BPASmartClient/BPASmartClient.MorkMV1/Control_MorkMV1.cs

using System;
using System.Collections.Generic;
using BPA.Message.Enum;
using BPASmartClient.Device;

using BPASmartClient.Model;
using BPASmartClient.Peripheral;

using BPA.Helper;
using System.Threading;

using BPA.Message;
using System.Linq;
using BPASmartClient.Model.PLC;
using System.Threading.Tasks;
using System.Reflection;
using BPASmartClient.MorkMV1.Model;
using System.Collections.ObjectModel;
using BPASmartClient.MorkMV1.ViewModel;
using BPASmartClient.Business;
using BPASmartClient.Model.小炒机;
using BPA.Models;
using System.Windows.Forms;
using System.Media;
using BPASmartClient.CustomResource;
using Microsoft.EntityFrameworkCore.Metadata.Internal;
using static BPA.Helper.EventBus;
using BPASmartClient.MorkMV1.Event;
using System.Collections.Concurrent;
//using BPA.Helper;

namespace BPASmartClient.MorkMV1
{
    public class Control_MorkMV1 : BaseDevice
    {
        public override DeviceClientType DeviceType => DeviceClientType.MORKM;
        GVL_MorkMV1 mORKM = new GVL_MorkMV1();
        Alarm alarm = new Alarm();


        public override void DoMain()
        {
            MonitorViewModel.DeviceId = DeviceId;
            ServerInit();
            DataParse();
            Json<MorksPar>.Read();
            Json<OrderStatistics>.Read();
            if (Json<MorksPar>.Data.parSets == null) Json<MorksPar>.Data.parSets = new ObservableCollection<ParSet>();
            if (Json<MorksPar>.Data.parSets.Count < 6)
            {
                Json<MorksPar>.Data.parSets.Clear();
                for (int i = 0; i < 6; i++)
                {
                    Json<MorksPar>.Data.parSets.Add(new ParSet()
                    {
                        CheckBoxContext = $"煮面口{i + 1}屏蔽",
                        Minute = 1,
                        Second = 0,
                        IsShield = false,
                        TextBlockContext = $"煮面口{i + 1}时间设定"
                    });
                }
            }

            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if (o.Length > 0)
                {
                    Random rd = new Random();
                    TaskManage.GetInstance.StartLong(new Action(() =>
                    {
                        string guid = Guid.NewGuid().ToString();

                        //模拟订单的素菜和荤菜计数。[0]为荤菜，[1]为素菜。
                        int[] materialCount = new int[] { 0, 0 };
                        int allCount = 0;

                        if (o[0] is List<int> noodleLocs)
                        {
                            //如果是随机素材，则随机添加2到4个素材。
                            if (noodleLocs.Count == 0)
                            {
                                for (int i = 0; i < rd.Next(2, 5); i++)
                                {
                                    noodleLocs.Add(0);
                                }
                            }
                            for (int i = 0; i <= 1; i++)
                            {
                                foreach (var loc in noodleLocs)
                                {
                                    //如果是随机素材，则每个素材的位置随机。
                                    int NoodleLoc = loc == 0 ? rd.Next(1, 6) : loc;

                                    if (NoodleLoc >= 1 && NoodleLoc <= 5)
                                    {
                                        var x = Json<MorksPar>.Data.DishLibraryParSets.FirstOrDefault(p => p.TextBlockContext == NoodleLoc.ToString());
                                        if (x.LocDishType == i)
                                        {
                                            mORKM.RBTakeNoodleTask.Enqueue(new MOrderLocInfo()
                                            {
                                                Loc = (ushort)NoodleLoc,
                                                SuborderId = guid,
                                                LocDishType = x.LocDishType,
                                                Minute = x.Minute,
                                                Second = x.Second
                                            });
                                            allCount++;
                                            materialCount[i]++;
                                            MessageLog.GetInstance.Show($"添加模拟订单：素材位置【{(ushort)NoodleLoc}】");
                                        }
                                    }
                                }
                            }


                            //int BowlLoc = (int)o[1] == 0 ? rd.Next(10, 12) : (int)o[1];
                            int BowlLoc = (int)o[1] == 0 ? 11 : (int)o[1];
                            mORKM.TakeBowlTask.Enqueue(new MOrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid });
                            MessageLog.GetInstance.Show($"添加模拟订单：碗位置【{BowlLoc}】");

                            if (!mORKM.SuborderCount.ContainsKey(guid))
                            {
                                mORKM.SuborderCount.TryAdd(guid, new SuborderInfo()
                                {
                                    ActualCount = allCount,
                                    AcMeatDishesCount = materialCount[0],
                                    AcVegetableCount = materialCount[1],
                                });
                            }
                        }
                        Thread.Sleep(60000);
                    }), "ForOrder");
                }
            }), "EnableForOrder");

