BPASmartClient/BPASmartClient.MorkS/Control_Morks.cs

using System;
using System.Collections.Generic;
using BPA.Message.Enum;
using BPASmartClient.Device;
using BPASmartClient.EventBus;
using BPASmartClient.Model;
using BPASmartClient.Peripheral;
using static BPASmartClient.EventBus.EventBus;
using BPASmartClient.Helper;
using System.Threading;
using BPASmartClient.Message;
using BPA.Message;
using System.Linq;
using BPASmartClient.Model.PLC;
using System.Threading.Tasks;
using System.Reflection;

namespace BPASmartClient.MorkS
{
    public class Control_Morks : BaseDevice
    {
        public override DeviceClientType DeviceType => DeviceClientType.MORKS;
        GVL_MORKS mORKS = new GVL_MORKS();
        Alarm alarm = new Alarm();

        public override void DoMain()
        {
            ServerInit();
            DataParse();
            ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice");
        }

        public override void ResetProgram()
        {
            mORKS = null;
            mORKS = new GVL_MORKS();
        }

        public override void Stop()
        {

        }

        private void ServerInit()
        {
            //物料信息
            EventBus.EventBus.GetInstance().Subscribe<MaterialDeliveryEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 if (@event == null) return;
                 if (@event is MaterialDeliveryEvent material)
                 {
                     orderMaterialDelivery = material.orderMaterialDelivery;
                 }
             });

            //配方数据信息
            EventBus.EventBus.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is RecipeBomEvent recipe)
                {
                    recipeBoms = recipe.recipeBoms;
                    WriteRecipeBoms();
                }
            });
        }

        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            var res = mORKS.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            string goodName = string.Empty;
            if (res != null) goodName = res.MorkOrder.GoodsName;
            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
        }

        private void ReadData(string address, ushort len = 1, Action<bool[]> action = null)
        {
            EventBus.EventBus.GetInstance().Publish(new ReadModel() { DeviceId = DeviceId, Address = address, Length = len }, (o) =>
            {
                if (o != null && o.Length > 0 && o[0] is bool[] bools)
                {
                    action(bools);
                }
            });
        }

        private void GetStatus(string key, Action<bool[]> action)
        {
            if (peripheralStatus.ContainsKey(key))
            {
                action((bool[])peripheralStatus[key]);
            }
        }

        public override void ReadData()
        {
            GetStatus("M230.0", new Action<bool[]>((bools) =>
             {
                 alarm.MachineLeftLowTemperature = bools[0];
                 alarm.MachineRightLowTemperature = bools[1];
                 alarm.Supply1_LossBowl = bools[2];
                 alarm.Supply2_LossBowl = bools[3];
                 alarm.Supply1_ErrorOutBowl = bools[4];
                 alarm.Supply2_ErrorOutBowl = bools[5];
                 alarm.PushBowlCylinderError = bools[6];
                 alarm.NoodleMacCommunicateError = bools[7];
                 alarm.DosingMacCommunicateError = bools[8];
                 alarm.RobotMacCommunicateError = bools[9];
                 alarm.RobotInitError = bools[11];
                 alarm.RobotUrgentStop = bools[12];
                 alarm.RobotNotInRemoteMode = bools[13];
                 alarm.RobotNotInReady = bools[14];
                 alarm.RobotSelfInException = bools[15];
                 alarm.LeftLackWater = bools[16];
                 alarm.RightLackWater = bools[17];
             }));

            GetStatus("M0.3", new Action<bool[]>((bools) =>
             {
                 mORKS.RobotTakeNoodle = bools[0];
                 mORKS.RobotOutMeal = bools[1];
                 mORKS.MoveTurntable = bools[2];
             }));

