BPASmartClient/BPASmartClient.MorkSUpgradedVer/Control_MorkSUpgradedVer.cs

using System;
using System.Collections.Generic;
using BPA.Message.Enum;
using BPASmartClient.Device;
using BPASmartClient.EventBus;
using BPASmartClient.Model;
using BPASmartClient.Peripheral;
using static BPASmartClient.EventBus.EventBus;
using BPASmartClient.Helper;
using System.Threading;
using BPASmartClient.Message;
using BPA.Message;
using System.Linq;
using BPASmartClient.Model.PLC;
using System.Threading.Tasks;
using System.Reflection;
using BPASmartClient.MorkSUpgradedVer.Model;
using System.Collections.ObjectModel;
using BPASmartClient.MorkSUpgradedVer.ViewModel;
using BPASmartClient.Business;
using BPASmartClient.Model.小炒机;
using BPA.Models;
using System.Windows.Forms;
using System.Media;
using BPASmartClient.CustomResource;
//using BPA.Helper;

namespace BPASmartClient.MorkSUpgradedVer
{
    public class Control_MorkSUpgradedVer : BaseDevice
    {
        public override DeviceClientType DeviceType => DeviceClientType.MORKS;
        GVL_MorkSUpgradedVer mORKS = new GVL_MorkSUpgradedVer();
        Alarm alarm = new Alarm();

        public override void DoMain()
        {
            MonitorViewModel.DeviceId = DeviceId;
            ServerInit();
            DataParse();
            Json<MorksPar>.Read();
            Json<OrderStatistics>.Read();
            if (Json<MorksPar>.Data.parSets == null) Json<MorksPar>.Data.parSets = new ObservableCollection<ParSet>();
            if (Json<MorksPar>.Data.parSets.Count < 6)
            {
                Json<MorksPar>.Data.parSets.Clear();
                for (int i = 0; i < 6; i++)
                {
                    Json<MorksPar>.Data.parSets.Add(new ParSet()
                    {
                        CheckBoxContext = $"煮面口{i + 1}屏蔽",
                        Minute = 1,
                        Second = 0,
                        IsShield = false,
                        TextBlockContext = $"煮面口{i + 1}时间设定"
                    });
                }
            }

            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if (o.Length > 0)
                {
                    Random rd = new Random();
                    ThreadManage.GetInstance().StartLong(new Action(() =>
                    {
                        int NoodleLoc = (int)o[0] == 0 ? rd.Next(1, 6) : (int)o[0];
                        int BowlLoc = (int)o[1] == 0 ? rd.Next(10, 12) : (int)o[1];

                        string guid = new Guid().ToString();

                        mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：面条位置【{NoodleLoc}】");

                        mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)BowlLoc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：碗位置【{BowlLoc}】");
                        Thread.Sleep(60000);
                    }), "ForOrder");
                }
            }), "EnableForOrder");

            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value);
            }), "WriteVW");
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o != null && o is WritePar writePar) WriteData(writePar.Address, writePar.Value);
            }), "WriteBools");
            ActionManage.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitDevice");
        }

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

        public override void Stop()
        {

        }

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

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


        }

        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            var res = mORKS.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            string goodName = string.Empty;
            string SortNum = string.Empty;
            if (res != null)
            {
                goodName = res.MorkOrder.GoodsName;
                SortNum = res.MorkOrder.SortNum.ToString();
            }

            //if (mORKS.doe.ContainsKey(subid))
            //{
            //    goodName = mORKS.doe[subid].MorkOrder.GoodsName;
            //    SortNum = mORKS.doe[subid].MorkOrder.SortNum.ToString();
            if (!string.IsNullOrEmpty(goodName) && !string.IsNullOrEmpty(SortNum))
            {
                EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
                var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
                if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
                {
                    if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
                    {
                        DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
                        DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
                        {
                            Status = oRDER_STATUS,
                            GoodName = goodName,
                            SortNum = SortNum,
                            StopTime = DateTime.Now.ToString("HH:mm:ss")
                        });
                    }
                    else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
                    {
                        var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
                        if (temp != null) DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
                    }
                    else
                    {
                        DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
                    }
                }
                else
                {
                    DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
                    {
                        Status = oRDER_STATUS,
                        GoodName = goodName,
                        SortNum = SortNum,
                        StartTime = DateTime.Now.ToString("HH:mm:ss")
                    });
                }
                //mORKS.doe.Remove(subid, out _);
            }
            //}



            //var res = mORKS.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            //string goodName = string.Empty;
            //string SortNum = string.Empty;
            //if (res != null)
            //{
            //    goodName = res.MorkOrder.GoodsName;
            //    SortNum = res.MorkOrder.SortNum.ToString();
            //}

