BPASmartClient/BPASmartClient.MorkF/Control_MorkF.cs

using BPA.Message;
using BPA.Message.Enum;
using BPASmartClient.Device;
using BPASmartClient.EventBus;
using BPASmartClient.Helper;
using BPASmartClient.Message;
using BPASmartClient.Model;
using BPASmartClient.Model.PLC;
using BPA.Models;
using static BPASmartClient.EventBus.EventBus;
using BPASmartClient.Model.小炒机;
using BPASmartClient.MorkF.Model;
using System.Text;
using System.Collections.Concurrent;
using System.Windows.Documents;
using BPASmartClient.Business;
using Microsoft.CodeAnalysis;
using BPASmartClient.MorkF.ViewModel;

namespace BPASmartClient.MorkF
{
    public class Control_MorkF : BaseDevice
    {
        #region 常数定义
        /// <summary>
        /// while循环最大sleep次数
        /// </summary>
        private const int sleepCount = 20;

        /// <summary>
        /// while循环每次sleep时间
        /// </summary>
        private const int sleepTime = 500;

        /// <summary>
        /// 菜品库while循环最大sleep次数
        /// </summary>
        private const int materialSleepCount = 900;

        /// <summary>
        /// 菜品库while循环每次sleep时间
        /// </summary>
        private const int materialSleepTime = 100;

        /// <summary>
        /// 初始化炒锅数量
        /// </summary>
        private int count = 2;

        /// <summary>
        /// 菜品盒下移高度，相对于坐标系
        /// </summary>
        private const int materialBoxHigh = 4080;

        //菜品库出餐高度
        private const int materialHigh = 33000;

        //传感器到菜品库的高度（坐标系）
        private const int materialLaserHigh = 34500;

        /// <summary>
        /// 菜品盒坐标系高度
        /// </summary>
        private const int materialBoxHeight = 9500;

        //传感器1到菜品库的高度（厘米）
        private const int materialLaserHighCM_1 = 22;

        //传感器2到菜品库的高度（厘米）
        private const int materialLaserHighCM_2 = 27;

        //传感器3到菜品库的高度（厘米）
        private const int materialLaserHighCM_3 = 31;

        /// <summary>
        /// 传感器到隔板的距离（坐标系）
        /// </summary>
        private const int clapboardLaserHigh = 10000;

        //炒锅1倒菜的xy坐标
        private const int materialPutPositionXFry1 = 70000;
        private const int materialPutPositionYFry1 = 40000;

        //炒锅2倒菜的xy坐标
        private const int materialPutPositionXFry2 = 70000;
        private const int materialPutPositionYFry2 = 40000;

        //菜品库机械爪放置菜品距离
        private const int materialToFryDistance = 10000;

        //当前炒锅，默认为1号炒锅
        private int fryIndex = 0;
        #endregion

        public override DeviceClientType DeviceType => DeviceClientType.MORKCS;
        public AutoResetEvent minorReset = new AutoResetEvent(false);
        public AutoResetEvent mainReset = new AutoResetEvent(false);

        /// <summary>
        /// 等待炒制数量
        /// </summary>
        private int StagingFryCount { get; set; }

        /// <summary>
        /// 正在炒制数量
        /// </summary>
        private int FryingCount { get; set; }

        /// <summary>
        /// 炒锅编号与炒锅实例
        /// </summary>
        Dictionary<int, GVL_MorkF> morkFs = new Dictionary<int, GVL_MorkF>();//全局对象声明

        /// <summary>
        /// 菜品库对象
        /// </summary>
        ML_MorkF ml_morkf = new ML_MorkF();

        /// <summary>
        /// 小炒菜单集合
        /// </summary>f
        public static List<StirFryGoods> LocalstirFryGoods = new List<StirFryGoods>();

        /// <summary>
        /// 待炒小炒队列
        /// </summary>
        private ConcurrentQueue<OrderLocInfo> StirFryGoodsQuenes = new ConcurrentQueue<OrderLocInfo>();

        /// <summary>
        /// 炒锅炒制线程名称
        /// </summary>
        private const String striConst = "炒锅{0}炒制{1}线程";

        /// <summary>
        /// 当前炒制菜品
        /// </summary>
        private OrderLocInfo[] nowStirFryGood = new OrderLocInfo[2];

        /// <summary>
        /// 待取菜队列
        /// </summary>
        private ConcurrentQueue<MaterialOperation> materialOperationQuenes = new ConcurrentQueue<MaterialOperation>();

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

        /// <summary>
        /// 告警列表
        /// </summary>
        private List<AlarmModel> alarmModel = new List<AlarmModel>();

        /// <summary>
        /// 
        /// </summary>
        private List<StatsModel> statsModels = new List<StatsModel>();

        /// <summary>
        /// 暂存使用菜品量
        /// </summary>
        private List<GoodBatchings> stagingGoodBatchings = new List<GoodBatchings>();
        
        /// <summary>
        /// 是否为本地炒菜模式，默认为联网的
        /// </summary>
        private bool isLocalFryingMode { get; set; } = false;

        /// <summary>
        /// 入口
        /// </summary>
        public override void DoMain()
        {
            IsHealth = true;

            for (int i = 0; i < count; i++)
            {
                morkFs.Add(i, new GVL_MorkF());
            }

            DataParse();//数据解析
            CommandRegist();//调试
            ServerInit();
            DeviceProcessLogShow("MORKF 设备初始化完成");
            ///初始化菜品库
            //FoodLibInit();
            Task2ReadMaterialData();

            ScreenDataServer();
            Json<MaterialAndFryingTime>.Read();
            //更新菜品余量
            UpdateMaterialSurplus();

            //读取坐标系
            MaterialCoordinate materialCoordinate = ReadMaterialCoordinate();
            if(materialCoordinate != null)
            {
                MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
                MaterialCoordinate.GetInstance().MLCoordinateList = materialCoordinate.MLCoordinateList;
                MaterialCoordinate.GetInstance().distance_1 = materialCoordinate.distance_1;
                MaterialCoordinate.GetInstance().distance_2 = materialCoordinate.distance_2;
                MaterialCoordinate.GetInstance().distance_3 = materialCoordinate.distance_3;
                MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;
                MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
                MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
                MaterialCoordinate.GetInstance().MaterialOneX = materialCoordinate.MaterialOneX;
                MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
                MaterialCoordinate.GetInstance().MaterialThreeX = materialCoordinate.MaterialThreeX;
            }
            ////菜品库编号与坐标系对象存储
            //SaveMaterialCoordinate();
        }

        /// <summary>
        /// 主任务
        /// </summary>
        public override void MainTask()
        {
            //炒锅炒制线程
            MainProcessExcute();
            //菜品库操作线程
            MainProcessMaterial();
            //MinorProcessExcute();
            //SingleProcess();

        }

        private static object saveMaterialLock = new object();
        private void SaveMaterialData()
        {
            lock (saveMaterialLock)
            {
                Json<MaterialSurplus>.Data = MaterialSurplusOperation.GetInstance().materialSurplus;
                Json<MaterialSurplus>.Save();
            }
        }

        private static object saveMaterialCoordinateLock = new object();
        /// <summary>
        /// 保存当前的坐标系
        /// </summary>
        public void SaveMaterialCoordinate()
        {
            lock (saveMaterialLock)
            {
                Json<MaterialCoordinate>.Data = MaterialCoordinate.GetInstance();
                Json<MaterialCoordinate>.Save();
            }
        }

        /// <summary>
        /// 读取坐标系
        /// </summary>
        /// <returns></returns>
        private MaterialCoordinate ReadMaterialCoordinate()
        {
            try
            {
                lock (saveMaterialLock)
                {
                    Json<MaterialCoordinate>.Read();
                    MaterialCoordinate materialCoordinate = Json<MaterialCoordinate>.Data;
                    return materialCoordinate;
                }
            }
            catch(Exception ex)
            {
                return null;
            }
        }

        private void Task2ReadMaterialData()
        {
            ThreadManage.GetInstance().StartLong(new Action(() => {

                //获取定位到达状态
                GetStatus("M10.0", new Action<object>((objects) =>
                {
                    if (objects is bool[] bools)
                    {

                        //ml_morkf.ArriveComplete = bools[i];
                        //小炒定点到达上升沿信号捕获
                        if (RTrig.GetInstance("SmartArriveComplete").Start(bools[0]))
                        {
                            if (isInitialArrive == false)
                            {
                                //MessageLog.GetInstance.Show("到达上升沿为true，isInitialArrive is false");
                                isInitialArrive = true;
                            }
                            else
                            {
                                //MessageLog.GetInstance.Show("到达上升沿为true");
                                ml_morkf.ArriveComplete = true;
                                isInitialArrive = true;
                            }
                        }
                    }

                }), 2);
            }), "ReadMaterialSmartArriveCompleteData", true);

            ThreadManage.GetInstance().StartLong(new Action(() => {
                ReadMaterialData();

                Thread.Sleep(10);
            }), "ReadMaterialData", true);
        }

        private void ReadMaterialData()
        {
            //获取激光距离
            GetStatus("VW270", new Action<object>((objects) =>
            {
                if (objects is ushort[] bools)
                {
                    for (int i = 0; i < 1; i++)
                    {
                        ml_morkf.LaserDistance = bools[i];
                    }
                }
            }), 2);

            //获取坐标X
            GetStatus("VD828", new Action<object>((objects) =>
            {
                if (objects is int bools)
                {
                    ml_morkf.ArmPositionX = bools;
                }
            }), 2);

            //获取坐标Y
            GetStatus("VD832", new Action<object>((objects) =>
            {
                if (objects is int bools)
                {
                    ml_morkf.ArmPositionY = bools;
                }
            }), 2);

