BPASmartClient/FryPot_DosingSystem/Control/DosingLogicControl.cs

using BPASmartClient.AGV;
using BPASmartClient.AGV.Enums;
using BPASmartClient.AGV.Feedback;
using BPASmartClient.CustomResource.Pages.Model;
using BPASmartClient.Helper;
using BPASmartClient.HubHelper;
using FryPot_DosingSystem.Model;
using FryPot_DosingSystem.ViewModel;
using Newtonsoft.Json;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Media;
using System.Windows;
using FryPot_DosingSystem.AGV;
using FryPot_DosingSystem.FryPotStatus;
using System.IO;
using System.Runtime.Serialization.Formatters.Binary;
using System.Diagnostics;

namespace FryPot_DosingSystem.Control
{
    internal class DosingLogicControl
    {
        public static DosingLogicControl _instance;
        public static DosingLogicControl GetInstance => _instance ??= new DosingLogicControl();
        /// <summary>
        /// 滚筒线PLC数据
        /// </summary>
        public ConcurrentDictionary<string, object> PlcReadData = new ConcurrentDictionary<string, object>();

        public ConcurrentDictionary<string, object> FryOneData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryTwoData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryThreeData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryFourData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryFiveData = new ConcurrentDictionary<string, object>();
        /// <summary>
        /// 线体1配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> RecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体2配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> LTwoRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体3配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> LThreeRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体1进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> InputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体2进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LTwoInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体3进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LThreeInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体1出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> OutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体2出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LTwoOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体3出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LThreeOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 全局变量对象声明
        /// </summary>
        GlobalVariable globalVar;
        /// <summary>
        /// 线体状态对象声明
        /// </summary>
        HardWareStatusViewModel hardWareStatusModel;
        ///// <summary>
        ///// 炒锅1状态
        ///// </summary>
        //PotOneStatus fryOne;
        ///// <summary>
        ///// 炒锅2状态
        ///// </summary>
        //PotTwoStatus fryTwo;
        ///// <summary>
        ///// 炒锅3状态
        ///// </summary>
        //PotThreeStatus fryThree;
        ///// <summary>
        ///// 炒锅4状态
        ///// </summary>
        //PotFourStatus fryFour;
        ///// <summary>
        ///// 炒锅5状态
        ///// </summary>
        //PotFiveStatus fryFive;
        /// <summary>
        /// 报警信息对象声明
        /// </summary>
        #region 上位机内部变量
        int FryPotAlarm = 0;//炒锅1滚筒故障信号 1：无故障 -1：故障
        int FryPotTwoAlarm = 0;//炒锅2滚筒故障信号 1：无故障 -1：故障
        int FryPotThreeAlarm = 0;//炒锅3滚筒故障信号 1：无故障 -1：故障
        int FryPotFourAlarm = 0;//炒锅4滚筒故障信号 1：无故障 -1：故障
        int FryPotFiveAlarm = 0;//炒锅5滚筒故障信号 1：无故障 -1：故障
        int ReicpeNum = 0;//记录接收到的配方数
        bool ErrorRecipe;//线体1错误配方标识
        bool LTwoErrorRecipe;//线体2错误配方标识
        bool LThreeErrorRecipe;//线体3错误配方标识
        string fryOneRecipe = string.Empty;
        string fryTwoRecipe = string.Empty;
        string fryThreeRecipe = string.Empty;
        string fryFourRecipe = string.Empty;
        string fryFiveRecipe = string.Empty;
        #endregion
        #region agv临时变量
        //bool agvArriveUpLoad = false;//agv是否到达线体1上料位置
        //bool agvArriveLTwoUpLoad = false;//agv是否到达线体2上料位置
        //bool agvArriveLThreeUpLoad = false;//agv是否到达线体3上料位置

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

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

        string LOnerobotJobId = string.Empty;//线体1当前上游系统任务号，全局唯一  从线体1到炒锅路径
        string LTworobotJobId = string.Empty;//线体2当前上游系统任务号，全局唯一  从线体2到炒锅路径
        string LThreerobotJobId = string.Empty;//线体3当前上游系统任务号，全局唯一 从线体3到炒锅路径
        string LFourrobotJobId = string.Empty;//线体4当前上游系统任务号，全局唯一 从炒锅1、4到线体4路径
        string LFiverobotJobId = string.Empty; //从炒锅2、5到线体4路径
        string LSixrobotJobId = string.Empty;  //从炒锅3到线体4路径
        List<string> LSevenrobotJobId =new List<string>(); //从线体1到清洗台路径
        List<string> LEightrobotJobId = new List<string>();//从线体2到清洗台路径
        List<string> LNinerobotJobId = new List<string>(); //从线体3到清洗台路径
        List<string> LTenrobotJobId = new List<string>(); //从清洗台到线体4路径

        Dictionary<string, int> agvCode = new Dictionary<string, int>() { { "1",1 }, { "2",2 }, { "3",3 }, { "4",4 } };//agv小车的编号对AGV动画小车编号
       

        public int CleanNum = 0;//当前清洗台桶数

        #endregion
        /// <summary>
        /// 调试命令注册
        /// </summary>
        public void CommandRegist()
        {

            #region 线体空桶清洗及回收调试
            ActionManage.GetInstance.Register(new Action(() =>
               {
                   globalVar.agvArriveLineOneLoadEmptyRoller = true;

               }), "AgvArriveLineOneEmptyRollerLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineTwoLoadEmptyRoller = true;

            }), "AgvArriveLineTwoEmptyRollerLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineThreeLoadEmptyRoller = true;

            }), "AgvArriveLineThreeEmptyRollerLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.CleanComplete = 1;

            }), "CleanPlateCallAgv");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineOne.agvArriveCleanUnLoad = true;//清洗台空桶下料就位
                globalVar.rollerLineTwo.agvArriveCleanUnLoad = true;
                globalVar.rollerLineThree.agvArriveCleanUnLoad = true;

            }), "AgvArriveCleanPlateLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveCleanLoad = true;//清洗台空桶上料就位

            }), "AgvArriveCleanPlateLocLoad");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineFour = true;
                globalVar.rollerLineOne.agvArriveLineFour = true;
                globalVar.rollerLineTwo.agvArriveLineFour = true;
                globalVar.rollerLineThree.agvArriveLineFour = true;
            }), "AgvArriveLineFourLoc");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                EmptyRollerCleanTaskRestart();

            }), "EmptyRollerCleanTaskRestart");

            #endregion
            //接口调试
            ActionManage.GetInstance.Register(new Action(() =>
            {
                string id = Guid.NewGuid().ToString();
                string errorCode = AGVHelper._Instance.AgvToLineOneLoadRoller(id);
                if (errorCode == "SUCCESS")
                {
                    MessageLog.GetInstance.ShowRunLog($"AGV任务下发成功");
                }
                else if (errorCode == "Analysis Error")
                {
                    MessageLog.GetInstance.ShowRunLog($"提示：AGV 调用API失败，请检查请求报文");
                }
                else
                {
                    MessageLog.GetInstance.ShowRunLog($"提示：AGV任务下发失败，错误码:{errorCode}");
                }
            }), "AgvDebug");

            ActionManage.GetInstance.Register(() =>
            {
                MessageLog.GetInstance.ShowRunLog("清洗台卸桶完成");

            }, "AgvArriveCleanPlateLocCom");

            ActionManage.GetInstance.Register(() =>
            {
                MessageLog.GetInstance.ShowRunLog("清洗台空桶在【4】号线卸桶完成");
                MessageLog.GetInstance.ShowRunLog("【1】号线炒锅空桶在【4】号线卸桶完成");
                MessageLog.GetInstance.ShowRunLog("【2】号线炒锅空桶在【4】号线卸桶完成");
                MessageLog.GetInstance.ShowRunLog("【3】号线炒锅空桶在【4】号线卸桶完成");

            }, "AgvArriveLineFourLocCom");
            ActionManage.GetInstance.Register(() =>
            {
                MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成");

            }, "AgvArriveCleanPlateLocLoadCom");

            ActionManage.GetInstance.Register(() =>
            {
                globalVar.rollerLineOne.RecipeCompleteSingle = 1;

            }, "LineOneRecipeComSignal");
            ActionManage.GetInstance.Register(() =>
            {
                globalVar.rollerLineTwo.RecipeCompleteSingle = 1;

            }, "LineTwoRecipeComSignal");
            ActionManage.GetInstance.Register(() =>
            {
                globalVar.rollerLineThree.RecipeCompleteSingle = 1;

            }, "LineThreeRecipeComSignal");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineOneLoadCom = true;
            }), "AgvLineOneLoadEmptyCom");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineTwoLoadCom = true;
            }), "AgvLineTwoLoadEmptyCom");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineThreeLoadCom = true;
            }), "AgvLineThreeLoadEmptyCom");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineOne.CanRun = true;
            }), "AGVLineOneLoadCom");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineTwo.CanRun = true;
            }), "AGVLineTwoLoadCom");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineThree.CanRun = true;
            }), "AGVLineThreeLoadCom");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.rollerLineOne.OutMaterialingSingle = 1;
            }), "RollerLineRunning");
            ActionManage.GetInstance.Register(new Action<object>((obj) =>
            {
                globalVar.rollerLineOne.StationEight = (ushort)obj;
            }), "EightWorkLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotOne.InputMaterialArrivedSingle = 1;
                globalVar.fryPotFour.InputMaterialArrivedSingle = 1;
            }), "FryPotInputArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.fryPotOne.EmptyBarrelArrivedSingle = 1;
                globalVar.fryPotFour.EmptyBarrelArrivedSingle = 1;
            }), "FryPotEmptyRollerArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUpLoad = true;
            }), "AGVLOneArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUnLoad = true;
            }), "AGVFryPotDownArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUpLoad = true;
            }), "AGVFryPotUpArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvFryPotEmptyRollerArrive = true;

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

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

            }), "AGVFryPotThreeGetEmptyRoller");
        }
        public DosingLogicControl()
        {
            globalVar = new GlobalVariable();
            //fryOne = new PotOneStatus();
            //fryTwo = new PotTwoStatus();
            //fryThree = new PotThreeStatus();
            //fryFour = new PotFourStatus();
            //fryFive = new PotFiveStatus();
            hardWareStatusModel = HardWareStatusViewModel.GetInstance;
            DateTimeJudge();
            FileRegClean();
            ActionManage.GetInstance.Register(new Action<object[]>(RecipeDataParse), "RecipeSetDown");
            //ActionManage.GetInstance.Register(new Action(() => { RecipeQuene.Clear(); InputMaterialQuene.Clear(); OutputMaterialQuene.Clear(); LTwoInputMaterialQuene.Clear(); LTwoOutputMaterialQuene.Clear(); LThreeInputMaterialQuene.Clear(); LThreeOutputMaterialQuene.Clear(); }), "ClearRecipes");
            ActionManage.GetInstance.Register(new Action(() => { RecipeQuene.Clear(); InputMaterialQuene.Clear(); OutputMaterialQuene.Clear(); }), "ClearOneRecipes");
            ActionManage.GetInstance.Register(new Action(() => { LTwoRecipeQuene.Clear(); LTwoInputMaterialQuene.Clear(); LTwoOutputMaterialQuene.Clear(); }), "ClearTwoRecipes");
            ActionManage.GetInstance.Register(new Action(() => { LThreeRecipeQuene.Clear(); LThreeInputMaterialQuene.Clear(); LThreeOutputMaterialQuene.Clear(); }), "ClearThreeRecipes");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 1; }), "StartPlcInite");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 0; }), "EndPlcInite");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitLineOneTask = true; LineOneTaskRestart(); }), "LineOneTaskExit");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitLineTwoTask = true; LineTwoTaskRestart(); }), "LineTwoTaskExit");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitLineThreeTask = true; LineThreeTaskRestart(); }), "LineThreeTaskExit");
            HubHelper.GetInstance.Report = new Action<object>(AgvTaskUpReportDataAnalysis);
            HubHelper.GetInstance.Upstreamrequest = new Action<object>(AgvFeedBackUpReportDataAnalysis);
            // ResetProgram();
            ReadPlcData();
            SaveFryPotData();
            MainTask();
            CommandRegist();
        }
        /// <summary>
        /// 文件数据定期清理
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void FileRegClean()
        {
            int days = 5;   //清除期限
            string[] filesOne = Directory.GetDirectories("AccessFile//DB//炒锅1状态数据");
            if (filesOne.Count() > 0)
            {
                foreach (var item in filesOne)
                {
                    FileInfo info = new FileInfo(item);
                    DateTime createTime = info.CreationTime;
                    DateTime timeNow = DateTime.Now;
                    if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                    {
                        Directory.Delete(item, true);
                    }
                }
            }
            string[] filesTwo = Directory.GetDirectories("AccessFile//DB//炒锅2状态数据");
            if (filesTwo.Count() > 0)
            {
                foreach (var item in filesTwo)
                {
                    FileInfo info = new FileInfo(item);
                    DateTime createTime = info.CreationTime;
                    DateTime timeNow = DateTime.Now;
                    if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                    {
                        Directory.Delete(item, true);
                    }
                }
            }
            string[] filesThree = Directory.GetDirectories("AccessFile//DB//炒锅3状态数据");
            if (filesThree.Count() > 0)
            {
                foreach (var item in filesThree)
                {
                    FileInfo info = new FileInfo(item);
                    DateTime createTime = info.CreationTime;
                    DateTime timeNow = DateTime.Now;
                    if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                    {
                        Directory.Delete(item, true);
                    }
                }
            }
            string[] filesFour = Directory.GetDirectories("AccessFile//DB//炒锅4状态数据");
            if (filesFour.Count() > 0)
            {
                foreach (var item in filesFour)
                {
                    FileInfo info = new FileInfo(item);
                    DateTime createTime = info.CreationTime;
                    DateTime timeNow = DateTime.Now;
                    if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                    {
                        Directory.Delete(item, true);
                    }
                }
            }
            string[] filesFive = Directory.GetDirectories("AccessFile//DB//炒锅5状态数据");
            if (filesFive.Count() > 0)
            {
                foreach (var item in filesFive)
                {
                    FileInfo info = new FileInfo(item);
                    DateTime createTime = info.CreationTime;
                    DateTime timeNow = DateTime.Now;
                    if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                    {
                        Directory.Delete(item, true);
                    }
                }
            }
        }
        /// <summary>
        /// 时间差计算
        /// </summary>
        /// <param name="t">当前时间</param>
        /// <param name="t2">创建时间</param>
        /// <returns></returns>
        private int TimeDiff(DateTime t, DateTime t2)
        {
            long lReturn = -1;
            System.TimeSpan NowValue = new TimeSpan(t.Ticks);
            System.TimeSpan TimeValue = new TimeSpan(t2.Ticks);
            System.TimeSpan DateDiff = TimeSpan.Zero;
            try
            {
                //计算时间差
                //DateDiff = TimeValue.Subtract(NowValue).Duration();
                DateDiff = NowValue.Subtract(TimeValue);
                int h = DateDiff.Hours;
                int m = DateDiff.Minutes;
                return DateDiff.Days;
            }
            catch
            {
                return -1;
            }
        }
        /// <summary>
        /// 炒锅数据实时保存
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void SaveFryPotData()
        {
            Task.Run(new Action(() =>
            {
                while (true)
                {
                    FryPotDataSaveToBinaryFile(); Thread.Sleep(1000);
                }
            }));
        }

        /// <summary>
        /// 时间判断,数据处理
        /// </summary>
        private void DateTimeJudge()
        {
            #region sqlite数据库保存
            //if (Sqlite<PotOneStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time1 = Sqlite<PotOneStatus>.GetInstance.GetData().Last().Time;
            //    if (time1.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy = Sqlite<PotOneStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryOne.TotalProduct = Sqlite<PotOneStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}
            //if (Sqlite<PotTwoStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time2 = Sqlite<PotTwoStatus>.GetInstance.GetData().Last().Time;
            //    if (time2.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy = Sqlite<PotTwoStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryTwo.TotalProduct = Sqlite<PotTwoStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}
            //if (Sqlite<PotThreeStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time3 = Sqlite<PotThreeStatus>.GetInstance.GetData().Last().Time;
            //    if (time3.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy = Sqlite<PotThreeStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryThree.TotalProduct = Sqlite<PotThreeStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}
            //if (Sqlite<PotFourStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time4 = Sqlite<PotFourStatus>.GetInstance.GetData().Last().Time;
            //    if (time4.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy = Sqlite<PotFourStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryFour.TotalProduct = Sqlite<PotFourStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}

            //if (Sqlite<PotFiveStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time5 = Sqlite<PotFiveStatus>.GetInstance.GetData().Last().Time;
            //    if (time5.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy = Sqlite<PotFiveStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryFive.TotalProduct = Sqlite<PotFiveStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //} 
            #endregion
            string p1 = "AccessFile//" + "Statistic//" + "FryOne.txt";
            string p2 = "AccessFile//" + "Statistic//" + "FryTwo.txt";
            string p3 = "AccessFile//" + "Statistic//" + "FryThree.txt";
            string p4 = "AccessFile//" + "Statistic//" + "FryFour.txt";
            string p5 = "AccessFile//" + "Statistic//" + "FryFive.txt";
            if (!Directory.Exists("AccessFile//" + "Statistic"))
                Directory.CreateDirectory("AccessFile//" + "Statistic");
            if (File.Exists(p1))
            {
                using (StreamReader sReader = new StreamReader(p1, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryOne.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p2))
            {
                using (StreamReader sReader = new StreamReader(p2, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryTwo.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p3))
            {
                using (StreamReader sReader = new StreamReader(p3, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryThree.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p4))
            {
                using (StreamReader sReader = new StreamReader(p4, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryFour.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p5))
            {
                using (StreamReader sReader = new StreamReader(p5, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryFive.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
        }

        /// <summary>
        /// AGV上下料上报数据解析
        /// </summary>
        /// <param name="obj"></param>
        private void AgvFeedBackUpReportDataAnalysis(object obj)
        {
            //if (obj != null && obj is byte[] datas)
            //{
            //string strData = Encoding.UTF8.GetString(datas);
            Upstreamrequest objData = JsonConvert.DeserializeObject<Upstreamrequest>(obj.ToString());
            if (objData != null)
            {
                #region 线体到炒锅请求上下料
                //线体1请求上下料
                if (objData.robotJobId == LOnerobotJobId && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                {
                    globalVar.agvArriveUpLoad = true;//AGV到达上料位置

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

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

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

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

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

                #region 炒锅到线体4请求上下料
                if (objData.robotJobId == LFourrobotJobId && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                {
                    globalVar.agvArriveUpLoad = true;//AGV到达上料位置
                    
                }
                if (objData.robotJobId == LFourrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.rollerLineOne.agvArriveLineFour = true;//AGV到达下料位置
                   // AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    
                }

                if (objData.robotJobId == LFiverobotJobId && objData.command == "LOAD")
                {
                    globalVar.agvArriveLTwoUpLoad = true;//AGV到达上料位置

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

                if (objData.robotJobId == LSixrobotJobId && objData.command == "LOAD")
                {
                    globalVar.agvArriveLThreeUpLoad = true;//AGV到达上料位置

                }
                if (objData.robotJobId == LSixrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.rollerLineThree.agvArriveLineFour = true;//AGV到达下料位置
                  
                   
                }
                #endregion
                #region 线体123到清洗台请求上下料
                if (LSevenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                {
                    globalVar.agvArriveLineOneLoadEmptyRoller = true;//AGV到达上料位置

