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BPASmartClient/BPASmartClient.MorkCL/Control_MorkCL.cs

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  1. 

  2. using BPA.Message.Enum;

  3. using BPASmartClient.CustomResource.Pages.Model;

  4. using BPASmartClient.CustomResource.UserControls.MessageShow;

  5. using BPASmartClient.Device;

  6. using BPASmartClient.MorkCL.HelpClass;

  7. using BPASmartClient.MorkCL.Model.DB;

  8. using BPASmartClient.MorkCL.Model.Json;

  9. using BPASmartClient.MorkCL.Server;

  10. using Newtonsoft.Json.Linq;

  11. using SqlSugar;

  12. using System;

  13. using System.Collections.Generic;

  14. using System.Linq;

  15. using System.Net.WebSockets;

  16. using System.Reflection;

  17. using System.Text;

  18. using System.Threading.Tasks;

  19. 

  20. namespace BPASmartClient.MorkCL

  21. {

  22.     public class Control_MorkCL : BaseDevice

  23.     {

  24.         public override DeviceClientType DeviceType => DeviceClientType.MORKCL;

  25. 

  26.         GVL_MorkCL morkCL = new GVL_MorkCL();

  27.         Alarm alarm = new Alarm();

  28.         /// <summary>

  29.         /// 设备信息集合

  30.         /// </summary>

  31.         ConcurrentDictionary<EDeviceType, IModbus> devices { get; set; } = new();

  32. 

  33.         /// <summary>

  34.         /// 任务集合

  35.         /// </summary>

  36.         ConcurrentDictionary<EDeviceType, TaskServer> TaskList { get; set; } = new();

  37. 

  38.         /// <summary>

  39.         /// 炒锅1任务队列。

  40.         /// </summary>

  41.         ConcurrentQueue<TaskServer> FryingPan1TaskLsit { get; set; } = new();

  42.         /// <summary>

  43.         /// 炒锅2任务队列。

  44.         /// </summary>

  45.         ConcurrentQueue<TaskServer> FryingPan2TaskLsit { get; set; } = new();

  46.         /// <summary>

  47.         /// 高压锅任务队列。

  48.         /// </summary>

  49.         ConcurrentQueue<TaskServer> PressureCookerTaskLsit { get; set; } = new();

  50.         public override void DoMain()

  51.         {

  52.             MonitorViewModel.DeviceId = DeviceId;

  53. 

  54.             SqliteHelper.GetInstance.Init();

  55. 

  56.             #region 读取本地文件数据

  57.             Json<RecipesInfo>.Read();

  58.             Json<ItemStorageInfo>.Read();

  59.             Json<ConnectPar>.Read();

  60.             #endregion

  61. 

  62.             //注册本地配方接收

  63.             ActionManage.GetInstance.Register(new Action<object>(o =>

  64.             {

  65.                 DeviceProcessLogShow($"接收到一个新配方任务。");

  66.                 if (o != null && o is ControlData cd)

  67.                 {

  68. 

  69. 

  70.                     morkCL.cds.Enqueue(cd);

  71.                     DeviceProcessLogShow($"新配方任务{cd.Id}解析完成，已加入配方队列。");

  72.                 }

  73.                 else

  74.                 {

  75.                     DeviceProcessLogShow($"新配方任务解析失败。");

  76.                 }

  77.             }), NotifyTopic.FormulaDistribution);

  78. 

  79.             //初始化通讯对象

  80.             devices.TryAdd(EDeviceType.炒锅1, new FryingPanServer());

  81.             devices.TryAdd(EDeviceType.炒锅2, new FryingPanServer());

  82.             devices.TryAdd(EDeviceType.机器人, new RobotServer());

  83.             devices.TryAdd(EDeviceType.压力锅, new PressureCookerServer());

  84.             devices.TryAdd(EDeviceType.外部设备, new OtherServer());

  85. 