            GetStatus("M100.0", new Action<bool[]>((bools) =>
            {
                mORKS.InitComplete = bools[0];
                mORKS.TakeBowlIdle = bools[1];
                mORKS.TemperatureReached = bools[2];
                mORKS.AllowFallNoodle = bools[3];
                mORKS.RbTakeNoodleComplete = bools[4];
                mORKS.RbFallNoodleComplete = bools[5];
                mORKS.RbOutMealComplete = bools[6];
                mORKS.RobotIdle = bools[7];
                mORKS.TakeMealDetect = bools[8];
                mORKS.MissingBowl = bools[9];
                Initing = bools[10];
                mORKS.TurntableLowerLimit = bools[11];
                mORKS.MissingBowlSignal2 = bools[12];
                mORKS.TurntableUpLimit = bools[13];
                mORKS.FeedComplete = bools[14];
                mORKS.TurntableMoveInPlace = bools[15];
            }));

            GetStatus("M235.0", new Action<bool[]>((bools) =>
            {
                mORKS.Error = bools[0];
            }));


            GetStatus("M102.0", new Action<bool[]>((bools) =>
            {
                for (int i = 0; i < 6; i++)
                {
                    mORKS.NoodleCookerStatus[i] = bools[i];
                }
                mORKS.Feeding = bools[6];
            }));

            GetStatus("M103.0", new Action<bool[]>((bools) =>
            {
                for (int i = 0; i < 6; i++)
                {
                    mORKS.CookNoodlesComplete[i] = bools[i];
                }
            }));

            EventBus.EventBus.GetInstance().Publish(new ReadModel() { DeviceId = DeviceId, Address = "VW372", Length = 1 }, (o) =>
            {
                if (o != null && o.Length > 0 && o[0] is ushort value)
                {
                    mORKS.TurntableFeedbackloc = value;
                }
            });
        }

        /// <summary>
        /// 数据解析
        /// </summary>
        private void DataParse()
        {
            EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
             {
                 if (@event == null) return;
                 if (@event is DoOrderEvent order)
                 {
                     mORKS.doOrderEvents.Add(order);
                     if (order.MorkOrder.GoodBatchings == null) return;
                     OrderCount++;
                     DeviceProcessLogShow($"接收到{OrderCount}次订单");
                     foreach (var item in order.MorkOrder.GoodBatchings)
                     {
                         var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
                         if (res != null)
                         {
                             if (ushort.TryParse(res.BatchingLoc, out ushort loc))
                             {
                                 if (loc >= 1 && loc <= 5)
                                 {
                                     if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                                         mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { GoodName = order.MorkOrder.GoodsName, Loc = ushort.Parse(res.BatchingLoc), SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId });
                                 }
                                 else if (loc >= 10 && loc <= 11)
                                 {
                                     int index = 0;
                                     if (recipeBoms != null)
                                     {
                                         index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);
                                         index++;
                                     }
                                     if (mORKS.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                                         mORKS.TakeBowlTask.Enqueue(new OrderLocInfo()
                                         {
                                             BatchingId = res.BatchingId,
                                             GoodName = order.MorkOrder.GoodsName,
                                             Loc = ushort.Parse(res.BatchingLoc),
                                             SuborderId = order.MorkOrder.SuborderId,
                                             RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0
                                         });
                                 }
                             }
                         }
                     }
                 }
             });
        }


        public override void MainTask()
        {
            mORKS.AllowRun = mORKS.InitComplete;
            //IsHealth = mORKS.Error && mORKS.InitComplete;
            IsHealth = true;

            if (mORKS.AllowRun)
            {
                TakeBowlTask();

                TakeNoodleTask();

                OutNoodleTask();

                SingleDetect();

                TurntableControl();
            }
        }

        private void BowlControl(OrderLocInfo orderLocInfo)
        {
            if (orderLocInfo.Loc >= 10 && orderLocInfo.Loc <= 11)
            {
                mORKS.TakeBowlId = orderLocInfo.SuborderId;
                TakeBowlControl(orderLocInfo.Loc);
                SetRecipeNumber(orderLocInfo.RecipeNumber);
                OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
                DeviceProcessLogShow($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                mORKS.TakeBowlInterlock = true;
            }
        }

