BPASmartClient/BPASmartClient.FoodStationTest/Model/ProcessControl.cs

using BPA.Communication;
using BPASmartClient.CustomResource.Pages.Model;
using BPASmartClient.FoodStationTest.Model.GVL;
using BPASmartClient.FoodStationTest.Model.HK_PLC;
using BPASmartClient.FoodStationTest.Model.RawMaterial;
using BPA.Helper;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Printing;
using System.Reflection;
using System.Threading;

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

        private ProcessControl()
        { }

        /// <summary>
        /// 配方数据
        /// </summary>
        public ObservableCollection<RemoteRecipeData> RemoteRecipes = new ObservableCollection<RemoteRecipeData>();

        /// <summary>
        /// 原料的名称和料仓的位置对应
        /// </summary>
        public Dictionary<string, short> RawMaterialsNamePos = new Dictionary<string, short>();

        public ObservableCollection<RawMaterialStockBin> RawMaterialsInfo => Json<DevicePar>.Data.rawMaterialStockBin;

        /// <summary>
        /// 配方队列
        /// </summary>
        public ConcurrentQueue<string> RecipeQueueTray1 = new ConcurrentQueue<string>();

        /// <summary>
        /// 物料集合
        /// </summary>
        public Dictionary<int, ConcurrentQueue<string>> RecipeQueueTray { get; set; } = new Dictionary<int, ConcurrentQueue<string>>();

        public HKDeviceStatus HKDevice = new HKDeviceStatus();

        public ObservableCollection<PlcInfos> CommData { get; set; } = new ObservableCollection<PlcInfos>();
        public ObservableCollection<PlcInfos> ProcessVar { get; set; } = new ObservableCollection<PlcInfos>();

        public DateTime StockBinAlarmTime = DateTime.Now;

        public string? HK_PLC_IP => Json<LocalPar>.Data.HK_PLC_IP;

        public void Init()
        {
            //初始化物料集合。
            for (int i = 0; i < 5; i++)
            {
                RecipeQueueTray.TryAdd(i, new ConcurrentQueue<string>());
            }

            PlcVarMonitor();
            StockBinNameWithPos();
            RawMaterialNameWithCode();
            RegisterInit();
            DeviceConnect();
            //Json<RemoteRecipeDataColl>.Data.Recipes = TestData.GetInstance.Recipes;//添加测试数据
            TaskManage.GetInstance.StartLong(new Action(() =>
            {
                GVL_SmallStation.GetInstance.DisEnableStockAlarm = Json<DevicePar>.Data.deviceConnectPar.ShieldStockbinAlarm;
                if (HKDevice.IsConnected)
                {
                    GVL_SmallStation.GetInstance.HeartBeatToPlc = !GVL_SmallStation.GetInstance.HeartBeatToPlc;
                    HKDevice.HK_PLC_S7.Write("DB4.DBX0.0", GVL_SmallStation.GetInstance.HeartBeatToPlc);
                    GVL_SmallStation.GetInstance.HeartBeatFromPlc = HKDevice.HK_PLC_S7.Read<bool>("DB45.DBX0.0").Content;
                    if (DeviceInquire.GetInstance.devices.Count < Json<LocalPar>.Data.RawMaterialDeviceNum && HKDevice.IsConnected
                        && Json<RemoteRecipeDataColl>.Data.Recipes.Count > 0 && GVL_SmallStation.GetInstance.DisEnableStockBinAlarm == false
                        && DateTime.Now.Subtract(StockBinAlarmTime).TotalSeconds >= 60 & !GVL_SmallStation.GetInstance.DisEnableStockAlarm)
                    {
                        HKDevice.HK_PLC_S7.Write("DB44.DBX3.0", true);
                        App.Current.Dispatcher.Invoke(() =>
                        {
                            MessageNotify.GetInstance.ShowDialog($"未读取到全部柔性味魔方料仓。", DialogType.Error);
                            StockBinAlarmTime = DateTime.Now;
                        });
                        HKDevice.HK_PLC_S7.Write("DB44.DBX3.0", false);
                    }
                }
                Thread.Sleep(200);
            }), "海科plc通信心跳", true);
            TaskManage.GetInstance.StartLong(new Action(() =>
            {
                if (GVL_SmallStation.GetInstance.Order_Cancel)
                {
                    CancelOrder();//订单取消,不执行配方流程
                }
                else
                {
                    ReceviceData();//配方请求
                    RecipeInfoToHKPLC();//配方配料
                }
                Thread.Sleep(10);
            }), "小料站流程控制", true);
            TaskManage.GetInstance.StartLong(new Action(() =>
            {
                RealTimeData();

                Thread.Sleep(10);
            }), "西门子PLC和小料站PLC的实时数据交互流程", true);
            TaskManage.GetInstance.StartLong(new Action(() =>
            {
                HKPlcRead();
                GetStatus();
                Thread.Sleep(10);
            }), "海科PLC实时数据", true);
        }

        /// <summary>
        /// 气缸的传感器值
        /// </summary>
        private void GetStatus()
        {
            for (int i = 0; i < 8; i++)
            {
                GVL_SmallStation.GetInstance.Cylinder_JackInfo[i] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX0." + i).Content;
            }
            for (int i = 0; i < 7; i++)
            {
                GVL_SmallStation.GetInstance.Cylinder_JackInfo[i + 8] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX1." + i).Content;
            }
            GVL_SmallStation.GetInstance.Cylinder_JackInfo[20] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX3.6").Content;//进料桶气缸
            GVL_SmallStation.GetInstance.Cylinder_JackInfo[21] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX3.7").Content;//出料筒气缸1
            GVL_SmallStation.GetInstance.Cylinder_JackInfo[22] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX4.0").Content;//出料筒气缸2
            GVL_SmallStation.GetInstance.Cylinder_JackInfo[23] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX4.1").Content;//出料筒气缸3

            GVL_SmallStation.GetInstance.Cylinder_JackInfo[24] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX4.2").Content;//托盘1_1气缸
            GVL_SmallStation.GetInstance.Cylinder_JackInfo[25] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX4.3").Content;//托盘1_2气缸
            GVL_SmallStation.GetInstance.Cylinder_JackInfo[26] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX4.4").Content;//托盘2_1气缸
            GVL_SmallStation.GetInstance.Cylinder_JackInfo[27] = HKDevice.HK_PLC_S7.Read<bool>("DB5.DBX4.5").Content;//托盘2_2气缸
        }