            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value);
            }), "WriteVW");
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value);
            }), "WriteBools");
            ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice");
        }

        public override void ResetProgram()
        {
            mORKM = null;
            mORKM = new GVL_MorkMV1();
        }

        public override void Stop()
        {

        }

        private void ServerInit()
        {
            //物料信息
            EventBus.GetInstance.Subscribe<MaterialDeliveryEvent>(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.GetInstance.Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is RecipeBomEvent recipe)
                {
                    recipeBoms = recipe.recipeBoms;
                }
            });
            OrderNotifyInit();

        }

        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            osm.Enqueue(new OrderStatusModel() { SubOrderId = subid, Status = oRDER_STATUS });
            return;

            var res = mORKM.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            string goodName = string.Empty;
            string SortNum = string.Empty;
            if (res != null)
            {
                goodName = res.MorkOrder.GoodsName;
                SortNum = res.MorkOrder.SortNum.ToString();
            }
            if (!string.IsNullOrEmpty(goodName) && !string.IsNullOrEmpty(SortNum))
            {
                EventBus.GetInstance.Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
                var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
                if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
                {
                    if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
                    {
                        DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
                        DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
                        {
                            Status = oRDER_STATUS,
                            GoodName = goodName,
                            SortNum = SortNum,
                            StopTime = DateTime.Now.ToString("HH:mm:ss")
                        });
                    }
                    else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
                    {
                        var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
                        if (temp != null) DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
                    }
                    else
                    {
                        DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
                    }
                }
                else
                {
                    DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
                    {
                        Status = oRDER_STATUS,
                        GoodName = goodName,
                        SortNum = SortNum,
                        StartTime = DateTime.Now.ToString("HH:mm:ss")
                    });
                }
            }
        }


        #region 接口通知任务处理
        ConcurrentQueue<OrderStatusModel> osm = new ConcurrentQueue<OrderStatusModel>();
        private void OrderNotifyInit()
        {
            TaskManage.GetInstance.StartLong(() =>
            {
                while (osm.Count > 0)
                {
                    TempOrderChange(osm.ElementAt(0).SubOrderId, osm.ElementAt(0).Status, () =>
                    {
                        osm.TryDequeue(out OrderStatusModel tempOSM);
                        DeviceProcessLogShow($"订单:【{tempOSM.SubOrderId}】, 状态:【{tempOSM.Status}】,   API状态修改成功");
                    });
                }
                Thread.Sleep(100);
            }, $"订单状态更新接口{DeviceId}", true);
        }

        private void TempOrderChange(string subid, ORDER_STATUS oRDER_STATUS, Action complete)
        {
            var res = mORKM.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            string goodName = string.Empty;
            string SortNum = string.Empty;
            if (res != null)
            {
                goodName = res.MorkOrder.GoodsName;
                SortNum = res.MorkOrder.SortNum.ToString();
            }
            if (!string.IsNullOrEmpty(goodName) && !string.IsNullOrEmpty(SortNum))
            {
                EventBus.GetInstance.Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType }, e => { complete?.Invoke(); });

                var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
                if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
                {
                    if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
                    {
                        DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
                        DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
                        {
                            Status = oRDER_STATUS,
                            GoodName = goodName,
                            SortNum = SortNum,
                            StopTime = DateTime.Now.ToString("HH:mm:ss")
                        });
                    }
                    else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
                    {
                        var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
                        if (temp != null)
                            DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
                    }
                    else
                    {
                        DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
                    }
                }
                else
                {
                    DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
                    {
                        Status = oRDER_STATUS,
                        GoodName = goodName,
                        SortNum = SortNum,
                        StartTime = DateTime.Now.ToString("HH:mm:ss")
                    });
                }
            }
        }
        #endregion

        private void GetStatus(string key, Action<object> action)
        {
            if (peripheralStatus.ContainsKey(key))
            {
                if (peripheralStatus[key] != null)
                {
                    action?.Invoke(peripheralStatus[key]);
                }
            }
        }

        public override void ReadData()
        {
            //DataServer.GetInstance.morkS.Alarm.Clear();
            //alarms.ForEach(item =>
            //{
            //    DataServer.GetInstance.morkS.Alarm.Add(new AlarmModel()
            //    {
            //        AlarmTime = $"{item.Date} {item.Time}",
            //        AlarmMs = item.Info
            //    });
            //});