  86. #if !FORMAL

  87.             devices[EDeviceType.炒锅1].Init(Json<ConnectPar>.Data.FryingPanIP1);

  88.             devices[EDeviceType.炒锅2].Init(Json<ConnectPar>.Data.FryingPanIP2);

  89.             devices[EDeviceType.机器人].Init(Json<ConnectPar>.Data.RobotIP);

  90.             //devices[EDeviceType.压力锅].Init(Json<ConnectPar>.Data.PressureCookerIP);

  91.             devices[EDeviceType.外部设备].Init(PortName:Json<ConnectPar>.Data.ESPortName);

  92. 

  93.             

  94.             

  95. #endif

  96.             ManualActionRegiester();

  97.         }

  98. 

  99.         public override void MainTask()

  100.         {

  101.             //检查到有任务完成后将对已完成的任务进行清理

  102.             var res = TaskList.FirstOrDefault(p => p.Value.IsComplete).Key;

  103.             if (TaskList.ContainsKey(res))

  104.                 TaskList.TryRemove(res, out _);

  105. 

  106.             if (TaskList.IsEmpty)

  107.             {

  108.                 morkCL.CanItemStorage = true;

  109.                 //ActionManage.GetInstance.Send("RefreshCanItemStorage", true);

  110.             }

  111.             else

  112.             {

  113.                 morkCL.CanItemStorage = false;

  114.                 //ActionManage.GetInstance.Send("RefreshCanItemStorage", false);

  115.             }

  116. 

  117.             //分配任务，这段程序必须写最后。

  118.             if (morkCL.cds.Count > 0)

  119.             {

  120.                 #region 修改为在下配方时选择使用哪个锅，这段程序不需要使用了。

  121.                 //var dishType = morkCL.cds.ElementAt(0).DishType;

  122.                 //var devieceType = EDeviceType.无;

  123.                 //if (dishType == Model.Recipe.EDishType.炒菜)

  124.                 //{

  125.                 //    //如果任务队列里，炒锅1已经有任务了，就看炒锅2是否有任务，没任务就设置为炒锅2执行，如果两个锅都有任务则返回该次任务。

  126.                 //    if (TaskList.ContainsKey(EDeviceType.炒锅1))

  127.                 //    {

  128.                 //        if (TaskList.ContainsKey(EDeviceType.炒锅2))

  129.                 //        {

  130.                 //            return;

  131.                 //        }

  132.                 //        else

  133.                 //        { devieceType = EDeviceType.炒锅2; }

  134.                 //    }

  135.                 //    else

  136.                 //    {

  137.                 //        devieceType = EDeviceType.炒锅1;

  138.                 //    }

  139.                 //}

  140.                 //else

  141.                 //{

  142.                 //    devieceType = EDeviceType.压力锅;

  143.                 //}

  144. 

  145.                 #endregion

  146. 

  147.                 //这里判定主要是针对压力锅。

  148.                 if (!TaskList.ContainsKey(morkCL.cds.ElementAt(0).DeviceType))

  149.                 {

  150.                     if (morkCL.cds.TryDequeue(out ControlData cd))

  151.                     {

  152.                         //cd.DeviceType = devieceType;

  153.                         //cd.DeviceType = EDeviceType.炒锅1;

  154.                         TaskList.TryAdd(cd.DeviceType, new TaskServer());

  155.                         TaskList[cd.DeviceType].TaskName = $"{cd.DeviceType.ToString()}-{cd.Name}";

  156.                         TaskList[cd.DeviceType].RunTask = new Task(new Action(() => { FryingPanControl(cd.DeviceType, cd); }));

  157.                         TaskList[cd.DeviceType].RunTask.Start();

  158.                     }

  159.                 }

  160. 

  161.             }

  162.         }

  163. 

