = false; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌完成。"); break; case EFunc.加热启动: DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。"); - //device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString()); + device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString()); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位完成，设置加热启动。"); - //device.HeatStartOrStop = true; + + device.HeatStartOrStop = true; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热启动完成。"); break; case EFunc.加热停止: DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止。"); - //device.HeatStartOrStop = false; + device.HeatStartOrStop = false; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止完成。"); break; case EFunc.添加调料: @@ -142,8 +146,10 @@ namespace BPASmartClient.MorkCL var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id); if (Seasoning != null) { - //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString()); + //TODO:应该为下料完成就关闭。 + device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString()); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，下料位置：{Seasoning.Loc.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。"); + } else { @@ -164,26 +170,33 @@ namespace BPASmartClient.MorkCL //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString()); var ingredientes = Json.Data.IngredientsStorage[ingre_index]; //TODO:机器人下发取料 - DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。"); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index+1}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。"); - DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index.ToString()}】，子任务【{et}】。"); - //robot.RobotTaskControl(ingre_index.ToString(), et); - DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index.ToString()}】，子任务【{et}】完成。"); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index+1.ToString()}】，子任务【{et}】。"); + robot.RobotTaskControl(ingre_index+1.ToString(), et); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index+1.ToString()}】，子任务【{et}】完成。"); + + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。"); + device.FryingPanHome = true; + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成。"); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。"); - //device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置 + device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置 + device.FryingPanHome = false; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。"); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。"); - //robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts); //等待机器人到投料位置 + robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts); //等待机器人到投料位置 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。"); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。"); - //robot.AllowPourVegetables(et);//允许机器人开始投料 + robot.AllowPourVegetables(et);//允许机器人开始投料 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。"); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。"); - //robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts); //等待机器人投料完成 + robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts); //等待机器人投料完成 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。"); Json.Data.IngredientsStorage[ingre_index] = new ItemStorage(); @@ -197,20 +210,22 @@ namespace BPASmartClient.MorkCL } break; case EFunc.添加辅料: - MaterialBase mb = new MaterialBase(); - if (fm.eFunc == EFunc.添加辅料) - mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id); - else mb = SqliteHelper.GetInstance.GetIngredients().