BPASmartClient/BPASmartClient.MorkF/Control_MorkF.cs

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 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
        //private OrderMaterialDelivery orderMaterialDelivery { get; set; } = new OrderMaterialDelivery();
        //private RecipeBoms recipeBoms { get; set; } = new RecipeBoms();
        //int OrderCount;
        /// <summary>
        /// 入口
        /// </summary>
        public override void DoMain()
        {
            ReadData(); //plc状态量读取
            DataParse();//数据解析
            //Main();
            //ResetProgram();
            MessageLog.GetInstance.Show("MORKF 设备初始化完成");
        }

        public override void ResetProgram()
        {
            morkF = null;
            morkF = new GVL_MorkF();
        }

        /// <summary>
        /// PLC数据读取
        /// </summary>
        public override void ReadData()
        {
            //ThreadManage.GetInstance().StartLong(new Action(() =>
            //{
            GetStatus("M0.1", new Action<bool[]>((bools) =>
            {
                morkF.InitialComplete = bools[0];
            }));
            GetStatus("M1.0", new Action<bool[]>((bools) =>
            {
                morkF.ProvidePlateModule = bools[0];
                morkF.ProvidePlateComplete = bools[2];
                morkF.CleanModule = bools[3];
                morkF.CleanComplete = bools[5];
            }));
            GetStatus("M2.0", new Action<bool[]>((bools) =>
            {
                morkF.KitchenOneStatus = bools[1];
                morkF.FallOilComplete = bools[8];
            }));
            GetStatus("M8.0", new Action<bool[]>((bools) =>
            {
                morkF.TurnMachineUpComplete = bools[1];
                morkF.TurnMachineDownComplete = bools[3];
            }));
            GetStatus("M13.5", new Action<bool[]>((bools) =>
            {
                morkF.MaterialArriveComplete = bools[0];
            }));
            GetStatus("M16.0", new Action<bool[]>((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<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.EventBus.GetInstance().Subscribe<RecipeBomEvent>(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() { Id = DeviceId, Status = oRDER_STATUS, SubOrderId = subid });
        }

        /// <summary>
        /// 写入配方数据到 PLC
        /// </summary>
        private void WriteRecipeBoms()
        {
            //List<ushort> recipeBoms = new List<ushort>();
            //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"); }
        }

        /// <summary>
        /// 数据解析
        /// </summary>
        private void DataParse()
        {
            EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(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 (loc >= 1 && loc <= 5)
                                {
                                    if (morkF.TakeMaterialQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                                        morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { Loc = ushort.Parse(res.BatchingLoc), SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId });
                                }
                                else if (loc >= 10 && loc <= 11)
                                {
                                    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()
                                        {
                                            Loc = ushort.Parse(res.BatchingLoc),
                                            SuborderId = order.MorkOrder.SuborderId,
                                            RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0
                                        });
                                }
                            }
                        }
                    }
                }
            });
        }

        /// <summary>
        /// 流程控制
        /// </summary>
        public override void MainTask()
        {
            //ThreadManage.GetInstance().StartLong(new Action(() =>
            //{
            IsHealth = true;  //心跳
            TakePlatelTask();
            TakePotTask();
            TakeVegBurdenATask();
            TakeMeatBurdenATask();
            TakeVegBurdenBTask();
            TakeBurdenCTask();
            StartCookingTask();
            OutDishTask();
            CleanPotTask();
            TurntableControl();
            SingleProcess();

            //}), "MainTask");
        }
        /// <summary>
        /// 信号处理
        /// </summary>
        private void SingleProcess()
        {
            //转台互锁解除
            if (morkF.TakeMaterialComplete && morkF.TurnTableLock)
            {
                morkF.TurnTableLock = false;
            }
            //待定
            if (morkF.TakeVegALock && morkF.TakeMeatALock && morkF.TakeVegBLock)
            {
                morkF.TakeAllBurdenComplete = true;
            }
            //出餐完成，相应变量复位
            if (morkF.OutMealComplete)
            {
                morkF.TakePlateLock = false;
                morkF.TakePotLock = false;
                morkF.TakeVegALock = false;
                morkF.TakeMeatALock = false;
                morkF.TakeVegBLock = false;
                morkF.TakeBurdenCLcok = false;
            }

        }

        /// <summary>
        /// 转台控制
        /// </summary>
        private void TurntableControl()
        {
            //正常轮询
            if (morkF.InitialComplete && 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");
            }
        }


        /// <summary>
        /// 供盘
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        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
                    MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取碗控制,位置:[{order.Loc}]");
                }


            }
        }

        /// <summary>
        /// 取锅到灶台
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void TakePotTask()
        {
            if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakePlateQueue.Count > 0 && !morkF.CleanModule && morkF.CleanComplete && !morkF.KitchenOneStatus && !morkF.TakePotLock)
            {
                TakePotToKitchen();
                morkF.TakePotLock = true; //订单完成后置false
                MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取锅到灶台控制");
            }
        }
        /// <summary>
        /// 取素菜A料
        /// </summary>
        private void TakeVegBurdenATask()
        {
            if (!morkF.RoobotIdle && morkF.PotInPlace && morkF.TurnMachineUpComplete && !morkF.TakeVegALock && morkF.AllowTakeMaterial)
            {