  164.         private async void FryingPanControl(EDeviceType et, ControlData cd)

  165.         {

  166.             DeviceProcessLogShow($"【{et}】开始执行-{cd.Name} 任务");

  167.             if (TaskList.ContainsKey(et) && TaskList[et].Cts.IsCancellationRequested) return;

  168.             while (cd.ControlFuncs.Count > 0)

  169.             {

  170.                 if (cd.ControlFuncs.TryDequeue(out FuncModel fm))

  171.                 {

  172.                     var device = (FryingPanServer)devices[et];

  173.                     var robot = (RobotServer)devices[EDeviceType.机器人];

  174.                     var otherDevice = (OtherServer)devices[EDeviceType.外部设备];

  175.                     int index = (ushort)et - 1;

  176.                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}。");

  177.                     switch (fm.eFunc)

  178.                     {

  179.                         case EFunc.搅拌启动:

  180.                             device.StirStartOrStop = false;

  181. 

  182.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ。");

  183.                             device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());

  184.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ完成。");

  185. 

  186.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌。");

  187.                             device.StirStartOrStop = true;

  188.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌完成。");

  189. 

  190.                             break;

  191.                         case EFunc.搅拌停止:

  192.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌。");

  193.                             device.StirStartOrStop = false;

  194.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌完成。");

  195.                             break;

  196.                         case EFunc.加热启动:

  197.                             device.HeatStartOrStop = false;

  198. 

  199.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");

  200.                             device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());

  201.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位完成，设置加热启动。");

  202. 

  203.                             device.HeatStartOrStop = true;

  204.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热启动完成。");

  205.                             break;

  206.                         case EFunc.加热停止:

  207.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止。");

  208.                             device.HeatStartOrStop = false;

  209.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止完成。");

  210.                             break;

  211.                         case EFunc.添加调料:

  212.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料【{fm.funcPars.ElementAt(0).Id}】。");

  213.                             var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);

  214.                             if (Seasoning != null)

  215.                             {

  216.                                 device.FryingPanToSeasoningLoc = false;

  217. 

  218.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");

  219.                                 device.FryingPanToSeasoningLoc = true;

  220.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成。");

  221. 

  222.                                 //回到投料位置就复位。

  223. 

  224.                                 Thread.Sleep(50);

  225.                                 device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);

  226.                                 device.FryingPanToSeasoningLoc = false;

  227.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅已到达调料投料位置。");

  228. 

  229.                                 device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());

  230.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，下料位置：{Seasoning.Loc.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");

  231.                             }

  232.                             else

  233.                             {

  234.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】调料。任务取消。");

  235.                                 TaskList[et].Cts.Cancel();

  236.                             }

  237. 

  238.                             break;

  239.                         case EFunc.添加主料:

  240.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料【{fm.funcPars.ElementAt(0).Id}】。");

  241. 

  242.                             if (float.TryParse(fm.funcPars.ElementAt(1).ParValue.ToString(), out float weight))

  243.                             {

  244.                                 //查找主料库位符合条件的物料库位，主要根据物料ID和物料重量查找。

  245.                                 var ingre_index = Array.FindIndex(Json<ItemStorageInfo>.Data.IngredientsStorage,

  246.                                 item => item.MaterialID == fm.funcPars.ElementAt(0).Id/* && item.Weight == weight*/);

  247.                                 if (ingre_index >= 0)

  248.                                 {

  249.                                     //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());

  250.                                     var ingredientes = Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index];

  251. 

  252.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index + 1}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");

  253.                                     device.FryingPanHome = false;

  254. 

  255.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(ingre_index + 1).ToString()}】，子任务【{et}】。");

  256. 

  257.                                     robot.RobotTaskControl((ingre_index + 1).ToString(), et);

  258.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(ingre_index + 1).ToString()}】，子任务【{et}】完成。");

  259. 

  260.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");

  261.                                     device.FryingPanHome = true;

  262.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成。");

  263. 

  264.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");

  265.                                     device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置

  266.                                     device.FryingPanHome = false;

  267.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。");

  268. 

  269. 

  270.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");

  271.                                     robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置也就是发出倒料请求。

  272.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");

  273. 

  274.                                     //目前程序在炒锅在投料位置时，会自动发出允许倒料信息。

  275.                                     //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");

  276.                                     //robot.AllowPourVegetables(et);//允许机器人开始投料

  277.                                     //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");

  278. 