            //获取爪子到达位置
            GetStatus("M11.0", new Action<object>((objects) =>
            {
                if (objects is bool[] bools && bools.Length > 3)
                {
                    ml_morkf.PawArrivePortOne = bools[0];
                    ml_morkf.PawArrivePortTwo = bools[1];
                    ml_morkf.PawArrivePortThree = bools[2];
                }
            }), 2);

            //获取总初始化完成
            GetStatus("M10.2", new Action<object>((objects) =>
            {
                if (objects is bool[] bools)
                {
                    for (int i = 0; i < 1; i++)
                    {
                        ml_morkf.InitialComplete = bools[i];
                    }
                }
            }), 2);

            //抓手初始化完成
            GetStatus("M10.3", new Action<object>((objects) =>
            {
                if (objects is bool[] bools)
                {
                    for (int i = 0; i < 1; i++)
                    {
                        ml_morkf.PawInitialComplete = bools[i];
                    }
                }
            }), 2);

        }

        public override void Stop()
        {
            IsHealth = false;
        }

        #region 调试代码
        public void CommandRegist()
        {
            #region 设备控制 
            ActionManage.GetInstance.Register(PLCInite, "InitCommand");
            ActionManage.GetInstance.Register(StartOrder, "StartOrder");
            ActionManage.GetInstance.Register(StartOrderMain, "开始下单");
            ActionManage.GetInstance.Register(StartLocalOrder, "StartLocalOrder");
            ActionManage.GetInstance.Register(StopLocalOrder, "StopLocalOrder");
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o is string materialName)
                {
                    NewStartLocalOrder(materialName);
                }
            }), "NewStartLocalOrder");
            #endregion

            #region 菜品库
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    FoodLibInit();
                }), "FoodLibInit");
            }), "FoodLibInit");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                isLocalFryingMode = !isLocalFryingMode;
            }), "ModeChange");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    if(!UpdateMaterialLibraryStock())
                    {
                        MessageLog.GetInstance.ShowEx("菜品库检测余量失败");
                    }
                }), "SurplusCheck");
            }), "SurplusCheck");
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    Electromagnetism(o);
                }), "Electromagnetism");
            }), "Electromagnetism");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    PawToPoint1();
                }), "PawToPoint1");
            }), "PawToPoint1");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    PawToPoint2();
                }), "PawToPoint2");
            }), "PawToPoint2");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    PawToPoint3();
                }), "PawToPoint3");
            }), "PawToPoint3");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    GetDistance_1();
                }), "GetDistance_1");
            }), "GetDistance_1");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    GetDistance_2();
                }), "GetDistance_2");
            }), "GetDistance_2");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    GetDistance_3();
                }), "GetDistance_3");
            }), "GetDistance_3");
            ActionManage.GetInstance.Register(PawExtend, "PawTurnFront");
            ActionManage.GetInstance.Register(PawShrink, "PawTurnBack");
            ActionManage.GetInstance.Register(new Action<object>((list) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    if (list is List<int> list_int)
                    {
                        if (list_int.Count == 2)
                        {
                            SetArmPosition(list_int[0], list_int[1]);
                        }
                    }
                }), "SetArmPosition");
            }), "SetArmPosition");
            ActionManage.GetInstance.Register(new Action<object>((list) =>
            {
                if (list is bool startOrStop)
                {
                    ArmRunUp(startOrStop);
                }
            }), "ArmRunUp");
            ActionManage.GetInstance.Register(new Action<object>((list) =>
            {
                if (list is bool startOrStop)
                {
                    ArmRunDown(startOrStop);
                }
            }), "ArmRunDown");
            ActionManage.GetInstance.Register(new Action<object>((list) =>
            {
                if (list is bool startOrStop)
                {
                    ArmRunLeft(startOrStop);
                }
            }), "ArmRunLeft");
            ActionManage.GetInstance.Register(new Action<object>((list) =>
            {
                if (list is bool startOrStop)
                {
                    ArmRunRight(startOrStop);
                }
            }), "ArmRunRight");
            ActionManage.GetInstance.Register(new Action<object>((list) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    if (list is List<int> list_int)
                    {
                        if (list_int.Count == 2)
                        {
                            SetArmPosition(list_int[0], list_int[1]);
                        }
                    }
                }), "SetNowPosition");
            }), "SetNowPosition");
            ActionManage.GetInstance.Register(new Action<object>((list) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    if (list is List<object> list_object)
                    {
                        if (list_object.Count != 3)
                        {
                            return;
                        }

                        if (list_object[0] is string No && list_object[1] is int x && list_object[2] is int y)
                        {
                            if (SetArmPosition(x, y))
                            {
                                ActionManage.GetInstance.Send("CalibrationCallBack", new List<string> { No });//设定机械臂当前位置
                            }
                        }
                    }
                }), "CalibrationCoordination");
            }), "CalibrationCoordination");
            #endregion
            //ActionManage.GetInstance.Register(PLCInite, "InitCommand");
            #region 配料控制
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    OutSeasoning(o, fryIndex);
                }), "OutMaterials");
            }), "OutMaterials");
            //ActionManage.GetInstance.Register(OutSeasoning, "OutMaterials");
            #endregion

            #region 炒锅
            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    Plc1Reset(fryIndex);
                }), "Plc1Reset");
            }), "Plc1Reset");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    AddOil();
                }), "AddOil");
            }), "AddOil");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    StartFire(fryIndex);
                }), "StartFire");
            }), "StartFire");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    StopFire(fryIndex);
                }), "StopFire");
            }), "StopFire");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    StartStir(fryIndex);
                }), "StartStir");
            }), "StartStir");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    StopStir(fryIndex);
                }), "StopStir");
            }), "StopStir");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    MagnetOn(fryIndex);
                }), "MagnetOn");
            }), "MagnetOn");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    MagnetOff(fryIndex);
                }), "MagnetOff");
            }), "MagnetOff");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    string error;
                    OutFood(fryIndex,out error);
                }), "OutFood");
            }), "OutFood");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    StirArmGoOrigin(fryIndex);
                }), "StirArmGoOrigin");
            }), "StirArmGoOrigin");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    string error;
                    StirArmGoWork(fryIndex, out error);
                }), "StirArmGoWork");
            }), "StirArmGoWork");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    HBOTGoWork(fryIndex);
                }), "HBOTGoWork");
            }), "HBOTGoWork");

            ActionManage.GetInstance.Register(new Action(() =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    OutMeal(fryIndex);
                }), "OutMeal");
            }), "OutMeal");

            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    SetFire(o, fryIndex);
                }), "SetFire");
            }), "SetFire");

            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    SetFry(o);
                }), "SetFry");
            }), "SetFry");

            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                ThreadManage.GetInstance().Start(new Action(() =>
                {
                    SetStir(o, fryIndex);
                }), "SetStir");
            }), "SetStir");
            #endregion


        }

        /// <summary>
        /// 本地菜单下单
        /// </summary>
        private void StartOrder(object o)
        {
            if (o == null) return;
            if (o is int goodId)
            {
                var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey == goodId);//匹配订单对应制作流程
                if (res != null)
                {
                    /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程
                    if (StirFryGoodsQuenes.Count > 0) return;
                    StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
                    {
                        SuborderId = Guid.NewGuid().ToString(),
                        StirPotActions = res.StirPotActions,
                        GoodName = "本地菜品"
                    });
                    MessageLog.GetInstance.Show($"添加本地订单{res.GoodsKey}");
                }
            }
        }

        /// <summary>
        /// 本地菜单下单
        /// </summary>
        private void StartOrderMain(object o)
        {
            if (o == null) return;
            if (o is string goodId)
            {
                var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey.ToString() == goodId);//匹配订单对应制作流程
                if (res != null)
                {
                    /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程
                    if (StirFryGoodsQuenes.Count > 0) return;
                    StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
                    {
                        SuborderId = Guid.NewGuid().ToString(),
                        StirPotActions = res.StirPotActions,
                        GoodName = "本地菜品"
                    });
                    MessageLog.GetInstance.Show($"添加本地订单{res.GoodsKey}");
                }
            }
        }

        private void StartLocalOrder()
        {
            if (StirFryGoodsQuenes.Count > 0) return;//只能一个一个做 
            if (Json<LocalPotStep>.Data.LocalstirFryGoods.StirPotActions.Count > 0)
            {
                StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
                {
                    SuborderId = Guid.NewGuid().ToString(),
                    StirPotActions = Json<LocalPotStep>.Data.LocalstirFryGoods.StirPotActions,
                    GoodName = "本地菜品"
                });
                MessageLog.GetInstance.Show($"添加本地模拟的订单{Json<LocalPotStep>.Data.LocalstirFryGoods.GoodsKey}");
            }
        }

        private void NewStartLocalOrder(string materialName)
        {
            //if (StirFryGoodsQuenes.Count > 0) return;//只能一个一个做 
            //if (Json<LocalPotStep>.Data.LocalstirFryGoods.StirPotActions.Count > 0)
            //{
            //    StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
            //    {
            //        SuborderId = Guid.NewGuid().ToString(),
            //        StirPotActions = Json<LocalPotStep>.Data.LocalstirFryGoods.StirPotActions,
            //        GoodName = "本地菜品"
            //    });
            //    MessageLog.GetInstance.Show($"添加本地模拟的订单{Json<LocalPotStep>.Data.LocalstirFryGoods.GoodsKey}");
            //}
            if (Json<MaterialAndFryingTime>.Data.materials.Count > 0)
            {
                if (!Json<MaterialAndFryingTime>.Data.materials.ContainsKey(materialName))
                {
                    return;
                }

                List<PotActions> potActions = new List<PotActions>();

                foreach(var item in Json<MaterialAndFryingTime>.Data.materials[materialName])
                {
                    potActions.Add(item);
                }

