using BPA.Message; using BPA.Message.Enum; using BPASmartClient.Device; using BPASmartClient.EventBus; using BPASmartClient.Helper; using BPASmartClient.Message; using BPASmartClient.Model; using BPASmartClient.Model.PLC; using BPA.Models; using static BPASmartClient.EventBus.EventBus; namespace BPASmartClient.MorkF { public class Control_MorkF : BaseDevice { public override DeviceClientType DeviceType => DeviceClientType.MORKSF; 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 bool ProcessError { get; set; }//流程错误 /// /// 入口 /// public override void DoMain() { ServerInit(); DataParse();//数据解析 ThreadManage.GetInstance().StartLong(new Action(() => { IsHealth = true; ReadData(); Thread.Sleep(10); }), "ReadPLCData"); ThreadManage.GetInstance().StartLong(new Action(() => { MainTask(); Thread.Sleep(10); }), "MainTask"); MessageLog.GetInstance.Show("MORKF 设备初始化完成"); } public override void ResetProgram() { morkF = null; morkF = new GVL_MorkF(); } /// /// PLC数据读取 /// public override void ReadData() { //ThreadManage.GetInstance().StartLong(new Action(() => //{ GetStatus("M0.1", new Action((bools) => { Initing = bools[0]; morkF.InitialComplete = Initing; })); GetStatus("M1.0", new Action((bools) => { morkF.ProvidePlateModule = bools[0]; morkF.ProvidePlateComplete = bools[2]; morkF.CleanModule = bools[3]; morkF.CleanComplete = bools[5]; })); GetStatus("M2.0", new Action((bools) => { morkF.KitchenOneStatus = bools[1]; morkF.FallOilComplete = bools[8]; })); GetStatus("M8.0", new Action((bools) => { morkF.TurnMachineUpComplete = bools[1]; morkF.TurnMachineDownComplete = bools[3]; })); GetStatus("M13.5", new Action((bools) => { morkF.MaterialArriveComplete = bools[0]; })); GetStatus("M16.0", new Action((bools) => { morkF.PutPotToKitchenComlete = bools[1]; morkF.TakeMaterialComplete = bools[2]; morkF.PlaceRinseTableComplete = bools[5]; morkF.RoobotIdle = bools[6]; })); // Thread.Sleep(500); //}), "ReadPLCData"); } private void ServerInit() { //物料信息 EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) { if (@event == null) return; if (@event is MaterialDeliveryEvent material) { orderMaterialDelivery = material.orderMaterialDelivery; } }); //配方数据信息 EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) { if (@event == null) return; if (@event is RecipeBomEvent recipe) { recipeBoms = recipe.recipeBoms; WriteRecipeBoms(); } }); } private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS) { EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid }); } /// /// 写入配方数据到 PLC /// private void WriteRecipeBoms() { //List recipeBoms = new List(); //if (this.recipeBoms == null) return; //foreach (var item in this.recipeBoms.RecipeIds) //{ // foreach (var rec in item.Recipes) // { // recipeBoms.Add((ushort)rec); // } //} //if (recipeBoms.Count > 0) //{ // //配方数据地址范围：VW2000 - VW2278 // WriteData("VW2000", recipeBoms.ToArray()); //} //else { MessageLog.GetInstance.Show("配方数据为空"); } } /// /// 数据解析 /// private void DataParse() { EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle) { if (@event == null) return; if (@event is DoOrderEvent order) { if (order.MorkOrder.GoodBatchings == null) return; OrderCount++; MessageLog.GetInstance.Show($"接收到{OrderCount}次订单"); foreach (var item in order.MorkOrder.GoodBatchings) { var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId); if (res != null) { if (ushort.TryParse(res.BatchingLoc, out ushort loc)) { //if (morkF.TakeMaterialQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) //将一个商品的ABC料位置存入队列 morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, MaterialLoc = ushort.Parse(res.BatchingLoc) }); } //int index = 0; //if (recipeBoms != null) //{ // index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId); // index++; //} if (morkF.TakePlateQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) morkF.TakePlateQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId //RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0 }); } } } }); } //} /// /// 主任务 /// public override void MainTask() { TakePlatelTask(); TurntableControl(); ProcessExecute(); SingleProcess(); } //机器人，锅灶流程执行 public void ProcessExecute() { if (!morkF.ProcessExcuteLock) { morkF.ProcessExcuteLock = true; Task.Run(new Action(() => { if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakeMaterialQueue.Count > 0 && morkF.TakePlateQueue.Count > 0) { foreach (var res in stirFryBom.StirFryActions)//遍历所有流程 { MessageLog.GetInstance.Show($"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.取A料: TakeBurdenATask();//执行取A料操作 break; case StirFryRobotAction.加入B料: TakeBurdenBTask();//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; } // Task.Delay(2000).Wait();//单一操作延时 } })); //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.大火持续: KitchenAdjustGears(3); 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(3);//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.Delay(2000).Wait();//单一操作延时 } })); Task.WhenAll(taskRobot, taskPot);//等待所有线程结束 Task.Delay(res.During).Wait();//当前流程延迟 } } else { morkF.ProcessExcuteLock = false;//解除流程互锁 } })); } } /// /// 信号处理 /// private void SingleProcess() { //出餐完成，相应变量复位 if (morkF.OutMealComplete) { morkF.TakePlateLock = false; morkF.TakePotLock = false; morkF.PotInPlace = false; morkF.ProcessExcuteLock = false; } } /// /// 转台控制 /// private void TurntableControl() { //正常轮询 if (morkF.TakeMaterialQueue.Count > 0 && !morkF.TurnTableLock) { var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == morkF.TakeMaterialQueue.ElementAt(0).BatchingId).ToList(); if (result != null) { if (ushort.TryParse(result[0].BatchingLoc, out ushort loc)) { TurnMaterialStore(loc); MessageLog.GetInstance.Show($"转台转到【{loc}】位置"); morkF.TurnTableLock = true; //取料完成后置false } } else MessageLog.GetInstance.Show("未找到可用的物料信息"); } } /// /// 供盘 /// /// private void TakePlatelTask() { if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakePlateQueue.Count > 0 && !morkF.ProvidePlateModule && !morkF.TakePlateLock) { if (morkF.TakePlateQueue.TryDequeue(out OrderLocInfo order)) { StartTakePlate(); morkF.CurrentOrderId = order.SuborderId; morkF.TakePlateLock = true; //订单完成后置false morkF.OutMealComplete = false; OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COOKING); MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取碗控制"); } } else { MessageLog.GetInstance.ShowEx($"订单【{ morkF.CurrentOrderId}】取碗失败"); } } /// /// 取锅到灶台 /// /// private async void TakePotTask() { if (morkF.TakePlateQueue.Count > 0) { while (!(!morkF.CleanModule && morkF.CleanComplete && !morkF.KitchenOneStatus))//等待清洗1准备就绪 { Task.Delay(5).Wait(); } while (morkF.RoobotIdle)//等待机器人空闲 { Task.Delay(5).Wait(); } TakePotToKitchen(); // morkF.TakePotLock = true; //订单完成后置false EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M1.5", Value = false });//清洗模组1完成复位 MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取锅到灶台控制"); while (!morkF.PutPotToKitchenComlete) { Task.Delay(5).Wait(); } morkF.PotInPlace = morkF.PutPotToKitchenComlete;//锅到位 } } /// /// 取素菜A料 /// private void TakeBurdenATask() { if (morkF.TakeMaterialQueue.Count > 0) { TurnUpStatusDetect(); //while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成 //{ // Task.Delay(5).Wait(); //} //EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.1", Value = false });//翻转机上升完成复位 //MessageLog.GetInstance.Show($"翻转机上升执行完成"); while (morkF.RoobotIdle || !morkF.PotInPlace)//等待机器人空闲以及锅到位 { Task.Delay(5).Wait(); } if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order)) { int loc = order.MaterialLoc; TakeBurden(loc); //morkF.TakeVegALock = true;//订单完成置false // morkF.AllowTakeMaterial = false; MessageLog.GetInstance.Show($"订单【{ order.SuborderId}，执行取A料"); } //等待取料完成 while (!morkF.TakeMaterialComplete) { Task.Delay(5).Wait(); } //转台互锁解除 if (morkF.TurnTableLock) { morkF.TurnTableLock = false; } } } ///// ///// 取荤菜A料 ///// //private void TakeBurdenATask() //{ // if (!morkF.RoobotIdle && morkF.PotInPlace && morkF.TurnMachineUpComplete && morkF.TakeVegALock && !morkF.TakeMeatALock && morkF.AllowTakeMaterial&& morkF.TakeMaterialQueue.Count > 0) // { // if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order)) // { // int loc = 0; // TakeBurden(loc); // morkF.TakeMeatALock = true;//订单完成置false // morkF.AllowTakeMaterial = false; // MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,,翻转机上升完成,执行取荤菜A控制"); // } // } //} /// /// 取素菜B料 /// private void TakeBurdenBTask() { if (morkF.TakeMaterialQueue.Count > 0) { TurnUpStatusDetect(); //while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成 //{ // Task.Delay(5).Wait(); //} //EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.1", Value = false });//翻转机上升完成复位 //MessageLog.GetInstance.Show($"翻转机上升执行完成"); while (morkF.RoobotIdle || !morkF.PotInPlace)//等待机器人空闲以及锅到位 { Task.Delay(5).Wait(); } if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order)) { int loc = order.MaterialLoc; TakeBurden(loc); //morkF.TakeVegBLock = true;//订单完成置false //morkF.AllowTakeMaterial = false; MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,,翻转机上升完成,执行取素菜B控制"); } //等待取料完成 while (!morkF.TakeMaterialComplete) { Task.Delay(5).Wait(); } //转台互锁解除 if (morkF.TurnTableLock) { morkF.TurnTableLock = false; } } } /// /// 取调味品C料 /// /// private void TakeBurdenCTask() { if (morkF.TakeMaterialQueue.Count > 0) { TurnUpStatusDetect(); //while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成 //{ // Task.Delay(5).Wait(); //} //EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.1", Value = false });//翻转机上升完成复位 //MessageLog.GetInstance.Show($"翻转机上升执行完成"); while (morkF.RoobotIdle || !morkF.PotInPlace)//等待机器人空闲以及锅到位 { Task.Delay(5).Wait(); } if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order)) { int loc = order.MaterialLoc; TakeBurden(loc); //morkF.TakeBurdenCLcok = true;//订单完成置false //morkF.AllowTakeMaterial = false; //morkF.TakeAllBurdenComplete = false; MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,,翻转机上升完成,执行取调味品C料控制"); } //等待取料完成 while (!morkF.TakeMaterialComplete) { Task.Delay(5).Wait(); } //转台互锁解除 if (morkF.TurnTableLock) { morkF.TurnTableLock = false; } } } /// /// 开始烹饪 /// /// private void StartCookingTask() { if (morkF.InitialComplete && morkF.TakeMaterialQueue.Count > 0 && morkF.PutPotToKitchenComlete && !morkF.CookingLock) { MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】开始烹饪"); morkF.CookingLock = true; morkF.PotInPlace = morkF.PutPotToKitchenComlete;//锅到位 Task.Run(new Action(() => { KitchenAdjustGears(3); Task.Delay(1000).Wait(); //大火加热1s AddOil();//注油 KitchenAdjustGears(2); Task.Delay(2000).Wait(); //中火2s TurnDownStatusDetect();//翻转机下降及检测 KitchenAdjustGears(1);//灶台1挡 TurnMachineGearsControl(1);//翻炒机1挡 Task.Delay(2000).Wait(); TurnMachineGearsControl(0);//关闭翻炒机 TurnUpStatusDetect();//翻转机上升及检测 TurnDownStatusDetect();//翻转机下降及检测 