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BPASmartClient
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Merge branch 'master' of http://111.9.47.105:10244/bpa/BPASmartClient

样式分支
pry 2 years ago
parent
4e52c8df79 b090655a2b
commit
df9ce547ad
5 changed files with 536 additions and 229 deletions
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  1. +288
    -69
      BPASmartClient.MorkF/Control_MorkF.cs
  2. +72
    -5
      BPASmartClient.MorkF/GVL_MorkF.cs
  3. +168
    -150
      BPASmartClient.MorkM/Control_MORKM.cs
  4. +5
    -2
      BPASmartClient.MorkM/OrderLocInfo.cs
  5. +3
    -3
      BPASmartClient/DeviceInfo.xml

+ 288
- 69
BPASmartClient.MorkF/Control_MorkF.cs View File

@@ -15,9 +15,11 @@ namespace BPASmartClient.MorkF
public class Control_MorkF : BaseDevice public class Control_MorkF : BaseDevice
{ {
public override DeviceClientType DeviceType => DeviceClientType.MORKSF; 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 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 public StirFryBom stirFryBom = new StirFryBom();//创建获取流程的对象

List<int> resultorder = new List<int>();//调试变量 List<int> resultorder = new List<int>();//调试变量
public static readonly object taskLock = new object(); public static readonly object taskLock = new object();
/// <summary> /// <summary>
@@ -62,19 +64,16 @@ namespace BPASmartClient.MorkF
} }
//流程 //流程
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { 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>() { 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>() { 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>() { StirFryPotAction.快速旋转 }, During = 50 });
//stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List<StirFryPotAction>() { 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>() { StirFryRobotAction.加入A料 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, PotActions = new List<StirFryPotAction>() { 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>() { 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>() { StirFryRobotAction.加入B料 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, PotActions = new List<StirFryPotAction>() { 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>() { 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>() { StirFryRobotAction.加入C料 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List<StirFryPotAction>() { StirFryPotAction.大火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { StirFryPotAction.大火持续 }, During = 5 });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 }, PotActions = new List<StirFryPotAction>() { 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>() { 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>() { StirFryRobotAction.加入B料 }, PotActions = new List<StirFryPotAction>() { 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>() { 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>() { StirFryRobotAction.加入C料 }, PotActions = new List<StirFryPotAction>() { 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>() { 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>() { 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>() { 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>() { 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>() { StirFryRobotAction.灶取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });
} }
@@ -117,29 +116,28 @@ namespace BPASmartClient.MorkF
} }
//流程 //流程
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { 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>() { StirFryRobotAction.加入A料 }, PotActions = new List<StirFryPotAction>() { 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>() { StirFryPotAction.加油 }, During = 12 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油 }, During = 12 });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { 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>() { StirFryRobotAction.加入B料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 });


stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 25 });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料


stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料 } });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 30 });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 });


stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { 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>() { 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>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 });
stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });
} }
public void TakePot() public void TakePot()
{ {
WriteData("M14.0", true); WriteData("M14.0", true);
} }


public void TakePotReset() public void TakePotReset()
{ {
WriteData("M14.0", false); WriteData("M14.0", false);
} }
public void TakeOff() public void TakeOff()
@@ -163,7 +161,7 @@ namespace BPASmartClient.MorkF
} }
public void ThreeBlock() 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 }); WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false });
} }
public void OverTurnOff() public void OverTurnOff()
@@ -226,6 +224,7 @@ namespace BPASmartClient.MorkF
morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 3 });//C料 morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 3 });//C料
morkF.TakePlateQueue.Enqueue(new OrderLocInfo() { SuborderId = subId }); morkF.TakePlateQueue.Enqueue(new OrderLocInfo() { SuborderId = subId });
resultorder.AddRange(new int[] { 1, 2, 3 }); resultorder.AddRange(new int[] { 1, 2, 3 });
morkF.listStirBom.Add(stirFryBom);
} }
#endregion #endregion


@@ -348,6 +347,7 @@ namespace BPASmartClient.MorkF
{ {
if (ushort.TryParse(res.BatchingLoc, out ushort loc)) if (ushort.TryParse(res.BatchingLoc, out ushort loc))
{ {
//if (morkF.TakeMaterialQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) //if (morkF.TakeMaterialQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
//将一个商品的ABC料位置存入队列 //将一个商品的ABC料位置存入队列
morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, MaterialLoc = ushort.Parse(res.BatchingLoc) }); morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, MaterialLoc = ushort.Parse(res.BatchingLoc) });
@@ -372,7 +372,7 @@ 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，