        /// <summary>
        /// DB块的变量实时值
        /// </summary>
        private void HKPlcRead()
        {
            if (HKDevice.IsConnected)
            {
                foreach (PropertyInfo item in typeof(PlcReadAddressDB3).GetProperties())
                {
                    int index = Array.FindIndex(CommData.ToArray(), p => p.Name == item.Name);
                    if (index >= 0)
                    {
                        if (item.PropertyType.IsArray)
                        {
                            CommData.ElementAt(index).Value = "";
                            Array array = (Array)item.GetValue(GVL_SmallStation.GetInstance.plcReadDataDB3, null);
                            foreach (var values in array)
                            {
                                string data = values.ToString();
                                if (data.ToLower() == "false")
                                    data = "0";
                                if (data.ToLower() == "true")
                                    data = "1";
                                CommData.ElementAt(index).Value = CommData.ElementAt(index).Value + data + ",";
                            }
                        }
                        else
                        {
                            CommData.ElementAt(index).Value = GVL_SmallStation.GetInstance.plcReadDataDB3.GetType().GetProperty(item.Name).GetValue(GVL_SmallStation.GetInstance.plcReadDataDB3, null).ToString();
                        }
                    }
                }
            }

            foreach (PropertyInfo item in typeof(GVL_SmallStation).GetProperties())
            {
                int index = Array.FindIndex(ProcessVar.ToArray(), p => p.Name == item.Name);
                if (index >= 0)
                {
                    if (item.PropertyType.IsArray)
                    {
                        ProcessVar.ElementAt(index).Value = "";
                        Array array = (Array)item.GetValue(GVL_SmallStation.GetInstance, null);
                        foreach (var values in array)
                        {
                            string data = values.ToString();
                            if (data.ToLower() == "false")
                                data = "0";
                            if (data.ToLower() == "true")
                                data = "1";
                            ProcessVar.ElementAt(index).Value = ProcessVar.ElementAt(index).Value + data + ",";
                        }
                    }
                    else
                    {
                        ProcessVar.ElementAt(index).Value = GVL_SmallStation.GetInstance.GetType().GetProperty(item.Name).GetValue(GVL_SmallStation.GetInstance, null).ToString();
                    }
                }
            }
        }

        /// <summary>
        /// 小料站和西门子PLC之间的实时数据
        /// </summary>
        private void RealTimeData()
        {
            if (HKDevice.IsConnected)
            {
                //获取系统状态
                GVL_SmallStation.GetInstance.PlcSystemIsAutoRun = HKDevice.HK_PLC_S7.Read<bool>("DB44.DBX0.0").Content;//系统启停
                GVL_SmallStation.GetInstance.PlcSystemMode = HKDevice.HK_PLC_S7.Read<bool>("DB44.DBX0.1").Content;//系统模式
                GVL_SmallStation.GetInstance.PlcSystemIsPause = HKDevice.HK_PLC_S7.Read<bool>("DB44.DBX0.2").Content;//系统暂停

                GVL_SmallStation.GetInstance.Station1HaveTray = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX40.0").Content;//工站1 有货架

                GVL_SmallStation.GetInstance.PlcAllowIssueRecipe[0] = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX2.0").Content;
                GVL_SmallStation.GetInstance.PlcAllowIssueRecipe[1] = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX2.1").Content;
                GVL_SmallStation.GetInstance.PlcAllowIssueRecipe[2] = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX2.2").Content;
                GVL_SmallStation.GetInstance.PlcAllowIssueRecipe[3] = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX2.3").Content;
                GVL_SmallStation.GetInstance.PlcAllowIssueRecipe[4] = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX2.4").Content;
                if (GVL_SmallStation.GetInstance.WindSendDosingComple)
                {
                    HKDevice.HK_PLC_S7.Write<bool>("DB4.DBX4.0", true);
                    GVL_SmallStation.GetInstance.WindSendDosingComple = false;
                    MessageNotify.GetInstance.ShowRunLog("风送配料完成信号，发给产线plc信号");
                }
                if (Json<RemoteRecipeDataColl>.Data.Recipes.Count <= 3)
                {
                    GVL_SmallStation.GetInstance.IsAllowSiemensSendRecipe = true;
                }

                GVL_SmallStation.GetInstance.Station1Sensor = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX40.1").Content;
                GVL_SmallStation.GetInstance.Station1Cylinder = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX40.2").Content;

                GVL_SmallStation.GetInstance.RobotStatus = HKDevice.HK_PLC_S7.Read<byte>("DB3.DBB0").Content;
                GVL_SmallStation.GetInstance.RobotProgramNum = HKDevice.HK_PLC_S7.Read<byte>("DB3.DBB1").Content;
            }
        }

        public void CancelOrder()
        {
            if (GVL_SmallStation.GetInstance.Order_Cancel) //订单取消
            {
                if (!string.IsNullOrEmpty(GVL_SmallStation.GetInstance.Order_CancelRecipeCode))
                {
                    string code = GVL_SmallStation.GetInstance.Order_CancelRecipeCode;
                    int index = Array.FindIndex(Json<RemoteRecipeDataColl>.Data.Recipes.ToArray(), p => p.RecipeCode == code);
                    int[] cnt = new int[5] { -1, -1, -1, -1, -1 };
                    int index1 = -1;
                    for (int i = 0; i < 5; i++)
                    {
                        cnt[i] = Array.FindIndex(RecipeQueueTray[i].ToArray(), p => p == code);
                        if (cnt[i] >= 0)
                        {
                            index1 = i;
                        }
                    }
                    switch (GVL_SmallStation.GetInstance.OrderCancelStep)
                    {
                        case 0://前提条件判断
                            if (index == -1)
                            {
                                GVL_SmallStation.GetInstance.OrderCancelStep = 30;
                                MessageNotify.GetInstance.ShowRunLog($"配方中并未找到订单{code}");
                            }
                            else
                            {
                                if (index1 >= 0)
                                {
                                    GVL_SmallStation.GetInstance.OrderCancelStep = 1;
                                }
                                else
                                {
                                    GVL_SmallStation.GetInstance.OrderCancelStep = 20;
                                }
                            }
                            break;

                        //Case 1-9为
                        case 1:
                            if (GVL_SmallStation.GetInstance.RecipeProcessStatus[index] != 0)
                            {
                                GVL_SmallStation.GetInstance.RecipeProcessStatus[index] = 0;
                                HKDevice.HK_PLC_S7.Write("DB4.DBX6." + index1, true);
                                MessageNotify.GetInstance.ShowRunLog($"PLC正在执行配料流程，正在取消订单：{code}");
                                GVL_SmallStation.GetInstance.OrderCancelStep = 2;
                            }
                            else
                            {
                                MessageNotify.GetInstance.ShowRunLog($"AGV未到达工站前，未给plc下发配方，取消订单：{code}");
                                GVL_SmallStation.GetInstance.OrderCancelStep = 3;
                            }
                            break;

                        case 2:
                            if (HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX42." + index1).Content)
                            {
                                if (GVL_SmallStation.GetInstance.Station1Cylinder == false)
                                {
                                    GVL_SmallStation.GetInstance.OrderCancelStep = 3;
                                    MessageNotify.GetInstance.ShowRunLog($"PLC正在执行配料流程，取消订单：{code}");
                                }
                            }
                            break;