                    StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
                {
                    SuborderId = Guid.NewGuid().ToString(),
                    StirPotActions = potActions,
                    GoodName = materialName
                });
                MessageLog.GetInstance.Show($"添加本地模拟的订单{Json<LocalPotStep>.Data.LocalstirFryGoods.GoodsKey}");
            }
        }

        /// <summary>
        /// 停止本地菜单炒制
        /// </summary>
        private void StopLocalOrder(int num = -1)
        {
            //判断当前是否有炒制菜品
            if (nowStirFryGood == null) return;

            //根据morkFs中是否有num执行不同的停止操作
            if (!morkFs.ContainsKey(num))
            {
                //根据调试界面的当前炒锅编号停止炒制线程
                ThreadManage.GetInstance().StopTask(String.Format(striConst, fryIndex.ToString(), nowStirFryGood[fryIndex].GoodName), new Action(() => { Plc1Reset(fryIndex); }));
            }
            else
            {
                //根据炒锅编号停止炒制线程
                ThreadManage.GetInstance().StopTask(String.Format(striConst, fryIndex.ToString(), nowStirFryGood[num].GoodName), new Action(() => { Plc1Reset(num); }));
            }
        }

        /// <summary>
        /// 重置程序
        /// </summary>
        public override void ResetProgram()
        {
            IsHealth = true;
            morkFs.Clear();
            morkFs = new Dictionary<int, GVL_MorkF>();
            ml_morkf = new ML_MorkF();

            //根据编号new炒锅实例对象
            for (int i = 0; i < count; i++)
            {
                morkFs.Add(i, new GVL_MorkF());
            }
        }

        #endregion

        #region 公用PLC方法
        /// <summary>
        /// 获取设备PLC的所有状态
        /// </summary>
        /// <param name="key"></param>
        /// <param name="action"></param>
        /// <param name="num">炒锅编号</param>
        private void GetStatus(string key, Action<object> action, int num)
        {
            if (dicPort2peripheralStatus.ContainsKey(num))
            {
                if (dicPort2peripheralStatus[num].ContainsKey(key))
                {
                    action((object)dicPort2peripheralStatus[num][key]);//获取PLC指定地址的状态值
                }
            }
        }

        /// <summary>
        /// PLC数据读取
        /// </summary>
        public override void ReadData()
        {

            for (int i = 0; i < morkFs.Count; i++)
            {
                GetStatus("LB50", new Action<object>((objects) =>
                {
                    if (!morkFs.ContainsKey(i))
                    {
                        return;
                    }
                    if (objects is bool[] bools)
                    {
                        morkFs[i].FryPot1_InitialComplete = bools[0];
                        morkFs[i].FryPot1_HOBTPut = bools[1];
                        morkFs[i].FryPot1_HOBTGet = bools[2];
                        morkFs[i].FryPot1_MaterialIntoPot = bools[3];
                        morkFs[i].OutFoodCompelete = bools[4];
                        morkFs[i].CanOutFood = bools[5];
                        morkFs[i].GetFoodCompelete = bools[6];
                        morkFs[i].CanOutPotWashingWater = bools[7];
                        morkFs[i].ArmOnOrigin = bools[8];
                        morkFs[i].ArmOnWorking = bools[9];
                        morkFs[i].PotOnOrigin = bools[10];
                    }

                }), i);
            }
            for (int j = 0; j < morkFs.Count; j++)
            {
                GetStatus("LB74", new Action<object>((objects) =>
                {
                    if (!morkFs.ContainsKey(j))
                    {
                        return;
                    }

                    if (objects is bool[] bools)
                    {
                        for (int i = 0; i < 14; i++)
                        {
                            morkFs[j].PassWay1_Compelete[i] = bools[i];
                        }
                    }

                }), j);
            }
            for (int i = 0; i < morkFs.Count; i++)
            {
                if (!morkFs.ContainsKey(i))
                {
                    return;
                }

                GetStatus("LB90", new Action<object>((objects) =>
                {
                    if (objects is bool[] bools)
                    {
                        morkFs[i].AutoMode = bools[0];
                    }

                }), i);
            }

        }

        #endregion

        #region 菜品库方法
        #region PLC操作
        /// <summary>
        /// 菜品库数据写入
        /// </summary>
        /// <param name="address"></param>
        /// <param name="value"></param>
        private void MaterailLibrary_Write(string address, object value, int num = 2)
        {
            WriteControlExact(address, value, num);
        }
        /// <summary>
        /// 菜品库初始化
        /// </summary>
        public bool FoodLibInit()
        {
            MaterailLibrary_Write("M0.2", true);

            Thread.Sleep(500);

            for (int i = 0; i < materialSleepCount && !ml_morkf.InitialComplete; i++)
            {
                Thread.Sleep(materialSleepTime);
                if (i >= materialSleepCount - 1)
                {
                    MessageLog.GetInstance.ShowEx("菜品库初始化超时");
                    return false;
                }
            }

            return true;
        }
        /// <summary>
        /// 爪子伸出
        /// </summary>
        /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
        public void PawExtend()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
                return;
            }

            MaterailLibrary_Write("M0.6", true);
            //等待爪子伸出延时4s
            Thread.Sleep(6000);
        }
        /// <summary>
        /// 爪子收缩
        /// </summary>
        /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
        public void PawShrink()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
                return;
            }

            MaterailLibrary_Write("M0.7", true);
            //等待爪子收缩延时4s
            Thread.Sleep(6000);
        }
        /// <summary>
        /// 电磁阀启停
        /// </summary>
        /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
        public void Electromagnetism(object o)
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("电磁阀启停出错，菜品库未初始化");
                return;
            }

            if (o == null) return;
            if (o is List<bool> bs && bs.Count == 1)
            {
                MaterailLibrary_Write("M1.3", bs[0]);
            }
        }

        public bool PawToPoint1()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("爪子去到1号位出错，菜品库未初始化");
                return false;
            }

            //MessageLog.GetInstance.Show("爪子去到1号位");
            MaterailLibrary_Write("M1.0", true);

            Thread.Sleep(500);

            for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortOne; i++)
            {
                Thread.Sleep(materialSleepTime);
                if (i >= materialSleepCount - 1)
                {
                    MessageLog.GetInstance.ShowEx("爪子去到1号位超时");
                    return false;
                }
            }

            Thread.Sleep(300);

            //MessageLog.GetInstance.Show("爪子去到1号位完成");
            return true;
        }

        public bool PawToPoint2()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("爪子去到2号位出错，菜品库未初始化");
                return false;
            }

            //MessageLog.GetInstance.Show("爪子去到2号位");
            MaterailLibrary_Write("M1.1", true);

            Thread.Sleep(500);

            for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortTwo; i++)
            {
                Thread.Sleep(materialSleepTime);
                if (i >= materialSleepCount - 1)
                {
                    MessageLog.GetInstance.ShowEx("爪子去到2号位超时");
                    return false;
                }
            }

            Thread.Sleep(300);

            //MessageLog.GetInstance.Show("爪子去到2号位完成");
            return true;
        }

        public bool PawToPoint3()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("爪子去到3号位出错，菜品库未初始化");
                return false;
            }

            //MessageLog.GetInstance.Show("爪子去到3号位");
            MaterailLibrary_Write("M1.2", true);

            Thread.Sleep(500);

            for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortThree; i++)
            {
                Thread.Sleep(materialSleepTime);
                if (i >= materialSleepCount - 1)
                {
                    MessageLog.GetInstance.ShowEx("爪子去到3号位超时");
                    return false;
                }
            }

            Thread.Sleep(300);

            //MessageLog.GetInstance.Show("爪子去到3号位完成");
            return true;
        }

        public bool GetDistance_1()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("1号测距出错，菜品库未初始化");
                return false;
            }

            MaterailLibrary_Write("M0.3", true);
            MaterailLibrary_Write("M0.3", false);
            Thread.Sleep(3000);

            //MessageLog.GetInstance.Show("1号测距开启完成");
            //MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");

            ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "1",ml_morkf.LaserDistance.ToString() });//通知获取测距界面

            return true;
        }
        public bool GetDistance_2()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("2号测距出错，菜品库未初始化");
                return false;
            }

            MaterailLibrary_Write("M0.4", true);
            MaterailLibrary_Write("M0.4", false);
            Thread.Sleep(3000);

            //MessageLog.GetInstance.Show("2号测距开启完成");
            //MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");

            ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "2", ml_morkf.LaserDistance.ToString() });//通知获取测距界面

            return true;
        }
        public bool GetDistance_3()
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx("3号测距出错，菜品库未初始化");
                return false;
            }

            MaterailLibrary_Write("M0.5", true);
            MaterailLibrary_Write("M0.5", false);
            Thread.Sleep(3000);

            //MessageLog.GetInstance.Show("3号测距开启完成");
            //MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");

            ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "3", ml_morkf.LaserDistance.ToString() });//通知获取测距界面

            return true;
        }

        /// <summary>
        /// 写入传感器距离
        /// </summary>
        /// <param name="speed"></param>
        public void WriteSpeed(int speed)
        {
            MaterailLibrary_Write("VD808", speed);
            Thread.Sleep(400);
        }

        /// <summary>
        /// 写入传感器距离
        /// </summary>
        /// <param name="distance"></param>
        public void WriteDistance(int distance)
        {
            MaterailLibrary_Write("VW270", distance);
        }

        /// <summary>
        /// 根据x坐标获取传感器距离
        /// </summary>
        /// <param name="x"></param>
        /// <returns></returns>
        public bool GetDistance(int x)
        {
            bool ret = true;
            //是否在第一层菜品库
            if (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
            {
                //获取传感器1的距离
                ret &= GetDistance_1();

                Thread.Sleep(400);

                ////获取传感器1的距离
                ret &= GetDistance_1();
            }
            //是否在第二层菜品库
            else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X)
            {
                //获取传感器2的距离
                ret &= GetDistance_2();