            GetStatus("M0.1", new Action<object>((obj) =>
             {
                 if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 7)
                 {
                     Initing = !bools[0];
                     mORKM.InitComplete = bools[0];
                     mORKM.MoveScrewRodInitCom = bools[1];
                     mORKM.SacrificialVesselInitCom = bools[2];
                     mORKM.CylinderInitCom = bools[3];
                     mORKM.NoodleCookerInitCom = bools[4];
                     mORKM.RobotInitCom = bools[5];
                     mORKM.SiloInitCom = bools[6];

                     alarm.DeviceNoInit = !mORKM.InitComplete;
                     alarm.MoveScrewRodNoInit = !mORKM.MoveScrewRodInitCom;
                     alarm.SacrificialVesselNoInit = !mORKM.SacrificialVesselInitCom;
                     alarm.CylinderNoInit = !mORKM.CylinderInitCom;
                     alarm.NoodleCookerNoInit = !mORKM.NoodleCookerInitCom;
                     alarm.RobotNoInit = !mORKM.RobotInitCom;
                     alarm.SiloNoInit = !mORKM.SiloInitCom;
                 }
             }));

            GetStatus("M10.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 2)
                {
                    mORKM.AllowInvertedFace = bools[0];
                    mORKM.DiningComplete = bools[1];
                }
            }));

            GetStatus("M10.4", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKM.DropBowlMechanismStatus = bools[0];
                }
            }));

            GetStatus("M12.2", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKM.FixedFlag = bools[0];
                }
            }));

            GetStatus("M13.5", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKM.SiloInPlace = bools[0];
                }
            }));

            GetStatus("M16.6", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 2)
                {
                    mORKM.RobotInvertedSurfaceCom = bools[0];
                    mORKM.RobotTakeNoodleCom = bools[1];
                }
            }));

            GetStatus("M17.4", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKM.RobotStatus = bools[0];
                }
            }));

            GetStatus("M18.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 5)
                {
                    mORKM.SmallBowlYesOrNoCheck = bools[0];
                    mORKM.LargeBowYesOrNoCheck = bools[1];
                    mORKM.TurntableLowPosition = bools[2];
                    mORKM.TurntableHighPosition = bools[3];
                    alarm.Supply2_LossBowl = !mORKM.SmallBowlYesOrNoCheck;
                    alarm.Supply1_LossBowl = !mORKM.LargeBowYesOrNoCheck;
                }
            }));

            GetStatus("VW17", new Action<object>((obj) =>
            {
                if (obj is ushort[] ushorts && ushorts.Length > 0 && ushorts.Length <= 1)
                {
                    var tt = ushorts.ToBytes().ToUShorts();

                    for (byte i = 0; i < 6; i++)
                    {
                        if (RTrig.GetInstance($"CookNoodleCom{i + 1}").Start(tt[0].GetBitValue((byte)(i + 1))))
                        {
                            if (!string.IsNullOrEmpty(mORKM.CookNodelId[i]))
                                mORKM.CookNoodleCom[i] = true;
                        }
                    }
                    mORKM.Heating = ushorts[0].GetBitValue(15);
                    mORKM.TemperatureReaches = ushorts[0].GetBitValue(16);

                    alarm.MachineLowTemperature = !mORKM.TemperatureReaches;
                }

            }));

            GetStatus("VW770", new Action<object>((obj) =>
            {
                if (obj is ushort[] ushorts && ushorts.Length > 0 && ushorts.Length <= 1)
                {
                    mORKM.CurrentFeedbackLoc = ushorts[0];
                }

            }));

            mORKM.TakeBowlTaskCount = mORKM.TakeBowlTask.Count;
            mORKM.RBTakeNoodleTaskCount = mORKM.RBTakeNoodleTask.Count;

            for (int i = 0; i < Json<MorksPar>.Data.parSets.Count; i++)
            {
                mORKM.nsm.ElementAt(i).IsShield = Json<MorksPar>.Data.parSets.ElementAt(i).IsShield;
                mORKM.nsm.ElementAt(i).NoodleCookerStatus = mORKM.NoodleCookerStatus[i];
            }