                if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))
                {
                    int loc = order.Loc;
                    TakeBurden(loc);
                    morkF.TakeVegALock = true;//订单完成置false
                    morkF.AllowTakeMaterial = false;
                    MessageLog.GetInstance.Show($"订单【{ order.SuborderId},翻转机上升完成，执行取素菜A控制");
                }
            }
        }
        /// <summary>
        /// 取荤菜A料
        /// </summary>
        private void TakeMeatBurdenATask()
        {
            if (!morkF.RoobotIdle && morkF.PotInPlace && morkF.TurnMachineUpComplete && morkF.TakeVegALock && !morkF.TakeMeatALock && morkF.AllowTakeMaterial)
            {
                if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))
                {
                    int loc = order.Loc;
                    TakeBurden(loc);
                    morkF.TakeMeatALock = true;//订单完成置false
                    morkF.AllowTakeMaterial = false;
                    MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,,翻转机上升完成,执行取荤菜A控制");
                }
            }
        }
        /// <summary>
        /// 取素菜B料
        /// </summary>
        private void TakeVegBurdenBTask()
        {
            if (!morkF.RoobotIdle && morkF.PotInPlace && morkF.TurnMachineUpComplete && morkF.TakeMeatALock && !morkF.TakeVegBLock && morkF.AllowTakeMaterial)
            {
                if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))
                {
                    int loc = order.Loc;
                    TakeBurden(loc);
                    morkF.TakeVegBLock = true;//订单完成置false
                    morkF.AllowTakeMaterial = false;
                    MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,,翻转机上升完成,执行取素菜B控制");
                }
            }
        }
        /// <summary>
        /// 取调味品C料
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void TakeBurdenCTask()
        {
            if (!morkF.RoobotIdle && morkF.PotInPlace && morkF.TurnMachineUpComplete && morkF.TakeAllBurdenComplete && !morkF.TakeBurdenCLcok && morkF.AllowTakeMaterial)
            {
                if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))
                {
                    int loc = order.Loc;
                    TakeBurden(loc);
                    morkF.TakeBurdenCLcok = true;//订单完成置false
                    morkF.AllowTakeMaterial = false;
                    morkF.TakeAllBurdenComplete = false;
                    MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,,翻转机上升完成,执行取调味品C料控制");
                }
            }
        }
        /// <summary>
        /// 开始烹饪
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        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");
                }));
            }
        }

        /// <summary>
        /// 出餐
        /// </summary>
        private void OutDishTask()
        {
            if (!morkF.RoobotIdle && morkF.CookingComplete && morkF.ProvidePlateComplete && !morkF.CleanModule)
            {
                RobotOutMeal();
                MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】正在出餐");
            }
        }

        /// <summary>
        /// 洗锅放锅
        /// </summary>
        private void CleanPotTask()
        {
            if (morkF.PlaceRinseTableComplete && !morkF.CleanModule)
            {
                CleanModuleControl("Start");
                Task.Delay(5000).Wait();
                CleanModuleControl("Stop");
            }
        }
        /// <summary>
        /// 任务复位重启
        /// </summary>
        //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");
        //}
        /// <summary>
        /// 翻转机下降及状态检测
        /// </summary>
        public void TurnDownStatusDetect()
        {
            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($"翻转机下降执行完成");
        }
        /// <summary>
        /// 翻转机上升及状态检测
        /// </summary>
        public void TurnUpStatusDetect()
        {
            TurnMachineOrientControl("Top");//翻转机上升
            morkF.AllowTakeMaterial = true;
            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("翻转机上升执行完成");
        }
        private void GetStatus(string key, Action<bool[]> action)
        {
            if (peripheralStatus.ContainsKey(key))
            {
                action((bool[])peripheralStatus[key]);//获取PLC指定地址的状态值
            }
        }
        /// <summary>
        /// 写数据
        /// </summary>
        /// <param name="address"></param>
        /// <param name="value"></param>
        private void WriteData(string address, object value)
        {
            EventBus.EventBus.GetInstance().Publish(new WriteModel() { Id = DeviceId, Address = address, Value = value });
        }
        /// <summary>
        /// 灶台档位调节
        /// </summary>
        public void KitchenAdjustGears(int number)
        {
            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;
            }

        }
        /// <summary>
        /// 供盘启动
        /// </summary>
        public void StartTakePlate()
        {
            WriteData("M1.1", true);
        }
        /// <summary>
        /// 取锅到灶台
        /// </summary>
        public void TakePotToKitchen()
        {
            WriteData("M14.0", true);
        }
        /// <summary>
        /// 机器人出餐并将锅放置清洗台位置
        /// </summary>
        public void RobotOutMeal()
        {
            WriteData("M14.2", true);
        }
        /// <summary>
        /// 注油
        /// </summary>
        public void AddOil()
        {
            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");
        }
        /// <summary>
        /// 翻转机方向控制
        /// </summary>
        /// <param name="orientation"></param>
        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($"翻转机执行{orientation}操作");
        }
        /// <summary>
        /// 翻转机档位控制
        /// </summary>
        public void TurnMachineGearsControl(int gear)
        {
            switch (gear)
            {
                case 0: WriteData("M7.0", true); break;//关闭翻炒机
                case 1: WriteData("M7.1", true); break;//翻炒机1挡
                case 2: WriteData("M7.2", true); break;//翻炒机2挡
                case 3: WriteData("M7.3", true); break;//翻炒机3挡
            }
            MessageLog.GetInstance.Show($"翻转机档位调至{gear}挡");
        }
        /// <summary>
        /// 取A,B,C料
        /// </summary>
        public void TakeBurden(int loc)
        {
            WriteData("M14.1", true);//机器人取料
        }
        /// <summary>
        /// 清洗模组1启停控制
        /// </summary>
        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()
        {

        }
    }
}