} }
}); });
@@ -385,20 +385,144 @@ namespace BPASmartClient.MorkF
{ {
TakePlatelTask(); TakePlatelTask();
TurntableControl(); TurntableControl();
ProcessExecute();
MainProcessExecute();
MinorProcessExcute();
SingleProcess(); 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(() => 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($"执行流程{res.Time}"); MessageLog.GetInstance.Show($"执行流程{res.Time}");
//机器人线程 //机器人线程
@@ -415,12 +539,10 @@ namespace BPASmartClient.MorkF
TakeBurdenATask();//执行取A料操作 TakeBurdenATask();//执行取A料操作
break; break;
case StirFryRobotAction.加入B料: case StirFryRobotAction.加入B料:
// TakeBurdenBTask();//执行取B料操作
TakeBurdenATask();//执行取B料操作 TakeBurdenATask();//执行取B料操作
break; break;
case StirFryRobotAction.加入C料: 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; break;
case StirFryRobotAction.灶取锅: case StirFryRobotAction.灶取锅:
OutDishTask();//执行出餐操作 OutDishTask();//执行出餐操作
@@ -458,7 +580,7 @@ namespace BPASmartClient.MorkF
KitchenAdjustGears(5); KitchenAdjustGears(5);
break; break;
case StirFryPotAction.大火持续: case StirFryPotAction.大火持续:
KitchenAdjustGears(6);
KitchenAdjustGears(7);
break; break;
case StirFryPotAction.停止火力: case StirFryPotAction.停止火力:
KitchenAdjustGears(0);//关闭灶加热 KitchenAdjustGears(0);//关闭灶加热
@@ -481,14 +603,26 @@ namespace BPASmartClient.MorkF
} }
} }
})); }));

Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束 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 else
{ {
morkF.ProcessExcuteLock = false;//解除流程互锁
morkF.MainProcessExcuteLock = false;//解除流程自锁
} }
})); }));
} }
@@ -502,12 +636,20 @@ namespace BPASmartClient.MorkF




//出餐完成，相应变量复位 //出餐完成，相应变量复位
if (morkF.OutMealComplete)
if (morkF.MainOutMealComplete)
{
morkF.TakePlateLock = false;
morkF.PotInPlace = false;
morkF.MainProcessExcuteLock = false;
morkF.MainOrderMaterialCom = false;
}

if (morkF.MinorOutMealComplete)
{ {
morkF.TakePlateLock = false; morkF.TakePlateLock = false;
morkF.TakePotLock = false;
morkF.PotInPlace = false; morkF.PotInPlace = false;
morkF.ProcessExcuteLock = false;
morkF.MinorProcessExcuteLock = false;
morkF.MinorOrderMaterialCom = false;
} }


} }
@@ -567,8 +709,9 @@ namespace BPASmartClient.MorkF
StartTakePlate(); StartTakePlate();
morkF.CurrentOrderId = order.SuborderId; morkF.CurrentOrderId = order.SuborderId;
morkF.TakePlateLock = true; //订单完成后置false 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($"订单【{ morkF.CurrentOrderId}】执行取碗控制"); MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取碗控制");
} }
} }
@@ -580,7 +723,11 @@ namespace BPASmartClient.MorkF
/// <exception cref="NotImplementedException"></exception> /// <exception cref="NotImplementedException"></exception>
private void TakePotTask() 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(); Task.Delay(5).Wait();
} }
@@ -590,6 +737,7 @@ namespace BPASmartClient.MorkF
} }
TakePotToKitchen(); TakePotToKitchen();
WriteData("M1.5", false);//清洗模组1完成复位 WriteData("M1.5", false);//清洗模组1完成复位
WriteData("M2.0", false);//清洗模组2完成复位
MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取锅到灶台控制"); MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取锅到灶台控制");
while (!morkF.PutPotToKitchenComlete) while (!morkF.PutPotToKitchenComlete)
{ {
@@ -642,13 +790,10 @@ namespace BPASmartClient.MorkF
{ {
Task.Delay(5).Wait(); Task.Delay(5).Wait();
} }
morkF.MainOrderMaterialCom = false;
WriteData("M14.1", false);//机器人取料完成复位 WriteData("M14.1", false);//机器人取料完成复位
morkF.TurnTableLock = false;//转台互锁解除 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");



} }
/// <summary> /// <summary>
@@ -672,14 +817,14 @@ namespace BPASmartClient.MorkF
{ {
Task.Delay(5).Wait(); Task.Delay(5).Wait();
} }
morkF.MainOrderMaterialCom = false;
WriteData("M14.1", false);//机器人取料完成复位 WriteData("M14.1", false);//机器人取料完成复位
morkF.TurnTableLock = false;//转台互锁解除 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");
} }
/// <summary> /// <summary>
/// 取调味品C料 /// 取调味品C料
@@ -704,13 +849,15 @@ namespace BPASmartClient.MorkF
{ {
Task.Delay(5).Wait(); Task.Delay(5).Wait();
} }
morkF.MainOrderMaterialCom = false;
WriteData("M14.1", false);//机器人取料完成复位 WriteData("M14.1", false);//机器人取料完成复位
morkF.TurnTableLock = false;//转台互锁解除 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");
//} //}
} }
/// <summary> /// <summary>
@@ -718,10 +865,15 @@ namespace BPASmartClient.MorkF
/// </summary> /// </summary>
private void OutDishTask() private void OutDishTask()
{ {
while (morkF.RoobotIdle || morkF.CleanModule || !morkF.ProvidePlateComplete)//等待条件满足
//while (morkF.RoobotIdle || morkF.CleanModule || !morkF.ProvidePlateComplete)//等待条件满足
//{
// Task.Delay(5).Wait();
//}
while (morkF.RoobotIdle || (!morkF.CleanComplete && !morkF.SecondCleanComplete) || !morkF.ProvidePlateComplete)//等待条件满足
{ {
Task.Delay(5).Wait(); Task.Delay(5).Wait();
} }
if (morkF.TakePlateQueue.Count == 0) if (morkF.TakePlateQueue.Count == 0)
{ {
WriteData("M0.7", false);//无订单关闭抽风机 WriteData("M0.7", false);//无订单关闭抽风机
@@ -737,17 +889,24 @@ namespace BPASmartClient.MorkF
/// </summary> /// </summary>
private void CleanPotTask() private void CleanPotTask()
{ {