                Thread.Sleep(400);

                ret &= GetDistance_2();
            }
            //是否在第三层菜品库
            else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["19"].X)
            {
                //获取传感器3的距离
                ret &= GetDistance_3();

                Thread.Sleep(400);

                ret &= GetDistance_3();
            }
            if (!ret)
            {
                MessageLog.GetInstance.ShowEx($"错误：X轴：{x}获取传感器数据出错");
            }
            return ret;
        }

        /// <summary>
        /// 设定机械臂的位置
        /// </summary>
        /// <param name="x"></param>
        /// <param name="y"></param>
        public bool SetArmPosition(int x, int y)
        {
            if (!ml_morkf.InitialComplete)
            {
                MessageLog.GetInstance.ShowEx($"机械臂移动出错，菜品库未初始化");
                return false;
            }

            //取反
            x = 0 - Math.Abs(x);
            y = 0 - Math.Abs(y);
            if (x > 0 || y > 0)
            {
                MessageLog.GetInstance.ShowEx($"机械臂移动到[{x}，{y}]非法");
                return false;
            }
            MaterailLibrary_Write("VD836", x);
            Thread.Sleep(100);
            MaterailLibrary_Write("VD840", y);

            Thread.Sleep(200);

            //MessageLog.GetInstance.Show($"机械臂移动到[{x}，{y}]");

            //到达置为false
            ml_morkf.ArriveComplete = false;

            //定位启动
            MaterailLibrary_Write("M0.0", true);

            Thread.Sleep(400);

            for (int i = 0; i < materialSleepCount && (!ml_morkf.ArriveComplete); i++)
            {
                Thread.Sleep(materialSleepTime);
                //若是目标点与当前坐标一致，跳出循环
                if((ml_morkf.ArmPositionX == x && ml_morkf.ArmPositionY == y))
                {
                    MessageLog.GetInstance.Show($"机械臂已移动到[{ml_morkf.ArmPositionX}，{ml_morkf.ArmPositionY}]");
                    break;
                }
                if (i >= materialSleepCount - 1)
                {
                    MessageLog.GetInstance.ShowEx("机械臂移动操作超时");
                    return false;
                }
            }

            //MessageLog.GetInstance.Show("机械臂移动操作完成");

            Thread.Sleep(500);

            return true;
        }

        /// <summary>
        /// 设定机械臂的当前坐标
        /// </summary>
        /// <param name="x"></param>
        /// <param name="y"></param>
        public void SetNowPosition(int x, int y)
        {
            //取反
            x -= 2 * x;
            y -= 2 * y;
            //MessageLog.GetInstance.Show($"设置机械臂当前坐标为[{x}，{y}]");
            MaterailLibrary_Write("VD828", x);
            Thread.Sleep(200);
            MaterailLibrary_Write("VD832", y);
            Thread.Sleep(200);
        }

        /// <summary>
        /// 机械臂向上移动开关
        /// </summary>
        /// <param name="startOrStop">true：开启，false：关闭</param>
        public void ArmRunUp(bool startOrStop)
        {
            MaterailLibrary_Write("M5.3", startOrStop);
            Thread.Sleep(200);
        }

        /// <summary>
        /// 机械臂向下移动开关
        /// </summary>
        /// <param name="startOrStop">true：开启，false：关闭</param>
        public void ArmRunDown(bool startOrStop)
        {
            MaterailLibrary_Write("M5.4", startOrStop);
            Thread.Sleep(200);
        }

        /// <summary>
        /// 机械臂向左移动开关
        /// </summary>
        /// <param name="startOrStop">true：开启，false：关闭</param>
        public void ArmRunLeft(bool startOrStop)
        {
            MaterailLibrary_Write("M5.5", startOrStop);
            Thread.Sleep(200);
        }

        /// <summary>
        /// 机械臂向右移动开关
        /// </summary>
        /// <param name="startOrStop">true：开启，false：关闭</param>
        public void ArmRunRight(bool startOrStop)
        {
            MaterailLibrary_Write("M5.6", startOrStop);
            Thread.Sleep(200);
        }
        #endregion

        //菜品库锁
        object lock_Materail = new object();

        /// <summary>
        /// 取菜操作
        /// </summary>
        /// <param name="x">取菜x轴坐标</param>
        /// <param name="y">取菜y轴坐标</param>
        /// <param name="fryNum">炒锅编号</param>
        public bool GetMaterail(int x, int y, int fryNum)
        {
            //设置到抓菜处
            if (!SetArmPosition(x, y))
            {
                return false;
            }

            if (!GetDistance(x))
            {
                MessageLog.GetInstance.Show("错误：获取传感器数据出错");
                return false;
            }

            Thread.Sleep(1000);

            //获取传感器的距离，转换成坐标系的点
            int laserHigh = ml_morkf.LaserDistance;

            //秦工要求读取后置0
            WriteDistance(0);

            MessageLog.GetInstance.Show($"传感器的距离{laserHigh}");

            int moveX = 0;
            if (LaserDistance2Coordinate(laserHigh, x, out moveX) != Laser2CoordinateState.MaterialNormal)
            {
                MessageLog.GetInstance.ShowEx("错误：传感器距离转坐标值失败");
                return false;
            }

            if (x < moveX)
            {
                MessageLog.GetInstance.ShowEx("错误：传感器距离转坐标值大于当前x轴坐标");
                return false;
            }

            //设置到传感器感应的距离处
            if (!SetArmPosition(x - moveX, y))
            {
                return false;
            }

            WriteSpeed(10000);

            //关闭电磁阀
            Electromagnetism(new List<bool> { true });
            Thread.Sleep(500);

            //爪子去1号位抓菜
            if (!PawToPoint1())
            {
                return false;
            }

            //伸出爪子
            PawExtend();

            //移动前开启电磁阀
            Electromagnetism(new List<bool> { false });
            Thread.Sleep(500);

            //根据x轴所在坐标系，计算高度差。
            if( (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)&&
                (MaterialCoordinate.GetInstance().MaterialOneX > 0 && MaterialCoordinate.GetInstance().MaterialOneX < x))
            {
                //菜品盒子出菜品库，往上移动一个盒子的距离
                if (!SetArmPosition(MaterialCoordinate.GetInstance().MaterialOneX, y))
                {
                    return false;
                }
            }
            else if( (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)&&
                (MaterialCoordinate.GetInstance().MaterialTwoX > 0 && MaterialCoordinate.GetInstance().MaterialTwoX < x))
            {
                //菜品盒子出菜品库，往上移动一个盒子的距离
                if (!SetArmPosition(MaterialCoordinate.GetInstance().MaterialTwoX, y))
                {
                    return false;
                }
            }
            else if ((x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X) &&
                (MaterialCoordinate.GetInstance().MaterialThreeX > 0 && MaterialCoordinate.GetInstance().MaterialThreeX < x))
            {
                //菜品盒子出菜品库，往上移动一个盒子的距离
                if (!SetArmPosition(MaterialCoordinate.GetInstance().MaterialThreeX, y))
                {
                    return false;
                }
            }
            else
            {
                MessageLog.GetInstance.ShowEx("错误：未设置当前菜品库出菜位置");
                return false;
            }

            //爪子去2号位放菜
            if (!PawToPoint2())
            {
                return false;
            }

            WriteSpeed(50000);

            ThreadManage.GetInstance().Start(new Action(() =>
            {
                //收缩爪子
                PawShrink();
            }), "GetMaterialPawShrink");

            //判断炒锅是否可以放盒
            for (int i = 0; materialSleepCount > i && !morkFs[fryIndex].FryPot1_HOBTPut; i++)
            {
                Thread.Sleep(materialSleepTime);
                if (i >= materialSleepCount - 1)
                {
                    MessageLog.GetInstance.ShowEx("等待炒锅允许放盒超时");
                    return false;
                }
            }

            //关闭启磁吸
            MagnetOff(fryNum);

            Thread.Sleep(200);

            //根据炒锅不同设置不同的出菜处
            if (fryNum % 2 == 0)
            {
                x = MaterialCoordinate.GetInstance().frying1.X;
                y = MaterialCoordinate.GetInstance().frying1.Y;
            }
            else
            {
                x = MaterialCoordinate.GetInstance().frying2.X;
                y = MaterialCoordinate.GetInstance().frying2.Y;
            }

            //先设置到炒锅i出菜处上10000点
            if (!SetArmPosition(x - materialToFryDistance, y))
            {
                return false;
            }

            //爪子去3号位放菜
            if (!PawToPoint3())
            {
                return false;
            }

            //开启磁吸
            MagnetOn(fryNum);

            Thread.Sleep(200);

            //设置到炒锅1出菜处
            if (!SetArmPosition(x, y))
            {
                return false;
            }

            //伸出爪子
            PawExtend();

            Thread.Sleep(300);

            //关闭电磁阀
            Electromagnetism(new List<bool> { true });
            Thread.Sleep(300);

            //收缩爪子
            PawShrink();

            //设置到炒锅i出菜处
            if (!SetArmPosition(x + materialToFryDistance, y))
            {
                return false;
            }

            //爪子回到2号位
            if (!PawToPoint2())
            {
                return false;
            }

            //开启电磁阀
            Electromagnetism(new List<bool> { false });
            if (morkFs.ContainsKey(fryNum))
            {
                morkFs[fryNum].GetMaterialComplete = true;
            }
            return true;
        }

        /// <summary>
        /// 更新菜品库存量
        /// </summary>
        /// <returns></returns>
        public bool UpdateMaterialLibraryStock()
        {
            try
            {
                //判断是否初始化
                if (!ml_morkf.InitialComplete)
                {
                    MessageLog.GetInstance.Show("更新菜品库存量出错，菜品库未初始化");
                    return false;
                }

                if (MaterialCoordinate.GetInstance().dicNoMaterialCoordinate == null || MaterialCoordinate.GetInstance().dicNoMaterialCoordinate.Count != 27)
                {
                    MessageLog.GetInstance.ShowEx("更新菜品库存量出错，菜品库坐标系数据未建立");
                    return false;
                }