                        case 3:
                            // SiemensDevice.Siemens_PLC_S7.Write("DB2201.DBX450.1", true);
                            GVL_SmallStation.GetInstance.OrderCancelStep = 4;
                            break;

                        case 4:

                            // SiemensDevice.Siemens_PLC_S7.Write("DB2201.DBX450.1", false);
                            GVL_SmallStation.GetInstance.OrderCancelStep = 9;
                            MessageNotify.GetInstance.ShowRunLog($"队列1，西门子取消订单完成，订单号：{code}");

                            break;

                        case 9:
                            App.Current.Dispatcher.Invoke(() =>
                            {
                                Json<RemoteRecipeDataColl>.Data.Recipes.RemoveAt(index);
                            });
                            RecipeQueueTray1.TryDequeue(out code);
                            GVL_SmallStation.GetInstance.RecipeProcessStatus[index] = 0;
                            GVL_SmallStation.GetInstance.Order_Cancel = false;
                            GVL_SmallStation.GetInstance.Order_CancelRecipeCode = "";
                            GVL_SmallStation.GetInstance.OrderCancelStep = 0;
                            break;

                        case 20:
                            GVL_SmallStation.GetInstance.OrderCancelStep = 21;
                            break;

                        case 21:

                            GVL_SmallStation.GetInstance.OrderCancelStep = 29;
                            MessageNotify.GetInstance.ShowRunLog($"队列1，西门子取消订单完成，订单号：{code}");

                            break;

                        case 29:
                            App.Current.Dispatcher.Invoke(() =>
                            {
                                Json<RemoteRecipeDataColl>.Data.Recipes.RemoveAt(index);
                            });
                            GVL_SmallStation.GetInstance.Order_Cancel = false;
                            GVL_SmallStation.GetInstance.Order_CancelRecipeCode = "";
                            GVL_SmallStation.GetInstance.SiemensSendRecipeStatus = 0;
                            GVL_SmallStation.GetInstance.OrderCancelStep = 0;
                            break;

                        //30-39为订单还未下发至上位机
                        case 30:
                            GVL_SmallStation.GetInstance.OrderCancelStep = 31;
                            break;

                        case 31:

                            GVL_SmallStation.GetInstance.OrderCancelStep = 39;
                            MessageNotify.GetInstance.ShowRunLog($"西门子取消订单完成，订单号：{code}");

                            break;

                        case 39:
                            GVL_SmallStation.GetInstance.Order_Cancel = false;
                            GVL_SmallStation.GetInstance.Order_CancelRecipeCode = "";
                            GVL_SmallStation.GetInstance.OrderCancelStep = 0;
                            break;
                    }
                }
            }
        }

        /// <summary>
        /// 将配方添加到配方队列中
        /// </summary>
        private void ReceviceData()
        {
            RemoteRecipes = Json<RemoteRecipeDataColl>.Data.Recipes;
            if (RemoteRecipes.Count > 0)
            {
                foreach (var data in RemoteRecipes)
                {
                    if (data.TrayCode == 1)
                    {
                        for (int i = 0; i < 5; i++)
                        {
                            if (GVL_SmallStation.GetInstance.NotUseSmallStation)
                            {
                                //查询都不包含此配方
                                if (RecipeQueueTray[i].Count == 0 && !RecipeQueueTray[0].Contains(data.RecipeCode) && !RecipeQueueTray[1].Contains(data.RecipeCode) && !RecipeQueueTray[2].Contains(data.RecipeCode) && !RecipeQueueTray[3].Contains(data.RecipeCode) && !RecipeQueueTray[4].Contains(data.RecipeCode))
                                {
                                    RecipeQueueTray[i].Enqueue(data.RecipeCode);
                                    MessageNotify.GetInstance.ShowRunLog($"本地配方配料 ，不使用小料配料，配方{data.RecipeCode}，加入配方{i}");
                                }
                            }
                            else if (GVL_SmallStation.GetInstance.PlcAllowIssueRecipe[i])
                            {
                                if (RecipeQueueTray[i].Count == 0 && !RecipeQueueTray[0].Contains(data.RecipeCode) && !RecipeQueueTray[1].Contains(data.RecipeCode) && !RecipeQueueTray[2].Contains(data.RecipeCode) && !RecipeQueueTray[3].Contains(data.RecipeCode) && !RecipeQueueTray[4].Contains(data.RecipeCode))
                                {
                                    RecipeQueueTray[i].Enqueue(data.RecipeCode);
                                    MessageNotify.GetInstance.ShowRunLog($"本地配方配料 ，等待plc允许配料，配方{data.RecipeCode}，加入配方{i}");
                                }
                            }
                        }
                    }
                }
            }
            else
            {
                for (int i = 0; i < 5; i++)
                {
                    RecipeQueueTray[i].Clear();
                    GVL_SmallStation.GetInstance.RecipeProcessStatus[i] = 0;
                }
                GVL_SmallStation.GetInstance.WindSendDosingStatus = 0;
                GVL_SmallStation.GetInstance.WindSendDosing = false;
            }
        }

        /// <summary>
        /// 小料站配料
        /// </summary>
        private void RecipeInfoToHKPLC()
        {
            if (!GVL_SmallStation.GetInstance.NotUseSmallStation)
            {
                //如果使用小料站配料，更新查询5个工位的AGV状态。
                for (int i = 0; i < 5; i++)
                {
                    switch (GVL_SmallStation.GetInstance.Tray_AGVLogic[i])
                    {
                        case 0:
                            if (GVL_SmallStation.GetInstance.AGV_PutTray1Finish && (RecipeQueueTray[i].Count > 0) && GVL_SmallStation.GetInstance.AGVIsGetTray == false)
                            {
                                GVL_SmallStation.GetInstance.AGVIsGetTray = true;
                                HKDevice.HK_PLC_S7.Write("DB4.DBX8." + i, true);
                                GVL_SmallStation.GetInstance.AGV_PutTray1Finish = false;
                                GVL_SmallStation.GetInstance.Tray_AGVLogic[i] = 1;
                                MessageNotify.GetInstance.ShowRunLog("AGV到位 发送到位信号给plc");
                            }
                            break;

                        case 1:
                            if (GVL_SmallStation.GetInstance.Station1HaveTray)

                            {
                                HKDevice.HK_PLC_S7.Write("DB4.DBX8." + i, false);
                                GVL_SmallStation.GetInstance.Tray_AGVLogic[i] = 2;
                                MessageNotify.GetInstance.ShowRunLog("托盘1有货架");
                            }
                            break;

                        case 2:
                            if (GVL_SmallStation.GetInstance.AGV_GetTray1Finish && GVL_SmallStation.GetInstance.RecipeProcessStatus[i] == 0)
                            {
                                GVL_SmallStation.GetInstance.AGVIsGetTray = false;
                                HKDevice.HK_PLC_S7.Write("DB4.DBX10." + i, true);
                                GVL_SmallStation.GetInstance.Tray_AGVLogic[i] = 3;
                                MessageNotify.GetInstance.ShowRunLog("AGV取托盘1完成,发送给海科信号后1s后复位");
                            }
                            break;

