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终端一体化运控平台
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BPASmartClient/BPASmartClient.MorkF/Control_MorkF.cs

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  1. using BPA.Message;

  2. using BPA.Message.Enum;

  3. using BPASmartClient.Device;

  4. using BPASmartClient.EventBus;

  5. using BPASmartClient.Helper;

  6. using BPASmartClient.Message;

  7. using BPASmartClient.Model;

  8. using BPASmartClient.Model.PLC;

  9. using BPA.Models;

  10. using static BPASmartClient.EventBus.EventBus;

  11. 

  12. 

  13. namespace BPASmartClient.MorkF

  14. {

  15.     public class Control_MorkF : BaseDevice

  16.     {

  17.         public override DeviceClientType DeviceType => DeviceClientType.MORKSF;

  18.         public AutoResetEvent minorReset = new AutoResetEvent(false);

  19.         public AutoResetEvent mainReset = new AutoResetEvent(false);

  20.         GVL_MorkF morkF = new GVL_MorkF();//全局对象声明

  21.         public StirFryBom stirFryBom = new StirFryBom();//创建获取流程的对象

  22. 

  23.         List<int> resultorder = new List<int>();//调试变量

  24.         public static readonly object taskLock = new object();

  25.         /// <summary>

  26.         /// 入口

  27.         /// </summary>

  28.         public override void DoMain()

  29.         {

  30.             CommandRegist();//调试

  31.             ServerInit();

  32.             DataParse();//数据解析

  33.             MessageLog.GetInstance.Show("MORKF 设备初始化完成");

  34.         }

  35.         #region 调试代码

  36.         public void CommandRegist()

  37.         {

  38.             ActionManage.GetInstance.Register(PLCInite, "InitCommand");

  39.             ActionManage.GetInstance.Register(InitialData, "SimultaorOrder");

  40.             ActionManage.GetInstance.Register(TakePot, "TakePot");

  41.             ActionManage.GetInstance.Register(TakePotReset, "TakePotReset");

  42.             ActionManage.GetInstance.Register(TakeOff, "TakeOff");

  43.             ActionManage.GetInstance.Register(OneBlock, "OneBlock");

  44.             ActionManage.GetInstance.Register(TwoBlock, "TwoBlock");

  45.             ActionManage.GetInstance.Register(ThreeBlock, "ThreeBlock");

  46.             ActionManage.GetInstance.Register(OverTurnOff, "OverTurnOff");

  47.             ActionManage.GetInstance.Register(OverOneBlock, "OverOneBlock");

  48.             ActionManage.GetInstance.Register(OverTwoBlock, "OverTwoBlock");

  49.             ActionManage.GetInstance.Register(OverThreeBlock, "OverThreeBlock");

  50.             ActionManage.GetInstance.Register(OverGoOn, "OverGoOn");

  51.             ActionManage.GetInstance.Register(OverGoDown, "OverGoDown");

  52.             ActionManage.GetInstance.Register(ShreddCabbage, "ShreddCabbage");

  53.             ActionManage.GetInstance.Register(FryPork, "FryPork");

  54.             ActionManage.GetInstance.Register(XingBaoGu, "XingBaoGu");

  55.         }

  56.         /// <summary>

  57.         /// 手撕包菜流程

  58.         /// </summary>

  59.         public void ShreddCabbage()

  60.         {

  61.             if (stirFryBom.StirFryActions.Count > 0)

  62.             {

  63.                 stirFryBom.StirFryActions.Clear();

  64.             }

  65.             //流程

  66.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });

  67.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { StirFryPotAction.大火持续 }, During = 5 });

  68.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 6 });

  69.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.停止火力, StirFryPotAction.搅拌臂上位 } });//加A料

  70.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 6 });

  71. 

  72.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料

  73. 

  74.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 9 });

  75. 

  76.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料

  77.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 });

  78.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  79.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });

  80.         }

  81.         /// <summary>

  82.         /// 盐煎肉流程

  83.         /// </summary>

  84.         public void FryPork()

  85.         {

  86.             if (stirFryBom.StirFryActions.Count > 0)

  87.             {

  88.                 stirFryBom.StirFryActions.Clear();

  89.             }

  90.             //流程

  91.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });

  92.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 15 });

  93.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油, StirFryPotAction.停止火力 }, During = 19 });

  94.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  95. 

  96.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 } });

  97. 

  98.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 20 });

  99.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力 }, During = 35 });

  100.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位, } });

  101.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料 } });

  102.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 22 });

  103.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  104.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T12, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料 } });

  105.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T13, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 70 });

  106.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T14, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  107.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T15, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });

  108.         }

  109.         /// <summary>

  110.         /// 酱烧杏鲍菇流程

  111.         /// </summary>

  112.         public void XingBaoGu()

  113.         {

  114.             if (stirFryBom.StirFryActions.Count > 0)

  115.             {

  116.                 stirFryBom.StirFryActions.Clear();

  117.             }

  118.             //流程

  119.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });

  120.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 5 });

  121.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油 }, During = 12 });

  122.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加A料

  123.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 });

  124. 

  125.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料

  126. 

  127.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 });

  128. 

  129.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料

  130.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 });

  131.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });

  132.         }

  133.         public void TakePot()

  134.         {

  135. 

  136.             WriteData("M14.0", true);

  137.         }

  138. 

  139.         public void TakePotReset()

  140.         {

  141. 

  142.             WriteData("M14.0", false);

  143.         }

  144.         public void TakeOff()

  145.         {

  146.             WriteData("M4.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0001

  147.         }

  148. 

  149.         public void OneBlock()

  150.         {

  151.             //WriteData("M13.1", true);

  152.             // WriteData("M4.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  153.             //WriteData("M0.7", false);//无订单关闭抽风机

  154.             WriteData("M13.0", true);

  155. 

