BPASmartClient/BPASmartClient.MorkBF/Control_MorkBF.cs

using BPA.Message;
using BPA.Message.Enum;
using BPASmartClient.Business;
using BPASmartClient.Device;
using BPASmartClient.EventBus;
using BPASmartClient.Helper;
using BPASmartClient.Message;
using BPASmartClient.Model;
using BPASmartClient.Model.大炒;
using BPASmartClient.MorkBF.Model;
using BPASmartClient.MorkBF.ViewModel;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static BPASmartClient.EventBus.EventBus;
using static BPASmartClient.Model.大炒.FryPotMessages;

namespace BPASmartClient.MorkBF
{
    public class Control_MorkBF : BaseDevice
    {
        GVL_MorkBF morkBF = new GVL_MorkBF();

        public override DeviceClientType DeviceType => DeviceClientType.MORKCS;

        int RobotLeadTime = 5;//机器人提前动作时间 s

        public override void DoMain()
        {
            IsHealth = true;
            BPASmartClient.Helper.Json<LocalFryPotMessage>.Read();
            MonitorViewModel.DeviceId = DeviceId;
            ActionManage.GetInstance.Register(new Action(() =>
            {
                GlobalFoodMenu.LocalFoodMenus.Clear();
                if(BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage.Count>0)
                {
                    foreach (var item in BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage)
                    {
                        GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel { GoodKey = item.GoodKey, GoodName = item.GoodName });
                    }
                }
                
            }), "更新菜单");
            CommandRegist();//调试
            ServerInit();
            DataParse();//数据解析
            ScreenDataServer();//大屏数据上报
            ActionManage.GetInstance.Send("更新菜单");
            DeviceProcessLogShow("MORKF 设备初始化完成");
        }

        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++;
                    DeviceProcessLogShow($"接收到{OrderCount}次订单");
                    