                        case 3:
                            if (HKDevice.HK_PLC_S7.Read<bool>("DB4.DBX10." + i).Content)
                            {
                                Thread.Sleep(1000);
                                HKDevice.HK_PLC_S7.Write("DB4.DBX10." + i, false);
                                GVL_SmallStation.GetInstance.Tray_AGVLogic[i] = 0;
                                GVL_SmallStation.GetInstance.AGV_GetTray1Finish = false;
                                MessageNotify.GetInstance.ShowRunLog("AGV取托盘1完成，信号复位");
                            }
                            break;

                        default:
                            break;
                    }
                }
            }
            foreach (var recipe in RecipeQueueTray)
            {
                int recipeNum = recipe.Key;
                if (RecipeQueueTray[recipeNum].Count > 0)
                {
                    int index = Array.FindIndex(RemoteRecipes.ToArray(), p => p.RecipeCode == RecipeQueueTray[recipeNum].ElementAt(0));
                    if (index >= 0 && index < RemoteRecipes.Count)
                    {
                        string code = RemoteRecipes.ElementAt(index).RecipeCode;
                        int trayCode = RemoteRecipes.ElementAt(index).TrayCode;
                        string recipeName = RemoteRecipes.ElementAt(index).RecipeName;
                        string windSend = RemoteRecipes.ElementAt(index).ToString();
                        if (trayCode == 1)
                        {
                            if (GVL_SmallStation.GetInstance.NotUseSmallStation)
                            {
                                if (GVL_SmallStation.GetInstance.AGV_PutTray1Finish)
                                {
                                    Thread.Sleep(5000);
                                    var res = Json<RemoteRecipeDataColl>.Data.Recipes.FirstOrDefault(p => p.RecipeCode == code);
                                    if (/*SiemensDevice.IsConnected &&*/ !GVL_SmallStation.GetInstance.IsUseLocalRecipe)
                                    {
                                        MessageNotify.GetInstance.ShowRunLog($"托盘1，配方{res.RecipeName}，配料完成,数据反馈给西门子");
                                    }
                                    else
                                    {
                                        MessageNotify.GetInstance.ShowRunLog($"托盘1，配方{res.RecipeName}，配料完成,数据无法反馈给西门子，西门子设备未连接或处于本地配方");
                                    }
                                    GVL_SmallStation.GetInstance.WindSendDosing = false;
                                    App.Current.Dispatcher.Invoke(() =>
                                    {
                                        Json<RemoteRecipeDataColl>.Data.Recipes.Remove(res);
                                    });
                                    RecipeQueueTray[recipeNum].TryDequeue(out code);
                                    GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum] = 0;
                                    GVL_SmallStation.GetInstance.RecipeProcessStatus[recipeNum] = 0;
                                }
                            }
                            else
                            {
                                //粉料仓下发配方并配料。
                                if (/*GVL_SmallStation.GetInstance.IsUseWindSend &&*/ GVL_SmallStation.GetInstance.WindSendDosing == false /*&& GVL_SmallStation.GetInstance.Tray_AGVLogic[recipeNum] == 2*/)
                                {
                                }
                                else
                                {
                                    if (Delay.GetInstance("delayTime").Start(true, 60))
                                    {
                                        Delay.GetInstance("delayTime").Start(false, 60);
                                        MessageNotify.GetInstance.ShowRunLog($"风送设备PLC未连接");
                                    }
                                }
                            }
                            //上位机下发配方。并检测下发完成。
                            if (GVL_SmallStation.GetInstance.RecipeProcessStatus[recipeNum] == 0)
                            {
                                GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum] = 0;
                                HKDevice.IssueRecipeToPlc(RemoteRecipes.ElementAt(index).RawMaterial, recipeNum);
                                HKDevice.HK_PLC_S7.Write("DB4.DBX2." + recipeNum, true);
                                GVL_SmallStation.GetInstance.DosingTime[recipeNum] = DateTime.Now;
                                GVL_SmallStation.GetInstance.RecipeProcessStatus[recipeNum] = 1;
                                MessageNotify.GetInstance.ShowRunLog($"托盘1,配方编号{code},配方号{recipeNum + 1}，下发完成");
                            }
                            //需要等待下位机检测确认正确接收到配方。
                            bool recipeReceviceFinish = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX4." + recipeNum).Content;
                            if (recipeReceviceFinish && GVL_SmallStation.GetInstance.RecipeProcessStatus[recipeNum] == 1)
                            {
                                HKDevice.HK_PLC_S7.Write("DB4.DBX2." + recipeNum, false);
                                GVL_SmallStation.GetInstance.RecipeProcessStatus[recipeNum] = 2;
                                GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum] = 0;
                                MessageNotify.GetInstance.ShowRunLog($"托盘1,配方编号{code},配方号{recipeNum + 1}，配方接收完成");
                            }
                            //下面是配料流程。
                            if (GVL_SmallStation.GetInstance.RecipeProcessStatus[recipeNum] == 2)
                            {
                                //下面是味魔方配料。
                                for (byte i = 1; i <= Json<LocalPar>.Data.RawMaterialDeviceNum; i++)
                                {
                                    int indexArr = -1;
                                    //获取配方每个配方的三个桶的位置。
                                    if (GVL_SmallStation.GetInstance.plcReadDataDB3.StockBinAllowIssue[i - 1])
                                    {
                                        switch (recipeNum)
                                        {
                                            case 0:
                                                indexArr = Array.FindIndex(GVL_SmallStation.GetInstance.plcReadDataDB3.Recipe1BarrelPosReserve.ToArray(), p => p == i);
                                                break;

                                            case 1:
                                                indexArr = Array.FindIndex(GVL_SmallStation.GetInstance.plcReadDataDB3.Recipe2BarrelPosReserve.ToArray(), p => p == i);
                                                break;

                                            case 2:
                                                indexArr = Array.FindIndex(GVL_SmallStation.GetInstance.plcReadDataDB3.Recipe3BarrelPosReserve.ToArray(), p => p == i);
                                                break;

                                            case 3:
                                                indexArr = Array.FindIndex(GVL_SmallStation.GetInstance.plcReadDataDB3.Recipe4BarrelPosReserve.ToArray(), p => p == i);
                                                break;