  156.         }

  157.         public void TwoBlock()

  158.         {

  159.             //WriteData("M13.1", false);

  160.             WriteData("M4.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0001

  161. 

  162.         }

  163.         public void ThreeBlock()

  164.         {

  165.             //   WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0001

  166.             WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false });

  167.         }

  168.         public void OverTurnOff()

  169.         {

  170.             WriteData("M7.0", true);

  171.         }

  172.         public void OverOneBlock()

  173.         {

  174.             WriteData("M7.1", true);

  175.         }

  176.         public void OverTwoBlock()

  177.         {

  178.             WriteData("M7.2", true);

  179.         }

  180.         public void OverThreeBlock()

  181.         {

  182.             WriteData("M7.3", true);

  183.         }

  184.         public void OverGoOn()

  185.         {

  186.             WriteData("M8.0", true);

  187.         }

  188. 

  189.         public void OverGoDown()

  190.         {

  191.             WriteData("M8.2", true);

  192.         }

  193.         public void FlowInite()

  194.         {

  195. 

  196.         }

  197.         /// <summary>

  198.         /// 订单初始化

  199.         /// </summary>

  200.         private void InitialData()

  201.         {

  202.             ////模拟流程

  203.             //if (stirFryBom.StirFryActions.Count > 0)

  204.             //{

  205.             //    stirFryBom.StirFryActions.Clear();

  206.             //}

  207.             ////流程

  208.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });

  209.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力 }, During = 3 });

  210.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油, StirFryPotAction.停止火力 }, During = 3 });

  211.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.停止火力, StirFryPotAction.低速旋转 }, During = 15 });

  212. 

  213.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料, }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转 } });

  214.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.快速旋转, StirFryPotAction.停止火力 }, During = 5 });

  215.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料, }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转 } });

  216.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List<StirFryPotAction>() { StirFryPotAction.快速旋转, StirFryPotAction.停止火力 }, During = 5 });

  217.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料, }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转 } });

  218.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { StirFryPotAction.快速旋转, StirFryPotAction.停止火力 }, During = 3 });

  219.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  220.             //stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T12, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });

  221.             //队列

  222.             string subId = Guid.NewGuid().ToString();

  223.             morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 1 });//A料

  224.             morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 2 });//B料

  225.             morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 3 });//C料

  226.             morkF.TakePlateQueue.Enqueue(new OrderLocInfo() { SuborderId = subId });

  227.             resultorder.AddRange(new int[] { 1, 2, 3 });

  228.         }

  229.         #endregion

  230. 

  231.         public override void ResetProgram()

  232.         {

  233.             morkF = null;

  234.             morkF = new GVL_MorkF();

  235.         }

  236. 

  237.         /// <summary>

  238.         /// PLC数据读取

  239.         /// </summary>

  240.         public override void ReadData()

  241.         {

  242. 

  243.             GetStatus("M0.1", new Action<bool[]>((bools) =>

  244.             {

  245.                 Initing = bools[0];

  246.                 morkF.InitialComplete = Initing;

  247.             }));

  248.             GetStatus("M1.0", new Action<bool[]>((bools) =>

  249.             {

  250.                 morkF.ProvidePlateModule = bools[0];

  251.                 morkF.ProvidePlateComplete = bools[2];

  252.                 morkF.CleanModule = bools[3];

  253.                 morkF.CleanComplete = bools[5];

  254.             }));

  255.             GetStatus("M2.0", new Action<bool[]>((bools) =>

  256.             {

  257.                 morkF.KitchenOneStatus = bools[1];

  258.                 morkF.FallOilComplete = bools[8];

  259.             }));

  260.             GetStatus("M8.0", new Action<bool[]>((bools) =>

  261.             {

  262.                 morkF.TurnMachineUpComplete = bools[1];

  263.                 morkF.TurnMachineDownComplete = bools[3];

  264.             }));

  265.             GetStatus("M13.5", new Action<bool[]>((bools) =>

  266.             {

  267.                 morkF.MaterialArriveComplete = bools[0];

  268.             }));

  269.             GetStatus("M16.0", new Action<bool[]>((bools) =>

  270.             {

  271.                 morkF.PutPotToKitchenComlete = bools[1];

  272.                 morkF.TakeMaterialComplete = bools[2];

  273.                 morkF.FallMaterialComplete = bools[3];

  274.                 morkF.PlaceRinseTableComplete = bools[5];

  275.                 morkF.RoobotIdle = bools[6];

  276.             }));

  277. 

  278.         }

  279.         private void ServerInit()

  280.         {

  281.             //物料信息

  282.             EventBus.EventBus.GetInstance().Subscribe<MaterialDeliveryEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)

  283.             {

  284.                 if (@event == null) return;

  285.                 if (@event is MaterialDeliveryEvent material)

  286.                 {

  287.                     orderMaterialDelivery = material.orderMaterialDelivery;

  288.                 }

  289.             });

  290. 

  291.             //配方数据信息

  292.             EventBus.EventBus.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)

  293.             {

  294.                 if (@event == null) return;

  295.                 if (@event is RecipeBomEvent recipe)

  296.                 {

  297.                     recipeBoms = recipe.recipeBoms;

  298.                     WriteRecipeBoms();

  299.                 }

  300.             });

  301.         }

  302. 

  303.         private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)

  304.         {

  305.             EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid });

  306.         }

  307. 