                }

            });
        }

        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;
                }
            });
        }
        /// <summary>
        /// 调试
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void CommandRegist()
        {
            #region 炒锅1
            ActionManage.GetInstance.Register(FirePot1_SetFireGear, "FirePot1_SetFireGear");//炒锅1设定加热挡位
            ActionManage.GetInstance.Register(FirePot1_StartFire, "FirePot1_StartFire");//炒锅1加热启动
            ActionManage.GetInstance.Register(FirePot1_StartFire, "FirePot1_StopFire");//炒锅1关闭加热
            ActionManage.GetInstance.Register(FirePot1_SetStirGear, "FirePot1_SetStirGear");//炒锅1设定搅拌挡位
            ActionManage.GetInstance.Register(FirePot1_StartStir, "FirePot1_StartStir");//炒锅1搅拌启动
            ActionManage.GetInstance.Register(FirePot1_StartStir, "FirePot1_StopStir");//炒锅1搅拌停止
            ActionManage.GetInstance.Register(FirePot1_SetTurnSpeed, "FirePot1_SetTurnSpeed");//炒锅1翻转频率设定
            #endregion
            #region 炒锅2
            ActionManage.GetInstance.Register(FirePot2_SetFireGear, "FirePot2_SetFireGear");//炒锅2设定加热挡位
            ActionManage.GetInstance.Register(FirePot2_StartFire, "FirePot2_StartFire");//炒锅2加热启动
            ActionManage.GetInstance.Register(FirePot2_StartFire, "FirePot2_StopFire");//炒锅2关闭加热
            ActionManage.GetInstance.Register(FirePot2_SetStirGear, "FirePot2_SetStirGear");//炒锅2设定搅拌挡位
            ActionManage.GetInstance.Register(FirePot2_StartStir, "FirePot2_StartStir");//炒锅2搅拌启动
            ActionManage.GetInstance.Register(FirePot2_StartStir, "FirePot2_StopStir");//炒锅2搅拌停止
            ActionManage.GetInstance.Register(FirePot2_SetTurnSpeed, "FirePot2_SetTurnSpeed");//炒锅2翻转频率设定
            #endregion
            #region 炒锅通用
            ActionManage.GetInstance.Register(FirePot_Reset, "FirePot_Reset");//复位;
            ActionManage.GetInstance.Register(FirePot_PotGotoOrigin, "FirePot_PotGotoOrigin");//炒锅回原点
            ActionManage.GetInstance.Register(FirePot_PotGotoP1, "FirePot_PotGotoP1");//炒锅去位置1
            ActionManage.GetInstance.Register(FirePot_PotGotoP2, "FirePot_PotGotoP2");//炒锅去位置2
            ActionManage.GetInstance.Register(FirePot_PotGotoP3, "FirePot_PotGotoP3");//炒锅去位置3
            ActionManage.GetInstance.Register(FirePot_PotGotoP4, "FirePot_PotGotoP4");//炒锅去位置4
            //ActionManage.GetInstance.Register(FirePot_PotGotoOutFoodPosition, "FirePot_PotGotoOutFoodPositiong");//炒锅去出餐位置
            ActionManage.GetInstance.Register(FirePot_PotGotoInFoodPosition, "FirePot_PotGotoInFoodPosition");//炒锅去投料位置
            ActionManage.GetInstance.Register(FirePot_StartOutFood, "FirePot_StartOutFood");//出餐启动
            ActionManage.GetInstance.Register(FirePot_Clean, "FirePot_Clean");//清洗
            ActionManage.GetInstance.Register(FirePot_StartPumpWater, "FirePot_StartPumpWater");//抽水启动
            ActionManage.GetInstance.Register(FirePot_StartPumpOil, "FirePot_StartPumpOil");//抽油启动
            #endregion
            #region 机器人
            ActionManage.GetInstance.Register(RobotStart, "RobotStart");//机器人启动
            ActionManage.GetInstance.Register(RobotStop, "RobotStop");//机器人停止
            ActionManage.GetInstance.Register(RobotReset, "RobotReset");//复位
            ActionManage.GetInstance.Register(RobotProgramStart, "RobotProgramStart");//程序启动
            ActionManage.GetInstance.Register(Robot_Pot1AllowInMaterail, "Robot_Pot1AllowInMaterail");//1号炒锅允许机器人投料
            ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料到减速位
            ActionManage.GetInstance.Register(Robot_Pot1OutFood, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料完成
            ActionManage.GetInstance.Register(Robot_Pot2AllowInMaterail, "Robot_Pot2AllowInMaterail");//2号炒锅允许机器人投料
            ActionManage.GetInstance.Register(Robot_Pot2OutFoodInSlowDown, "Robot_Pot2OutFoodInSlowDown");//2号炒锅出餐倒料到减速位
            ActionManage.GetInstance.Register(Robot_Pot2OutFood, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
            ActionManage.GetInstance.Register(RobotActionStart, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成


            #endregion

        }

        public override void MainTask()
        {
            if(morkBF.FirePan1_Order.Count>0&& morkBF.FirePot1_InitCompleted&&morkBF.FirePot2_IsAuto&&!morkBF.FirePan1_Busy)
            {
                ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
            }

            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Origin)//机器人在原点为
            {
               if( morkBF.RobotActinQueue.TryDequeue(out RobotAction_Pot robotAction))
               {
                    morkBF.Robot_IsBusy =true;
                    RobotProcess(robotAction);
               }
            }
        }

        private void FirePot1_Process()
        {
            
            if(morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
            {

                morkBF.FirePan1_Busy = true;
                morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
                foreach (var item in result.fryPotProcesses)
                {
                    switch (item.fryActions)
                    {
                        case FryAction.冷锅加热:
                            FirePot_PotPerHeat(item, 1);
                            MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
                            break;

                        case FryAction.热油:
                            FirePot_HeatOil(item,1);
                            MessageLog.GetInstance.Show("炒锅1---热油完成");
                            break;
                        case FryAction.加调料:
                            FirePot_AddSeasoning(item, 1);
                            MessageLog.GetInstance.Show("炒锅1---加调料完成");
                            break;
                        case FryAction.加辅料:
                            FirePot_AddAccessories(item,1);
                            MessageLog.GetInstance.Show("炒锅1---加辅料完成");
                            break;
                        case FryAction.炒制菜品:
                            FirePot_FryFood(item,1);
                            MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
                            break;

                        default:
                            break;
                    }
                }
                