while (!morkF.PlaceRinseTableComplete || morkF.CleanModule) while (!morkF.PlaceRinseTableComplete || morkF.CleanModule)
{ {
Task.Delay(5).Wait(); Task.Delay(5).Wait();
} }
MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】出餐完成"); MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】出餐完成");
WriteData("M14.2", false);//机器人出餐完成复位 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"); 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();
}
} }
/// <summary> /// <summary>
/// 任务复位重启 /// 任务复位重启
@@ -788,7 +947,14 @@ namespace BPASmartClient.MorkF
} }
WriteData("M8.3", false);//下降完成复位 WriteData("M8.3", false);//下降完成复位
MessageLog.GetInstance.Show($"翻转机下降完成"); MessageLog.GetInstance.Show($"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;
//}


} }
/// <summary> /// <summary>
@@ -806,6 +972,59 @@ namespace BPASmartClient.MorkF
Task.Delay(5).Wait(); Task.Delay(5).Wait();
} }
WriteData("M8.1", false);//上升完成复位 WriteData("M8.1", false);//上升完成复位
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
{
if (!morkF.MinorOrderMaterialCom)
{
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;
}
}

MessageLog.GetInstance.Show("翻转机上升完成"); MessageLog.GetInstance.Show("翻转机上升完成");


} }
@@ -931,7 +1150,7 @@ namespace BPASmartClient.MorkF
} }


WriteData("M2.7", true);//加油 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"); MessageLog.GetInstance.Show("开始注油");
while (!morkF.FallOilComplete) while (!morkF.FallOilComplete)
{ {


+ 72
- 5
BPASmartClient.MorkF/GVL_MorkF.cs View File

@@ -1,4 +1,5 @@
using System;
using BPA.Models;
using System;
using System.Collections.Concurrent; using System.Collections.Concurrent;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
@@ -25,14 +26,29 @@ namespace BPASmartClient.MorkF
/// 清洗模组1状态 忙碌1 空闲0 /// 清洗模组1状态 忙碌1 空闲0
/// </summary> /// </summary>
public bool CleanModule { get; set; } public bool CleanModule { get; set; }

/// <summary>
/// 清洗模组2状态 忙碌1 空闲0
/// </summary>
public bool SecondCleanModule { get; set; }
/// <summary> /// <summary>
/// 清洗模组1完成状态 /// 清洗模组1完成状态
/// </summary> /// </summary>
public bool CleanComplete { get; set; } public bool CleanComplete { get; set; }

// <summary>
/// 清洗模组2完成状态
/// </summary>
public bool SecondCleanComplete { get; set; }
/// <summary> /// <summary>
/// 锅灶1状态 忙碌1 空闲0 /// 锅灶1状态 忙碌1 空闲0
/// </summary> /// </summary>
public bool KitchenOneStatus { get; set; } public bool KitchenOneStatus { get; set; }

/// <summary>
/// 锅灶1状态 忙碌1 空闲0
/// </summary>
public bool KitchenSecondStatus { get; set; }
/// <summary> /// <summary>
/// 注油完成状态 /// 注油完成状态
/// </summary> /// </summary>
@@ -159,17 +175,68 @@ namespace BPASmartClient.MorkF
/// 转台互锁 /// 转台互锁
/// </summary> /// </summary>
public bool TurnTableLock { get; set; } public bool TurnTableLock { get; set; }

public bool ProcessExcuteLock { get; set; }
/// <summary>
/// 主流程自锁
/// </summary>
public bool MainProcessExcuteLock { get; set; }
/// <summary>
/// 辅流程自锁
/// </summary>
public bool MinorProcessExcuteLock { get; set; }
/// <summary> /// <summary>
/// 开始取料标志 /// 开始取料标志
/// </summary> /// </summary>
public bool AllowTakeMaterial { get; set; } public bool AllowTakeMaterial { get; set; }
/// <summary> /// <summary>
/// 当前订单完成标志
/// 主流程订单完成标志
/// </summary>
public bool MainOutMealComplete { get; set; }
/// <summary>
/// 辅流程订单完成标志
/// </summary>
public bool MinorOutMealComplete { get; set; }
/// <summary>
/// 主流程订单取料结束
/// </summary> /// </summary>
public bool OutMealComplete { get; set; }
public bool MainOrderMaterialCom { get; set; }
/// <summary>
/// 主流程等待
/// </summary>
public bool MainProcessWait { get; set; }
/// <summary>
/// 辅流程等待
/// </summary>
public bool MinorProcessWait { get; set; }
/// <summary>
/// 辅流程订单取料结束
/// </summary>
public bool MinorOrderMaterialCom { get; set; }
/// <summary>
/// 存储订单对应流程对象
/// </summary>
public List<StirFryBom> listStirBom=new List<StirFryBom>();