            //EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });

            //var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
            //if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
            //{
            //    if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
            //    {
            //        DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
            //        DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
            //        {
            //            Status = oRDER_STATUS,
            //            GoodName = goodName,
            //            SortNum = SortNum,
            //            StopTime = DateTime.Now.ToString("HH:mm:ss")
            //        });
            //    }
            //    else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
            //    {
            //        var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
            //        if (temp != null) DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
            //    }
            //    else
            //    {
            //        DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
            //    }
            //}
            //else
            //{
            //    DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
            //    {
            //        Status = oRDER_STATUS,
            //        GoodName = goodName,
            //        SortNum = SortNum,
            //        StartTime = DateTime.Now.ToString("HH:mm:ss")
            //    });
            //}
        }

        private void GetStatus(string key, Action<object> action)
        {
            if (peripheralStatus.ContainsKey(key))
            {
                if (peripheralStatus[key] != null)
                {
                    action?.Invoke(peripheralStatus[key]);
                }
            }
        }

        public override void ReadData()
        {
            DataServer.GetInstance.morkS.Alarm.Clear();
            alarms.ForEach(item =>
            {
                DataServer.GetInstance.morkS.Alarm.Add(new AlarmModel()
                {
                    AlarmTime = $"{item.Date} {item.Time}",
                    AlarmMs = item.Info
                });
            });

            GetStatus("M0.1", new Action<object>((obj) =>
             {
                 if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 7)
                 {
                     Initing = !bools[0];
                     mORKS.InitComplete = bools[0];
                     mORKS.MoveScrewRodInitCom = bools[1];
                     mORKS.SacrificialVesselInitCom = bools[2];
                     mORKS.CylinderInitCom = bools[3];
                     mORKS.NoodleCookerInitCom = bools[4];
                     mORKS.RobotInitCom = bools[5];
                     mORKS.SiloInitCom = bools[6];

                     alarm.DeviceNoInit = !mORKS.InitComplete;
                     alarm.MoveScrewRodNoInit = !mORKS.MoveScrewRodInitCom;
                     alarm.SacrificialVesselNoInit = !mORKS.SacrificialVesselInitCom;
                     alarm.CylinderNoInit = !mORKS.CylinderInitCom;
                     alarm.NoodleCookerNoInit = !mORKS.NoodleCookerInitCom;
                     alarm.RobotNoInit = !mORKS.RobotInitCom;
                     alarm.SiloNoInit = !mORKS.SiloInitCom;
                 }
             }));

            GetStatus("M10.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 2)
                {
                    mORKS.AllowInvertedFace = bools[0];
                    mORKS.DiningComplete = bools[1];
                }
            }));

            GetStatus("M10.4", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKS.DropBowlMechanismStatus = bools[0];
                }
            }));

            GetStatus("M12.2", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKS.FixedFlag = bools[0];
                }
            }));

            GetStatus("M13.5", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKS.SiloInPlace = bools[0];
                }
            }));

            GetStatus("M16.7", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKS.RobotTakeNoodleCom = bools[0];
                }
            }));

            GetStatus("M17.4", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKS.RobotStatus = bools[0];
                }
            }));

            GetStatus("M18.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 5)
                {
                    mORKS.SmallBowlYesOrNoCheck = bools[0];
                    mORKS.LargeBowYesOrNoCheck = bools[1];
                    mORKS.TurntableLowPosition = bools[2];
                    mORKS.TurntableHighPosition = bools[3];
                    alarm.Supply2_LossBowl = !mORKS.SmallBowlYesOrNoCheck;
                    alarm.Supply1_LossBowl = !mORKS.LargeBowYesOrNoCheck;
                }
            }));

            GetStatus("VW17", new Action<object>((obj) =>
            {
                if (obj is ushort[] ushorts && ushorts.Length > 0 && ushorts.Length <= 1)
                {
                    var tt = ushorts.UshortsToBytes(true).BytesToUshorts();

                    for (byte i = 0; i < 6; i++)
                    {
                        if (RTrig.GetInstance($"CookNoodleCom{i + 1}").Start(tt[0].GetBitValue((byte)(i + 1))))
                        {
                            if (!string.IsNullOrEmpty(mORKS.CookNodelId[i]))
                                mORKS.CookNoodleCom[i] = true;
                        }
                    }