            }
        }

        private void FirePot2_Process()
        {
           
        }


        #region 炒锅流程功能

        private bool IsRobotNextWork(List<FryPotProcess> currentProcess, int currentFryTime)
        {
            bool res = false;
            if(currentProcess.Count> currentFryTime)
            {
                if (currentProcess[currentFryTime + 1].fryActions == FryAction.加调料 ||
                    currentProcess[currentFryTime + 1].fryActions == FryAction.加辅料 ||
                    currentProcess[currentFryTime + 1].fryActions == FryAction.炒制菜品)
                {
                    res =  true;
                }
            }
            return res;
        }

        /// <summary>
        /// 冷锅预热
        /// </summary>
        private void FirePot_PotPerHeat(FryPotProcess item,int i)
        {
            bool isRobotWork = false;
            if(i == 1)//炒锅1
            {
                FirePot1_SetFireGear(item.FryGear);
                Thread.Sleep(200);
                FirePot1_StartFire(true);
                isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess,item.FryTime);
            }
            else if(i == 2)//炒锅2
            {
                FirePot2_SetFireGear(item.FryGear);
                FirePot2_StartFire(true);
                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
            }
            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
            else Thread.Sleep(item.FryDuration * 1000);


        }

        /// <summary>
        /// 热油
        /// </summary>
        private void FirePot_HeatOil(FryPotProcess item, int i)
        {
            bool isRobotWork = false;
            if (item.FryGear != 0)
            {
                FirePot1_SetFireGear(item.FryGear);//设定加热挡位
                FirePot1_StartFire(true);//开启加热
                isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess, item.FryTime);
            }
            if (item.StirGear != 0) 
            {
                FirePot1_SetStirGear(item.StirGear);//设定搅拌挡位
                FirePot1_StartFire(true);//开启搅拌
                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
            }
            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
            else Thread.Sleep(item.FryDuration * 1000);//加热时间;
        }

        /// <summary>
        /// 加调料
        /// </summary>
        private void FirePot_AddSeasoning(FryPotProcess item,int i)
        {

            if(i == 1)
            {
                    
                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot =1,robotActionModel = RobotActionModel.取1号炒锅调料盆倒入1号炒锅});
                Thread.Sleep(item.FryDuration);

            }

            else if(i == 2)
            {
                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅调料盆倒入2号炒锅 });
                Thread.Sleep(item.FryDuration);
            }
           
        }

        /// <summary>
        /// 加辅料
        /// </summary>
        private void FirePot_AddAccessories(FryPotProcess item, int i)
        {
            if (i == 1)
            {
                
                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = RobotActionModel.取1号炒锅辅料盆1倒入1号炒锅 });
                Thread.Sleep(item.FryDuration);

            }

            else if (i == 2)
            {
                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅辅料盆1倒入2号炒锅 });
                Thread.Sleep(item.FryDuration);
            }

        }

        /// <summary>
        /// 炒制菜品
        /// </summary>
        private void FirePot_FryFood(FryPotProcess item, int i)
        {
            bool isRobotWork = false;
            if (i == 1)
            {
                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = (RobotActionModel)item.accessories[0].Loc });
                while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
                {
                    Thread.Sleep(100);
                }
                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
               

            }

            else if (i == 2)
            {
                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = (RobotActionModel)(item.accessories[0].Loc+19) });//炒制菜品位置
                while (!morkBF.FirePot2_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
                {
                    Thread.Sleep(100);
                }
                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
               
            }
            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
            else Thread.Sleep(item.FryDuration * 1000);//加热时间;
        }
        #endregion

        /// <summary>
        /// 机器人进程
        /// </summary>
        /// <param name="robotAction"></param>
        private void RobotProcess(RobotAction_Pot robotAction)
        {
            Robot_Write("GI0",(int)robotAction.robotActionModel);
            while (morkBF.Robot_ActionCallback != (int)robotAction.robotActionModel)//机器人动作执行完动作反馈
            {
                Thread.Sleep(100);
            }
            if(robotAction.Pot == 1)//炒锅1
            {
                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
                {
                    Robot_Write("GM520", true);//机器人去出餐倒料减速位置
                    while(!morkBF.Robot_ArriveFirePot1)//机器人到位，请求1#炒锅倒菜
                    {
                        Thread.Sleep(100);
                    }
                    FirePot_StartOutFood(1);//炒锅出餐;
                    while (!morkBF.FirePot1_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
                    {
                        Thread.Sleep(1000);
                    }
                    Thread.Sleep(6 * 1000);//等待6s出餐
                    Robot_Write("GM521", true);//机器人出餐到料完成

