BPASmartClient/FryPot_DosingSystem/Control/DosingLogicControl.cs

using BPASmartClient.AGV;
using BPASmartClient.AGV.Enums;
using BPASmartClient.AGV.Feedback;
using BPASmartClient.CustomResource.Pages.Model;
using BPASmartClient.Helper;
using BPASmartClient.HubHelper;
using FryPot_DosingSystem.Model;
using FryPot_DosingSystem.ViewModel;
using Newtonsoft.Json;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Media;
using System.Windows;
using FryPot_DosingSystem.AGV;

namespace FryPot_DosingSystem.Control
{
    internal class DosingLogicControl
    {
        public static DosingLogicControl _instance;
        public static DosingLogicControl GetInstance => _instance ??= new DosingLogicControl();
        public ConcurrentDictionary<string, object> PlcReadData = new ConcurrentDictionary<string, object>();
        /// <summary>
        /// 线体1配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> RecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体2配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> LTwoRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体3配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> LThreeRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体1进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> InputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体2进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LTwoInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体3进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LThreeInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体1出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> OutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体2出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LTwoOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体3出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LThreeOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 全局变量对象声明
        /// </summary>
        GlobalVariable globalVar;
        /// <summary>
        /// 线体状态对象声明
        /// </summary>
        HardWareStatusViewModel hardWareStatusModel;
        /// <summary>
        /// 报警信息对象声明
        /// </summary>
        #region 上位机内部变量
        int FryPotAlarm = 0;//炒锅1滚筒故障信号 1：无故障 -1：故障
        int FryPotTwoAlarm = 0;//炒锅2滚筒故障信号 1：无故障 -1：故障
        int FryPotThreeAlarm = 0;//炒锅3滚筒故障信号 1：无故障 -1：故障
        int FryPotFourAlarm = 0;//炒锅4滚筒故障信号 1：无故障 -1：故障
        int FryPotFiveAlarm = 0;//炒锅5滚筒故障信号 1：无故障 -1：故障
        int ReicpeNum = 0;//记录接收到的配方数
        bool ErrorRecipe;//线体1错误配方标识
        bool LTwoErrorRecipe;//线体2错误配方标识
        bool LThreeErrorRecipe;//线体3错误配方标识
        #endregion
        #region agv临时变量
        //bool agvArriveUpLoad = false;//agv是否到达线体1上料位置
        //bool agvArriveLTwoUpLoad = false;//agv是否到达线体2上料位置
        //bool agvArriveLThreeUpLoad = false;//agv是否到达线体3上料位置

        //bool agvArriveUnLoad = false;//线体1 agv是否到达炒锅送料位置
        //bool LTwoagvArriveUnLoad = false;//线体2 agv是否到达炒锅送料位置
        //bool LThreeagvArriveUnLoad = false;//线体3 agv是否到达炒锅送料位置

        //bool agvFryPotEmptyRollerArrive = false;// 线体1的agv是否拿到炒锅空桶
        //bool LTwoagvFryPotEmptyRollerArrive = false; //线体2的agv是否拿到炒锅空桶
        //bool LThreeagvFryPotEmptyRollerArrive = false;//线体3的agv是否拿到炒锅空桶

        string LOnerobotJobId = String.Empty;//线体1当前上游系统任务号，全局唯一
        string LTworobotJobId = String.Empty;//线体2当前上游系统任务号，全局唯一
        string LThreerobotJobId = String.Empty;//线体3当前上游系统任务号，全局唯一
        string LFourrobotJobId = String.Empty;//线体4当前上游系统任务号，全局唯一

        //bool loadInteractive = false;// fasle:不需要上料交互 true:需要上料交互
        #endregion
        /// <summary>
        /// 调试命令注册
        /// </summary>
        public void CommandRegist()
        {
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineOne.OutMaterialingSingle = 1;
            }), "RollerLineRunning");
            ActionManage.GetInstance.Register(new Action<object>((obj) =>
            {
                globalVar.rollerLineOne.StationEight = (ushort)obj;
            }), "EightWorkLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotOne.InputMaterialArrivedSingle = 1;
                globalVar.fryPotFour.InputMaterialArrivedSingle = 1;
            }), "FryPotInputArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotOne.EmptyBarrelArrivedSingle = 1;
                globalVar.fryPotFour.EmptyBarrelArrivedSingle = 1;
            }), "FryPotEmptyRollerArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUpLoad = true;
            }), "AGVLOneArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUnLoad = true;
            }), "AGVFryPotDownArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUpLoad = true;
            }), "AGVFryPotUpArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvFryPotEmptyRollerArrive = true;

            }), "AGVFryPotGetEmptyRoller");
            //滚筒线2
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineTwo.OutMaterialingSingle = 1;
            }), "RollerLineTwoRunning");
            ActionManage.GetInstance.Register(new Action<object>((obj) =>
            {
                globalVar.rollerLineTwo.StationEight = (ushort)obj;
            }), "TwoEightWorkLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotTwo.InputMaterialArrivedSingle = 1;
                globalVar.fryPotFive.InputMaterialArrivedSingle = 1;
            }), "FryPotTwoInputArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotTwo.EmptyBarrelArrivedSingle = 1;
                globalVar.fryPotFive.EmptyBarrelArrivedSingle = 1;
            }), "FryPotTwoEmptyRollerArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLTwoUpLoad = true;
            }), "AGVLTwoArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.LTwoagvArriveUnLoad = true;
            }), "AGVFryPotTwoDownArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLTwoUpLoad = true;
            }), "AGVFryPotTwoUpArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.LTwoagvFryPotEmptyRollerArrive = true;

            }), "AGVFryPotTwoGetEmptyRoller");
            //滚筒线3
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineThree.OutMaterialingSingle = 1;
            }), "RollerLineThreeRunning");
            ActionManage.GetInstance.Register(new Action<object>((obj) =>
            {
                globalVar.rollerLineThree.StationEight = (ushort)obj;
            }), "ThreeEightWorkLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotThree.InputMaterialArrivedSingle = 1;
            }), "FryPotThreeInputArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotThree.EmptyBarrelArrivedSingle = 1;
            }), "FryPotThreeEmptyRollerArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLThreeUpLoad = true;
            }), "AGVLThreeArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.LThreeagvArriveUnLoad = true;
            }), "AGVFryPotThreeDownArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLThreeUpLoad = true;
            }), "AGVFryPotThreeUpArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.LThreeagvFryPotEmptyRollerArrive = true;

            }), "AGVFryPotThreeGetEmptyRoller");
        }
        public DosingLogicControl()
        {
            globalVar = new GlobalVariable();
            hardWareStatusModel = HardWareStatusViewModel.GetInstance;
            ActionManage.GetInstance.Register(new Action<object[]>(RecipeDataParse), "RecipeSetDown");
            ActionManage.GetInstance.Register(new Action(() => { RecipeQuene.Clear(); InputMaterialQuene.Clear(); OutputMaterialQuene.Clear(); LTwoInputMaterialQuene.Clear(); LTwoOutputMaterialQuene.Clear(); LThreeInputMaterialQuene.Clear(); LThreeOutputMaterialQuene.Clear(); }), "ClearRecipes");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 1; }), "StartPlcInite");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 0; }), "EndPlcInite");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitMainTask = true; }), "FryPotDosingMainTaskExit");
            HubHelper.GetInstance.Report = new Action<object>(AgvTaskUpReportDataAnalysis);
            HubHelper.GetInstance.Upstreamrequest = new Action<object>(AgvFeedBackUpReportDataAnalysis);
            // ResetProgram();
            ReadPlcData();
            MainTask();
            CommandRegist();
        }

        /// <summary>
        /// AGV上下料上报数据解析
        /// </summary>
        /// <param name="obj"></param>
        private void AgvFeedBackUpReportDataAnalysis(object obj)
        {
            //if (obj != null && obj is byte[] datas)
            //{
            //string strData = Encoding.UTF8.GetString(datas);
            Upstreamrequest objData = JsonConvert.DeserializeObject<Upstreamrequest>(obj.ToString());
            if (objData != null)
            {

                //线体1请求上下料
                if (objData.robotJobId == LOnerobotJobId && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                {
                    globalVar.agvArriveUpLoad = true;//AGV到达上料位置

                }
                if (objData.robotJobId == LOnerobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.agvArriveUnLoad = true;//AGV到达下料位置

                }
                //线体2请求上下料
                if (objData.robotJobId == LTworobotJobId && objData.command == "LOAD")
                {
                    globalVar.agvArriveLTwoUpLoad = true;//AGV到达上料位置

                }
                if (objData.robotJobId == LTworobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.LTwoagvArriveUnLoad = true;//AGV到达下料位置

                }
                //线体3请求上下料
                if (objData.robotJobId == LThreerobotJobId && objData.command == "LOAD")
                {
                    globalVar.agvArriveLThreeUpLoad = true;//AGV到达上料位置

                }
                if (objData.robotJobId == LThreerobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.LThreeagvArriveUnLoad = true;//AGV到达下料位置

                }
            }

        }

        /// <summary>
        /// AGV搬运任务上报数据解析
        /// </summary>
        /// <param name="obj"></param>
        private void AgvTaskUpReportDataAnalysis(object obj)
        {
            //if (obj != null && obj is byte[] datas)
            //{
            //    string strData = Encoding.UTF8.GetString(datas);
            AGVToUpSystem objData = JsonConvert.DeserializeObject<AGVToUpSystem>(obj.ToString());
            if (objData != null)
            {
                #region 线体上下料任务信息回报
                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指线体上料
                {

                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指线体上料
                {
                    //日志
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指线体上料
                {
                    //日志
                }

                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指线体上料
                {
                    AgvViewModel.GetInstance().Set滚筒线上数量(1, (globalVar.LOneMaterialNum - 1).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.Yes);
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_1);
                    }
                    else if (globalVar.LOneFryPotSerial == 4)
                    {
                        AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_4);
                    }