                }
                if (LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                   
                    globalVar.rollerLineOne.agvArriveCleanUnLoad = true;//AGV到达下料位置
                    
                }

                if ( LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "LOAD")
                {
                    globalVar.agvArriveLineTwoLoadEmptyRoller = true;//AGV到达上料位置

                }
                if ( LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    
                    globalVar.rollerLineTwo.agvArriveCleanUnLoad = true;//AGV到达下料位置
                   

                }

                if (LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "LOAD")
                {
                    globalVar.agvArriveLineThreeLoadEmptyRoller = true;//AGV到达上料位置

                }
                if (LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                   
                    globalVar.rollerLineThree.agvArriveCleanUnLoad = true;//AGV到达下料位置
                    
                }
                #endregion
                #region 清洗台到线体4请求上下料
                if (LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD")
                {
                    globalVar.agvArriveCleanLoad = true;//agv到达清洗台上料位置
                }
                if (LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "UNLOAD")
                {
                    
                    globalVar.agvArriveLineFour = true;//agv到达线体4下料位置
                  
                 
                }
                #endregion
            }

        }

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

                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料，指线体上料
                {
                    //日志
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料，指线体上料
                {
                    //日志
                }
               
                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体上料
                {
                    globalVar.agvLineOneLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_1);
                    }
                    else if (globalVar.LOneFryPotSerial == 4)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_4);
                    }
                }

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

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

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

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

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

                }
                //线体1任务上报
                if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体到炒锅下料
                {
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode],CartMotionTrajectory.hj);
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                }
                //线体2任务上报
                if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体到炒锅下料
                {
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj);
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                }
                //线体3任务上报
                if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体到炒锅下料
                {
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj);
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                }
                #endregion




               
               

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

                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指炒锅空桶上料
                {
                    globalVar.agvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_1);
                    }
                    else if (globalVar.LOneFryPotSerial == 4)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_4);
                    }
                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指炒锅空桶上料
                {
                    globalVar.LTwoagvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_2);
                    }
                    else if (globalVar.LTwoFryPotSerial == 5)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_5);
                    }
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指炒锅空桶上料
                {
                    globalVar.LThreeagvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_3);
                }


                //线体1任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                  
                }
                //线体2任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFiverobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                  
                }
                //线体3任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LSixrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    
                }
                //线体1任务上报
                if (objData.state == "DONE" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料
                {
                    MessageLog.GetInstance.ShowRunLog("1号线炒锅空桶在4号线卸桶完成");
               
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);

                }
                //线体2任务上报
                if (objData.state == "DONE" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料
                {
                    MessageLog.GetInstance.ShowRunLog("2号线炒锅空桶在4号线卸桶完成");
                  
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                }
                //线体3任务上报
                if (objData.state == "DONE" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料
                {
                    MessageLog.GetInstance.ShowRunLog("3号线炒锅空桶在4号线卸桶完成");
                   
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                }
                #endregion
                #region 线体123空桶到清戏台
                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体1空桶上料
                {
                    globalVar.agvArriveLineOneLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_1);
                    //到清洗处
                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体2空桶上料
                {
                    globalVar.agvArriveLineTwoLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(2, (--globalVar.LTwoMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_2);
                    //到清洗处

                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_FINISH" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体3空桶上料
                {
                    globalVar.agvArriveLineThreeLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(3, (--globalVar.LThreeMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_3);
                    //到清洗处

                }


                if (objData.state == "DONE" &&  LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指从线体1到清戏台空桶下料
                {
                    LSevenrobotJobId.Remove(objData.robotJobId);
                    MessageLog.GetInstance.ShowRunLog("线体【1】空桶在清洗台卸桶完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum);
                }
                if (objData.state == "DONE" &&  LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指从线体2到清戏台空桶下料
                {
                    LEightrobotJobId.Remove(objData.robotJobId);
                    MessageLog.GetInstance.ShowRunLog("线体【2】空桶在清洗台卸桶完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum);
                }
                if (objData.state == "DONE" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指从线体3到清戏台空桶下料
                {
                    LNinerobotJobId.Remove(objData.robotJobId);
                    MessageLog.GetInstance.ShowRunLog("线体【3】空桶在清洗台卸桶完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum);
                }
                #endregion
                #region 清洗台到线体4
                if (objData.state == "ROLLER_LOAD_FINISH" &&  LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料位置上料完成，指清戏台空桶到上料
                {
                    MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_4);//去四号空桶线
                    AgvViewModel.GetInstance().SetCleanRollerNum(--CleanNum);
                   
                }
                if (objData.state == "ROLLER_UNLOAD_DOING" && LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "")//指定下料点正在下料，指清洗台空桶到线体4下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
 
                }

                if (objData.state == "DONE"&& LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指清戏台空桶到线体4下料
                {
                    LTenrobotJobId.Remove(objData.robotJobId);
                    MessageLog.GetInstance.ShowRunLog("【4】号线空桶回桶完成");
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);

                }
                #endregion



            }

        }

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

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

                        }));
                    }));
                }

                Thread.Sleep(10);
            }), "ResetProgram");
        }

        public void LineOneTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线1任务线程", new Action(() =>
            {
                ActionManage.GetInstance.Send("ClearOneRecipes");
                globalVar.rollerLineOne = null;
                globalVar.rollerLineOne = new RollerLineOne();
                globalVar.fryPotOne = null;
                globalVar.fryPotOne = new FryPotOne();
                globalVar.fryPotFour = null;
                globalVar.fryPotFour = new FryPotFour();
                globalVar.ExitLineOneTask = false;
                globalVar.AllowAgvToLineLoadRoller = true;
                globalVar.InOrOutputLock = false;
                globalVar.LOneCurrentRecipeName = string.Empty;
                globalVar.LoadRoller = false;
                globalVar.AgvToFryPot = false;
                globalVar.PotOneInputMaterialArrive = false;
                globalVar.PotOneOutputRollerArrive = false;
                globalVar.AgvArrivePot = false;
                globalVar.LOneMaterialNum = 0;
                globalVar.LOneFryPotSerial = 1;
                globalVar.LOneCurrentCookingStep = 0;
                globalVar.agvArriveUpLoad = false;
                globalVar.agvArriveUnLoad = false;
                globalVar.agvFryPotEmptyRollerArrive = false;
                globalVar.agvLineOneLoadCom = false;

                ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute(); Thread.Sleep(10); }), "滚筒线1任务线程");
                MessageLog.GetInstance.ShowUserLog("滚筒线【1】任务重启成功");
            }));
        }
        public void LineTwoTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线2任务线程", new Action(() =>
            {
                ActionManage.GetInstance.Send("ClearTwoRecipes");
                globalVar.rollerLineTwo = null;
                globalVar.rollerLineTwo = new RollerLineTwo();
                globalVar.fryPotTwo = null;
                globalVar.fryPotTwo = new FryPotTwo();
                globalVar.fryPotFive = null;
                globalVar.fryPotFive = new FryPotFive();
                globalVar.ExitLineTwoTask = false;
                globalVar.AllowAgvToLineTwoLoadRoller = true;
                globalVar.LTwoInOrOutputLock = false;
                globalVar.LTwoCurrentRecipeName = string.Empty;
                globalVar.LTwoLoadRoller = false;
                globalVar.LTwoAgvToFryPot = false;
                globalVar.LTwoPotInputMaterialArrive = false;
                globalVar.LTwoPotOutputRollerArrive = false;
                globalVar.LTwoAgvArrivePot = false;
                globalVar.LTwoMaterialNum = 0;
                globalVar.LTwoFryPotSerial = 2;
                globalVar.LTwoCurrentCookingStep = 0;
                globalVar.agvArriveLTwoUpLoad = false;
                globalVar.LTwoagvArriveUnLoad = false;
                globalVar.LTwoagvFryPotEmptyRollerArrive = false;
                globalVar.agvLineTwoLoadCom = false;

                ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程");
                MessageLog.GetInstance.ShowUserLog("滚筒线【2】任务重启成功");
            }));
        }
        public void LineThreeTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线3任务线程", new Action(() =>
            {
                ActionManage.GetInstance.Send("ClearThreeRecipes");
                globalVar.rollerLineThree = null;
                globalVar.rollerLineThree = new RollerLineThree();
                globalVar.fryPotThree = null;
                globalVar.fryPotThree = new FryPotThree();
                globalVar.ExitLineThreeTask = false;
                globalVar.AllowAgvToLineThreeLoadRoller = true;
                globalVar.LThreeInOrOutputLock = false;
                globalVar.LThreeCurrentRecipeName = string.Empty;
                globalVar.LThreeLoadRoller = false;
                globalVar.LThreeAgvToFryPot = false;
                globalVar.LThreePotInputMaterialArrive = false;
                globalVar.LThreePotOutputRollerArrive = false;
                globalVar.LThreeAgvArrivePot = false;
                globalVar.LThreeMaterialNum = 0;
                globalVar.LThreeFryPotSerial = 3;
                globalVar.LThreeCurrentCookingStep = 0;
                globalVar.agvArriveLThreeUpLoad = false;
                globalVar.LThreeagvArriveUnLoad = false;
                globalVar.LThreeagvFryPotEmptyRollerArrive = false;
                globalVar.agvLineThreeLoadCom = false;
                ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程");
                MessageLog.GetInstance.ShowUserLog("滚筒线【3】任务重启成功");
            }));
        }

        public void EmptyRollerCleanTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("空桶清洗任务线程", new Action(() =>
            {
                globalVar.rollerLineOne.StationEight = 0;
                globalVar.rollerLineOne.EmptyRollerNums.Clear();
                globalVar.rollerLineOne.EmptyRollerNums.Add(108);
                globalVar.rollerLineOne.IsEpmtyBefore = false;
                // globalVar.rollerLineOne.CanRun = true;