                                            case 4:
                                                indexArr = Array.FindIndex(GVL_SmallStation.GetInstance.plcReadDataDB3.Recipe5BarrelPosReserve.ToArray(), p => p == i);
                                                break;
                                        }
                                        if (indexArr >= 0 && GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum].GetBitValue((byte)i) == false)
                                        {
                                            //查找每个料仓对应的重量。
                                            int loc_index = Array.FindIndex(RemoteRecipes.ElementAt(index).RawMaterial.ToArray(), p => p.RawMaterialLocation == i);
                                            float weight = RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(loc_index).RawMaterialWeight * 1000;//单位g转换kg
                                            //小于等于0代表这个料仓不需要配料。
                                            if (weight <= 0)
                                            {
                                                if (i >= 1 && i <= 8)
                                                {
                                                    string commInfo = HKDevice.HK_PLC_S7.Write("DB4.DBX12." + (i - 1), true).IsSuccess.ToString();
                                                    MessageNotify.GetInstance.ShowRunLog(commInfo);
                                                }
                                                else if (i >= 9 && i <= 15)
                                                {
                                                    string commInfo1 = HKDevice.HK_PLC_S7.Write("DB4.DBX13." + (i - 9), true).IsSuccess.ToString();
                                                    MessageNotify.GetInstance.ShowRunLog(commInfo1);
                                                }
                                                GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum] = GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum].SetBitValue((byte)i, false);//配料完成设备写成false
                                                GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum] = GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum].SetBitValue((byte)i, true);//配料完成设备写成false
                                            }
                                            //写入重量并开始配料
                                            else
                                            {
                                                if (loc_index >= 0)
                                                {
                                                    DeviceInquire.GetInstance.GetDevice((int)i)?.Start(weight);//根据料仓编号 启动并写入每个原料重量
                                                    GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum] = GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum].SetBitValue((byte)i, true);//配料完成设备写成false
                                                }
                                                else
                                                {
                                                    MessageNotify.GetInstance.ShowRunLog($"托盘1，配方编号：{code}，配方号{recipeNum + 1}，{indexArr + 1}号桶，错误没有找到{(int)i}号仓的配方");
                                                }
                                            }
                                            MessageNotify.GetInstance.ShowRunLog($"托盘1，配方编号：{code}，配方号{recipeNum + 1}，{indexArr + 1}号桶，{(int)i}号仓，正在配料");
                                        }
                                        else
                                        {
                                            //MessageNotify.GetInstance.ShowRunLog($"错误，有允许配料信号，但没有相应的位置 和桶号");
                                        }
                                        if ((DeviceInquire.GetInstance.GetDevice(i).deviceStatus.RunStatus == 3) && indexArr >= 0 && GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum].GetBitValue((byte)i))
                                        {
                                            //配料完成处理。
                                            int res = Array.FindIndex(RemoteRecipes.ElementAt(index).RawMaterial.ToArray(), p => p.RawMaterialLocation == i);
                                            if (res < 0)
                                            {
                                            }
                                            else
                                            {
                                                Thread.Sleep(GVL_SmallStation.GetInstance.Time);
                                                RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(res).Laying_Off_Weight = DeviceInquire.GetInstance.GetDevice(i).deviceStatus.NowWeightFeedback;
                                                bool info = DeviceInquire.GetInstance.GetDevice(i).StatusReset();
                                                MessageNotify.GetInstance.ShowRunLog($"柔性味魔方，托盘1，配方：{recipeName}，{i}号仓，配料完成,下料完成重量：{RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(res).Laying_Off_Weight}");
                                                //查找配料完成的味魔方的报警偏差限值。
                                                float AlarmRange = Math.Abs(RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(res).Laying_Off_Weight - RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(res).RawMaterialWeight * 1000);
                                                int iIndex = Array.FindIndex(Json<DevicePar>.Data.deviceParModels.ToArray(), p => p.MaterialName == DeviceInquire.GetInstance.GetDevice(i).DeviceName);
                                                if (iIndex >= 0)
                                                {
                                                    //如果偏差过大则报警。
                                                    if (Math.Abs(Json<DevicePar>.Data.deviceParModels.ElementAt(iIndex).ErrorRange) < AlarmRange)
                                                    {
                                                        HKDevice.HK_PLC_S7.Write("DB44.DBX3.0", true);
                                                        App.Current.Dispatcher.Invoke(() =>
                                                        {
                                                            MessageNotify.GetInstance.ShowDialog($"{i}号仓配料误差过大,设置出料重量{RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(res).RawMaterialWeight * 1000}g，实际出料重量{RemoteRecipes.ElementAt(index).RawMaterial.ElementAt(res).Laying_Off_Weight}g，相差{AlarmRange}g，允许误差为{Math.Abs(Json<DevicePar>.Data.deviceParModels.ElementAt(iIndex).ErrorRange)}g，请联系人工处理", DialogType.Warning);
                                                            HKDevice.HK_PLC_S7.Write("DB44.DBX3.0", false);
                                                        });
                                                    }
                                                }
                                                //对海科PLC写入味魔方配料完成。
                                                if (i >= 1 && i <= 8)
                                                {
                                                    string commInfo = HKDevice.HK_PLC_S7.Write("DB4.DBX12." + (i - 1), true).IsSuccess.ToString();
                                                    MessageNotify.GetInstance.ShowRunLog(commInfo);
                                                }
                                                else if (i >= 9 && i <= 15)
                                                {
                                                    string commInfo1 = HKDevice.HK_PLC_S7.Write("DB4.DBX13." + (i - 9), true).IsSuccess.ToString();
                                                    MessageNotify.GetInstance.ShowRunLog(commInfo1);
                                                }
                                                GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum] = GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum].SetBitValue((byte)i, false);//配料完成设备写成false
                                                MessageNotify.GetInstance.ShowRunLog($"配方{recipeNum}，{GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum].ToBinString()}");
                                            }
                                        }
                                    }
                                }
                                //配方整体配料完成处理。
                                bool DosingComple = HKDevice.HK_PLC_S7.Read<bool>("DB3.DBX6." + recipeNum).Content;
                                if ((RTrig.GetInstance("配方配料完成").Start(DosingComple)) || (GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum] > 0 && DosingComple))
                                {
                                    //配方制作完成数量+1
                                    GVL_SmallStation.GetInstance.RecipeDosingCompleNum = GVL_SmallStation.GetInstance.RecipeDosingCompleNum + 1;

                                    GVL_SmallStation.GetInstance.StockBinDosingIssue[recipeNum] = 0;
                                    if (GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum] > 0)
                                    {
                                        for (int i = 1; i < 17; i++)
                                        {
                                            if (GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum].GetBitValue((byte)i))
                                            {
                                                MessageNotify.GetInstance.ShowRunLog($"料仓配料完成，但存在料仓未配料:{i}号仓");
                                            }
                                        }
                                    }
                                    var res = Json<RemoteRecipeDataColl>.Data.Recipes.FirstOrDefault(p => p.RecipeCode == code);
                                    double a = DateTime.Now.Subtract(GVL_SmallStation.GetInstance.DosingTime[recipeNum]).TotalSeconds;
                                    foreach (var item in RemoteRecipes.ElementAt(index).RawMaterial)
                                    {
                                        MessageNotify.GetInstance.ShowRunLog($"{item.RawMaterialName},下料重量：{item.Laying_Off_Weight}g");
                                    }