                }
                else
                {
                    FirePot_Write("M11.6", true);//炒锅去投料位置
                    while (!morkBF.FirePot1_PotOnIntoFoodPosition)//等待炒锅允许倒料
                    {
                        Thread.Sleep(100);
                    }
                    Robot_Write("GM531", true);//机器人投料
                }
              
            }
            else if (robotAction.Pot == 2)
            {
                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
                {
                    Robot_Write("GM522", true);//炒锅去出餐倒料减速位置
                    while (!morkBF.Robot_ArriveFirePot2)//机器人到位，请求1#炒锅倒菜
                    {
                        Thread.Sleep(100);
                    }
                    FirePot_StartOutFood(2);//炒锅去出餐倒料位置
                    while (!morkBF.FirePot2_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
                    {
                        Thread.Sleep(1000);
                    }
                    Thread.Sleep(6 * 1000);//等待20s出餐
                    Robot_Write("GM523", true);//机器人出餐倒料完成

                }
                else
                {
                    FirePot_Write("M16.7", true);
                    while (!morkBF.FirePot2_PotOnIntoFoodPosition)
                    {
                        Thread.Sleep(100);
                    }
                    Robot_Write("GM531", true);
                }
               
            }
            
            while(!morkBF.Robot_Origin)
            {
                Thread.Sleep(1000);
            }
            morkBF.Robot_IsBusy = false;
            MessageLog.GetInstance.Show($"机器人完成[{robotAction.robotActionModel.ToString()}]任务");
        }

        public override void ReadData()
        {
            GetStatus("M20.0",new Action<object>((o)=>
            {
                if (o == null) return;
                if(o is bool[] values&&values.Length == 19)
                {
                    morkBF.FirePot1_InitCompleted = values[0];
                    morkBF.FirePot1_IsAuto = values[1];
                    morkBF.FirePot1_Emergencystop = values[2];
                    morkBF.FirePot1_MealTubExist = values[3];
                    morkBF.FirePot1_VegetablesTub1Exist = values[4];
                    morkBF.FirePot1_VegetablesTub2Exist = values[5];
                    morkBF.FirePot1_Seasoning1Exist = values[6];
                    morkBF.FirePot1_Seasoning2Exist = values[7];
                    morkBF.FirePot1_Accessories1Exist = values[8];
                    morkBF.FirePot1_Accessories2Exist = values[9];
                    morkBF.FirePot1_OutFoodTubExist = values[10];
                    morkBF.FirePot1_OnOrigin = values[11];
                    morkBF.FirePot1_FirePosition1 = values[12];
                    morkBF.FirePot1_FirePosition2 = values[13];
                    morkBF.FirePot1_FirePosition3 = values[14];
                    morkBF.FirePot1_FirePosition4 = values[15];
                    morkBF.FirePot1_PotOnOutFoodPosition = values[16];
                    morkBF.FirePot1_PotOnIntoFoodPosition = values[17];
                    morkBF.FirePot1_PotOnCleanPosition = values[18];

                }
            }),0);

            GetStatus("VW120", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is int[] values&&values.Length == 2)
                {
                    morkBF.FirePot1_Temperature = values[0];
                    morkBF.FirePot1_Pulse = values[1];

                }
            }), 0);

