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终端一体化运控平台
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BPASmartClient/BPASmartClient.MorkF/Control_MorkF.cs

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  1. using BPA.Message;

  2. using BPA.Message.Enum;

  3. using BPASmartClient.Device;

  4. using BPASmartClient.EventBus;

  5. using BPASmartClient.Helper;

  6. using BPASmartClient.Message;

  7. using BPASmartClient.Model;

  8. using BPASmartClient.Model.PLC;

  9. using BPA.Models;

  10. using static BPASmartClient.EventBus.EventBus;

  11. 

  12. 

  13. namespace BPASmartClient.MorkF

  14. {

  15.     public class Control_MorkF : BaseDevice

  16.     {

  17.         public override DeviceClientType DeviceType => DeviceClientType.MORKSF;

  18.         public AutoResetEvent minorReset = new AutoResetEvent(false);

  19.         public AutoResetEvent mainReset = new AutoResetEvent(false);

  20.         GVL_MorkF morkF = new GVL_MorkF();//全局对象声明

  21.         public StirFryBom stirFryBom = new StirFryBom();//创建获取流程的对象

  22.         StirFryGoods stirFryGoods = new StirFryGoods();//创建商品对象

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

  24.         /// <summary>

  25.         /// 入口

  26.         /// </summary>

  27.         public override void DoMain()

  28.         {

  29.             CommandRegist();//调试

  30.             ServerInit();

  31.             DataParse();//数据解析

  32.             DeviceProcessLogShow("MORKF 设备初始化完成");

  33.         }

  34.         #region 调试代码

  35.         public void CommandRegist()

  36.         {

  37.             ActionManage.GetInstance.Register(PLCInite, "InitCommand");

  38.             ActionManage.GetInstance.Register(InitialData, "SimultaorOrder");

  39.             ActionManage.GetInstance.Register(MaterialOne, "MaterialOne");

  40.             ActionManage.GetInstance.Register(MaterialTwo, "MaterialTwo");

  41.             ActionManage.GetInstance.Register(MaterialThree, "MaterialThree");

  42.             ActionManage.GetInstance.Register(MaterialFour, "MaterialFour");

  43.             ActionManage.GetInstance.Register(MaterialFive, "MaterialFive");

  44.             ActionManage.GetInstance.Register(ManualOpenExhaust, "OpenExhaust");

  45.             ActionManage.GetInstance.Register(CloseExhaust, "CloaseExhaust");

  46.             ActionManage.GetInstance.Register(StartQX, "StartQXOne");

  47.             ActionManage.GetInstance.Register(StartQX, "StartQXTwo");

  48. 

  49.             ActionManage.GetInstance.Register(ShreddCabbage, "ShreddCabbage");

  50.             ActionManage.GetInstance.Register(FryPork, "FryPork");

  51.             ActionManage.GetInstance.Register(XingBaoGu, "XingBaoGu");

  52. 

  53.             ActionManage.GetInstance.Register(TakePot, "TakePot");

  54.             ActionManage.GetInstance.Register(TakePotReset, "TakePotReset");

  55.             ActionManage.GetInstance.Register(TakeMaterial, "TakeMaterial");

  56.             ActionManage.GetInstance.Register(ManualOutMeal, "OutMeal");

  57. 

  58.             ActionManage.GetInstance.Register<Action>(AddOil, "AddOil");

  59.             ActionManage.GetInstance.Register(TakeOff, "TakeOff");

  60.             ActionManage.GetInstance.Register(OneBlock, "OneBlock");

  61.             ActionManage.GetInstance.Register(TwoBlock, "TwoBlock");

  62.             ActionManage.GetInstance.Register(ThreeBlock, "ThreeBlock");

  63.             ActionManage.GetInstance.Register(OverTurnOff, "OverTurnOff");

  64.             ActionManage.GetInstance.Register(OverOneBlock, "OverOneBlock");

  65.             ActionManage.GetInstance.Register(OverTwoBlock, "OverTwoBlock");

  66.             ActionManage.GetInstance.Register(OverThreeBlock, "OverThreeBlock");

  67.             ActionManage.GetInstance.Register(OverGoOn, "OverGoOn");

  68.             ActionManage.GetInstance.Register(OverGoDown, "OverGoDown");

  69.             ActionManage.GetInstance.Register(AutoModel, "AutoModel");

  70.             ActionManage.GetInstance.Register(ManualModel, "ManualModel");

  71. 

  72.             ActionManage.GetInstance.Register<Action>(AddOil, "SecAddOil");

  73.             ActionManage.GetInstance.Register(TakeOff, "SecTakeOff");

  74.             ActionManage.GetInstance.Register(OneBlock, "SecOneBlock");

  75.             ActionManage.GetInstance.Register(TwoBlock, "SecTwoBlock");

  76.             ActionManage.GetInstance.Register(ThreeBlock, "SecThreeBlock");

  77.             ActionManage.GetInstance.Register(OverTurnOff, "SecOverTurnOff");

  78.             ActionManage.GetInstance.Register(OverOneBlock, "SecOverOneBlock");

  79.             ActionManage.GetInstance.Register(OverTwoBlock, "SecOverTwoBlock");

  80.             ActionManage.GetInstance.Register(OverThreeBlock, "SecOverThreeBlock");

  81.             ActionManage.GetInstance.Register(OverGoOn, "SecOverGoOn");

  82.             ActionManage.GetInstance.Register(OverGoDown, "SecOverGoDown");

  83.             ActionManage.GetInstance.Register(AutoModel, "SecAutoModel");

  84.             ActionManage.GetInstance.Register(ManualModel, "SecManualModel");

  85.         }

  86.         /// <summary>

  87.         /// 手撕包菜流程

  88.         /// </summary>

  89.         public void ShreddCabbage()

  90.         {

  91.             if (stirFryBom.StirFryActions.Count > 0)

  92.             {

  93.                 stirFryBom.StirFryActions.Clear();

  94.             }

  95.             //流程

  96.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });

  97.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { StirFryPotAction.大火持续 }, During = 5 });

  98.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 6 });

  99.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.停止火力, StirFryPotAction.搅拌臂上位 } });//加A料

  100.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 6 });

  101.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料

  102. 

  103.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 9 });

  104. 

  105.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料

  106.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 });

  107.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  108.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });

  109.         }

  110.         /// <summary>

  111.         /// 盐煎肉流程

  112.         /// </summary>

  113.         public void FryPork()

  114.         {

  115.             if (stirFryBom.StirFryActions.Count > 0)

  116.             {

  117.                 stirFryBom.StirFryActions.Clear();

  118.             }

  119.             //流程

  120.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });

  121.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 15 });

  122.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油, StirFryPotAction.停止火力 }, During = 19 });

  123.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  124. 

  125.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T5, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 } });

  126. 

  127.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 20 });

  128.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力 }, During = 35 });

  129.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T8, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位, } });

  130.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料 } });

  131.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 22 });

  132.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  133.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T12, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料 } });

  134.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T13, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 70 });

  135.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T14, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });

  136.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T15, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });

  137.         }

  138.         /// <summary>

  139.         /// 酱烧杏鲍菇流程

  140.         /// </summary>

  141.         public void XingBaoGu()

  142.         {

  143.             if (stirFryBom.StirFryActions.Count > 0)

  144.             {

  145.                 stirFryBom.StirFryActions.Clear();

  146.             }

  147.             //流程

  148.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T1, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.清洗槽取锅 } });

  149.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T2, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入A料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.中火持续, StirFryPotAction.搅拌臂下位, StirFryPotAction.低速旋转 }, During = 5 });

  150.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T3, PotActions = new List<StirFryPotAction>() { StirFryPotAction.加油 }, During = 12 });

  151.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T4, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加A料

  152.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入B料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 25 });

  153. 

  154.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T7, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加B料

  155. 

  156.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T9, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.加入C料 }, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 30 });

  157. 

  158.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T10, PotActions = new List<StirFryPotAction>() { StirFryPotAction.停止火力, StirFryPotAction.停止旋转, StirFryPotAction.搅拌臂上位 } });//加C料

  159.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T6, PotActions = new List<StirFryPotAction>() { StirFryPotAction.搅拌臂下位, StirFryPotAction.快速旋转 }, During = 55 });

  160.             stirFryBom.AddAction(new StirFryAction() { Time = StirFryTime.T11, RobotActions = new List<StirFryRobotAction>() { StirFryRobotAction.灶取锅 } });

  161.         }

  162.         public void StartQX(object obj)

  163.         {

  164. 

  165.             if ((int)obj == 1)

  166.                 WriteData("M1.4", true);

  167.             if ((int)obj == 2)

  168.                 WriteData("M1.7", true);

  169.         }

  170.         public void ManualOpenExhaust()

  171.         {

  172.             WriteData("M0.7", true);

  173.         }

  174.         public void CloseExhaust()

  175.         {

  176.             WriteData("M0.7", false);

  177.         }

  178.         public void TakeMaterial()

  179.         {

  180.             WriteData("M14.1", true);

  181.         }

  182.         public void ManualOutMeal()

  183.         {

  184.             WriteData("M14.2", true);

  185.         }

  186.         public void MaterialOne()

  187.         {

  188.             WriteData("M13.0", true);

  189.         }

  190. 

  191.         public void MaterialTwo()

  192.         {

  193.             WriteData("M13.1", true);

  194.         }

  195.         public void MaterialThree()

  196.         {

  197.             WriteData("M13.2", true);

  198.         }

  199.         public void MaterialFour()

  200.         {

  201.             WriteData("M13.3", true);

  202.         }

  203.         public void MaterialFive()

  204.         {

  205.             WriteData("M13.4", true);

  206.         }

  207.         public void AutoModel(object obj)

  208.         {

  209. 

  210.             WriteData("0.3", true);

  211. 

  212.         }

  213.         public void ManualModel()

  214.         {

  215.             WriteData("0.2", true);

  216.         }

  217.         public void AddOil(object obj)

  218.         {

  219.             if ((int)obj == 1)

  220.             {

  221.                 Task.Run(() => { WriteData("M2.7", true); Task.Delay(4000).Wait(); WriteData("M2.7", false); });

  222.             }

  223. 

  224.             if ((int)obj == 2)

  225.             {

  226.                 Task.Run(() => { WriteData("M3.1", true); Task.Delay(4000).Wait(); WriteData("M3.1", false); });

  227.             }

  228.         }

  229.         public void TakePot(object obj)

  230.         {

  231. 