                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指线体上料
                {
                    AgvViewModel.GetInstance().Set滚筒线上数量(2, (globalVar.LTwoMaterialNum - 1).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.Yes);
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_2);
                    }
                    else if (globalVar.LTwoFryPotSerial == 5)
                    {
                        AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_5);
                    }
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指线体上料
                {
                    AgvViewModel.GetInstance().Set滚筒线上数量(3, (globalVar.LThreeMaterialNum - 1).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.Yes);
                    AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.yc_3_3);

                }
                //线体1任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料
                {

                }
                //线体2任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料
                {

                }
                //线体3任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料
                {

                }
                //线体1任务上报
                if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料
                {

                }
                //线体2任务上报
                if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料
                {

                }
                //线体3任务上报
                if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料
                {

                }
                #endregion

                #region 空桶上下料任务信息回报
                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指空桶上料
                {
                    //日志
                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指空桶上料
                {
                    //日志
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指空桶上料
                {
                    //日志
                }

                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指空桶上料
                {
                    globalVar.agvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.OnllYes);
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_1);
                    }
                    else if (globalVar.LOneFryPotSerial == 4)
                    {
                        AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_4);
                    }
                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指空桶上料
                {
                    globalVar.LTwoagvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.OnllYes);
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_2);
                    }
                    else if (globalVar.LTwoFryPotSerial == 5)
                    {
                        AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_5);
                    }
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指空桶上料
                {
                    globalVar.LThreeagvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3);
                }
                //线体1任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No);
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString());
                    }
                }
                //线体2任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No);
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString());
                    }
                }
                //线体3任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No);
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString());
                    }
                }
                //线体1任务上报
                if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指空桶下料
                {
                    globalVar.EmptyRollerUnLoadcCom = true;
                    AgvViewModel.GetInstance().Set小车运动(1, AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(1);
                    AgvViewModel.GetInstance().Set停车桩(1, IsBool.Yes);
                }
                //线体2任务上报
                if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指空桶下料
                {
                    globalVar.LTwoEmptyRollerUnLoadcCom = true;
                    AgvViewModel.GetInstance().Set小车运动(2, AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(2);
                    AgvViewModel.GetInstance().Set停车桩(2, IsBool.Yes);
                }
                //线体3任务上报
                if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指空桶下料
                {
                    globalVar.LThreeEmptyRollerUnLoadcCom = true;
                    AgvViewModel.GetInstance().Set小车运动(3, AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(3);
                    AgvViewModel.GetInstance().Set停车桩(3, IsBool.Yes);
                }
                #endregion


            }

        }

        /// <summary>
        /// 主任务重启
        /// </summary>
        private void ResetProgram()
        {
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                if (RTrig.GetInstance("ResetProgram").Start(globalVar.PlcInite == 1))//判断是否初始化 一初始化就重启主任务
                {
                    MessageLog.GetInstance.ShowUserLog("主任务正在重启");

                    ThreadManage.GetInstance().StopTask("MainViewReadPlcData", new Action(() =>
                    {
                        ActionManage.GetInstance.CancelRegister("RecipeSetDown");
                        ActionManage.GetInstance.Register(new Action<object>(RecipeDataParse), "RecipeSetDown");
                        ActionManage.GetInstance.Send("ClearRecipes");
                        ThreadManage.GetInstance().StopTask("滚筒线1任务线程", new Action(() =>
                        {
                            ThreadManage.GetInstance().StopTask("滚筒线2任务线程", new Action(() =>
                            {
                                ThreadManage.GetInstance().StopTask("滚筒线3任务线程", new Action(() =>
                                {
                                    globalVar = null;
                                    globalVar = new GlobalVariable();
                                    ReicpeNum = 0;
                                    ReadPlcData();
                                    MainTask();
                                    MessageLog.GetInstance.ShowUserLog("主任务重启完成");

                                }));
                            }));

                        }));
                    }));
                }

                Thread.Sleep(10);
            }), "ResetProgram");
        }
        /// <summary>
        /// 实时获取plc数据
        /// </summary>
        public void ReadPlcData()
        {
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetAddressData("D2001", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineOne.StationOne = data[0];
                    globalVar.rollerLineOne.StationTwo = data[1];
                    globalVar.rollerLineOne.StationThree = data[2];
                    globalVar.rollerLineOne.StationFour = data[3];
                    globalVar.rollerLineOne.StationFive = data[4];
                    globalVar.rollerLineOne.StationSix = data[5];
                    globalVar.rollerLineOne.StationSeven = data[6];
                    globalVar.rollerLineOne.StationEight = data[7];
                }));
                GetAddressData("D2011", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineTwo.StationOne = data[0];
                    globalVar.rollerLineTwo.StationTwo = data[1];
                    globalVar.rollerLineTwo.StationThree = data[2];
                    globalVar.rollerLineTwo.StationFour = data[3];
                    globalVar.rollerLineTwo.StationFive = data[4];
                    globalVar.rollerLineTwo.StationSix = data[5];
                    globalVar.rollerLineTwo.StationSeven = data[6];
                    globalVar.rollerLineTwo.StationEight = data[7];
                }));
                GetAddressData("D2021", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineThree.StationOne = data[0];
                    globalVar.rollerLineThree.StationTwo = data[1];
                    globalVar.rollerLineThree.StationThree = data[2];
                    globalVar.rollerLineThree.StationFour = data[3];
                    globalVar.rollerLineThree.StationFive = data[4];
                    globalVar.rollerLineThree.StationSix = data[5];
                    globalVar.rollerLineThree.StationSeven = data[6];
                    globalVar.rollerLineThree.StationEight = data[7];
                }));
                GetAddressData("D2031", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineOne.OutMaterialingSingle = data[3];
                    globalVar.rollerLineTwo.OutMaterialingSingle = data[4];
                    globalVar.rollerLineThree.OutMaterialingSingle = data[5];
                    //globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6];
                    //globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7];
                    //globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8];
                    AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble = data[6];
                    AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble = data[7];
                    AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble = data[8];

                }));
                GetAddressData("D2040", new Action<ushort[]>((data) =>
                {
                    globalVar.fryPotOne.InputMaterialRollerRunningSingle = data[0];
                    globalVar.fryPotTwo.InputMaterialRollerRunningSingle = data[1];
                    globalVar.fryPotThree.InputMaterialRollerRunningSingle = data[2];
                    globalVar.fryPotFour.InputMaterialRollerRunningSingle = data[3];
                    globalVar.fryPotFive.InputMaterialRollerRunningSingle = data[4];
                }));
                GetAddressData("D2045", new Action<ushort[]>((data) =>
                {
                    globalVar.fryPotOne.InputMaterialArrivedSingle = data[0];
                    globalVar.fryPotTwo.InputMaterialArrivedSingle = data[1];
                    globalVar.fryPotThree.InputMaterialArrivedSingle = data[2];
                    globalVar.fryPotFour.InputMaterialArrivedSingle = data[3];
                    globalVar.fryPotFive.InputMaterialArrivedSingle = data[4];
                }));
                GetAddressData("D2050", new Action<ushort[]>((data) =>
                {
                    globalVar.fryPotOne.EmptyBarrelArrivedSingle = data[0];
                    globalVar.fryPotTwo.EmptyBarrelArrivedSingle = data[1];
                    globalVar.fryPotThree.EmptyBarrelArrivedSingle = data[2];
                    globalVar.fryPotFour.EmptyBarrelArrivedSingle = data[3];
                    globalVar.fryPotFive.EmptyBarrelArrivedSingle = data[4];
                }));
                GetAddressData("D2065", new Action<ushort[]>((data) =>
                {
                    globalVar.fryPotOne.EmptyBarrelRollerRunningSingle = data[0];
                    globalVar.fryPotTwo.EmptyBarrelRollerRunningSingle = data[1];
                    globalVar.fryPotThree.EmptyBarrelRollerRunningSingle = data[2];
                    globalVar.fryPotFour.EmptyBarrelRollerRunningSingle = data[3];
                    globalVar.fryPotFive.EmptyBarrelRollerRunningSingle = data[4];
                }));
                GetAddressData("D2070", new Action<ushort[]>((data) =>
                {
                    //globalVar.fryPotOne.RollerTroubleSingle = data[0];
                    //globalVar.fryPotTwo.RollerTroubleSingle = data[1];
                    //globalVar.fryPotThree.RollerTroubleSingle = data[2];
                    //globalVar.fryPotFour.RollerTroubleSingle = data[3];
                    //globalVar.fryPotFive.RollerTroubleSingle = data[4];
                    AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble = data[0];
                    AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble = data[1];
                    AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble = data[2];
                    AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble = data[3];
                    AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble = data[4];
                }));
                GetAddressData("D2078", new Action<ushort[]>(data =>
                {
                    globalVar.rollerLineOne.RecipeCompleteSingle = data[0];
                    globalVar.rollerLineTwo.RecipeCompleteSingle = data[1];
                    globalVar.rollerLineThree.RecipeCompleteSingle = data[2];
                }));
                GetAddressData("D2075", new Action<ushort[]>(data =>
                {

                    globalVar.CleadBarrelEnterSingle = data[0];
                }));
                GetAddressData("D2077", new Action<ushort[]>(data =>
                {

                    globalVar.CleadBarrelExitSingle = data[0];
                }));
                //globalVar.rollerLineOne.OutMaterialingSingle = 0;
                //globalVar.rollerLineOne.StationOne = 401;
                //globalVar.rollerLineOne.StationTwo = 402;
                //globalVar.rollerLineOne.OutMaterialingTroubleSingle = 1;
                // AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble =1;
                RollerLineStatusDisplay();
                Thread.Sleep(10);
            }), "MainViewReadPlcData");