        }

        /// <summary>
        /// 数据解析
        /// </summary>
        private void DataParse()
        {
            EventBus.GetInstance.Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
             {
                 if (@event == null) return;
                 if (@event is DoOrderEvent order)
                 {
                     mORKM.doOrderEvents.Add(order);
                     if (order.MorkOrder.GoodBatchings == null) return;
                     if (mORKM.HistorySuborderId.Contains(order.MorkOrder.SuborderId)) return;
                     OrderCount++;
                     if (DateTime.Now.Subtract(Json<OrderStatistics>.Data.StatisticsTime).Days != 0)
                         Json<OrderStatistics>.Data.Count = 0;
                     Json<OrderStatistics>.Data.StatisticsTime = DateTime.Now;
                     Json<OrderStatistics>.Data.Count++;
                     Json<OrderStatistics>.Save();
                     OrderChange(order.MorkOrder.SuborderId, ORDER_STATUS.WAIT);
                     DeviceProcessLogShow($"接收到{OrderCount}次订单，订单ID：{order.MorkOrder.SuborderId}");
                     mORKM.HistorySuborderId.Add(order.MorkOrder.SuborderId);
                     List<MOrderLocInfo> oli = new List<MOrderLocInfo>();
                     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 (loc >= 1 && loc <= 5)
                                 {
                                     var x = Json<MorksPar>.Data.DishLibraryParSets.FirstOrDefault(p => p.TextBlockContext == loc.ToString());
                                     if (x != null)
                                     {
                                         for (int i = 0; i < item.BatchingCount; i++)
                                         {
                                             oli.Add(new MOrderLocInfo()
                                             {
                                                 GoodName = order.MorkOrder.GoodsName,
                                                 Loc = ushort.Parse(res.BatchingLoc),
                                                 SuborderId = order.MorkOrder.SuborderId,
                                                 SortNum = order.MorkOrder.SortNum,
                                                 BatchingId = res.BatchingId,
                                                 Minute = x.Minute,
                                                 Second = x.Second,
                                                 LocDishType = x.LocDishType
                                             });
                                         }
                                     }
                                 }
                             }
                         }
                     }

                     for (int i = 0; i <= 1; i++)
                     {
                         oli.Where(p => p.LocDishType == i).ToList()?.ForEach(y =>
                         {
                             mORKM.RBTakeNoodleTask.Enqueue(new MOrderLocInfo()
                             {
                                 GoodName = y.GoodName,
                                 Loc = y.Loc,
                                 SuborderId = y.SuborderId,
                                 SortNum = y.SortNum,
                                 BatchingId = y.BatchingId,
                                 LocDishType = y.LocDishType,
                                 Minute = y.Minute,
                                 RecipeId = y.RecipeId,
                                 RecipeNumber = y.RecipeNumber,
                                 Recipes = y.Recipes,
                                 Second = y.Second
                             });
                         });
                     }

                     if (mORKM.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                         mORKM.TakeBowlTask.Enqueue(new OrderLocInfo()
                         {
                             GoodName = order.MorkOrder.GoodsName,
                             Loc = 11,
                             SuborderId = order.MorkOrder.SuborderId,
                             SortNum = order.MorkOrder.SortNum,
                         });

                     if (!mORKM.SuborderCount.ContainsKey(order.MorkOrder.SuborderId))
                     {
                         mORKM.SuborderCount.TryAdd(order.MorkOrder.SuborderId, new SuborderInfo()
                         {
                             ActualCount = oli.Count,
                             AcMeatDishesCount = oli.Where(p => p.LocDishType == 0).ToList().Count,
                             AcVegetableCount = oli.Where(p => p.LocDishType == 1).ToList().Count,
                         });
                     }

                 }
             });
        }

        public override void MainTask()
        {
            mORKM.AllowRun = mORKM.InitComplete;
            if (Json<KeepDataBase>.Data.IsVerify)
                IsHealth = mORKM.InitComplete;
            else
                IsHealth = true;

            TakeBowlTask();

            TakeNoodleTask();

            OutNoodleTask();

            SingleDetect();

            TurntableControl();
        }

        private void BowlControl(OrderLocInfo orderLocInfo)
        {
            if (orderLocInfo.Loc >= 10 && orderLocInfo.Loc <= 11)
            {
                mORKM.TakeBowlId = orderLocInfo.SuborderId;
                mORKM.TakeBowName = orderLocInfo.GoodName;
                mORKM.TakeBowSortNum = orderLocInfo.SortNum;
                TakeBowlControl(orderLocInfo.Loc);
                OrderChange(mORKM.TakeBowlId, ORDER_STATUS.COOKING);
                DeviceProcessLogShow($"订单【{mORKM.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                mORKM.TakeBowlInterlock = true;
            }
        }

        /// <summary>
        /// 取碗控制
        /// </summary>
        private void TakeBowlTask()
        {
            if (mORKM.AllowRun && mORKM.TakeBowlTask.Count > 0 && !mORKM.DropBowlMechanismStatus && !mORKM.TakeBowlInterlock)
            {
                ushort BowLoc = 0;
                var res = orderMaterialDelivery?.BatchingInfo?.Where(p => p.BatchingId == mORKM.TakeBowlTask.ElementAt(0).BatchingId).ToList();
                if (res == null || res?.Count == 0)
                {
                    if (mORKM.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo)) BowlControl(orderLocInfo);
                }
                else
                {
                    foreach (var item in res)
                    {
                        if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                        {
                            if (loc == 10 && mORKM.SmallBowlYesOrNoCheck)
                            {
                                BowLoc = loc;
                                break;
                            }
                            else if (loc == 11 && mORKM.LargeBowYesOrNoCheck)
                            {
                                BowLoc = loc;
                                break;
                            }
                        }
                    }