                globalVar.rollerLineTwo.StationEight = 0;
                globalVar.rollerLineTwo.EmptyRollerNums.Clear();
                globalVar.rollerLineTwo.EmptyRollerNums.Add(208);
                globalVar.rollerLineTwo.IsEpmtyBefore = false;
                //globalVar.rollerLineTwo.CanRun = true;

                globalVar.rollerLineThree.StationEight = 0;
                globalVar.rollerLineThree.EmptyRollerNums.Clear();
                globalVar.rollerLineThree.EmptyRollerNums.Add(308);
                globalVar.rollerLineThree.IsEpmtyBefore = false;
                //globalVar.rollerLineThree.CanRun = true;

                globalVar.agvArriveLineFour = false;
                globalVar.agvArriveCleanLoad = false;
                globalVar.rollerLineOne.agvArriveCleanUnLoad = false;
                globalVar.rollerLineTwo.agvArriveCleanUnLoad = false;
                globalVar.rollerLineThree.agvArriveCleanUnLoad = false;
                globalVar.agvArriveLineOneLoadEmptyRoller = false;
                globalVar.agvArriveLineTwoLoadEmptyRoller = false;
                globalVar.agvArriveLineThreeLoadEmptyRoller = false;
                globalVar.agvArriveLineOneLoadCom = false;
                globalVar.agvArriveLineTwoLoadCom = false;
                globalVar.agvArriveLineThreeLoadCom = false;
                ThreadManage.GetInstance().StartLong(new Action(() => { LineFourProcessExecute(); Thread.Sleep(10); }), "空桶清洗任务线程");
                MessageLog.GetInstance.ShowUserLog("空桶清洗任务重启成功");
            }));
        }
        /// <summary>
        /// 实时获取plc数据
        /// </summary>
        public void ReadPlcData()
        {
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetAddressData("D2001", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineOne.StationOne = data[0];
                    globalVar.rollerLineOne.StationTwo = data[1];
                    globalVar.rollerLineOne.StationThree = data[2];
                    globalVar.rollerLineOne.StationFour = data[3];
                    globalVar.rollerLineOne.StationFive = data[4];
                    globalVar.rollerLineOne.StationSix = data[5];
                    globalVar.rollerLineOne.StationSeven = data[6];
                    globalVar.rollerLineOne.StationEight = data[7];
                }));
                GetAddressData("D2011", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineTwo.StationOne = data[0];
                    globalVar.rollerLineTwo.StationTwo = data[1];
                    globalVar.rollerLineTwo.StationThree = data[2];
                    globalVar.rollerLineTwo.StationFour = data[3];
                    globalVar.rollerLineTwo.StationFive = data[4];
                    globalVar.rollerLineTwo.StationSix = data[5];
                    globalVar.rollerLineTwo.StationSeven = data[6];
                    globalVar.rollerLineTwo.StationEight = data[7];
                }));
                GetAddressData("D2021", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineThree.StationOne = data[0];
                    globalVar.rollerLineThree.StationTwo = data[1];
                    globalVar.rollerLineThree.StationThree = data[2];
                    globalVar.rollerLineThree.StationFour = data[3];
                    globalVar.rollerLineThree.StationFive = data[4];
                    globalVar.rollerLineThree.StationSix = data[5];
                    globalVar.rollerLineThree.StationSeven = data[6];
                    globalVar.rollerLineThree.StationEight = data[7];
                }));
                GetAddressData("D2031", new Action<ushort[]>((data) =>
                {
                    globalVar.rollerLineOne.OutMaterialingSingle = data[3];
                    globalVar.rollerLineTwo.OutMaterialingSingle = data[4];
                    globalVar.rollerLineThree.OutMaterialingSingle = data[5];
                    //globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6];
                    //globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7];
                    //globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8];
                    AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble = data[6];
                    AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble = data[7];
                    AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble = data[8];

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

                    globalVar.CleadBarrelEnterSingle = data[0];
                }));
                GetAddressData("2076", new Action<ushort[]>(data =>
                {
                    globalVar.CleanComplete = data[0];//洗桶出桶agv呼叫信号

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

                    globalVar.CleadBarrelExitSingle = data[0];
                }));
                //炒锅1状态数据
                GetFryOneData("D2001", new Action<ushort[]>(data =>
                {

                }));
                //炒锅2状态数据
                GetFryTwoData("D2001", new Action<ushort[]>(data =>
                {

                }));
                //炒锅3状态数据
                GetFryThreeData("D2001", new Action<ushort[]>(data =>
                {

                }));
                //炒锅4状态数据
                GetFryFourData("D2001", new Action<ushort[]>(data =>
                {

                }));
                //炒锅5状态数据
                GetFryFiveData("D2001", new Action<ushort[]>(data =>
                {

                }));
                //线体上放空桶
                if (globalVar.rollerLineOne.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineOne.EmptyRollerNum != 0)
                {
                    globalVar.rollerLineOne.EmptyRollerNums.Add(globalVar.rollerLineOne.EmptyRollerNum);
                    ++globalVar.LOneMaterialNum;
                    //是否手动复位PLC
                }
                if (globalVar.rollerLineTwo.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineTwo.EmptyRollerNum != 0)
                {
                    globalVar.rollerLineTwo.EmptyRollerNums.Add(globalVar.rollerLineTwo.EmptyRollerNum);
                    ++globalVar.LTwoMaterialNum;
                    //是否手动复位PLC
                }
                if (globalVar.rollerLineThree.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineThree.EmptyRollerNum != 0)
                {
                    globalVar.rollerLineThree.EmptyRollerNums.Add(globalVar.rollerLineThree.EmptyRollerNum);
                    ++globalVar.LThreeMaterialNum;
                    //是否手动复位PLC
                }
                //炒锅状态数据
                if (globalVar.fryPotOne.OilConfirm == 1)
                {
                    FryPotMonitorManage.GetInstance.fryOne.OilCapacity = globalVar.fryPotOne.OilCapacity;
                    FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy += globalVar.fryPotOne.OilCapacity;
                }
                if (globalVar.fryPotTwo.OilConfirm == 1)
                {
                    FryPotMonitorManage.GetInstance.fryTwo.OilCapacity = globalVar.fryPotTwo.OilCapacity;
                    FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy += globalVar.fryPotTwo.OilCapacity;
                }
                if (globalVar.fryPotThree.OilConfirm == 1)
                {
                    FryPotMonitorManage.GetInstance.fryThree.OilCapacity = globalVar.fryPotThree.OilCapacity;
                    FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy += globalVar.fryPotThree.OilCapacity;
                }
                if (globalVar.fryPotFour.OilConfirm == 1)
                {
                    FryPotMonitorManage.GetInstance.fryFour.OilCapacity = globalVar.fryPotFour.OilCapacity;
                    FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy += globalVar.fryPotFour.OilCapacity;
                }
                if (globalVar.fryPotFive.OilConfirm == 1)
                {
                    FryPotMonitorManage.GetInstance.fryFive.OilCapacity = globalVar.fryPotFive.OilCapacity;
                    FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy += globalVar.fryPotFive.OilCapacity;
                }
                //炒锅状态实时显示
                FryPotStatusDisplay();
                RollerLineStatusDisplay();
                Thread.Sleep(10);
            }), "MainViewReadPlcData");

        }

        private void FryPotStatusDisplay()
        {
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOnePower").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.HotPower.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneOil").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoPower").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.HotPower.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoOil").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreePower").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.HotPower.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeOil").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourPower").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.HotPower.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFivePower").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.HotPower.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.TotalProduct.ToString();

            //FryPotMonitorManage.GetInstance.fryFive.Temperature = 10;
            //FryPotMonitorManage.GetInstance.fryFive.HotPower = "9";
            //FryPotMonitorManage.GetInstance.fryFive.Speed = 8;
            //FryPotMonitorManage.GetInstance.fryFive.FryPotWeight=7;
            //FryPotMonitorManage.GetInstance.fryFive.OilCapacity = 6;
            //FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy = 5;
            //FryPotMonitorManage.GetInstance.fryFive.TotalProduct = 4;
        }
        /// <summary>
        /// 炒锅状态数据保存到二进制文件
        /// </summary>
        public void FryPotDataSaveToBinaryFile()
        {

            #region 炒锅1状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅1状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅1状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LOneFryPotSerial == 1 && fryOneRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryOneRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotOneStatus p1 = new PotOneStatus { Temperature = FryPotMonitorManage.GetInstance.fryOne.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryOne.HotPower, Speed = FryPotMonitorManage.GetInstance.fryOne.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryOne.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryOne.TotalProduct, RecipeName = fryOneRecipe,Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LOneFryPotSerial == 1 && fryOneRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryOneRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotOneStatus p1 = new PotOneStatus { Temperature = FryPotMonitorManage.GetInstance.fryOne.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryOne.HotPower, Speed = FryPotMonitorManage.GetInstance.fryOne.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryOne.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryOne.TotalProduct, RecipeName = fryOneRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅2状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅2状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅2状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LTwoFryPotSerial == 2 && fryTwoRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryTwoRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotTwoStatus p1 = new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryTwo.HotPower, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, RecipeName = fryTwoRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LTwoFryPotSerial == 2 && fryTwoRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryTwoRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotTwoStatus p1 = new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryTwo.HotPower, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, RecipeName = fryTwoRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅3状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅3状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅3状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LThreeFryPotSerial == 3 && fryThreeRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryThreeRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotThreeStatus p1 = new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryThree.HotPower, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, RecipeName = fryThreeRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LThreeFryPotSerial == 3 && fryThreeRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryThreeRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotThreeStatus p1 = new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryThree.HotPower, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, RecipeName = fryThreeRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅4状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅4状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅4状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LOneFryPotSerial == 4 && fryFourRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFourRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFourStatus p1 = new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFour.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, RecipeName = fryFourRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LOneFryPotSerial == 4 && fryFourRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFourRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFourStatus p1 = new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFour.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, RecipeName = fryFourRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅5状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅5状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅5状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LTwoFryPotSerial == 5 && fryFiveRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFiveRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFiveStatus p1 = new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFive.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, RecipeName = fryFiveRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LTwoFryPotSerial == 5 && fryFiveRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFiveRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFiveStatus p1 = new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFive.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, RecipeName = fryFiveRecipe, Time = DateTime.Now.ToShortDateString() };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