  279.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");

  280.                                     robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成

  281.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");

  282. 

  283.                                     Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index] = new ItemStorage();

  284.                                     Json<ItemStorageInfo>.Save();

  285.                                     ActionManage.GetInstance.Send("RefreshItemStorage");

  286.                                 }

  287.                                 else

  288.                                 {

  289.                                     //TODO:暂定为直接取消任务，后期再说。

  290.                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】主料。任务取消。");

  291.                                     TaskList[et].Cts.Cancel();

  292.                                 }

  293.                             }

  294.                             break;

  295.                         case EFunc.添加辅料:

  296.                             MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);

  297.                             if (mb != null)

  298.                             {

  299.                                 //先复位变量。防止上一次是异常结束，设为True时，不会响应。

  300.                                 device.FryingPanHome = false;

  301. 

  302.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】。");

  303.                                 robot.RobotTaskControl((mb.Loc + 12).ToString(), et);

  304.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】完成。");

  305. 

  306.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");

  307.                                 device.FryingPanHome = true;

  308.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成。");

  309. 

  310.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");

  311.                                 device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置

  312.                                 device.FryingPanHome = false;

  313.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。");

  314. 

  315.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");

  316.                                 robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置

  317.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");

  318. 

  319.                                 //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");

  320.                                 //robot.AllowPourVegetables(et);//允许机器人开始投料

  321.                                 //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");

  322. 

  323.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");

  324.                                 robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成

  325.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");

  326. 

  327.                             }

  328.                             else

  329.                             {

  330.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】辅料。任务取消。");

  331.                                 TaskList[et].Cts.Cancel();

  332.                             }

  333.                             break;

  334.                         case EFunc.炒锅回原点位:

  335.                             device.FryingPanFeedingLoc = false;

  336.                             device.FryingPanHome = false;

  337.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。");

  338.                             device.FryingPanHome = true;

  339.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成。");

  340. 

  341.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待回原点完成。");

  342.                             device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);

  343.                             device.FryingPanHome = false;

  344. 

  345.                             break;

  346.                         case EFunc.出餐启动:

  347. 

  348.                             device.DiningOutStart = false;

  349.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆。");

  350.                             //TODO：暂时修改，后期优化。

  351.                             while (true)

  352.                             {

  353.                                 var emptyPanIndex = Array.FindIndex(otherDevice.BoxDetection, i => i == true);

  354.                                 if (emptyPanIndex >= 0)

  355.                                 {

  356.                                     robot.RobotTaskControl((21 + emptyPanIndex).ToString(), et);//取空盆

  357.                                     break;

  358.                                 }

  359.                                 await Task.Delay(3000);

  360.                                 DeviceProcessLogShow("无空盆，请添加空盆！");

  361.                             }

  362.                             //robot.RobotTaskControl("21", et);//取空盆

  363.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆完成，等待机器人到出菜位置。");

  364. 

  365.                             robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置

  366.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人已到出餐位置，出餐启动。");

  367.                             device.DiningOutStart = true;

  368. 

  369.                             device.OutDinningSlowDownFlag.Wait(Cts: TaskList[et].Cts);

  370.                             robot.ModerateInPlace(et);

  371.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-到达出餐减速位。");

  372. 

  373.                             device.OutDinningFinsh.Wait(Cts: TaskList[et].Cts);

  374.                             robot.DiningOutComplete(et);

  375. 

  376.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-出餐完成。");

  377.                             //回到投料位置就复位。

  378.                             Thread.Sleep(50);

  379.                             device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);

  380.                             device.DiningOutStart = false;

  381.                             break;

  382.                         case EFunc.炒锅清洗:

  383.                             device.FryingPanClear = false;

  384. 

  385.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。");

  386.                             device.FryingPanClear = true;

  387.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入。");

  388. 