                    if (BowLoc >= 10 && BowLoc <= 11)
                    {
                        if (mORKM.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo))
                        {
                            orderLocInfo.Loc = BowLoc;
                            BowlControl(orderLocInfo);
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 转台控制
        /// </summary>
        private void TurntableControl()
        {
            if (Global.EnableLocalSimOrder)
            {
                //不做轮询，直接取面，模拟订单使用
                if (mORKM.SiloInPlace && !mORKM.Feeding && mORKM.InitComplete && !mORKM.AllowTakeNoodle && mORKM.RBTakeNoodleTask.Count > 0)
                {
                    if (mORKM.TurntableLowPosition)
                    {
                        TurntableStart(mORKM.RBTakeNoodleTask.ElementAt(0).Loc);
                        mORKM.TurntableLocLists.Clear();
                        mORKM.AllowTakeNoodle = true;
                        DeviceProcessLogShow($"控制机器人去转台【{mORKM.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
                    }
                }
            }
            else
            {
                //正常轮询
                if (Delay.GetInstance("到位检测延时").Start(mORKM.SiloInPlace, 2))
                {
                    if (mORKM.SiloInPlace && !mORKM.Feeding && mORKM.InitComplete && !mORKM.AllowTakeNoodle && mORKM.RBTakeNoodleTask.Count > 0)
                    {

                        var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKM.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
                        if (result != null)
                        {
                            var res = result.FirstOrDefault(P => P.BatchingLoc == mORKM.CurrentFeedbackLoc.ToString());
                            if (mORKM.TurntableLowPosition && res != null)
                            {
                                TurntableStart(mORKM.CurrentFeedbackLoc);
                                mORKM.TurntableLocLists.Clear();
                                mORKM.AllowTakeNoodle = true;
                                DeviceProcessLogShow($"控制机器人去转台【{mORKM.CurrentFeedbackLoc}】号位置取面");
                            }
                            else
                            {
                                if (!mORKM.TurntableInterlock)
                                {
                                    foreach (var item in result)
                                    {
                                        if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                                        {
                                            if (mORKM.CurrentFeedbackLoc != loc && !mORKM.TurntableLocLists.Contains(loc))
                                            {
                                                if (!mORKM.TurntableLowPosition)
                                                {
                                                    DeviceProcessLogShow($"执行了转台启动互锁信号复位");
                                                }
                                                TurntableStart(loc);
                                                DeviceProcessLogShow($"没有物料检测的启动转台控制,转台位置：[{loc}]");
                                                break;
                                            }
                                            else if (mORKM.CurrentFeedbackLoc == loc && !mORKM.TurntableLocLists.Contains(loc)) mORKM.TurntableLocLists.Add(loc);
                                        }
                                    }
                                }
                            }
                        }
                        else DeviceProcessLogShow("未找到可用的物料信息");
                    }
                }
            }

            //补料中检测
            if (RTrig.GetInstance("mORKS.Feeding").Start(mORKM.Feeding))
            {
                mORKM.AllowTakeNoodle = false;
                mORKM.TakeNoodleInterlock = false;
            }

            //转台到位检测
            if (RTrig.GetInstance("TurntableInPlace").Start(mORKM.SiloInPlace && mORKM.CurrentLoc == mORKM.CurrentFeedbackLoc))
            {

                mORKM.TurntableInterlock = false;
                DeviceProcessLogShow("转台到位检测");
            }

            //补料完成检测
            if (RTrig.GetInstance("FeedComplete").Start(mORKM.FeedComplete))
            {
                if (!mORKM.AllowTakeNoodle && mORKM.TurntableLocLists.Count > 0)
                {
                    mORKM.TurntableLocLists.Clear();
                    mORKM.TurntableInterlock = false;
                    DeviceProcessLogShow("补料完成检测");
                }
            }

        }

        /// <summary>
        /// 取面任务
        /// </summary>
        private void TakeNoodleTask()
        {
            //取面控制
            if (mORKM.AllowRun && mORKM.RobotStatus && !mORKM.RobotOutDinnigLock && !mORKM.Feeding && !mORKM.RobotTaskInterlock && mORKM.AllowTakeNoodle && mORKM.SiloInPlace && !mORKM.TakeNoodleInterlock && mORKM.RBTakeNoodleTask.Count > 0)
            {
                if (mORKM.CurrentLoc == mORKM.CurrentFeedbackLoc)
                {
                    int loc = mORKM.nsm.ToList().FindIndex(p => p.NoodleCookerStatus == false && p.IsShield == false);//查找煮面炉空闲位置
                    if (loc >= 0 && loc <= 5)
                    {
                        if (mORKM.RBTakeNoodleTask.TryDequeue(out MOrderLocInfo orderLocInfo))
                        {
                            //写入煮面时间
                            List<ushort> values = new List<ushort>();
                            values.Add(orderLocInfo.Minute);
                            values.Add(orderLocInfo.Second);
                            WriteData($"VW{324 + (loc * 4)}", values.ToArray());