/// <summary>
/// 下配料次数
/// </summary>
public int MaterialCount { get; set; }
/// <summary>
/// 允许执行辅流程标识
/// </summary>
public bool MinorProcessFlag { get; set; }
/// <summary>
/// 辅流程执行状态
/// </summary>
public bool MinorProessStatus { get; set; }
/// <summary>
/// 允许执行主流程标识
/// </summary>
public bool MainProcessFlag { get; set; } = true;
/// <summary>
/// 主流程执行状态
/// </summary>
public bool MainProcessStatus { get; set; }
} }
} }



+ 168
- 150
BPASmartClient.MorkM/Control_MORKM.cs View File

@@ -13,6 +13,8 @@ using BPASmartClient.EventBus;
using static BPASmartClient.EventBus.EventBus; using static BPASmartClient.EventBus.EventBus;
using BPASmartClient.MorkS.ViewModel; using BPASmartClient.MorkS.ViewModel;
using BPASmartClient.MorkM.Model; using BPASmartClient.MorkM.Model;
using System.Collections.ObjectModel;
using BPASmartClient.Model.PLC;


namespace BPASmartClient.MorkM namespace BPASmartClient.MorkM
{ {
@@ -44,10 +46,10 @@ namespace BPASmartClient.MorkM
// string guid = new Guid().ToString(); // string guid = new Guid().ToString();


// mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid }); // mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid });
// MessageLog.GetInstance.Show($"添加订单：面条位置【{NoodleLoc}】");
// DeviceProcessLogShow($"添加订单：面条位置【{NoodleLoc}】");


// mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid }); // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid });
// MessageLog.GetInstance.Show($"添加订单：碗位置【{BowlLoc}】");
// DeviceProcessLogShow($"添加订单：碗位置【{BowlLoc}】");
// Thread.Sleep(60000); // Thread.Sleep(60000);
// }), "ForOrder"); // }), "ForOrder");
// }), "EnableForOrder"); // }), "EnableForOrder");
@@ -61,7 +63,7 @@ namespace BPASmartClient.MorkM
// })); // }));
// }), "StopForOrder"); // }), "StopForOrder");


// MessageLog.GetInstance.Show("MORKM 设备初始化完成");
// DeviceProcessLogShow("MORKM 设备初始化完成");
//} //}


//private void ResetProgram() //private void ResetProgram()
@@ -192,12 +194,12 @@ namespace BPASmartClient.MorkM
// { // {
// orders.Add(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); // orders.Add(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false });
// //mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId }); // //mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId });
// //MessageLog.GetInstance.Show($"添加订单：面条位置【{item}】");
// //DeviceProcessLogShow($"添加订单：面条位置【{item}】");
// } // }
// if (item >= 10 && item <= 11) // if (item >= 10 && item <= 11)
// { // {
// mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false }); // mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = item, SuborderId = subId, MakeType = false });
// MessageLog.GetInstance.Show($"添加订单：碗位置【{item}】");
// DeviceProcessLogShow($"添加订单：碗位置【{item}】");
// } // }
// } // }
// mORKS.DishNumber = orders.Count;//订单中配菜的数量 // mORKS.DishNumber = orders.Count;//订单中配菜的数量
@@ -242,7 +244,7 @@ namespace BPASmartClient.MorkM
//{ //{
// if (broadcast != null && broadcast is IOTCommandModel iOTCommand) // if (broadcast != null && broadcast is IOTCommandModel iOTCommand)
// { // {
// MessageLog.GetInstance.Show($"IOT 广播消息命令 {iOTCommand.deviceName} 设备命令 {iOTCommand.CommandName} 控制变量{iOTCommand.CommandValue.Keys.First()}{iOTCommand.CommandValue[iOTCommand.CommandValue.Keys.First()]}");
// DeviceProcessLogShow($"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) // switch (iOTCommand.CommandName)
// { // {
// case 0://控制类 // case 0://控制类
@@ -286,85 +288,95 @@ namespace BPASmartClient.MorkM
///// <summary> ///// <summary>
///// 数据解析 ///// 数据解析
///// </summary> ///// </summary>
//public void DataParse<T>(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<OrderLocInfo> locs = new List<OrderLocInfo>();
// foreach (var item in morkOrderPush.GoodBatchings)
// {
// var res = Json<BatchingInfoPar>.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<BatchingInfoPar>.Data.recipeBoms != null)
// {
// index = Array.FindIndex(Json<BatchingInfoPar>.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);
public void DataParse()
{
EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
{
if (@event == null) return;
if (@event is DoOrderEvent order)
{
mORKS.doOrderEvents.Add(order);
if (order.MorkOrder.GoodBatchings == null) return;
OrderCount++;
OrderChange(order.MorkOrder.SuborderId, ORDER_STATUS.WAIT);
DeviceProcessLogShow($"接收到{OrderCount}次订单");
//if (order is MorkOrderPush morkOrderPush)
//{
OrderInformation newOrder = new OrderInformation();//2022.4.30 修改
List<OrderLocInfo> locs = new List<OrderLocInfo>();
foreach (var item in order.MorkOrder.GoodBatchings)
{
var res = Json<BatchingInfoPar>.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 = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, MakeType = order.MorkOrder.MakeID == "2" }); //新增冒菜干拌or加汤
}
else if (loc >= 10 && loc <= 11)
{
int index = 0;
if (Json<BatchingInfoPar>.Data.recipeBoms != null)
{
index = Array.FindIndex(Json<BatchingInfoPar>.Data.recipeBoms?.RecipeIds.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);
index++;
}
if (mORKS.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
mORKS.TakeBowlTask.Enqueue(new OrderLocInfo()
{
Loc = 11,
SuborderId = order.MorkOrder.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 = order.MorkOrder.SuborderId,
MakeType = order.MorkOrder.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);
}
else
{
//if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == locs[i].SuborderId) == null)
mORKS.RBTakeNoodleTask.Enqueue(locs[i]);
mORKS.VegtabNum++;
locs.RemoveAt(i);