                //关闭电磁阀
                Electromagnetism(new List<bool> { true });

                //爪子收回
                PawShrink();

                //爪子去2号点位
                if(!PawToPoint2()) 
                {
                    return false;
                }

                //开启电磁阀
                Electromagnetism(new List<bool> { false });

                //遍历坐标系与位置，并根据位置更新菜品余量
                foreach (var item in MaterialCoordinate.GetInstance().dicNoMaterialCoordinate)
                {
                    bool ret = true;
                    switch (item.Key)
                    {
                        //遇到1 9 10 18 19 27号位置跳过不检测，因为这6个位置不放菜品
                        case "1":
                        case "9":
                        case "10":
                        case "18":
                        case "19":
                        case "27":
                            ret = false;
                            break;
                    }

                    if (!ret) 
                    {
                        continue;
                    }

                    //设置到抓菜处
                    if (!SetArmPosition(item.Value.X, item.Value.Y))
                    {
                        return false;
                    }

                    //获取该处的距离
                    if (!GetDistance(item.Value.X))
                    {
                        MessageLog.GetInstance.ShowEx("错误：获取传感器数据出错");
                        return false;
                    }

                    Thread.Sleep(1000);

                    //获取传感器的距离
                    int laserHigh = ml_morkf.LaserDistance;

                    //秦工要求读取后置0
                    WriteDistance(0);

                    int surplus = 0;
                    //根据距离算出菜品余量
                    Laser2CoordinateState state = LaserDistance2MaterialCount(laserHigh, item.Value.X, out surplus);
                    if (state != Laser2CoordinateState.MaterialNormal && state != Laser2CoordinateState.MaterialEmpty)
                    {
                        return false;
                    }

                    //更新菜品余量
                    if (!MaterialSurplusOperation.GetInstance().UpdateSurplus(item.Key, surplus))
                    {
                        //return false;
                    }
                }

                return true;
            }
            catch(Exception ex)
            {
                return false;
            }
        }

        /// <summary>
        /// 传感器距离转为x轴坐标系
        /// </summary>
        /// <param name="distance"></param>
        /// <param name="x_high"></param>
        /// <returns></returns>
        public Laser2CoordinateState LaserDistance2Coordinate(int distance, int x, out int x_high)
        {
            x_high = 0;
            int boxCount = 0;
            try
            {
                Laser2CoordinateState laser2CoordinateState = LaserDistance2MaterialCount(distance, x, out boxCount);
                if (laser2CoordinateState == Laser2CoordinateState.MaterialNormal)
                {
                    //盒子高度计算除去起始位置的那个盒子
                    x_high = (boxCount - 1) * materialBoxHeight;
                }
                return laser2CoordinateState;

            }
            catch(Exception ex)
            {
                return Laser2CoordinateState.MaterialUnkown;
            }
        }

        /// <summary>
        /// 传感器距离转为菜品数量
        /// </summary>
        /// <param name="distance"></param>
        /// <param name="x"></param>
        /// <returns></returns>
        public Laser2CoordinateState LaserDistance2MaterialCount(int distance, int x, out int count)
        {
            count = 0;
            try
            {
                //传感器高度小于80mm，无法移出，菜品库满
                if (distance < 80)
                {
                    MessageLog.GetInstance.ShowEx("错误：传感器距离不满足出菜高度");
                    return Laser2CoordinateState.MaterialOverdo;
                }
                
                int heightDifferent = 0;
                //根据x轴所在坐标系，计算高度差。
                if (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
                {
                    heightDifferent = MaterialCoordinate.GetInstance().distance_1 - distance;
                }
                else if (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
                {
                    heightDifferent = MaterialCoordinate.GetInstance().distance_2 - distance;
                }
                else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X)
                {
                    heightDifferent = MaterialCoordinate.GetInstance().distance_3 - distance;
                }
                else
                {
                    return Laser2CoordinateState.MaterialOverdo;
                }

                if(heightDifferent < 0)
                {
                    MessageLog.GetInstance.ShowEx($"菜品库检测{x}处的菜品量时，传感器获取的高度差为负数，请校准该层高度");
                }

                //盒子高度为45，但是需要考虑到误差，不足35，则认为为空
                int boxCount = (heightDifferent + 5) / 35;
                count = boxCount;
                if (count == 0)
                {
                    MessageLog.GetInstance.ShowEx("菜品库为空");
                    return Laser2CoordinateState.MaterialEmpty;
                }
                else if(count > 6)
                {
                    MessageLog.GetInstance.ShowEx("菜品库数量超量");
                    return Laser2CoordinateState.MaterialOverdo;
                }
                else
                {
                    return Laser2CoordinateState.MaterialNormal;
                }
            }
            catch (Exception ex)
            {
                return Laser2CoordinateState.MaterialUnkown;
            }
        }

        /// <summary>
        /// 获取菜品测试
        /// </summary>
        /// <param name="isGet"></param>
        private void GetMaterailTest(MaterialOperation materialOperation)
        {
            ThreadManage.GetInstance().Start(new Action(() => {
                bool ret = false;
                try
                {
                    Coordinate myCoordinate = new Coordinate();
                    //获取坐标，根据菜品的位置信息
                    if (!NoMaterial2Coordinate(materialOperation.materialInfo.Loc, out myCoordinate))
                    {
                        MessageLog.GetInstance.ShowEx($"炒锅{materialOperation.fryNum}获取菜品[{materialOperation.materialInfo.Name}]失败，找不到对应位置");
                        return;
                    }
                    //取菜操作
                    ret = GetMaterail(myCoordinate.X, myCoordinate.Y, materialOperation.fryNum);
                }
                catch (Exception ex)
                {
                    ret = false;
                }
                finally
                {
                    //本地炒制不进行菜品数量检查
                    if(!isLocalFryingMode)
                    {
                        GoodBatchings goodBatchings = stagingGoodBatchings.Find(o => o.BatchingId == materialOperation.materialInfo.Key);
                        if (ret == true)
                        {
                            if (true)
                            {
                                if (goodBatchings != null)
                                {
                                    //指定位置菜品减一
                                    MaterialSurplusOperation.GetInstance().ReduceSurplus(materialOperation.materialInfo.Loc, goodBatchings.BatchingCount);
                                }
                            }
                            else
                            {
                                //指定位置菜品减一
                                MaterialSurplusOperation.GetInstance().ReduceSurplus(materialOperation.materialInfo.Loc);
                            }

                            SaveMaterialData();
                        }
                        //移出占用菜品
                        stagingGoodBatchings.Remove(goodBatchings);
                    }
                    ml_morkf.MaterailIsWorking = false;
                }

            }), $"菜品库操作");
        }
        #endregion

        #region 炒锅PLC基本操作方法
        /// <summary>
        /// 炒锅写寄存器方法，num为炒锅对应编号，从0开始
        /// </summary>
        /// <param name="address">寄存器地址</param>
        /// <param name="value">值</param>
        /// <param name="num">炒锅编号</param>
        private void FirePot_Write(string address, object value, int num)
        {
            WriteControlExact(address, value, num);
        }

        /// <summary>
        /// 出调料
        /// </summary>
        /// <param name="o"></param>
        public void OutSeasoning(object o, int num)
        {
            if (o == null) return;
            if (o is List<int> ints && ints.Count == 2 && morkFs.ContainsKey(num))
            {
                FirePot_Write(morkFs[num].PassWayValue[ints[0]], (ushort)ints[1], num);//写入通道值
                Thread.Sleep(400);
                FirePot_Write(morkFs[num].StartPassWay[ints[0]], true, num);//开启通道
                Thread.Sleep(400);
                FirePot_Write(morkFs[num].StartPassWay[ints[0]], false, num);//开启通道
            }
        }

        /// <summary>
        /// 出多个调料
        /// </summary>
        public void OutSeasonings(List<SeasoningList> seasoningLists, int num)
        {
            //防止越界
            if (!morkFs.ContainsKey(num))
            {
                return;
            }

            foreach (SeasoningList seasoning in seasoningLists)
            {
                FirePot_Write(morkFs[num].PassWayValue[seasoning.Loc], (ushort)seasoning.Qty, num);
                Thread.Sleep(300);
            }
            foreach (SeasoningList seasoning in seasoningLists)
            {
                FirePot_Write(morkFs[num].StartPassWay[seasoning.Loc], true, num);
                Thread.Sleep(300);
            }
            foreach (SeasoningList seasoning in seasoningLists)
            {
                FirePot_Write(morkFs[num].StartPassWay[seasoning.Loc], false, num);
                Thread.Sleep(300);
            }

            foreach (SeasoningList seasoning in seasoningLists)
            {
                FirePot_Write(morkFs[num].StartPassWay[seasoning.Loc], false, num);
                Thread.Sleep(300);
            }
        }

        /// <summary>
        /// 复位
        /// </summary>
        public void Plc1Reset(int num)
        {
            ThreadManage.GetInstance().Start(new Action(() =>
            {
                StopFire(num);
                Thread.Sleep(200);
                StopStir(num);
                Thread.Sleep(200);
                FirePot_Write("LB5", false, num);
                Thread.Sleep(200);
                FirePot_Write("LB3", false, num);
                Thread.Sleep(200);
                FirePot_Write("LB6", false, num);
                Thread.Sleep(200);
                FirePot_Write("LB7", false, num);
                Thread.Sleep(200);
                FirePot_Write("LB4", false, num);
                Thread.Sleep(200);
                FirePot_Write("LB53", false, num);
                if (morkFs.ContainsKey(num))
                {
                    foreach (var item in morkFs[num].StartPassWay.Values)
                    {
                        Thread.Sleep(200);
                        FirePot_Write(item, false, num);
                    }
                }
            }), $"炒锅{num}初始化");

