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

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  1. using BPA.Message;

  2. using BPA.Message.Enum;

  3. using BPASmartClient.Device;

  4. using BPASmartClient.EventBus;

  5. using BPASmartClient.Helper;

  6. using BPASmartClient.Message;

  7. using BPASmartClient.Model;

  8. using BPASmartClient.Model.PLC;

  9. using BPA.Models;

  10. using static BPASmartClient.EventBus.EventBus;

  11. 

  12. 

  13. namespace BPASmartClient.MorkF

  14. {

  15.     public class Control_MorkF : BaseDevice

  16.     {

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

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

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

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

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

  22. 

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

  24.         /// <summary>

  25.         /// 入口

  26.         /// </summary>

  27.         public override void DoMain()

  28.         {

  29.             CommandRegist();//调试

  30.             ServerInit();

  31.             DataParse();//数据解析

  32.             DeviceProcessLogShow("MORKF 设备初始化完成");

  33.         }

  34.         #region 调试代码

  35.         public void CommandRegist()

  36.         {

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

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

  39.             ActionManage.GetInstance.Register(MaterialOne, "MaterialOne");

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

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

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

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

  44.             ActionManage.GetInstance.Register(ManualOpenExhaust, "OpenExhaust");

  45.             ActionManage.GetInstance.Register(CloseExhaust, "CloaseExhaust");

  46.             ActionManage.GetInstance.Register(StartQX,"StartQXOne");

  47.             ActionManage.GetInstance.Register(StartQX, "StartQXTwo");

  48. 

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

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

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

  52. 

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

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

  55.             ActionManage.GetInstance.Register(TakeMaterial, "TakeMaterial");

  56.             ActionManage.GetInstance.Register(ManualOutMeal, "OutMeal");

  57. 

  58.             ActionManage.GetInstance.Register<Action>(AddOil,"AddOil");

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

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

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

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

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

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

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

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

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

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

  69.             ActionManage.GetInstance.Register(AutoModel, "AutoModel");

  70.             ActionManage.GetInstance.Register(ManualModel, "ManualModel");

  71. 

  72.             ActionManage.GetInstance.Register<Action>(AddOil, "SecAddOil");

  73.             ActionManage.GetInstance.Register(TakeOff, "SecTakeOff");

  74.             ActionManage.GetInstance.Register(OneBlock, "SecOneBlock");

  75.             ActionManage.GetInstance.Register(TwoBlock, "SecTwoBlock");

  76.             ActionManage.GetInstance.Register(ThreeBlock, "SecThreeBlock");

  77.             ActionManage.GetInstance.Register(OverTurnOff, "SecOverTurnOff");

  78.             ActionManage.GetInstance.Register(OverOneBlock, "SecOverOneBlock");

  79.             ActionManage.GetInstance.Register(OverTwoBlock, "SecOverTwoBlock");

  80.             ActionManage.GetInstance.Register(OverThreeBlock, "SecOverThreeBlock");

  81.             ActionManage.GetInstance.Register(OverGoOn, "SecOverGoOn");

  82.             ActionManage.GetInstance.Register(OverGoDown, "SecOverGoDown");

  83.             ActionManage.GetInstance.Register(AutoModel, "SecAutoModel");

  84.             ActionManage.GetInstance.Register(ManualModel, "SecManualModel");

  85.         }

  86.         /// <summary>

  87.         /// 手撕包菜流程

  88.         /// </summary>

  89.         public void ShreddCabbage()

  90.         {

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

  92.             {

  93.                 stirFryBom.StirFryActions.Clear();

  94.             }

  95.             //流程

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

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

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

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

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

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

  102. 

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

  104. 

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

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

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

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

  109.         }

  110.         /// <summary>

  111.         /// 盐煎肉流程

  112.         /// </summary>

  113.         public void FryPork()

  114.         {

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

  116.             {

  117.                 stirFryBom.StirFryActions.Clear();

  118.             }

  119.             //流程

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

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

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

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

  124. 

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

  126. 

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

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

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

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

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

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

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

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

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

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

  137.         }

  138.         /// <summary>

  139.         /// 酱烧杏鲍菇流程

  140.         /// </summary>

  141.         public void XingBaoGu()

  142.         {

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

  144.             {

  145.                 stirFryBom.StirFryActions.Clear();

  146.             }

  147.             //流程

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

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

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

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

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

  153. 

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

  155. 

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

  157. 

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

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

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

  161.         }

  162.         public void StartQX(object obj)

  163.         {

  164.           

  165.             if ((int)obj == 1)

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

  167.             if ((int)obj == 2)

  168.                 WriteData("M1.7", true);

  169.         }

  170.         public void ManualOpenExhaust()

  171.         {

  172.             WriteData("M0.7",true);

  173.         }

  174.         public void CloseExhaust()

  175.         {

  176.             WriteData("M0.7",false);

  177.         }

  178.         public void TakeMaterial()

  179.         {

  180.             WriteData("M14.1",true);

  181.         }

  182.         public void ManualOutMeal()

  183.         {

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

  185.         }

  186.         public void MaterialOne()

  187.         {

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

  189.         }

  190. 

  191.         public void MaterialTwo()

  192.         {

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

  194.         }

  195.         public void MaterialThree()

  196.         {

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

  198.         }

  199.         public void MaterialFour()

  200.         {

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

  202.         }

  203.         public void MaterialFive()

  204.         {

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

  206.         }

  207.         public void AutoModel(object obj)

  208.         {

  209. 

  210.             WriteData("0.3", true);

  211. 

  212.         }

  213.         public void ManualModel()

  214.         {

  215.             WriteData("0.2", true);

  216.         }

  217.         public void AddOil(object obj)

  218.         {

  219.             if ((int)obj == 1)

  220.             {

  221.                 Task.Run(() => { WriteData("M2.7", true); Task.Delay(4000).Wait(); WriteData("M2.7", false); });

  222.             }

  223. 