                            mORKM.CurrentLoc = 0;
                            mORKM.CookNodelId[loc] = orderLocInfo.SuborderId;
                            mORKM.NoodleCookerStatus[loc] = true;
                            SetFallNoodleLoc((ushort)(loc + 1));
                            //机器人开始取面
                            OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
                            DeviceProcessLogShow($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");

                            if (mORKM.SuborderCount.ContainsKey(orderLocInfo.SuborderId))
                            {
                                if (orderLocInfo.LocDishType == 0)
                                    mORKM.SuborderCount[orderLocInfo.SuborderId].MeatDishesLoc.Add(loc + 1);
                                else if (orderLocInfo.LocDishType == 1)
                                    mORKM.SuborderCount[orderLocInfo.SuborderId].VegetableLoc.Add(loc + 1);
                            }

                            mORKM.TakeNoodleInterlock = true;
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 出餐控制
        /// </summary>
        private void OutNoodleTask()
        {
            if (mORKM.AllowInvertedFace && !mORKM.RobotOutDinnigLock && mORKM.RobotTaskInterlock && !mORKM.TakeNoodleInterlock && mORKM.RobotStatus)
            {
                for (int i = 0; i < mORKM.CookNodelId.Length; i++)
                {
                    if (mORKM.CookNodelId[i] == mORKM.IngredientsCompleteId && !string.IsNullOrEmpty(mORKM.CookNodelId[i]))
                    {
                        if (mORKM.CookNoodleCom[i] && mORKM.SuborderCount.ContainsKey(mORKM.CookNodelId[i]))
                        {
                            var x = mORKM.SuborderCount[mORKM.CookNodelId[i]];

                            //执行取素菜操作
                            if (!mORKM.RobotOutDinnigLock && x.AcVegetableCount != x.CuVegetableCount)
                            {
                                int index = x.VegetableLoc.FindIndex(p => p == i + 1);
                                if (index >= 0)
                                {
                                    SetTakeNoodleLoc((ushort)(x.VegetableLoc.ElementAt(index)));
                                    mORKM.NoodleCookerStatus[i] = false;
                                    WriteData($"VW260", (ushort)0);//设置出汤时间
                                    DeviceProcessLogShow($"{x.VegetableLoc.ElementAt(index)} 号位置-[素菜]-出餐控制,订单ID：{mORKM.CookNodelId[i]}");
                                    mORKM.CookNodelId[i] = string.Empty;
                                    mORKM.CookNoodleCom[i] = false;
                                    x.VegetableLoc.RemoveAt(index);
                                    x.CuVegetableCount++;
                                    mORKM.RobotOutDinnigLock = true;
                                }
                            }

                            //执行取荤菜
                            if (!mORKM.RobotOutDinnigLock && x.AcVegetableCount == x.CuVegetableCount && x.AcMeatDishesCount != x.CuMeatDishesCount)
                            {
                                int index = x.MeatDishesLoc.FindIndex(p => p == i + 1);
                                if (index >= 0)
                                {
                                    SetTakeNoodleLoc((ushort)(x.MeatDishesLoc.ElementAt(index)));
                                    mORKM.NoodleCookerStatus[i] = false;
                                    WriteData($"VW260", (ushort)0);//设置出汤时间
                                    DeviceProcessLogShow($"{x.MeatDishesLoc.ElementAt(index)} 号位置-[荤菜]-出餐控制,订单ID：{mORKM.CookNodelId[i]}");
                                    mORKM.CookNodelId[i] = string.Empty;
                                    mORKM.CookNoodleCom[i] = false;
                                    x.MeatDishesLoc.RemoveAt(index);
                                    x.CuMeatDishesCount++;
                                    mORKM.RobotOutDinnigLock = true;
                                }
                            }
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 验证是否可以出餐
        /// </summary>
        /// <returns></returns>
        private bool IsCanDiningOut(bool condition)
        {
            if (mORKM.AllowInvertedFace && condition && !mORKM.RobotOutDinnigLock && !mORKM.TakeNoodleInterlock && mORKM.RobotStatus)
            {
                for (int i = 0; i < mORKM.CookNodelId.Length; i++)
                {
                    if (mORKM.CookNodelId[i] == mORKM.IngredientsCompleteId && !string.IsNullOrEmpty(mORKM.CookNodelId[i]))
                    {
                        if (mORKM.CookNoodleCom[i] && mORKM.SuborderCount.ContainsKey(mORKM.CookNodelId[i]))
                        {
                            var x = mORKM.SuborderCount[mORKM.CookNodelId[i]];