        }
        /// <summary>
        /// 滚筒线运行状态显示
        /// </summary>
        private void RollerLineStatusDisplay()
        {
            hardWareStatusModel.RollerOneModel.LocOneRollerSerial = globalVar.rollerLineOne.StationOne;
            hardWareStatusModel.RollerOneModel.LocTwoRollerSerial = globalVar.rollerLineOne.StationTwo;
            hardWareStatusModel.RollerOneModel.LocThreeRollerSerial = globalVar.rollerLineOne.StationThree;
            hardWareStatusModel.RollerOneModel.LocFourRollerSerial = globalVar.rollerLineOne.StationFour;
            hardWareStatusModel.RollerOneModel.LocFiveRollerSerial = globalVar.rollerLineOne.StationFive;
            hardWareStatusModel.RollerOneModel.LocSixRollerSerial = globalVar.rollerLineOne.StationSix;
            hardWareStatusModel.RollerOneModel.LocSevenRollerSerial = globalVar.rollerLineOne.StationSeven;
            hardWareStatusModel.RollerOneModel.LocEightRollerSerial = globalVar.rollerLineOne.StationEight;
            if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)
            {

                hardWareStatusModel.RollerOneModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
            }
            else
            {

                hardWareStatusModel.RollerOneModel.RollerAlarmState = Color.FromRgb(255, 51, 153);//有故障
            }
            if (globalVar.rollerLineOne.OutMaterialingSingle == 1)//运行中
            {

                hardWareStatusModel.RollerOneModel.RollerRunState = Color.FromRgb(130, 232, 139);//运行中
            }
            else
            {

                hardWareStatusModel.RollerOneModel.RollerRunState = Color.FromRgb(84, 84, 84);//未运行
            }
            hardWareStatusModel.RollerTwoModel.LocOneRollerSerial = globalVar.rollerLineTwo.StationOne;
            hardWareStatusModel.RollerTwoModel.LocTwoRollerSerial = globalVar.rollerLineTwo.StationTwo;
            hardWareStatusModel.RollerTwoModel.LocThreeRollerSerial = globalVar.rollerLineTwo.StationThree;
            hardWareStatusModel.RollerTwoModel.LocFourRollerSerial = globalVar.rollerLineTwo.StationFour;
            hardWareStatusModel.RollerTwoModel.LocFiveRollerSerial = globalVar.rollerLineTwo.StationFive;
            hardWareStatusModel.RollerTwoModel.LocSixRollerSerial = globalVar.rollerLineTwo.StationSix;
            hardWareStatusModel.RollerTwoModel.LocSevenRollerSerial = globalVar.rollerLineTwo.StationSeven;
            hardWareStatusModel.RollerTwoModel.LocEightRollerSerial = globalVar.rollerLineTwo.StationEight;
            if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)
            {
                hardWareStatusModel.RollerTwoModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
            }
            else
            {
                hardWareStatusModel.RollerTwoModel.RollerAlarmState = Color.FromRgb(255, 51, 153);//有故障
            }
            if (globalVar.rollerLineTwo.OutMaterialingSingle == 1)//运行中
            {

                hardWareStatusModel.RollerTwoModel.RollerRunState = Color.FromRgb(130, 232, 139);//运行中

            }
            else
            {
                hardWareStatusModel.RollerTwoModel.RollerRunState = Color.FromRgb(84, 84, 84);//未运行
            }
            hardWareStatusModel.RollerThreeModel.LocOneRollerSerial = globalVar.rollerLineThree.StationOne;
            hardWareStatusModel.RollerThreeModel.LocTwoRollerSerial = globalVar.rollerLineThree.StationTwo;
            hardWareStatusModel.RollerThreeModel.LocThreeRollerSerial = globalVar.rollerLineThree.StationThree;
            hardWareStatusModel.RollerThreeModel.LocFourRollerSerial = globalVar.rollerLineThree.StationFour;
            hardWareStatusModel.RollerThreeModel.LocFiveRollerSerial = globalVar.rollerLineThree.StationFive;
            hardWareStatusModel.RollerThreeModel.LocSixRollerSerial = globalVar.rollerLineThree.StationSix;
            hardWareStatusModel.RollerThreeModel.LocSevenRollerSerial = globalVar.rollerLineThree.StationSeven;
            hardWareStatusModel.RollerThreeModel.LocEightRollerSerial = globalVar.rollerLineThree.StationEight;
            if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)
            {
                hardWareStatusModel.RollerThreeModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
            }
            else
            {
                hardWareStatusModel.RollerThreeModel.RollerAlarmState = Color.FromRgb(255, 51, 153);//有故障
            }
            if (globalVar.rollerLineThree.OutMaterialingSingle == 1)//运行中
            {
                hardWareStatusModel.RollerThreeModel.RollerRunState = Color.FromRgb(130, 232, 139);//运行中
            }
            else
            {
                hardWareStatusModel.RollerThreeModel.RollerRunState = Color.FromRgb(84, 84, 84);//未运行
            }
            //滚筒线4

        }
        /// <summary>
        /// 返回指定地址指定长度的数据
        /// </summary>
        /// <param name="address"></param>
        /// <returns></returns>
        public void GetAddressData(string address, Action<ushort[]> action)
        {
            PlcReadData = DeviceOperate.GetInstance.GetAllData();
            if (PlcReadData.ContainsKey(address))
            {
                action((ushort[])(PlcReadData[address]));
            }
        }
        /// <summary>
        /// 写Plc数据
        /// </summary>
        /// <param name="address"></param>
        /// <param name="Value"></param>
        public void WritePlcData(string address, ushort Value)
        {
            DeviceOperate.GetInstance.WritePlcData(address, Value);
        }
        /// <summary>
        /// 初始化任务
        /// </summary>
        //public void IniteTask()
        //{
        //    ThreadManage.GetInstance().StartLong(new Action(() =>
        //    {
        //        MainTask();
        //    }), "MainTask");
        //}
        /// <summary>
        /// 配方数据接收
        /// </summary>
        public void RecipeDataParse(object obj)
        {
            Task.Run(new Action(() =>
            {
                if (obj != null && obj is NewRecipeModel[] recipes)
                {
                    ReicpeNum = ReicpeNum + recipes.Length;
                    MessageLog.GetInstance.ShowUserLog($"新接收到{recipes.Length}个配方,总共{ReicpeNum}个配方");
                    for (int i = 0; i < recipes.Length; i++)
                    {
                        int? res = recipes[i].materialCollection.ElementAt(0).MaterialLoc / 100;
                        if (res != null)
                        {
                            switch (res)
                            {
                                case 1:
                                case 4: RecipeQuene.Enqueue(recipes[i]); break;
                                case 3: LThreeRecipeQuene.Enqueue(recipes[i]); break;
                                case 2:
                                case 5: LTwoRecipeQuene.Enqueue(recipes[i]); break;
                            }
                        }
                    }
                }

            }));

        }
        /// <summary>
        /// 开启主任务
        /// </summary>
        public void MainTask()
        {
            ////RecipeDataToPlc();
            //LOneRecipeDataToPlc();
            //LTwoRecipeDataToPlc();
            //LThreeRecipeDataToPlc();
            ////AgvLoadRoller();
            //LOneLoadRoller();
            //LTwoAgvLoadRoller();
            //LThreeAgvLoadRoller();
            //// FryPotInputMaterial();
            //LOneFryPotInputMaterial();
            //LTwoFryPotInputMaterial();
            //LThreeFryPotInputMaterial();
            ////FryPotOutputMaterial();
            //LOneFryPotOutputMaterial();
            //LTwoFryPotOutputMaterial();
            //LThreeFryPotOutputMaterial();

            ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute(); Thread.Sleep(10); }), "滚筒线1任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程");


        }
        /// <summary>
        /// 线体1的执行流程
        /// </summary>
        public void LineOneProcessExecute()
        {
            //if (!globalVar.LOneTaskLock)
            //{
            //    globalVar.LOneTaskLock = true;
                LOneRecipeDataToPlc();
                LOneLoadRoller();
                LOneFryPotInputMaterial();
                LOneFallMaterial();
                LOneFryPotOutputMaterial();
                LOneEmptyOperate();
            //    globalVar.LOneTaskLock = false;
            //}

        }
        /// <summary>
        /// 线体2的执行流程
        /// </summary>
        public void LineTwoProcessExecute()
        {
            //if (!globalVar.LTwoTaskLock)
            //{
            //    globalVar.LTwoTaskLock = true;
                LTwoRecipeDataToPlc();
                LTwoAgvLoadRoller();
                LTwoFryPotInputMaterial();
                LTwoFallMaterial();
                LTwoFryPotOutputMaterial();
                LTwoEmptyOperate();
            //    globalVar.LTwoTaskLock = false;

            //}
        }
        /// <summary>
        /// 线体3的执行流程
        /// </summary>
        public void LineThreeProcessExecute()
        {
            //if (!globalVar.LThreeTaskLock)
            //{
            //    globalVar.LThreeTaskLock = true;
                LThreeRecipeDataToPlc();
                LThreeAgvLoadRoller();
                LThreeFryPotInputMaterial();
                LThreeFallMaterial();
                LThreeFryPotOutputMaterial();
                LThreeEmptyOperate();
            //    globalVar.LThreeTaskLock = false;