  224.             if ((int)obj == 2)

  225.             {

  226.                 Task.Run(() => { WriteData("M3.1", true); Task.Delay(4000).Wait(); WriteData("M3.1", false); });

  227.             }

  228.         }

  229.         public void TakePot(object obj)

  230.         {

  231.          

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

  233.         }

  234. 

  235.         public void TakePotReset(object obj)

  236.         {

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

  238.         }

  239.         public void TakeOff(object obj)

  240.         {

  241.             if ((int)obj == 1)

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

  243.             if ((int)obj == 2)

  244.                 WriteData("M5.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  245.         }

  246. 

  247.         public void OneBlock(object obj)

  248.         {

  249.             if ((int)obj == 1)

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

  251.             if ((int)obj == 2)

  252.                 WriteData("M5.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  253. 

  254. 

  255.         }

  256.         public void TwoBlock(object obj)

  257.         {

  258.             if ((int)obj == 1)

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

  260.             if ((int)obj == 2)

  261.                 WriteData("M5.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  262.         }

  263.         public void ThreeBlock(object obj)

  264.         {

  265.             if ((int)obj == 1)

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

  267.             if ((int)obj == 2)

  268.                 WriteData("M5.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  269.         }

  270.         public void OverTurnOff(object obj)

  271.         {

  272.             if ((int)obj == 1)

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

  274.             if ((int)obj == 2)

  275.                 WriteData("M7.4", true);

  276.         }

  277.         public void OverOneBlock(object obj)

  278.         {

  279.             if ((int)obj == 1)

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

  281.             if ((int)obj == 2)

  282.                 WriteData("M7.5", true);

  283.         }

  284.         public void OverTwoBlock(object obj)

  285.         {

  286.             if ((int)obj == 1)

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

  288.             if ((int)obj == 2)

  289.                 WriteData("M7.6",true);

  290.         }

  291.         public void OverThreeBlock(object obj)

  292.         {

  293.             if ((int)obj == 1)

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

  295.             if ((int)obj == 2)

  296.                 WriteData("M7.7",true);

  297.         }

  298.         public void OverGoOn(object obj)

  299.         {

  300.             if ((int)obj == 1)

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

  302.             if ((int)obj == 2)

  303.                 WriteData("M8.4",true);

  304.         }

  305. 

  306.         public void OverGoDown(object obj)

  307.         {

  308.             if ((int)obj == 1)

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

  310.             if ((int)obj == 2)

  311.                 WriteData("M8.6", true);

  312.         }

  313.         public void FlowInite()

  314.         {

  315. 

  316.         }

  317.         /// <summary>

  318.         /// 订单初始化

  319.         /// </summary>

  320.         private void InitialData()

  321.         {

  322.             ////模拟流程

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

  324.             //{

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

  326.             //}

  327.             ////流程

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

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

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

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

  332. 

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

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

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

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

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

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

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

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

  341.             //队列

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

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

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

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

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

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

  348.             morkF.listStirBom.Add(stirFryBom);

  349.         }

  350.         #endregion

  351. 

  352.         public override void ResetProgram()

  353.         {

  354.             morkF = null;

  355.             morkF = new GVL_MorkF();

  356.         }

  357. 

  358.         /// <summary>

  359.         /// PLC数据读取

  360.         /// </summary>

  361.         public override void ReadData()

  362.         {

  363. 

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

  365.             {

  366.                 Initing = bools[0];

  367.                 morkF.InitialComplete = Initing;

  368.             }));

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

  370.             {

  371.                 morkF.ProvidePlateModule = bools[0];

  372.                 morkF.ProvidePlateComplete = bools[2];

  373.                 morkF.CleanModule = bools[3];

  374.                 morkF.CleanComplete = bools[5];

  375.             }));

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

  377.             {

  378.                 morkF.KitchenOneStatus = bools[1];

  379.                 morkF.KitchenSecondStatus = bools[4];

  380.                 morkF.FallOilComplete = bools[8];

  381.             }));

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

  383.             {

  384.                 morkF.TurnMachineUpComplete = bools[1];

  385.                 morkF.TurnMachineDownComplete = bools[3];

  386.             }));

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

  388.             {

  389.                 morkF.MaterialArriveComplete = bools[0];

  390.             }));

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

  392.             {

  393.                 morkF.PutPotToKitchenComlete = bools[1];

  394.                 morkF.TakeMaterialComplete = bools[2];

  395.                 morkF.FallMaterialComplete = bools[3];

  396.                 morkF.PlaceRinseTableComplete = bools[5];

  397.                 morkF.RoobotIdle = bools[6];

  398.             }));

  399. 

  400.         }

  401.         private void ServerInit()

  402.         {

  403.             //物料信息

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

  405.             {

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

  407.                 if (@event is MaterialDeliveryEvent material)

  408.                 {

  409.                     orderMaterialDelivery = material.orderMaterialDelivery;

  410.                 }

  411.             });

  412. 

  413.             //配方数据信息

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

  415.             {

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

  417.                 if (@event is RecipeBomEvent recipe)

  418.                 {

  419.                     recipeBoms = recipe.recipeBoms;

  420.                     WriteRecipeBoms();

  421.                 }

  422.             });

  423.         }

  424. 

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

  426.         {

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

  428.         }

  429. 

  430.         /// <summary>

  431.         /// 写入配方数据到 PLC

  432.         /// </summary>

  433.         private void WriteRecipeBoms()

  434.         {

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

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

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

  438.             //{

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

  440.             //    {

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

  442.             //    }

  443.             //}

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

  445.             //{

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

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

  448.             //}

  449.             //else {DeviceProcessLogShow("配方数据为空"); }

  450.         }

  451. 

  452.         /// <summary>

  453.         /// 数据解析

  454.         /// </summary>

  455.         private void DataParse()

  456.         {

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

  458.             {

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

  460.                 if (@event is DoOrderEvent order)

  461.                 {

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

  463.                     OrderCount++;

  464.                     DeviceProcessLogShow($"接收到{OrderCount}次订单");

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

  466.                     {

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

  468.                         if (res != null)

  469.                         {

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

  471.                             {

  472. 