        }

        /// <summary>
        /// 炒锅初始化
        /// </summary>
        public void PLCInite()
        {
            for (int i = 0; i < morkFs.Count; i++)
            {
                FirePot_Write("LB0", true, i);

                for (int j = 0; j < sleepCount && !morkFs[i].FryPot1_InitialComplete; j++)
                {
                    Thread.Sleep(sleepTime);
                    if (j >= sleepCount - 1)
                    {
                        MessageLog.GetInstance.ShowEx($"炒锅{j}初始化超时");
                    }
                }
                FirePot_Write("LB0", false, i);
            }
        }

        //加油
        public void AddOil()
        {

        }
        //加热启动
        public void StartFire(int num)
        {
            FirePot_Write("LB1", true, num);
            Thread.Sleep(200);
        }
        //加热停止
        public void StopFire(int num)
        {
            FirePot_Write("LB1", false, num);
            Thread.Sleep(200);
        }
        //搅拌启动
        public void StartStir(int num)
        {
            FirePot_Write("LB2", true, num);
            Thread.Sleep(200);
        }
        //搅拌启停止
        public void StopStir(int num)
        {
            FirePot_Write("LB2", false, num);
            Thread.Sleep(200);
        }
        //倒菜
        public bool OutFood(int num,out string error,bool isMaterial = false)
        {
            bool ret = true;
            error = string.Empty;

            if (!morkFs.ContainsKey(num))
            {
                error = $"编号为{num}的炒锅无法找到";
                return false;
            }
            int i = 0;

            MessageLog.GetInstance.Show("倒菜启动开始");

            if (isMaterial)
            {
                //判断是否完成取菜
                for (i = 0; i < materialSleepCount*2  && !morkFs[num].GetMaterialComplete; i++)
                {
                    if (i == 10)
                    {
                        //停止搅拌
                        //StopStir(num);
                        //搅拌设置为1档
                        SetStir(new List<int> { 1 }, i);
                        //火力设置为2档
                        SetFire(new List<int> { 1 }, num);
                    }
                    Thread.Sleep(materialSleepTime);
                    if (i >= materialSleepCount * 2 - 1)
                    {
                        error = $"炒锅{num}倒菜超时：未能等到取菜完成，请检查菜品库是否正常运行";
                        MessageLog.GetInstance.ShowEx($"炒锅{num}倒菜超时：未能等到取菜完成");
                        ret &= false;
                    }
                }

                if (i > 9)
                {
                    //开启搅拌
                    //StartStir(num);
                    //搅拌设置为原本搅拌档位
                    SetStir(new List<int> { morkFs[num].Stir }, i);
                    //火力设置回原本火力
                    SetFire(new List<int> { morkFs[num].Fire }, num);
                }
            }

            if(!ret)
            {
                return ret;
            }

            FirePot_Write("LB3", true, num);
            //MessageLog.GetInstance.Show("倒菜启动");

            Thread.Sleep(500);

            for (i = 0; i < materialSleepCount && !morkFs[num].FryPot1_MaterialIntoPot; i++)
            {
                Thread.Sleep(materialSleepTime);
                if (i >= materialSleepCount - 1)
                {
                    error = $"炒锅{num}倒菜超时，请联系相关工作人员";
                    MessageLog.GetInstance.ShowEx($"炒锅{num}倒菜超时");
                    ret &= false;
                }
            }

            FirePot_Write("LB3", false, num);
            Thread.Sleep(200);
            //MessageLog.GetInstance.Show("倒菜完成");
            morkFs[num].GetMaterialComplete = false;
            return ret;
        }
        //搅拌臂去原点位
        public void StirArmGoOrigin(int num)
        {
            if (!morkFs.ContainsKey(num))
            {
                return;
            }

            FirePot_Write("LB5", true, num);
            //MessageLog.GetInstance.Show("搅拌臂去原点位");

            for (int i = 0; i < sleepCount && !morkFs[num].ArmOnOrigin; i++)
            {
                Thread.Sleep(sleepTime);
                if (i >= sleepCount - 1)
                {
                    MessageLog.GetInstance.ShowEx($"炒锅{num}搅拌臂去原点位超时");
                }
            }

            FirePot_Write("LB5", false, num);
            Thread.Sleep(200);
            //MessageLog.GetInstance.Show("搅拌臂到达原点位");
        }

        //搅拌臂去炒制位
        public bool StirArmGoWork(int num,out string error)
        {
            error = string.Empty;
            bool ret = true;
            if (!morkFs.ContainsKey(num))
            {
                error = $"编号为{num}的炒锅无法找到";
                return false;
            }

            if (!morkFs[num].ArmOnWorking/* && morkFs[num].PotOnOrigin*/)
            {
                FirePot_Write("LB6", true, num);
                //MessageLog.GetInstance.Show("搅拌臂去工作位");

                for (int i = 0; i < sleepCount && !morkFs[num].ArmOnWorking; i++)
                {
                    Thread.Sleep(sleepTime);
                    if (i >= sleepCount - 1)
                    {
                        error = $"炒锅{num}搅拌臂去炒制位超时";
                        MessageLog.GetInstance.ShowEx($"炒锅{num}搅拌臂去炒制位超时");
                        ret &= false;
                    }
                }

                //while (!morkFs[num].ArmOnWorking)
                //{
                //    Thread.Sleep(200);
                //}

                FirePot_Write("LB6", false, num);
                Thread.Sleep(200);
                //MessageLog.GetInstance.Show("搅拌臂到达工作位");
                return ret;
            }

            return true;

        }
        //HBOT放盒子到位
        public void HBOTGoWork(int num)
        {
            FirePot_Write("LB7", true, num);
            Thread.Sleep(400);
            FirePot_Write("LB7", false, num);
        }
        //出餐启动
        public void OutMeal(int num)
        {
            if (!morkFs[num].ArmOnOrigin /*&& morkFs[num].PotOnOrigin*/)
            {
                MessageLog.GetInstance.ShowEx("搅拌臂不在原点位，无法完成出餐");
                return;
            }
            FirePot_Write("LB4", true, num);
            Thread.Sleep(500);
            FirePot_Write("LB4", false, num);
        }
        //加热挡位设定
        public void SetFire(object o, int num)
        {
            if (o == null) return;
            if (o is List<int> ints && ints.Count == 1)
            {
                FirePot_Write("LW14", (ushort)ints[0], num);
                Thread.Sleep(200);

            }

        }

        public void SetFry(object o)
        {
            if (o == null) return;
            if (o is List<int> ints && ints.Count == 1)
            {
                fryIndex = ints[0] - 1;
            }
        }

        /// <summary>
        /// 搅拌挡位设定
        /// </summary>
        /// <param name="o"></param>
        public void SetStir(object o, int num)
        {
            if (o == null) return;
            if (o is List<int> ints && ints.Count == 1)
            {
                FirePot_Write("LW15", (ushort)ints[0], num);
                Thread.Sleep(200);

            }
        }

        /// <summary>
        /// 开启磁吸
        /// </summary>
        /// <param name="num"></param>
        public void MagnetOn(int num)
        {
            FirePot_Write("LB8", false, num);
            Thread.Sleep(200);
        }

        /// <summary>
        /// 关闭磁吸
        /// </summary>
        /// <param name="num"></param>
        public void MagnetOff(int num)
        {
            FirePot_Write("LB8", true, num);
            Thread.Sleep(200);
        }
        #endregion

        bool isInitialArrive = false;

        bool isInitialPaw = false;

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

                }
            });

            //配方数据信息
            EventBus.EventBus.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is RecipeBomEvent recipe)
                {
                    recipeBoms = recipe.recipeBoms;
                }
            });
            //小炒流程信息
            EventBus.EventBus.GetInstance().Subscribe<StirFryGoodsEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callback)
            {
                if (@event == null) return;
                if (@event is StirFryGoodsEvent stirFry)
                {
                    if(stirFry.stirFrymessage != null)
                    {
                        if (stirFry.stirFrymessage.stirFryGoods.Count > 0)
                        {
                            foreach (var item in stirFry.stirFrymessage.stirFryGoods)
                            {
                                LocalstirFryGoods.Add(new StirFryGoods
                                {
                                    GoodsKey = item.GoodsKey,
                                    StirPotActions = OrderSort(item.StirPotActions),
                                });
                                GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel
                                {
                                    GoodKey = item.GoodsKey.ToString(),
                                    GoodName = "",
                                });
                            }
                        }

                        MessageLog.GetInstance.Show("接收到小炒流程信息");
                        //流程解析
                        foreach (var item in LocalstirFryGoods)
                        {
                            MessageLog.GetInstance.Show($"添加菜谱{item.GoodsKey}");
                            // morkF.listStirBom.Add(item.StirFryBomInfo);//添加订单制作流程
                            string MenuStep = "菜单步骤：";
                            foreach (var items in item.StirPotActions)
                            {
                                switch (items.Actions)
                                {
                                    case nameof(StirFryPotActionEnum.加热开启):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位1):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位2):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位3):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位4):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位5):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位6):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位7):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位8):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位9):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置加热挡位10):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.停止加热):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.加调料):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.取原料):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.开启搅拌):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置搅拌挡位1):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置搅拌挡位2):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.设置搅拌挡位3):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.关闭搅拌):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.出餐启动):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.道菜启动):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.炒制菜品):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.搅拌臂原点位):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.搅拌臂炒制位):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    case nameof(StirFryPotActionEnum.洗锅):
                                        MenuStep += items.Actions + ",";
                                        break;
                                    default:
                                        break;

                                }
                            }
                            MessageLog.GetInstance.Show(MenuStep);
                        }