KitchenAdjustGears(3);//灶台3挡 TurnMachineGearsControl(3);//翻炒机3挡 Task.Delay(2000).Wait();//葱姜蒜断生 KitchenAdjustGears(1);//灶台1挡 TurnMachineGearsControl(0);//关闭翻炒机 TurnUpStatusDetect();//翻转机上升及检测 TurnDownStatusDetect();//翻转机下降及检测 KitchenAdjustGears(3);//灶台3挡 TurnMachineGearsControl(3);//翻炒机3挡 Task.Delay(2000).Wait();//B料断生 KitchenAdjustGears(1);//灶台1挡 TurnMachineGearsControl(0);//关闭翻炒机 TurnUpStatusDetect();//翻转机上升及检测 TurnDownStatusDetect();//翻转机下降及检测 KitchenAdjustGears(2);//灶台3挡 TurnMachineGearsControl(3);//翻炒机3挡 Task.Delay(2000).Wait();//煸炒入味 KitchenAdjustGears(0);//灶台0挡 TurnMachineGearsControl(0);//关闭翻炒机 TurnMachineOrientControl("Top");//翻转机上升 while (!morkF.TurnMachineUpComplete) { Task.Delay(5).Wait(); } EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.1", Value = false }); morkF.CookingComplete = true; //烹饪完成 MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】烹饪完成"); })); } } /// /// 出餐 /// private void OutDishTask() { TurnUpStatusDetect(); //while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成 //{ // Task.Delay(5).Wait(); //} //EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.1", Value = false });//翻转机上升完成复位 //MessageLog.GetInstance.Show($"翻转机上升执行完成"); while (morkF.RoobotIdle || morkF.CleanModule || !morkF.ProvidePlateComplete)//等待条件满足 { Task.Delay(5).Wait(); } RobotOutMeal(); EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M1.2", Value = false });//供盘复位 MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】正在出餐"); } /// /// 洗锅放锅 /// private void CleanPotTask() { while (!morkF.PlaceRinseTableComplete || morkF.CleanModule) { Task.Delay(5).Wait(); } OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COMPLETED_COOK); MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】出餐完成"); CleanModuleControl("Start"); morkF.OutMealComplete = true; Task.Delay(5000).Wait(); CleanModuleControl("Stop"); } /// /// 任务复位重启 /// //private void ResetProgram() //{ // ThreadManage.GetInstance().StartLong(new Action(() => // { // if (RTrig.GetInstance("ResetProgram").Start(morkF.DevicDataInite)) // { // ThreadManage.GetInstance().StopTask("MainTask", new Action(() => // { // ThreadManage.GetInstance().StopTask("ReadPLCData", new Action(() => // { // morkF = null; // morkF = new GVL_MorkF(); // ActionManage.GetInstance.Send("ResetProgram"); // ActionManage.GetInstance.Send("ClearOrders"); // ReadData(); // Main(); // })); // })); // } // Thread.Sleep(10); // }), "ResetProgram"); //} /// /// 翻转机下降及状态检测 /// public void TurnDownStatusDetect() { //if (ProcessError) //{ // return; //} if (morkF.PotInPlace) { //等待取料完成 while (!morkF.TakeMaterialComplete) { Task.Delay(5).Wait(); } TurnMachineOrientControl("Down"); while (!morkF.TurnMachineDownComplete)//等待翻转机下降完成 { Task.Delay(5).Wait(); } EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.3", Value = false });//复位 MessageLog.GetInstance.Show($"翻转机下降完成"); } } /// /// 翻转机上升及状态检测 /// public void TurnUpStatusDetect() { //if (ProcessError) //{ // return; //} if (morkF.PotInPlace) { TurnMachineOrientControl("Top");//翻转机上升 while (!morkF.TurnMachineUpComplete || !morkF.TakeMaterialComplete)//等待翻转机上升完成以及取料完成 { Task.Delay(5).Wait(); } EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.1", Value = false }); MessageLog.GetInstance.Show("翻转机上升完成"); } } private void GetStatus(string key, Action action) { if (peripheralStatus.ContainsKey(key)) { action((bool[])peripheralStatus[key]);//获取PLC指定地址的状态值 } } /// /// 写数据 /// /// /// private void WriteData(string address, object value) { EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value }); } /// /// 灶台档位调节 /// public void