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

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

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

  476.                             }

  477. 

  478. 

  479. 

  480.                             //int index = 0;

  481.                             //if (recipeBoms != null)

  482.                             //{

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

  484.                             //    index++;

  485.                             //}

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

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

  488.                                 {

  489.                                     SuborderId = order.MorkOrder.SuborderId,

  490.                                     BatchingId = res.BatchingId

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

  492.                                 });

  493. 

  494. 

  495.                         }

  496.                     }

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

  498. 

  499.                 }

  500.             });

  501.         }

  502.         //}

  503.         /// <summary>

  504.         /// 主任务

  505.         /// </summary>

  506.         public override void MainTask()

  507.         {

  508.             TakePlatelTask();

  509.             TurntableControl();

  510.             MainProcessExecute();

  511.             MinorProcessExcute();

  512.             SingleProcess();

  513.         }

  514.         //辅流程执行

  515.         private void MinorProcessExcute()

  516.         {

  517.             if (!morkF.MinorProcessExcuteLock)

  518.             {

  519.                 morkF.MinorProcessExcuteLock = true;

  520.                 Task.Run(() =>

  521.                    {

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

  523.                        {

  524.                            morkF.MinorProessStatus = true;

  525.                            morkF.MainProcessStatus = false;

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

  527.                            morkF.listStirBom.RemoveAt(0);

  528.                            foreach (var res in bom.StirFryActions)

  529.                            {

  530.                                DeviceProcessLogShow($"执行流程{res.Time}");

  531.                                //机器人线程

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

  533.                                       {

  534.                                           foreach (var temp in res.RobotActions)

  535.                                           {

  536.                                               switch (temp)

  537.                                               {

  538.                                                   case StirFryRobotAction.清洗槽取锅:

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

  540.                                                       break;

  541.                                                   case StirFryRobotAction.加入A料:

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

  543.                                                       break;

  544.                                                   case StirFryRobotAction.加入B料:

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

  546.                                                       break;

  547.                                                   case StirFryRobotAction.加入C料:

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

  549.                                                       break;

  550.                                                   case StirFryRobotAction.灶取锅:

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

  552.                                                       CleanPotTask();//洗锅操作

  553.                                                       break;

  554.                                               }

  555. 

  556.                                           }

  557. 

  558.                                       }));

  559.                                //炒锅线程操作

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

  561.                                       {

  562.                                           foreach (var temp in res.PotActions)

  563.                                           {

  564.                                               switch (temp)

  565.                                               {

  566.                                                   case StirFryPotAction.NONE:

  567.                                                       break;

  568.                                                   case StirFryPotAction.大火t1s:

  569.                                                       KitchenAdjustGears(3);

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

  571.                                                       break;

  572.                                                   case StirFryPotAction.加油:

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

  574.                                                       break;

  575.                                                   case StirFryPotAction.中火t2s:

  576.                                                       KitchenAdjustGears(2);

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

  578.                                                       break;

  579.                                                   case StirFryPotAction.小火持续:

  580.                                                       KitchenAdjustGears(1);

  581.                                                       break;

  582.                                                   case StirFryPotAction.中火持续:

  583.                                                       KitchenAdjustGears(5);

  584.                                                       break;

  585.                                                   case StirFryPotAction.大火持续:

  586.                                                       KitchenAdjustGears(7);

  587.                                                       break;

  588.                                                   case StirFryPotAction.停止火力:

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

  590.                                                       break;

  591.                                                   case StirFryPotAction.搅拌臂上位:

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

  593.                                                       break;

  594.                                                   case StirFryPotAction.搅拌臂下位:

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

  596.                                                       break;

  597.                                                   case StirFryPotAction.低速旋转:

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

  599.                                                       break;

  600.                                                   case StirFryPotAction.快速旋转:

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

  602.                                                       break;

  603.                                                   case StirFryPotAction.停止旋转:

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

  605.                                                       break;

  606.                                               }

  607.                                           }

  608.                                       }));

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

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

  611.                                if (morkF.MainProcessWait)

  612.                                {

  613. 

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

  615.                                    morkF.MinorProessStatus = false;

  616.                                    morkF.MainProcessStatus = true;

  617.                                    //阻塞辅流程

  618.                                    minorReset.WaitOne();

  619.                                }

  620.                                morkF.MinorProessStatus = true;

  621.                                morkF.MainProcessStatus = false;

  622.                            }

  623.                            morkF.MinorOutMealComplete = true;

  624.                        }

  625.                        else

  626.                        {

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

  628.                        }

  629.                    });

  630.             }

  631.         }

  632. 

  633.         //机器人，锅灶主流程执行

  634.         public void MainProcessExecute()

  635.         {

  636.             if (!morkF.MainProcessExcuteLock)

  637.             {

  638.                 morkF.MainProcessExcuteLock = true;

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

  640.                 {

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

  642.                     {

  643.                         morkF.MainProcessStatus = true;

  644.                         morkF.MinorProessStatus = false;

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

  646.                         morkF.listStirBom.RemoveAt(0);

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

  648.                         {

  649.                             DeviceProcessLogShow($"执行流程{res.Time}");

  650.                             //机器人线程

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

  652.                             {

  653.                                 foreach (var temp in res.RobotActions)

  654.                                 {

  655.                                     switch (temp)

  656.                                     {

  657.                                         case StirFryRobotAction.清洗槽取锅:

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

  659.                                             break;

  660.                                         case StirFryRobotAction.加入A料:

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

  662.                                             break;

  663.                                         case StirFryRobotAction.加入B料:

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

  665.                                             break;

  666.                                         case StirFryRobotAction.加入C料:

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

  668.                                             break;

  669.                                         case StirFryRobotAction.灶取锅:

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

  671.                                             CleanPotTask();//洗锅操作

  672.                                             break;

  673.                                     }

  674. 