            //}
        }

        /// <summary>
        /// 3号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void LThreeRecipeDataToPlc()
        {
            if (LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0 && !LThreeErrorRecipe)
            {
                if (globalVar.LThreeCurrentRecipeName != string.Empty)
                {
                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线【{globalVar.LThreeCurrentRecipeName}】 配方制作完成");
                    globalVar.LThreeCurrentRecipeName = string.Empty;
                }
            }
            if (LThreeRecipeQuene.Count > 0 && LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0)//后续添加其它限制条件
            {
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.goodsName = string.Empty; }));
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows = new ObservableCollection<WorkflowModel>(); }));
                AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Stop);
                if (globalVar.LThreeCurrentRecipeName != string.Empty)
                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线【{globalVar.LThreeCurrentRecipeName}】 配方制作完成");
                if (LThreeRecipeQuene.TryDequeue(out NewRecipeModel result))
                {
                    LThreeErrorRecipe = false;
                    int headNum = result.materialCollection[0].MaterialLoc / 100;
                    globalVar.LThreeMaterialNum = result.materialCollection.Count;
                    globalVar.LThreeFryPotSerial = headNum;
                    globalVar.LThreeCurrentRecipeName = result.RecipeName;
                    AgvViewModel.GetInstance().Set滚筒线上数量(3, globalVar.LThreeMaterialNum.ToString());
                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线开始制作【{result.RecipeName}】 配方");
                    for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                    {
                        if (result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && headNum == 3)
                        {
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.goodsName = result.RecipeName; }));
                            //将配方中原料加入新的队列
                            LThreeInputMaterialQuene.Enqueue(new MaterialInfo()
                            {
                                materialType = result.materialCollection[i],
                                materialId = result.RecipeId
                            });
                            RollerThreeDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//3号滚筒线桶号以及重量数据下发 
                        }
                        else
                        {
                            MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                            LThreeInputMaterialQuene.Clear();
                            LThreeErrorRecipe = true;
                            return;
                        }
                    }
                    DeviceOperate.GetInstance.WritePlcData("D1043", (ushort)result.materialCollection.Count);//发送3号滚筒线工序数据
                    //AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LThreeFryPotSerial, IsRun.Stop);
                }
            }



        }
        /// <summary>
        /// 2号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void LTwoRecipeDataToPlc()
        {
            if (LTwoOutputMaterialQuene.Count == 0 && LTwoInputMaterialQuene.Count == 0 && !LTwoErrorRecipe)
            {
                if (globalVar.LTwoCurrentRecipeName != string.Empty)
                {
                    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线【{globalVar.LTwoCurrentRecipeName}】 配方制作完成");
                    globalVar.LTwoCurrentRecipeName = string.Empty;
                }
            }

            if (LTwoRecipeQuene.Count > 0 && LTwoOutputMaterialQuene.Count == 0 && LTwoInputMaterialQuene.Count == 0)//后续添加其它限制条件
            {
                if (globalVar.LTwoFryPotSerial == 2)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.goodsName = string.Empty; }));
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows = new ObservableCollection<WorkflowModel>(); }));
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Stop);
                }
                if (globalVar.LTwoFryPotSerial == 5)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.goodsName = string.Empty; }));
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows = new ObservableCollection<WorkflowModel>(); }));
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Stop);
                }
                if (globalVar.LTwoCurrentRecipeName != string.Empty)
                    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线【{globalVar.LTwoCurrentRecipeName}】 配方制作完成");
                if (LTwoRecipeQuene.TryDequeue(out NewRecipeModel result))
                {
                    LTwoErrorRecipe = false;
                    int headNum = result.materialCollection[0].MaterialLoc / 100;
                    globalVar.LTwoMaterialNum = result.materialCollection.Count;
                    globalVar.LTwoFryPotSerial = headNum;
                    globalVar.LTwoCurrentRecipeName = result.RecipeName;
                    AgvViewModel.GetInstance().Set滚筒线上数量(2, globalVar.LTwoMaterialNum.ToString());
                    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线开始制作【{result.RecipeName}】 配方");
                    for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                    {
                        if (result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && (headNum == 2 || headNum == 5))
                        {
                            if (headNum == 1)//炒锅2
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.goodsName = result.RecipeName; }));
                            }
                            else//炒锅5
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.goodsName = result.RecipeName; }));
                            }
                            //将配方中原料加入新的队列
                            LTwoInputMaterialQuene.Enqueue(new MaterialInfo()
                            {
                                materialType = result.materialCollection[i],
                                materialId = result.RecipeId
                            });
                            RollerTwoDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//2号滚筒线桶号以及重量数据下发 
                        }
                        else
                        {
                            MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线配方桶号配置错误,取消【{result.RecipeName}】配方制作");
                            LTwoInputMaterialQuene.Clear();
                            LTwoErrorRecipe = true;
                            return;
                        }
                    }
                    DeviceOperate.GetInstance.WritePlcData("D1026", (ushort)result.materialCollection.Count);//发送2号滚筒线工序数据

                }
            }



        }

        /// <summary>
        /// 1号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        private void LOneRecipeDataToPlc()
        {
            if (OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0 && !ErrorRecipe)
            {
                if (globalVar.LOneCurrentRecipeName != string.Empty)
                {
                    MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线【{globalVar.LOneCurrentRecipeName}】 配方制作完成");
                    globalVar.LOneCurrentRecipeName = string.Empty;

                }
            }
            if (RecipeQuene.Count > 0 && OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0)//后续添加其它限制条件
            {
                if (globalVar.LOneFryPotSerial == 1)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.goodsName = string.Empty; }));
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows = new ObservableCollection<WorkflowModel>(); }));
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);
                }
                if (globalVar.LOneFryPotSerial == 4)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.goodsName = string.Empty; }));
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows = new ObservableCollection<WorkflowModel>(); }));
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);
                }
                if (RecipeQuene.TryDequeue(out NewRecipeModel result))
                {
                    ErrorRecipe = false;
                    int headNum = result.materialCollection[0].MaterialLoc / 100;
                    globalVar.LOneMaterialNum = result.materialCollection.Count;
                    globalVar.LOneFryPotSerial = headNum;
                    globalVar.LOneCurrentRecipeName = result.RecipeName;
                    AgvViewModel.GetInstance().Set滚筒线上数量(1, globalVar.LOneMaterialNum.ToString());
                    MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线开始制作【{result.RecipeName}】 配方");
                    for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                    {
                        if (result.materialCollection.Count <= 8 && result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && (headNum == 1 || headNum == 4))
                        {
                            if (headNum == 1)//炒锅1
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.goodsName = result.RecipeName; }));
                            }
                            else//炒锅4
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.goodsName = result.RecipeName; }));
                            }
                            //将配方中原料加入新的队列
                            InputMaterialQuene.Enqueue(new MaterialInfo()
                            {
                                materialType = result.materialCollection[i],
                                materialId = result.RecipeId
                            });
                            RollerOneDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//1号滚筒线桶号以及重量数据下发
                        }
                        else
                        {
                            MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                            InputMaterialQuene.Clear();
                            ErrorRecipe = true;
                            return;
                        }
                    }
                    DeviceOperate.GetInstance.WritePlcData("D1009", (ushort)result.materialCollection.Count);//发送1号滚筒线工序数据

                }
            }



        }

        /// <summary>
        /// 数据下发PLC
        /// </summary>
        //public void RecipeDataToPlc()
        //{
        //    if (RecipeQuene.Count > 0 && OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0)//后续添加其它限制条件
        //    {
        //        //NewRecipeModel newRecipe = new NewRecipeModel();
        //        //MaterialType material = new MaterialType();
        //        if (RecipeQuene.TryDequeue(out NewRecipeModel result))
        //        {
        //            //newRecipe = result;
        //            MessageLog.GetInstance.ShowRunLog($"开始制作【{result.RecipeName}】 配方");
        //            //for (int k = 0; k < newRecipe.materialCollection.Count - 1; k++)
        //            //{
        //            //    for (int j = 0; j < newRecipe.materialCollection.Count - 1 - k; j++)
        //            //    {
        //            //        if (newRecipe.materialCollection[j].MaterialLoc > newRecipe.materialCollection[j + 1].MaterialLoc)
        //            //        {
        //            //            material = newRecipe.materialCollection[j];
        //            //           // newRecipe.materialCollection[j] = null;
        //            //            newRecipe.materialCollection[j] = newRecipe.materialCollection[j + 1];
        //            //           // newRecipe.materialCollection[j + 1] = null;
        //            //            newRecipe.materialCollection[j + 1] = material;
        //            //        }
        //            //    }
        //            //}
        //            for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
        //            {
        //                //将配方中原料加入新的队列
        //                InputMaterialQuene.Enqueue(new MaterialInfo()
        //                {
        //                    materialType = result.materialCollection[i],
        //                    materialId = result.RecipeId
        //                });
        //                ushort n = result.materialCollection[i].MaterialLoc;
        //                switch (n / 100)
        //                {
        //                    case 1:
        //                    case 4: RollerOneDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//1号滚筒线桶号以及重量数据下发
        //                    case 2:
        //                    case 5: RollerTwoDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//2号滚筒线桶号以及重量数据下发
        //                    case 3: RollerThreeDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//3号滚筒线桶号以及重量数据下发
        //                }
        //            }
        //            switch (result.materialCollection[0].MaterialLoc / 100)
        //            {
        //                case 1:
        //                    DeviceOperate.GetInstance.WritePlcData("D1009", (ushort)result.materialCollection.Count); break;//发送1号滚筒线工序数据
        //                case 2:
        //                    DeviceOperate.GetInstance.WritePlcData("D1026", (ushort)result.materialCollection.Count); break;//发送2号滚筒线工序数据
        //                case 3:
        //                    DeviceOperate.GetInstance.WritePlcData("D1043", (ushort)result.materialCollection.Count); break;//发送3号滚筒线工序数据
        //            }
        //        }
        //    }

        //}
        /// <summary>
        /// AGV到配方线体1装桶以及出料到炒锅
        /// </summary>
        //public void AgvLoadRoller()
        //{
        //    //lineAlarm = 0;
        //    if (InputMaterialQuene.Count > 0)
        //    {
        //        switch (InputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
        //        {
        //            case 1:
        //            case 4: AgvToLineOneLoadRoller(); AgvFromLineOneToFryPot(); break;//AGV到1号线体装桶
        //            case 2:
        //            case 5: AgvToLineTwoLoadRoller(); AgvFromLineTwoToFryPot(); break;//AGV到2号线体装桶
        //            case 3: AgvToLineThreeLoadRoller(); AgvFromLineThreeToFryPot(); break;//AGV到3号线体装桶
        //        }
        //    }

