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; public AutoResetEvent minorReset = new AutoResetEvent(false); public AutoResetEvent mainReset = new AutoResetEvent(false); GVL_MorkF morkF = new GVL_MorkF();//全局对象声明 public StirFryBom stirFryBom = new StirFryBom();//创建获取流程的对象 List resultorder = new List();//调试变量 public static readonly object taskLock = new object(); /// /// 入口 /// public override void DoMain() { CommandRegist();//调试 ServerInit(); DataParse();//数据解析 MessageLog.GetInstance.Show("MORKF 设备初始化完成"); } #region 调试代码 public void CommandRegist() { ActionManage.GetInstance.Register(PLCInite, "InitCommand"); ActionManage.GetInstance.Register(InitialData, "SimultaorOrder"); ActionManage.GetInstance.Register(TakePot, "TakePot"); ActionManage.GetInstance.Register(TakePotReset, "TakePotReset"); ActionManage.GetInstance.Register(TakeOff, "TakeOff"); ActionManage.GetInstance.Register(OneBlock, "OneBlock"); ActionManage.GetInstance.Register(TwoBlock, "TwoBlock"); ActionManage.GetInstance.Register(ThreeBlock, "ThreeBlock"); ActionManage.GetInstance.Register(OverTurnOff, "OverTurnOff"); ActionManage.GetInstance.Register(OverOneBlock, "OverOneBlock"); ActionManage.GetInstance.Register(OverTwoBlock, "OverTwoBlock"); ActionManage.GetInstance.Register(OverThreeBlock, "OverThreeBlock"); ActionManage.GetInstance.Register(OverGoOn, "OverGoOn"); ActionManage.GetInstance.Register(OverGoDown, "OverGoDown"); ActionManage.GetInstance.Register(ShreddCabbage, "ShreddCabbage"); ActionManage.GetInstance.Register(FryPork, "FryPork"); ActionManage.GetInstance.Register(XingBaoGu, "XingBaoGu"); } /// /// 手撕包菜流程 /// public void ShreddCabbage() { if (stirFryBom.StirFryActions.Count > 0) { stirFryBom.StirFryActions.Clear(); } //流程 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List() { StirFryRobotAction.清洗槽取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List() { StirFryPotAction.大火持续 }, During = 5 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, RobotActions = new List() { StirFryRobotAction.加入A料 }, PotActions = new List() { StirFryPotAction.加油, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 6 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.停止火力, StirFryPotAction.搅拌臂上位 } });//加A料 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List() { StirFryRobotAction.加入B料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 6 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List() { StirFryRobotAction.加入C料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 9 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); } /// /// 盐煎肉流程 /// public void FryPork() { if (stirFryBom.StirFryActions.Count > 0) { stirFryBom.StirFryActions.Clear(); } //流程 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List() { StirFryRobotAction.清洗槽取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 15 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List() { StirFryPotAction.加油, StirFryPotAction.停止火力 }, During = 19 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List() { StirFryRobotAction.加入A料 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 20 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List() { StirFryPotAction.停止火力 }, During = 35 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位, } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List() { StirFryRobotAction.加入B料 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 22 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T12, RobotActions = new List() { StirFryRobotAction.加入C料 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T13, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 70 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T14, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T15, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); } /// /// 酱烧杏鲍菇流程 /// public void XingBaoGu() { if (stirFryBom.StirFryActions.Count > 0) { stirFryBom.StirFryActions.Clear(); } //流程 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List() { StirFryRobotAction.清洗槽取锅 } }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, RobotActions = new List() { StirFryRobotAction.