  389.                             Thread.Sleep(500);

  390.                             device.CleanFinish.Wait(Cts: TaskList[et].Cts);

  391.                             device.FryingPanClear = false;

  392.                             break;

  393.                         case EFunc.炒锅回调料投料位置:

  394.                             device.FryingPanToSeasoningLoc = false;

  395. 

  396.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");

  397.                             device.FryingPanToSeasoningLoc = true;

  398.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成。");

  399. 

  400.                             //回到投料位置就复位。

  401. 

  402.                             Thread.Sleep(50);

  403.                             device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);

  404.                             device.FryingPanToSeasoningLoc = false;

  405.                             break;

  406.                         case EFunc.去指定炒制位:

  407.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位。");

  408.                             device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString());

  409.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成。");

  410.                             break;

  411.                         case EFunc.炒制:

  412. 

  413.                             if (int.TryParse(fm.funcPars.ElementAt(0).ParValue.ToString(), out int time))

  414.                             {

  415.                                 DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒制【{time}】秒。");

  416.                                 Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);

  417.                             }

  418. 

  419.                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒制完成。");

  420.                             break;

  421.                         default:

  422.                             break;

  423.                     }

  424.                 }

  425.             }

  426.             DeviceProcessLogShow($"【{et}】任务-{cd.Name} 执行完成");

  427.         }

  428. 

  429. 

  430. 

  431.         public override void ReadData()

  432.         {

  433.             

  434.             var propertyInfos = morkCL.GetType().GetProperties();

  435. 

  436.             var fryingPan1 = (FryingPanServer)devices[EDeviceType.炒锅1];

  437.             var fryingPan2 = (FryingPanServer)devices[EDeviceType.炒锅2];

  438.             var robot = (RobotServer)devices[EDeviceType.机器人];

  439.             var pressureCooker = (PressureCookerServer)devices[EDeviceType.压力锅];

  440.             var otherDevice = (OtherServer)devices[EDeviceType.外部设备];

  441. 

  442.             alarm.EStop1 = fryingPan1.EStopAlarm;

  443.             alarm.FryingPanFowardLimit1 = fryingPan1.FryingPanFowardLimit;

  444.             alarm.FryingPanReverseLimit1 = fryingPan1.FryingPanReverseLimit;

  445.             alarm.FryingPanEncoderCommError1 = fryingPan1.FryingPanEncoderCommError;

  446.             alarm.StirMotorCommError1 = fryingPan1.StirMotorCommError;

  447.             alarm.RollingMotorCommError1 = fryingPan1.RollingMotorCommError;

  448.             alarm.StirMotorError1 = fryingPan1.StirMotorErrorCode != "无故障" ? true : false;

  449.             alarm.TurnMotorError1 = fryingPan1.TurnMotorErrorCode != "无故障" ? true : false;

  450. 

  451.             alarm.EStop2 = fryingPan2.EStopAlarm;

  452.             alarm.FryingPanFowardLimit2 = fryingPan2.FryingPanFowardLimit;

  453.             alarm.FryingPanReverseLimit2 = fryingPan2.FryingPanReverseLimit;

  454.             alarm.FryingPanEncoderCommError2 = fryingPan2.FryingPanEncoderCommError;

  455.             alarm.StirMotorCommError2 = fryingPan2.StirMotorCommError;

  456.             alarm.RollingMotorCommError2 = fryingPan2.RollingMotorCommError;

  457.             alarm.StirMotorError2 = fryingPan2.StirMotorErrorCode != "无故障" ? true : false;

  458.             alarm.TurnMotorError2 = fryingPan2.TurnMotorErrorCode != "无故障" ? true : false;

  459. 