// }
// }
// }
}
}
}


// Dictionary<string, OrderInformation> dic = new Dictionary<string, OrderInformation>();
// 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;
// }
//}
Dictionary<string, OrderInformation> dic = new Dictionary<string, OrderInformation>();
newOrder.DishNum = mORKS.DishNumber;
newOrder.VegatableNumber = mORKS.VegtabNum;
//newOrder.MakeType = morkOrderPush.MakeType;
dic.Add(order.MorkOrder.SuborderId, newOrder);
mORKS.Conqueue.Enqueue(dic);
mORKS.VegtabNum = 0;
mORKS.DishNumber = 0;
//}
}
});
}


public void Main() public void Main()
{ {
@@ -401,8 +413,8 @@ namespace BPASmartClient.MorkM
mORKS.OutMealType = orderLocInfo.MakeType;//新增冒菜干拌or加汤 mORKS.OutMealType = orderLocInfo.MakeType;//新增冒菜干拌or加汤
TakeBowlControl(orderLocInfo.Loc); TakeBowlControl(orderLocInfo.Loc);
SetRecipeNumber(orderLocInfo.RecipeNumber); SetRecipeNumber(orderLocInfo.RecipeNumber);
SimpleFactory.GetInstance.OrderChanged(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
MessageLog.GetInstance.Show($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
DeviceProcessLogShow($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
} }
mORKS.TakeBowlInterlock = true; mORKS.TakeBowlInterlock = true;
} }
@@ -413,24 +425,24 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
private void TurntableControl() 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($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
}
}
}
}
else
//if (GeneralConfig.EnableLocalSimOrder)
//{
// //不做轮询，直接取面，模拟订单使用
// if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
// {
// if (mORKS.TurntableLowerLimit)
// {
// TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc);
// if (mORKS.RBTakeNoodleTask.ElementAt(0).Loc == mORKS.TurntableFeedbackloc)
// {
// mORKS.TurntableLocLists.Clear();
// mORKS.AllowTakeNoodle = true;
// DeviceProcessLogShow($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
// }
// }
// }
//}
//else
{ {
//正常轮询 //正常轮询
if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0) if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
@@ -445,7 +457,7 @@ namespace BPASmartClient.MorkM
TurntableStart(mORKS.TurntableFeedbackloc); TurntableStart(mORKS.TurntableFeedbackloc);
mORKS.TurntableLocLists.Clear(); mORKS.TurntableLocLists.Clear();
mORKS.AllowTakeNoodle = true; mORKS.AllowTakeNoodle = true;
MessageLog.GetInstance.Show($"控制机器人去转台【{mORKS.TurntableFeedbackloc}】号位置取面");
DeviceProcessLogShow($"控制机器人去转台【{mORKS.TurntableFeedbackloc}】号位置取面");
} }
else else
{ {
@@ -458,7 +470,7 @@ namespace BPASmartClient.MorkM
if (mORKS.TurntableFeedbackloc != loc && !mORKS.TurntableLocLists.Contains(loc)) if (mORKS.TurntableFeedbackloc != loc && !mORKS.TurntableLocLists.Contains(loc))
{ {
TurntableStart(loc); TurntableStart(loc);
MessageLog.GetInstance.Show($"没有物料检测的启动转台控制,转台位置：[{loc}]");
DeviceProcessLogShow($"没有物料检测的启动转台控制,转台位置：[{loc}]");
break; break;
} }
else if (mORKS.TurntableFeedbackloc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc); else if (mORKS.TurntableFeedbackloc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc);
@@ -467,7 +479,7 @@ namespace BPASmartClient.MorkM
} }
} }
} }
else MessageLog.GetInstance.Show("未找到可用的物料信息");
else DeviceProcessLogShow("未找到可用的物料信息");
} }
} }