  675.                                 }

  676. 

  677.                             }));

  678.                             //炒锅线程操作

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

  680.                             {

  681.                                 foreach (var temp in res.PotActions)

  682.                                 {

  683.                                     switch (temp)

  684.                                     {

  685.                                         case StirFryPotAction.NONE:

  686.                                             break;

  687.                                         case StirFryPotAction.大火t1s:

  688.                                             KitchenAdjustGears(3);

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

  690.                                             break;

  691.                                         case StirFryPotAction.加油:

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

  693.                                             break;

  694.                                         case StirFryPotAction.中火t2s:

  695.                                             KitchenAdjustGears(2);

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

  697.                                             break;

  698.                                         case StirFryPotAction.小火持续:

  699.                                             KitchenAdjustGears(1);

  700.                                             break;

  701.                                         case StirFryPotAction.中火持续:

  702.                                             KitchenAdjustGears(5);

  703.                                             break;

  704.                                         case StirFryPotAction.大火持续:

  705.                                             KitchenAdjustGears(7);

  706.                                             break;

  707.                                         case StirFryPotAction.停止火力:

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

  709.                                             break;

  710.                                         case StirFryPotAction.搅拌臂上位:

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

  712.                                             break;

  713.                                         case StirFryPotAction.搅拌臂下位:

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

  715.                                             break;

  716.                                         case StirFryPotAction.低速旋转:

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

  718.                                             break;

  719.                                         case StirFryPotAction.快速旋转:

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

  721.                                             break;

  722.                                         case StirFryPotAction.停止旋转:

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

  724.                                             break;

  725.                                     }

  726.                                 }

  727.                             }));

  728. 

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

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

  731.                             if (morkF.MinorProcessWait)

  732.                             {

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

  734.                                 morkF.MinorProessStatus = true;

  735.                                 morkF.MainProcessStatus = false;

  736.                                 //阻塞主流程

  737.                                 mainReset.WaitOne();

  738.                             }

  739.                             morkF.MinorProessStatus = false;

  740.                             morkF.MainProcessStatus = true;

  741. 

  742.                         }

  743.                         morkF.MainOutMealComplete = true;

  744.                     }

  745.                     else

  746.                     {

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

  748.                     }

  749.                 }));

  750.             }

  751. 

  752.         }

  753.         /// <summary>

  754.         /// 信号处理

  755.         /// </summary>

  756.         private void SingleProcess()

  757.         {

  758. 

  759. 

  760.             //主流程出餐完成，相应变量复位

  761.             if (morkF.MainOutMealComplete)

  762.             {

  763.                 morkF.TakePlateLock = false;

  764.                 morkF.PotInPlace = false;

  765.                 morkF.MainProcessExcuteLock = false;

  766.                 morkF.MainOrderMaterialCom = false;

  767.             }

  768.             //辅流程出餐完成，相应变量复位

  769.             if (morkF.MinorOutMealComplete)

  770.             {

  771.                 morkF.TakePlateLock = false;

  772.                 morkF.SecondPotInPlace = false;

  773.                 morkF.MinorProcessExcuteLock = false;

  774.                 morkF.MinorOrderMaterialCom = false;

  775.             }

  776. 

  777.         }

  778. 

  779.         /// <summary>

  780.         /// 转台控制

  781.         /// </summary>

  782.         private void TurntableControl()

  783.         {

  784.             //正常轮询

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

  786.             //{

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

  788. 

  789.             //    if (result != null)

  790.             //    {

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

  792.             //        {

  793.             //            TurnMaterialStore(loc);

  794.             //           DeviceProcessLogShow($"转台转到【{loc}】位置");

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

  796.             //        }

  797.             //    }

  798.             //    elseDeviceProcessLogShow("未找到可用的物料信息");

  799.             //}

  800. 

  801.             //调试代码

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

  803.             {

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

  805.                 if (resultorder != null)

  806.                 {

  807. 

  808.                     TurnMaterialStore(resultorder[0]);

  809.                     DeviceProcessLogShow($"转台转到【{resultorder[0]}】位置");

  810.                     resultorder.RemoveAt(0);

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

  812. 

  813.                 }

  814.                 else

  815.                 {

  816.                     DeviceProcessLogShow("未找到可用的物料信息");

  817.                 }

  818.             }

  819. 

  820.         }

  821. 

  822. 

  823.         /// <summary>

  824.         /// 供盘

  825.         /// </summary>

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

  827.         private void TakePlatelTask()

  828.         {

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

  830.             {

  831. 

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

  833.                 {

  834.                     StartTakePlate();

  835.                     if (morkF.MainProcessStatus)

  836.                         morkF.MainCurrentOrderId = order.SuborderId;

  837.                     if (morkF.MinorProessStatus)

  838.                         morkF.MinorCurrentOrderId = order.SuborderId;

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

  840.                     morkF.MainOutMealComplete = false;

  841.                     morkF.MinorOutMealComplete = false;

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

  843.                     DeviceProcessLogShow($"订单【{order.SuborderId}】执行取碗控制");

  844.                 }

  845.             }

  846.         }

  847. 