                                    GVL_SmallStation.GetInstance.WindSendDosing = false;
                                    //移除配方。
                                    App.Current.Dispatcher.Invoke(() =>
                                    {
                                        Json<RemoteRecipeDataColl>.Data.Recipes.Remove(res);
                                    });
                                    RecipeQueueTray[recipeNum].TryDequeue(out code);
                                    GVL_SmallStation.GetInstance.RecipeStockBinDosing[recipeNum] = 0;
                                    GVL_SmallStation.GetInstance.RecipeProcessStatus[recipeNum] = 0;
                                }
                            }
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 复位所有料仓。
        /// </summary>
        private void StockBinInit()
        {
            for (int i = 1; i <= Json<LocalPar>.Data.RawMaterialDeviceNum; i++)
            {
                if (DeviceInquire.GetInstance.GetDevice(i).deviceStatus.RunStatus == 3)
                {
                    DeviceInquire.GetInstance.GetDevice(i).StatusReset();
                }
            }
        }

        /// <summary>
        /// 料仓的位置和原料名称的对应
        /// </summary>
        public void StockBinNameWithPos()
        {
            RawMaterialsNamePos.Clear();
            foreach (var material in RawMaterialsInfo)
            {
                if (!string.IsNullOrEmpty(material.RawMaterialName))
                {
                    if (!RawMaterialsNamePos.ContainsKey(material.RawMaterialName))
                    {
                        RawMaterialsNamePos.Add(material.RawMaterialName, (short)material.RawMaterialLocation);
                    }
                }
            }
        }

        /// <summary>
        /// PLC的DB3变量列表。初始化PLC读取DB块变量以及流程变量数据。
        /// </summary>
        public void PlcVarMonitor()
        {
            foreach (PropertyInfo item in typeof(PlcReadAddressDB3).GetProperties())
            {
                if (Attribute.IsDefined(item, typeof(VarCommAttribute)))
                {
                    string type = item.PropertyType.ToString();
                    CommData.Add(new PlcInfos()
                    {
                        Count = CommData.Count + 1,
                        Name = item.Name,
                        Address = item.GetCustomAttribute<VarCommAttribute>().Address,
                        Type = type.Substring(type.IndexOf(".") + 1),
                        Describe = item.GetCustomAttribute<VarCommAttribute>().Describe,
                        Value = item.GetValue(GVL_SmallStation.GetInstance.plcReadDataDB3).ToString(),
                    });
                }
            }

            foreach (PropertyInfo item in typeof(GVL_SmallStation).GetProperties())
            {
                if (Attribute.IsDefined(item, typeof(VarCommAttribute)))
                {
                    string type = item.PropertyType.ToString();
                    ProcessVar.Add(new PlcInfos()
                    {
                        Count = ProcessVar.Count + 1,
                        Name = item.Name,
                        Type = type.Substring(type.IndexOf(".") + 1),
                        Address = item.GetCustomAttribute<VarCommAttribute>().Address,
                        Describe = item.GetCustomAttribute<VarCommAttribute>().Describe,
                        Value = item.GetValue(GVL_SmallStation.GetInstance).ToString()
                    });
                }
            }
        }

        /// <summary>
        /// 注册需要用到的委托，主要是用于手动控制的。
        /// </summary>
        public void RegisterInit()
        {
            //手动控制气缸 DB5.DBX0.0~DB5.DBX4.5
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null)
                {
                    if (o.ToString().Contains("升降气缸"))
                    {
                        int index = Convert.ToInt16(o.ToString().Substring(o.ToString().Length - 2));
                        if (index >= 1 && index <= 15)
                        {
                            string address = "DB5.DBX" + (index / 8) + "." + (index % 8 - 1);
                            if (index == 8)
                                address = "DB5.DBX0.7";
                            HKDevice.HK_PLC_S7.Write<bool>(address, true);
                            MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：{address}，值：true");
                        }
                    }
                    else if (o.ToString().Contains("阻挡气缸"))
                    {
                        int index = Convert.ToInt16(o.ToString().Substring(o.ToString().Length - 2));
                        if (index >= 1 && index <= 15)
                        {
                            string address = "";
                            if (index == 1)
                                address = "DB5.DBX1.7";
                            if (index == 2)
                                address = "DB5.DBX2.0";
                            if (index == 3)
                                address = "DB5.DBX2.1";
                            if (index == 4)
                                address = "DB5.DBX2.2";
                            if (index == 5)
                                address = "DB5.DBX2.3";
                            if (index == 6)
                                address = "DB5.DBX2.4";
                            if (index == 7)
                                address = "DB5.DBX2.5";
                            if (index == 8)
                                address = "DB5.DBX2.6";
                            if (index == 9)
                                address = "DB5.DBX2.7";
                            if (index == 10)
                                address = "DB5.DBX3.0";
                            if (index == 11)
                                address = "DB5.DBX3.1";
                            if (index == 12)
                                address = "DB5.DBX3.2";
                            if (index == 13)
                                address = "DB5.DBX3.3";
                            if (index == 14)
                                address = "DB5.DBX3.4";
                            if (index == 15)
                                address = "DB5.DBX3.5";
                            HKDevice.HK_PLC_S7.Write<bool>(address, true);
                        }
                    }
                    else if (o.ToString().Contains("进料桶顶升气缸"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX3.6", false);//默认顶升
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX3.6，值：false");
                    }
                    else if (o.ToString().Contains("出料桶顶升气缸1"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX3.7", true);
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX3.7，值：true");
                    }
                    else if (o.ToString().Contains("出料桶顶升气缸2"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.0", true);
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX4.0，值：true");
                    }
                    else if (o.ToString().Contains("出料桶顶升气缸3"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.1", true);
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX4.1，值：true");
                    }
                    else if (o.ToString().Contains("托盘气缸1_1"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.2", false);//默认伸出
                    }
                    else if (o.ToString().Contains("托盘气缸1_2"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.3", false);
                    }
                    else if (o.ToString().Contains("托盘气缸2_1"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.4", false);
                    }
                    else if (o.ToString().Contains("托盘气缸2_2"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.5", false);
                    }
                }
            }), "ManualOpen", true);//根据下发的配方ID将 托盘的位置信息添加到配方中
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null)
                {
                    if (o.ToString().Contains("升降气缸"))
                    {
                        int index = Convert.ToInt16(o.ToString().Substring(o.ToString().Length - 2));
                        if (index >= 1 && index <= 15)
                        {
                            string address = "DB5.DBX" + (index / 8) + "." + (index % 8 - 1);
                            if (index == 8)
                                address = "DB5.DBX0.7";
                            HKDevice.HK_PLC_S7.Write<bool>(address, false);
                            MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：{address}，值：false");
                        }
                    }
                    else if (o.ToString().Contains("阻挡气缸"))
                    {
                        int index = Convert.ToInt16(o.ToString().Substring(o.ToString().Length - 2));
                        if (index >= 1 && index <= 15)
                        {
                            string address = "";
                            if (index == 1)
                                address = "DB5.DBX1.7";
                            if (index == 2)
                                address = "DB5.DBX2.0";
                            if (index == 3)
                                address = "DB5.DBX2.1";
                            if (index == 4)
                                address = "DB5.DBX2.2";
                            if (index == 5)
                                address = "DB5.DBX2.3";
                            if (index == 6)
                                address = "DB5.DBX2.4";
                            if (index == 7)
                                address = "DB5.DBX2.5";
                            if (index == 8)
                                address = "DB5.DBX2.6";
                            if (index == 9)
                                address = "DB5.DBX2.7";
                            if (index == 10)
                                address = "DB5.DBX3.0";
                            if (index == 11)
                                address = "DB5.DBX3.1";
                            if (index == 12)
                                address = "DB5.DBX3.2";
                            if (index == 13)
                                address = "DB5.DBX3.3";
                            if (index == 14)
                                address = "DB5.DBX3.4";
                            if (index == 15)
                                address = "DB5.DBX3.5";
                            HKDevice.HK_PLC_S7.Write<bool>(address, false);
                        }
                    }
                    else if (o.ToString().Contains("进料桶顶升气缸"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX3.6", true);
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX3.6，值：true");
                    }
                    else if (o.ToString().Contains("出料桶顶升气缸1"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX3.7", false);
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX3.7，值：false");
                    }
                    else if (o.ToString().Contains("出料桶顶升气缸2"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.0", false);
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX4.0，值：false");
                    }
                    else if (o.ToString().Contains("出料桶顶升气缸3"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.1", false);
                        MessageNotify.GetInstance.ShowUserLog($"手动操作气缸,地址：DB5.DBX4.1，值：false");
                    }
                    else if (o.ToString().Contains("托盘气缸1_1"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.2", true);
                    }
                    else if (o.ToString().Contains("托盘气缸1_2"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.3", true);
                    }
                    else if (o.ToString().Contains("托盘气缸2_1"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.4", true);
                    }
                    else if (o.ToString().Contains("托盘气缸2_2"))
                    {
                        HKDevice.HK_PLC_S7.Write("DB5.DBX4.5", true);
                    }
                }
            }), "ManualClose", true);//根据下发的配方ID将 托盘的位置信息添加到配方中
            //手动控制电机轴 DB5.DBX4.6~DB5.DBX5.2
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX4.6", true); }), "StartAxisLoadCommand", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX4.6", false); }), "StopAxisLoadCommand", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX4.7", true); }), "StartAxisMidCommand", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX4.7", false); }), "StopAxisMidCommand", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX5.0", true); }), "StartAxisUnLoadCommand", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX5.0", false); }), "StopAxisUnLoadCommand", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX5.1", true); }), "StartAxis1Command", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX5.1", false); }), "StopAxis1Command", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX5.2", true); }), "StartAxis2Command", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB5.DBX5.2", false); }), "StopAxis2Command", true);