                        if (stirFry.stirFrymessage.materials.Count > 0)
                        {
                            MaterialSurplusOperation.GetInstance().UpdateSurplusAll(stirFry.stirFrymessage.materials);
                            SaveMaterialData();
                        }
                    }

                }
            });
        }

        /// <summary>
        /// 订单排序
        /// </summary>
        /// <param name="potActions"></param>
        /// <returns></returns>
        private List<PotActions> OrderSort(List<PotActions> potActions)
        {
            if (potActions.Count > 1) 
            {
                potActions.Sort(
                    delegate (PotActions st1, PotActions st2)
                    {
                    //降序排列
                        //return st2.FryTime.CompareTo(st1.FryTime);

                        //升序版（颠倒 st1 和 st2 即可）
                        return st1.FryTime.CompareTo(st2.FryTime);

                    });
            }
            return potActions;
        }
        
        /// <summary>
        /// 订单状态发布
        /// </summary>
        /// <param name="subid"></param>
        /// <param name="oRDER_STATUS"></param>
        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid });
        }

        /// <summary>
        /// 订单数据解析
        /// </summary>
        private void DataParse()
        {
            //if (!morkFs.ContainsKey(num))
            //{
            //    return;
            //}

            EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                if (@event == null) return;
                if (@event is DoOrderEvent order)
                {
                    if (order.MorkOrder.GoodBatchings == null) return;
                    OrderCount++;
                    DeviceProcessLogShow($"接收到{OrderCount}次订单");
                    Enum.GetNames(typeof(StirFryPotActionEnum));

                    if(true)
                    {

                    var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey == order.MorkOrder.GoodsKey);//匹配订单对应制作流程
                    if(order.MorkOrder.GoodBatchings.Count <= 0)
                    {
                        return;
                    }

                    MaterialSurplus materialSurplus = MaterialSurplusOperation.GetInstance().materialSurplus;

                    if (order.MorkOrder.DeviceId != DeviceId)
                    {
                        return;
                    }

                    ///遍历并增加到待用菜品库
                    foreach(var goodBatching in order.MorkOrder.GoodBatchings)
                    {
                        MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().materialSurplus.dicSurplus.Find( o => o.Key == goodBatching.BatchingId);
                        if (materialInfo != null) 
                        {
                            //if
                            if(Convert.ToInt32(materialInfo.Qty) - goodBatching.BatchingCount < 0)
                            {
                                MessageLog.GetInstance.ShowEx($"{materialInfo.Name}不够，请更新菜品库，并点击检测");
                                return;
                            }
                            else
                            {
                                //查找是否有该菜品
                                GoodBatchings existingGoodBatchings = stagingGoodBatchings.Find( o => o.BatchingId== goodBatching.BatchingId );
                                //判断是否存在
                                if (existingGoodBatchings != null)
                                {
                                    existingGoodBatchings.BatchingCount += goodBatching.BatchingCount;
                                } 
                                else
                                {
                                    stagingGoodBatchings.Add(goodBatching);
                                }
                            }
                        }
                        else
                        {
                            MessageLog.GetInstance.ShowEx($"ID为{goodBatching.BatchingId}的菜品无法找到，请联系售后人员");
                            return;
                        }    
                    }

                    //var res = LocalstirFryGoods[0];
                    if (res != null)
                    {
                        /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程
                        //添加到带炒小炒队列
                        if (StirFryGoodsQuenes.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                        {
                            //待炒数量+1
                            StagingFryCount++;
                            lock (lock_MainProcessExcute)
                            {
                                StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
                                {
                                    SuborderId = order.MorkOrder.SuborderId,
                                    StirPotActions = res.StirPotActions,
                                    GoodName = order.MorkOrder.GoodsName
                                });
                            }
                        }
                    }

                    }
                    else
                    {
                        NewStartLocalOrder("莲白回锅");
                    }
                    ////暂时使用本地菜单
                    //StartLocalOrder();
                }

            });
        }
        #endregion

        private object lock_MainProcessExcute = new object();
        
        /// <summary>
        /// 倒菜锁
        /// </summary>
        private object lock_OutMeal = new object();

        /// <summary>
        /// 炒锅主流程
        /// </summary>
        private void MainProcessExcute()
        {
            //判断是否有订单信息
            if(StirFryGoodsQuenes.Count > 0)
            {
                //遍历炒锅，找到合适、空闲的炒锅
                for(int i = 0;i<morkFs.Count;i++)
                {
                    if (morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete && ml_morkf.InitialComplete &&
                        !morkFs[i].FryWorking)//炒锅在自动状态&&初始化完成&&菜品库初始化&&是否在炒菜中
                    {
                        Thread.Sleep(5000);

                        lock(lock_MainProcessExcute)
                        {
                            //待炒小炒队列出队列
                            if (StirFryGoodsQuenes.TryDequeue(out var res))
                            {
                                //设置当前炒制菜品
                                nowStirFryGood[i] = res;
                                //炒锅工作状态置为正在工作中
                                morkFs[i].FryWorking = true;
                                //空闲炒锅入队列
                                morkFs[i].StirFryGoodsQuenes.Enqueue(res);
                                //炒锅取菜状态置为未取到
                                morkFs[i].GetMaterialComplete = false;
                                //开启线程进行炒制
                                ThreadManage.GetInstance().Start(new Action(() =>
                                {
                                    try
                                    {
                                        //待炒数量-1
                                        StagingFryCount--;
                                        //正在炒制数量+1
                                        FryingCount++;
                                        int testi = 0;
                                        string error = string.Empty;
                                        //初始化大屏
                                        morkFs[i].ScreenInit();

                                        bool ret = true;
                                        
                                        MessageLog.GetInstance.Show($"炒锅{i}开始炒制菜品{res.GoodName}");

                                        morkFs[i].GoodName = res.GoodName;

                                        Coordinate myCoordinate = new Coordinate();
                                        
                                        foreach (var potActions in res.StirPotActions)
                                        {
                                            if (ThreadManage.GetInstance().IsCanncel(String.Format(striConst, i.ToString(), nowStirFryGood[i].GoodName)))
                                            {
                                                return;
                                            }

                                            if(ret == false)
                                            {
                                                MessageLog.GetInstance.ShowEx("上一步操作未成功");
                                                break;
                                            }

                                            ////调试大屏用代码
                                            //Thread.Sleep(5000);

                                            //更新
                                            morkFs[i].UpdateProcess(potActions);

                                            switch (potActions.Actions)
                                            {
                                                case nameof(StirFryPotActionEnum.加热开启):
                                                    StartFire(i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位1):
                                                    morkFs[i].Fire = 1;
                                                    SetFire(new List<int> { 1 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位2):
                                                    morkFs[i].Fire = 2;
                                                    SetFire(new List<int> { 2 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位3):
                                                    morkFs[i].Fire = 3;
                                                    SetFire(new List<int> { 3 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位4):
                                                    morkFs[i].Fire = 4;
                                                    SetFire(new List<int> { 4 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位5):
                                                    morkFs[i].Fire = 5;
                                                    SetFire(new List<int> { 5 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位6):
                                                    morkFs[i].Fire = 6;
                                                    SetFire(new List<int> { 6 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位7):
                                                    morkFs[i].Fire = 7;
                                                    SetFire(new List<int> { 7 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位8):
                                                    morkFs[i].Fire = 8;
                                                    SetFire(new List<int> { 8 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位9):
                                                    morkFs[i].Fire = 9;
                                                    SetFire(new List<int> { 9 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置加热挡位10):
                                                    morkFs[i].Fire = 10;
                                                    SetFire(new List<int> { 10 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.停止加热):
                                                    StopFire(i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.加调料):
                                                    OutSeasonings(potActions.SeasoningLists, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.取原料):
                                                    //炒锅取菜状态置为未取到
                                                    morkFs[i].GetMaterialComplete = false;

                                                    if (isLocalFryingMode)
                                                    {
                                                        MaterialInfo materialInfo = new MaterialInfo();
                                                        materialInfo.Loc = potActions.SeasoningLists[0].Loc.ToString();
                                                        materialInfo.Id = "1232131";
                                                        materialInfo.Name = "本地炒制未知菜品";
                                                        materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
                                                        //testi++;
                                                    }
                                                    else
                                                    {
                                                        if (potActions.MaterialLists != null)
                                                        {
                                                            foreach (var item in potActions.MaterialLists)
                                                            {
                                                                //通过ID获取有效的菜品对象
                                                                MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().GetVailedMaterial(item.MaterialId);
                                                                if (materialInfo == null)
                                                                {
                                                                    MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品[{item.MaterialId}]失败，库存不足");
                                                                    continue;
                                                                }

                                                                materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
                                                            }
                                                        }
                                                        else
                                                        {
                                                            MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品失败，菜品列表为空");
                                                        }
                                                    }

                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.开启搅拌):
                                                    StartStir(i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置搅拌挡位1):
                                                    SetStir(new List<int> { 1 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置搅拌挡位2):
                                                    SetStir(new List<int> { 2 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.设置搅拌挡位3):
                                                    SetStir(new List<int> { 3 }, i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.关闭搅拌):
                                                    StopStir(i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.出餐启动):
                                                    //停止搅拌
                                                    StopStir(i);
                                                    //回原点位
                                                    StirArmGoOrigin(i);
                                                    //出餐启动
                                                    OutMeal(i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.道菜启动):
                                                    ret = OutFood(i, out error, true);
                                                    if(ret == false)
                                                    {
                                                        alarmModel.Add(new AlarmModel() { AlarmTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), AlarmMs = error });
                                                    }
                                                    break;
                                                case nameof(StirFryPotActionEnum.炒制菜品):
                                                    Thread.Sleep(potActions.During * 1000);
                                                    break;
                                                case nameof(StirFryPotActionEnum.搅拌臂原点位):
                                                    StirArmGoOrigin(i);
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.搅拌臂炒制位):
                                                    //出餐时，不允许搅拌臂去炒制位
                                                    lock (lock_OutMeal)
                                                    {
                                                        ret = StirArmGoWork(i, out error);
                                                    }
                                                    if (ret == false)
                                                    {
                                                        alarmModel.Add(new AlarmModel() { AlarmTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), AlarmMs = error });
                                                    }
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                case nameof(StirFryPotActionEnum.洗锅):
                                                    MessageLog.GetInstance.Show(potActions.Actions);
                                                    break;
                                                default:
                                                    break;