  232.             WriteData("M14.0", true);

  233.         }

  234. 

  235.         public void TakePotReset(object obj)

  236.         {

  237.             WriteData("M14.0", false);

  238.         }

  239.         public void TakeOff(object obj)

  240.         {

  241.             if ((int)obj == 1)

  242.                 WriteData("M4.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  243.             if ((int)obj == 2)

  244.                 WriteData("M5.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  245.         }

  246. 

  247.         public void OneBlock(object obj)

  248.         {

  249.             if ((int)obj == 1)

  250.                 WriteData("M4.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  251.             if ((int)obj == 2)

  252.                 WriteData("M5.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  253. 

  254. 

  255.         }

  256.         public void TwoBlock(object obj)

  257.         {

  258.             if ((int)obj == 1)

  259.                 WriteData("M4.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  260.             if ((int)obj == 2)

  261.                 WriteData("M5.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  262.         }

  263.         public void ThreeBlock(object obj)

  264.         {

  265.             if ((int)obj == 1)

  266.                 WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  267.             if ((int)obj == 2)

  268.                 WriteData("M5.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  269.         }

  270.         public void OverTurnOff(object obj)

  271.         {

  272.             if ((int)obj == 1)

  273.                 WriteData("M7.0", true);

  274.             if ((int)obj == 2)

  275.                 WriteData("M7.4", true);

  276.         }

  277.         public void OverOneBlock(object obj)

  278.         {

  279.             if ((int)obj == 1)

  280.                 WriteData("M7.1", true);

  281.             if ((int)obj == 2)

  282.                 WriteData("M7.5", true);

  283.         }

  284.         public void OverTwoBlock(object obj)

  285.         {

  286.             if ((int)obj == 1)

  287.                 WriteData("M7.2", true);

  288.             if ((int)obj == 2)

  289.                 WriteData("M7.6", true);

  290.         }

  291.         public void OverThreeBlock(object obj)

  292.         {

  293.             if ((int)obj == 1)

  294.                 WriteData("M7.3", true);

  295.             if ((int)obj == 2)

  296.                 WriteData("M7.7", true);

  297.         }

  298.         public void OverGoOn(object obj)

  299.         {

  300.             if ((int)obj == 1)

  301.                 WriteData("M8.0", true);

  302.             if ((int)obj == 2)

  303.                 WriteData("M8.4", true);

  304.         }

  305. 

  306.         public void OverGoDown(object obj)

  307.         {

  308.             if ((int)obj == 1)

  309.                 WriteData("M8.2", true);

  310.             if ((int)obj == 2)

  311.                 WriteData("M8.6", true);

  312.         }

  313.         public void FlowInite()

  314.         {

  315. 

  316.         }

  317.         /// <summary>

  318.         /// 订单初始化

  319.         /// </summary>

  320.         private void InitialData()

  321.         {

  322.             //队列

  323.             string subId = Guid.NewGuid().ToString();

  324.             morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 1 });//A料

  325.             morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 2 });//B料

  326.             morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = subId, MaterialLoc = 3 });//C料

  327.             morkF.TakePlateQueue.Enqueue(new OrderLocInfo() { SuborderId = subId });

  328.             resultorder.AddRange(new int[] { 1, 2, 3 });

  329.             morkF.listStirBom.Add(stirFryBom);

  330.         }

  331.         #endregion

  332. 

  333.         public override void ResetProgram()

  334.         {

  335.             morkF = null;

  336.             morkF = new GVL_MorkF();

  337.         }

  338. 

  339.         /// <summary>

  340.         /// PLC数据读取

  341.         /// </summary>

  342.         public override void ReadData()

  343.         {

  344. 

  345.             GetStatus("M0.1", new Action<bool[]>((bools) =>

  346.             {

  347.                 Initing = bools[0];

  348.                 morkF.InitialComplete = Initing;

  349.             }));

  350.             GetStatus("M1.0", new Action<bool[]>((bools) =>

  351.             {

  352.                 morkF.ProvidePlateModule = bools[0];

  353.                 morkF.ProvidePlateComplete = bools[2];

  354.                 morkF.CleanModule = bools[3];

  355.                 morkF.CleanComplete = bools[5];

  356.             }));

  357.             GetStatus("M2.0", new Action<bool[]>((bools) =>

  358.             {

  359.                 morkF.KitchenOneStatus = bools[1];

  360.                 morkF.KitchenSecondStatus = bools[4];

  361.                 morkF.FallOilComplete = bools[8];

  362.             }));

  363.             GetStatus("M8.0", new Action<bool[]>((bools) =>

  364.             {

  365.                 morkF.TurnMachineUpComplete = bools[1];

  366.                 morkF.TurnMachineDownComplete = bools[3];

  367.             }));

  368.             GetStatus("M13.5", new Action<bool[]>((bools) =>

  369.             {

  370.                 morkF.MaterialArriveComplete = bools[0];

  371.             }));

  372.             GetStatus("M16.0", new Action<bool[]>((bools) =>

  373.             {

  374.                 morkF.PutPotToKitchenComlete = bools[1];

  375.                 morkF.TakeMaterialComplete = bools[2];

  376.                 morkF.FallMaterialComplete = bools[3];

  377.                 morkF.PlaceRinseTableComplete = bools[5];

  378.                 morkF.RoobotIdle = bools[6];

  379.             }));

  380. 

  381.         }

  382.         private void ServerInit()

  383.         {

  384.             //物料信息

  385.             EventBus.EventBus.GetInstance().Subscribe<MaterialDeliveryEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)

  386.             {

  387.                 if (@event == null) return;

  388.                 if (@event is MaterialDeliveryEvent material)

  389.                 {

  390.                     orderMaterialDelivery = material.orderMaterialDelivery;

  391.                 }

  392.             });

  393. 

  394.             //配方数据信息

  395.             EventBus.EventBus.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)

  396.             {

  397.                 if (@event == null) return;

  398.                 if (@event is RecipeBomEvent recipe)

  399.                 {

  400.                     recipeBoms = recipe.recipeBoms;

  401.                     WriteRecipeBoms();

  402.                 }

  403.             });

  404.         }

  405. 

  406.         private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)

  407.         {

  408.             EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid });

  409.         }

  410. 

  411. 

  412. 

  413.         /// <summary>

  414.         /// 数据解析

  415.         /// </summary>

  416.         private void DataParse()

  417.         {

  418.             EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)

  419.             {

  420.                 if (@event == null) return;

  421.                 if (@event is DoOrderEvent order)

  422.                 {

  423.                     if (order.MorkOrder.GoodBatchings == null) return;

  424.                     OrderCount++;

  425.                     DeviceProcessLogShow($"接收到{OrderCount}次订单");

  426.                     foreach (var item in order.MorkOrder.GoodBatchings)

  427.                     {

  428.                         var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);

  429.                         if (res != null)

  430.                         {

  431.                             if (ushort.TryParse(res.BatchingLoc, out ushort loc))

  432.                             {

  433. 

  434.                                 //if (morkF.TakeMaterialQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)

  435.                                 //将一个商品的ABC料位置存入队列

  436.                                 morkF.TakeMaterialQueue.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, MaterialLoc = ushort.Parse(res.BatchingLoc) });

  437.                             }

  438. 

  439. 

  440. 

  441.                             //int index = 0;

  442.                             //if (recipeBoms != null)

  443.                             //{

  444.                             //    index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);

  445.                             //    index++;

  446.                             //}

  447.                             if (morkF.TakePlateQueue.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)

  448.                                 morkF.TakePlateQueue.Enqueue(new OrderLocInfo()

  449.                                 {

  450.                                     SuborderId = order.MorkOrder.SuborderId,

  451.                                     BatchingId = res.BatchingId

  452.                                     //RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0

  453.                                 });

  454. 

  455. 

  456.                         }

  457.                     }

  458.                     //根据ID 查找对应制作流程，

  459. 

  460.                 }

  461.             });

  462.         }

  463.         //}

  464.         /// <summary>

  465.         /// 主任务

  466.         /// </summary>

  467.         public override void MainTask()

  468.         {

  469.             TakePlatelTask();

  470.             TurntableControl();

  471.             MainProcessExecute();

  472.             MinorProcessExcute();

  473.             SingleProcess();

  474.         }

  475.         //辅流程执行

  476.         private void MinorProcessExcute()

  477.         {

  478.             if (!morkF.MinorProcessExcuteLock)

  479.             {

  480.                 morkF.MinorProcessExcuteLock = true;

  481.                 Task.Run(() =>

  482.                    {

  483.                        if (morkF.MinorProcessFlag && !morkF.RoobotIdle && morkF.TakeMaterialQueue.Count > 0)

  484.                        {

  485.                            morkF.MinorProessStatus = true;

  486.                            morkF.MainProcessStatus = false;

  487.                            StirFryBom bom = morkF.listStirBom.ElementAt(0);

  488.                            morkF.listStirBom.RemoveAt(0);

  489.                            foreach (var res in bom.StirFryActions)

  490.                            {

  491.                                DeviceProcessLogShow($"执行流程{res.Time}");

  492.                                //机器人线程

  493.                                Task taskRobot = Task.Run(new Action(() =>

  494.                                       {

  495.                                           foreach (var temp in res.RobotActions)

  496.                                           {

  497.                                               switch (temp)

  498.                                               {

  499.                                                   case StirFryRobotAction.清洗槽取锅:

  500.                                                       TakePotTask();//执行取锅操作

  501.                                                       break;

  502.                                                   case StirFryRobotAction.加入A料:

  503.                                                       TakeBurdenATask();//执行取A料操作

  504.                                                       break;

  505.                                                   case StirFryRobotAction.加入B料:

  506.                                                       TakeBurdenATask();//执行取B料操作

  507.                                                       break;

  508.                                                   case StirFryRobotAction.加入C料:

  509.                                                       TakeBurdenCTask();//执行取C料操作

  510.                                                       break;

  511.                                                   case StirFryRobotAction.灶取锅:

  512.                                                       OutDishTask();//执行出餐操作

  513.                                                       CleanPotTask();//洗锅操作

  514.                                                       break;

  515.                                               }

  516. 

  517.                                           }

  518. 