            //将本地配方发送到西门子配方里，执行配料
            ActionManage.GetInstance.Register(new Action<Object>((res) =>
            {
                if (res != null && res is RemoteRecipeData rm)
                {
                    //Json<RemoteRecipeDataColl>.Data.Recipes.Add(rm);
                    var newRecipe = new RemoteRecipeData();
                    newRecipe.RecipeName = rm.RecipeName;
                    newRecipe.RecipeCode = rm.RecipeCode;
                    newRecipe.TrayCode = rm.TrayCode;

                    foreach (var item in rm.RawMaterial)
                    {
                        newRecipe.RawMaterial.Add(new RemoteRecipeRawMaterial()
                        {
                            DeviceIp = item.DeviceIp,
                            RawMaterialName = item.RawMaterialName,
                            RawMaterialBarrelNum = item.RawMaterialBarrelNum,
                            RawMaterialType = item.RawMaterialType,
                            RawMaterialWeight = item.RawMaterialWeight,
                            Laying_Off_Weight = item.Laying_Off_Weight,
                            StockBinRemainingWeight = item.StockBinRemainingWeight,
                            RawMaterialLocation = item.RawMaterialLocation,
                            IsDosingComple = item.IsDosingComple
                        });
                    }

                    Json<RemoteRecipeDataColl>.Data.Recipes.Add(newRecipe);
                }
            }), "LocalSimulationRecipeIssue", true);

            //手动控制系统模式
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.0", true); }), "SystemStart", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.0", false); }), "SystemStop", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.2", true); }), "SystemPause", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.2", false); }), "SystemReset", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.1", false); }), "SystemAutoMode", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.1", true); }), "SystemDebugMode", true);
            //流程控制
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.3", true); }), "ManualSystemReset", true);
            ActionManage.GetInstance.Register(new Action(() => { HKDevice.HK_PLC_S7.Write<bool>("DB44.DBX0.4", true); }), "CLearRecipeInfo", true);
            ActionManage.GetInstance.Register(new Action(() =>
            {
                Json<RemoteRecipeDataColl>.Data.Recipes.Clear();
                GVL_SmallStation.GetInstance.SiemensSendRecipeStatus = 0;

                GVL_SmallStation.GetInstance.WindSendDosingStatus = 0;
                GVL_SmallStation.GetInstance.WindSendDosing = false;

                GVL_SmallStation.GetInstance.Order_Cancel = false;
                GVL_SmallStation.GetInstance.Order_CancelRecipeCode = "";
                GVL_SmallStation.GetInstance.OrderCancelStep = 0;

                for (int i = 0; i < 5; i++)
                {
                    RecipeQueueTray[i].Clear();
                    GVL_SmallStation.GetInstance.RecipeProcessStatus[i] = 0;
                    GVL_SmallStation.GetInstance.Tray_AGVLogic[i] = 0;
                }
                StockBinInit();
                //for (int i = 0; i < GVL_SmallStation.GetInstance.StockInDosingComple.Length; i++)
                //{
                //    GVL_SmallStation.GetInstance.StockInDosingComple[i] = false;
                //}
                MessageNotify.GetInstance.ShowRunLog("系统流程复位，等待西门子重新下发订单");
            }), "BPASystemReset", true);