  848.         /// <summary>

  849.         /// 取锅到灶台

  850.         /// </summary>

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

  852.         private void TakePotTask()

  853.         {

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

  855.             //{

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

  857.             //}

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

  859.             {

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

  861.             }

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

  863.             {

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

  865.             }

  866.             if (!morkF.CleanModule && !morkF.KitchenOneStatus && morkF.CleanComplete)

  867.             {

  868.                 //取1号锅到1号灶台

  869.                 TakePotToKitchen(1);

  870.                 morkF.CurrentPutPotLoc = 1;

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

  872.             }

  873.             if (!morkF.SecondCleanModule && !morkF.KitchenSecondStatus && morkF.SecondCleanComplete)

  874.             {

  875.                 //取2号锅到2号灶台

  876.                 TakePotToKitchen(2);

  877.                 morkF.CurrentPutPotLoc = 2;

  878.                 WriteData("M2.0", false);//清洗模组2完成复位

  879.             }

  880.             if (morkF.MainProcessStatus)

  881.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行取锅到灶台控制");

  882.             if (morkF.MinorProessStatus)

  883.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行取锅到灶台控制");

  884.             if (morkF.CurrentPutPotLoc == 1)

  885.             {

  886.                 while (!morkF.PutPotToKitchenComlete)

  887.                 {

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

  889.                 }

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

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

  892.             }

  893.             if (morkF.CurrentPutPotLoc == 2)

  894.             {

  895.                 while (!morkF.PutPotToSecondKitchenComlete)

  896.                 {

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

  898.                 }

  899.                 morkF.SecondPotInPlace = morkF.PutPotToSecondKitchenComlete;

  900.                 WriteData("M14.4", false);//机器人取锅完成复位

  901.             }

  902. 

  903. 

  904.             Thread.Sleep(2000);

  905. 

  906. 

  907. 

  908. 

  909.         }

  910.         /// <summary>

  911.         /// 转台复位

  912.         /// </summary>

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

  914.         public void TurnReset(int loc)

  915.         {

  916.             switch (loc)

  917.             {

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

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

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

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

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

  923.             }

  924.         }

  925.         /// <summary>

  926.         /// 取素菜A料

  927.         /// </summary>

  928.         private void TakeBurdenATask()

  929.         {

  930.             int loc = 0;

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

  932.             {

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

  934.             }

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

  936.             {

  937.                 loc = order.MaterialLoc;

  938.                 TakeBurden(loc);

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

  940. 

  941.                 DeviceProcessLogShow($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  942.             }

  943.             //等待取料完成

  944.             while (!morkF.TakeMaterialComplete)

  945.             {

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

  947.             }

  948. 

  949.             if (morkF.MainProcessStatus)

  950.             {

  951.                 morkF.MainOrderMaterialCom = false;

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

  953.             }

  954.             if (morkF.MinorProessStatus)

  955.             {

  956.                 morkF.MinorOrderMaterialCom = false;

  957.                 WriteData("M14.5", false);//机器人取料完成复位

  958.             }

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

  960. 

  961. 

  962.         }

  963.         /// <summary>

  964.         /// 取素菜B料

  965.         /// </summary>

  966.         private void TakeBurdenBTask()

  967.         {

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

  969.             {

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

  971.             }

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

  973.             {

  974.                 int loc = order.MaterialLoc;

  975.                 TakeBurden(loc);

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

  977.                 DeviceProcessLogShow($"订单【{ order.SuborderId}】,执行取B料");

  978.             }

  979.             //等待取料完成

  980.             while (!morkF.TakeMaterialComplete)

  981.             {

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

  983.             }

  984.             morkF.MainOrderMaterialCom = false;

  985.             if (morkF.MainProcessStatus)

  986.             {

  987.                 morkF.MainOrderMaterialCom = false;

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

  989.             }

  990.             if (morkF.MinorProessStatus)

  991.             {

  992.                 morkF.MinorOrderMaterialCom = false;

  993.                 WriteData("M14.5", false);//机器人取料完成复位

  994.             }

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

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

  997.             //{

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

  999.             //}

  1000.             //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，B料倒料完成");

  1001.         }

  1002.         /// <summary>

  1003.         /// 取调味品C料

  1004.         /// </summary>

  1005.         /// <exception cref="NotImplementedException"></exception>

  1006.         private void TakeBurdenCTask()

  1007.         {

  1008.             while (morkF.RoobotIdle || (!morkF.PotInPlace && !morkF.SecondPotInPlace) || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  1009.             {

  1010.                 Task.Delay(5).Wait();

  1011.             }

  1012.             if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  1013.             {

  1014.                 int loc = order.MaterialLoc;

  1015.                 TakeBurden(loc);

  1016.                 TurnReset(loc);//转台复位

  1017.                 DeviceProcessLogShow($"订单【{ order.SuborderId}】,执行取C料");

  1018.             }

  1019.             DeviceProcessLogShow($"剩余配料数量{morkF.TakeMaterialQueue.Count}");

  1020.             //等待取料完成

  1021.             while (!morkF.TakeMaterialComplete)

  1022.             {

  1023.                 Task.Delay(5).Wait();

  1024.             }

  1025.             morkF.MainOrderMaterialCom = false;

  1026.             if (morkF.MainProcessStatus)

  1027.             {

  1028.                 morkF.MainOrderMaterialCom = false;

  1029.                 WriteData("M14.1", false);//机器人取料完成复位

  1030.             }

  1031.             if (morkF.MinorProessStatus)

  1032.             {

  1033.                 morkF.MinorOrderMaterialCom = false;

  1034.                 WriteData("M14.5", false);//机器人取料完成复位

  1035.             }

  1036.             morkF.TurnTableLock = false;//转台互锁解除

  1037.             //while (!morkF.FallMaterialComplete)

  1038.             //{

  1039.             //    Task.Delay(5).Wait();

  1040.             //}

  1041.             //morkF.SingelOrderMaterialCom = true;

  1042.             //MessageLog.GetInstance.Show($"订单【{ order.SuborderId}】，C料倒料完成");

  1043.             //}

  1044.         }

  1045.         /// <summary>

  1046.         /// 出餐

  1047.         /// </summary>

  1048.         private void OutDishTask()

  1049.         {

  1050.             //while (morkF.RoobotIdle || morkF.CleanModule || !morkF.ProvidePlateComplete)//等待条件满足

  1051.             //{

  1052.             //    Task.Delay(5).Wait();

  1053.             //}

  1054.             while (morkF.RoobotIdle || (!morkF.CleanComplete && !morkF.SecondCleanComplete) || !morkF.ProvidePlateComplete)//等待条件满足

  1055.             {

  1056.                 Task.Delay(5).Wait();

  1057.             }

  1058. 