  519.                                       }));

  520.                                //炒锅线程操作

  521.                                Task taskPot = Task.Run(new Action(() =>

  522.                                       {

  523.                                           foreach (var temp in res.PotActions)

  524.                                           {

  525.                                               switch (temp)

  526.                                               {

  527.                                                   case StirFryPotAction.NONE:

  528.                                                       break;

  529.                                                   case StirFryPotAction.大火t1s:

  530.                                                       KitchenAdjustGears(3);

  531.                                                       Task.Delay(1000).Wait(); //大火加热1s//执行大火锅干操作

  532.                                                       break;

  533.                                                   case StirFryPotAction.加油:

  534.                                                       AddOil();//注油//执行加油操作

  535.                                                       break;

  536.                                                   case StirFryPotAction.中火t2s:

  537.                                                       KitchenAdjustGears(2);

  538.                                                       Task.Delay(2000).Wait();//执行操作

  539.                                                       break;

  540.                                                   case StirFryPotAction.小火持续:

  541.                                                       KitchenAdjustGears(1);

  542.                                                       break;

  543.                                                   case StirFryPotAction.中火持续:

  544.                                                       KitchenAdjustGears(5);

  545.                                                       break;

  546.                                                   case StirFryPotAction.大火持续:

  547.                                                       KitchenAdjustGears(7);

  548.                                                       break;

  549.                                                   case StirFryPotAction.停止火力:

  550.                                                       KitchenAdjustGears(0);//关闭灶加热

  551.                                                       break;

  552.                                                   case StirFryPotAction.搅拌臂上位:

  553.                                                       TurnUpStatusDetect();//执行搅拌臂上位操作

  554.                                                       break;

  555.                                                   case StirFryPotAction.搅拌臂下位:

  556.                                                       TurnDownStatusDetect();//执行搅拌臂下位操作

  557.                                                       break;

  558.                                                   case StirFryPotAction.低速旋转:

  559.                                                       TurnMachineGearsControl(1);//执行搅拌臂速度1挡操作

  560.                                                       break;

  561.                                                   case StirFryPotAction.快速旋转:

  562.                                                       TurnMachineGearsControl(2);//执行搅拌臂速度3挡操作

  563.                                                       break;

  564.                                                   case StirFryPotAction.停止旋转:

  565.                                                       TurnMachineGearsControl(0);//执行搅拌臂速度0挡操作

  566.                                                       break;

  567.                                               }

  568.                                           }

  569.                                       }));

  570.                                Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束

  571.                                Task.Delay(res.During * 1000).Wait();//当前流程延迟 

  572.                                if (morkF.MainProcessWait)

  573.                                {

  574.                                    if (morkF.MinorHasTakeMaterial)

  575.                                    { 

  576.                                    }

  577.                                    else

  578.                                    {

  579.                                        KitchenAdjustGears(0);//关闭灶加热

  580.                                        morkF.MinorProessStatus = false;

  581.                                        morkF.MainProcessStatus = true;

  582.                                        //阻塞辅流程

  583.                                        minorReset.WaitOne();

  584.                                    }

  585.                                   

  586.                                }

  587.                                morkF.MinorProessStatus = true;

  588.                                morkF.MainProcessStatus = false;

  589.                            }

  590.                            morkF.MinorOutMealComplete = true;

  591.                        }

  592.                        else

  593.                        {

  594.                            morkF.MinorProcessExcuteLock = false;//解除辅流程自锁

  595.                        }

  596.                    });

  597.             }

  598.         }

  599. 

  600.         //机器人，锅灶主流程执行

  601.         public void MainProcessExecute()

  602.         {

  603.             if (!morkF.MainProcessExcuteLock)

  604.             {

  605.                 morkF.MainProcessExcuteLock = true;

  606.                 Task.Run(new Action(() =>

  607.                 {

  608.                     if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakeMaterialQueue.Count > 0 && morkF.MainProcessFlag)

  609.                     {

  610.                         morkF.MainProcessStatus = true;

  611.                         morkF.MinorProessStatus = false;

  612.                         StirFryBom bom = morkF.listStirBom.ElementAt(0);

  613.                         morkF.listStirBom.RemoveAt(0);

  614.                         foreach (var res in bom.StirFryActions)//遍历所有流程

  615.                         {

  616.                             DeviceProcessLogShow($"执行流程{res.Time}");

  617.                             //机器人线程

  618.                             Task taskRobot = Task.Run(new Action(() =>

  619.                             {

  620.                                 foreach (var temp in res.RobotActions)

  621.                                 {

  622.                                     switch (temp)

  623.                                     {

  624.                                         case StirFryRobotAction.清洗槽取锅:

  625.                                             TakePotTask();//执行取锅操作

  626.                                             break;

  627.                                         case StirFryRobotAction.加入A料:

  628.                                             TakeBurdenATask();//执行取A料操作

  629.                                             break;

  630.                                         case StirFryRobotAction.加入B料:

  631.                                             TakeBurdenATask();//执行取B料操作

  632.                                             break;

  633.                                         case StirFryRobotAction.加入C料:

  634.                                             TakeBurdenCTask();//执行取C料操作

  635.                                             break;

  636.                                         case StirFryRobotAction.灶取锅:

  637.                                             OutDishTask();//执行出餐操作

  638.                                             CleanPotTask();//洗锅操作

  639.                                             break;

  640.                                     }

  641. 

  642.                                 }

  643. 

  644.                             }));

  645.                             //炒锅线程操作

  646.                             Task taskPot = Task.Run(new Action(() =>

  647.                             {

  648.                                 foreach (var temp in res.PotActions)

  649.                                 {

  650.                                     switch (temp)

  651.                                     {

  652.                                         case StirFryPotAction.NONE:

  653.                                             break;

  654.                                         case StirFryPotAction.大火t1s:

  655.                                             KitchenAdjustGears(3);

  656.                                             Task.Delay(1000).Wait(); //大火加热1s//执行大火锅干操作

  657.                                             break;

  658.                                         case StirFryPotAction.加油:

  659.                                             AddOil();//注油//执行加油操作

  660.                                             break;

  661.                                         case StirFryPotAction.中火t2s:

  662.                                             KitchenAdjustGears(2);

  663.                                             Task.Delay(2000).Wait();//执行操作

  664.                                             break;

  665.                                         case StirFryPotAction.小火持续:

  666.                                             KitchenAdjustGears(1);

  667.                                             break;

  668.                                         case StirFryPotAction.中火持续:

  669.                                             KitchenAdjustGears(5);

  670.                                             break;

  671.                                         case StirFryPotAction.大火持续:

  672.                                             KitchenAdjustGears(7);

  673.                                             break;

  674.                                         case StirFryPotAction.停止火力:

  675.                                             KitchenAdjustGears(0);//关闭灶加热

  676.                                             break;

  677.                                         case StirFryPotAction.搅拌臂上位:

  678.                                             TurnUpStatusDetect();//执行搅拌臂上位操作

  679.                                             break;

  680.                                         case StirFryPotAction.搅拌臂下位:

  681.                                             TurnDownStatusDetect();//执行搅拌臂下位操作

  682.                                             break;

  683.                                         case StirFryPotAction.低速旋转:

  684.                                             TurnMachineGearsControl(1);//执行搅拌臂速度1挡操作

  685.                                             break;

  686.                                         case StirFryPotAction.快速旋转:

  687.                                             TurnMachineGearsControl(2);//执行搅拌臂速度3挡操作

  688.                                             break;

  689.                                         case StirFryPotAction.停止旋转:

  690.                                             TurnMachineGearsControl(0);//执行搅拌臂速度0挡操作

  691.                                             break;

  692.                                     }

  693.                                 }

  694.                             }));

  695. 

  696.                             Task.WhenAll(taskRobot, taskPot).Wait();//等待所有线程结束

  697.                             Task.Delay(res.During * 1000).Wait();//当前流程延迟

  698.                             if (morkF.MinorProcessWait)

  699.                             {

  700.                                 if (morkF.MainHasTakeMaterial)//针对主流程准备出餐但辅流程机器人忙碌情况下，辅流程不阻塞

  701.                                 {

  702.                                 }

  703.                                 else

  704.                                 {

  705.                                     KitchenAdjustGears(0);//关闭灶加热

  706.                                     morkF.MinorProessStatus = true;

  707.                                     morkF.MainProcessStatus = false;

  708.                                     //阻塞主流程

  709.                                     mainReset.WaitOne();

  710.                                 }

  711.                               

  712.                             }

  713.                             morkF.MinorProessStatus = false;

  714.                             morkF.MainProcessStatus = true;

  715. 

  716.                         }

  717.                         morkF.MainOutMealComplete = true;

  718.                     }

  719.                     else

  720.                     {

  721.                         morkF.MainProcessExcuteLock = false;//解除流程自锁

  722.                     }

  723.                 }));

  724.             }

  725. 

  726.         }

  727.         /// <summary>

  728.         /// 信号处理

  729.         /// </summary>

  730.         private void SingleProcess()

  731.         {

  732. 

  733. 

  734.             //主流程出餐完成，相应变量复位

  735.             if (morkF.MainOutMealComplete)

  736.             {

  737.                 morkF.TakePlateLock = false;

  738.                 morkF.MainProcessExcuteLock = false;

  739.                 morkF.MainOrderMaterialCom = false;

  740.                 morkF.MinorProcessWait = false;//主流程出餐完成取消辅流程线程阻塞

  741.                 if (morkF.MainProcessPotLoc == 1)

  742.                 {

  743.                     morkF.PotInPlace = false;

  744.                 }

  745.                 else if (morkF.MainProcessPotLoc == 2)

  746.                 {

  747.                     morkF.SecondPotInPlace = false;

  748.                 }

  749.             }

  750.             //辅流程出餐完成，相应变量复位

  751.             if (morkF.MinorOutMealComplete)

  752.             {

  753.                 morkF.TakePlateLock = false;

  754.                 morkF.MinorProcessExcuteLock = false;

  755.                 morkF.MinorOrderMaterialCom = false;

  756.                 morkF.MainProcessWait = false;//辅流程出餐完成取消主流程线程阻塞

  757.                 if (morkF.MinorProcessPotLoc == 1)

  758.                 {

  759.                     morkF.PotInPlace = false;

  760.                 }

  761.                 else if (morkF.MinorProcessPotLoc == 2)

  762.                 {

  763.                     morkF.SecondPotInPlace = false;

  764.                 }

  765.             }

  766. 

  767.         }

  768. 

  769.         /// <summary>

  770.         /// 转台控制

  771.         /// </summary>

  772.         private void TurntableControl()

  773.         {

  774.             //正常轮询

  775.             //if (morkF.TakeMaterialQueue.Count > 0 && !morkF.TurnTableLock)

  776.             //{

  777.             //  var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == morkF.TakeMaterialQueue.ElementAt(0).BatchingId).ToList();

  778. 