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

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

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

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

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

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

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

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

            }));

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

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

        }



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

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

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

            //}
        }
        private void LineFourProcessExecute()
        {
            //线体123到清洗台
            AgvFromLineToCleanPlate();
            AgvArriveCleanPlateFromLine();
           
            //空桶到线体4
            CallAgvToLineFour();
            CleanPlateUpLoad();
            //清洗台或线体123空桶到线体4
            EmptyRollerToLinFourFromClean();
        }

        private void CleanPlateUpLoad()
        {
            if (globalVar.agvArriveCleanLoad)
            {
                globalVar.agvArriveCleanLoad = false;
                WritePlcData("D1066", 1);//AGV空桶出桶就位信号下发PlC
                MessageLog.GetInstance.ShowRunLog("AGV到达清洗台空桶上料位置");
                // MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成");
                
            }
        }

        /// <summary>
        /// 线体到清洗台
        /// </summary>
        private void AgvFromLineToCleanPlate()
        {
            if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//输送线无故障
            {
                //线体1到清洗台
                if (!globalVar.rollerLineOne.IsEpmtyBefore && globalVar.rollerLineOne.CanRun)
                {
                    var res = InputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineOne.StationEight);
                    if ((globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.EmptyRollerNums.Count > 0 && globalVar.rollerLineOne.StationEight == globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0) && InputMaterialQuene.Count > 0 && globalVar.rollerLineOne.StationEight != InputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.EmptyRollerNums.Count > 0 && globalVar.rollerLineOne.StationEight == globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0)))//工位8上面有桶且不是配方上的原料桶且工位8的桶号和plc上报的桶号一致,即空桶
                    {

                    //下发AGV去空桶线洗桶任务
                    e: string id = Guid.NewGuid().ToString("N");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id)!=null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;
                       
                        string info = AGVHelper.GetInstance.AgvLeaveLOneToClean(id);//1号线到洗桶处
                        LSevenrobotJobId.Add(id);
                        Thread.Sleep(500);
                        LineToCleanCarryTaskErrorCodeAnalysis(info, 1);
                        globalVar.rollerLineOne.IsEpmtyBefore = true;
                        //globalVar.rollerLineOne.CanRun = false;
                        AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                    }
                }
                else
                {
                    AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                }
            }
            // 线体2到清洗台
            if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//输送线无故障
            {
                if (!globalVar.rollerLineTwo.IsEpmtyBefore && globalVar.rollerLineTwo.CanRun)
                {
                    var res = LTwoInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineTwo.StationEight);
                    if ((globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.EmptyRollerNums.Count > 0 && globalVar.rollerLineTwo.StationEight == globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0) && LTwoInputMaterialQuene.Count > 0 && globalVar.rollerLineTwo.StationEight != LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.EmptyRollerNums.Count > 0 && globalVar.rollerLineTwo.StationEight == globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0)))//工位8上面有桶且不是配方上的原料桶,即空桶
                    {
                    //下发AGV去空桶线洗桶任务
                    e: string id = Guid.NewGuid().ToString("N");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;

                        string info = AGVHelper.GetInstance.AgvLeaveLTwoToClean(id);//2号线到洗桶处
                        LEightrobotJobId.Add(id);
                        Thread.Sleep(500);
                        LineToCleanCarryTaskErrorCodeAnalysis(info, 2);
                        globalVar.rollerLineTwo.IsEpmtyBefore = true;
                        // globalVar.rollerLineTwo.CanRun = false;
                        AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体2到清洗处
                    }
                }
                else
                {
                    AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                }
            }
            //线体3到清洗台
            if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
            {
                if (!globalVar.rollerLineThree.IsEpmtyBefore && globalVar.rollerLineThree.CanRun)
                {
                    var res = LThreeInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineThree.StationEight);
                    if ((globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.EmptyRollerNums.Count > 0 && globalVar.rollerLineThree.StationEight == globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0) && LThreeInputMaterialQuene.Count > 0 && globalVar.rollerLineThree.StationEight != LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.EmptyRollerNums.Count > 0 && globalVar.rollerLineThree.StationEight == globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0)))//工位8上面有桶且不是配方上的原料桶,即空桶
                    {
                    //下发AGV去空桶线洗桶任务
                    e: string id = Guid.NewGuid().ToString("N");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;

                        string info = AGVHelper.GetInstance.AgvLeaveLThreeToClean(id);//3号线到洗桶处
                        LNinerobotJobId.Add(id);
                        Thread.Sleep(500);
                        LineToCleanCarryTaskErrorCodeAnalysis(info, 3);
                        globalVar.rollerLineThree.IsEpmtyBefore = true;
                        //globalVar.rollerLineThree.CanRun = false;
                        AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                    }
                }
                else
                {
                    AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                }
            }
        }

        /// <summary>
        /// AGV从线体123到达清洗台下料位置
        /// </summary>
        private void AgvArriveCleanPlateFromLine()
        {
            if (globalVar.rollerLineOne.agvArriveCleanUnLoad)
            {
                globalVar.rollerLineOne.agvArriveCleanUnLoad = false;
                MessageLog.GetInstance.ShowRunLog("空桶从线体1到达清洗位置，准备卸桶");
               
                //plc交互
                WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC
                                         // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
            if (globalVar.rollerLineTwo.agvArriveCleanUnLoad)
            {
                globalVar.rollerLineTwo.agvArriveCleanUnLoad = false;
                MessageLog.GetInstance.ShowRunLog("空桶从线体2到达清洗位置，准备卸桶");

                //plc交互
                WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC
                                         // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
            if (globalVar.rollerLineThree.agvArriveCleanUnLoad)
            {
                globalVar.rollerLineThree.agvArriveCleanUnLoad = false;
                MessageLog.GetInstance.ShowRunLog("空桶从线体3到达清洗位置，准备卸桶");

                //plc交互
                WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC
                                         // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
        }
       
        /// <summary>
        /// 呼叫Agv从清洗台运洗好的空桶到四号线体
        /// </summary>
        public void CallAgvToLineFour()
        {
            if (globalVar.CleanComplete == 1)
            {
                //是否需要手动给PLC置位？？
                globalVar.CleanComplete = 0;
            e: string id = Guid.NewGuid().ToString("N");
                if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                    goto e;

                string info = AGVHelper.GetInstance.AgvFromCleanToLineFourUnLoadRoller(id);
                LTenrobotJobId.Add(id);
                Thread.Sleep(500);
                MessageLog.GetInstance.ShowRunLog("清洗台呼叫AGV取桶");
                CleanToLineCarryTaskErrorCodeAnalysis(info, 4);
            }
        }
        /// <summary>
        /// 3号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void LThreeRecipeDataToPlc()
        {
            if (LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0 && !LThreeErrorRecipe && globalVar.rollerLineThree.RecipeCompleteSingle == 1)
            {
                globalVar.rollerLineThree.RecipeComMidSingle = 1;
                if (globalVar.LThreeCurrentRecipeName != string.Empty)
                {
                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线【{globalVar.LThreeCurrentRecipeName}】 配方制作完成");
                    if (globalVar.LThreeFryPotSerial == 3)
                    {
                        FryPotMonitorManage.GetInstance.fryThree.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryThree.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryThree.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotThreeStatus>.GetInstance.Base.Add(new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryThree.HotPower, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotThreeStatus>.GetInstance.Save();//保存数据
                    }
                    globalVar.LThreeCurrentRecipeName = string.Empty;
                    Task.Run(() => { Thread.Sleep(1500); fryThreeRecipe = string.Empty; });
                }
            }
            if (LThreeRecipeQuene.Count > 0 && LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0 && globalVar.rollerLineThree.RecipeComMidSingle == 1)//后续添加其它限制条件
            {
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.goodsName = string.Empty; }));
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows = new ObservableCollection<WorkflowModel>(); }));
                AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Stop);
                //if (globalVar.LThreeCurrentRecipeName != string.Empty)
                //    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线【{globalVar.LThreeCurrentRecipeName}】 配方制作完成");
                if (LThreeRecipeQuene.TryDequeue(out NewRecipeModel result))
                {
                    LThreeErrorRecipe = false;
                    int headNum = result.materialCollection[0].MaterialLoc / 100;
                    globalVar.LThreeMaterialNum = result.materialCollection.Count;
                    globalVar.LThreeFryPotSerial = headNum;
                    globalVar.LThreeCurrentRecipeName = result.RecipeName;

                    AgvViewModel.GetInstance().Set滚筒线上数量(3, globalVar.LThreeMaterialNum.ToString());
                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线开始制作【{result.RecipeName}】 配方");
                    for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                    {
                        if (result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && headNum == 3)
                        {
                            fryThreeRecipe = result.RecipeName;//炒锅状态开始记录
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.goodsName = result.RecipeName; }));
                            //将配方中原料加入新的队列
                            LThreeInputMaterialQuene.Enqueue(new MaterialInfo()
                            {
                                materialType = result.materialCollection[i],
                                materialId = result.RecipeId
                            });
                            RollerThreeDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//3号滚筒线桶号以及重量数据下发 
                        }
                        else
                        {
                            MessageLog.GetInstance.ShowRunLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                            MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                            LThreeInputMaterialQuene.Clear();
                            LThreeErrorRecipe = true;
                            return;
                        }
                    }
                    DeviceOperate.GetInstance.WritePlcData("D1043", (ushort)result.materialCollection.Count);//发送3号滚筒线工序数据
                    globalVar.rollerLineThree.RecipeComMidSingle = 0;
                }
            }