  1059.             if (morkF.TakePlateQueue.Count == 0)

  1060.             {

  1061.                 WriteData("M0.7", false);//无订单关闭抽风机

  1062.             }

  1063.             RobotOutMeal();

  1064.             WriteData("M1.2", false);//供盘复位

  1065.             if (morkF.MainProcessStatus)

  1066.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行取锅到清洗台控制");

  1067.             if (morkF.MinorProessStatus)

  1068.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行取锅到清洗台控制");

  1069. 

  1070.         }

  1071. 

  1072.         /// <summary>

  1073.         /// 洗锅放锅

  1074.         /// </summary>

  1075.         private void CleanPotTask()

  1076.         {

  1077.             while (!morkF.PlaceRinseTableComplete || ((morkF.CleanModule && !morkF.MainProcessStatus) && (morkF.SecondCleanModule && !morkF.MinorProessStatus)))

  1078.             {

  1079.                 Task.Delay(5).Wait();

  1080.             }

  1081.             if (morkF.MainProcessStatus)

  1082.             {

  1083. 

  1084.                 WriteData("M14.2", false);//机器人2号锅出餐完成复位

  1085.                 CleanModuleControl("Start");

  1086.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行清洗操作");

  1087.                 morkF.MainProcessFlag = false;

  1088.                 minorReset.Set();

  1089.             }

  1090.             if (morkF.MinorProessStatus)

  1091.             {

  1092.                 WriteData("M14.6", false);//机器人2号锅出餐完成复位

  1093.                 CleanModuleControl("Start");

  1094.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行清洗操作");

  1095.                 morkF.MinorProcessFlag = false;

  1096.                 mainReset.Set();

  1097.             }

  1098.             //OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COMPLETED_COOK);

  1099. 

  1100. 

  1101.         }

  1102.         /// <summary>

  1103.         /// 任务复位重启

  1104.         /// </summary>

  1105.         //private void ResetProgram()

  1106.         //{

  1107.         //    ThreadManage.GetInstance().StartLong(new Action(() =>

  1108.         //    {

  1109.         //        if (RTrig.GetInstance("ResetProgram").Start(morkF.DevicDataInite))

  1110.         //        {

  1111.         //            ThreadManage.GetInstance().StopTask("MainTask", new Action(() =>

  1112.         //            {

  1113.         //                ThreadManage.GetInstance().StopTask("ReadPLCData", new Action(() =>

  1114.         //                {

  1115.         //                    morkF = null;

  1116.         //                    morkF = new GVL_MorkF();

  1117.         //                    ActionManage.GetInstance.Send("ResetProgram");

  1118.         //                    ActionManage.GetInstance.Send("ClearOrders");

  1119.         //                    ReadData();

  1120.         //                    Main();

  1121.         //                }));

  1122.         //            }));

  1123.         //        }

  1124. 

  1125.         //        Thread.Sleep(10);

  1126.         //    }), "ResetProgram");

  1127.         //}

  1128.         /// <summary>

  1129.         /// 翻转机下降及状态检测

  1130.         /// </summary>

  1131.         public void TurnDownStatusDetect()

  1132.         {

  1133.             TurnMachineOrientControl("Down");

  1134. 

  1135.             if (morkF.MainProcessStatus)

  1136.             {

  1137.                 while (!morkF.TurnMachineDownComplete)//等待翻转机下降完成

  1138.                 {

  1139.                     Task.Delay(5).Wait();

  1140.                 }

  1141.                 WriteData("M8.3", false);//下降完成复位 

  1142.             }

  1143.             if (morkF.MinorProessStatus)

  1144.             {

  1145.                 while (!morkF.SecondTurnMachineDownComplete)//等待翻转机下降完成

  1146.                 {

  1147.                     Task.Delay(5).Wait();

  1148.                 }

  1149.                 WriteData("M8.7", false);//下降完成复位 

  1150.             }

  1151.             DeviceProcessLogShow($"翻转机下降完成");

  1152.             //if (morkF.MaterialCount == 3 && morkF.MainProcessStatus)

  1153.             //{

  1154.             //    morkF.MainProcessWait = true;

  1155.             //}

  1156.             //else if (morkF.MaterialCount == 3 && morkF.MinorProessStatus)

  1157.             //{ 

  1158.             //    morkF.MinorProcessWait = true;

  1159.             //}

  1160. 

  1161.         }

  1162.         /// <summary>

  1163.         /// 翻转机上升及状态检测

  1164.         /// </summary>

  1165.         public void TurnUpStatusDetect()

  1166.         {

  1167.             while (morkF.RoobotIdle)//机器人忙碌

  1168.             {

  1169.                 Task.Delay(5).Wait();

  1170.             }

  1171.             TurnMachineOrientControl("Top");//翻转机上升

  1172.             if (morkF.MainProcessStatus)

  1173.             {

  1174.                 while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成

  1175.                 {

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

  1177.                 }

  1178.                 WriteData("M8.1", false);//上升完成复位 

  1179.             }

  1180.             if (morkF.MinorProessStatus)

  1181.             {

  1182.                 while (!morkF.SecondTurnMachineUpComplete)//等待翻转机上升完成以及取料完成

  1183.                 {

  1184.                     Task.Delay(5).Wait();

  1185.                 }

  1186.                 WriteData("M8.5", false);//上升完成复位 

  1187.             }

  1188.             if (morkF.MainProcessStatus)//代表主流程执行的操作

  1189.             {

  1190.                 if (!morkF.MainOrderMaterialCom)

  1191.                 {

  1192.                     WriteData("M14.3", true);//倒料

  1193.                     while (!morkF.FallMaterialComplete)//等待倒料完成

  1194.                     {

  1195.                         Task.Delay(5).Wait();

  1196.                     }

  1197.                     morkF.MaterialCount++;

  1198.                     WriteData("M14.3", false);//倒料复位

  1199.                     if (morkF.MaterialCount == 3)

  1200.                     {

  1201.                         //允许执行下一个订单流程

  1202.                         morkF.MaterialCount = 0;

  1203.                         morkF.MinorProcessFlag = true;

  1204. 