  308.         /// <summary>

  309.         /// 写入配方数据到 PLC

  310.         /// </summary>

  311.         private void WriteRecipeBoms()

  312.         {

  313.             //List<ushort> recipeBoms = new List<ushort>();

  314.             //if (this.recipeBoms == null) return;

  315.             //foreach (var item in this.recipeBoms.RecipeIds)

  316.             //{

  317.             //    foreach (var rec in item.Recipes)

  318.             //    {

  319.             //        recipeBoms.Add((ushort)rec);

  320.             //    }

  321.             //}

  322.             //if (recipeBoms.Count > 0)

  323.             //{

  324.             //    //配方数据地址范围：VW2000 - VW2278

  325.             //    WriteData("VW2000", recipeBoms.ToArray());

  326.             //}

  327.             //else { MessageLog.GetInstance.Show("配方数据为空"); }

  328.         }

  329. 

  330.         /// <summary>

  331.         /// 数据解析

  332.         /// </summary>

  333.         private void DataParse()

  334.         {

  335.             EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)

  336.             {

  337.                 if (@event == null) return;

  338.                 if (@event is DoOrderEvent order)

  339.                 {

  340.                     if (order.MorkOrder.GoodBatchings == null) return;

  341.                     OrderCount++;

  342.                     MessageLog.GetInstance.Show($"接收到{OrderCount}次订单");

  343.                     foreach (var item in order.MorkOrder.GoodBatchings)

  344.                     {

  345.                         var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);

  346.                         if (res != null)

  347.                         {

  348.                             if (ushort.TryParse(res.BatchingLoc, out ushort loc))

  349.                             {

  350.                                 //if (morkF.TakeMaterialQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)

  351.                                 //将一个商品的ABC料位置存入队列

  352.                                 morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, MaterialLoc = ushort.Parse(res.BatchingLoc) });

  353.                             }

  354. 

  355. 

  356. 

  357.                             //int index = 0;

  358.                             //if (recipeBoms != null)

  359.                             //{

  360.                             //    index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);

  361.                             //    index++;

  362.                             //}

  363.                             if (morkF.TakePlateQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)

  364.                                 morkF.TakePlateQueue.Enqueue(new OrderLocInfo()

  365.                                 {

  366.                                     SuborderId = order.MorkOrder.SuborderId,

  367.                                     BatchingId = res.BatchingId

  368.                                     //RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0

  369.                                 });

  370. 

  371. 

  372.                         }

  373.                     }

  374.                     //根据ID 查找对应制作流程，

  375. 

  376.                 }

  377.             });

  378.         }

  379.         //}

  380.         /// <summary>

  381.         /// 主任务

  382.         /// </summary>

  383.         public override void MainTask()

  384.         {

  385.             TakePlatelTask();

  386.             TurntableControl();

  387.             MainProcessExecute();

  388.             MinorProcessExcute();

  389.             SingleProcess();

  390.         }

  391.         //辅流程执行

  392.         private void MinorProcessExcute()

  393.         {

  394.             if (!morkF.MinorProcessExcuteLock)

  395.             {

  396.                 morkF.MinorProcessExcuteLock = true;

  397.                 Task.Run(() =>

  398.                    {

  399.                        if (morkF.MinorProcessFlag && !morkF.RoobotIdle && morkF.TakeMaterialQueue.Count > 0)

  400.                        {

  401.                            morkF.MinorProessStatus = true;

  402.                            morkF.MainProcessStatus = false;

  403.                            StirFryBom bom = morkF.listStirBom.ElementAt(0);

  404.                            morkF.listStirBom.RemoveAt(0);

  405.                            foreach (var res in bom.StirFryActions)

  406.                            {

  407.                                MessageLog.GetInstance.Show($"执行流程{res.Time}");

  408.                                //机器人线程

  409.                                Task taskRobot = Task.Run(new Action(() =>

  410.                                       {

  411.                                           foreach (var temp in res.RobotActions)

  412.                                           {

  413.                                               switch (temp)

  414.                                               {

  415.                                                   case StirFryRobotAction.清洗槽取锅:

  416.                                                       TakePotTask();//执行取锅操作

  417.                                                       break;

  418.                                                   case StirFryRobotAction.加入A料:

  419.                                                       TakeBurdenATask();//执行取A料操作

  420.                                                       break;

  421.                                                   case StirFryRobotAction.加入B料:

  422.                                                       TakeBurdenATask();//执行取B料操作

  423.                                                       break;

  424.                                                   case StirFryRobotAction.加入C料:

  425.                                                       TakeBurdenCTask();//执行取C料操作

  426.                                                       break;

  427.                                                   case StirFryRobotAction.灶取锅:

  428.                                                       OutDishTask();//执行出餐操作

  429.                                                       CleanPotTask();//洗锅操作

  430.                                                       break;

  431.                                               }

  432. 

  433.                                           }

  434. 

  435.                                       }));

  436.                                //炒锅线程操作

  437.                                Task taskPot = Task.Run(new Action(() =>

  438.                                       {

  439.                                           foreach (var temp in res.PotActions)

  440.                                           {

  441.                                               switch (temp)

  442.                                               {

  443.                                                   case StirFryPotAction.NONE:

  444.                                                       break;

  445.                                                   case StirFryPotAction.大火t1s:

  446.                                                       KitchenAdjustGears(3);

  447.                                                       Task.Delay(1000).Wait(); //大火加热1s//执行大火锅干操作

  448.                                                       break;

  449.                                                   case StirFryPotAction.加油:

  450.                                                       AddOil();//注油//执行加油操作

  451.                                                       break;

  452.                                                   case StirFryPotAction.中火t2s:

  453.                                                       KitchenAdjustGears(2);

  454.                                                       Task.Delay(2000).Wait();//执行操作

  455.                                                       break;

  456.                                                   case StirFryPotAction.小火持续:

  457.                                                       KitchenAdjustGears(1);

  458.                                                       break;

  459.                                                   case StirFryPotAction.中火持续:

  460.                                                       KitchenAdjustGears(5);

  461.                                                       break;

  462.                                                   case StirFryPotAction.大火持续:

  463.                                                       KitchenAdjustGears(7);

  464.                                                       break;