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id); - DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{mb.Loc.ToString()}】，子任务【{et}】。"); - //robot.RobotTaskControl(mb.Loc.ToString(), et); - DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{mb.Loc.ToString()}】，子任务【{et}】完成。"); + MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc+12).ToString()}】，子任务【{et}】。"); + robot.RobotTaskControl((mb.Loc+12).ToString(), et); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc+12).ToString()}】，子任务【{et}】完成。"); + + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。"); + device.FryingPanHome = true; + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成。"); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。"); - //device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置 + device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置 + device.FryingPanHome = false; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。"); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。"); - //robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts); //等待机器人到投料位置 + robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts); //等待机器人到投料位置 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。"); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。"); @@ -218,36 +233,69 @@ namespace BPASmartClient.MorkCL DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。"); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。"); - //robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts); //等待机器人投料完成 + robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts); //等待机器人投料完成 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。"); break; case EFunc.炒锅回原点位: + + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。"); - //device.FryingPanHome = true; + device.FryingPanHome = true; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成。"); + + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待回原点完成。"); + device.FeedingLocFB.Wait(Cts: TaskList[et].Cts); + device.FryingPanHome = false; + break; case EFunc.出餐启动: + + device.DiningOutStart = false; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆。"); - //robot.RobotTaskControl("1", et);//取空盆 + //TODO：正常应该是哪个有空盆取哪个。 + robot.RobotTaskControl("21", et);//取空盆 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆完成，等待机器人到出菜位置。"); - //robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置 + + robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人已到出餐位置，出餐启动。"); - //device.DiningOutStart = true; + device.DiningOutStart = true; + + device.OutDinningSlowDownFlag.Wait(Cts: TaskList[et].Cts) ; + robot.ModerateInPlace(et); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-到达出餐减速位。"); + + device.OutDinningFinsh.Wait(Cts: TaskList[et].Cts); + robot.DiningOutComplete(et); + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-出餐完成。"); + //回到投料位置就复位。 + Thread.Sleep(500); + device.FeedingLocFB.Wait(Cts: TaskList[et].Cts); + device.DiningOutStart = false; break; case EFunc.炒锅清洗: - DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置超过清洗。"); - //device.FryingPanClear = true; + DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。"); + device.FryingPanClear = true; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入。"); + + Thread.Sleep(500); + device.CleanFinish.Wait(Cts: TaskList[et].Cts); + device.FryingPanClear = false; break; case EFunc.炒锅回投料位置: DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料位置。"); - //device.FryingPanFeedingLoc = true; + device.FryingPanFeedingLoc = true; DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料位置完成。"); + + //回到投料位置就复位。 + + Thread.Sleep(500); + device.FeedingLocFB.Wait(Cts: TaskList[et].Cts); + device.DiningOutStart = false; break; case EFunc.去指定炒制位: DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位。"); - //device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString()); + device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString()); DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成。"); break; case EFunc.炒制: @@ -280,6 +328,31 @@ namespace BPASmartClient.MorkCL //这两个是字段。直接赋值 morkCL.FeedingLocFB1 = fryingPan1.FeedingLocFB; morkCL.FeedingLocFB2=fryingPan2.FeedingLocFB; + morkCL.CleanFinish1 = fryingPan1.CleanFinish; + morkCL.CleanFinish2 = fryingPan2.CleanFinish; + morkCL.OutDinningFinsh1 = fryingPan1.OutDinningFinsh; + morkCL.OutDinningFinsh2 = fryingPan2.OutDinningFinsh; + morkCL.OutDinningSlowDownFlag1 = fryingPan1.OutDinningSlowDownFlag; + morkCL.OutDinningSlowDownFlag2 = fryingPan2.OutDinningSlowDownFlag; + + if (fryingPan1.FeedingLocFB) + { + robot.AllowPourVegetables(EDeviceType.