            GetStatus("M25.0", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is bool[] values&& values.Length == 19)
                {
                    morkBF.FirePot2_InitCompleted = values[0];
                    morkBF.FirePot2_IsAuto = values[1];
                    morkBF.FirePot2_Emergencystop = values[2];
                    morkBF.FirePot2_MealTubExist = values[3];
                    morkBF.FirePot2_VegetablesTub1Exist = values[4];
                    morkBF.FirePot2_VegetablesTub2Exist = values[5];
                    morkBF.FirePot2_Seasoning1Exist = values[6];
                    morkBF.FirePot2_Seasoning2Exist = values[7];
                    morkBF.FirePot2_Accessories1Exist = values[8];
                    morkBF.FirePot2_Accessories2Exist = values[9];
                    morkBF.FirePot2_OutFoodTubExist = values[10];
                    morkBF.FirePot2_OnOrigin = values[11];
                    morkBF.FirePot2_FirePosition1 = values[12];
                    morkBF.FirePot2_FirePosition2 = values[13];
                    morkBF.FirePot2_FirePosition3 = values[14];
                    morkBF.FirePot2_FirePosition4 = values[15];
                    morkBF.FirePot2_PotOnOutFoodPosition = values[16];
                    morkBF.FirePot2_PotOnIntoFoodPosition = values[17];
                    morkBF.FirePot2_PotOnCleanPosition = values[18];

                }
            }), 0);

            GetStatus("VW150", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is int[] values&& values.Length == 2)
                {
                    morkBF.FirePot2_Temperature = values[0];
                    morkBF.FirePot2_Pulse = values[1];

                }
            }), 0);
            GetStatus("GM500", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is bool[] values && values.Length == 7)
                {

                    morkBF.FirePot1_CompleteSingle[0] = values[0];
                    morkBF.FirePot1_CompleteSingle[1] = values[1];
                    morkBF.FirePot1_CompleteSingle[2] = values[2];
                    morkBF.Robot_FirePot1OutSeasoning = values[3];
                    morkBF.Robot_FirePot1OutAccessories = values[4];
                    morkBF.Robot_ArriveFirePot1 = values[5];
                    morkBF.Robot_FirePot1OutFoodComplete = values[6];

                }
            }), 1);
            GetStatus("GM510", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is bool[] values && values.Length == 7)
                {
                    morkBF.FirePot2_CompleteSingle[0] = values[0];
                    morkBF.FirePot2_CompleteSingle[1] = values[1];
                    morkBF.FirePot2_CompleteSingle[2] = values[2];
                    morkBF.Robot_FirePot2OutSeasoning = values[3];
                    morkBF.Robot_FirePot2OutAccessories = values[4];
                    morkBF.Robot_ArriveFirePot2 = values[5];
                    morkBF.Robot_FirePot2OutFoodComplete = values[6];

                }
            }), 1);
            GetStatus("GI5", new Action<object>((o) =>
            {
                if (o == null) return;
                if (o is int[] values && values.Length == 1)
                {
                    morkBF.Robot_ActionCallback = values[0];
                }
            }), 1);

        }

        public override void ResetProgram()
        {
            morkBF = null;
            morkBF = new GVL_MorkBF();
        }

        public override void SimOrder()
        {
            
        }

        public override void Stop()
        {
            
        }

        /// <summary>
        /// 获取炒锅PLC的所有状态
        /// </summary>
        /// <param name="key"></param>
        /// <param name="action"></param>
        /// <param name="num">炒锅编号</param>
        private void GetStatus(string key, Action<object> action, int num)
        {
            if (dicPort2peripheralStatus.ContainsKey(num))
            {
                if (dicPort2peripheralStatus[num].ContainsKey(key))
                {
                    action((object)dicPort2peripheralStatus[num][key]);//获取PLC指定地址的状态值
                }
            }
        }

        #region 控制
        private void FirePot_Write(string address, object value, int i = 0)
        {
            WriteControlExact(address, value, i);
        }
        private void Robot_Write(string address, object value, int i = 1)
        {
            WriteControlExact(address, value, i);
        }
        #region 炒锅1

        /// <summary>
        /// 炒锅1设定加热挡位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot1_SetFireGear(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int value))
            {
                FirePot_Write("VW100", (ushort)value);
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅1加热启停
        /// </summary>
        /// <param name="b"></param>
        private void FirePot1_StartFire(object o)
        {
            if (o == null) return;
            if (bool.TryParse(o.ToString(), out bool value))
            {
                FirePot_Write("M10.0", value);
            }
            Thread.Sleep(200);
            FirePot_Write("M10.2", true);
        }    
        /// <summary>
        /// 炒锅1设置搅拌挡位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot1_SetStirGear(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int value))
            {
                FirePot_Write("VW102", (ushort)value);
            }
            Thread.Sleep(200);
            FirePot_Write("M10.3", true);
        }
        /// <summary>
        /// 炒锅1搅拌启停
        /// </summary>
        /// <param name="o"></param>
        private void FirePot1_StartStir(object o)
        {
            if (o == null) return;
            if (bool.TryParse(o.ToString(), out bool value))
            {
                FirePot_Write("M10.1", value);
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 设置炒锅1翻转速度
        /// </summary>
        /// <param name="o"></param>
        private void FirePot1_SetTurnSpeed(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int value))
            {
                FirePot_Write("VW104", (ushort)value);
            }
            Thread.Sleep(200);
            FirePot_Write("M10.4", true);
            Thread.Sleep(200);
        }
        #endregion