  779.             //    if (result != null)

  780.             //    {

  781.             //        if (ushort.TryParse(result[0].BatchingLoc, out ushort loc))

  782.             //        {

  783.             //            TurnMaterialStore(loc);

  784.             //           DeviceProcessLogShow($"转台转到【{loc}】位置");

  785.             //            morkF.TurnTableLock = true;  //取料完成后置false

  786.             //        }

  787.             //    }

  788.             //    elseDeviceProcessLogShow("未找到可用的物料信息");

  789.             //}

  790. 

  791.             //调试代码

  792.             if (morkF.TakeMaterialQueue.Count > 0 && !morkF.TurnTableLock)

  793.             {

  794.                 //  var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == morkF.TakeMaterialQueue.ElementAt(0).BatchingId).ToList();

  795.                 if (resultorder != null)

  796.                 {

  797. 

  798.                     TurnMaterialStore(resultorder[0]);

  799.                     DeviceProcessLogShow($"转台转到【{resultorder[0]}】位置");

  800.                     resultorder.RemoveAt(0);

  801.                     morkF.TurnTableLock = true;  //取料完成后置false

  802. 

  803.                 }

  804.                 else

  805.                 {

  806.                     DeviceProcessLogShow("未找到可用的物料信息");

  807.                 }

  808. 

  809.             }

  810. 

  811.         }

  812. 

  813. 

  814.         /// <summary>

  815.         /// 供盘

  816.         /// </summary>

  817.         /// <exception cref="NotImplementedException"></exception>

  818.         private void TakePlatelTask()

  819.         {

  820.             if (!morkF.RoobotIdle && morkF.InitialComplete && morkF.TakePlateQueue.Count > 0 && !morkF.ProvidePlateModule && !morkF.TakePlateLock)

  821.             {

  822. 

  823.                 if (morkF.TakePlateQueue.TryDequeue(out OrderLocInfo order))

  824.                 {

  825.                     StartTakePlate();

  826.                     if (morkF.MainProcessStatus)

  827.                         morkF.MainCurrentOrderId = order.SuborderId;

  828.                     if (morkF.MinorProessStatus)

  829.                         morkF.MinorCurrentOrderId = order.SuborderId;

  830.                     morkF.TakePlateLock = true; //订单完成后置false

  831.                     morkF.MainOutMealComplete = false;

  832.                     morkF.MinorOutMealComplete = false;

  833.                     // OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COOKING);

  834.                     DeviceProcessLogShow($"订单【{order.SuborderId}】执行取碗控制");

  835.                 }

  836.             }

  837.         }

  838. 

  839.         /// <summary>

  840.         /// 取锅到灶台

  841.         /// </summary>

  842.         /// <exception cref="NotImplementedException"></exception>

  843.         private void TakePotTask()

  844.         {

  845.             //while (!((!morkF.CleanModule && !morkF.KitchenOneStatus && morkF.CleanComplete) || (!morkF.SecondCleanModule && !morkF.KitchenSecondStatus && morkF.SecondCleanComplete)))

  846.             //{

  847.             //    Task.Delay(5).Wait();

  848.             //}

  849.             while (!(!morkF.CleanModule || !morkF.SecondCleanModule) && (!morkF.KitchenOneStatus || !morkF.KitchenSecondStatus) && (morkF.CleanComplete || morkF.SecondCleanComplete))//等待取锅条件满足

  850.             {

  851.                 Task.Delay(5).Wait();

  852.             }

  853.             while (morkF.RoobotIdle)//等待机器人空闲

  854.             {

  855.                 Task.Delay(5).Wait();

  856.             }

  857.             if (!morkF.CleanModule && !morkF.KitchenOneStatus && morkF.CleanComplete)

  858.             {

  859.                 //取1号锅到1号灶台

  860.                 TakePotToKitchen(1);

  861.                 morkF.CurrentPutPotLoc = 1;

  862.                 WriteData("M1.5", false);//清洗模组1完成复位

  863.             }

  864.             else if (!morkF.SecondCleanModule && !morkF.KitchenOneStatus && morkF.SecondCleanComplete)

  865.             {

  866.                 //取2号锅到1号灶台

  867.                 TakePotToKitchen(1);

  868.                 morkF.CurrentPutPotLoc = 1;

  869.                 WriteData("M2.0", false);//清洗模组2完成复位

  870.             }

  871.             if (!morkF.SecondCleanModule && !morkF.KitchenSecondStatus && morkF.SecondCleanComplete)

  872.             {

  873.                 //取2号锅到2号灶台

  874.                 TakePotToKitchen(2);

  875.                 morkF.CurrentPutPotLoc = 2;

  876.                 WriteData("M2.0", false);//清洗模组2完成复位

  877.             }

  878.             else if (!morkF.CleanModule && !morkF.KitchenSecondStatus && morkF.CleanComplete)

  879.             {

  880.                 //取1号锅到2号灶台

  881.                 TakePotToKitchen(2);

  882.                 morkF.CurrentPutPotLoc = 2;

  883.                 WriteData("M2.0", false);//清洗模组1完成复位

  884.             }

  885.             if (morkF.MainProcessStatus)

  886.             {

  887.                 morkF.MainProcessPotLoc = morkF.CurrentPutPotLoc;

  888.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行取锅到灶台控制");

  889.             }

  890.             if (morkF.MinorProessStatus)

  891.             {

  892.                 morkF.MinorProcessPotLoc = morkF.CurrentPutPotLoc;

  893.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行取锅到灶台控制");

  894.             }

  895.             if (morkF.CurrentPutPotLoc == 1)

  896.             {

  897.                 while (!morkF.PutPotToKitchenComlete)

  898.                 {

  899.                     Task.Delay(5).Wait();

  900.                 }

  901.                 morkF.PotInPlace = morkF.PutPotToKitchenComlete;//锅到位

  902.                 WriteData("M14.0", false);//机器人取锅完成复位

  903.             }

  904.             if (morkF.CurrentPutPotLoc == 2)

  905.             {

  906.                 while (!morkF.PutPotToSecondKitchenComlete)

  907.                 {

  908.                     Task.Delay(5).Wait();

  909.                 }

  910.                 morkF.SecondPotInPlace = morkF.PutPotToSecondKitchenComlete;

  911.                 WriteData("M14.4", false);//机器人取锅完成复位

  912.             }

  913. 

  914. 

  915.             Thread.Sleep(2000);

  916. 

  917. 

  918. 

  919. 

  920.         }

  921. 

  922.         /// <summary>

  923.         /// 写入配方数据到 PLC

  924.         /// </summary>

  925.         private void WriteRecipeBoms()

  926.         {

  927.             //List<ushort> recipeBoms = new List<ushort>();

  928.             //if (this.recipeBoms == null) return;

  929.             //foreach (var item in this.recipeBoms.RecipeIds)

  930.             //{

  931.             //    foreach (var rec in item.Recipes)

  932.             //    {

  933.             //        recipeBoms.Add((ushort)rec);

  934.             //    }

  935.             //}

  936.             //if (recipeBoms.Count > 0)

  937.             //{

  938.             //    //配方数据地址范围：VW2000 - VW2278

  939.             //    WriteData("VW2000", recipeBoms.ToArray());

  940.             //}

  941.             //else {DeviceProcessLogShow("配方数据为空"); }

  942.         }

  943.         /// <summary>

  944.         /// 转台复位

  945.         /// </summary>

  946.         /// <param name="loc"></param>

  947.         public void TurnReset(int loc)

  948.         {

  949.             switch (loc)

  950.             {

  951.                 case 1: WriteData("M13.0", false); break;

  952.                 case 2: WriteData("M13.1", false); break;

  953.                 case 3: WriteData("M13.2", false); break;

  954.                 case 4: WriteData("M13.3", false); break;

  955.                 case 5: WriteData("M13.4", false); break;

  956.             }

  957.         }

  958.         /// <summary>

  959.         /// 取素菜A料

  960.         /// </summary>

  961.         private void TakeBurdenATask()

  962.         {

  963.             int loc = 0;

  964.             //while (morkF.RoobotIdle || (!morkF.PotInPlace && !morkF.SecondPotInPlace) || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  965.             //{

  966.             //    Task.Delay(5).Wait();

  967.             //}

  968.             if (morkF.MainProcessStatus)

  969.             {

  970.                 if (morkF.MainProcessPotLoc == 1)

  971.                 {

  972.                     while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅1到位

  973.                     {

  974.                         Task.Delay(5).Wait();

  975.                     }

  976.                 }

  977.                 else

  978.                 {

  979.                     while (morkF.RoobotIdle || !morkF.SecondPotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅2到位

  980.                     {

  981.                         Task.Delay(5).Wait();

  982.                     }

  983.                 }

  984.                 if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  985.                 {

  986.                     loc = order.MaterialLoc;

  987.                     TakeBurden(loc);

  988.                     TurnReset(loc);//转台复位

  989. 

  990.                     DeviceProcessLogShow($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  991.                 }

  992.                 //等待取料完成

  993.                 while (!morkF.TakeMaterialComplete)

  994.                 {

  995.                     Task.Delay(5).Wait();

  996.                 }

  997.                 morkF.MainOrderMaterialCom = false;

  998.                 morkF.MainHasTakeMaterial = true;

  999.                 WriteData("M14.1", false);//机器人取料完成复位

  1000.             }

  1001.             if (morkF.MinorProessStatus)

  1002.             {

  1003.                 if (morkF.MinorProcessPotLoc == 1)

  1004.                 {

  1005.                     while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅1到位

  1006.                     {

  1007.                         Task.Delay(5).Wait();

  1008.                     }

  1009.                 }

  1010.                 else

  1011.                 {

  1012.                     while (morkF.RoobotIdle || !morkF.SecondPotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅2到位

  1013.                     {

  1014.                         Task.Delay(5).Wait();

  1015.                     }

  1016.                 }

  1017.                 if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  1018.                 {

  1019.                     loc = order.MaterialLoc;

  1020.                     TakeBurden(loc);

  1021.                     TurnReset(loc);//转台复位

  1022. 