@@ -476,7 +488,7 @@ namespace BPASmartClient.MorkM
{ {
mORKS.CurrentLoc = 0; mORKS.CurrentLoc = 0;
mORKS.TurntableInterlock = false; mORKS.TurntableInterlock = false;
MessageLog.GetInstance.Show("转台到位检测");
DeviceProcessLogShow("转台到位检测");
} }


//补料完成检测 //补料完成检测
@@ -486,7 +498,7 @@ namespace BPASmartClient.MorkM
{ {
mORKS.TurntableLocLists.Clear(); mORKS.TurntableLocLists.Clear();
mORKS.TurntableInterlock = false; mORKS.TurntableInterlock = false;
MessageLog.GetInstance.Show("补料完成检测");
DeviceProcessLogShow("补料完成检测");
} }
} }
} }
@@ -512,7 +524,7 @@ namespace BPASmartClient.MorkM
//机器人开始取面 //机器人开始取面
RobotTakeNoodle(); RobotTakeNoodle();
// SimpleFactory.GetInstance.OrderChanged(orderLocInfo.SuborderId, ORDER_STATUS.COOKING); // SimpleFactory.GetInstance.OrderChanged(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
MessageLog.GetInstance.Show($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");
DeviceProcessLogShow($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");


//写入煮菜时间 //写入煮菜时间
List<ushort> values = new List<ushort>(); List<ushort> values = new List<ushort>();
@@ -520,13 +532,14 @@ namespace BPASmartClient.MorkM
{ {
values.Add(2);//分 values.Add(2);//分
values.Add(0);//秒 values.Add(0);//秒
ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray());
// //ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray());
EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address =$"VW{ 116 + (loc * 6) }" , Value = values.ToArray() });
} }
else //荤菜 else //荤菜
{ {
values.Add(4);//分 values.Add(4);//分
values.Add(0);//秒 values.Add(0);//秒
ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray());
EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = $"VW{ 116 + (loc * 6) }", Value = values.ToArray() });
} }




@@ -588,7 +601,7 @@ namespace BPASmartClient.MorkM
// mORKS.CookNodelId[loc] = string.Empty; // mORKS.CookNodelId[loc] = string.Empty;
mORKS.orderLocInfos[location] = null; mORKS.orderLocInfos[location] = null;


MessageLog.GetInstance.Show($"{location + 1}号位置出餐控制");
DeviceProcessLogShow($"{location + 1}号位置出餐控制");
mORKS.OutNoodleing = true; mORKS.OutNoodleing = true;
mORKS.Count++; mORKS.Count++;
CheckLastDish(); CheckLastDish();
@@ -613,7 +626,7 @@ namespace BPASmartClient.MorkM
// mORKS.CookNodelId[loc] = string.Empty; // mORKS.CookNodelId[loc] = string.Empty;
mORKS.orderLocInfos[location] = null; mORKS.orderLocInfos[location] = null;
// mORKS.Count++; // mORKS.Count++;
MessageLog.GetInstance.Show($"{location + 1}号位置出餐控制");
DeviceProcessLogShow($"{location + 1}号位置出餐控制");
mORKS.OutNoodleing = true; mORKS.OutNoodleing = true;
mORKS.CountMeat++; mORKS.CountMeat++;
CheckLastDish(); CheckLastDish();
@@ -649,7 +662,7 @@ namespace BPASmartClient.MorkM
if (mORKS.OutMealType) if (mORKS.OutMealType)
{ {
AddSoup();//加汤 AddSoup();//加汤
MessageLog.GetInstance.Show("正在加汤");
DeviceProcessLogShow("正在加汤");
} }
else else
{ {
@@ -690,8 +703,8 @@ namespace BPASmartClient.MorkM


mORKS.IngredientsCompleteId = mORKS.TakeBowlId; mORKS.IngredientsCompleteId = mORKS.TakeBowlId;
// mORKS.TakeBowlId = string.Empty; // mORKS.TakeBowlId = string.Empty;
// MessageLog.GetInstance.Show("碗到位，允许到面");
MessageLog.GetInstance.Show($"碗到位，允许到面,{mORKS.IngredientsCompleteId}");
// DeviceProcessLogShow("碗到位，允许到面");
DeviceProcessLogShow($"碗到位，允许到面,{mORKS.IngredientsCompleteId}");
// mORKS.TakeBowlInterlock = false; // mORKS.TakeBowlInterlock = false;
} }


@@ -699,16 +712,16 @@ namespace BPASmartClient.MorkM
if (RTrig.GetInstance("CompleteChange").Start(mORKS.RbOutMealComplete)) if (RTrig.GetInstance("CompleteChange").Start(mORKS.RbOutMealComplete))
{ {