        //}
        /// <summary>
        /// AGV到配方线体1装桶以及出料到炒锅
        /// </summary>
        public void LOneLoadRoller()
        {
            if (InputMaterialQuene.Count > 0)
            {
                AgvToLineOneLoadRoller();
                AgvFromLineOneToFryPot();//AGV到1号线体装桶
            }
        }
        /// <summary>
        ///  AGV到配方线体2装桶以及出料到炒锅
        /// </summary>
        public void LTwoAgvLoadRoller()
        {
            if (LTwoInputMaterialQuene.Count > 0)
            {

                AgvToLineTwoLoadRoller();
                AgvFromLineTwoToFryPot();//AGV到2号线体装桶 


            }
        }
        /// <summary>
        ///  AGV到配方线体3装桶以及出料到炒锅
        /// </summary>
        public void LThreeAgvLoadRoller()
        {
            if (LThreeInputMaterialQuene.Count > 0)
            {

                AgvToLineThreeLoadRoller();
                AgvFromLineThreeToFryPot();//AGV到2号线体装桶  


            }
        }
        /// <summary>
        /// AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        //public void FryPotInputMaterial()
        //{
        //    if (OutputMaterialQuene.Count > 0 && !globalVar.InOrOutputLock)
        //    {
        //        while (!agvArriveUnLoad)//等待agv到达炒锅位置
        //        {
        //            Thread.Sleep(5);
        //            if (globalVar.ExitMainTask)
        //                return;
        //        }
        //        AgvArriveFryPotSingleSetDown();
        //        FryPotRollerTroubleCheck();
        //        if (FryPotAlarm == 1)//炒锅滚筒无故障
        //        {
        //            //炒锅滚筒进料运行到位处理
        //            FryPotInputMaterialRollerOperate();
        //            globalVar.InOrOutputLock = true;
        //        }

        //    }

        //}
        /// <summary>
        /// 线体1的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LOneFryPotInputMaterial()
        {
            if (OutputMaterialQuene.Count > 0 && globalVar.agvArriveUnLoad && globalVar.AgvToFryPot && !globalVar.PotOneInputMaterialArrive)
            {
                //if (globalVar.LOneFryPotSerial == 1)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_1);
                //}
                //else if (globalVar.LOneFryPotSerial == 4)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_4);
                //}

                MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LOneFryPotSerial}】号炒锅下料位置");
                AgvArriveFryPotOneOrFourSingleSetDown();
                globalVar.agvArriveUnLoad = false;
                globalVar.PotOneInputMaterialArrive = true;
            }
        }

        public void LOneFallMaterial()
        {
            if (!globalVar.InOrOutputLock && (globalVar.fryPotOne.InputMaterialArrivedSingle == 1 || globalVar.fryPotFour.InputMaterialArrivedSingle == 1) && globalVar.PotOneInputMaterialArrive && OutputMaterialQuene.Count > 0 && !globalVar.PotOneOutputRollerArrive)
            {
                FryPotOneRollerTroubleCheck();
                if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//炒锅滚筒无故障
                {
                    if (globalVar.LOneFryPotSerial == 1)
                    {

                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));

                    }
                    else
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
                    }
                    AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No);
                    //炒锅滚筒进料运行到位处理
                    FryPotOneOrFourInputMaterialRollerOperate();
                    AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Start);
                    globalVar.InOrOutputLock = true;
                    globalVar.PotOneOutputRollerArrive = true;
                }
            }
        }
        /// <summary>
        /// 线体2的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LTwoFryPotInputMaterial()
        {
            if (LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoagvArriveUnLoad && globalVar.LTwoAgvToFryPot && !globalVar.LTwoPotInputMaterialArrive)
            {
                //if (globalVar.LTwoFryPotSerial == 2)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_2);
                //}
                //else if (globalVar.LTwoFryPotSerial == 5)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_5);
                //}
                MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LTwoFryPotSerial}】号炒锅下料位置");
                AgvArriveFryPotTwoOrFiveSingleSetDown();
                globalVar.LTwoagvArriveUnLoad = false;
                globalVar.LTwoPotInputMaterialArrive = true;
            }
        }
        public void LTwoFallMaterial()
        {
            if (!globalVar.LTwoInOrOutputLock && (globalVar.fryPotTwo.InputMaterialArrivedSingle == 1 || globalVar.fryPotFive.InputMaterialArrivedSingle == 1) && globalVar.LTwoPotInputMaterialArrive && LTwoOutputMaterialQuene.Count > 0 && !globalVar.LTwoPotOutputRollerArrive)
            {
                FryPotTwoRollerTroubleCheck();
                if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//炒锅滚筒无故障
                {
                    if (globalVar.LTwoFryPotSerial == 2)
                    {

                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));

                    }
                    else
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
                    }
                    AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No);
                    //炒锅滚筒进料运行到位处理
                    FryPotTwoOrFiveInputMaterialRollerOperate();
                    AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Start);
                    globalVar.LTwoInOrOutputLock = true;
                    globalVar.LTwoPotOutputRollerArrive = true;
                }
            }
        }
        /// <summary>
        /// 线体3的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LThreeFryPotInputMaterial()
        {
            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeagvArriveUnLoad && globalVar.LThreeAgvToFryPot && !globalVar.LThreePotInputMaterialArrive)
            {
                // AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.yc_3_3);
                MessageLog.GetInstance.ShowRunLog("AGV到达【3】号炒锅下料位置");
                AgvArriveFryPotThreeSingleSetDown();
                globalVar.LThreeagvArriveUnLoad = false;
                globalVar.LThreePotInputMaterialArrive = true;
            }
        }

        public void LThreeFallMaterial()
        {
            if (!globalVar.LThreeInOrOutputLock && globalVar.fryPotThree.InputMaterialArrivedSingle == 1 && globalVar.LThreePotInputMaterialArrive && LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreePotOutputRollerArrive)
            {
                FryPotThreeRollerTroubleCheck();
                if (FryPotThreeAlarm == 1)//炒锅滚筒无故障
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep, Name = LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
                    AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No);
                    //炒锅滚筒进料运行到位处理
                    FryPotThreeInputMaterialRollerOperate();
                    AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV
                    AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Start);
                    globalVar.LThreeInOrOutputLock = true;
                    globalVar.LThreePotOutputRollerArrive = true;
                }
            }
        }
        /// <summary>
        /// 炒锅出桶
        /// </summary>
        //public void FryPotOutputMaterial()
        //{
        //    if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock)
        //    {
        //        AgvFromFryPotToClean();//上游下发搬运任务给AGV
        //        while (!agvArriveUpLoad)//等待agv到达炒锅位置
        //        {
        //            Thread.Sleep(5);
        //            if (globalVar.ExitMainTask)
        //                return;
        //        }
        //        agvArriveUpLoad = false;
        //        AgvArriveFryPotOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
        //        FryPotRollerTroubleCheck();
        //        if (FryPotAlarm == 1)//无故障
        //        {
        //            FryPotOutEmpetyRollerOperate();
        //            if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
        //            {
        //                while (!agvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
        //                {
        //                    Thread.Sleep(5);
        //                    if (globalVar.ExitMainTask)
        //                        return;
        //                }
        //                //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
        //                globalVar.AllowAgvToLineLoadRoller = true;
        //                globalVar.InOrOutputLock = false;
        //            }
        //        }

        //    }
        //}
        /// <summary>
        /// 线体1对应炒锅出桶
        /// </summary>
        public void LOneFryPotOutputMaterial()
        {
            if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock && globalVar.agvArriveUpLoad && globalVar.PotOneOutputRollerArrive && !globalVar.AgvArrivePot)
            {

                MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LOneFryPotSerial}】号炒锅空桶上料位置");
                AgvArriveFryPotOneOrFourOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
                globalVar.agvArriveUpLoad = false;
                globalVar.AgvArrivePot = true;
            }
        }
        public void LOneEmptyOperate()
        {
            if ((globalVar.fryPotOne.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotFour.EmptyBarrelArrivedSingle == 1) && OutputMaterialQuene.Count > 0 && globalVar.AgvArrivePot)
            {

                FryPotOneRollerTroubleCheck();
                if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//无故障
                {
                    if (globalVar.agvFryPotEmptyRollerArrive)
                    {
                        FryPotOneOrFourOutEmpetyRollerOperate();
                        if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                        {
                            //AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.OnllYes);
                            //if (globalVar.LOneFryPotSerial == 1)
                            //{
                            //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_1);
                            //}
                            //else if (globalVar.LOneFryPotSerial == 4)
                            //{
                            //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_4);
                            //}
                            globalVar.agvFryPotEmptyRollerArrive = false;
                            globalVar.InOrOutputLock = false;
                            globalVar.LOneMaterialNum--;
                            MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LOneFryPotSerial}】号炒锅将空桶回收到4号滚筒线");
                            //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                            globalVar.AllowAgvToLineLoadRoller = true;
                            globalVar.LoadRoller = false;
                            globalVar.AgvToFryPot = false;
                            globalVar.PotOneInputMaterialArrive = false;
                            globalVar.PotOneOutputRollerArrive = false;
                            globalVar.AgvArrivePot = false;

                        }
                    }
                }
            }

        }

        /// <summary>
        /// 线体2对应炒锅出桶
        /// </summary>
        public void LTwoFryPotOutputMaterial()
        {
            if (LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoInOrOutputLock && globalVar.agvArriveLTwoUpLoad && globalVar.LTwoPotOutputRollerArrive && !globalVar.LTwoAgvArrivePot)
            {

                MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LTwoFryPotSerial}】号炒锅空桶上料位置");
                AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
                globalVar.agvArriveLTwoUpLoad = false;
                globalVar.LTwoAgvArrivePot = true;
            }
        }

        public void LTwoEmptyOperate()
        {
            if ((globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotFive.EmptyBarrelArrivedSingle == 1) && LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoAgvArrivePot)
            {
                FryPotTwoRollerTroubleCheck();
                if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//无故障
                {
                    if (globalVar.LTwoagvFryPotEmptyRollerArrive)
                    {
                        FryPotTwoOrFiveOutEmpetyRollerOperate();
                        if (LTwoOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                        {
                            //AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.OnllYes);
                            //if (globalVar.LTwoFryPotSerial == 2)
                            //{
                            //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_2);
                            //}
                            //else if (globalVar.LTwoFryPotSerial == 5)
                            //{
                            //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_5);
                            //}
                            globalVar.LTwoagvFryPotEmptyRollerArrive = false;
                            globalVar.LTwoInOrOutputLock = false;
                            globalVar.LTwoMaterialNum--;
                            MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LTwoFryPotSerial}】号炒锅将空桶回收到4号滚筒线");
                            //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                            globalVar.AllowAgvToLineTwoLoadRoller = true;
                            globalVar.LTwoLoadRoller = false;
                            globalVar.LTwoAgvToFryPot = false;
                            globalVar.LTwoPotInputMaterialArrive = false;
                            globalVar.LTwoPotOutputRollerArrive = false;
                            globalVar.LTwoAgvArrivePot = false;

                        }
                    }
                }
            }

        }
        /// <summary>
        /// 线体3对应炒锅出桶
        /// </summary>
        public void LThreeFryPotOutputMaterial()
        {
            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeInOrOutputLock && globalVar.agvArriveLThreeUpLoad && globalVar.LThreePotOutputRollerArrive && !globalVar.LThreeAgvArrivePot)
            {

                MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LThreeFryPotSerial}】号炒锅空桶上料位置");
                AgvArriveFryPotThreeOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
                globalVar.agvArriveLThreeUpLoad = false;
                globalVar.LThreeAgvArrivePot = true;
            }
        }

        public void LThreeEmptyOperate()
        {
            if (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 1 && LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeAgvArrivePot)
            {
                FryPotThreeRollerTroubleCheck();
                if (FryPotThreeAlarm == 1)//无故障
                {
                    if (globalVar.LThreeagvFryPotEmptyRollerArrive)
                    {
                        FryPotThreeOutEmpetyRollerOperate();
                        if (LThreeOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                        {
                            //AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.OnllYes);
                            //AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3);
                            globalVar.LThreeagvFryPotEmptyRollerArrive = false;
                            globalVar.LThreeInOrOutputLock = false;
                            globalVar.LThreeMaterialNum--;
                            MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LThreeFryPotSerial}】号炒锅将空桶回收到4号滚筒线");
                            //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                            globalVar.AllowAgvToLineThreeLoadRoller = true;
                            globalVar.LThreeLoadRoller = false;
                            globalVar.LThreeAgvToFryPot = false;
                            globalVar.LThreePotInputMaterialArrive = false;
                            globalVar.LThreePotOutputRollerArrive = false;
                            globalVar.LThreeAgvArrivePot = false;

                        }
                    }
                }
            }

        }
        /// <summary>
        /// 1号线体对应空桶清洗
        /// </summary>
        public void LOneEmptyRollerToClean()
        {
            if (globalVar.EmptyRollerUnLoadcCom)//agv在4号线体下料完成
            {
            erp: string id = Guid.NewGuid().ToString("N");//上游唯一ID
                if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId)
                {
                    goto erp;
                }
                string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
                LOnerobotJobId = id;
                FryCarryTaskErrorCodeAnalysis(info, 1);
                globalVar.AllowAgvToLineLoadRoller = true;
                globalVar.LoadRoller = false;
                globalVar.AgvToFryPot = false;
                globalVar.PotOneInputMaterialArrive = false;
                globalVar.PotOneOutputRollerArrive = false;
                globalVar.AgvArrivePot = false;
            }
        }
        /// <summary>
        /// 2号线体对应空桶清洗
        /// </summary>
        public void LTwoEmptyRollerToClean()
        {
            if (globalVar.LTwoEmptyRollerUnLoadcCom)//agv在4号线体下料完成
            {
                globalVar.AllowAgvToLineTwoLoadRoller = true;
                globalVar.LTwoLoadRoller = false;
                globalVar.LTwoAgvToFryPot = false;
                globalVar.LTwoPotInputMaterialArrive = false;
                globalVar.LTwoPotOutputRollerArrive = false;
                globalVar.LTwoAgvArrivePot = false;
            }
        }
        /// <summary>
        /// 3号线体对应空桶清洗
        /// </summary>
        public void LThreeEmptyRollerToClean()
        {
            if (globalVar.LThreeEmptyRollerUnLoadcCom)//agv在4号线体下料完成
            {
                globalVar.AllowAgvToLineThreeLoadRoller = true;
                globalVar.LThreeLoadRoller = false;
                globalVar.LThreeAgvToFryPot = false;
                globalVar.LThreePotInputMaterialArrive = false;
                globalVar.LThreePotOutputRollerArrive = false;
                globalVar.LThreeAgvArrivePot = false;
            }
        }

        /// <summary>
        /// 炒锅滚筒进料运行到位处理
        /// </summary>
        public void FryPotInputMaterialRollerOperate(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    while (globalVar.fryPotOne.InputMaterialArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
                case 2:
                    while (globalVar.fryPotTwo.InputMaterialArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
                case 3:
                    while (globalVar.fryPotThree.InputMaterialArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
                case 4:
                    while (globalVar.fryPotFour.InputMaterialArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
                case 5:
                    while (globalVar.fryPotFive.InputMaterialArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
            }

        }
        /// <summary>
        /// 炒锅1,4滚筒进料运行到位处理
        /// </summary>
        public void FryPotOneOrFourInputMaterialRollerOperate()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    //while (globalVar.fryPotOne.InputMaterialArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
                case 4:
                    //while (globalVar.fryPotFour.InputMaterialArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
            }
        }
        /// <summary>
        /// 炒锅2,5滚筒进料运行到位处理
        /// </summary>
        public void FryPotTwoOrFiveInputMaterialRollerOperate()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                    while (globalVar.fryPotTwo.InputMaterialArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
                case 5:
                    while (globalVar.fryPotFive.InputMaterialArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
            }
        }
        public void FryPotThreeInputMaterialRollerOperate()
        {
            while (globalVar.fryPotThree.InputMaterialArrivedSingle == 0)
            {
                Thread.Sleep(5); if (globalVar.ExitMainTask)
                    return;
            }
            MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：{LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料");
        }
        /// <summary>
        /// 炒锅滚筒空桶出桶处理
        /// </summary>
        public void FryPotOutEmpetyRollerOperate(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                case 2:
                    while (globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                case 3:
                    while (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                case 4:
                    while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                case 5:
                    while (globalVar.fryPotFive.EmptyBarrelArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;

            }
        }
        /// <summary>
        /// 炒锅1,4滚筒空桶出桶处理
        /// </summary>
        public void FryPotOneOrFourOutEmpetyRollerOperate()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    //while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶上料完成"); break;
                case 4:
                    //while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶上料完成"); break;
            }
        }
        /// <summary>
        /// 炒锅2,5滚筒空桶出桶处理
        /// </summary>
        public void FryPotTwoOrFiveOutEmpetyRollerOperate()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                    while (globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶上料完成"); break;
                case 5:
                    while (globalVar.fryPotFive.EmptyBarrelArrivedSingle == 0)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶上料完成"); break;
            }
        }
        /// <summary>
        /// 炒锅3滚筒空桶出桶处理
        /// </summary>
        public void FryPotThreeOutEmpetyRollerOperate()
        {
            while (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 0)
            {
                Thread.Sleep(5); if (globalVar.ExitMainTask)
                    return;
            }
            MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：【{LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶上料完成");
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体到炒锅）
        /// </summary>
        public void AgvArriveFryPotSingleSetDown(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1055", 1); break;//agv到炒锅1送料就位信号
                case 2: DeviceOperate.GetInstance.WritePlcData("D1056", 1); break;//agv到炒锅2送料就位信号
                case 3: DeviceOperate.GetInstance.WritePlcData("D1057", 1); break;//agv到炒锅3送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1058", 1); break;//agv到炒锅4送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1059", 1); break;//agv到炒锅5送料就位信号
            }
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体1到炒锅）
        /// </summary>
        public void AgvArriveFryPotOneOrFourSingleSetDown()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1055", 1); break;//agv到炒锅1送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1058", 1); break;//agv到炒锅4送料就位信号
            }
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体2到炒锅）
        /// </summary>
        public void AgvArriveFryPotTwoOrFiveSingleSetDown()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2: DeviceOperate.GetInstance.WritePlcData("D1056", 1); break;//agv到炒锅2送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1059", 1); break;//agv到炒锅5送料就位信号
            }
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体3到炒锅）
        /// </summary>
        public void AgvArriveFryPotThreeSingleSetDown()
        {
            DeviceOperate.GetInstance.WritePlcData("D1057", 1); //agv到炒锅3送料就位信号
        }
        /// <summary>
        /// 发送agv回桶就位信号至PLC
        /// </summary>
        public void AgvArriveFryPotOutEmptyRollerSingleSetDown(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1060", 1); break;//agv到炒锅1送料就位信号
                case 2: DeviceOperate.GetInstance.WritePlcData("D1061", 1); break;//agv到炒锅2送料就位信号
                case 3: DeviceOperate.GetInstance.WritePlcData("D1062", 1); break;//agv到炒锅3送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1063", 1); break;//agv到炒锅4送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1064", 1); break;//agv到炒锅5送料就位信号
            }
        }