  465.                                                   case StirFryPotAction.停止火力:

  466.                                                       KitchenAdjustGears(0);//关闭灶加热

  467.                                                       break;

  468.                                                   case StirFryPotAction.搅拌臂上位:

  469.                                                       TurnUpStatusDetect();//执行搅拌臂上位操作

  470.                                                       break;

  471.                                                   case StirFryPotAction.搅拌臂下位:

  472.                                                       TurnDownStatusDetect();//执行搅拌臂下位操作

  473.                                                       break;

  474.                                                   case StirFryPotAction.低速旋转:

  475.                                                       TurnMachineGearsControl(1);//执行搅拌臂速度1挡操作

  476.                                                       break;

  477.                                                   case StirFryPotAction.快速旋转:

  478.                                                       TurnMachineGearsControl(2);//执行搅拌臂速度3挡操作

  479.                                                       break;

  480.                                                   case StirFryPotAction.停止旋转:

  481.                                                       TurnMachineGearsControl(0);//执行搅拌臂速度0挡操作

  482.                                                       break;

  483.                                               }

  484.                                           }

  485.                                       }));

  486.                                Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束

  487.                                Task.Delay(res.During * 1000).Wait();//当前流程延迟 

  488.                                if (morkF.MainProcessWait)

  489.                                {

  490. 

  491.                                    KitchenAdjustGears(0);//关闭灶加热

  492.                                    morkF.MinorProessStatus = false;

  493.                                    morkF.MainProcessStatus = true;

  494.                                    //阻塞辅流程

  495.                                    minorReset.WaitOne();

  496.                                }

  497.                                morkF.MinorProessStatus = true;

  498.                                morkF.MainProcessStatus = false;

  499.                            }

  500.                            morkF.MinorOutMealComplete = true;

  501.                        }

  502.                        else

  503.                        {

  504.                            morkF.MinorProcessExcuteLock = false;//解除辅流程自锁

  505.                        }

  506.                    });

  507.             }

  508.         }

  509. 

  510.         //机器人，锅灶主流程执行

  511.         public void MainProcessExecute()

  512.         {

  513.             if (!morkF.MainProcessExcuteLock)

  514.             {

  515.                 morkF.MainProcessExcuteLock = true;

  516.                 Task.Run(new Action(() =>

  517.                 {

  518.                     if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakeMaterialQueue.Count > 0 && morkF.MainProcessFlag)

  519.                     {

  520.                         morkF.MainProcessStatus = true;

  521.                         morkF.MinorProessStatus = false;

  522.                         StirFryBom bom = morkF.listStirBom.ElementAt(0);

  523.                         morkF.listStirBom.RemoveAt(0);

  524.                         foreach (var res in bom.StirFryActions)//遍历所有流程

  525.                         {

  526.                             MessageLog.GetInstance.Show($"执行流程{res.Time}");

  527.                             //机器人线程

  528.                             Task taskRobot = Task.Run(new Action(() =>

  529.                             {

  530.                                 foreach (var temp in res.RobotActions)

  531.                                 {

  532.                                     switch (temp)

  533.                                     {

  534.                                         case StirFryRobotAction.清洗槽取锅:

  535.                                             TakePotTask();//执行取锅操作

  536.                                             break;

  537.                                         case StirFryRobotAction.加入A料:

  538.                                             TakeBurdenATask();//执行取A料操作

  539.                                             break;

  540.                                         case StirFryRobotAction.加入B料:

  541.                                             TakeBurdenATask();//执行取B料操作

  542.                                             break;

  543.                                         case StirFryRobotAction.加入C料:

  544.                                             TakeBurdenCTask();//执行取C料操作

  545.                                             break;

  546.                                         case StirFryRobotAction.灶取锅:

  547.                                             OutDishTask();//执行出餐操作

  548.                                             CleanPotTask();//洗锅操作

  549.                                             break;

  550.                                     }

  551. 

  552.                                 }

  553. 

  554.                             }));

  555.                             //炒锅线程操作

  556.                             Task taskPot = Task.Run(new Action(() =>

  557.                             {

  558.                                 foreach (var temp in res.PotActions)

  559.                                 {

  560.                                     switch (temp)

  561.                                     {

  562.                                         case StirFryPotAction.NONE:

  563.                                             break;

  564.                                         case StirFryPotAction.大火t1s:

  565.                                             KitchenAdjustGears(3);

  566.                                             Task.Delay(1000).Wait(); //大火加热1s//执行大火锅干操作

  567.                                             break;

  568.                                         case StirFryPotAction.加油:

  569.                                             AddOil();//注油//执行加油操作

  570.                                             break;

  571.                                         case StirFryPotAction.中火t2s:

  572.                                             KitchenAdjustGears(2);

  573.                                             Task.Delay(2000).Wait();//执行操作

  574.                                             break;

  575.                                         case StirFryPotAction.小火持续:

  576.                                             KitchenAdjustGears(1);

  577.                                             break;

  578.                                         case StirFryPotAction.中火持续:

  579.                                             KitchenAdjustGears(5);

  580.                                             break;

  581.                                         case StirFryPotAction.大火持续:

  582.                                             KitchenAdjustGears(7);

  583.                                             break;

  584.                                         case StirFryPotAction.停止火力:

  585.                                             KitchenAdjustGears(0);//关闭灶加热

  586.                                             break;

  587.                                         case StirFryPotAction.搅拌臂上位:

  588.                                             TurnUpStatusDetect();//执行搅拌臂上位操作

  589.                                             break;

  590.                                         case StirFryPotAction.搅拌臂下位:

  591.                                             TurnDownStatusDetect();//执行搅拌臂下位操作

  592.                                             break;

  593.                                         case StirFryPotAction.低速旋转:

  594.                                             TurnMachineGearsControl(1);//执行搅拌臂速度1挡操作

  595.                                             break;

  596.                                         case StirFryPotAction.快速旋转:

  597.                                             TurnMachineGearsControl(2);//执行搅拌臂速度3挡操作

  598.                                             break;

  599.                                         case StirFryPotAction.停止旋转:

  600.                                             TurnMachineGearsControl(0);//执行搅拌臂速度0挡操作

  601.                                             break;

  602.                                     }

  603.                                 }

  604.                             }));

  605. 