SimpleFactory.GetInstance.OrderChanged(mORKS.OutMealId, ORDER_STATUS.COMPLETED_COOK);
MessageLog.GetInstance.Show($"订单【{mORKS.OutMealId}】制作完成");
OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_COOK);
DeviceProcessLogShow($"订单【{mORKS.OutMealId}】制作完成");
mORKS.OutNoodleing = false; mORKS.OutNoodleing = false;
} }


//取餐完成逻辑处理 //取餐完成逻辑处理
if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.RbOutMealComplete && !mORKS.TakeMealDetect, 2)) if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.RbOutMealComplete && !mORKS.TakeMealDetect, 2))
{ {
SimpleFactory.GetInstance.OrderChanged(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
MessageLog.GetInstance.Show($"订单【{mORKS.OutMealId}】取餐完成");
OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成");
ResetCookComplete(); ResetCookComplete();
mORKS.OutMealId = string.Empty; mORKS.OutMealId = string.Empty;
} }
@@ -719,7 +732,7 @@ namespace BPASmartClient.MorkM
mORKS.TakeNoodleInterlock = false; mORKS.TakeNoodleInterlock = false;
mORKS.AllowTakeNoodle = false; mORKS.AllowTakeNoodle = false;
mORKS.TurntableInterlock = false; mORKS.TurntableInterlock = false;
MessageLog.GetInstance.Show("机器人取面完成信号检测");
DeviceProcessLogShow("机器人取面完成信号检测");
TakeNoodleCompleteReset(); TakeNoodleCompleteReset();
} }


@@ -777,12 +790,12 @@ namespace BPASmartClient.MorkM
} }
if (recipeBoms.Count > 0) if (recipeBoms.Count > 0)
{ {
if (ModbusTcpHelper.GetInstance.Write(1100, WriteType.HoldingRegisters, recipeBoms.ToArray()))
{
MessageLog.GetInstance.Show("成功写入配方数据");
}
//if (//ModbusTcpHelper.GetInstance.Write(1100, WriteType.HoldingRegisters, recipeBoms.ToArray()))
//{
// DeviceProcessLogShow("成功写入配方数据");
//}
} }
else { MessageLog.GetInstance.Show("配方数据为空"); }
else { DeviceProcessLogShow("配方数据为空"); }
} }


/// <summary> /// <summary>
@@ -790,7 +803,7 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
private void TakeNoodleCompleteReset() private void TakeNoodleCompleteReset()
{ {
ModbusTcpHelper.GetInstance.Write(1124, WriteType.Coils, false);
////ModbusTcpHelper.GetInstance.Write(1124, WriteType.Coils, false);
} }


/// <summary> /// <summary>
@@ -802,8 +815,8 @@ namespace BPASmartClient.MorkM
if (num >= 1 && num <= 6) if (num >= 1 && num <= 6)
{ {
ushort addRess = (ushort)(1136 + num - 1); ushort addRess = (ushort)(1136 + num - 1);
ModbusTcpHelper.GetInstance.Write(addRess, WriteType.Coils, false);
MessageLog.GetInstance.Show($"{num}号煮面口占用复位");
//ModbusTcpHelper.GetInstance.Write(addRess, WriteType.Coils, false);
DeviceProcessLogShow($"{num}号煮面口占用复位");
} }


} }
@@ -814,7 +827,7 @@ namespace BPASmartClient.MorkM
/// <param name="num"></param> /// <param name="num"></param>
private void SetRecipeNumber(ushort num) private void SetRecipeNumber(ushort num)
{ {
ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, num);
//ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, num);
} }


/// <summary> /// <summary>
@@ -826,8 +839,8 @@ namespace BPASmartClient.MorkM
mORKS.CurrentLoc = loc; mORKS.CurrentLoc = loc;
mORKS.TurntableInterlock = true; mORKS.TurntableInterlock = true;
mORKS.TurntableLocLists.Add(loc); mORKS.TurntableLocLists.Add(loc);
ModbusTcpHelper.GetInstance.Write(101, WriteType.HoldingRegisters, loc);
ModbusTcpHelper.GetInstance.Write(325, WriteType.Coils, true);
//ModbusTcpHelper.GetInstance.Write(101, WriteType.HoldingRegisters, loc);
//ModbusTcpHelper.GetInstance.Write(325, WriteType.Coils, true);
} }


/// <summary> /// <summary>
@@ -836,7 +849,7 @@ namespace BPASmartClient.MorkM
/// <param name="loc"></param> /// <param name="loc"></param>
private void SetFallNoodleLoc(ushort loc) private void SetFallNoodleLoc(ushort loc)
{ {
ModbusTcpHelper.GetInstance.Write(102, WriteType.HoldingRegisters, loc);
//ModbusTcpHelper.GetInstance.Write(102, WriteType.HoldingRegisters, loc);
} }


/// <summary> /// <summary>
@@ -845,7 +858,7 @@ namespace BPASmartClient.MorkM
/// <param name="loc"></param> /// <param name="loc"></param>
private void SetTakeNoodleLoc(ushort loc) private void SetTakeNoodleLoc(ushort loc)
{ {
ModbusTcpHelper.GetInstance.Write(103, WriteType.HoldingRegisters, loc);
//ModbusTcpHelper.GetInstance.Write(103, WriteType.HoldingRegisters, loc);
} }