  1205.                     }

  1206.                     morkF.MainOrderMaterialCom = true;

  1207.                     DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】，配料倒料完成");

  1208.                 }

  1209.                 else //辅程准备阻塞

  1210.                 {

  1211.                     morkF.MainProcessWait = true;

  1212.                 }

  1213.             }

  1214.             else if (morkF.MinorProessStatus)//代表辅流程执行的操作

  1215.             {

  1216.                 if (!morkF.MinorOrderMaterialCom)

  1217.                 {

  1218.                     WriteData("M14.3", true);//倒料

  1219.                     while (!morkF.SecondFallMaterialComplete)//等待倒料完成

  1220.                     {

  1221.                         Task.Delay(5).Wait();

  1222.                     }

  1223.                     morkF.MaterialCount++;

  1224.                     WriteData("M14.3", false);//倒料复位

  1225.                     if (morkF.MaterialCount == 3)

  1226.                     {

  1227.                         //允许执行下一个订单流程

  1228.                         morkF.MaterialCount = 0;

  1229.                         morkF.MainProcessFlag = true;

  1230. 

  1231.                     }

  1232.                     morkF.MinorOrderMaterialCom = true;

  1233.                     DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】，配料倒料完成");

  1234.                 }

  1235.                 else //主流程准备阻塞

  1236.                 {

  1237.                     morkF.MinorProcessWait = true;

  1238.                 }

  1239.             }

  1240. 

  1241.             DeviceProcessLogShow("翻转机上升完成");

  1242. 

  1243.         }

  1244.         private void GetStatus(string key, Action<bool[]> action)

  1245.         {

  1246.             if (peripheralStatus.ContainsKey(key))

  1247.             {

  1248.                 action((bool[])peripheralStatus[key]);//获取PLC指定地址的状态值

  1249.             }

  1250.         }

  1251.         /// <summary>

  1252.         /// 写数据

  1253.         /// </summary>

  1254.         /// <param name="address"></param>

  1255.         /// <param name="value"></param>

  1256.         private void WriteData(string address, object value)

  1257.         {

  1258.             EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });

  1259.         }

  1260.         /// <summary>

  1261.         /// 灶台档位调节

  1262.         /// </summary>

  1263.         public void KitchenAdjustGears(int number)

  1264.         {

  1265.             while (!morkF.PotInPlace)

  1266.             {

  1267.                 Task.Delay(5).Wait();

  1268.             }

  1269. 

  1270.             switch (number)

  1271.             {

  1272.                 case 0:

  1273.                     if (morkF.MainProcessStatus)

  1274.                         WriteData("M4.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  1275.                     if (morkF.MinorProessStatus)

  1276.                         WriteData("M5.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  1277.                     break;

  1278.                 case 1:

  1279.                     if (morkF.MainProcessStatus)

  1280.                         WriteData("M4.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  1281.                     if (morkF.MinorProessStatus)

  1282.                         WriteData("M5.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  1283.                     break;

  1284.                 case 2:

  1285.                     if (morkF.MainProcessStatus)

  1286.                         WriteData("M4.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  1287.                     if (morkF.MinorProessStatus)

  1288.                         WriteData("M5.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  1289.                     break;

  1290.                 case 3:

  1291.                     if (morkF.MainProcessStatus)

  1292.                         WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  1293.                     if (morkF.MinorProessStatus)

  1294.                         WriteData("M5.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  1295.                     break;

  1296.                 case 4:

  1297.                     if (morkF.MainProcessStatus)

  1298.                         WriteData("M4.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100

  1299.                     if (morkF.MinorProessStatus)

  1300.                         WriteData("M5.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100

  1301.                     break;

  1302.                 case 5:

  1303.                     if (morkF.MainProcessStatus)

  1304.                         WriteData("M4.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101

  1305.                     if (morkF.MinorProessStatus)

  1306.                         WriteData("M5.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101

  1307.                     break;

  1308.                 case 6:

  1309.                     if (morkF.MainProcessStatus)

  1310.                         WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110

  1311.                     if (morkF.MinorProessStatus)

  1312.                         WriteData("M5.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110

  1313.                     break;

  1314.                 case 7:

  1315.                     if (morkF.MainProcessStatus)

  1316.                         WriteData("M4.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111

  1317.                     if (morkF.MinorProessStatus)

  1318.                         WriteData("M5.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111

  1319.                     break;

  1320.                 case 8:

  1321.                     if (morkF.MainProcessStatus)

  1322.                         WriteData("M4.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000

  1323.                     if (morkF.MinorProessStatus)

  1324.                         WriteData("M5.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000

  1325.                     break;

  1326.                 case 9:

  1327.                     if (morkF.MainProcessStatus)

  1328.                         WriteData("M4.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001

  1329.                     if (morkF.MinorProessStatus)

  1330.                         WriteData("M5.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001

  1331.                     break;

  1332. 

  1333.             }

  1334.             if (morkF.MainProcessStatus)

  1335.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行取锅到灶台控制");

  1336.             if (morkF.MinorProessStatus)

  1337.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行取锅到灶台控制");

  1338.         }

  1339.         public void TurnMaterialStore(int loc)

  1340.         {

  1341.             switch (loc)

  1342.             {

  1343.                 case 1:

  1344.                     WriteData("M13.0", true);

  1345.                     break;

  1346.                 case 2:

  1347.                     WriteData("M13.1", true);

  1348.                     break;

  1349.                 case 3:

  1350.                     WriteData("M13.2", true);

  1351.                     break;

  1352.                 case 4:

  1353.                     WriteData("M13.3", true);

  1354.                     break;

  1355.                 case 5:

  1356.                     WriteData("M13.4", true);

  1357.                     break;

  1358.             }

  1359. 