        }
        /// <summary>
        /// 2号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void LTwoRecipeDataToPlc()
        {
            if (LTwoOutputMaterialQuene.Count == 0 && LTwoInputMaterialQuene.Count == 0 && !LTwoErrorRecipe && globalVar.rollerLineTwo.RecipeCompleteSingle == 1)
            {
                globalVar.rollerLineTwo.RecipeComMidSingle = 1;
                if (globalVar.LTwoCurrentRecipeName != string.Empty)
                {
                    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线【{globalVar.LTwoCurrentRecipeName}】 配方制作完成");
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        FryPotMonitorManage.GetInstance.fryTwo.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryTwo.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryTwo.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotTwoStatus>.GetInstance.Base.Add(new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryTwo.HotPower, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotTwoStatus>.GetInstance.Save();//保存数据
                    }
                    if (globalVar.LTwoFryPotSerial == 5)
                    {
                        FryPotMonitorManage.GetInstance.fryFive.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryFive.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryFive.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotFiveStatus>.GetInstance.Base.Add(new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFive.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotFiveStatus>.GetInstance.Save();//保存数据
                    }
                    globalVar.LTwoCurrentRecipeName = string.Empty;
                    Task.Run(() => { Thread.Sleep(2000); fryTwoRecipe = string.Empty; fryFiveRecipe = string.Empty; });
                }
            }

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



        }

        /// <summary>
        /// 1号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        private void LOneRecipeDataToPlc()
        {
            if (OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0 && !ErrorRecipe && globalVar.rollerLineOne.RecipeCompleteSingle == 1)
            {
                globalVar.rollerLineOne.RecipeComMidSingle = 1;
                if (globalVar.LOneCurrentRecipeName != string.Empty)
                {
                    MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线【{globalVar.LOneCurrentRecipeName}】 配方制作完成");
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        FryPotMonitorManage.GetInstance.fryOne.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryOne.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryOne.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotOneStatus>.GetInstance.Base.Add(new PotOneStatus { Temperature = FryPotMonitorManage.GetInstance.fryOne.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryOne.HotPower, Speed = FryPotMonitorManage.GetInstance.fryOne.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryOne.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryOne.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotOneStatus>.GetInstance.Save();//保存数据
                    }
                    if (globalVar.LOneFryPotSerial == 4)
                    {
                        FryPotMonitorManage.GetInstance.fryFour.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryFour.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryFour.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotFourStatus>.GetInstance.Base.Add(new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFour.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotFourStatus>.GetInstance.Save();//保存数据
                    }
                    globalVar.LOneCurrentRecipeName = string.Empty;
                    Task.Run(() => { Thread.Sleep(1500); fryOneRecipe = string.Empty; fryFourRecipe = string.Empty; });
                }
            }
            if (RecipeQuene.Count > 0 && OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0 && globalVar.rollerLineOne.RecipeComMidSingle == 1)//后续添加其它限制条件
            {
                if (globalVar.LOneFryPotSerial == 1)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.goodsName = string.Empty; }));
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows = new ObservableCollection<WorkflowModel>(); }));
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);
                }
                if (globalVar.LOneFryPotSerial == 4)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.goodsName = string.Empty; }));
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows = new ObservableCollection<WorkflowModel>(); }));
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);
                }
                if (RecipeQuene.TryDequeue(out NewRecipeModel result))
                {
                    ErrorRecipe = false;
                    int headNum = result.materialCollection[0].MaterialLoc / 100;
                    globalVar.LOneMaterialNum = result.materialCollection.Count;
                    globalVar.LOneFryPotSerial = headNum;
                    globalVar.LOneCurrentRecipeName = result.RecipeName;
                    AgvViewModel.GetInstance().Set滚筒线上数量(1, globalVar.LOneMaterialNum.ToString());
                    MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线开始制作【{result.RecipeName}】 配方");
                    for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                    {
                        if (result.materialCollection.Count <= 8 && result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && (headNum == 1 || headNum == 4))
                        {
                            if (headNum == 1)//炒锅1
                            {
                                fryOneRecipe = result.RecipeName;//炒锅状态开始记录
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.goodsName = result.RecipeName; }));
                            }
                            else//炒锅4
                            {
                                fryFourRecipe = result.RecipeName;//炒锅状态开始记录
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.goodsName = result.RecipeName; }));
                            }
                            //将配方中原料加入新的队列
                            InputMaterialQuene.Enqueue(new MaterialInfo()
                            {
                                materialType = result.materialCollection[i],
                                materialId = result.RecipeId
                            });
                            RollerOneDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//1号滚筒线桶号以及重量数据下发
                        }
                        else
                        {
                            MessageLog.GetInstance.ShowRunLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                            MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                            InputMaterialQuene.Clear();
                            ErrorRecipe = true;
                            return;
                        }
                    }
                    DeviceOperate.GetInstance.WritePlcData("D1009", (ushort)result.materialCollection.Count);//发送1号滚筒线工序数据
                    globalVar.rollerLineOne.RecipeComMidSingle = 0;//配方完成的中转信号置0
                }
            }



        }

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

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

        //}
        /// <summary>
        /// AGV到配方线体1装桶以及出料到炒锅
        /// </summary>
        public void LOneLoadRoller()
        {
            if (InputMaterialQuene.Count > 0)
            {
                AgvToLineOneLoadRoller();
                AgvFromLineOneToFryPot();//AGV到1号线体装桶
                AgvLineOneLoadRollerCom();
            }
        }
        /// <summary>
        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void AgvLineOneLoadRollerCom()
        {
            if (globalVar.agvLineOneLoadCom)
            {
                globalVar.rollerLineOne.CanRun = true;
                globalVar.agvLineOneLoadCom = false;
                MessageLog.GetInstance.ShowRunLog("AGV在【1】号滚筒线装桶完成");
            }
        }

        /// <summary>
        ///  AGV到配方线体2装桶以及出料到炒锅
        /// </summary>
        public void LTwoAgvLoadRoller()
        {
            if (LTwoInputMaterialQuene.Count > 0)
            {
                AgvToLineTwoLoadRoller();
                AgvFromLineTwoToFryPot();//AGV到2号线体装桶 
                AgvLineTwoLoadRollerCom();

            }
        }
        /// <summary>
        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
        /// </summary>
        private void AgvLineTwoLoadRollerCom()
        {
            if (globalVar.agvLineTwoLoadCom)
            {
                globalVar.rollerLineTwo.CanRun = true;
                globalVar.agvLineTwoLoadCom = false;
                MessageLog.GetInstance.ShowRunLog("AGV在【2】号滚筒线装桶完成");
            }
        }

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

                AgvToLineThreeLoadRoller();
                AgvFromLineThreeToFryPot();//AGV到2号线体装桶  
                AgvLineThreeLoadRollerCom();
            }
        }
        /// <summary>
        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
        /// </summary>
        private void AgvLineThreeLoadRollerCom()
        {
            if (globalVar.agvLineThreeLoadCom)
            {
                globalVar.rollerLineThree.CanRun = true;
                globalVar.agvLineThreeLoadCom = false;
                MessageLog.GetInstance.ShowRunLog("AGV在【3】号滚筒线装桶完成");
            }
        }
        /// <summary>
        /// AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        //public void FryPotInputMaterial()
        //{
        //    if (OutputMaterialQuene.Count > 0 && !globalVar.InOrOutputLock)
        //    {
        //        while (!agvArriveUnLoad)//等待agv到达炒锅位置
        //        {
        //            Thread.Sleep(5);
        //            if (globalVar.ExitMainTask)
        //                return;
        //        }
        //        AgvArriveFryPotSingleSetDown();
        //        FryPotRollerTroubleCheck();
        //        if (FryPotAlarm == 1)//炒锅滚筒无故障
        //        {
        //            //炒锅滚筒进料运行到位处理
        //            FryPotInputMaterialRollerOperate();
        //            globalVar.InOrOutputLock = true;
        //        }

        //    }

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

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

        public void LOneFallMaterial()
        {

            if (!globalVar.InOrOutputLock && (globalVar.fryPotOne.InputMaterialArrivedSingle == 1 || globalVar.fryPotFour.InputMaterialArrivedSingle == 1) && globalVar.PotOneInputMaterialArrive && OutputMaterialQuene.Count > 0 && !globalVar.PotOneOutputRollerArrive)
            {
                //if (globalVar.LOneFryPotSerial == 1)
                //{
                //    Sqlite<PotOneStatus>.GetInstance.Base.Add(new PotOneStatus { Temperature = FryPotMonitorManage.GetInstance.fryOne.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryOne.HotPower, Speed = FryPotMonitorManage.GetInstance.fryOne.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryOne.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryOne.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //    Sqlite<PotOneStatus>.GetInstance.Save();//保存数据
                //}
                //else
                //{
                //    Sqlite<PotFourStatus>.GetInstance.Base.Add(new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFour.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //    Sqlite<PotFourStatus>.GetInstance.Save();//保存数据
                //}
                //FryPotOneRollerTroubleCheck();
                if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//炒锅滚筒无故障
                {
                    if (globalVar.LOneFryPotSerial == 1)
                    {

                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
                    }
                    else
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
                    }
                    
                    //炒锅滚筒进料运行到位处理
                    FryPotOneOrFourInputMaterialRollerOperate();
                    AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Start);
                    globalVar.InOrOutputLock = true;
                    globalVar.PotOneOutputRollerArrive = true;
                }
            }