  1023.                     DeviceProcessLogShow($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  1024.                 }

  1025.                 //等待取料完成

  1026.                 while (!morkF.TakeMaterialComplete)

  1027.                 {

  1028.                     Task.Delay(5).Wait();

  1029.                 }

  1030.                 morkF.MinorOrderMaterialCom = false;

  1031.                 morkF.MinorHasTakeMaterial = true;

  1032.                 WriteData("M14.5", false);//机器人取料完成复位

  1033.             }

  1034.             morkF.TurnTableLock = false;//转台互锁解除

  1035. 

  1036. 

  1037.         }

  1038. 

  1039.         /// <summary>

  1040.         /// 取素菜B料

  1041.         /// </summary>

  1042.         private void TakeBurdenBTask()

  1043.         {

  1044.             int loc = 0;

  1045.             //while (morkF.RoobotIdle || (!morkF.PotInPlace && !morkF.SecondPotInPlace) || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  1046.             //{

  1047.             //    Task.Delay(5).Wait();

  1048.             //}

  1049.             if (morkF.MainProcessStatus)

  1050.             {

  1051.                 if (morkF.MainProcessPotLoc == 1)

  1052.                 {

  1053.                     while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅1到位

  1054.                     {

  1055.                         Task.Delay(5).Wait();

  1056.                     }

  1057.                 }

  1058.                 else

  1059.                 {

  1060.                     while (morkF.RoobotIdle || !morkF.SecondPotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅2到位

  1061.                     {

  1062.                         Task.Delay(5).Wait();

  1063.                     }

  1064.                 }

  1065.                 if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  1066.                 {

  1067.                     loc = order.MaterialLoc;

  1068.                     TakeBurden(loc);

  1069.                     TurnReset(loc);//转台复位

  1070. 

  1071.                     DeviceProcessLogShow($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  1072.                 }

  1073.                 //等待取料完成

  1074.                 while (!morkF.TakeMaterialComplete)

  1075.                 {

  1076.                     Task.Delay(5).Wait();

  1077.                 }

  1078.                 morkF.MainOrderMaterialCom = false;

  1079.                 morkF.MainHasTakeMaterial = true;

  1080.                 WriteData("M14.1", false);//机器人取料完成复位

  1081.             }

  1082.             if (morkF.MinorProessStatus)

  1083.             {

  1084.                 if (morkF.MinorProcessPotLoc == 1)

  1085.                 {

  1086.                     while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅1到位

  1087.                     {

  1088.                         Task.Delay(5).Wait();

  1089.                     }

  1090.                 }

  1091.                 else

  1092.                 {

  1093.                     while (morkF.RoobotIdle || !morkF.SecondPotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅2到位

  1094.                     {

  1095.                         Task.Delay(5).Wait();

  1096.                     }

  1097.                 }

  1098.                 if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  1099.                 {

  1100.                     loc = order.MaterialLoc;

  1101.                     TakeBurden(loc);

  1102.                     TurnReset(loc);//转台复位

  1103. 

  1104.                     DeviceProcessLogShow($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  1105.                 }

  1106.                 //等待取料完成

  1107.                 while (!morkF.TakeMaterialComplete)

  1108.                 {

  1109.                     Task.Delay(5).Wait();

  1110.                 }

  1111.                 morkF.MinorOrderMaterialCom = false;

  1112.                 morkF.MinorHasTakeMaterial = true;

  1113.                 WriteData("M14.5", false);//机器人取料完成复位

  1114.             }

  1115.             morkF.TurnTableLock = false;//转台互锁解除

  1116.         }

  1117.         /// <summary>

  1118.         /// 取调味品C料

  1119.         /// </summary>

  1120.         /// <exception cref="NotImplementedException"></exception>

  1121.         private void TakeBurdenCTask()

  1122.         {

  1123.             #region 旧代码

  1124.             //while (morkF.RoobotIdle || (!morkF.PotInPlace && !morkF.SecondPotInPlace) || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  1125.             //{

  1126.             //    Task.Delay(5).Wait();

  1127.             //}

  1128.             //if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  1129.             //{

  1130.             //    int loc = order.MaterialLoc;

  1131.             //    TakeBurden(loc);

  1132.             //    TurnReset(loc);//转台复位

  1133.             //    DeviceProcessLogShow($"订单【{ order.SuborderId}】,执行取C料");

  1134.             //}

  1135.             //DeviceProcessLogShow($"剩余配料数量{morkF.TakeMaterialQueue.Count}");

  1136.             ////等待取料完成

  1137.             //while (!morkF.TakeMaterialComplete)

  1138.             //{

  1139.             //    Task.Delay(5).Wait();

  1140.             //}

  1141.             //morkF.MainOrderMaterialCom = false;

  1142.             //if (morkF.MainProcessStatus)

  1143.             //{

  1144.             //    morkF.MainOrderMaterialCom = false;

  1145.             //    WriteData("M14.1", false);//机器人取料完成复位

  1146.             //}

  1147.             //if (morkF.MinorProessStatus)

  1148.             //{

  1149.             //    morkF.MinorOrderMaterialCom = false;

  1150.             //    WriteData("M14.5", false);//机器人取料完成复位

  1151.             //}

  1152.             //morkF.TurnTableLock = false;//转台互锁解除 

  1153.             #endregion

  1154.             int loc = 0;

  1155.             //while (morkF.RoobotIdle || (!morkF.PotInPlace && !morkF.SecondPotInPlace) || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅到位

  1156.             //{

  1157.             //    Task.Delay(5).Wait();

  1158.             //}

  1159.             if (morkF.MainProcessStatus)

  1160.             {

  1161.                 if (morkF.MainProcessPotLoc == 1)

  1162.                 {

  1163.                     while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅1到位

  1164.                     {

  1165.                         Task.Delay(5).Wait();

  1166.                     }

  1167.                 }

  1168.                 else

  1169.                 {

  1170.                     while (morkF.RoobotIdle || !morkF.SecondPotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅2到位

  1171.                     {

  1172.                         Task.Delay(5).Wait();

  1173.                     }

  1174.                 }

  1175.                 if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  1176.                 {

  1177.                     loc = order.MaterialLoc;

  1178.                     TakeBurden(loc);

  1179.                     TurnReset(loc);//转台复位

  1180. 

  1181.                     DeviceProcessLogShow($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  1182.                 }

  1183.                 //等待取料完成

  1184.                 while (!morkF.TakeMaterialComplete)

  1185.                 {

  1186.                     Task.Delay(5).Wait();

  1187.                 }

  1188.                 morkF.MainOrderMaterialCom = false;

  1189.                 morkF.MainHasTakeMaterial = true;

  1190.                 WriteData("M14.1", false);//机器人取料完成复位

  1191.             }

  1192.             if (morkF.MinorProessStatus)

  1193.             {

  1194.                 if (morkF.MinorProcessPotLoc == 1)

  1195.                 {

  1196.                     while (morkF.RoobotIdle || !morkF.PotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅1到位

  1197.                     {

  1198.                         Task.Delay(5).Wait();

  1199.                     }

  1200.                 }

  1201.                 else

  1202.                 {

  1203.                     while (morkF.RoobotIdle || !morkF.SecondPotInPlace || !morkF.MaterialArriveComplete)//等待机器人空闲以及锅2到位

  1204.                     {

  1205.                         Task.Delay(5).Wait();

  1206.                     }

  1207.                 }

  1208.                 if (morkF.TakeMaterialQueue.TryDequeue(out OrderLocInfo order))

  1209.                 {

  1210.                     loc = order.MaterialLoc;

  1211.                     TakeBurden(loc);

  1212.                     TurnReset(loc);//转台复位

  1213. 

  1214.                     DeviceProcessLogShow($"订单【{ order.SuborderId}】，执行到转台{loc}位置取料");

  1215.                 }

  1216.                 //等待取料完成

  1217.                 while (!morkF.TakeMaterialComplete)

  1218.                 {

  1219.                     Task.Delay(5).Wait();

  1220.                 }

  1221.                 morkF.MinorOrderMaterialCom = false;

  1222.                 morkF.MinorHasTakeMaterial = true;

  1223.                 WriteData("M14.5", false);//机器人取料完成复位

  1224.             }

  1225.             morkF.TurnTableLock = false;//转台互锁解除

  1226. 

  1227.         }

  1228.         /// <summary>

  1229.         /// 出餐

  1230.         /// </summary>

  1231.         private void OutDishTask()

  1232.         {

  1233.             //while (morkF.RoobotIdle || morkF.CleanModule || !morkF.ProvidePlateComplete)//等待条件满足

  1234.             //{

  1235.             //    Task.Delay(5).Wait();

  1236.             //}

  1237.             while (morkF.RoobotIdle || (!morkF.CleanModule && !morkF.SecondCleanModule) || !morkF.ProvidePlateComplete)//等待条件满足

  1238.             {

  1239.                 Task.Delay(5).Wait();

  1240.             }

  1241.             if (morkF.TakePlateQueue.Count == 0)

  1242.             {

  1243.                 WriteData("M0.7", false);//无订单关闭抽风机

  1244.             }

  1245.             RobotOutMeal();

  1246.             WriteData("M1.2", false);//供盘复位

  1247.             if (morkF.MainProcessStatus)

  1248.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行取锅到清洗台控制");

  1249.             if (morkF.MinorProessStatus)

  1250.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行取锅到清洗台控制");

  1251. 

  1252.         }

  1253. 

  1254.         /// <summary>

  1255.         /// 洗锅放锅

  1256.         /// </summary>

  1257.         private void CleanPotTask()

  1258.         {

  1259.             while ((!morkF.PlaceRinseTableComplete || morkF.CleanModule) && (!morkF.PlaceRinseSecondTableComplete || morkF.SecondCleanModule))

  1260.             {

  1261.                 Task.Delay(5).Wait();

  1262.             }

  1263.             if (morkF.MainProcessStatus)

  1264.             {

  1265.                 WriteData("M14.2", false);//机器人出餐完成复位

  1266.                 if (morkF.PlaceRinseTableComplete && morkF.CleanModule)

  1267.                 {

  1268.                     CleanModuleControl("Start", 1);

  1269.                 }

  1270.                 if (morkF.PlaceRinseSecondTableComplete && morkF.SecondCleanModule)

  1271.                 {

  1272.                     CleanModuleControl("Start", 2);

  1273.                 }

  1274.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行清洗操作");

  1275.                 morkF.MainProcessFlag = false;

  1276.                 minorReset.Set();

  1277.             }

  1278.             if (morkF.MinorProessStatus)

  1279.             {

  1280.                 WriteData("M14.6", false);//机器人出餐完成复位

  1281.                 if (morkF.PlaceRinseTableComplete && morkF.CleanModule)

  1282.                 {

  1283.                     CleanModuleControl("Start", 1);

  1284.                 }

  1285.                 if (morkF.PlaceRinseSecondTableComplete && morkF.SecondCleanModule)

  1286.                 {

  1287.                     CleanModuleControl("Start", 2);

  1288.                 }

  1289.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行清洗操作");

  1290.                 morkF.MinorProcessFlag = false;

  1291.                 mainReset.Set();

  1292.             }

  1293.             //OrderChange(morkF.CurrentOrderId, ORDER_STATUS.COMPLETED_COOK);

  1294. 