/// <summary> /// <summary>
@@ -856,11 +869,11 @@ namespace BPASmartClient.MorkM
{ {
if (loc == 10)//小碗 if (loc == 10)//小碗
{ {
ModbusTcpHelper.GetInstance.Write(321, WriteType.Coils, true);
//ModbusTcpHelper.GetInstance.Write(321, WriteType.Coils, true);
} }
else if (loc == 11)//大碗 else if (loc == 11)//大碗
{ {
ModbusTcpHelper.GetInstance.Write(322, WriteType.Coils, true);
//ModbusTcpHelper.GetInstance.Write(322, WriteType.Coils, true);
} }
} }


@@ -869,7 +882,7 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
private void RobotTakeNoodle() private void RobotTakeNoodle()
{ {
ModbusTcpHelper.GetInstance.Write(323, WriteType.Coils, true);
//ModbusTcpHelper.GetInstance.Write(323, WriteType.Coils, true);
} }


/// <summary> /// <summary>
@@ -877,13 +890,13 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
private void RobotOutMeal() 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);
}
// 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);
// }
} }


/// <summary> /// <summary>
@@ -891,7 +904,7 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
private void ResetCookComplete() private void ResetCookComplete()
{ {
ModbusTcpHelper.GetInstance.Write(1126, WriteType.Coils, false);
//ModbusTcpHelper.GetInstance.Write(1126, WriteType.Coils, false);
} }


/// <summary> /// <summary>
@@ -899,7 +912,7 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
private void ResetAllowFallNoodle() private void ResetAllowFallNoodle()
{ {
ModbusTcpHelper.GetInstance.Write(1123, WriteType.Coils, false);
//ModbusTcpHelper.GetInstance.Write(1123, WriteType.Coils, false);
} }


/// <summary> /// <summary>
@@ -907,9 +920,9 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
public async void DeviceInit() public async void DeviceInit()
{ {
ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, true);
//ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, true);
await Task.Delay(1000); await Task.Delay(1000);
ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, false);
//ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, false);


} }


@@ -918,7 +931,8 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
public void CookComplete() public void CookComplete()
{ {
ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M0.6"), WriteType.Coils, true);
////ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M0.6"), WriteType.Coils, true);
EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = "M0.6", Value = true });
} }


/// <summary> /// <summary>
@@ -926,7 +940,8 @@ namespace BPASmartClient.MorkM
/// </summary> /// </summary>
public void AddSoup() public void AddSoup()
{ {
ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M0.7"), WriteType.Coils, true);
////ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M0.7"), WriteType.Coils, true);
EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = "M0.7", Value = true });
} }


private void ServerInit() private void ServerInit()
@@ -987,7 +1002,10 @@ namespace BPASmartClient.MorkM
}), "WriteBools"); }), "WriteBools");
ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice"); ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice");
} }

private void WriteData(string address, object value)
{
EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });
}
public override void ResetProgram() public override void ResetProgram()
{ {
mORKS = null; mORKS = null;


+ 5
- 2
BPASmartClient.MorkM/OrderLocInfo.cs View File

@@ -1,4 +1,5 @@
using System;
using BPA.Message;
using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
@@ -13,6 +14,7 @@ namespace BPASmartClient.MorkM
public ushort RecipeNumber { get; set; } public ushort RecipeNumber { get; set; }
public int BatchingId { get; set; } public int BatchingId { get; set; }
public string GoodName { get; set; } public string GoodName { get; set; }
public bool MakeType { get; set; }
} }


/// <summary> /// <summary>
@@ -24,6 +26,7 @@ namespace BPASmartClient.MorkM


public int DishNum { get; set; } public int DishNum { get; set; }


// public GoodsMakeType MakeType { get; set; }

// public GoodsMakeType MakeType { get; set; }
} }
} }

+ 3
- 3
BPASmartClient/DeviceInfo.xml View File

@@ -61,7 +61,7 @@
</Device>-->--> </Device>-->-->




<!--<Device Name="MorkF" Module="BPASmartClient.MorkF.Control_MorkF" DeviceId="2">
<Device Name="MorkF" Module="BPASmartClient.MorkF.Control_MorkF" DeviceId="2">
<Peripherals> <Peripherals>
<Peripheral Module="BPASmartClient.PLC.PLCMachine"> <Peripheral Module="BPASmartClient.PLC.PLCMachine">
<Parameters> <Parameters>
@@ -71,7 +71,7 @@
</Parameters> </Parameters>
</Peripheral> </Peripheral>
</Peripherals> </Peripherals>
</Device>-->
</Device>


<Device Name="Morks" Module="BPASmartClient.MorkS.Control_Morks" DeviceId="100"> <Device Name="Morks" Module="BPASmartClient.MorkS.Control_Morks" DeviceId="100">
<Peripherals> <Peripherals>
@@ -84,6 +84,6 @@
</Parameters> </Parameters>
</Peripheral> </Peripheral>
</Peripherals> </Peripherals>
</Device>
</Device>-->-->


</BPADevices> </BPADevices>

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