  1360.         }

  1361.         public void PLCInite()

  1362.         {

  1363.             WriteData("M0.0", true);

  1364. 

  1365.         }

  1366.         /// <summary>

  1367.         /// 供盘启动

  1368.         /// </summary>

  1369.         public void StartTakePlate()

  1370.         {

  1371.             WriteData("M1.1", true);

  1372.         }

  1373.         /// <summary>

  1374.         /// 取锅到灶台

  1375.         /// </summary>

  1376.         public void TakePotToKitchen(int loc)

  1377.         {

  1378.             if (loc == 1)

  1379.                 WriteData("M14.0", true);

  1380.             if (loc == 2)

  1381.                 WriteData("M14.4", true);

  1382.         }

  1383.         /// <summary>

  1384.         /// 机器人出餐并将锅放置清洗台位置

  1385.         /// </summary>

  1386.         public void RobotOutMeal()

  1387.         {

  1388.             if (morkF.MainProcessStatus)

  1389.                 WriteData("M14.2", true);//1号锅出餐

  1390.             if (morkF.MinorProessStatus)

  1391.                 WriteData("M14.6", true);//2号锅出餐

  1392.         }

  1393.         /// <summary>

  1394.         /// 注油

  1395.         /// </summary>

  1396.         public void AddOil()

  1397.         {

  1398.             while (!morkF.PotInPlace)

  1399.             {

  1400.                 Task.Delay(5).Wait();

  1401.             }

  1402.             if (morkF.MainProcessStatus)

  1403.                 WriteData("M2.7", true);//加油

  1404.             if (morkF.MinorProessStatus)

  1405.                 WriteData("M3.1", true);//加油

  1406.             WriteData("M0.7", true);//打开抽风机

  1407.             DeviceProcessLogShow("开始注油");

  1408.             while (!morkF.FallOilComplete || !morkF.SecondOilComplete)

  1409.             {

  1410.                 Task.Delay(5).Wait();

  1411.             }

  1412.             DeviceProcessLogShow("注油完成");

  1413. 

  1414.         }

  1415.         /// <summary>

  1416.         /// 翻转机方向控制

  1417.         /// </summary>

  1418.         /// <param name="orientation"></param>

  1419.         public void TurnMachineOrientControl(string orientation)

  1420.         {

  1421.             switch (orientation)

  1422.             {

  1423.                 case "Top": if (morkF.MainProcessStatus) WriteData("M8.0", true); if (morkF.MinorProessStatus) WriteData("M8.4", true); break;

  1424.                 case "Down": if (morkF.MainProcessStatus) WriteData("M8.2", true); if (morkF.MinorProessStatus) WriteData("M8.6", true); break;

  1425.             }

  1426.             DeviceProcessLogShow($"翻转机执行{orientation}操作");

  1427.         }

  1428.         /// <summary>

  1429.         /// 翻转机档位控制

  1430.         /// </summary>

  1431.         public void TurnMachineGearsControl(int gear)

  1432.         {

  1433.             while (!morkF.PotInPlace)

  1434.             {

  1435.                 Task.Delay(5).Wait();

  1436.             }

  1437.             switch (gear)

  1438.             {

  1439.                 case 0: if (morkF.MainProcessStatus) WriteData("M7.0", true); Task.Delay(1000).Wait(); if (morkF.MinorProessStatus) WriteData("M7.4", true); break;//关闭翻炒机

  1440.                 case 1: if (morkF.MainProcessStatus) WriteData("M7.1", true); if (morkF.MinorProessStatus) WriteData("M7.5", true); break;//翻炒机1挡

  1441.                 case 2: if (morkF.MainProcessStatus) WriteData("M7.2", true); if (morkF.MinorProessStatus) WriteData("M7.6", true); break;//翻炒机2挡

  1442.                 case 3: if (morkF.MainProcessStatus) WriteData("M7.3", true); if (morkF.MinorProessStatus) WriteData("M7.7", true); break;//翻炒机3挡

  1443.             }

  1444.             DeviceProcessLogShow($"翻转机档位调至{gear}挡");

  1445.         }

  1446.         /// <summary>

  1447.         /// 倒A,B,C料

  1448.         /// </summary>

  1449.         public void TakeBurden(int loc)

  1450.         {

  1451.             if (morkF.MainProcessStatus && morkF.PotInPlace)

  1452.                 WriteData("M14.1", true);//机器人倒料至1号锅

  1453.             if (morkF.MinorProessStatus && morkF.SecondPotInPlace)

  1454.                 WriteData("M14.5", true);//机器人倒料至2号锅

  1455.         }

  1456.         /// <summary>

  1457.         /// 清洗模组1启停控制

  1458.         /// </summary>

  1459.         public void CleanModuleControl(string status)

  1460.         {

  1461.             if (morkF.MainProcessStatus)

  1462.             {

  1463.                 if (status == "Start")

  1464.                 {

  1465.                     WriteData("M1.4", true);

  1466.                 }

  1467.                 if (status == "Stop")

  1468.                 {

  1469.                     WriteData("M1.4", false);

  1470.                 }

  1471.                 DeviceProcessLogShow($"清洗模组1执行【{status}】操作");

  1472.             }

  1473.             if (morkF.MinorProessStatus)

  1474.             {

  1475.                 if (status == "Start")

  1476.                 {

  1477.                     WriteData("M1.7", true);

  1478.                 }

  1479.                 if (status == "Stop")

  1480.                 {

  1481.                     WriteData("M1.7", false);

  1482.                 }

  1483.                 DeviceProcessLogShow($"清洗模组2执行【{status}】操作");

  1484.             }

  1485.         }

  1486. 

  1487.         public override void Stop()

  1488.         {

  1489. 

  1490.         }

  1491. 

  1492.         public override void SimOrder()

  1493.         {

  1494.         }

  1495.     }

  1496. }