  1295. 

  1296.         }

  1297.         /// <summary>

  1298.         /// 任务复位重启

  1299.         /// </summary>

  1300.         //private void ResetProgram()

  1301.         //{

  1302.         //    ThreadManage.GetInstance().StartLong(new Action(() =>

  1303.         //    {

  1304.         //        if (RTrig.GetInstance("ResetProgram").Start(morkF.DevicDataInite))

  1305.         //        {

  1306.         //            ThreadManage.GetInstance().StopTask("MainTask", new Action(() =>

  1307.         //            {

  1308.         //                ThreadManage.GetInstance().StopTask("ReadPLCData", new Action(() =>

  1309.         //                {

  1310.         //                    morkF = null;

  1311.         //                    morkF = new GVL_MorkF();

  1312.         //                    ActionManage.GetInstance.Send("ResetProgram");

  1313.         //                    ActionManage.GetInstance.Send("ClearOrders");

  1314.         //                    ReadData();

  1315.         //                    Main();

  1316.         //                }));

  1317.         //            }));

  1318.         //        }

  1319. 

  1320.         //        Thread.Sleep(10);

  1321.         //    }), "ResetProgram");

  1322.         //}

  1323.         /// <summary>

  1324.         /// 翻转机下降及状态检测

  1325.         /// </summary>

  1326.         public void TurnDownStatusDetect()

  1327.         {

  1328.             int potLoc=  TurnMachineOrientControl("Down");

  1329. 

  1330.             if (potLoc==1)

  1331.             {

  1332.                 while (!morkF.TurnMachineDownComplete)//等待翻转机下降完成

  1333.                 {

  1334.                     Task.Delay(5).Wait();

  1335.                 }

  1336.                 WriteData("M8.3", false);//下降完成复位 

  1337.             }

  1338.             if (potLoc==2)

  1339.             {

  1340.                 while (!morkF.SecondTurnMachineDownComplete)//等待翻转机下降完成

  1341.                 {

  1342.                     Task.Delay(5).Wait();

  1343.                 }

  1344.                 WriteData("M8.7", false);//下降完成复位 

  1345.             }

  1346.             DeviceProcessLogShow($"翻转机下降完成");

  1347.             //if (morkF.MaterialCount == 3 && morkF.MainProcessStatus)

  1348.             //{

  1349.             //    morkF.MainProcessWait = true;

  1350.             //}

  1351.             //else if (morkF.MaterialCount == 3 && morkF.MinorProessStatus)

  1352.             //{ 

  1353.             //    morkF.MinorProcessWait = true;

  1354.             //}

  1355. 

  1356.         }

  1357.        

  1358.         /// <summary>

  1359.         /// 翻转机上升及状态检测

  1360.         /// </summary>

  1361.         public void TurnUpStatusDetect()

  1362.         {

  1363.             while (morkF.RoobotIdle)//机器人忙碌

  1364.             {

  1365.                 Task.Delay(5).Wait();

  1366.             }

  1367.             TurnMachineOrientControl("Top");//翻转机上升

  1368.             if (morkF.MainProcessStatus)

  1369.             {

  1370.                 if (morkF.MainProcessPotLoc==1)

  1371.                 {

  1372.                     while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成

  1373.                     {

  1374.                         Task.Delay(5).Wait();

  1375.                     }

  1376.                     WriteData("M8.1", false);//上升完成复位 

  1377.                     if (!morkF.MainOrderMaterialCom)

  1378.                     {

  1379.                         WriteData("M14.3", true);//倒料

  1380.                         while (!morkF.FallMaterialComplete)//等待倒料完成

  1381.                         {

  1382.                             Task.Delay(5).Wait();

  1383.                         }

  1384.                         morkF.MaterialCount++;

  1385.                         WriteData("M14.3", false);//倒料复位

  1386.                         if (morkF.MaterialCount == 3)

  1387.                         {

  1388.                             //允许执行下一个订单流程

  1389.                             morkF.MaterialCount = 0;

  1390.                             morkF.MinorProcessFlag = true;

  1391. 

  1392.                         }

  1393.                         morkF.MainOrderMaterialCom = true;

  1394.                         morkF.MainHasTakeMaterial = false;

  1395.                         DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】，配料倒料完成");

  1396.                     }

  1397.                     else //辅程准备阻塞

  1398.                     {

  1399.                         morkF.MainProcessWait = true;

  1400.                     }

  1401.                 }

  1402.                 if (morkF.MainProcessPotLoc==2)

  1403.                 {

  1404.                     while (!morkF.SecondTurnMachineUpComplete)//等待翻转机上升完成以及取料完成

  1405.                     {

  1406.                         Task.Delay(5).Wait();

  1407.                     }

  1408.                     WriteData("M8.5", false);//上升完成复位 

  1409.                     if (!morkF.MainOrderMaterialCom)

  1410.                     {

  1411.                         WriteData("M14.7", true);//倒料

  1412.                         while (!morkF.SecondFallMaterialComplete)//等待倒料完成

  1413.                         {

  1414.                             Task.Delay(5).Wait();

  1415.                         }

  1416.                         morkF.MaterialCount++;

  1417.                         WriteData("M14.7", false);//倒料复位

  1418.                         if (morkF.MaterialCount == 3)

  1419.                         {

  1420.                             //允许执行下一个订单流程

  1421.                             morkF.MaterialCount = 0;

  1422.                             morkF.MinorProcessFlag = true;

  1423. 

  1424.                         }

  1425.                         morkF.MainOrderMaterialCom = true;

  1426.                         morkF.MainHasTakeMaterial = false;

  1427.                         DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】，配料倒料完成");

  1428.                     }

  1429.                     else //辅流程准备阻塞

  1430.                     {

  1431.                         morkF.MainProcessWait = true;

  1432.                     } 

  1433.                 }

  1434.             }

  1435.             if (morkF.MinorProessStatus)

  1436.             {

  1437.                 if (morkF.MinorProcessPotLoc == 1)

  1438.                 {

  1439.                     while (!morkF.TurnMachineUpComplete)//等待翻转机上升完成以及取料完成

  1440.                     {

  1441.                         Task.Delay(5).Wait();

  1442.                     }

  1443.                     WriteData("M8.1", false);//上升完成复位 

  1444.                     if (!morkF.MinorOrderMaterialCom)

  1445.                     {

  1446.                         WriteData("M14.3", true);//倒料

  1447.                         while (!morkF.FallMaterialComplete)//等待倒料完成

  1448.                         {

  1449.                             Task.Delay(5).Wait();

  1450.                         }

  1451.                         morkF.MaterialCount++;

  1452.                         WriteData("M14.3", false);//倒料复位

  1453.                         if (morkF.MaterialCount == 3)

  1454.                         {

  1455.                             //允许执行下一个订单流程

  1456.                             morkF.MaterialCount = 0;

  1457.                             morkF.MainProcessFlag = true;

  1458. 

  1459.                         }

  1460.                         morkF.MinorOrderMaterialCom = true;

  1461.                         morkF.MinorHasTakeMaterial = false;

  1462.                         DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】，配料倒料完成");

  1463.                     }

  1464.                     else //主程准备阻塞

  1465.                     {

  1466.                         morkF.MinorProcessWait = true;

  1467.                     }

  1468.                 }

  1469.                 if (morkF.MinorProcessPotLoc==2)

  1470.                 {

  1471.                     while (!morkF.SecondTurnMachineUpComplete)//等待翻转机上升完成以及取料完成

  1472.                     {

  1473.                         Task.Delay(5).Wait();

  1474.                     }

  1475.                     WriteData("M8.5", false);//上升完成复位 

  1476.                     if (!morkF.MinorOrderMaterialCom)

  1477.                     {

  1478.                         WriteData("M14.7", true);//倒料

  1479.                         while (!morkF.SecondFallMaterialComplete)//等待倒料完成

  1480.                         {

  1481.                             Task.Delay(5).Wait();

  1482.                         }

  1483.                         morkF.MaterialCount++;

  1484.                         WriteData("M14.7", false);//倒料复位

  1485.                         if (morkF.MaterialCount == 3)

  1486.                         {

  1487.                             //允许执行下一个订单流程

  1488.                             morkF.MaterialCount = 0;

  1489.                             morkF.MainProcessFlag = true;

  1490. 

  1491.                         }

  1492.                         morkF.MinorOrderMaterialCom = true;

  1493.                         morkF.MinorHasTakeMaterial = false;

  1494.                         DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】，配料倒料完成");

  1495.                     }

  1496.                     else //主流程准备阻塞

  1497.                     {

  1498.                         morkF.MinorProcessWait = true;

  1499.                     } 

  1500.                 }

  1501.             }

  1502.             //if (morkF.MainProcessStatus)//代表主流程执行的操作

  1503.             //{

  1504. 

  1505.             //}

  1506.             //else if (morkF.MinorProessStatus)//代表辅流程执行的操作

  1507.             //{

  1508. 

  1509.             //}

  1510. 

  1511.             DeviceProcessLogShow("翻转机上升完成");

  1512. 

  1513.         }

  1514.         private void GetStatus(string key, Action<bool[]> action)

  1515.         {

  1516.             if (peripheralStatus.ContainsKey(key))

  1517.             {

  1518.                 action((bool[])peripheralStatus[key]);//获取PLC指定地址的状态值

  1519.             }

  1520.         }

  1521.         /// <summary>

  1522.         /// 写数据

  1523.         /// </summary>

  1524.         /// <param name="address"></param>

  1525.         /// <param name="value"></param>

  1526.         private void WriteData(string address, object value)

  1527.         {

  1528.             EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });

  1529.         }

  1530. 