加入A料 }, PotActions = new List() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 5 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List() { StirFryPotAction.加油 }, During = 12 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加A料 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, RobotActions = new List() { StirFryRobotAction.加入B料 }, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List() { StirFryRobotAction.加入C料 }, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料 stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 }); stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); } public void TakePot() { WriteData("M14.0", true); } public void TakePotReset() { WriteData("M14.0", false); } public void TakeOff() { WriteData("M4.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0001 } public void OneBlock() { //WriteData("M13.1", true); // WriteData("M4.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001 //WriteData("M0.7", false);//无订单关闭抽风机 WriteData("M13.0", true); } public void TwoBlock() { //WriteData("M13.1", false); WriteData("M4.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0001 } public void ThreeBlock() { // WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0001 WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false }); } public void OverTurnOff() { WriteData("M7.0", true); } public void OverOneBlock() { WriteData("M7.1", true); } public void OverTwoBlock() { WriteData("M7.2", true); } public void OverThreeBlock() { WriteData("M7.3", true); } public void OverGoOn() { WriteData("M8.0", true); } public void OverGoDown() { WriteData("M8.2", true); } public void FlowInite() { } /// /// 订单初始化 /// private void InitialData() { ////模拟流程 //if (stirFryBom.StirFryActions.Count > 0) //{ // stirFryBom.StirFryActions.Clear(); //} ////流程 //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List() { StirFryRobotAction.清洗槽取锅 } }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List() { StirFryPotAction.停止火力 }, During = 3 }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List() { StirFryPotAction.加油, StirFryPotAction.停止火力 }, During = 3 }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List() { StirFryPotAction.搅拌臂下位, StirFryPotAction.停止火力, StirFryPotAction.低速旋转 }, During = 15 }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List() { StirFryRobotAction.加入A料, }, PotActions = new List() { StirFryPotAction.停止旋转 } }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List() { StirFryPotAction.快速旋转, StirFryPotAction.停止火力 }, During = 5 }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List() { StirFryRobotAction.加入B料, }, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转 } }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List() { StirFryPotAction.快速旋转, StirFryPotAction.停止火力 }, During = 5 }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List() { StirFryRobotAction.加入C料, }, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转 } }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List() { StirFryPotAction.快速旋转, StirFryPotAction.停止火力 }, During = 3 }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, PotActions = new List() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } }); //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T12, RobotActions = new List() { StirFryRobotAction.灶取锅 } }); //队列 string subId = Guid.NewGuid().ToString(); morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 1 });//A料 morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 2 });//B料 morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 3 });//C料 morkF.TakePlateQueue.Enqueue(new OrderLocInfo() { SuborderId = subId }); resultorder.AddRange(new int[] { 1, 2, 3 }); } #endregion public override void ResetProgram() { morkF = null; morkF = new GVL_MorkF(); } /// /// PLC数据读取 /// public override void ReadData() { 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.FallMaterialComplete = bools[3]; morkF.PlaceRinseTableComplete = bools[5]; morkF.RoobotIdle = bools[6]; })); } 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($"接收到{OrderCount}次订单"); foreach (var item in