                    //mORKS.CookNoodleCom[0] = tt[0].GetBitValue(1);
                    //mORKS.CookNoodleCom[1] = tt[0].GetBitValue(2);
                    //mORKS.CookNoodleCom[2] = tt[0].GetBitValue(3);
                    //mORKS.CookNoodleCom[3] = tt[0].GetBitValue(4);
                    //mORKS.CookNoodleCom[4] = tt[0].GetBitValue(5);
                    //mORKS.CookNoodleCom[5] = tt[0].GetBitValue(6);
                    mORKS.Heating = ushorts[0].GetBitValue(15);
                    mORKS.TemperatureReaches = ushorts[0].GetBitValue(16);

                    alarm.MachineLowTemperature = !mORKS.TemperatureReaches;
                }

            }));

            GetStatus("VW770", new Action<object>((obj) =>
            {
                if (obj is ushort[] ushorts && ushorts.Length > 0 && ushorts.Length <= 1)
                {
                    mORKS.CurrentFeedbackLoc = ushorts[0];
                }

            }));

            mORKS.TakeBowlTaskCount = mORKS.TakeBowlTask.Count;
            mORKS.RBTakeNoodleTaskCount = mORKS.RBTakeNoodleTask.Count;

            for (int i = 0; i < Json<MorksPar>.Data.parSets.Count; i++)
            {
                mORKS.nsm.ElementAt(i).IsShield = Json<MorksPar>.Data.parSets.ElementAt(i).IsShield;
                mORKS.nsm.ElementAt(i).NoodleCookerStatus = mORKS.NoodleCookerStatus[i];
            }

        }

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

        public override void MainTask()
        {
            mORKS.AllowRun = mORKS.InitComplete;
            if (Json<KeepDataBase>.Data.IsVerify)
                IsHealth = mORKS.InitComplete;
            else
                IsHealth = true;

            TakeBowlTask();

            TakeNoodleTask();

            OutNoodleTask();

            SingleDetect();

            TurntableControl();
        }

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

        /// <summary>
        /// 取碗控制
        /// </summary>
        private void TakeBowlTask()
        {
            if (mORKS.AllowRun && mORKS.TakeBowlTask.Count > 0 && !mORKS.DropBowlMechanismStatus && !mORKS.TakeBowlInterlock)
            {
                ushort BowLoc = 0;
                var res = orderMaterialDelivery?.BatchingInfo?.Where(p => p.BatchingId == mORKS.TakeBowlTask.ElementAt(0).BatchingId).ToList();
                if (res == null || res?.Count == 0)
                {
                    if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo)) BowlControl(orderLocInfo);
                }
                else
                {
                    foreach (var item in res)
                    {
                        if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                        {
                            if (loc == 10 && mORKS.SmallBowlYesOrNoCheck)
                            {
                                BowLoc = loc;
                                break;
                            }
                            else if (loc == 11 && mORKS.LargeBowYesOrNoCheck)
                            {
                                BowLoc = loc;
                                break;
                            }
                        }
                    }

                    if (BowLoc >= 10 && BowLoc <= 11)
                    {
                        if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo))
                        {
                            orderLocInfo.Loc = BowLoc;
                            BowlControl(orderLocInfo);
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 转台控制
        /// </summary>
        private void TurntableControl()
        {
            if (Global.EnableLocalSimOrder)
            {
                //不做轮询，直接取面，模拟订单使用
                if (mORKS.SiloInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
                {
                    if (mORKS.TurntableLowPosition)
                    {
                        TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc);
                        mORKS.TurntableLocLists.Clear();
                        mORKS.AllowTakeNoodle = true;
                        DeviceProcessLogShow($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
                    }
                }
            }
            else
            {
                //正常轮询
                if (Delay.GetInstance("到位检测延时").Start(mORKS.SiloInPlace, 2))
                {
                    if (mORKS.SiloInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
                    {

                        var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
                        if (result != null)
                        {
                            var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.CurrentFeedbackLoc.ToString());
                            if (mORKS.TurntableLowPosition && res != null)
                            {
                                TurntableStart(mORKS.CurrentFeedbackLoc);
                                mORKS.TurntableLocLists.Clear();
                                mORKS.AllowTakeNoodle = true;
                                DeviceProcessLogShow($"控制机器人去转台【{mORKS.CurrentFeedbackLoc}】号位置取面");
                            }
                            else
                            {
                                if (!mORKS.TurntableInterlock)
                                {
                                    foreach (var item in result)
                                    {
                                        if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                                        {
                                            if (mORKS.CurrentFeedbackLoc != loc && !mORKS.TurntableLocLists.Contains(loc))
                                            {
                                                if (!mORKS.TurntableLowPosition)
                                                {
                                                    DeviceProcessLogShow($"执行了转台启动互锁信号复位");
                                                }
                                                TurntableStart(loc);
                                                DeviceProcessLogShow($"没有物料检测的启动转台控制,转台位置：[{loc}]");
                                                break;
                                            }
                                            else if (mORKS.CurrentFeedbackLoc == loc && !mORKS.TurntableLocLists.Contains(loc)) mORKS.TurntableLocLists.Add(loc);
                                        }
                                    }
                                }
                            }
                        }
                        else DeviceProcessLogShow("未找到可用的物料信息");
                    }
                }
            }