        /// <summary>
        /// 取碗控制
        /// </summary>
        private void TakeBowlTask()
        {
            if (mORKS.AllowRun && mORKS.TakeBowlTask.Count > 0 && !mORKS.TakeBowlIdle && !mORKS.TakeBowlInterlock)
            {
                //if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo))
                //{
                ushort BowLoc = 0;
                var res = orderMaterialDelivery?.BatchingInfo?.Where(p => p.BatchingId == mORKS.TakeBowlTask.ElementAt(0).BatchingId).ToList();
                if (res == null || res?.Count == 0)
                {
                    if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo)) BowlControl(orderLocInfo);
                }
                else
                {
                    foreach (var item in res)
                    {
                        if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                        {
                            DeviceProcessLogShow($"位置：={loc}，检测开关1:{alarm.Supply1_LossBowl},检测开关1:{alarm.Supply2_LossBowl}");
                            if (loc == 10 && !alarm.Supply1_LossBowl)
                            {
                                BowLoc = loc;
                                break;
                            }
                            else if (loc == 11 && !alarm.Supply2_LossBowl)
                            {
                                BowLoc = loc;
                                break;
                            }
                        }
                    }
                    if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo))
                    {
                        orderLocInfo.Loc = BowLoc;
                        BowlControl(orderLocInfo);
                    }
                }

                //if (BowLoc >= 10 && BowLoc <= 11)
                //{
                //    mORKS.TakeBowlInterlock = true;
                //    mORKS.TakeBowlId = orderLocInfo.SuborderId;
                //    TakeBowlControl(BowLoc);
                //    SetRecipeNumber(orderLocInfo.RecipeNumber);
                //    OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
                //    DeviceProcessLogShow($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                //}


                //之前版本
                //mORKS.TakeBowlId = orderLocInfo.SuborderId;
                //TakeBowlControl(orderLocInfo.Loc);
                //SetRecipeNumber(orderLocInfo.RecipeNumber);
                //OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
                //DeviceProcessLogShow($"订单【{ mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                //mORKS.TakeBowlInterlock = true;
                //}

            }
        }

        /// <summary>
        /// 转台控制
        /// </summary>
        private void TurntableControl()
        {
            //if (GeneralConfig.EnableLocalSimOrder)
            //{
            //    //不做轮询，直接取面，模拟订单使用
            //    if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
            //    {
            //        if (mORKS.TurntableLowerLimit)
            //        {
            //            TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc);
            //            mORKS.TurntableLocLists.Clear();
            //            mORKS.AllowTakeNoodle = true;
            //            DeviceProcessLogShow($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
            //        }
            //    }
            //}
            //else
            {
                //正常轮询
                if (mORKS.TurntableMoveInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
                {
                    var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
                    if (result != null)
                    {
                        var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.TurntableFeedbackloc.ToString());
                        if (mORKS.TurntableLowerLimit && res != null)
                        {
                            TurntableStart(mORKS.TurntableFeedbackloc);
                            mORKS.TurntableLocLists.Clear();
                            mORKS.AllowTakeNoodle = true;
                            DeviceProcessLogShow($"控制机器人去转台【{mORKS.TurntableFeedbackloc}】号位置取面");
                        }
                        else
                        {
                            if (!mORKS.TurntableInterlock)
                            {
                                foreach (var item in result)
                                {
                                    if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                                    {
                                        if (mORKS.TurntableFeedbackloc != loc && !mORKS.TurntableLocLists.Contains(loc))
                                        {
                                            TurntableStart(loc);
                                            DeviceProcessLogShow($"没有物料检测的启动转台控制,转台位置：[{loc}]");
                                            break;
                                        }
                                        else if (mORKS.TurntableFeedbackloc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc);
                                    }
                                }
                            }
                        }
                    }
                    else DeviceProcessLogShow("未找到可用的物料信息");
                }
            }

