BPASmartClient/BPASmartClient.JXJFoodSmallStation/Model/ProcessControl.cs

using BPASmartClient.Helper;
using BPASmartClient.JXJFoodSmallStation.Model.HK_PLC;
using BPASmartClient.JXJFoodSmallStation.Model.Siemens;
using BPASmartClient.Modbus;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Configuration;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace BPASmartClient.JXJFoodSmallStation.Model
{
    public class ProcessControl
    { 
        private volatile static ProcessControl _Instance;
        public static ProcessControl GetInstance => _Instance ?? (_Instance = new ProcessControl());
        private ProcessControl() { }

        public ObservableCollection<RemoteRecipeRawMaterial> RawMaterials { get; set; } = new ObservableCollection<RemoteRecipeRawMaterial>();

        public SiemensDeviceStatus SiemensDevice = new SiemensDeviceStatus();
        public HKDeviceStatus HKDevice = new HKDeviceStatus();
        GVL_SmallStation SmallStation = new GVL_SmallStation();
        /// <summary>
        /// 接收原料数据
        /// </summary>
        public RecipeRawMaterial RawMaterial;
        public void Init()
        {
            ActionManage.GetInstance.Register(new Action(() =>
            {
                if (SiemensDevice.IsConnected)
                {
                    var res = SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.RecipeName);
                    var res1 = SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.RecipeID);
                    int res2 = SiemensDevice.Siemens_PLC_S7.ReadClass(RawMaterial, 0, 0);
                    if ((res != null && res is string recipeName) &&
                        (res1 != null && res1 is uint recipeID) &&
                        (res2 > 0))
                    {
                        RawMaterials.Clear();
                        for (int i = 0; i < 15; i++) 
                        {
                            RawMaterials.Add(new RemoteRecipeRawMaterial()
                            {
                                RawMaterialBarrelNum = RawMaterial.RawMaterialBarrelNum[i],
                                RawMaterialLocation = RawMaterial.RawMaterialLocation[i],
                                RawMaterialWeight = RawMaterial.RawMaterialWeight[i]
                            });
                        }
                        Json<RemoteRecipeDataColl>.Data.Recipes.Add(new RemoteRecipeData()
                        {
                            RecipeName = recipeName,
                            RecipeCode = recipeID,
                            RawMaterial = RawMaterials
                        });
                    }
                }
            }), "西门子下发配方", true);
            ActionManage.GetInstance.Register(new Action(() =>
            {
                if (SiemensDevice.IsConnected)
                {
                    var res = SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.TrayLocationNum);
                    var res1 = SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.RecipeID);
                    if (res != null && res is int TrayLocation && res1 != null && res1 is int recipeId)
                    {
                        int index = Array.FindIndex(Json<RemoteRecipeDataColl>.Data.Recipes.ToArray(), p => p.RecipeCode == recipeId);
                        if (index >= 0 && index < Json<RemoteRecipeDataColl>.Data.Recipes.Count)
                        {
                            Json<RemoteRecipeDataColl>.Data.Recipes.ElementAt(index).TrayCode = TrayLocation;
                        }
                    }
                }
            }), "AGV到位信号", true);//根据下发的配方ID将 托盘的位置信息添加到配方中
            string HK_PLC_IP = ConfigurationManager.AppSettings["HKPlc_IP"];
            string Siemens_PLC_IP = ConfigurationManager.AppSettings["Siemens_IP"];
            try
            {
                //HKDevice.HK_PLC_S7.Connect(S7.Net.CpuType.S7200Smart, HK_PLC_IP);
                //SiemensDevice.Siemens_PLC_S7.Connect(S7.Net.CpuType.S71500, Siemens_PLC_IP);
                if (HKDevice.IsConnected)
                {
                    HKDevice.Init();
                }
                if (SiemensDevice.IsConnected)
                {
                    SiemensDevice.Init();
                }
            }
            catch(Exception ex) 
            {
                
