BPASmartClient/BPASmartClient.MorkCL/Model/Control/RobotSet.cs

using BPA.Helper;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace BPASmartClient.MorkCL.Model.Control
{
    internal class RobotSet : RobotGet
    {
        /// <summary>
        /// 机器人任务控制
        /// </summary>
        /// <param name="MainTask"></param>
        /// <param name="SubTask"></param>
        public void RobotTaskControl(string MainTask, EDeviceType SubTask)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return;
            }
            if (ushort.TryParse(MainTask, out ushort mainTask))
                if (mainTask >= 0 && mainTask <= 24)
                {
                    IsIdle.Wait();
                    MyModbus.Write("GI1".ToModbusAdd(), (ushort)SubTask);
                    MyModbus.Write("GI0".ToModbusAdd(), mainTask);
                }
        }

        /// <summary>
        /// 入库控制
        /// </summary>
        /// <param name="Loc"></param>
        public void WarehousingControl(string Loc,CancellationTokenSource Cts)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return;
            }
            if (ushort.TryParse(Loc, out ushort loc))
            {
                if (loc >= 1 && loc <= 12)
                {
                    IsIdle.Wait(Cts: Cts);
                    MyModbus.Write("GI0".ToModbusAdd(), (ushort)(loc + 29));
                }
            }
        }
        /// <summary>
        /// 去夹爪清洗维护位。
        /// </summary>
        /// <param name="Cts"></param>
        public void GoCleanLoc(CancellationTokenSource Cts = null)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return;
            }
            IsIdle.Wait(Cts: Cts);
            MyModbus.Write("GI0".ToModbusAdd(), 45);
        }

        /// <summary>
        /// 发送清洗完成。
        /// </summary>
        /// <param name="Cts"></param>
        public bool SendCleanFinish(CancellationTokenSource Cts = null)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return false;
            }
            //IsIdle.Wait(Cts: Cts);
            return MyModbus.Write("GM550".ToModbusAdd(), true).IsSuccess;
        }

        /// <summary>
        /// 机器人到位允许倒菜到炒锅
        /// </summary>
        /// <param name="num">炒锅类型</param>
        public void AllowPourVegetables(EDeviceType num)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return;
            }
            switch (num)
            {
                case EDeviceType.炒锅1:
                    MyModbus.Write("GM500".ToModbusAdd(), true);
                    break;
                case EDeviceType.炒锅2:
                    MyModbus.Write("GM501".ToModbusAdd(), true);
                    break;
                case EDeviceType.压力锅:
                    MyModbus.Write("GM502".ToModbusAdd(), true);
                    break;
                default:
                    break;
            }
        }
        /// <summary>
        /// 禁止机器人倒菜到炒锅。
        /// </summary>
        /// <param name="num">炒锅类型</param>
        public void DisablePourVegetables(EDeviceType num)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return;
            }
            switch (num)
            {
                case EDeviceType.炒锅1:
                    MyModbus.Write("GM500".ToModbusAdd(), false);
                    break;
                case EDeviceType.炒锅2:
                    MyModbus.Write("GM501".ToModbusAdd(), false);
                    break;
                case EDeviceType.压力锅:
                    MyModbus.Write("GM502".ToModbusAdd(), false);
                    break;
                default:
                    break;
            }
        }
        /// <summary>
        /// 出餐减速到位
        /// </summary>
        /// <param name="num">炒锅类型</param>
        public void ModerateInPlace(EDeviceType num)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return;
            }
            switch (num)
            {
                case EDeviceType.炒锅1:
                    MyModbus.Write("GM503".ToModbusAdd(), true);
                    break;
                case EDeviceType.炒锅2:
                    MyModbus.Write("GM505".ToModbusAdd(), true);
                    break;
                case EDeviceType.压力锅:
                    MyModbus.Write("GM507".ToModbusAdd(), true);
                    break;
                default:
                    break;
            }
        }

        /// <summary>
        /// 出餐倒菜完成
        /// </summary>
        /// <param name="num">炒锅类型</param>
        public void DiningOutComplete(EDeviceType num)
        {
            if (MyModbus is null || !MyModbus.IsConnected())
            {
                return;
            }
            switch (num)
            {
                case EDeviceType.炒锅1:
                    MyModbus.Write("GM504".ToModbusAdd(), true);
                    break;
                case EDeviceType.炒锅2:
                    MyModbus.Write("GM506".ToModbusAdd(), true);
                    break;
                case EDeviceType.压力锅:
                    MyModbus.Write("GM508".ToModbusAdd(), true);
                    break;
                default:
                    break;
            }
        }

        /// <summary>
        /// 设置远程启动（暂停后也可以启动） M702
        /// </summary>
        public bool RobotStart
        {
            get { return MyModbus.Read<bool>("GM702".ToModbusAdd()).Content; }
            set { MyModbus.Write("GM702".ToModbusAdd(), value); }
        }

        /// <summary>
        /// 设置远程暂停 M703
        /// </summary>
        public bool RobotSuspend
        {
            get { return MyModbus.Read<bool>("GM703".ToModbusAdd()).Content; }
            set { MyModbus.Write("GM703".ToModbusAdd(), value); }
        }

        /// <summary>
        /// 设置使能 M700
        /// </summary>
        public bool RobotEnable
        {
            get { return MyModbus.Read<bool>("GM700".ToModbusAdd()).Content; }
            set { MyModbus.Write("GM700".ToModbusAdd(), value); }
        }

        /// <summary>
        /// 机器人复位
        /// </summary>
        public bool RobotReset
        {
            get { return MyModbus.Read<bool>("GM701".ToModbusAdd()).Content; }
            set { MyModbus.Write("GM701".ToModbusAdd(), value); }
        }

    }
}