            //转台到位检测
            if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace && mORKS.CurrentLoc == mORKS.TurntableFeedbackloc))
            {
                mORKS.CurrentLoc = 0;
                mORKS.TurntableInterlock = false;
                DeviceProcessLogShow("转台到位检测");
            }

            //补料完成检测
            if (RTrig.GetInstance("FeedComplete").Start(mORKS.FeedComplete))
            {
                if (!mORKS.AllowTakeNoodle && mORKS.TurntableLocLists.Count > 0)
                {
                    mORKS.TurntableLocLists.Clear();
                    mORKS.TurntableInterlock = false;
                    DeviceProcessLogShow("补料完成检测");
                }
            }

        }

        /// <summary>
        /// 取面任务
        /// </summary>
        private void TakeNoodleTask()
        {
            //取面控制
            if (mORKS.AllowRun && mORKS.RobotIdle && !mORKS.Feeding && !mORKS.RobotTaskInterlock && mORKS.AllowTakeNoodle && mORKS.TurntableMoveInPlace && !mORKS.TakeNoodleInterlock && !mORKS.OutNoodleing && mORKS.RBTakeNoodleTask.Count > 0)
            {
                int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
                    {
                        mORKS.CookNodelId[loc] = orderLocInfo.SuborderId;
                        SetFallNoodleLoc((ushort)(loc + 1));
                        //机器人开始取面
                        RobotTakeNoodle();
                        OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
                        DeviceProcessLogShow($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");
                        //写入煮面时间
                        //List<ushort> values = new List<ushort>();
                        //values.Add(Json<KeepDataBase>.Data.parSets.ElementAt(loc).Minute);
                        //values.Add(Json<KeepDataBase>.Data.parSets.ElementAt(loc).Second);
                        //ModbusTcpHelper.GetInstance.Write((ushort)ModbusTcpHelper.GetInstance.GetWordAddress($"VW{116 + (loc * 6)}"), WriteType.HoldingRegisters, values.ToArray());

                        mORKS.TakeNoodleInterlock = true;
                    }
                }

            }
        }

        /// <summary>
        /// 出餐控制
        /// </summary>
        private void OutNoodleTask()
        {
            if (mORKS.AllowFallNoodle && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotIdle && !mORKS.TakeMealDetect)
            {
                int loc = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId && p.Length > 0);
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.CookNoodlesComplete[loc])
                    {
                        SetTakeNoodleLoc((ushort)(loc + 1));
                        RobotOutMeal();
                        CookNoodleStatusReset((ushort)(loc + 1));
                        ResetAllowFallNoodle();
                        mORKS.OutMealId = mORKS.IngredientsCompleteId;
                        mORKS.IngredientsCompleteId = string.Empty;
                        mORKS.CookNodelId[loc] = string.Empty;
                        DeviceProcessLogShow($"{loc + 1}号位置出餐控制");
                        mORKS.OutNoodleing = true;
                    }
                }
            }
        }

        /// <summary>
        /// 信号检测
        /// </summary>
        private void SingleDetect()
        {
            //允许倒面信号检测
            if (RTrig.GetInstance("AllowFallNoodle").Start(mORKS.AllowFallNoodle))
            {
                mORKS.IngredientsCompleteId = mORKS.TakeBowlId;
                mORKS.TakeBowlId = string.Empty;
                DeviceProcessLogShow($"碗到位，允许到面,{mORKS.IngredientsCompleteId}");
                mORKS.TakeBowlInterlock = false;
            }

            //出餐完成信号检测
            if (RTrig.GetInstance("CompleteChange").Start(mORKS.RbOutMealComplete))
            {
                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_COOK);
                DeviceProcessLogShow($"订单【{mORKS.OutMealId}】制作完成");
                mORKS.OutNoodleing = false;
            }

            //取餐完成逻辑处理
            if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.RbOutMealComplete && !mORKS.TakeMealDetect, 2))
            {
                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
                DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成");
                ResetCookComplete();
                mORKS.OutMealId = string.Empty;
            }