  460.             //这是字段。直接赋值

  461.             morkCL.FeedingLocFB1 = fryingPan1.FeedingLocFB;

  462.             morkCL.FeedingLocFB2 = fryingPan2.FeedingLocFB;

  463.             morkCL.CleanFinish1 = fryingPan1.CleanFinish;

  464.             morkCL.CleanFinish2 = fryingPan2.CleanFinish;

  465.             morkCL.OutDinningFinsh1 = fryingPan1.OutDinningFinsh;

  466.             morkCL.OutDinningFinsh2 = fryingPan2.OutDinningFinsh;

  467.             morkCL.OutDinningSlowDownFlag1 = fryingPan1.OutDinningSlowDownFlag;

  468.             morkCL.OutDinningSlowDownFlag2 = fryingPan2.OutDinningSlowDownFlag;

  469.             morkCL.BoxDetection = otherDevice.BoxDetection;

  470.             morkCL.IsIdle = robot.IsIdle;

  471. 

  472. #if !FORMAL

  473.             if (fryingPan1.FeedingLocFB)

  474.             {

  475.                 robot.AllowPourVegetables(EDeviceType.炒锅1);

  476.             }

  477.             else

  478.             {

  479.                 robot.DisablePourVegetables(EDeviceType.炒锅1);

  480.             }

  481. 

  482.             if (fryingPan2.FeedingLocFB)

  483.             {

  484.                 robot.AllowPourVegetables(EDeviceType.炒锅2);

  485.             }

  486.             else

  487.             {

  488.                 robot.DisablePourVegetables(EDeviceType.炒锅2);

  489.             }

  490. 

  491. 

  492.             foreach (var property in propertyInfos)

  493.             {

  494.                 var att = property.GetCustomAttribute<VariableMonitorAttribute>();

  495.                 if (att != null)

  496.                 {

  497.                     if (att.Notes.Contains("1号炒锅"))

  498.                     {

  499.                         var p = fryingPan1.GetType().GetProperty(property.Name.TrimEnd('1'));

  500.                         if (p != null)

  501.                         {

  502.                             property.SetValue(morkCL, p.GetValue(fryingPan1));

  503.                         }

  504. 

  505.                     }

  506.                     else if (att.Notes.Contains("2号炒锅"))

  507.                     {

  508.                         var p = fryingPan2.GetType().GetProperty(property.Name.TrimEnd('2'));

  509.                         if (p != null)

  510.                         {

  511.                             property.SetValue(morkCL, p.GetValue(fryingPan2));

  512.                         }

  513. 

  514.                     }

  515.                     else if (att.Notes.Contains("机器人"))

  516.                     {

  517.                         var p = robot.GetType().GetProperty(property.Name);

  518.                         if (p != null)

  519.                         {

  520.                             property.SetValue(morkCL, p.GetValue(robot));

  521.                         }

  522.                     }

  523.                     else if (att.Notes.Contains("电子秤"))

  524.                     {

  525.                         var p = otherDevice.GetType().GetProperty(property.Name);

  526.                         if (p != null)

  527.                         {

  528.                             var res = p.GetValue(otherDevice);

  529.                             property.SetValue(morkCL, res);

  530.                             if (p.Name== "CurrentWeight")

  531.                             {

  532.                                 ActionManage.GetInstance.Send("SendCurrentWeight", res);

  533.                             }

  534.                         }

  535.                     }

  536.                     else if (att.Notes.Contains("高压锅"))

  537.                     {

  538.                         var p = pressureCooker.GetType().GetProperty(property.Name);

  539.                         if (p != null)

  540.                         {

  541.                             property.SetValue(morkCL, p.GetValue(pressureCooker));

  542.                         }

  543.                     }

  544.                 }

  545.             }

  546. 

  547. #endif

  548.         }

  549. 

  550.         public override void ResetProgram()

  551.         {

  552.             morkCL = null;

  553.             morkCL = new GVL_MorkCL();

  554.         }

  555. 

  556.         public override void SimOrder()

  557.         {

  558.         }

  559. 

  560.         public override void Stop()

  561.         {

  562.         }

  563. 

  564.         void ManualActionRegiester()

  565.         {

  566.             //主料入库委托。

  567.             ActionManage.GetInstance.Register((object o) =>

  568.             {

  569.                 if (!morkCL.CanItemStorage)

  570.                 {

  571.                     MessageNotify.GetInstance.ShowDialog("当前有炒菜任务正在排队，为避免影响菜品口味，不可入库，请稍后再试。", DialogType.Warning);

  572.                     NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "入库失败", $"物料入库失败，当前正在制作菜品。");

  573.                     return;

  574.                 }

  575.                 TaskManage.GetInstance.Start(() =>

  576.                 {

  577.                     if (o != null && o is IngredientsTB ingredients)

  578.                     {

  579. 

