BPASmartClient/BPASmartClient.MorkCL/Control_MorkCL.cs

using BPA.Message.Enum;
using BPASmartClient.Device;
using BPASmartClient.MorkCL.Model.Json;
using BPASmartClient.MorkCL.Server;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace BPASmartClient.MorkCL
{
    public class Control_MorkCL : BaseDevice
    {
        public override DeviceClientType DeviceType => DeviceClientType.MORKCL;

        GVL_MorkCL morkCL = new GVL_MorkCL();
        Alarm alarm = new Alarm();
        /// <summary>
        /// 设备信息集合
        /// </summary>
        ConcurrentDictionary<EDeviceType, IModbus> devices { get; set; } = new();

        /// <summary>
        /// 任务集合
        /// </summary>
        ConcurrentDictionary<EDeviceType, TaskServer> TaskList { get; set; } = new();

        public override void DoMain()
        {
            MonitorViewModel.DeviceId = DeviceId;

            #region 读取本地文件数据
            Json<RecipesInfo>.Read();
            Json<ItemStorageInfo>.Read();
            #endregion

            //注册本地配方接收
            ActionManage.GetInstance.Register(new Action<object>(o =>
            {
                if (o != null && o is ControlData cd) morkCL.cds.Enqueue(cd);
            }), NotifyTopic.FormulaDistribution);

            //初始化通讯对象
            devices.TryAdd(EDeviceType.炒锅1, new FryingPanServer());
            devices.TryAdd(EDeviceType.炒锅2, new FryingPanServer());
            devices.TryAdd(EDeviceType.机器人, new RobotServer());
            devices.TryAdd(EDeviceType.压力锅, new PressureCookerServer());
            devices.TryAdd(EDeviceType.外部设备, new OtherServer());

            devices[EDeviceType.炒锅1].Init(ConnectPar.FryingPanIP1);
            devices[EDeviceType.炒锅2].Init(ConnectPar.FryingPanIP2);
            devices[EDeviceType.机器人].Init(ConnectPar.RobotIP);
            devices[EDeviceType.压力锅].Init(ConnectPar.PressureCookerIP);
            devices[EDeviceType.外部设备].Init(ConnectPar.PPortName);


        }

        public override void MainTask()
        {
            if (morkCL.cds.Count > 0 && !TaskList.ContainsKey(morkCL.cds.ElementAt(0).DeviceType))
            {
                if (morkCL.cds.TryDequeue(out ControlData cd))
                {
                    TaskList.TryAdd(cd.DeviceType, new TaskServer());
                    TaskList[cd.DeviceType].TaskName = $"{cd.DeviceType.ToString()}-{cd.Name}";
                    TaskList[cd.DeviceType].RunTask = new Task(new Action(() => { FryingPanControl(cd.DeviceType, cd); }));
                    TaskList[cd.DeviceType].RunTask.Start();
                }
            }
            //检查到有任务完成后将对已完成的任务进行清理
            var res = TaskList.FirstOrDefault(p => p.Value.IsComplete).Key;
            if (TaskList.ContainsKey(res)) TaskList.TryRemove(res, out _);
        }

        private void FryingPanControl(EDeviceType et, ControlData cd)
        {
            DeviceProcessLogShow($"开始执行-{cd.Name} 任务");
            if (TaskList.ContainsKey(et) && TaskList[et].Cts.IsCancellationRequested) return;
            while (cd.ControlFuncs.Count > 0)
            {
                if (cd.ControlFuncs.TryDequeue(out FuncModel fm))
                {
                    var device = (FryingPanServer)devices[et];
                    var robot = (RobotServer)devices[EDeviceType.机器人];
                    int index = (ushort)et - 1;
                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-步骤");
                    switch (fm.eFunc)
                    {
                        case EFunc.搅拌启动:
                            device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());
                            device.StirStartOrStop = true;
                            break;
                        case EFunc.搅拌停止:
                            device.StirStartOrStop = false;
                            break;
                        case EFunc.加热启动:
                            device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());
                            device.HeatStartOrStop = true;
                            break;
                        case EFunc.加热停止:
                            device.HeatStartOrStop = false;
                            break;
                        case EFunc.添加调料:
                            var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
                            if (Seasoning != null)
                            {
                                device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
                            }
                            break;
                        case EFunc.添加主料:
                        case EFunc.添加辅料:
                            MaterialBase mb = new MaterialBase();
                            if (fm.eFunc == EFunc.添加辅料)
                                mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
                            else mb = SqliteHelper.GetInstance.GetIngredients().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
                            robot.RobotTaskControl(mb.Loc.ToString(), et);
                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
                            robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
                            robot.AllowPourVegetables(et);//允许机器人开始投料
                            robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
                            break;
                        case EFunc.炒锅回原点位:
                            device.FryingPanHome = true;
                            break;
                        case EFunc.出餐启动:
                            robot.RobotTaskControl("1", et);//取空盆
                            robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置
                            device.DiningOutStart = true;
                            break;
                        case EFunc.炒锅清洗:
                            device.FryingPanClear = true;
                            break;
                        case EFunc.炒锅回投料位置:
                            device.FryingPanFeedingLoc = true;
                            break;
                        case EFunc.去指定炒制位:
                            device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString());
                            break;
                        case EFunc.炒制:
                            if (int.TryParse(fm.funcPars.ElementAt(0).ParValue.ToString(), out int time))
                                Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);
                            break;
                        default:
                            break;
                    }
                }
            }

        }

        public override void ReadData()
        {

        }

        public override void ResetProgram()
        {
            morkCL = null;
            morkCL = new GVL_MorkCL();
        }

        public override void SimOrder()
        {
        }

        public override void Stop()
        {
        }
    }
}