        public void AgvArriveFryPotOneOrFourOutEmptyRollerSingleSetDown()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1060", 1); break;//agv到炒锅1送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1063", 1); break;//agv到炒锅4送料就位信号
            }
        }
        public void AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2: DeviceOperate.GetInstance.WritePlcData("D1061", 1); break;//agv到炒锅2送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1064", 1); break;//agv到炒锅5送料就位信号
            }
        }
        public void AgvArriveFryPotThreeOutEmptyRollerSingleSetDown()
        {
            DeviceOperate.GetInstance.WritePlcData("D1062", 1);//agv到炒锅3送料就位信号
        }
        /// <summary>
        /// AGV离开炒锅运送空桶任务
        /// </summary>
        public void AgvFromFryPotToClean(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                erp: string id = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId)
                    {
                        goto erp;
                    }
                    string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
                    LOnerobotJobId = id;
                    FryCarryTaskErrorCodeAnalysis(info, 1); break;
                case 2:
                erp1: string id1 = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id1 == LTworobotJobId)
                    {
                        goto erp1;
                    }
                    string info1 = AGVHelper.GetInstance.AgvLeaveFryPotTwo(id1);
                    LTworobotJobId = id1;
                    FryCarryTaskErrorCodeAnalysis(info1, 2); break;
                case 3:
                erp2: string id2 = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id2 == LThreerobotJobId)
                    {
                        goto erp2;
                    }
                    string info2 = AGVHelper.GetInstance.AgvLeaveFryPotThree(id2);
                    LThreerobotJobId = id2;
                    FryCarryTaskErrorCodeAnalysis(info2, 3); break;
                case 4:
                erp3: string id3 = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id3 == LOnerobotJobId)
                    {
                        goto erp3;
                    }
                    string info3 = AGVHelper.GetInstance.AgvLeaveFryPotFour(id3);
                    LOnerobotJobId = id3;
                    FryCarryTaskErrorCodeAnalysis(info3, 4); break;
                case 5:
                erp4: string id4 = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id4 == LTworobotJobId)
                    {
                        goto erp4;
                    }
                    string info4 = AGVHelper.GetInstance.AgvLeaveFryPotFive(id4);
                    LTworobotJobId = id4;
                    FryCarryTaskErrorCodeAnalysis(info4, 5); break;
            }
        }
        /// <summary>
        /// AGV离开炒锅1,4运送空桶任务
        /// </summary>
        public void AgvFromFryPotOneOrFourToClean()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                erp: string id = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId)
                    {
                        goto erp;
                    }
                    MessageLog.GetInstance.ShowRunLog("AGV执行【1】号炒锅空桶回收任务");
                    string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
                    LOnerobotJobId = id;
                    FryCarryTaskErrorCodeAnalysis(info, 1); break;
                case 4:
                erp3: string id3 = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id3 == LOnerobotJobId || id3 == LTworobotJobId || id3 == LThreerobotJobId || id3 == LFourrobotJobId)
                    {
                        goto erp3;
                    }
                    MessageLog.GetInstance.ShowRunLog("AGV执行【4】号炒锅空桶回收任务");
                    string info3 = AGVHelper.GetInstance.AgvLeaveFryPotFour(id3);
                    LOnerobotJobId = id3;
                    FryCarryTaskErrorCodeAnalysis(info3, 4); break;
            }
        }
        /// <summary>
        /// AGV离开炒锅2,5运送空桶任务
        /// </summary>
        public void AgvFromFryPotTwoOrFiveToClean()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                erp1: string id1 = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id1 == LOnerobotJobId || id1 == LTworobotJobId || id1 == LThreerobotJobId || id1 == LFourrobotJobId)
                    {
                        goto erp1;
                    }
                    MessageLog.GetInstance.ShowRunLog("AGV执行【2】号炒锅空桶回收任务");
                    string info1 = AGVHelper.GetInstance.AgvLeaveFryPotTwo(id1);
                    LTworobotJobId = id1;
                    FryCarryTaskErrorCodeAnalysis(info1, 2); break;
                case 5:
                erp4: string id4 = Guid.NewGuid().ToString("N");//上游唯一ID
                    if (id4 == LOnerobotJobId || id4 == LTworobotJobId || id4 == LThreerobotJobId || id4 == LFourrobotJobId)
                    {
                        goto erp4;
                    }
                    MessageLog.GetInstance.ShowRunLog("AGV执行【5】号炒锅空桶回收任务");
                    string info4 = AGVHelper.GetInstance.AgvLeaveFryPotFive(id4);
                    LTworobotJobId = id4;
                    FryCarryTaskErrorCodeAnalysis(info4, 5); break;
            }
        }
        /// <summary>
        /// AGV离开炒锅3运送空桶任务
        /// </summary>
        public void AgvFromFryPotThreeToClean()
        {
        erp2: string id2 = Guid.NewGuid().ToString("N");//上游唯一ID
            if (id2 == LOnerobotJobId || id2 == LTworobotJobId || id2 == LThreerobotJobId || id2 == LFourrobotJobId)
            {
                goto erp2;
            }
            MessageLog.GetInstance.ShowRunLog("AGV执行【3】号炒锅空桶回收任务");
            string info2 = AGVHelper.GetInstance.AgvLeaveFryPotThree(id2);
            LThreerobotJobId = id2;
            FryCarryTaskErrorCodeAnalysis(info2, 3);
        }
        /// <summary>
        /// 处理agv从线体1到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineOneToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)
            {
                if (globalVar.agvArriveUpLoad && globalVar.LoadRoller && globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.AgvToFryPot)//无故障
                {

                    MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(InputMaterialQuene);
                    if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                        AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start);
                        globalVar.LOneCurrentCookingStep++;
                        OutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveUpLoad = false;
                        globalVar.AgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }
                }
            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitMainTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【1】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// 处理agv从线体2到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineTwoToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLTwoUpLoad && globalVar.LTwoLoadRoller && globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LTwoAgvToFryPot)//无故障
                {
                    MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(LTwoInputMaterialQuene);
                    if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                        AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start);
                        globalVar.LTwoCurrentCookingStep++;
                        LTwoOutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveLTwoUpLoad = false;
                        globalVar.LTwoAgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }


                }

            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitMainTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【2】滚筒故障解除，继续运行");
                // lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// 处理agv从线体3到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineThreeToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLThreeUpLoad && globalVar.LThreeLoadRoller && globalVar.rollerLineThree.StationEight == LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LThreeAgvToFryPot)//无故障
                {
                    MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(LThreeInputMaterialQuene);
                    if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                        AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start);
                        globalVar.LThreeCurrentCookingStep++;
                        LThreeOutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveLThreeUpLoad = false;
                        globalVar.LThreeAgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }


                }

            }
            else //有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitMainTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【3】滚筒故障解除，继续运行");
                // lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// 线体搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public void LineCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                AgvViewModel.GetInstance().Set停车桩(num, IsBool.No);
                AgvViewModel.GetInstance().Set小车是否承载物品(num, IsBool.No);
                AgvViewModel.GetInstance().Set小车运动(num, AgvViewModel.GetInstance().GetCommandValue($"qc_{num}"));
                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
                globalVar.AllowAgvToLineLoadRoller = false;
            }
            else if (errorCode == "Analysis Error")
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查");
            }
            else
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
            }
        }
        /// <summary>
        /// 炒锅搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public void FryCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                MessageLog.GetInstance.ShowRunLog($"AGV离开{num}号炒锅");
            }
            else if (errorCode == "Analysis Error")
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV离开{num}号炒锅接口调用失败，请检查");
            }
            else
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV离开{num}号炒锅失败，错误码:{errorCode}");
            }
        }

        public void AgvToLineOneLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//输送线无故障
            {
                if (InputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineLoadRoller && globalVar.rollerLineOne.OutMaterialingSingle == 1 && !globalVar.LoadRoller)
                {
                e: string id = Guid.NewGuid().ToString("N");
                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId)
                        goto e;

                    string info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
                    LOnerobotJobId = id;
                    Thread.Sleep(500);
                    LineCarryTaskErrorCodeAnalysis(info, 1);
                    globalVar.LoadRoller = true;


                }
            }
            //else
            //{
            //    MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【1】故障！！！");
            //    //  lineAlarm = -1;
            //}
            //// lineAlarm = 1;
        }
        public void AgvToLineTwoLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//输送线无故障
            {
                if (LTwoInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineTwoLoadRoller && globalVar.rollerLineTwo.OutMaterialingSingle == 1 && !globalVar.LTwoLoadRoller)
                {
                e: string id = Guid.NewGuid().ToString("N");
                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId)
                        goto e;

                    string info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
                    LTworobotJobId = id;
                    Thread.Sleep(500);
                    LineCarryTaskErrorCodeAnalysis(info, 2);
                    globalVar.LTwoLoadRoller = true;
                }
            }
        }
        public void AgvToLineThreeLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
            {
                if (LThreeInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineThreeLoadRoller && globalVar.rollerLineThree.OutMaterialingSingle == 1 && !globalVar.LThreeLoadRoller)
                {
                e: string id = Guid.NewGuid().ToString("N");
                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId)
                        goto e;

                    string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
                    LThreerobotJobId = id;
                    Thread.Sleep(500);
                    LineCarryTaskErrorCodeAnalysis(info, 3);
                    globalVar.LThreeLoadRoller = true;
                }
            }