            //机器人取面完成信号检测
            if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete))
            {
                mORKS.TakeNoodleInterlock = false;
                mORKS.AllowTakeNoodle = false;
                mORKS.TurntableInterlock = false;
                DeviceProcessLogShow("机器人取面完成信号检测");
                TakeNoodleCompleteReset();
            }

            int OutMealRequstCount = mORKS.CookNoodlesComplete.Where(p => p == true).ToList().Count;
            int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count;
            mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0);
        }


        #region PLC 控制函数

        private void WriteData(string address, object value)
        {
            EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });
        }

        /// <summary>
        /// 写入配方数据到 PLC
        /// </summary>
        private void WriteRecipeBoms()
        {
            List<ushort> recipeBoms = new List<ushort>();
            if (this.recipeBoms == null) return;
            foreach (var item in this.recipeBoms.RecipeIds)
            {
                foreach (var rec in item.Recipes)
                {
                    recipeBoms.Add((ushort)rec);
                }
            }
            if (recipeBoms.Count > 0)
            {
                //配方数据地址范围：VW2000 - VW2278
                WriteData("VW2000", recipeBoms.ToArray());
                DeviceProcessLogShow("写配方成功");
            }
            else { DeviceProcessLogShow("配方数据为空"); }
        }


        /// <summary>
        /// 取面完成复位
        /// </summary>
        private void TakeNoodleCompleteReset()
        {
            WriteData("M100.4", false);

        }

        /// <summary>
        /// 指定煮面口状态复位
        /// </summary>
        /// <param name="num"></param>
        private void CookNoodleStatusReset(int num)
        {
            if (num >= 1 && num <= 6)
            {
                WriteData($"102.{num - 1}", false);
                DeviceProcessLogShow($"{num}号煮面口占用复位");
            }

        }

        /// <summary>
        /// 写配方编号
        /// </summary>
        /// <param name="num"></param>
        private void SetRecipeNumber(ushort num)
        {
            WriteData("VW0", num);
        }

        /// <summary>
        /// 启动转台
        /// </summary>
        /// <param name="loc"></param>
        private void TurntableStart(ushort loc)
        {
            mORKS.CurrentLoc = loc;
            mORKS.TurntableInterlock = true;
            mORKS.TurntableLocLists.Add(loc);
            WriteData("VW2", loc);
            WriteData("M0.5", true);
        }

        /// <summary>
        /// 设置倒面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetFallNoodleLoc(ushort loc)
        {
            WriteData("VW4", loc);
        }

        /// <summary>
        /// 设置取面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetTakeNoodleLoc(ushort loc)
        {
            WriteData("VW6", loc);
        }

        /// <summary>
        /// 取碗控制
        /// </summary>
        /// <param name="loc"></param>
        private void TakeBowlControl(ushort loc)
        {
            if (loc == 10)//小碗
            {
                WriteData("M0.1", true);
            }
            else if (loc == 11)//大碗
            {
                WriteData("M0.2", true);
            }
        }

        /// <summary>
        /// 机器人取面
        /// </summary>
        private void RobotTakeNoodle()
        {
            WriteData("M0.3", true);
        }

        /// <summary>
        /// 机器人取餐
        /// </summary>
        private void RobotOutMeal()
        {
            WriteData("M0.4", true);
        }

        /// <summary>
        /// 制作完成信号复位
        /// </summary>
        private void ResetCookComplete()
        {
            WriteData("M100.6", false);
        }

        /// <summary>
        /// 复位允许取面信号
        /// </summary>
        private void ResetAllowFallNoodle()
        {
            WriteData("M100.3", false);
        }

        /// <summary>
        /// 设备初始化
        /// </summary>
        public async void DeviceInit()
        {
            WriteData("M0.0", true);
            await Task.Delay(1000);
            WriteData("M0.0", false);
        }
        #endregion


    }
}