        #region 炒锅2
        /// <summary>
        /// 炒锅2设定加热挡位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot2_SetFireGear(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int value))
            {
                FirePot_Write("VW130", (ushort)value);
            }
            Thread.Sleep(200);
            FirePot_Write("M15.2", true);
        }
        /// <summary>
        /// 炒锅2加热启停
        /// </summary>
        /// <param name="b"></param>
        private void FirePot2_StartFire(object o)
        {
            if (o == null) return;
            if (o is bool value)
            {
                FirePot_Write("M15.0", value);
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅2设置搅拌挡位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot2_SetStirGear(object o)
        {
            if (o == null) return;
            if (o is int value)
            {
                FirePot_Write("VW132", (ushort)value);
            }
            Thread.Sleep(200);
            FirePot_Write("M15.3", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅2搅拌启停
        /// </summary>
        /// <param name="o"></param>
        private void FirePot2_StartStir(object o)
        {
            if (o == null) return;
            if (o is bool value)
            {
                FirePot_Write("M15.1", value);
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 设置炒锅2翻转速度
        /// </summary>
        /// <param name="o"></param>
        private void FirePot2_SetTurnSpeed(object o)
        {
            if (o == null) return;
            if (o is int value)
            {
                FirePot_Write("VW134", (ushort)value);
            }
            Thread.Sleep(200);
            FirePot_Write("M15.4", true);
            Thread.Sleep(200);
        }

        #endregion

        #region 炒锅通用
        /// <summary>
        /// 炒锅复位
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_Reset(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {

                }
                else if (i == 2)
                {

                }
            }


        }
        /// <summary>
        /// 炒锅回原点
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoOrigin(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M10.5", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M15.5", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅去位置1
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoP1(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M11.2", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M16.2", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅去位置2
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoP2(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M11.3", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M16.3", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅去位置3
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoP3(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M11.4", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M16.4", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 炒锅去位置4
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoP4(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M11.5", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M16.5", true);
                }
            }
            Thread.Sleep(200);
        }
        ///// <summary>
        ///// 炒锅去出餐位置
        ///// </summary>
        ///// <param name="o"></param>
        //private void FirePot_PotGotoOutFoodPositiong(object o)
        //{
        //    if (o == null) return;
        //    if (o is int i)
        //    {
        //        if (i == 1)
        //        {
        //            FirePot_Write("M11.6", true);
        //        }
        //        else if (i == 2)
        //        {
        //            FirePot_Write("M16.6", true);
        //        }
        //    }
        //    Thread.Sleep(200);
        //}
        /// <summary>
        /// 炒锅去投料位置
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_PotGotoInFoodPosition(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString() ,out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M11.6", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M16.6", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 出餐启动
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_StartOutFood(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M10.6", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M15.6", true);
                }

            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 清洗
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_Clean(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    if(morkBF.FirePot1_OnOrigin) FirePot_Write("M10.7", true);

                }
                else if (i == 2)
                {
                    if (morkBF.FirePot2_OnOrigin) FirePot_Write("M15.7", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 抽水启动
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_StartPumpWater(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M11.0", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M16.0", true);
                }
            }
            Thread.Sleep(200);
        }
        /// <summary>
        /// 抽油启动
        /// </summary>
        /// <param name="o"></param>
        private void FirePot_StartPumpOil(object o)
        {
            if (o == null) return;
            if (int.TryParse(o.ToString(), out int i))
            {
                if (i == 1)
                {
                    FirePot_Write("M16.0", true);
                }
                else if (i == 2)
                {
                    FirePot_Write("M16.1", true);
                }
            }
            Thread.Sleep(200);
        }
        #endregion