order.MorkOrder.GoodBatchings) { var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId); if (res != null) { if (ushort.TryParse(res.BatchingLoc, out ushort loc)) { //if (morkF.TakeMaterialQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) //将一个商品的ABC料位置存入队列 morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, MaterialLoc = ushort.Parse(res.BatchingLoc) }); } //int index = 0; //if (recipeBoms != null) //{ // index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId); // index++; //} if (morkF.TakePlateQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) morkF.TakePlateQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId //RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0 }); } } //根据ID 查找对应制作流程， } }); } //} /// /// 主任务 /// public override void MainTask() { TakePlatelTask(); TurntableControl(); MainProcessExecute(); MinorProcessExcute(); SingleProcess(); } //辅流程执行 private void MinorProcessExcute() { if (!morkF.MinorProcessExcuteLock) { morkF.MinorProcessExcuteLock = true; Task.Run(() => { if (morkF.MinorProcessFlag && !morkF.RoobotIdle && morkF.TakeMaterialQueue.Count > 0) { morkF.MinorProessStatus = true; morkF.MainProcessStatus = false; StirFryBom bom = morkF.listStirBom.ElementAt(0); morkF.listStirBom.RemoveAt(0); foreach (var res in bom.StirFryActions) { MessageLog.GetInstance.Show($"执行流程{res.Time}"); //机器人线程 Task taskRobot = Task.Run(new Action(() => { foreach (var temp in res.RobotActions) { switch (temp) { case StirFryRobotAction.清洗槽取锅: TakePotTask();//执行取锅操作 break; case StirFryRobotAction.加入A料: TakeBurdenATask();//执行取A料操作 break; case StirFryRobotAction.加入B料: TakeBurdenATask();//执行取B料操作 break; case StirFryRobotAction.加入C料: TakeBurdenCTask();//执行取C料操作 break; case StirFryRobotAction.灶取锅: OutDishTask();//执行出餐操作 CleanPotTask();//洗锅操作 break; } } })); //炒锅线程操作 Task taskPot = Task.Run(new Action(() => { foreach (var temp in res.PotActions) { switch (temp) { case StirFryPotAction.NONE: break; case StirFryPotAction.大火t1s: KitchenAdjustGears(3); Task.Delay(1000).Wait(); //大火加热1s//执行大火锅干操作 break; case StirFryPotAction.加油: AddOil();//注油//执行加油操作 break; case StirFryPotAction.中火t2s: KitchenAdjustGears(2); Task.Delay(2000).Wait();//执行操作 break; case StirFryPotAction.小火持续: KitchenAdjustGears(1); break; case StirFryPotAction.中火持续: KitchenAdjustGears(5); break; case StirFryPotAction.大火持续: KitchenAdjustGears(7); break; case StirFryPotAction.停止火力: KitchenAdjustGears(0);//关闭灶加热 break; case StirFryPotAction.搅拌臂上位: TurnUpStatusDetect();//执行搅拌臂上位操作 break; case StirFryPotAction.搅拌臂下位: TurnDownStatusDetect();//执行搅拌臂下位操作 break; case StirFryPotAction.低速旋转: TurnMachineGearsControl(1);//执行搅拌臂速度1挡操作 break; case StirFryPotAction.快速旋转: TurnMachineGearsControl(2);//执行搅拌臂速度3挡操作 break; case StirFryPotAction.停止旋转: TurnMachineGearsControl(0);//执行搅拌臂速度0挡操作 break; } } })); Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束 Task.Delay(res.During * 1000).Wait();//当前流程延迟 if (morkF.MainProcessWait) { KitchenAdjustGears(0);//关闭灶加热 morkF.MinorProessStatus = false; morkF.MainProcessStatus = true; //阻塞辅流程 minorReset.WaitOne(); } morkF.MinorProessStatus = true; morkF.MainProcessStatus = false; } morkF.MinorOutMealComplete = true; } else { morkF.MinorProcessExcuteLock = false;//解除辅流程自锁 } }); } } //机器人，锅灶主流程执行 public void MainProcessExecute() { if (!morkF.MainProcessExcuteLock) { morkF.MainProcessExcuteLock = true; Task.Run(new Action(() => { if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakeMaterialQueue.Count > 0 && morkF.MainProcessFlag) { morkF.MainProcessStatus = true; morkF.MinorProessStatus = false; StirFryBom bom = morkF.listStirBom.ElementAt(0); morkF.listStirBom.RemoveAt(0); foreach (var res in bom.StirFryActions)//遍历所有流程 { MessageLog.GetInstance.Show($"执行流程{res.Time}"); //机器人线程 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.