            //补料中检测
            if (RTrig.GetInstance("mORKS.Feeding").Start(mORKS.Feeding))
            {
                mORKS.AllowTakeNoodle = false;
                mORKS.TakeNoodleInterlock = false;
            }

            //转台到位检测
            if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.SiloInPlace && mORKS.CurrentLoc == mORKS.CurrentFeedbackLoc))
            {

                mORKS.TurntableInterlock = false;
                DeviceProcessLogShow("转台到位检测");
            }

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

        }

        /// <summary>
        /// 取面任务
        /// </summary>
        private void TakeNoodleTask()
        {
            //取面控制
            if (mORKS.AllowRun && mORKS.RobotStatus && !mORKS.Feeding && !mORKS.RobotTaskInterlock && mORKS.AllowTakeNoodle && mORKS.SiloInPlace && !mORKS.TakeNoodleInterlock && mORKS.RBTakeNoodleTask.Count > 0)
            {
                if (mORKS.CurrentLoc == mORKS.CurrentFeedbackLoc)
                {
                    //int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置
                    int loc = mORKS.nsm.ToList().FindIndex(p => p.NoodleCookerStatus == false && p.IsShield == false);//查找煮面炉空闲位置
                    if (loc >= 0 && loc <= 5)
                    {
                        //if (!Json<MorksPar>.Data.parSets.ElementAt(loc).IsShield)//检查该煮面篮是否被屏蔽
                        //{
                        if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
                        {
                            //写入煮面时间
                            List<ushort> values = new List<ushort>();
                            values.Add(Json<MorksPar>.Data.parSets.ElementAt(loc).Minute);
                            values.Add(Json<MorksPar>.Data.parSets.ElementAt(loc).Second);
                            WriteData($"VW{324 + (loc * 4)}", values.ToArray());

                            mORKS.CurrentLoc = 0;
                            mORKS.CookNodelId[loc] = orderLocInfo.SuborderId;
                            mORKS.NoodleCookerStatus[loc] = true;
                            SetFallNoodleLoc((ushort)(loc + 1));
                            //机器人开始取面
                            OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
                            DeviceProcessLogShow($"订单【{orderLocInfo.SuborderId}】,机器人倒面至【{loc + 1}】号煮面栏");

                            mORKS.TakeNoodleInterlock = true;
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 出餐控制
        /// </summary>
        private void OutNoodleTask()
        {
            if (mORKS.AllowInvertedFace && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotStatus)
            {
                int loc = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId && p.Length > 0);
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.CookNoodleCom[loc])
                    {
                        SetTakeNoodleLoc((ushort)(loc + 1));
                        mORKS.NoodleCookerStatus[loc] = false;
                        WriteData($"VW260", (ushort)0);//设置出汤时间
                        OrderChange(mORKS.IngredientsCompleteId, ORDER_STATUS.COMPLETED_COOK);
                        DeviceProcessLogShow($"订单【{mORKS.IngredientsCompleteId}】制作完成");
                        mORKS.CookCompleteFlatBit = true;
                        mORKS.OutMealId = mORKS.IngredientsCompleteId;
                        mORKS.OutMealName = mORKS.IngredientsCompleteName;
                        mORKS.OutMealSortNum = mORKS.IngredientsCompleteSortNum;
                        mORKS.IngredientsCompleteId = string.Empty;
                        mORKS.CookNodelId[loc] = string.Empty;
                        DeviceProcessLogShow($"{loc + 1} 号位置出餐控制,订单ID：{mORKS.OutMealId}");
                        mORKS.CookNoodleCom[loc] = false;
                    }
                }
            }
        }

        /// <summary>
        /// 信号检测
        /// </summary>
        private void SingleDetect()
        {
            //允许倒面信号检测
            if (RTrig.GetInstance("AllowFallNoodle").Start(mORKS.AllowInvertedFace))
            {
                mORKS.IngredientsCompleteId = mORKS.TakeBowlId;
                mORKS.IngredientsCompleteName = mORKS.TakeBowName;
                mORKS.IngredientsCompleteSortNum = mORKS.TakeBowSortNum;
                mORKS.TakeBowSortNum = 0;
                mORKS.TakeBowlId = string.Empty;
                mORKS.TakeBowName = string.Empty;
                DeviceProcessLogShow($"碗到位，允许到面,{mORKS.IngredientsCompleteId}");
                mORKS.TakeBowlInterlock = false;
            }