        #region 机器人
        /// <summary>
        /// 机器人启动
        /// </summary>
        private void RobotStart()
        {
            Robot_Write("GM600",true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 机器人停止
        /// </summary>
        private void RobotStop()
        {
            Robot_Write("GM601", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 机器人复位
        /// </summary>
        private void RobotReset()
        {
            Robot_Write("GM602", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 机器人程序重启
        /// </summary>
        private void RobotProgramStart()
        {
            Robot_Write("GM603", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 1号炒锅允许机器人投料（炒锅在投料位给出）
        /// </summary>
        private void Robot_Pot1AllowInMaterail()
        {
            Robot_Write("GM531", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 1号炒锅出餐倒料到减速位
        /// </summary>
        private void Robot_Pot1OutFoodInSlowDown()
        {
            Robot_Write("GM620", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 1号炒锅出餐倒料完成
        /// </summary>
        private void Robot_Pot1OutFood()
        {
            Robot_Write("GM521", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 2号炒锅允许机器人投料（炒锅在投料位给出）
        /// </summary>
        private void Robot_Pot2AllowInMaterail()
        {
            Robot_Write("GM530", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 2号炒锅出餐倒料到减速位。开始倒菜
        /// </summary>
        private void Robot_Pot2OutFoodInSlowDown()
        {
            Robot_Write("GM522", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 2号炒锅出餐倒料完成
        /// </summary>
        private void Robot_Pot2OutFood()
        {
            Robot_Write("GM523", true);
            Thread.Sleep(200);
        }
        /// <summary>
        /// 
        /// </summary>
        private void RobotActionStart(object o)
        {
            if (o == null) return;
            if(int.TryParse(o.ToString(), out int value))
            {
                Robot_Write("GI0",value);
            }
            Thread.Sleep(200);
        }
        #endregion



        #endregion


        private void ScreenDataServer()
        {
            LocalMqtt.GetInstance.Init(ScreenDeviceType.大炒);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                List<StatsModel> statsModels = new List<StatsModel>();
                statsModels.Add(new StatsModel() { Name = "帝王蟹", Count = 666 });
                ScreenModelMaxWok maxWok = new ScreenModelMaxWok
                {
                    IsRun = IsHealth ? IsRun.运行 : IsRun.停止,
                    WorkStatus_1 = morkBF.FirePot1_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
                    WorkStatus_2 = morkBF.FirePot2_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
                    RobotStatu = morkBF.Robot_ActionCallback == 0? WorkStatus.待机 : WorkStatus.工作,
                    Alarm = new List<AlarmModel>(),
                    FailuresCount = 0,
                    StatsCount = statsModels,
                    MaxWok_Dishes_1 = "满汉全席",
                    MaxWok_Dishes_2 = "海鲜大餐",
                    MaxWok_Task_1 = "无",
                    MaxWok_Task_2 = "无",
                    MaxWok_Process_1 = new List<ProcessModel>(),
                    MaxWok_HeatGear_1 = morkBF.FirePot1_FireGear.ToString(),
                    MaxWok_HeatGear_2 = morkBF.FirePot2_FireGear.ToString(),
                    MaxWok_StirGear_1 = morkBF.FirePot1_StirGear.ToString(),
                    MaxWok_StirGear_2 = morkBF.FirePot2_StirGear.ToString(),
                    MaxWok_FlipSpeed_1 = morkBF.FirePot1_FlipSpeed.ToString(),
                    MaxWok_FlipSpeed_2 = morkBF.FirePot2_FlipSpeed.ToString(),
                    MaxWok_Temp_1 = new Random().Next(250, 450).ToString(),
                    MaxWok_Temp_2 = new Random().Next(250, 450).ToString(),
                    MaxWok_OrderCount_1 = 2,
                    MaxWok_OrderCount_2 = 2,
                    MaxWok_ErrorOrderCount_1 = 0,
                    MaxWok_ErrorOrderCount_2 = 0,

                };
                LocalMqtt.GetInstance.Publish(maxWok);
                Thread.Sleep(1000);

            }), "大屏数据上报");
            
        }
    }
}