  606.                             Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束

  607.                             Task.Delay(res.During * 1000).Wait();//当前流程延迟

  608.                             if (morkF.MinorProcessWait)

  609.                             {

  610.                                 KitchenAdjustGears(0);//关闭灶加热

  611.                                 morkF.MinorProessStatus = true;

  612.                                 morkF.MainProcessStatus = false;

  613.                                 //阻塞主流程

  614.                                 mainReset.WaitOne();

  615.                             }

  616.                             morkF.MinorProessStatus = false;

  617.                             morkF.MainProcessStatus = true;

  618. 

  619.                         }

  620.                         morkF.MainOutMealComplete = true;

  621.                     }

  622.                     else

  623.                     {

  624.                         morkF.MainProcessExcuteLock = false;//解除流程自锁

  625.                     }

  626.                 }));

  627.             }

  628. 

  629.         }

  630.         /// <summary>

  631.         /// 信号处理

  632.         /// </summary>

  633.         private void SingleProcess()

  634.         {

  635. 

  636. 

  637.             //出餐完成，相应变量复位

  638.             if (morkF.MainOutMealComplete)

  639.             {

  640.                 morkF.TakePlateLock = false;

  641.                 morkF.PotInPlace = false;

  642.                 morkF.MainProcessExcuteLock = false;

  643.                 morkF.MainOrderMaterialCom = false;

  644.             }

  645. 

  646.             if (morkF.MinorOutMealComplete)

  647.             {

  648.                 morkF.TakePlateLock = false;

  649.                 morkF.PotInPlace = false;

  650.                 morkF.MinorProcessExcuteLock = false;

  651.                 morkF.MinorOrderMaterialCom = false;

  652.             }

  653. 

  654.         }

  655. 

  656.         /// <summary>

  657.         /// 转台控制

  658.         /// </summary>

  659.         private void TurntableControl()

  660.         {

  661.             //正常轮询

  662.             //if (morkF.TakeMaterialQueue.Count > 0 && !morkF.TurnTableLock)

  663.             //{

  664.             //  var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == morkF.TakeMaterialQueue.ElementAt(0).BatchingId).ToList();

  665. 

  666.             //    if (result != null)

  667.             //    {

  668.             //        if (ushort.TryParse(result[0].BatchingLoc, out ushort loc))

  669.             //        {

  670.             //            TurnMaterialStore(loc);

  671.             //            MessageLog.GetInstance.Show($"转台转到【{loc}】位置");

  672.             //            morkF.TurnTableLock = true;  //取料完成后置false

  673.             //        }

  674.             //    }

  675.             //    else MessageLog.GetInstance.Show("未找到可用的物料信息");

  676.             //}

  677. 

  678.             //调试代码

  679.             if (morkF.TakeMaterialQueue.Count > 0 && !morkF.TurnTableLock)

  680.             {

  681.                 //  var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == morkF.TakeMaterialQueue.ElementAt(0).BatchingId).ToList();

  682.                 if (resultorder != null)

  683.                 {

  684. 

  685.                     TurnMaterialStore(resultorder[0]);

  686.                     MessageLog.GetInstance.Show($"转台转到【{resultorder[0]}】位置");

  687.                     resultorder.RemoveAt(0);

  688.                     morkF.TurnTableLock = true;  //取料完成后置false

  689. 

  690.                 }

  691.                 else MessageLog.GetInstance.Show("未找到可用的物料信息");

  692.             }

  693. 

  694.         }

  695. 

  696. 

  697.         /// <summary>

  698.         /// 供盘

  699.         /// </summary>

  700.         /// <exception cref="NotImplementedException"></exception>

  701.         private void TakePlatelTask()

  702.         {

  703.             if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakePlateQueue.Count > 0 && !morkF.ProvidePlateModule && !morkF.TakePlateLock)

  704.             {

  705. 

  706.                 if (morkF.TakePlateQueue.TryDequeue(out OrderLocInfo order))

  707.                 {

  708.                     StartTakePlate();

  709.                     morkF.CurrentOrderId = order.SuborderId;

  710.                     morkF.TakePlateLock = true; //订单完成后置false

  711.                     morkF.MainOutMealComplete = false;

  712.                     morkF.MinorOutMealComplete = false;

  713.                     // OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COOKING);

  714.                     MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取碗控制");

  715.                 }

  716.             }

  717.         }

  718. 

  719.         /// <summary>

  720.         /// 取锅到灶台

  721.         /// </summary>

  722.         /// <exception cref="NotImplementedException"></exception>

  723.         private void TakePotTask()

  724.         {

  725.             //while (!((!morkF.CleanModule && !morkF.KitchenOneStatus && morkF.CleanComplete) || (!morkF.SecondCleanModule && !morkF.KitchenSecondStatus && morkF.SecondCleanComplete)))

  726.             //{

  727.             //    Task.Delay(5).Wait();

  728.             //}

  729.             while ((!morkF.CleanModule||!morkF.SecondCleanModule)&&(!morkF.KitchenOneStatus||!morkF.KitchenSecondStatus)&&(morkF.CleanComplete|| morkF.SecondCleanComplete))//等待取锅条件满足

  730.             {

  731.                 Task.Delay(5).Wait();

  732.             }

  733.             while (morkF.RoobotIdle)//等待机器人空闲

  734.             {

  735.                 Task.Delay(5).Wait();

  736.             }

  737.             TakePotToKitchen();

  738.             WriteData("M1.5", false);//清洗模组1完成复位

  739.             MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】执行取锅到灶台控制");

  740.             while (!morkF.PutPotToKitchenComlete)

  741.             {

  742.                 Task.Delay(5).Wait();

  743.             }

  744.             morkF.PotInPlace = morkF.PutPotToKitchenComlete;//锅到位

  745.             WriteData("M14.0", false);//机器人取锅完成复位

  746. 