                            //执行取素菜操作
                            if (x.AcVegetableCount != x.CuVegetableCount)
                            {
                                int index = x.VegetableLoc.FindIndex(p => p == i + 1);
                                if (index >= 0)
                                {
                                    return true;
                                }
                            }

                            //执行取荤菜
                            if (!mORKM.RobotOutDinnigLock && x.AcVegetableCount == x.CuVegetableCount && x.AcMeatDishesCount != x.CuMeatDishesCount)
                            {
                                int index = x.MeatDishesLoc.FindIndex(p => p == i + 1);
                                if (index >= 0)
                                {
                                    return true;
                                }
                            }
                        }
                    }
                }
            }
            return false;
        }

        /// <summary>
        /// 信号检测
        /// </summary>
        private void SingleDetect()
        {
            //允许倒面信号检测
            if (RTrig.GetInstance("AllowFallNoodle").Start(mORKM.AllowInvertedFace))
            {
                mORKM.IngredientsCompleteId = mORKM.TakeBowlId;
                mORKM.IngredientsCompleteName = mORKM.TakeBowName;
                mORKM.IngredientsCompleteSortNum = mORKM.TakeBowSortNum;
                mORKM.TakeBowSortNum = 0;
                mORKM.TakeBowlId = string.Empty;
                mORKM.TakeBowName = string.Empty;
                DeviceProcessLogShow($"碗到位，允许到面,{mORKM.IngredientsCompleteId}");
                mORKM.TakeBowlInterlock = false;
            }

            //取餐完成逻辑处理
            if (RTrig.GetInstance("CompleteChange1").Start(mORKM.DiningComplete) && mORKM.CookCompleteFlatBit == true)
            {
                OrderChange(mORKM.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
                DeviceProcessLogShow($"订单【{mORKM.OutMealId}】取餐完成");
                WriteData("M10.1", false);
                DeviceProcessLogShow($"出餐订单序号【{mORKM.OutMealSortNum}】");
                VoiceAPI.Speak(mORKM.OutMealSortNum.ToString());
                mORKM.CookCompleteFlatBit = false;
                mORKM.OutMealId = string.Empty;
                mORKM.OutMealName = string.Empty;
                mORKM.OutMealSortNum = 0;
            }

            //机器人取面完成信号检测
            if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKM.RobotTakeNoodleCom))
            {
                mORKM.TakeNoodleInterlock = false;
                mORKM.AllowTakeNoodle = false;
                mORKM.TurntableInterlock = false;
                DeviceProcessLogShow("机器人取面完成信号检测");
            }
            //机器人倒面完成信号检测
            if (RTrig.GetInstance("RobotInvertedSurfaceCom").Start(mORKM.RobotInvertedSurfaceCom))
            {
                if (mORKM.SuborderCount.ContainsKey(mORKM.IngredientsCompleteId))
                {
                    var x = mORKM.SuborderCount[mORKM.IngredientsCompleteId];
                    if (x.CuMeatDishesCount + x.CuVegetableCount == x.ActualCount)
                    {
                        OrderChange(mORKM.IngredientsCompleteId, ORDER_STATUS.COMPLETED_COOK);
                        DeviceProcessLogShow($"订单【{mORKM.IngredientsCompleteId}】制作完成");
                        mORKM.SuborderCount.Remove(mORKM.IngredientsCompleteId, out _);
                        mORKM.CookCompleteFlatBit = true;
                        mORKM.OutMealId = mORKM.IngredientsCompleteId;
                        mORKM.OutMealName = mORKM.IngredientsCompleteName;
                        mORKM.OutMealSortNum = mORKM.IngredientsCompleteSortNum;
                        mORKM.IngredientsCompleteId = string.Empty;
                        CookComplete();
                        DeviceProcessLogShow($"倒面完成");
                    }
                }
                mORKM.RobotOutDinnigLock = false;
            }

            int OutMealRequstCount = mORKM.CookNoodleCom.Where(p => p == true).ToList().Count;
            int BusyCount = mORKM.nsm.Where(p => p.NoodleCookerStatus == true && p.IsShield == false).ToList().Count;//忙碌数量
            int IdleCount = mORKM.nsm.Where(p => p.NoodleCookerStatus == false && p.IsShield == false).ToList().Count;//空闲数量
            bool isok = false;
            for (int i = 0; i < mORKM.CookNodelId.Length; i++)
            {
                if (mORKM.CookNodelId[i] == mORKM.IngredientsCompleteId && mORKM.CookNoodleCom[i])
                {
                    isok = true;
                    break;
                }
            }
            mORKM.PriorityJudgment = Delay.GetInstance("取餐优先级判断").Start(mORKM.TurntableLocLists.Count > 0 && !mORKM.TurntableLowPosition, 4);
            mORKM.RobotTaskInterlock = IsCanDiningOut(isok && IdleCount >= 0) && (BusyCount >= 2 || mORKM.RBTakeNoodleTask.Count == 0 || mORKM.PriorityJudgment);