  580.                         var index = Array.FindIndex(Json<ItemStorageInfo>.Data.IngredientsStorage, i => i.IsEmploy == false);

  581.                         if (index >= 0)

  582.                         {

  583.                             var item = Json<ItemStorageInfo>.Data.IngredientsStorage[index];

  584. 

  585.                             item.MaterialID = ingredients.Id;

  586.                             item.Name = ingredients.Name;

  587.                             item.IsEmploy = true;

  588.                             item.Weight = ((OtherServer)devices[EDeviceType.外部设备]).CurrentWeight;

  589. 

  590.                             var loc = (index + 1).ToString();

  591.                             //var robot = (RobotServer)devices[EDeviceType.机器人];

  592.                             //robot.WarehousingControl(loc);

  593.                             //robot.WarehousingComplete[(Convert.ToInt32(loc) - 1)].Wait();

  594. 

  595.                             Json<ItemStorageInfo>.Save();

  596. 

  597.                             ActionManage.GetInstance.Send("RefreshItemStorage");

  598. 

  599.                             DeviceProcessLogShow($"物料{ingredients.Name}，ID:[{ingredients.Id}]入库成功。");

  600.                             Application.Current.Dispatcher.Invoke(() =>

  601.                             {

  602.                                 NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "入库成功", $"物料{ingredients.Name}入库成功。");

  603. 

  604.                             });

  605.                             return;

  606.                         }

  607.                         else

  608.                         {

  609.                             Application.Current.Dispatcher.Invoke(() =>

  610.                             {

  611.                                 NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "入库失败", $"物料库已满。");

  612.                             });

  613.                         }

  614.                     }

  615.                     else

  616.                     {

  617.                         Application.Current.Dispatcher.Invoke(() =>

  618.                         {

  619.                             NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "入库失败", $"物料入库失败。");

  620.                         });

  621.                     }

  622.                 }, "ItemStorageTask");

  623. 

  624.             }, NotifyTopic.ItemStorage, true);

  625. 

  626.             #region 暂时弃用

  627.             ActionManage.GetInstance.Register((object location) =>

  628.                {

  629.                    var loc = location.ToString();

  630.                    if (!String.IsNullOrEmpty(loc) && loc.Length >= 0)

  631.                    {

  632.                        var robot = (RobotServer)devices[EDeviceType.机器人];

  633.                        //Thread.Sleep(5000);

  634.                        robot.WarehousingControl(loc);

  635.                        //会卡死。

  636.                        robot.WarehousingComplete[(Convert.ToInt32(loc) - 1)].Wait();

  637.                    }

  638.                }, "ItemStorage", true); 

  639.             #endregion

  640. 

  641.             ActionManage.GetInstance.Register((object o) =>

  642.             {

  643.                 if (o!=null && o is WriteModel<bool> write)

  644.                 {

  645.                     devices[write.DeviceType].WriteValue<bool>(write.Address, write.Value);

  646.                     DeviceProcessLogShow($"设备[{write.DeviceType}]--手动写入地址[{write.Address}]，值[{write.Value}]");

  647.                 }

  648.             }, "WriteBool", true);

  649. 

  650.             ActionManage.GetInstance.Register((object o) =>

  651.             {

  652.                 if (o != null && o is WriteModel<ushort> write)

  653.                 {

  654.                     devices[write.DeviceType].WriteValue<ushort>(write.Address, write.Value);

  655.                     DeviceProcessLogShow($"设备[{write.DeviceType}]--手动写入地址[{write.Address}]，值[{write.Value}]");

  656.                 }

  657.             }, "WriteUshort", true);

  658.         }

  659.     }

  660. }