  747.             Thread.Sleep(2000);

  748. 

  749. 

  750. 

  751. 

  752.         }

  753.         /// <summary>

  754.         /// 转台复位

  755.         /// </summary>

  756.         /// <param name="loc"></param>

  757.         public void TurnReset(int loc)

  758.         {

  759.             switch (loc)

  760.             {

  761.                 case 1: WriteData("M13.0", false); break;

  762.                 case 2: WriteData("M13.1", false); break;

  763.                 case 3: WriteData("M13.2", false); break;

  764.                 case 4: WriteData("M13.3", false); break;

  765.                 case 5: WriteData("M13.4", false); break;

  766.             }

  767.         }

  768.         /// <summary>

  769.         /// 取素菜A料

  770.         /// </summary>

  771.         private void TakeBurdenATask()

  772.         {

  773.             int loc = 0;

  774.             while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  775.             {

  776.                 Task.Delay(5).Wait();

  777.             }

  778.             if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  779.             {

  780.                 loc = order.MaterialLoc;

  781.                 TakeBurden(loc);

  782.                 TurnReset(loc);//转台复位

  783. 

  784.                 MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  785.             }

  786.             //等待取料完成

  787.             while (!morkF.TakeMaterialComplete)

  788.             {

  789.                 Task.Delay(5).Wait();

  790.             }

  791.             morkF.MainOrderMaterialCom = false;

  792.             WriteData("M14.1", false);//机器人取料完成复位

  793.             morkF.TurnTableLock = false;//转台互锁解除

  794. 

  795. 

  796.         }

  797.         /// <summary>

  798.         /// 取素菜B料

  799.         /// </summary>

  800.         private void TakeBurdenBTask()

  801.         {

  802.             while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  803.             {

  804.                 Task.Delay(5).Wait();

  805.             }

  806.             if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  807.             {

  808.                 int loc = order.MaterialLoc;

  809.                 TakeBurden(loc);

  810.                 TurnReset(loc);//转台复位

  811.                 MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,执行取B料");

  812.             }

  813.             //等待取料完成

  814.             while (!morkF.TakeMaterialComplete)

  815.             {

  816.                 Task.Delay(5).Wait();

  817.             }

  818.             morkF.MainOrderMaterialCom = false;

  819.             WriteData("M14.1", false);//机器人取料完成复位                                                                                                      

  820.             morkF.TurnTableLock = false;//转台互锁解除

  821.             //while (!morkF.FallMaterialComplete)//等待倒料完成

  822.             //{

  823.             //    Task.Delay(5).Wait();

  824.             //}

  825.             //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，B料倒料完成");

  826.         }

  827.         /// <summary>

  828.         /// 取调味品C料

  829.         /// </summary>

  830.         /// <exception cref="NotImplementedException"></exception>

  831.         private void TakeBurdenCTask()

  832.         {

  833.             while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  834.             {

  835.                 Task.Delay(5).Wait();

  836.             }

  837.             if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  838.             {

  839.                 int loc = order.MaterialLoc;

  840.                 TakeBurden(loc);

  841.                 TurnReset(loc);//转台复位

  842.                 MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】,执行取C料");

  843.             }

  844.             MessageLog.GetInstance.ShowEx($"剩余配料数量{morkF.TakeMaterialQueue.Count}");

  845.             //等待取料完成

  846.             while (!morkF.TakeMaterialComplete)

  847.             {

  848.                 Task.Delay(5).Wait();

  849.             }

  850.             morkF.MainOrderMaterialCom = false;

  851.             WriteData("M14.1", false);//机器人取料完成复位                                                                                                    

  852.             morkF.TurnTableLock = false;//转台互锁解除

  853.             //while (!morkF.FallMaterialComplete)

  854.             //{

  855.             //    Task.Delay(5).Wait();

  856.             //}

  857.             //morkF.SingelOrderMaterialCom = true;

  858.             //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，C料倒料完成");

  859.             //}

  860.         }

  861.         /// <summary>

  862.         /// 出餐

  863.         /// </summary>

  864.         private void OutDishTask()

  865.         {

  866.             while (morkF.RoobotIdle || morkF.CleanModule || !morkF.ProvidePlateComplete)//等待条件满足

  867.             {

  868.                 Task.Delay(5).Wait();

  869.             }

  870.             if (morkF.TakePlateQueue.Count == 0)

  871.             {

  872.                 WriteData("M0.7", false);//无订单关闭抽风机

  873.             }

  874.             RobotOutMeal();

  875.             WriteData("M1.2", false);//供盘复位

  876.             MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】正在出餐");

  877. 

  878.         }

  879. 