                                            }
                                        }

                                        Plc1Reset(i);//复位
                                        Thread.Sleep(3000);
                                        //回原点位
                                        StirArmGoOrigin(i);

                                        //同时只能允许有一个出餐
                                        lock(lock_OutMeal)
                                        {
                                            //出餐启动
                                            OutMeal(i);
                                            //等待25s出餐完毕
                                            Thread.Sleep(25000);

                                        }

                                        MessageLog.GetInstance.Show($"菜品{res.GoodName}完成");

                                        //菜品统计数量+1
                                        morkFs[i].orderCount++;

                                        StatsModel statsModel = statsModels.FirstOrDefault(p => p.Name == res.GoodName);
                                        if (statsModel != null)
                                        {
                                            statsModel.Count++;
                                        }
                                        else
                                        {
                                            statsModels.Add(new StatsModel() { Name = res.GoodName, Count = 0 });
                                        }
                                    }
                                    catch (Exception ex)
                                    {
                                        nowStirFryGood[i] = null;
                                        //炒完后出队列
                                        morkFs[i].StirFryGoodsQuenes.TryDequeue(out var orderQueue);
                                        morkFs[i].FryWorking = false;
                                        //初始化大屏
                                        morkFs[i].ScreenClear();
                                        //异常菜品统计数量+1
                                        morkFs[i].orderAbnormalCount++;
                                        ThreadManage.GetInstance().StopTask($"炒锅{i}{res.GoodName}炒制线程");
                                        MessageLog.GetInstance.ShowEx($"炒锅{i}炒制菜品{res.GoodName}出错，错误信息：" + ex.Message);
                                    }
                                    finally
                                    {
                                        //正在炒制数量-1
                                        FryingCount--;
                                        nowStirFryGood[i] = null;
                                        //炒完后出队列
                                        morkFs[i].StirFryGoodsQuenes.TryDequeue(out var orderQueue);
                                        morkFs[i].FryWorking = false; 
                                        //初始化大屏
                                        morkFs[i].ScreenClear();
                                    }
                                }), String.Format(striConst, i.ToString(), nowStirFryGood[i].GoodName)/*$"炒锅{i}炒制{res.GoodName}线程"*/, true);
                            }
                        }
                        break;
                    }
                }
            }
        }

        /// <summary>
        /// 更新菜品库的余量
        /// </summary>
        private void UpdateMaterialSurplus()
        {
            ThreadManage.GetInstance().StartLong(new Action(() => {

                List<MaterialInfo> listSurplus = MaterialSurplusOperation.GetInstance().materialSurplus.dicSurplus;

                if (listSurplus == null)
                {
                    return;
                }

                foreach (var surplus in listSurplus)
                {
                    //找到已有的余量表
                    var batchingInfo = BatchingInfos.Find(o => o.BatchingId == surplus.Key);
                    //从当前下单
                    var stagingGoodBatching = stagingGoodBatchings.Find(o => o.BatchingId == surplus.Key);

                    //暂存的数量
                    int stagingCount = 0;

                    if(stagingGoodBatching != null)
                    {
                        stagingCount = stagingGoodBatching.BatchingCount;
                    }

                    if (batchingInfo == null)
                    {
                        //为空就新增
                        BatchingInfos.Add(new BatchingInfo() { BatchingCount = Convert.ToInt32(surplus.Qty) - stagingCount, BatchingLoc = surplus.Loc, BatchingId = surplus.Key });
                    }
                    else
                    {
                        batchingInfo.BatchingLoc = surplus.Loc;
                        batchingInfo.BatchingCount = Convert.ToInt32(surplus.Qty) - stagingCount;
                    }
                }
                Thread.Sleep(1000);
                return;
            }), "UpdateMaterialSurplus", true);  
        }

        /// <summary>
        /// 菜品库主流程
        /// </summary>
        private void MainProcessMaterial()
        {
            if(materialOperationQuenes.Count > 0)
            {
                //判断是否初始化与是否在工作中
                if (ml_morkf.InitialComplete && !ml_morkf.MaterailIsWorking)
                {
                    //待菜品库操作列出队列
                    if (materialOperationQuenes.TryDequeue(out var res))
                    {
                        Thread.Sleep(1000);

                        ml_morkf.MaterailIsWorking = true;
                        MessageLog.GetInstance.Show("开始操作菜品库");
                        //ThreadManage.GetInstance().Start(new Action(()=>{
                        //    GetMaterail(res.x_high, res.y, res.fryNum);
                        //}),"菜品库操作");
                        GetMaterailTest(res);
                    }
                }
            }
        }

        /// <summary>
        /// 信号处理
        /// </summary>
        private void SingleProcess()
        {

        }


        private void ScreenDataServer()
        {
            LocalMqtt.GetInstance.Init(ScreenDeviceType.小炒);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                //statsModels.Add(new StatsModel() { Name = "帝王蟹", Count = 666 });
                ScreenModelMinWok maxWok = new ScreenModelMinWok
                {
                    IsRun = IsHealth ? IsRun.运行 : IsRun.停止,//new Random().Next(0, 2) == 0 ? IsRun.运行 : IsRun.停止, //设备是否运行
                    WorkStatus_1 = morkFs[0].FryPot1_InitialComplete ? ((morkFs[0].Task != null)? WorkStatus.工作:WorkStatus.待机) : WorkStatus.停止,// (WorkStatus)new Random().Next(0, 3),      //设备运行状态
                    WorkStatus_2 = morkFs[1].FryPot1_InitialComplete ? ((morkFs[1].Task != null) ? WorkStatus.工作 : WorkStatus.待机) : WorkStatus.停止,//(WorkStatus)new Random().Next(0, 3),      //设备运行状态
                    RobotStatu = (WorkStatus)new Random().Next(0, 3),        //机器人状态   待机 1 正常
                    Alarm =  alarmModel,       //告警集合
                    FailuresCount = alarmModel.Count,  //故障数
                    StatsCount = statsModels, //统计菜品数量
                    MinWok_Dishes_1 = morkFs[0].GoodName,//"满汉全席",//当前炒制菜品名
                    MinWok_Dishes_2 = morkFs[1].GoodName,
                    MinWok_Task_1 = morkFs[0].Task,//当前任务
                    MinWok_Task_2 = morkFs[1].Task,   //当前任务
                    //MinWok_Process_1 = new List<ProcessModel>() { new ProcessModel() { Id = 1, Name = "启动", Status = ProcessStatus.正在执行 }, new ProcessModel() { Id = 1, Name = "热油", Status = ProcessStatus.未执行 }, new ProcessModel() { Id = 1, Name = "炒制", Status = ProcessStatus.未执行 }, new ProcessModel() { Id = 1, Name = "出餐", Status = ProcessStatus.未执行 }, new ProcessModel() { Id = 1, Name = "结束", Status = ProcessStatus.未执行 } },
                    MinWok_Process_1 = morkFs[0].processModels,  //炒锅当前任务流程
                    MinWok_Process_2 = morkFs[1].processModels,  //炒锅当前任务流程
                    MinWok_HeatGear_1 = morkFs[0].FireNow,  //炒锅加热档位
                    MinWok_HeatGear_2 = morkFs[1].FireNow,  //炒锅加热档位
                    MinWok_Temp_1 = morkFs[0].TempNow,      //炒锅1锅底温度
                    MinWok_Temp_2 = morkFs[1].TempNow,      //炒锅1锅底温度
                    MinWok_StirGear_1 = morkFs[0].StirNow,  //炒锅搅拌档位 
                    MinWok_StirGear_2 = morkFs[1].StirNow,  //炒锅搅拌档位
                    MinWok_OrderCount_1 = morkFs[0].orderCount,   //订单数量
                    MinWok_OrderCount_2 = morkFs[1].orderCount,   //订单数量
                    MinWok_ErrorOrderCount_1 = morkFs[0].orderAbnormalCount,     //异常订单数量
                    MinWok_ErrorOrderCount_2 = morkFs[1].orderAbnormalCount,     //异常订单数量

                };
                LocalMqtt.GetInstance.Publish(maxWok);
                Thread.Sleep(1000);

            }), "大屏数据上报",true);

        }

        public override void SimOrder()
        {

        }

        /// <summary>
        /// 菜品编号转换为坐标
        /// </summary>
        /// <param name="no"></param>
        /// <param name="coordinate"></param>
        /// <returns></returns>
        public bool NoMaterial2Coordinate(string no,out Coordinate coordinate)
        {
            //默认返回0,0
            coordinate = new Coordinate();
            coordinate.X = 0;
            coordinate.Y = 0;

            try
            {
                if(MaterialCoordinate.GetInstance().dicNoMaterialCoordinate.ContainsKey(no))
                {
                    coordinate = MaterialCoordinate.GetInstance().dicNoMaterialCoordinate[no];
                    return true;
                }
                else
                {
                    return false;
                }
            }
            catch (Exception ex)
            {
                return false;
            }
            finally
            {

            }
        }

        public enum Laser2CoordinateState 
        {
            MaterialOverdo = 0,//菜品过量
            MaterialNormal = 1,//菜品正常
            MaterialEmpty = 2,//菜品为空
            MaterialUnkown = 999,//菜品未知错误
        }
    }
}