  1531.         public void FirstPotGears(int number)

  1532.         {

  1533.             switch (number)

  1534.             {

  1535.                 case 0:

  1536.                     //if (morkF.MainProcessStatus && morkF.PotInPlace)

  1537.                     WriteData("M4.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  1538.                                                                                                              //if (morkF.MinorProessStatus && morkF.SecondPotInPlace)

  1539.                                                                                                              //    WriteData("M5.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  1540.                     break;

  1541.                 case 1:

  1542.                     // if (morkF.MainProcessStatus)

  1543.                     WriteData("M4.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  1544.                                                                                                             //if (morkF.MinorProessStatus)

  1545.                                                                                                             //    WriteData("M5.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  1546.                     break;

  1547.                 case 2:

  1548.                     //if (morkF.MainProcessStatus)

  1549.                     WriteData("M4.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  1550.                                                                                                             //if (morkF.MinorProessStatus)

  1551.                                                                                                             //    WriteData("M5.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  1552.                     break;

  1553.                 case 3:

  1554.                     //if (morkF.MainProcessStatus)

  1555.                     WriteData("M4.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  1556.                                                                                                            //if (morkF.MinorProessStatus)

  1557.                                                                                                            //    WriteData("M5.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  1558.                     break;

  1559.                 case 4:

  1560.                     // if (morkF.MainProcessStatus)

  1561.                     WriteData("M4.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100

  1562.                                                                                                             //if (morkF.MinorProessStatus)

  1563.                                                                                                             //    WriteData("M5.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100

  1564.                     break;

  1565.                 case 5:

  1566.                     if (morkF.MainProcessStatus)

  1567.                         WriteData("M4.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101

  1568.                                                                                                                //if (morkF.MinorProessStatus)

  1569.                                                                                                                //    WriteData("M5.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101

  1570.                     break;

  1571.                 case 6:

  1572.                     // if (morkF.MainProcessStatus)

  1573.                     WriteData("M4.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110

  1574.                                                                                                            //if (morkF.MinorProessStatus)

  1575.                                                                                                            //    WriteData("M5.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110

  1576.                     break;

  1577.                 case 7:

  1578.                     // if (morkF.MainProcessStatus)

  1579.                     WriteData("M4.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111

  1580.                                                                                                           //if (morkF.MinorProessStatus)

  1581.                                                                                                           //    WriteData("M5.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111

  1582.                     break;

  1583.                 case 8:

  1584.                     //if (morkF.MainProcessStatus)

  1585.                     WriteData("M4.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000

  1586.                                                                                                             //if (morkF.MinorProessStatus)

  1587.                                                                                                             //    WriteData("M5.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000

  1588.                     break;

  1589.                 case 9:

  1590.                     //if (morkF.MainProcessStatus)

  1591.                     WriteData("M4.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001

  1592.                                                                                                            //if (morkF.MinorProessStatus)

  1593.                                                                                                            //    WriteData("M5.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001

  1594.                     break;

  1595. 

  1596.             }

  1597.         }

  1598. 

  1599.         public void SecondPotGears(int number)

  1600.         {

  1601.             switch (number)

  1602.             {

  1603.                 case 0:

  1604.                     //if (morkF.MainProcessStatus && morkF.PotInPlace)

  1605.                     WriteData("M5.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  1606.                                                                                                              //if (morkF.MinorProessStatus && morkF.SecondPotInPlace)

  1607.                                                                                                              //    WriteData("M5.0", new bool[] { false, false, false, false, false, false, false, false });//0000 0000

  1608.                     break;

  1609.                 case 1:

  1610.                     // if (morkF.MainProcessStatus)

  1611.                     WriteData("M5.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  1612.                                                                                                             //if (morkF.MinorProessStatus)

  1613.                                                                                                             //    WriteData("M5.0", new bool[] { true, false, false, false, false, false, false, false });//0000 0001

  1614.                     break;

  1615.                 case 2:

  1616.                     //if (morkF.MainProcessStatus)

  1617.                     WriteData("M5.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  1618.                                                                                                             //if (morkF.MinorProessStatus)

  1619.                                                                                                             //    WriteData("M5.0", new bool[] { false, true, false, false, false, false, false, false });//0000 0010

  1620.                     break;

  1621.                 case 3:

  1622.                     //if (morkF.MainProcessStatus)

  1623.                     WriteData("M5.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  1624.                                                                                                            //if (morkF.MinorProessStatus)

  1625.                                                                                                            //    WriteData("M5.0", new bool[] { true, true, false, false, false, false, false, false });//0000 0011

  1626.                     break;

  1627.                 case 4:

  1628.                     // if (morkF.MainProcessStatus)

  1629.                     WriteData("M5.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100

  1630.                                                                                                             //if (morkF.MinorProessStatus)

  1631.                                                                                                             //    WriteData("M5.0", new bool[] { false, false, true, false, false, false, false, false });//0000 0100

  1632.                     break;

  1633.                 case 5:

  1634.                     if (morkF.MainProcessStatus)

  1635.                         WriteData("M5.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101

  1636.                                                                                                                //if (morkF.MinorProessStatus)

  1637.                                                                                                                //    WriteData("M5.0", new bool[] { true, false, true, false, false, false, false, false });//0000 0101

  1638.                     break;

  1639.                 case 6:

  1640.                     // if (morkF.MainProcessStatus)

  1641.                     WriteData("M5.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110

  1642.                                                                                                            //if (morkF.MinorProessStatus)

  1643.                                                                                                            //    WriteData("M5.0", new bool[] { false, true, true, false, false, false, false, false });//0000 0110

  1644.                     break;

  1645.                 case 7:

  1646.                     // if (morkF.MainProcessStatus)

  1647.                     WriteData("M5.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111

  1648.                                                                                                           //if (morkF.MinorProessStatus)

  1649.                                                                                                           //    WriteData("M5.0", new bool[] { true, true, true, false, false, false, false, false });//0000 0111

  1650.                     break;

  1651.                 case 8:

  1652.                     //if (morkF.MainProcessStatus)

  1653.                     WriteData("M5.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000

  1654.                                                                                                             //if (morkF.MinorProessStatus)

  1655.                                                                                                             //    WriteData("M5.0", new bool[] { false, false, false, true, false, false, false, false });//0000 1000

  1656.                     break;

  1657.                 case 9:

  1658.                     //if (morkF.MainProcessStatus)

  1659.                     WriteData("M5.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001

  1660.                                                                                                            //if (morkF.MinorProessStatus)

  1661.                                                                                                            //    WriteData("M5.0", new bool[] { true, false, false, true, false, false, false, false });//0000 1001

  1662.                     break;

  1663. 

  1664.             }

  1665.         }

  1666.         /// <summary>

  1667.         /// 灶台档位调节

  1668.         /// </summary>

  1669.         public void KitchenAdjustGears(int number)

  1670.         {

  1671.             //while (!morkF.PotInPlace||!morkF.SecondPotInPlace)

  1672.             //{

  1673.             //    Task.Delay(5).Wait();

  1674.             //}

  1675.             if (morkF.MainProcessStatus)

  1676.             {

  1677.                 if (morkF.MainProcessPotLoc == 1)

  1678.                 {

  1679.                     while (!morkF.PotInPlace)

  1680.                     {

  1681.                         Task.Delay(5).Wait();

  1682.                     }

  1683.                     FirstPotGears(number);

  1684.                 }

  1685.                 if (morkF.MainProcessPotLoc == 2)

  1686.                 {

  1687.                     while (!morkF.SecondPotInPlace)

  1688.                     {

  1689.                         Task.Delay(5).Wait();

  1690.                     }

  1691.                     SecondPotGears(number);

  1692.                 }

  1693. 

  1694.             }

  1695.             if (morkF.MinorProessStatus)

  1696.             {

  1697.                 if (morkF.MinorProcessPotLoc == 1)

  1698.                 {

  1699.                     while (!morkF.PotInPlace)

  1700.                     {

  1701.                         Task.Delay(5).Wait();

  1702.                     }

  1703.                     FirstPotGears(number);

  1704.                 }

  1705.                 if (morkF.MinorProcessPotLoc==2)

  1706.                 {

  1707.                     while (!morkF.SecondPotInPlace)

  1708.                     {

  1709.                         Task.Delay(5).Wait();

  1710.                     }

  1711.                     SecondPotGears(number);

  1712.                 }

  1713.             }

  1714.             if (morkF.MainProcessStatus)

  1715.                 DeviceProcessLogShow($"订单【{ morkF.MainCurrentOrderId}】执行取锅到灶台控制");

  1716.             if (morkF.MinorProessStatus)

  1717.                 DeviceProcessLogShow($"订单【{ morkF.MinorCurrentOrderId}】执行取锅到灶台控制");

  1718.         }

  1719.         /// <summary>

  1720.         /// PLC转台控制

  1721.         /// </summary>

  1722.         /// <param name="loc"></param>

  1723.         public void TurnMaterialStore(int loc)

  1724.         {

  1725.             switch (loc)

  1726.             {

  1727.                 case 1:

  1728.                     WriteData("M13.0", true);

  1729.                     break;

  1730.                 case 2:

  1731.                     WriteData("M13.1", true);

  1732.                     break;

  1733.                 case 3:

  1734.                     WriteData("M13.2", true);

  1735.                     break;

  1736.                 case 4:

  1737.                     WriteData("M13.3", true);

  1738.                     break;

  1739.                 case 5:

  1740.                     WriteData("M13.4", true);

  1741.                     break;

  1742.             }

  1743. 

  1744.         }

  1745.         public void PLCInite()

  1746.         {

  1747.             WriteData("M0.0", true);

  1748. 

  1749.         }

  1750.         /// <summary>

  1751.         /// 供盘启动

  1752.         /// </summary>

  1753.         public void StartTakePlate()

  1754.         {

  1755.             WriteData("M1.1", true);

  1756.         }

  1757.         /// <summary>

  1758.         /// 取锅到灶台

  1759.         /// </summary>

  1760.         public void TakePotToKitchen(int loc)

  1761.         {

  1762.             if (loc == 1)

  1763.                 WriteData("M14.0", true);

  1764.             if (loc == 2)

  1765.                 WriteData("M14.4", true);

  1766.         }

  1767.         /// <summary>

  1768.         /// 机器人出餐并将锅放置清洗台位置

  1769.         /// </summary>

  1770.         public void RobotOutMeal()

  1771.         {

  1772.             if (morkF.MainProcessStatus)

  1773.             {

  1774.                 if (morkF.MainProcessPotLoc == 1)

  1775.                 {

  1776.                     WriteData("M14.2", true);//1号锅出餐 

  1777.                 }

  1778.                 else if (morkF.MainProcessPotLoc == 2)

  1779.                 {

  1780.                     WriteData("M14.6", true);//2号锅出餐

  1781.                 }

  1782.             }

  1783.             if (morkF.MinorProessStatus)

  1784.             {

  1785.                 if (morkF.MinorProcessPotLoc == 1)

  1786.                 {

  1787.                     WriteData("M14.2", true);//1号锅出餐 

  1788.                 }

  1789.                 else if (morkF.MinorProcessPotLoc == 2)

  1790.                 {

  1791.                     WriteData("M14.6", true);//2号锅出餐

  1792.                 }

  1793.             }

  1794. 