        }
        /// <summary>
        /// 线体2的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LTwoFryPotInputMaterial()
        {
            if (LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoagvArriveUnLoad && globalVar.LTwoAgvToFryPot && !globalVar.LTwoPotInputMaterialArrive)
            {
                //if (globalVar.LTwoFryPotSerial == 2)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_2);
                //}
                //else if (globalVar.LTwoFryPotSerial == 5)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_5);
                //}
                MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LTwoFryPotSerial}】号炒锅下料位置");
                AgvArriveFryPotTwoOrFiveSingleSetDown();
                globalVar.LTwoagvArriveUnLoad = false;
                globalVar.LTwoPotInputMaterialArrive = true;
            }
        }
        public void LTwoFallMaterial()
        {
            if (!globalVar.LTwoInOrOutputLock && (globalVar.fryPotTwo.InputMaterialArrivedSingle == 1 || globalVar.fryPotFive.InputMaterialArrivedSingle == 1) && globalVar.LTwoPotInputMaterialArrive && LTwoOutputMaterialQuene.Count > 0 && !globalVar.LTwoPotOutputRollerArrive)
            {
                //if (globalVar.LTwoFryPotSerial == 2)
                //{
                //    Sqlite<PotTwoStatus>.GetInstance.Base.Add(new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryTwo.HotPower, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //    Sqlite<PotTwoStatus>.GetInstance.Save();//保存数据
                //}
                //else
                //{
                //    Sqlite<PotFiveStatus>.GetInstance.Base.Add(new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFive.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //    Sqlite<PotFiveStatus>.GetInstance.Save();//保存数据
                //}
                FryPotTwoRollerTroubleCheck();
                if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//炒锅滚筒无故障
                {
                    if (globalVar.LTwoFryPotSerial == 2)
                    {

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

                    }
                    else
                    {

                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
                    }
                    
                    //炒锅滚筒进料运行到位处理
                    FryPotTwoOrFiveInputMaterialRollerOperate();
                    AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Start);
                    globalVar.LTwoInOrOutputLock = true;
                    globalVar.LTwoPotOutputRollerArrive = true;
                }
            }
        }
        /// <summary>
        /// 线体3的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LThreeFryPotInputMaterial()
        {
            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeagvArriveUnLoad && globalVar.LThreeAgvToFryPot && !globalVar.LThreePotInputMaterialArrive)
            {
                // AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.yc_3_3);
                MessageLog.GetInstance.ShowRunLog("AGV到达【3】号炒锅下料位置");
                AgvArriveFryPotThreeSingleSetDown();
                globalVar.LThreeagvArriveUnLoad = false;
                globalVar.LThreePotInputMaterialArrive = true;
            }
        }

        public void LThreeFallMaterial()
        {
            if (!globalVar.LThreeInOrOutputLock && globalVar.fryPotThree.InputMaterialArrivedSingle == 1 && globalVar.LThreePotInputMaterialArrive && LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreePotOutputRollerArrive)
            {
                //Sqlite<PotThreeStatus>.GetInstance.Base.Add(new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryThree.HotPower, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //Sqlite<PotThreeStatus>.GetInstance.Save();//保存数据
                FryPotThreeRollerTroubleCheck();
                if (FryPotThreeAlarm == 1)//炒锅滚筒无故障
                {

                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep, Name = LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
                 
                    //炒锅滚筒进料运行到位处理
                    FryPotThreeInputMaterialRollerOperate();
                    AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV
                    AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Start);
                    globalVar.LThreeInOrOutputLock = true;
                    globalVar.LThreePotOutputRollerArrive = true;
                }
            }
        }
        /// <summary>
        /// 炒锅出桶
        /// </summary>
        //public void FryPotOutputMaterial()
        //{
        //    if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock)
        //    {
        //        AgvFromFryPotToClean();//上游下发搬运任务给AGV
        //        while (!agvArriveUpLoad)//等待agv到达炒锅位置
        //        {
        //            Thread.Sleep(5);
        //            if (globalVar.ExitMainTask)
        //                return;
        //        }
        //        agvArriveUpLoad = false;
        //        AgvArriveFryPotOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
        //        FryPotRollerTroubleCheck();
        //        if (FryPotAlarm == 1)//无故障
        //        {
        //            FryPotOutEmpetyRollerOperate();
        //            if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
        //            {
        //                while (!agvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
        //                {
        //                    Thread.Sleep(5);
        //                    if (globalVar.ExitMainTask)
        //                        return;
        //                }
        //                //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
        //                globalVar.AllowAgvToLineLoadRoller = true;
        //                globalVar.InOrOutputLock = false;
        //            }
        //        }

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

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

            if ((globalVar.fryPotOne.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotFour.EmptyBarrelArrivedSingle == 1) && OutputMaterialQuene.Count > 0 && globalVar.AgvArrivePot)
            {

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

                        }
                    }
                }
            }


        }

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

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

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

                        }
                    }
                }
            }

        }
        /// <summary>
        /// 线体3对应炒锅出桶
        /// </summary>
        public void LThreeFryPotOutputMaterial()
        {
            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeInOrOutputLock && globalVar.agvArriveLThreeUpLoad && globalVar.LThreePotOutputRollerArrive && !globalVar.LThreeAgvArrivePot)
            {
                MessageLog.GetInstance.ShowRunLog($"AGV到达【{globalVar.LThreeFryPotSerial}】号炒锅空桶上料位置");
                AgvArriveFryPotThreeOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
                globalVar.agvArriveLThreeUpLoad = false;
                globalVar.LThreeAgvArrivePot = true;
            }
        }

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

                        }
                    }
                }
            }

        }

        /// <summary>
        /// 4号线体下料
        /// </summary>
        public void EmptyRollerToLinFourFromClean()
        {

            if (globalVar.agvArriveLineFour)//agv到达线体4下料位置
            {
                globalVar.agvArriveLineFour = false;
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                MessageLog.GetInstance.ShowRunLog("AGV从清洗台到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
            if (globalVar.rollerLineOne.agvArriveLineFour)//agv到达线体4下料位置
            {
                globalVar.rollerLineOne.agvArriveLineFour = false;
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                MessageLog.GetInstance.ShowRunLog("AGV从1号线体对应炒锅到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
            if (globalVar.rollerLineTwo.agvArriveLineFour)//agv到达线体4下料位置
            {
                globalVar.rollerLineTwo.agvArriveLineFour = false;
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                MessageLog.GetInstance.ShowRunLog("AGV从2号线体对应炒锅到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
            if (globalVar.rollerLineThree.agvArriveLineFour)//agv到达线体4下料位置
            {
                globalVar.rollerLineThree.agvArriveLineFour = false;
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                MessageLog.GetInstance.ShowRunLog("AGV从3号炒锅到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }

        }
      
        ///// <summary>
        ///// 2号线体对应空桶清洗
        ///// </summary>
        //public void LTwoEmptyRollerToLineFour()
        //{
        //    if (globalVar.LTwoEmptyRollerUnLoadcCom)//agv在4号线体下料完成
        //    {
        //        globalVar.AllowAgvToLineTwoLoadRoller = true;
        //        globalVar.LTwoLoadRoller = false;
        //        globalVar.LTwoAgvToFryPot = false;
        //        globalVar.LTwoPotInputMaterialArrive = false;
        //        globalVar.LTwoPotOutputRollerArrive = false;
        //        globalVar.LTwoAgvArrivePot = false;
        //    }
        //}
        ///// <summary>
        ///// 3号线体对应空桶清洗
        ///// </summary>
        //public void LThreeEmptyRollerToLinFour()
        //{
        //    if (globalVar.LThreeEmptyRollerUnLoadcCom)//agv在4号线体下料完成
        //    {
        //        globalVar.AllowAgvToLineThreeLoadRoller = true;
        //        globalVar.LThreeLoadRoller = false;
        //        globalVar.LThreeAgvToFryPot = false;
        //        globalVar.LThreePotInputMaterialArrive = false;
        //        globalVar.LThreePotOutputRollerArrive = false;
        //        globalVar.LThreeAgvArrivePot = false;
        //    }
        //}

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

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

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

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

                    MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(InputMaterialQuene);
                    if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                       
                        globalVar.LOneCurrentCookingStep++;
                        OutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveUpLoad = false;
                        globalVar.AgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }
                }

            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitLineOneTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【1】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// Agv从1号线体运空桶到清洗处
        /// </summary>
        public void AgvFromLineOneToClean(ushort emptyRollerNum)
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLineOneLoadEmptyRoller)//agv到达上料位置
                {
                    MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
                    DeviceOperate.GetInstance.WritePlcData("D1052", 1);//agv到达线体1上料位置信号下发plc
                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");

                    
                    globalVar.agvArriveLineOneLoadEmptyRoller = false;
                    //原料到位，agv到位，agv自行运料到清洗处
                }
                if (globalVar.agvArriveLineOneLoadCom)//上料完成
                {
                    globalVar.rollerLineOne.EmptyRollerNums.RemoveAt(0);
                    globalVar.agvArriveLineOneLoadCom = false;
                    globalVar.rollerLineOne.IsEpmtyBefore = false;
                    MessageLog.GetInstance.ShowRunLog($"AGV在【1】号线体完成【{emptyRollerNum}】号空料桶装载");
                }
            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitLineOneTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【1】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }

        }
        /// <summary>
        /// 处理agv从线体2到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineTwoToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLTwoUpLoad && globalVar.LTwoLoadRoller && globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LTwoAgvToFryPot)//无故障
                {
                    MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(LTwoInputMaterialQuene);
                    if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                        
                        globalVar.LTwoCurrentCookingStep++;
                        LTwoOutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveLTwoUpLoad = false;
                        globalVar.LTwoAgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }


                }

            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitLineTwoTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【2】滚筒故障解除，继续运行");
                // lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// Agv从2号线体运空桶到清洗处
        /// </summary>
        public void AgvFromLineTwoToClean(ushort emptyRollerNum)
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLineTwoLoadEmptyRoller)//agv到达上料位置
                {
                    MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
                    DeviceOperate.GetInstance.WritePlcData("D1053", 1);//agv到达线体2上料位置信号下发plc
                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");
                   