        }
        /// <summary>
        /// 语音提醒取餐
        /// </summary>
        /// <param name="meal"></param>
        private void WaitMeaLSpeak(string meal)
        {
            //VoiceAPI.m_SystemPlayWav(@"Vioce\电子提示音.wav");
            //Thread.Sleep(1000);
            //if (meal != null) mORKS.speech.Speak(meal);
            //VoiceAPI.m_SystemPlayWav(@"Vioce\取餐通知.wav");
        }

        #region PLC 控制函数

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

        /// <summary>
        /// 设备初始化
        /// </summary>
        public async void DeviceInit()
        {
            WriteData("M0.0", true);
            await Task.Delay(1000);
            WriteData("M0.0", false);
        }

        /// <summary>
        /// 取碗控制
        /// </summary>
        /// <param name="loc"></param>
        private void TakeBowlControl(ushort loc)
        {
            if (loc == 10)//一次性碗
            {
                WriteData("M9.1", true);
            }
            else if (loc == 11)//大碗
            {
                WriteData("M9.0", true);
            }
        }

        /// <summary>
        /// 启动转台
        /// </summary>
        /// <param name="loc"></param>
        private void TurntableStart(ushort loc)
        {
            if (loc >= 1 && loc <= 5)
            {
                mORKM.CurrentLoc = loc;
                mORKM.TurntableInterlock = true;
                mORKM.TurntableLocLists.Add(loc);
                WriteData($"M13.{loc - 1}", true);
            }
        }

        /// <summary>
        /// 设置倒面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetFallNoodleLoc(ushort loc)
        {
            if (loc >= 1 && loc <= 6)
                WriteData($"M14.{loc - 1}", true);
        }

        /// <summary>
        /// 设置取面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetTakeNoodleLoc(ushort loc)
        {
            if (loc >= 1 && loc <= 6)
                WriteData($"M15.{loc - 1}", true);
        }

        /// <summary>
        /// 上位机单订单执行完成
        /// </summary>
        private void CookComplete()
        {
            WriteData("M11.0", true);
        }
        /// <summary>
        /// 模拟订单事件订阅。
        /// </summary>
        public override void SimOrder()
        {
            EventBus.GetInstance.Subscribe<MorkMV1SimorderModel>(0, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                if (@event != null && @event is MorkMV1SimorderModel msm)
                {
                    string guid = Guid.NewGuid().ToString();
                    //模拟订单的素菜和荤菜计数。[0]为荤菜，[1]为素菜。
                    int[] materialCount = new int[] { 0, 0 };
                    int allCount = 0;
                    for (int i = 0; i <= 1; i++)
                    {
                        foreach (var loc in msm.NoodleLoc)
                        {
                            if (loc >= 1 && loc <= 5)
                            {
                                var x = Json<MorksPar>.Data.DishLibraryParSets.FirstOrDefault(p => p.TextBlockContext == loc.ToString());
                                if (x.LocDishType == i)
                                {
                                    mORKM.RBTakeNoodleTask.Enqueue(new MOrderLocInfo()
                                    {
                                        Loc = (ushort)loc,
                                        SuborderId = guid,
                                        LocDishType = x.LocDishType,
                                        Minute = x.Minute,
                                        Second = x.Second
                                    });
                                    //对菜的数量计数。
                                    materialCount[i]++;
                                    allCount++;
                                    MessageLog.GetInstance.Show($"添加模拟订单：素材位置【{(ushort)loc}】");
                                }
                            }
                        }
                    }


                    if (msm.BowlLoc >= 10 && msm.BowlLoc <= 11)
                    {
                        mORKM.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)msm.BowlLoc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加模拟订单：碗位置【{(ushort)msm.BowlLoc}】");
                    }


                    if (!mORKM.SuborderCount.ContainsKey(guid))
                    {
                        mORKM.SuborderCount.TryAdd(guid, new SuborderInfo()
                        {
                            ActualCount = allCount,
                            AcMeatDishesCount = materialCount[0],
                            AcVegetableCount = materialCount[1],
                        });
                    }
                }
            });
        }
        #endregion


    }
}