  880.         /// <summary>

  881.         /// 洗锅放锅

  882.         /// </summary>

  883.         private void CleanPotTask()

  884.         {

  885.             while (!morkF.PlaceRinseTableComplete || morkF.CleanModule)

  886.             {

  887.                 Task.Delay(5).Wait();

  888.             }

  889.             MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】出餐完成");

  890.             WriteData("M14.2", false);//机器人出餐完成复位

  891.             //OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COMPLETED_COOK);

  892.             CleanModuleControl("Start");

  893.             if (morkF.MainProcessStatus)//主流程

  894.             {

  895.                 morkF.MainProcessFlag = false;

  896.                 minorReset.Set();

  897.             }

  898.             else if (morkF.MinorProessStatus)//辅流程

  899.             {

  900.                 morkF.MinorProcessFlag = false;

  901.                 mainReset.Set();

  902.             }

  903.         }

  904.         /// <summary>

  905.         /// 任务复位重启

  906.         /// </summary>

  907.         //private void ResetProgram()

  908.         //{

  909.         //    ThreadManage.GetInstance().StartLong(new Action(() =>

  910.         //    {

  911.         //        if (RTrig.GetInstance("ResetProgram").Start(morkF.DevicDataInite))

  912.         //        {

  913.         //            ThreadManage.GetInstance().StopTask("MainTask", new Action(() =>

  914.         //            {

  915.         //                ThreadManage.GetInstance().StopTask("ReadPLCData", new Action(() =>

  916.         //                {

  917.         //                    morkF = null;

  918.         //                    morkF = new GVL_MorkF();

  919.         //                    ActionManage.GetInstance.Send("ResetProgram");

  920.         //                    ActionManage.GetInstance.Send("ClearOrders");

  921.         //                    ReadData();

  922.         //                    Main();

  923.         //                }));

  924.         //            }));

  925.         //        }

  926. 

  927.         //        Thread.Sleep(10);

  928.         //    }), "ResetProgram");

  929.         //}

  930.         /// <summary>

  931.         /// 翻转机下降及状态检测

  932.         /// </summary>

  933.         public void TurnDownStatusDetect()

  934.         {

  935.             TurnMachineOrientControl("Down");

  936. 

  937.             while (!morkF.TurnMachineDownComplete)//等待翻转机下降完成

  938.             {

  939.                 Task.Delay(5).Wait();

  940.             }

  941.             WriteData("M8.3", false);//下降完成复位

  942.             MessageLog.GetInstance.Show($"翻转机下降完成");

  943.             //if (morkF.MaterialCount == 3 && morkF.MainProcessStatus)

  944.             //{

  945.             //    morkF.MainProcessWait = true;

  946.             //}

  947.             //else if (morkF.MaterialCount == 3 && morkF.MinorProessStatus)

  948.             //{ 

  949.             //    morkF.MinorProcessWait = true;

  950.             //}

  951. 

  952.         }

  953.         /// <summary>

  954.         /// 翻转机上升及状态检测

  955.         /// </summary>

  956.         public void TurnUpStatusDetect()

  957.         {

  958.             while (morkF.RoobotIdle)//机器人忙碌

  959.             {

  960.                 Task.Delay(5).Wait();

  961.             }

  962.             TurnMachineOrientControl("Top");//翻转机上升

  963.             while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成

  964.             {

  965.                 Task.Delay(5).Wait();

  966.             }

  967.             WriteData("M8.1", false);//上升完成复位

  968.             if (morkF.MainProcessStatus)//代表主流程执行的操作

  969.             {

  970.                 if (!morkF.MainOrderMaterialCom)

  971.                 {

  972.                     WriteData("M14.3", true);//倒料

  973.                     while (!morkF.FallMaterialComplete)//等待倒料完成

  974.                     {

  975.                         Task.Delay(5).Wait();

  976.                     }

  977.                     morkF.MaterialCount++;

  978.                     WriteData("M14.3", false);//倒料复位

  979.                     if (morkF.MaterialCount == 3)

  980.                     {

  981.                         //允许执行下一个订单流程

  982.                         morkF.MaterialCount = 0;

  983.                         morkF.MinorProcessFlag = true;

  984. 

  985.                     }

  986.                     morkF.MainOrderMaterialCom = true;

  987.                     MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】，配料倒料完成");

  988.                 }

  989.                 else //主流程准备阻塞

  990.                 {

  991.                     morkF.MainProcessWait = true;

  992.                 }

  993.             }

  994.             else if (morkF.MinorProessStatus)//代表辅流程执行的操作

  995.             {

  996.                 if (!morkF.MinorOrderMaterialCom)

  997.                 {

  998.                     WriteData("M14.3", true);//倒料

  999.                     while (!morkF.FallMaterialComplete)//等待倒料完成

  1000.                     {

  1001.                         Task.Delay(5).Wait();

  1002.                     }

  1003.                     morkF.MaterialCount++;

  1004.                     WriteData("M14.3", false);//倒料复位

  1005.                     if (morkF.MaterialCount == 3)

  1006.                     {

  1007.                         //允许执行下一个订单流程

  1008.                         morkF.MaterialCount = 0;

  1009.                         morkF.MainProcessFlag = true;

  1010. 

  1011.                     }

  1012.                     morkF.MinorOrderMaterialCom = true;

  1013.                     MessageLog.GetInstance.Show($"订单【{ morkF.CurrentOrderId}】，配料倒料完成");

  1014.                 }

  1015.                 else //辅流程准备阻塞

  1016.                 {

  1017.                     morkF.MinorProcessWait = true;

  1018.                 }

  1019.             }

  1020. 

  1021.             MessageLog.GetInstance.Show("翻转机上升完成");

  1022. 

  1023.         }

  1024.         private void GetStatus(string key, Action<bool[]> action)

  1025.         {

  1026.             if (peripheralStatus.ContainsKey(key))

  1027.             {

  1028.                 action((bool[])peripheralStatus[key]);//获取PLC指定地址的状态值

  1029.             }

  1030.         }

  1031.         /// <summary>

  1032.         /// 写数据

  1033.         /// </summary>

  1034.         /// <param name="address"></param>

  1035.         /// <param name="value"></param>

  1036.         private void WriteData(string address, object value)

  1037.         {

  1038.             EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });

  1039.         }

  1040.         /// <summary>

  1041.         /// 灶台档位调节

  1042.         /// </summary>

  1043.         public void KitchenAdjustGears(int number)

  1044.         {

  1045.             while (!morkF.PotInPlace)

  1046.             {

  1047.                 Task.Delay(5).Wait();

  1048.             }

  1049. 