                  
                    globalVar.agvArriveLineTwoLoadEmptyRoller = false;

                    //原料到位，agv到位，agv自行运料到清洗处
                }
                if (globalVar.agvArriveLineTwoLoadCom)//上料完成
                {
                    globalVar.rollerLineTwo.EmptyRollerNums.RemoveAt(0);
                    globalVar.agvArriveLineTwoLoadCom = false;
                    globalVar.rollerLineTwo.IsEpmtyBefore = false;
                    MessageLog.GetInstance.ShowRunLog($"AGV在【2】号线体完成【{emptyRollerNum}】号空料桶装载");
                }
            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitLineOneTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【2】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }

        }
        /// <summary>
        /// 处理agv从线体3到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineThreeToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLThreeUpLoad && globalVar.LThreeLoadRoller && globalVar.rollerLineThree.StationEight == LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LThreeAgvToFryPot)//无故障
                {
                    MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(LThreeInputMaterialQuene);
                    if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                       
                        globalVar.LThreeCurrentCookingStep++;
                        LThreeOutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveLThreeUpLoad = false;
                        globalVar.LThreeAgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }


                }

            }
            else //有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitLineThreeTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【3】滚筒故障解除，继续运行");
                // lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// Agv从3号线体运空桶到清洗处
        /// </summary>
        public void AgvFromLineThreeToClean(ushort emptyRollerNum)
        {
        erp: if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLineThreeLoadEmptyRoller)//agv到达上料位置
                {
                    MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
                    DeviceOperate.GetInstance.WritePlcData("D1054", 1);//agv到达线体3上料位置信号下发plc
                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");
                 
                
                    globalVar.agvArriveLineThreeLoadEmptyRoller = false;
                    //  globalVar.rollerLineThree.IsEpmtyBefore = false;

                    //原料到位，agv到位，agv自行运料到清洗处
                }
                if (globalVar.agvArriveLineThreeLoadCom)//上料完成
                {
                    globalVar.rollerLineThree.EmptyRollerNums.RemoveAt(0);
                    globalVar.agvArriveLineThreeLoadCom = false;
                    globalVar.rollerLineThree.IsEpmtyBefore = false;
                    MessageLog.GetInstance.ShowRunLog($"AGV在【3】号线体完成【{emptyRollerNum}】号空料桶装载");
                }
            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 1)
                {
                    Thread.Sleep(5);
                    if (globalVar.ExitLineOneTask)
                        return;
                }
                MessageLog.GetInstance.ShowRunLog("线体【3】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }

        }
        /// <summary>
        /// 线体到炒锅搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public void LineCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
                globalVar.AllowAgvToLineLoadRoller = false;
            }
            else if (errorCode == "Analysis Error")
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
            }
            else
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
            }
        }
        /// <summary>
        /// 线体到清洗台搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public void LineToCleanCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                
                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
            }
            else if (errorCode == "Analysis Error")
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
            }
            else
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
            }
        }
        /// <summary>
        /// 清洗台到线体搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public void CleanToLineCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
               
                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线卸桶");
            }
            else if (errorCode == "Analysis Error")
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
            }
            else
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
            }
        }
        /// <summary>
        /// 炒锅搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public void FryCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                MessageLog.GetInstance.ShowRunLog($"AGV离开{num}号炒锅");
            }
            else if (errorCode == "Analysis Error")
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV离开{num}号炒锅接口调用失败，请检查");
            }
            else
            {
                MessageLog.GetInstance.ShowRunLog($"提示：AGV离开{num}号炒锅失败，错误码:{errorCode}");
            }
        }

        public void AgvToLineOneLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//输送线无故障
            {
                if (InputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineLoadRoller && globalVar.rollerLineOne.OutMaterialingSingle == 1 && !globalVar.LoadRoller)
                {
                    if (globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineOne.IsEpmtyBefore)//工位8上面是配方料桶
                    {
                        globalVar.rollerLineOne.CanRun = false;
                    e: string id = Guid.NewGuid().ToString("N");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;

                        string info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
                        LOnerobotJobId = id;
                        Thread.Sleep(500);
                        LineCarryTaskErrorCodeAnalysis(info, 1);
                        globalVar.LoadRoller = true;
                    }
                    //else if (globalVar.rollerLineOne.StationEight != InputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                    //{
                    //    globalVar.rollerLineOne.CanRun = true;
                    //}
                    //else // 工位8上面不是配方料桶或没有桶时
                    //{
                    //    if (!globalVar.rollerLineOne.IsEpmtyBefore)
                    //    {
                    //        var res = InputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineOne.StationEight);
                    //        if (res == null && globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.StationEight == globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶且工位8的桶号和plc上报的桶号一致,即空桶
                    //        {
                    //        //下发AGV去空桶线洗桶任务
                    //        e: string id = Guid.NewGuid().ToString("N");
                    //            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                    //                goto e;

                    //            string info = AGVHelper.GetInstance.AgvLeaveLOneToClean(id);//1号线到洗桶处
                    //            LFourrobotJobId = id;
                    //            Thread.Sleep(500);
                    //            LineToCleanCarryTaskErrorCodeAnalysis(info, 1);
                    //            globalVar.rollerLineOne.IsEpmtyBefore = true;
                    //            AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                    //        }
                    //    }
                    //    else
                    //    {
                    //        AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                    //    }
                    //}

                }
            }
            //else
            //{
            //    MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【1】故障！！！");
            //    //  lineAlarm = -1;
            //}
            //// lineAlarm = 1;
        }
        public void AgvToLineTwoLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//输送线无故障
            {
                if (LTwoInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineTwoLoadRoller && globalVar.rollerLineTwo.OutMaterialingSingle == 1 && !globalVar.LTwoLoadRoller)
                {
                    if (globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineTwo.IsEpmtyBefore)//工位8上面是配方料桶
                    {
                        globalVar.rollerLineTwo.CanRun = false;
                    e: string id = Guid.NewGuid().ToString("N");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;

                        string info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
                        LTworobotJobId = id;
                        Thread.Sleep(500);
                        LineCarryTaskErrorCodeAnalysis(info, 2);
                        globalVar.LTwoLoadRoller = true;
                    }
                    //else if (globalVar.rollerLineTwo.StationEight != LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                    //{
                    //    globalVar.rollerLineTwo.CanRun = true;
                    //}
                }
                //else// 工位8上面不是配方料桶或没有桶时
                //{
                //    if (!globalVar.rollerLineTwo.IsEpmtyBefore)
                //    {
                //        var res = LTwoInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineTwo.StationEight);
                //        if (res == null && globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.StationEight == globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶,即空桶
                //        {
                //        //下发AGV去空桶线洗桶任务
                //        e: string id = Guid.NewGuid().ToString("N");
                //            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                //                goto e;

                //            string info = AGVHelper.GetInstance.AgvLeaveLTwoToClean(id);//2号线到洗桶处
                //            LFiverobotJobId = id;
                //            Thread.Sleep(500);
                //            LineToCleanCarryTaskErrorCodeAnalysis(info, 2);
                //            globalVar.rollerLineTwo.IsEpmtyBefore = true;
                //            AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体2到清洗处
                //        }
                //    }
                //    else
                //    {
                //        AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                //    }
                //}
            }
        }
        public void AgvToLineThreeLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
            {
                if (LThreeInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineThreeLoadRoller && globalVar.rollerLineThree.OutMaterialingSingle == 1 && !globalVar.LThreeLoadRoller)
                {
                    if (globalVar.rollerLineThree.StationEight == LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineThree.IsEpmtyBefore)//工位8上面是配方料桶
                    {
                        globalVar.rollerLineThree.CanRun = false;
                    e: string id = Guid.NewGuid().ToString("N");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;

                        string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
                        LThreerobotJobId = id;
                        Thread.Sleep(500);
                        LineCarryTaskErrorCodeAnalysis(info, 3);
                        globalVar.LThreeLoadRoller = true;
                    }
                    //else if (globalVar.rollerLineThree.StationEight != LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                    //{
                    //    globalVar.rollerLineThree.CanRun = true;
                    //}
                    //else // 工位8上面不是配方料桶或没有桶时
                    //{
                    //    if (!globalVar.rollerLineThree.IsEpmtyBefore)
                    //    {
                    //        var res = LThreeInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineThree.StationEight);
                    //        if (res == null && globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.StationEight == globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶,即空桶
                    //        {
                    //        //下发AGV去空桶线洗桶任务
                    //        e: string id = Guid.NewGuid().ToString("N");
                    //            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                    //                goto e;

                    //            string info = AGVHelper.GetInstance.AgvLeaveLThreeToClean(id);//3号线到洗桶处
                    //            LSixrobotJobId = id;
                    //            Thread.Sleep(500);
                    //            LineToCleanCarryTaskErrorCodeAnalysis(info, 3);
                    //            globalVar.rollerLineThree.IsEpmtyBefore = true;
                    //            AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                    //        }
                    //    }
                    //    else
                    //    {
                    //        AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                    //    }
                    //}
                }
            }

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

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

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

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

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

            }

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

        }

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

        //    }
        //}
        /// <summary>
        /// 炒锅1,4滚筒信号检测
        /// </summary>
        public void FryPotOneRollerTroubleCheck()
        {
            FryPotAlarm = 0;
            FryPotFourAlarm = 0;
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
                    {
                        FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障");
                    }
                    else
                    {
                        FryPotAlarm = 1; return;

                    }
                    while (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitLineOneTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                    FryPotAlarm = 1; break;
                case 4:
                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1)
                    {
                        Thread.Sleep(5); if (globalVar.ExitLineOneTask)
                            return;
                    }
                    MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
                    FryPotFourAlarm = 1; break;
            }

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

    }
}