炒锅1); + } + else + { + robot.DisablePourVegetables(EDeviceType.炒锅1); + } + + if (fryingPan2.FeedingLocFB) + { + robot.AllowPourVegetables(EDeviceType.炒锅2); + } + else + { + robot.DisablePourVegetables(EDeviceType.炒锅2); + } + foreach (var property in propertyInfos) { @@ -358,10 +431,13 @@ namespace BPASmartClient.MorkCL { ActionManage.GetInstance.Register((object location) => { - if (String.IsNullOrEmpty(location.ToString()) &&location.ToString().Length>=0) + var loc = location.ToString(); + if (!String.IsNullOrEmpty(loc) && loc.Length>=0) { var robot = (RobotServer)devices[EDeviceType.机器人]; - robot.WarehousingControl(location.ToString()); + robot.WarehousingControl(loc); + //会卡死。 + //robot.WarehousingComplete[(Convert.ToInt32(loc)-1)].Wait(); } },"ItemStorage",true); diff --git a/BPASmartClient.MorkCL/GVL_MorkCL.cs b/BPASmartClient.MorkCL/GVL_MorkCL.cs index a5fef689..2e6b8b17 100644 --- a/BPASmartClient.MorkCL/GVL_MorkCL.cs +++ b/BPASmartClient.MorkCL/GVL_MorkCL.cs @@ -59,6 +59,23 @@ namespace BPASmartClient.MorkCL [VariableMonitor("1号炒锅-通道出料完成反馈(1-3)", "LB110")] public bool[] ChannelDisCom1 { get; set; } = new bool[3]; + /// + /// 清洗完成 + /// + [VariableMonitor("1号炒锅-清洗完成", "LB113")] + public bool CleanFinish1 { get; set; } + + /// + /// 倒菜出餐完成。 + /// + [VariableMonitor("1号炒锅-倒菜出餐完成", "LB114")] + public bool OutDinningFinsh1 { get; set; } + /// + /// 炒锅倒菜减速位 + /// + [VariableMonitor("1号炒锅-倒菜减速位", "LB115")] + public bool OutDinningSlowDownFlag1 { get; set; } + /// /// 当前锅底温度 /// @@ -127,6 +144,24 @@ namespace BPASmartClient.MorkCL [VariableMonitor("2号炒锅-通道出料完成反馈(1-3)", "LB110")] public bool[] ChannelDisCom2 { get; set; } = new bool[3]; + + /// + /// 清洗完成 + /// + [VariableMonitor("2号炒锅-清洗完成", "LB113")] + public bool CleanFinish2 { get; set; } + + /// + /// 倒菜出餐完成。 + /// + [VariableMonitor("2号炒锅-倒菜出餐完成", "LB114")] + public bool OutDinningFinsh2 { get; set; } + + /// + /// 炒锅倒菜减速位 + /// + [VariableMonitor("2号炒锅-倒菜减速位", "LB115")] + public bool OutDinningSlowDownFlag2 { get; set; } /// /// 当前锅底温度 /// @@ -154,19 +189,19 @@ namespace BPASmartClient.MorkCL /// /// 倒料请求 /// - [VariableMonitor("机器人-倒料请求-[1:1号炒锅，2:2号炒锅，3:高压锅]", "LW22")] - public bool[] MaterialPouringRequest = new bool[3]; + [VariableMonitor("机器人-倒料请求-[1,2:炒锅，3:高压锅]", "LW22")] + public bool[] MaterialPouringRequest { get; set; } = new bool[3]; /// /// 倒料完成 /// - [VariableMonitor("机器人-倒料完成-[1:1号炒锅，2:2号炒锅，3:高压锅]", "LW22")] - public bool[] MaterialPouringComplete = new bool[3]; + [VariableMonitor("机器人-倒料完成-[1,2:炒锅，3:高压锅]", "LW22")] + public bool[] MaterialPouringComplete { get; set; } = new bool[3]; /// /// 出餐请求，机器人到位请求炒锅出餐 /// - [VariableMonitor("机器人-出餐请求-[1:1号炒锅，2:2号炒锅，3:高压锅]", "LW22")] + [VariableMonitor("机器人-出餐请求-[1,2:炒锅，3:高压锅]", "LW22")] public bool[] DiningOutRequest { get; set; } = new bool[3]; /// @@ -212,12 +247,13 @@ namespace BPASmartClient.MorkCL /// [VariableMonitor("电子秤当前重量", "0")] public float CurrentWeight { get; set; } - //TODO：正式使用解除注释。 +#if !FORMAL /// /// 空箱子检测 /// //[VariableMonitor("出餐箱子在位检测", "0")] //public bool[] BoxDetection { get; set; } = new bool[4]; +#endif #endregion } } diff --git a/BPASmartClient.MorkCL/Model/Control/FryingPanGet.cs b/BPASmartClient.MorkCL/Model/Control/FryingPanGet.cs index 3cc9e8b9..9bd49f36 100644 --- a/BPASmartClient.MorkCL/Model/Control/FryingPanGet.cs +++ b/BPASmartClient.MorkCL/Model/Control/FryingPanGet.cs @@ -29,7 +29,7 @@ namespace BPASmartClient.MorkCL.Model.Control public bool[] StirFryingLocFB { get; set; } = new bool[4]; /// - /// 炒锅在出餐位置反馈 + /// 炒锅在出餐位置反馈，投料位置和原点在同一个点。 /// public bool DiningOutLocFB { get; set; } @@ -47,7 +47,20 @@ namespace BPASmartClient.MorkCL.Model.Control /// 通道出料完成反馈(1-3) /// public bool[] ChannelDisCom { get; set; } = new bool[3]; + /// + /// 清洗完成 + /// + public bool CleanFinish; + /// + /// 倒菜出餐完成。 + /// + public bool OutDinningFinsh; + + /// + /// 炒锅倒菜减速位 + /// + public bool OutDinningSlowDownFlag; /// /// 当前锅底温度 /// diff --git a/BPASmartClient.MorkCL/Model/Control/FryingPanSet.cs b/BPASmartClient.MorkCL/Model/Control/FryingPanSet.cs index bfdd373f..83096254 100644 --- a/BPASmartClient.MorkCL/Model/Control/FryingPanSet.cs +++ b/BPASmartClient.MorkCL/Model/Control/FryingPanSet.cs @@ -19,6 +19,11 @@ namespace BPASmartClient.MorkCL.Model.Control /// public bool HeatStartOrStop { get { return default; } set { MyModbus.Write("LB3".ToModbusAdd(), value); } } + /// + /// 通道下料启动 + /// + //public bool ChnnelDisStart { get { return default; } set { MyModbus.Write("LB3".ToModbusAdd(), value); } } + /// /// 通道下料启动控制（1-3） /// @@ -26,13 +31,18 @@ namespace BPASmartClient.MorkCL.Model.Control /// 通道需求值 public void CuttingControl(string Num, string demandValue) { + if (ushort.TryParse(Num, out ushort ChannelNum) && ushort.TryParse(demandValue, out ushort value)) if (ChannelNum >= 1 && ChannelNum <= 3) { - byte[] VWOffset = new byte[3] { 6, 8, 10 }; - byte[] LBOffset = new byte[3] { 6, 7, 0 }; - MyModbus.Write($"VW10{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value); + byte[] VWOffset = new byte[3] { 3, 4, 5 }; + byte[] LBOffset = new byte[3] { 6, 7, 8 }; + MyModbus.Write($"LW{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value); MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), true); + //扫描周期较短，不等下料完成读为0，就已经过了，添加一个延时。 + Thread.Sleep(500); + ChannelDisCom[ChannelNum - 1].Wait(); + MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), false); } } @@ -45,8 +55,9 @@ namespace BPASmartClient.MorkCL.Model.Control if (ushort.TryParse(value, out ushort Gear)) if (Gear >= 1 && Gear <= 8) { - MyModbus.Write($"VW100".ToModbusAdd(), Gear); + MyModbus.Write($"LW0".ToModbusAdd(), Gear); MyModbus.Write($"LB9".ToModbusAdd(), true); + MyModbus.Write($"LB9".ToModbusAdd(), false); } } @@ -59,8 +70,9 @@ namespace BPASmartClient.MorkCL.Model.Control if (ushort.TryParse(value, out ushort Frequency)) if (Frequency >= 0 && Frequency <= 50) { - MyModbus.Write($"VW102".ToModbusAdd(), Frequency); + MyModbus.Write($"LW1".ToModbusAdd(), Frequency*100); MyModbus.Write($"LB10".ToModbusAdd(), true); + MyModbus.Write($"LB10".ToModbusAdd(), false); } } @@ -73,8 +85,9 @@ namespace BPASmartClient.MorkCL.Model.Control if (ushort.TryParse(value, out ushort Frequency)) if (Frequency >= 0 && Frequency <= 50) { - MyModbus.Write($"VW104".ToModbusAdd(), Frequency); + MyModbus.Write($"LW2".ToModbusAdd(), Frequency); MyModbus.Write($"LB11".ToModbusAdd(), true); + MyModbus.Write($"LB11".ToModbusAdd(), false); } } @@ -108,6 +121,9 @@ namespace BPASmartClient.MorkCL.Model.Control if (loc >= 1 && loc <= 4) { MyModbus.Write($"LB{loc + 15}".ToModbusAdd(), true); + Thread.Sleep(500); + StirFryingLocFB[loc - 1].Wait(); + MyModbus.Write($"LB{loc + 15}".ToModbusAdd(), false); } } diff --git a/BPASmartClient.MorkCL/Model/Control/RobotGet.cs b/BPASmartClient.MorkCL/Model/Control/RobotGet.cs index d60184d1..ad854dd8 100644 --- a/BPASmartClient.MorkCL/Model/Control/RobotGet.cs +++ b/BPASmartClient.MorkCL/Model/Control/RobotGet.cs @@ -14,12 +14,12 @@ namespace BPASmartClient.MorkCL.Model.Control /// /// 倒料请求 /// - public bool[] MaterialPouringRequest = new bool[3]; + public bool[] MaterialPouringRequest { get; set; } = new bool[3]; /// /// 倒料完成 /// - public bool[] MaterialPouringComplete = new bool[3]; + public bool[] MaterialPouringComplete { get; set; } = new bool[3]; /// /// 出餐请求，机器人到位请求炒锅出餐 diff --git a/BPASmartClient.MorkCL/Model/Control/RobotSet.cs b/BPASmartClient.MorkCL/Model/Control/RobotSet.cs index cdc9d907..b00b0c4e 100644 --- a/BPASmartClient.MorkCL/Model/Control/RobotSet.cs +++ b/BPASmartClient.MorkCL/Model/Control/RobotSet.cs @@ -54,7 +54,27 @@ namespace BPASmartClient.MorkCL.Model.Control break; } } - + /// + /// 禁止机器人倒菜到炒锅。 + /// + /// 炒锅类型 + public void DisablePourVegetables(EDeviceType num) + { + switch (num) + { + case EDeviceType.炒锅1: + MyModbus.Write("GM500".ToModbusAdd(), false); + break; + case EDeviceType.炒锅2: + MyModbus.Write("GM501".ToModbusAdd(), false); + break; + case EDeviceType.压力锅: + MyModbus.Write("GM502".ToModbusAdd(), false); + break; + default: + break; + } + } /// /// 出餐减速到位 /// diff --git a/BPASmartClient.MorkCL/Model/Json/ConnectPar.cs b/BPASmartClient.MorkCL/Model/Json/ConnectPar.cs index 69e0c041..5315c472 100644 --- a/BPASmartClient.MorkCL/Model/Json/ConnectPar.cs +++ b/BPASmartClient.MorkCL/Model/Json/ConnectPar.cs @@ -8,26 +8,38 @@ namespace BPASmartClient.MorkCL.Model.Json { public class ConnectPar { - //1号炒锅 - public string FryingPanIP1 { get; } = "192.168.0.1"; + /// + /// 1号炒锅 + /// + public string FryingPanIP1 { get; } = "192.168.6.100"; public string FryingPanPort1 { get; } = "502"; - //2号炒锅 - public string FryingPanIP2 { get; } = "192.168.0.2"; + /// + /// 2号炒锅 + /// + public string FryingPanIP2 { get; } = "192.168.6.101"; public string FryingPanPort2 { get; } = "502"; - //压力锅 - public string PressureCookerIP { get; } = "192.168.0.3"; + /// + /// 压力锅 + /// + public string PressureCookerIP { get; } = "192.168.6.102"; public string PressureCookerPort { get; } = "502"; - //机器人 - public string RobotIP { get; } = "192.168.0.4"; + /// + /// 机器人 + /// + public string RobotIP { get; } = "192.168.6.103"; public string RobotPort { get; } = "502"; - //电子秤端口号 + /// + /// 电子秤端口号 + /// public string ESPortName { get; } = "COM1"; - //外设端口号 + /// + /// 外设端口号 + /// public string PPortName { get; } = "COM2"; } } diff --git a/BPASmartClient.MorkCL/Server/FryingPanServer.cs b/BPASmartClient.MorkCL/Server/FryingPanServer.cs index 24b30b3e..7e355ffd 100644 --- a/BPASmartClient.MorkCL/Server/FryingPanServer.cs +++ b/BPASmartClient.MorkCL/Server/FryingPanServer.cs @@ -19,7 +19,7 @@ namespace BPASmartClient.MorkCL.Server { TaskManage.GetInstance.StartLong(new Action(() => { - MyModbus.Read("LB100".ToModbusAdd(), 13).OnSuccess(s => + MyModbus.Read("LB100".ToModbusAdd(), 16).OnSuccess(s => { InitComplete = s[0]; StatusMode = s[1]; @@ -32,6 +32,10 @@ namespace BPASmartClient.MorkCL.Server WashingPotLocFB = s[9]; for (byte i = 0; i < 3; i++) ChannelDisCom[i] = s[i + 10]; + + CleanFinish = s[13]; + OutDinningFinsh = s[14]; + OutDinningSlowDownFlag = s[15]; }); diff --git a/BPASmartClient.MorkCL/Server/RobotServer.cs b/BPASmartClient.MorkCL/Server/RobotServer.cs index 799bfc27..e5d00e70 100644 --- a/BPASmartClient.MorkCL/Server/RobotServer.cs +++ b/BPASmartClient.MorkCL/Server/RobotServer.cs @@ -19,9 +19,9 @@ namespace BPASmartClient.MorkCL.Server { TaskManage.GetInstance.StartLong(new Action(() => { - MyModbus.Read("M600".ToModbusAdd(), 9).OnSuccess(s => - { - for (byte i = 0; i < 3; i++) + MyModbus.Read("GM600".ToModbusAdd(), 9).OnSuccess(s => + { + for (byte i = 0; i < 3; i++) { MaterialPouringRequest[i] = s[i * 3]; MaterialPouringComplete[i] = s[i * 3 + 1]; @@ -29,9 +29,9 @@ namespace BPASmartClient.MorkCL.Server } }); - MyModbus.Read("M630".ToModbusAdd(), 12).OnSuccess(s => - { - for (byte i = 0; i < s.Length; i++) WarehousingComplete[i] = s[i]; + MyModbus.Read("GM630".ToModbusAdd(), 12).OnSuccess(s => + { + for (byte i = 0; i < s.Length; i++) WarehousingComplete[i] = s[i]; }); MyModbus.Read("GI5".ToModbusAdd(), 1).OnSuccess(s => { TaskFeedback = (RobotMainTask)s; }); diff --git a/BPASmartClient.MorkCL/View/Debug.xaml b/BPASmartClient.MorkCL/View/Debug.xaml index 9963d4bf..e36dd551 100644 --- a/BPASmartClient.MorkCL/View/Debug.xaml +++ b/BPASmartClient.MorkCL/View/Debug.xaml @@ -5,16 +5,34 @@ xmlns:d="http://schemas.microsoft.com/expression/blend/2008" xmlns:local="clr-namespace:BPASmartClient.MorkCL.View" xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" + xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel" d:DesignHeight="450" d:DesignWidth="800" Name="调试界面" mc:Ignorable="d"> + + + - - + - + + + + + + + + + + + +