            //取餐完成逻辑处理
            if (RTrig.GetInstance("CompleteChange1").Start(mORKS.DiningComplete) && mORKS.CookCompleteFlatBit == true)
            {
                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
                DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成");
                WriteData("M10.1", false);
                DeviceProcessLogShow($"出餐订单序号【{mORKS.OutMealSortNum}】");
                VoiceAPI.Speak(mORKS.OutMealSortNum.ToString());
                //DeviceProcessLogShow($"叫号系统通知主题【MORKS/VoiceCall/{DeviceId}】");
                //Plugin.GetInstance().GetPlugin<MQTTMgr>().Publish($"MORKS/VoiceCall/{DeviceId}", mORKS.OutMealSortNum.ToString());
                mORKS.CookCompleteFlatBit = false;
                mORKS.OutMealId = string.Empty;
                mORKS.OutMealName = string.Empty;
                mORKS.OutMealSortNum = 0;
            }

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

            int OutMealRequstCount = mORKS.CookNoodleCom.Where(p => p == true).ToList().Count;
            //int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count - Json<MorksPar>.Data.parSets.Where(x => x.IsShield == true).ToList().Count;
            int mlCount = mORKS.nsm.Where(p => p.NoodleCookerStatus == true && p.IsShield == false).ToList().Count;
            int index = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId);

            bool isok = index >= 0 && index < mORKS.CookNoodleCom.Length && mORKS.CookNoodleCom[index];

            mORKS.PriorityJudgment = Delay.GetInstance("取餐优先级判断").Start(mORKS.TurntableLocLists.Count > 0 && !mORKS.TurntableLowPosition, 4);
            //mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowInvertedFace && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0 || mORKS.PriorityJudgment);
            mORKS.RobotTaskInterlock = isok && mORKS.AllowInvertedFace && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0 || mORKS.PriorityJudgment);


        }
        /// <summary>
        /// 语音提醒取餐
        /// </summary>
        /// <param name="meal"></param>
        private void WaitMeaLSpeak(string meal)
        {
            //VoiceAPI.m_SystemPlayWav(@"Vioce\电子提示音.wav");
            //Thread.Sleep(1000);
            //if (meal != null) mORKS.speech.Speak(meal);
            //VoiceAPI.m_SystemPlayWav(@"Vioce\取餐通知.wav");
        }

        #region PLC 控制函数

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

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

        /// <summary>
        /// 取碗控制
        /// </summary>
        /// <param name="loc"></param>
        private void TakeBowlControl(ushort loc)
        {
            if (loc == 10)//一次性碗
            {
                WriteData("M9.1", true);
            }
            else if (loc == 11)//大碗
            {
                WriteData("M9.0", true);
            }
        }

        /// <summary>
        /// 启动转台
        /// </summary>
        /// <param name="loc"></param>
        private void TurntableStart(ushort loc)
        {
            if (loc >= 1 && loc <= 5)
            {
                mORKS.CurrentLoc = loc;
                mORKS.TurntableInterlock = true;
                mORKS.TurntableLocLists.Add(loc);
                WriteData($"M13.{loc - 1}", true);
            }
        }

        /// <summary>
        /// 设置倒面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetFallNoodleLoc(ushort loc)
        {
            if (loc >= 1 && loc <= 6)
                WriteData($"M14.{loc - 1}", true);
        }

        /// <summary>
        /// 设置取面位置
        /// </summary>
        /// <param name="loc"></param>
        private void SetTakeNoodleLoc(ushort loc)
        {
            if (loc >= 1 && loc <= 6)
                WriteData($"M15.{loc - 1}", true);
        }



        public override void SimOrder()
        {
            EventBus.EventBus.GetInstance().Subscribe<MorksSimorderModel>(0, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                if (@event != null && @event is MorksSimorderModel msm)
                {
                    string guid = Guid.NewGuid().ToString();
                    if (msm.NoodleLoc >= 1 && msm.NoodleLoc <= 5)
                    {
                        mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = (ushort)msm.NoodleLoc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：面条位置【{(ushort)msm.NoodleLoc}】");
                    }

                    if (msm.Bowloc >= 10 && msm.Bowloc <= 11)
                    {
                        mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = (ushort)msm.Bowloc, SuborderId = guid });
                        MessageLog.GetInstance.Show($"添加订单：碗位置【{(ushort)msm.Bowloc}】");
                    }

                }
            });
        }
        #endregion


    }
}