            }
            SmallStation.RecipeQueue.Clear();
            Json<RemoteRecipeDataColl>.Data.Recipes = TestData.GetInstance.Recipes;//添加测试数据
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                ReceviceData();
                RecipeInfoToHKPLC();
                Thread.Sleep(10);
            }), "流程处理", true);
            ThreadManage.GetInstance().StartLong(new Action(() => {
                if (SiemensDevice.IsConnected && HKDevice.IsConnected)
                {
                    AgvGetInDelivery();
                    AgvGetInPickUp();
                }
                Thread.Sleep(10);
            }), "AGV进站送取货", true);
        }
        /// <summary>
        /// AGV进站送货
        /// </summary>
        private void AgvGetInDelivery() 
        {
            switch (SmallStation.AgvDeliveryPosition)
            {
                case 0:
                    if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.DeliveryAGVApply) is bool))
                    {
                        SmallStation.AgvDeliveryPosition = 1;
                        HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.DeliveryAGVApply, true);
                    }
                    break;
                case 1:
                    if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.DeliveryAGVIsApply) is bool))
                    {
                        SmallStation.AgvDeliveryPosition = 2;
                        SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.DeliveryAGVIsApply, true);
                    }
                    break;
                case 2:
                    if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.DeliveryAGVApplyJack) is bool))
                    {
                        SmallStation.AgvDeliveryPosition = 3;
                        HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.DeliveryAGVApplyJack, true);
                    }
                    break;
                case 3:
                    if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.DeliveryAGVIsApplyJack) is bool))
                    {
                        SmallStation.AgvDeliveryPosition = 4;
                        SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.DeliveryAGVIsApplyJack, true);
                    }
                    break;
                case 4:
                    if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.DeliveryAGVFinsih) is bool))
                    {
                        SmallStation.AgvDeliveryPosition = 5;
                        HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.DeliveryAGVFinsih, true);
                    }
                    break;
                case 5:
                    if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.StationHaveCargo) is bool))
                    {
                        SmallStation.AgvDeliveryPosition = 0;
                        SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.StationHaveCargo, true);
                    }
                    break;
                default:
                    break;
            }
            //获取工位上是否有小车
            SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.StationIsExistCar, (bool)
                      HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.StationIsExistCar));
        }
        /// <summary>
        /// AGV进站取货
        /// </summary>
        private void AgvGetInPickUp() 
        {
            switch (SmallStation.AgvPickUpPosition)
            {
                case 0:
                    if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.PickAGVApply) is bool))
                    {
                        SmallStation.AgvPickUpPosition = 1;
                        HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.PickAGVApply, true);
                    }
                    break;
                case 1:
                    if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.PickAGVIsApply) is bool))
                    {
                        SmallStation.AgvPickUpPosition = 2;
                        SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.PickAGVIsApply, true);
                    }
                    break;
                case 2:
                    if (RTrig.GetInstance("").Start(SiemensDevice.Siemens_PLC_S7.Read(SiemensCommAddress.PickCargoAGVFinish) is bool))
                    {
                        SmallStation.AgvPickUpPosition = 3;
                        HKDevice.HK_PLC_S7.Write(HKPlcCommAddress.PickCargoAGVFinish, true);
                    }
                    break;
                case 3:
                    if (RTrig.GetInstance("").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.PickAGVFinish) is bool))
                    {
                        SmallStation.AgvPickUpPosition = 0;
                        SiemensDevice.Siemens_PLC_S7.Write(SiemensCommAddress.PickAGVFinish, true);
                    }
                    break;
                default:
                    break;
            }
        }
        private void ReceviceData()
        {
            SmallStation.RemoteRecipes = Json<RemoteRecipeDataColl>.Data.Recipes;
            if (Json<RemoteRecipeDataColl>.Data.Recipes.Count > 0)
            {
                foreach (var data in Json<RemoteRecipeDataColl>.Data.Recipes)
                {
                    if(!(SmallStation.RecipeQueue.Contains(data.RecipeCode)))
                        SmallStation.RecipeQueue.Enqueue(data.RecipeCode);
                }
            }
        }
        private void RecipeInfoToHKPLC()
        {
            if (SmallStation.RecipeQueue.Count > 0)
            {
                int index = Array.FindIndex(SmallStation.RemoteRecipes.ToArray(), p => p.RecipeCode == SmallStation.RecipeQueue.ElementAt(0));
                if (index >= 0 && index <= SmallStation.RemoteRecipes.Count)
                {
                    long code = SmallStation.RemoteRecipes.ElementAt(index).RecipeCode;
                    if (RTrig.GetInstance("IsAllowDosing").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.IsAllowDosing) is bool a))
                    {
                        foreach (var item in SmallStation.RemoteRecipes.ElementAt(index).RawMaterial)
                        {
                            HKDevice.StockBinPar((uint)item.RawMaterialBarrelNum, (ushort)item.RawMaterialLocation);
                        }
                        HKDevice.AllowDosingSignReset();
                        SmallStation.IssueRecipeFinish = true;
                    }
                    if (RTrig.GetInstance("StockState").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.StockState) is bool) && SmallStation.IssueRecipeFinish)
                    {
                        var res = HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.StockBinLocation);
                        if (res != null && res is int loc)
                        {
                            int loc_index = Array.FindIndex(SmallStation.RemoteRecipes.ElementAt(index).RawMaterial.ToArray(), p => p.RawMaterialLocation == loc);
                            double weight = SmallStation.RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(loc_index).RawMaterialWeight;
                            if (loc_index >= 1 && loc_index <= 15)
                            {
                                DeviceInquire.GetInstance.GetDeviceObject(loc_index)?.Start((uint)weight);//启动并写入每个原料重量
                                SmallStation.StockInIsWork = loc_index;
                                HKDevice.StockStateSignReset();
                            }
                        }
                    }
                    if (RTrig.GetInstance("OutRawMaterialFinish").Start(DeviceInquire.GetInstance.GetDeviceObject(SmallStation.StockInIsWork).modbusTcp.Read(DeviceAddress.OutRawMaterialFinish) is bool))
                    {
                        HKDevice.SingleDosing((uint)SmallStation.StockInIsWork);
                        DeviceInquire.GetInstance.GetDeviceObject(SmallStation.StockInIsWork).OutRawMaterialReset();
                    }
                    if (RTrig.GetInstance("StockState").Start(HKDevice.HK_PLC_S7.Read(HKPlcCommAddress.RecipeDosingFinish) is bool))
                    {
                        HKDevice.RecipeDosingFinishReset();
                        SmallStation.RecipeQueue.TryDequeue(out code);
                        Json<RemoteRecipeDataColl>.Data.Recipes.RemoveAt(index);//制作完成，移除当前配方
                    }
                }
            }
        }
    }
}