  1795.         }

  1796.         public void OpenDraft()

  1797.         {

  1798.             WriteData("M0.7", true);//打开抽风机

  1799.         }

  1800.         /// <summary>

  1801.         /// 注油

  1802.         /// </summary>

  1803.         public void AddOil()

  1804.         {

  1805.             if (morkF.MainProcessStatus)

  1806.             {

  1807.                 if (morkF.MainProcessPotLoc == 1)

  1808.                 {

  1809.                     while (!morkF.PotInPlace)

  1810.                     {

  1811.                         Task.Delay(5).Wait();

  1812.                     }

  1813.                     WriteData("M2.7", true);//加油

  1814.                     OpenDraft();

  1815.                     DeviceProcessLogShow("开始注油");

  1816.                     while (!morkF.FallOilComplete)

  1817.                     {

  1818.                         Task.Delay(5).Wait();

  1819.                     }

  1820.                 }

  1821.                 if (morkF.MainProcessPotLoc==2)

  1822.                 {

  1823.                     while (!morkF.SecondPotInPlace)

  1824.                     {

  1825.                         Task.Delay(5).Wait();

  1826.                     }

  1827.                     WriteData("M3.1", true);//加油

  1828.                     OpenDraft();

  1829.                     DeviceProcessLogShow("开始注油");

  1830.                     while (!morkF.SecondOilComplete)

  1831.                     {

  1832.                         Task.Delay(5).Wait();

  1833.                     }

  1834.                 }

  1835.                 

  1836.             }

  1837.             if (morkF.MinorProessStatus)

  1838.             {

  1839.                 if (morkF.MinorProcessPotLoc == 1)

  1840.                 {

  1841.                     while (!morkF.PotInPlace)

  1842.                     {

  1843.                         Task.Delay(5).Wait();

  1844.                     }

  1845.                     WriteData("M2.7", true);//加油

  1846.                     OpenDraft();

  1847.                     DeviceProcessLogShow("开始注油");

  1848.                     while (!morkF.FallOilComplete)

  1849.                     {

  1850.                         Task.Delay(5).Wait();

  1851.                     }

  1852.                 }

  1853.                 if (morkF.MinorProcessPotLoc == 2)

  1854.                 {

  1855.                     while (!morkF.SecondPotInPlace)

  1856.                     {

  1857.                         Task.Delay(5).Wait();

  1858.                     }

  1859.                     WriteData("M3.1", true);//加油

  1860.                     OpenDraft();

  1861.                     DeviceProcessLogShow("开始注油");

  1862.                     while (!morkF.SecondOilComplete)

  1863.                     {

  1864.                         Task.Delay(5).Wait();

  1865.                     }

  1866.                 }

  1867.             }

  1868.             //while (!morkF.FallOilComplete || !morkF.SecondOilComplete)

  1869.             //{

  1870.             //    Task.Delay(5).Wait();

  1871.             //}

  1872.             DeviceProcessLogShow("注油完成");

  1873. 

  1874.         }

  1875.         public void FirstPotTurnMachine(string orientation)

  1876.         {

  1877.             switch (orientation)

  1878.             {

  1879.                 case "Top": WriteData("M8.0", true);  break;

  1880.                 case "Down":  WriteData("M8.2", true); break;

  1881.             }

  1882.         }

  1883.         public void SecondPotTurnMachine(string orientation)

  1884.         {

  1885.             switch (orientation)

  1886.             {

  1887.                 case "Top": WriteData("M8.4", true); break;

  1888.                 case "Down": WriteData("M8.6", true); break;

  1889.             }

  1890.         }

  1891. 

  1892.         /// <summary>

  1893.         /// 翻转机方向控制

  1894.         /// </summary>

  1895.         /// <param name="orientation"></param>

  1896.         public int TurnMachineOrientControl(string orientation)

  1897.         {

  1898.             int potLoc=0; ;

  1899.             //switch (orientation)

  1900.             //{

  1901.             //    case "Top": if (morkF.MainProcessStatus) WriteData("M8.0", true); if (morkF.MinorProessStatus) WriteData("M8.4", true); break;

  1902.             //    case "Down": if (morkF.MainProcessStatus) WriteData("M8.2", true); if (morkF.MinorProessStatus) WriteData("M8.6", true); break;

  1903.             //}

  1904.             if (morkF.MainProcessStatus)

  1905.             {

  1906.                 if (morkF.MainProcessPotLoc == 1)

  1907.                 {

  1908.                     FirstPotTurnMachine(orientation);

  1909.                     potLoc = 1;

  1910.                 }

  1911.                 if (morkF.MainProcessPotLoc == 2)

  1912.                 {

  1913.                     SecondPotTurnMachine(orientation);

  1914.                     potLoc=2;

  1915.                 }

  1916.             }

  1917.             if (morkF.MinorProessStatus)

  1918.             {

  1919.                 if (morkF.MinorProcessPotLoc == 1)

  1920.                 {

  1921.                     FirstPotTurnMachine(orientation);

  1922.                     potLoc = 1;

  1923.                 }

  1924.                 if (morkF.MinorProcessPotLoc == 2)

  1925.                 {

  1926.                     SecondPotTurnMachine(orientation);

  1927.                     potLoc = 2;

  1928.                 }

  1929.             }

  1930.             DeviceProcessLogShow($"翻转机执行{orientation}操作");

  1931.             return potLoc;

  1932.         }

  1933. 

  1934.         public void FirstPotTurnMachine(int gear)

  1935.         {

  1936.             while (!morkF.PotInPlace)

  1937.             {

  1938.                 Task.Delay(5).Wait();

  1939.             }

  1940.             switch (gear)

  1941.             {

  1942.                 case 0: WriteData("M7.0", true); Task.Delay(1000).Wait(); break;//关闭翻炒机

  1943.                 case 1: WriteData("M7.1", true); break;//翻炒机1挡

  1944.                 case 2: WriteData("M7.2", true); break;//翻炒机2挡

  1945.                 case 3: WriteData("M7.3", true); break;//翻炒机3挡

  1946.             }

  1947.         }

  1948.         public void SecondPotTurnMachine(int gear)

  1949.         {

  1950.             while (!morkF.SecondPotInPlace)

  1951.             {

  1952.                 Task.Delay(5).Wait();

  1953.             }

  1954.             switch (gear)

  1955.             {

  1956.                 case 0: WriteData("M7.4", true); Task.Delay(1000).Wait(); break;//关闭翻炒机

  1957.                 case 1: WriteData("M7.5", true); break;//翻炒机1挡

  1958.                 case 2: WriteData("M7.6", true); break;//翻炒机2挡

  1959.                 case 3: WriteData("M7.7", true); break;//翻炒机3挡

  1960.             }

  1961.         }

  1962. 

  1963.         /// <summary>

  1964.         /// 翻转机档位控制

  1965.         /// </summary>

  1966.         public void TurnMachineGearsControl(int gear)

  1967.         {

  1968.             //while (!morkF.PotInPlace)

  1969.             //{

  1970.             //    Task.Delay(5).Wait();

  1971.             //}

  1972.             if (morkF.MainProcessStatus)

  1973.             {

  1974.                 if (morkF.MainProcessPotLoc==1)

  1975.                 {

  1976.                     FirstPotTurnMachine(gear);

  1977.                 }

  1978.                 if (morkF.MainProcessPotLoc == 2)

  1979.                 {

  1980.                     SecondPotTurnMachine(gear);

  1981.                 }

  1982.             }

  1983.             if (morkF.MinorProessStatus)

  1984.             {

  1985.                 if (morkF.MinorProcessPotLoc==1)

  1986.                 {

  1987.                     FirstPotTurnMachine(gear);

  1988.                 }

  1989.                 if (morkF.MinorProcessPotLoc == 2)

  1990.                 {

  1991.                     SecondPotTurnMachine(gear);

  1992.                 }

  1993.             }

  1994.             DeviceProcessLogShow($"翻转机档位调至{gear}挡");

  1995.         }

  1996.         /// <summary>

  1997.         /// 取A,B,C料

  1998.         /// </summary>

  1999.         public void TakeBurden(int loc)

  2000.         {

  2001.             if (morkF.MainProcessStatus && morkF.PotInPlace)

  2002.                 WriteData("M14.1", true);//机器人倒料至1号锅

  2003.             if (morkF.MinorProessStatus && morkF.SecondPotInPlace)

  2004.                 WriteData("M14.5", true);//机器人倒料至2号锅

  2005.         }

  2006.         /// <summary>

  2007.         /// 清洗模组1启停控制

  2008.         /// </summary>

  2009.         public void CleanModuleControl(string status, int loc)

  2010.         {

  2011.             if (loc == 1)

  2012.             {

  2013.                 if (status == "Start")

  2014.                 {

  2015.                     WriteData("M1.4", true);

  2016.                 }

  2017.                 if (status == "Stop")

  2018.                 {

  2019.                     WriteData("M1.4", false);

  2020.                 }

  2021.                 DeviceProcessLogShow($"清洗模组1执行【{status}】操作");

  2022.             }

  2023.             if (loc == 2)

  2024.             {

  2025.                 if (status == "Start")

  2026.                 {

  2027.                     WriteData("M1.7", true);

  2028.                 }

  2029.                 if (status == "Stop")

  2030.                 {

  2031.                     WriteData("M1.7", false);

  2032.                 }

  2033.                 DeviceProcessLogShow($"清洗模组2执行【{status}】操作");

  2034.             }

  2035.         }

  2036. 

  2037.         public override void Stop()

  2038.         {

  2039. 

  2040.         }

  2041. 

  2042.         public override void SimOrder()

  2043.         {

  2044. 

  2045.         }

  2046.     }

  2047. }