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.MainOutMealComplete = true; } else { morkF.MainProcessExcuteLock = false;//解除流程自锁 } })); } } /// /// 信号处理 /// private void SingleProcess() { //出餐完成，相应变量复位 if (morkF.MainOutMealComplete) { morkF.TakePlateLock = false; morkF.PotInPlace = false; morkF.MainProcessExcuteLock = false; morkF.MainOrderMaterialCom = false; } if (morkF.MinorOutMealComplete) { morkF.TakePlateLock = false; morkF.PotInPlace = false; morkF.MinorProcessExcuteLock = false; morkF.MinorOrderMaterialCom = 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"); //} //调试代码 if (morkF.TakeMaterialQueue.Count > 0 && !morkF.TurnTableLock) { // var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == morkF.TakeMaterialQueue.ElementAt(0).BatchingId).ToList(); if (resultorder != null) { TurnMaterialStore(resultorder[0]); MessageLog.GetInstance.Show($"转台转到【{resultorder[0]}】位置"); resultorder.RemoveAt(0); morkF.TurnTableLock = true; //取料完成后置false } else MessageLog.GetInstance.Show("未找到可用的物料信息"); } } /// /// 供盘 /// /// private void TakePlatelTask() { if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakePlateQueue.Count > 0 && !morkF.ProvidePlateModule && !morkF.TakePlateLock) { if (morkF.TakePlateQueue.TryDequeue(out OrderLocInfo order)) { StartTakePlate(); morkF.CurrentOrderId = order.SuborderId; morkF.TakePlateLock = true; //订单完成后置false morkF.MainOutMealComplete = false; morkF.MinorOutMealComplete = false; // OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COOKING); MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取碗控制"); } } } /// /// 取锅到灶台 /// /// private void TakePotTask() { //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(); } while (morkF.RoobotIdle)//等待机器人空闲 { Task.Delay(5).Wait(); } TakePotToKitchen(); WriteData("M1.5", false);//清洗模组1完成复位 MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取锅到灶台控制"); while (!morkF.PutPotToKitchenComlete) { Task.Delay(5).Wait(); } morkF.PotInPlace = morkF.PutPotToKitchenComlete;//锅到位 WriteData("M14.0", false);//机器人取锅完成复位 Thread.Sleep(2000); } /// /// 转台复位 /// /// public void TurnReset(int loc) { switch (loc) { case 1: WriteData("M13.0", false); break; case 2: WriteData("M13.1", false); break; case 3: WriteData("M13.2", false); break; case 4: WriteData("M13.3", false); break; case 5: WriteData("M13.4", false); break; } } /// /// 取素菜A料 /// private void TakeBurdenATask() { int loc = 0; while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位 { Task.Delay(5).Wait(); } if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order)) { loc = order.MaterialLoc; TakeBurden(loc); TurnReset(loc);//转台复位 MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料"); } //等待取料完成 while (!morkF.TakeMaterialComplete) { Task.Delay(5).Wait(); } morkF.MainOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 } /// /// 取素菜B料 /// private void TakeBurdenBTask() { while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//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); TurnReset(loc);//转台复位 MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,执行取B料"); } //等待取料完成 while (!morkF.TakeMaterialComplete) { Task.Delay(5).Wait(); } morkF.MainOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 //while (!morkF.FallMaterialComplete)//等待倒料完成 //{ // Task.Delay(5).Wait(); //} //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，B料倒料完成"); } /// /// 取调味品C料 /// /// private void TakeBurdenCTask() { while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//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); TurnReset(loc);//转台复位 MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,执行取C料"); } MessageLog.GetInstance.ShowEx($"剩余配料数量{morkF.TakeMaterialQueue.Count}"); //等待取料完成 while (!morkF.TakeMaterialComplete) { Task.Delay(5).Wait(); } morkF.MainOrderMaterialCom = false; WriteData("M14.1", false);//机器人取料完成复位 morkF.TurnTableLock = false;//转台互锁解除 //while (!morkF.FallMaterialComplete) //{ // Task.Delay(5).Wait(); //} //morkF.SingelOrderMaterialCom = true; //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，C料倒料完成"); //} } /// /// 出餐 /// private void OutDishTask() { while (morkF.RoobotIdle || morkF.CleanModule || !morkF.ProvidePlateComplete)//等待条件满足 { Task.Delay(5).Wait(); } if (morkF.TakePlateQueue.Count == 0) { WriteData("M0.7", false);//无订单关闭抽风机 } RobotOutMeal(); WriteData("M1.2", false);//供盘复位 MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】正在出餐"); } /// /// 洗锅放锅 /// private void CleanPotTask() { while (!morkF.PlaceRinseTableComplete || morkF.CleanModule) { Task.Delay(5).Wait(); } MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】出餐完成"); WriteData("M14.2", false);//机器人出餐完成复位 //OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COMPLETED_COOK); CleanModuleControl("Start"); if (morkF.MainProcessStatus)//主流程 { morkF.MainProcessFlag = false; minorReset.Set(); } else if (morkF.MinorProessStatus)//辅流程 { morkF.MinorProcessFlag = false; mainReset.Set(); } } /// /// 任务复位重启 /// //private void ResetProgram() //{ // ThreadManage.GetInstance().StartLong(new Action(() => // { // if (RTrig.GetInstance("ResetProgram").Start(morkF.DevicDataInite)) // { // ThreadManage.GetInstance().StopTask("MainTask", new Action(() => // { // ThreadManage.GetInstance().StopTask("ReadPLCData", new Action(() => // { // morkF = null; // morkF = new GVL_MorkF(); // ActionManage.GetInstance.Send("ResetProgram"); // ActionManage.GetInstance.Send("ClearOrders"); // ReadData(); // Main(); // })); // })); // } // Thread.Sleep(10); // }), "ResetProgram"); //} /// /// 翻转机下降及状态检测 /// public void TurnDownStatusDetect() { TurnMachineOrientControl("Down"); while (!morkF.TurnMachineDownComplete)//等待翻转机下降完成 { Task.Delay(5).Wait(); } WriteData("M8.3", false);//下降完成复位 MessageLog.GetInstance.Show($"翻转机下降完成"); //if (morkF.MaterialCount == 3 && morkF.MainProcessStatus) //{ // morkF.MainProcessWait = true; //} //else if (morkF.MaterialCount == 3 && morkF.MinorProessStatus) //{ // morkF.MinorProcessWait = true; //} } /// /// 翻转机上升及状态检测 /// public void TurnUpStatusDetect() { while (morkF.RoobotIdle)//机器人忙碌 { Task.Delay(5).Wait(); } TurnMachineOrientControl("Top");//翻转机上升 while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成 { Task.Delay(5).Wait(); } 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"); } 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) { while (!morkF.PotInPlace) { Task.Delay(5).Wait(); } switch (number) { case 0: WriteData("M4.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000 break; case 1: WriteData("M4.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001 break; case 2: WriteData("M4.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010 break; case 3: WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011 break; case 4: WriteData("M4.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100 break; case 5: WriteData("M4.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101 break; case 6: WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110 break; case 7: WriteData("M4.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111 break; case 8: WriteData("M4.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000 break; case 9: WriteData("M4.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001 break; } MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】,加热档位调至{number}挡"); } public void TurnMaterialStore(int loc) { switch (loc) { case 1: WriteData("M13.0", true); break; case 2: WriteData("M13.1", true); break; case 3: WriteData("M13.2", true); break; case 4: WriteData("M13.3", true); break; case 5: WriteData("M13.4", true); break; } } public void PLCInite() { WriteData("M0.0", true); } /// /// 供盘启动 /// public void StartTakePlate() { WriteData("M1.1", true); } /// /// 取锅到灶台 /// public void TakePotToKitchen() { WriteData("M14.0", true); } /// /// 机器人出餐并将锅放置清洗台位置 /// public void RobotOutMeal() { WriteData("M14.2", true); } /// /// 注油 /// public void AddOil() { while (!morkF.PotInPlace) { Task.Delay(5).Wait(); } WriteData("M2.7", true);//加油 WriteData("M0.7", true);//打开抽风机 MessageLog.GetInstance.Show("开始注油"); while (!morkF.FallOilComplete) { Task.Delay(5).Wait(); } MessageLog.GetInstance.Show("注油完成"); } /// /// 翻转机方向控制 /// /// public void TurnMachineOrientControl(string orientation) { switch (orientation) { case "Top": WriteData("M8.0", true); break; // case "Middle": WriteData("", 1); break; case "Down": WriteData("M8.2", true); break; } MessageLog.GetInstance.Show($"翻转机执行{orientation}操作"); } /// /// 翻转机档位控制 /// public void TurnMachineGearsControl(int gear) { while (!morkF.PotInPlace) { Task.Delay(5).Wait(); } 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() { } } }