KitchenAdjustGears(int number) { //if (ProcessError) //{ // return; //} if (morkF.PotInPlace) { switch (number) { case 0: WriteData("352", new bool[] { false, false, false, false, false, false, false, false });//0000 0000 break; case 1: WriteData("352", new bool[] { true, false, false, false, false, false, false, false });//0000 0001 break; case 2: WriteData("352", new bool[] { false, true, false, false, false, false, false, false });//0000 0010 break; case 3: WriteData("352", new bool[] { true, true, false, false, false, false, false, false });//0000 0011 break; case 4: WriteData("352", new bool[] { false, false, true, false, false, false, false, false });//0000 0100 break; case 5: WriteData("352", new bool[] { true, false, true, false, false, false, false, false });//0000 0101 break; case 6: WriteData("352", new bool[] { false, true, true, false, false, false, false, false });//0000 0110 break; case 7: WriteData("352", new bool[] { true, true, true, false, false, false, false, false });//0000 0111 break; case 8: WriteData("355", new bool[] { false, false, false, true, false, false, false, false });//0000 1000 break; case 9: WriteData("352", new bool[] { true, false, false, true, false, false, false, false });//0000 1001 break; } MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】,加热档位调至{number}挡"); } } public void TurnMaterialStore(int loc) { switch (loc) { case 1: WriteData("M13.0", true); break; case 2: WriteData("M13.1", true); break; case 3: WriteData("M13.2", true); break; case 4: WriteData("M13.3", true); break; case 5: WriteData("M13.4", true); break; } } /// /// 供盘启动 /// public void StartTakePlate() { WriteData("M1.1", true); } /// /// 取锅到灶台 /// public void TakePotToKitchen() { WriteData("M14.0", true); } /// /// 机器人出餐并将锅放置清洗台位置 /// public void RobotOutMeal() { WriteData("M14.2", true); } /// /// 注油 /// public void AddOil() { //if (ProcessError) //{ // return; //} if (morkF.PotInPlace) { WriteData("M2.7", true); MessageLog.GetInstance.Show("开始注油"); while (!morkF.FallOilComplete) { Task.Delay(5).Wait(); } MessageLog.GetInstance.Show("注油完成"); } } /// /// 翻转机方向控制 /// /// public void TurnMachineOrientControl(string orientation) { switch (orientation) { case "Top": WriteData("M8.0", true); break; // case "Middle": WriteData("", 1); break; case "Down": WriteData("M8.2", true); break; } MessageLog.GetInstance.Show($"翻转机执行{orientation}操作"); } /// /// 翻转机档位控制 /// public void TurnMachineGearsControl(int gear) { //if (gear != 0) //{ // while (!morkF.TurnMachineDownComplete)//等待翻转机下降完成 // { // Task.Delay(5).Wait(); // } // EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.3", Value = false });//复位 // MessageLog.GetInstance.Show($"翻转机下降完成"); //} //if (ProcessError) //{ // return; //} if (morkF.PotInPlace) { //while (!morkF.TurnMachineDownComplete)//等待翻转机下降完成 //{ // Task.Delay(5).Wait(); //} //EventBus.EventBus.GetInstance().Publish(new WriteModel() { Address = "M8.3", Value = false });//复位 switch (gear) { case 0: WriteData("M7.0", true); Task.Delay(1000).Wait(); break;//关闭翻炒机 case 1: WriteData("M7.1", true); break;//翻炒机1挡 case 2: WriteData("M7.2", true); break;//翻炒机2挡 case 3: WriteData("M7.3", true); break;//翻炒机3挡 } MessageLog.GetInstance.Show($"翻转机档位调至{gear}挡"); } } /// /// 取A,B,C料 /// public void TakeBurden(int loc) { WriteData("M14.1", true);//机器人取料 } /// /// 清洗模组1启停控制 /// public void CleanModuleControl(string status) { if (status == "Start") { WriteData("M1.4", true); } if (status == "Stop") { WriteData("M1.4", false); } MessageLog.GetInstance.Show($"清洗模组执行【{status}】操作"); } public override void Stop() { } } }