            //往海科PLC写值
            ActionManage.GetInstance.Register(new Action<Object>((o) =>
            {
                if (o != null && o is HKDeviceWrite data)
                {
                    if (data.PlcVarType == PlcVarType.Bool)
                    {
                        bool value = (bool)data.Value;
                        HKDevice.HK_PLC_S7.Write<bool>(data.Address, value);
                    }
                    else if (data.PlcVarType == PlcVarType.Byte)
                    {
                        byte value = (byte)data.Value;
                        HKDevice.HK_PLC_S7.Write<byte>(data.Address, value);
                    }
                    else if (data.PlcVarType == PlcVarType.Int)
                    {
                        short value = (short)data.Value;
                        HKDevice.HK_PLC_S7.Write<short>(data.Address, value);
                    }
                    else if (data.PlcVarType == PlcVarType.Dint)
                    {
                        int value = (int)data.Value;
                        HKDevice.HK_PLC_S7.Write<int>(data.Address, value);
                    }
                    else if (data.PlcVarType == PlcVarType.Real)
                    {
                        float value = (float)data.Value;
                        HKDevice.HK_PLC_S7.Write<float>(data.Address, value);
                    }
                }
            }), "PLCWrite", true);

            //电机速度
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is short value)
                {
                    HKDevice.HK_PLC_S7.Write("DB47.DBW8", value);
                }
            }), "AxisLoadSpeedSet", true);
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is short value)
                {
                    HKDevice.HK_PLC_S7.Write("DB47.DBW10", value);
                }
            }), "AxisMidSpeedSet", true);
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is short value)
                {
                    HKDevice.HK_PLC_S7.Write("DB47.DBW12", value);
                }
            }), "AxisUnLoadSpeedSet", true);
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is float value)
                {
                    HKDevice.HK_PLC_S7.Write("DB47.DBD0", value);
                }
            }), "Axis1SpeedSet", true);
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is float value)
                {
                    HKDevice.HK_PLC_S7.Write("DB47.DBD4", value);
                }
            }), "Axis2SpeedSet", true);

            //机器人的操作
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is string address)
                {
                    HKDevice.HK_PLC_S7.Write(address, true);
                }
            }), "RobotSendTrueCommand", true);
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is string address)
                {
                    HKDevice.HK_PLC_S7.Write(address, false);
                }
            }), "RobotSendFalseCommand", true);
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is short Value)
                {
                    HKDevice.HK_PLC_S7.Write("DB4.DBB1", (byte)Value);
                }
            }), "RobotSetProgramNum", true);
        }

        /// <summary>
        /// 连接海科PLC，并开启重连线程。
        /// </summary>
        public void DeviceConnect()
        {
            try
            {
                if (Json<DevicePar>.Data.deviceConnectPar.HKPlcConnect)
                {
                    //HKDevice.HK_PLC_S7.Connect(S7.Net.CpuType.S71200, HK_PLC_IP);
                    HKDevice.HK_PLC_S7.Connect(new BPA.Communication.Base.ConfigurationOptions() { cpuType = CpuType.S71200, IpAddress = HK_PLC_IP });
                    if (HKDevice.IsConnected)
                        MessageNotify.GetInstance.ShowRunLog("海科plc连接成功");
                }
            }
            catch (Exception ex)
            {
                MessageNotify.GetInstance.ShowAlarmLog("海科plc连接失败，等待重新连接");
            }
            finally
            {
                HKDevice.Init();
                MessageNotify.GetInstance.ShowRunLog("海科plc初始化完成");
            }

            TaskManage.GetInstance.StartLong(new Action(() =>
            {
                try
                {
                    if (!HKDevice.IsConnected && Json<DevicePar>.Data.deviceConnectPar.HKPlcConnect)
                    {
                        HKDevice.HK_PLC_S7.Connect(new BPA.Communication.Base.ConfigurationOptions() { cpuType = CpuType.S71200, IpAddress = HK_PLC_IP });
                        if (HKDevice.IsConnected)
                            MessageNotify.GetInstance.ShowRunLog("海科PLC重新连接成功");
                    }
                }
                catch (Exception ex)
                {
                }

                Thread.Sleep(50);
            }), "设备连接", true);
        }

        private void DosingDevice(int Index, int DeviceID)
        {
            if (RTrig.GetInstance("Tray2StatusDevice" + DeviceID).Start(DeviceInquire.GetInstance.GetDevice(DeviceID).deviceStatus.RunStatus == 3))
            {
                MessageNotify.GetInstance.ShowRunLog($"柔性味魔方，托盘2,配方：{RemoteRecipes.ElementAt(Index).RecipeName},{DeviceID}号仓，配料完成");
                int res = Array.FindIndex(RemoteRecipes.ElementAt(Index).RawMaterial.ToArray(), p => p.RawMaterialLocation == DeviceID);
                RemoteRecipes.ElementAt(Index).RawMaterial.ElementAt(res).Laying_Off_Weight = DeviceInquire.GetInstance.GetDevice(DeviceID).deviceStatus.CutWeightFeedback;
                DeviceInquire.GetInstance.GetDevice(DeviceID).StatusReset();
                if (DeviceID >= 1 && DeviceID <= 8)
                {
                    HKDevice.HK_PLC_S7.Write("DB4.DBX30." + (DeviceID - 1), true);
                }
                else if (DeviceID >= 9 && DeviceID <= 15)
                {
                    HKDevice.HK_PLC_S7.Write("DB4.DBX31." + (DeviceID - 9), true);
                }
            }
        }

        public void RawMaterialNameWithCode()
        {
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.Clear();
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0001", "色拉油");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0002", "一级菜油");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0003", "菜籽油");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0004", "青花椒油");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0005", "卤牛肉丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0006", "冻鸡肉丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0007", "香菇丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0008", "高水分糍粑海椒");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0009", "低水分糍粑海椒");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0010", "辣豆瓣");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0011", "整豆豉");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0012", "豆豉细粒");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0013", "卤黄豆");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0014", "野山椒粒");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0015", "竹笋丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0016", "香辣酱辣椒酱");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0017", "芽菜粒");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0018", "榨菜丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0019", "盐菜");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0020", "洋葱丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0021", "番茄酱");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0022", "甜豆瓣");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0023", "甜面酱");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0024", "芝麻酱");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0025", "炸花生");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0026", "盐渍青椒丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0027", "备料剁红椒");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0028", "萝卜丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0029", "油芝麻");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0030", "生姜");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0031", "大蒜");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0032", "榨菜酱");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0033", "炸碗豆");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0034", "大头菜丁");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0035", "酱油");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0036", "I+G");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0037", "味精");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0038", "白糖");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0039", "食盐");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0040", "花椒酱");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0041", "调味膏2");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0042", "调味膏5");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0043", "十三香调味膏");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0044", "酱香膏");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0045", "芽菜香料粉");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0046", "香料Ａ");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0047", "香料Ｄ");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0048", "猪肉精膏");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0049", "调味膏3");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0050", "柠檬酸粉");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0051", "辣椒红");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0052", "辣椒油树脂");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0053", "水态混和酸");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0054", "加水稀释后防腐剂");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0055", "异维Ｃ钠粉");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0056", "琼脂粉");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0057", "香葱油");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0058", "水态甜味剂");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0059", "孜然粉");
            GVL_SmallStation.GetInstance.RawMaterialsNameCode.TryAdd("0060", "孜然油");
        }
    }
}