            //if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
            //{
            //    if (LThreeInputMaterialQuene.Count > 0)
            //    {
            //        while (!globalVar.AllowAgvToLineThreeLoadRoller || globalVar.rollerLineThree.OutMaterialingSingle == 0) //后续考虑是否用while
            //        {
            //            Thread.Sleep(5);
            //            if (globalVar.ExitMainTask)
            //                return;
            //        }
            //    g: string id = Guid.NewGuid().ToString();
            //        if (id == LThreerobotJobId)
            //            goto g;
            //        string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
            //        //  MessageLog.GetInstance.ShowRunLog("AGV去【3】号滚筒线装桶");
            //        LThreerobotJobId = id;
            //        Thread.Sleep(500);
            //        LineCarryTaskErrorCodeAnalysis(info, 3);
            //    }

            //}
            //else
            //{
            //    MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【3】故障！！！");
            //    // lineAlarm = -1;
            //}

        }
        /// <summary>
        /// 1号线体数据下发
        /// </summary>
        /// <param name="count"></param>
        /// <param name="materialLoc"></param>
        /// <param name="materialWeight"></param>
        public void RollerOneDataWrite(int count, ushort materialLoc, ushort materialWeight)
        {
            switch (count)
            {
                case 0:
                    DeviceOperate.GetInstance.WritePlcData("D1001", materialLoc);//桶1位置
                    DeviceOperate.GetInstance.WritePlcData("D1010", materialWeight);//桶2重量
                    break;
                case 1:
                    DeviceOperate.GetInstance.WritePlcData("D1002", materialLoc);//桶2位置
                    DeviceOperate.GetInstance.WritePlcData("D1011", materialWeight);//桶2重量
                    break;
                case 2:
                    DeviceOperate.GetInstance.WritePlcData("D1003", materialLoc);//桶3位置
                    DeviceOperate.GetInstance.WritePlcData("D1012", materialWeight);//桶3重量
                    break;
                case 3:
                    DeviceOperate.GetInstance.WritePlcData("D1004", materialLoc);//桶4位置
                    DeviceOperate.GetInstance.WritePlcData("D1013", materialWeight);//桶4重量
                    break;
                case 4:
                    DeviceOperate.GetInstance.WritePlcData("D1005", materialLoc);//桶5位置
                    DeviceOperate.GetInstance.WritePlcData("D1014", materialWeight);//桶5重量
                    break;
                case 5:
                    DeviceOperate.GetInstance.WritePlcData("D1006", materialLoc);//桶6位置
                    DeviceOperate.GetInstance.WritePlcData("D1015", materialWeight);//桶6重量
                    break;
                case 6:
                    DeviceOperate.GetInstance.WritePlcData("D1007", materialLoc);//桶7位置
                    DeviceOperate.GetInstance.WritePlcData("D1016", materialWeight);//桶7重量
                    break;
                case 7:
                    DeviceOperate.GetInstance.WritePlcData("D1008", materialLoc);//桶8位置
                    DeviceOperate.GetInstance.WritePlcData("D1017", materialWeight);//桶8重量
                    break;

            }
        }
        /// <summary>
        /// 2号线体数据下发
        /// </summary>
        /// <param name="count"></param>
        /// <param name="materialLoc"></param>
        /// <param name="materialWeight"></param>
        public void RollerTwoDataWrite(int count, ushort materialLoc, ushort materialWeight)
        {
            switch (count)
            {
                case 0:
                    DeviceOperate.GetInstance.WritePlcData("D1018", materialLoc);//桶1位置
                    DeviceOperate.GetInstance.WritePlcData("D1027", materialWeight);//桶2重量
                    break;
                case 1:
                    DeviceOperate.GetInstance.WritePlcData("D1019", materialLoc);//桶2位置
                    DeviceOperate.GetInstance.WritePlcData("D1028", materialWeight);//桶2重量
                    break;
                case 2:
                    DeviceOperate.GetInstance.WritePlcData("D1020", materialLoc);//桶3位置
                    DeviceOperate.GetInstance.WritePlcData("D1029", materialWeight);//桶3重量
                    break;
                case 3:
                    DeviceOperate.GetInstance.WritePlcData("D1021", materialLoc);//桶4位置
                    DeviceOperate.GetInstance.WritePlcData("D1030", materialWeight);//桶4重量
                    break;
                case 4:
                    DeviceOperate.GetInstance.WritePlcData("D1022", materialLoc);//桶5位置
                    DeviceOperate.GetInstance.WritePlcData("D1031", materialWeight);//桶5重量
                    break;
                case 5:
                    DeviceOperate.GetInstance.WritePlcData("D1023", materialLoc);//桶6位置
                    DeviceOperate.GetInstance.WritePlcData("D1032", materialWeight);//桶6重量
                    break;
                case 6:
                    DeviceOperate.GetInstance.WritePlcData("D1024", materialLoc);//桶7位置
                    DeviceOperate.GetInstance.WritePlcData("D1033", materialWeight);//桶7重量
                    break;
                case 7:
                    DeviceOperate.GetInstance.WritePlcData("D1025", materialLoc);//桶8位置
                    DeviceOperate.GetInstance.WritePlcData("D1034", materialWeight);//桶8重量
                    break;

            }
        }
        /// <summary>
        /// 3号线体数据下发
        /// </summary>
        /// <param name="count"></param>
        /// <param name="materialLoc"></param>
        /// <param name="materialWeight"></param>
        public void RollerThreeDataWrite(int count, ushort materialLoc, ushort materialWeight)
        {
            switch (count)
            {
                case 0:
                    DeviceOperate.GetInstance.WritePlcData("D1035", materialLoc);//桶1位置
                    DeviceOperate.GetInstance.WritePlcData("D1044", materialWeight);//桶2重量
                    break;
                case 1:
                    DeviceOperate.GetInstance.WritePlcData("D1036", materialLoc);//桶2位置
                    DeviceOperate.GetInstance.WritePlcData("D1045", materialWeight);//桶2重量
                    break;
                case 2:
                    DeviceOperate.GetInstance.WritePlcData("D1037", materialLoc);//桶3位置
                    DeviceOperate.GetInstance.WritePlcData("D1046", materialWeight);//桶3重量
                    break;
                case 3:
                    DeviceOperate.GetInstance.WritePlcData("D1038", materialLoc);//桶4位置
                    DeviceOperate.GetInstance.WritePlcData("D1047", materialWeight);//桶4重量
                    break;
                case 4:
                    DeviceOperate.GetInstance.WritePlcData("D1039", materialLoc);//桶5位置
                    DeviceOperate.GetInstance.WritePlcData("D1048", materialWeight);//桶5重量
                    break;
                case 5:
                    DeviceOperate.GetInstance.WritePlcData("D1040", materialLoc);//桶6位置
                    DeviceOperate.GetInstance.WritePlcData("D1049", materialWeight);//桶6重量
                    break;
                case 6:
                    DeviceOperate.GetInstance.WritePlcData("D1041", materialLoc);//桶7位置
                    DeviceOperate.GetInstance.WritePlcData("D1050", materialWeight);//桶7重量
                    break;
                case 7:
                    DeviceOperate.GetInstance.WritePlcData("D1042", materialLoc);//桶8位置
                    DeviceOperate.GetInstance.WritePlcData("D1051", materialWeight);//桶8重量
                    break;

            }

        }
        /// <summary>
        /// AGV线体进料就位信号下发至PLC
        /// </summary>
        public void AgvArriveLineSingelSetDown(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                case 4: DeviceOperate.GetInstance.WritePlcData("D1052", 1); break;//AGV进料就位信号1
                case 2:
                case 5: DeviceOperate.GetInstance.WritePlcData("D1053", 1); break;//AGV进料就位信号2
                case 3: DeviceOperate.GetInstance.WritePlcData("D1054", 1); break;//AGV进料就位信号3
            }

        }

        /// <summary>
        /// 炒锅滚筒信号检测
        /// </summary>
        public void FryPotRollerTroubleCheck()
        {
            FryPotAlarm = 0;
            FryPotTwoAlarm = 0;
            FryPotThreeAlarm = 0;
            FryPotFourAlarm = 0;
            FryPotFiveAlarm = 0;
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                    FryPotAlarm = 1; break;
                case 2:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1) { FryPotTwoAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【2】输送滚筒发生故障"); } else { FryPotTwoAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【2】输送滚筒故障解除，继续运行");
                    FryPotTwoAlarm = 1; break;
                case 3:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1) { FryPotThreeAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotThreeAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【3】输送滚筒故障解除，继续运行");
                    FryPotThreeAlarm = 1; break;
                case 4:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
                    FryPotFourAlarm = 1; break;
                case 5:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1) { FryPotFiveAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【5】输送滚筒发生故障"); } else { FryPotFiveAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【5】输送滚筒故障解除，继续运行");
                    FryPotFiveAlarm = 1; break;

            }
        }
        /// <summary>
        /// 炒锅1,4滚筒信号检测
        /// </summary>
        public void FryPotOneRollerTroubleCheck()
        {
            FryPotAlarm = 0;
            FryPotFourAlarm = 0;
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                    FryPotAlarm = 1; break;
                case 4:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
                    FryPotFourAlarm = 1; break;
            }

        }
        /// <summary>
        /// 炒锅2,5滚筒信号检测
        /// </summary>
        public void FryPotTwoRollerTroubleCheck()
        {
            FryPotTwoAlarm = 0;
            FryPotFiveAlarm = 0;
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1) { FryPotTwoAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotTwoAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                    FryPotTwoAlarm = 1; break;
                case 5:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1) { FryPotFiveAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFiveAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
                    FryPotFiveAlarm = 1; break;
            }
        }
        /// <summary>
        /// 炒锅3滚筒信号检测
        /// </summary>
        public void FryPotThreeRollerTroubleCheck()
        {
            FryPotThreeAlarm = 0;
            if (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1) { FryPotThreeAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotThreeAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1)
            {
                Thread.Sleep(5); if (globalVar.ExitMainTask)
                    return;
            }
            MessageLog.GetInstance.ShowRunLog("炒锅【3】输送滚筒故障解除，继续运行");
            FryPotThreeAlarm = 1;
        }

    }
}