  1050.             switch (number)

  1051.             {

  1052.                 case 0:

  1053.                     WriteData("M4.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  1054.                     break;

  1055.                 case 1:

  1056.                     WriteData("M4.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  1057.                     break;

  1058.                 case 2:

  1059.                     WriteData("M4.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  1060.                     break;

  1061.                 case 3:

  1062.                     WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  1063.                     break;

  1064.                 case 4:

  1065.                     WriteData("M4.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100

  1066.                     break;

  1067.                 case 5:

  1068.                     WriteData("M4.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101

  1069.                     break;

  1070.                 case 6:

  1071.                     WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110

  1072.                     break;

  1073.                 case 7:

  1074.                     WriteData("M4.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111

  1075.                     break;

  1076.                 case 8:

  1077.                     WriteData("M4.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000

  1078.                     break;

  1079.                 case 9:

  1080.                     WriteData("M4.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001

  1081.                     break;

  1082. 

  1083.             }

  1084.             MessageLog.GetInstance.Show($"订单【{morkF.CurrentOrderId}】,加热档位调至{number}挡");

  1085. 

  1086.         }

  1087.         public void TurnMaterialStore(int loc)

  1088.         {

  1089.             switch (loc)

  1090.             {

  1091.                 case 1:

  1092.                     WriteData("M13.0", true);

  1093.                     break;

  1094.                 case 2:

  1095.                     WriteData("M13.1", true);

  1096.                     break;

  1097.                 case 3:

  1098.                     WriteData("M13.2", true);

  1099.                     break;

  1100.                 case 4:

  1101.                     WriteData("M13.3", true);

  1102.                     break;

  1103.                 case 5:

  1104.                     WriteData("M13.4", true);

  1105.                     break;

  1106.             }

  1107. 

  1108.         }

  1109.         public void PLCInite()

  1110.         {

  1111.             WriteData("M0.0", true);

  1112. 

  1113.         }

  1114.         /// <summary>

  1115.         /// 供盘启动

  1116.         /// </summary>

  1117.         public void StartTakePlate()

  1118.         {

  1119.             WriteData("M1.1", true);

  1120.         }

  1121.         /// <summary>

  1122.         /// 取锅到灶台

  1123.         /// </summary>

  1124.         public void TakePotToKitchen()

  1125.         {

  1126.             WriteData("M14.0", true);

  1127.         }

  1128.         /// <summary>

  1129.         /// 机器人出餐并将锅放置清洗台位置

  1130.         /// </summary>

  1131.         public void RobotOutMeal()

  1132.         {

  1133.             WriteData("M14.2", true);

  1134.         }

  1135.         /// <summary>

  1136.         /// 注油

  1137.         /// </summary>

  1138.         public void AddOil()

  1139.         {

  1140.             while (!morkF.PotInPlace)

  1141.             {

  1142.                 Task.Delay(5).Wait();

  1143.             }

  1144. 

  1145.             WriteData("M2.7", true);//加油

  1146.             WriteData("M0.7", true);//打开抽风机

  1147.             MessageLog.GetInstance.Show("开始注油");

  1148.             while (!morkF.FallOilComplete)

  1149.             {

  1150.                 Task.Delay(5).Wait();

  1151.             }

  1152.             MessageLog.GetInstance.Show("注油完成");

  1153. 

  1154.         }

  1155.         /// <summary>

  1156.         /// 翻转机方向控制

  1157.         /// </summary>

  1158.         /// <param name="orientation"></param>

  1159.         public void TurnMachineOrientControl(string orientation)

  1160.         {

  1161.             switch (orientation)

  1162.             {

  1163.                 case "Top": WriteData("M8.0", true); break;

  1164.                 // case "Middle": WriteData("", 1); break;

  1165.                 case "Down": WriteData("M8.2", true); break;

  1166.             }

  1167.             MessageLog.GetInstance.Show($"翻转机执行{orientation}操作");

  1168.         }

  1169.         /// <summary>

  1170.         /// 翻转机档位控制

  1171.         /// </summary>

  1172.         public void TurnMachineGearsControl(int gear)

  1173.         {

  1174.             while (!morkF.PotInPlace)

  1175.             {

  1176.                 Task.Delay(5).Wait();

  1177.             }

  1178.             switch (gear)

  1179.             {

  1180.                 case 0: WriteData("M7.0", true); Task.Delay(1000).Wait(); break;//关闭翻炒机

  1181.                 case 1: WriteData("M7.1", true); break;//翻炒机1挡

  1182.                 case 2: WriteData("M7.2", true); break;//翻炒机2挡

  1183.                 case 3: WriteData("M7.3", true); break;//翻炒机3挡

  1184.             }

  1185.             MessageLog.GetInstance.Show($"翻转机档位调至{gear}挡");

  1186.         }

  1187.         /// <summary>

  1188.         /// 取A,B,C料

  1189.         /// </summary>

  1190.         public void TakeBurden(int loc)

  1191.         {

  1192.             WriteData("M14.1", true);//机器人取料

  1193.         }

  1194.         /// <summary>

  1195.         /// 清洗模组1启停控制

  1196.         /// </summary>

  1197.         public void CleanModuleControl(string status)

  1198.         {

  1199.             if (status == "Start")

  1200.             {

  1201.                 WriteData("M1.4", true);

  1202.             }

  1203.             if (status == "Stop")

  1204.             {

  1205.                 WriteData("M1.4", false);

  1206.             }

  1207.             MessageLog.GetInstance.Show($"清洗模组执行【{status}】操作");

  1208.         }

  1209. 

  1210.         public override void Stop()

  1211.         {

  1212. 

  1213.         }

  1214.     }

  1215. }