BPASmartClient/BPASmartClient.MorkSWithNoodleMachine/Control_MorkSVer3.cs

using static BPA.Helper.EventBus;
using System.Collections.Concurrent;
using BPASmartClient.CustomResource;
using BPASmartClient.MorkSVer3.Enum;
//using BPA.Helper;

namespace BPASmartClient.MorkSVer3
{
    public class Control_MorkSVer3 : BaseDevice
    {
        public override DeviceClientType DeviceType => DeviceClientType.MORKS;
        private GVL_MorkSVer3 mORKS = new GVL_MorkSVer3();
        private Alarm alarm = new Alarm();

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

            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if (o.Length > 0)
                {
                    Random rd = new Random();
                    TaskManage.GetInstance.StartLong(new Action(() =>
                    {
                        int NoodleLoc = (int)o[0] == 0 ? rd.Next(1, 4) : (int)o[0];
                        int BowlLoc = (int)o[1] == 0 ? rd.Next(10, 12) : (int)o[1];

                        string guid = Guid.NewGuid().ToString();
                        var locInfo = new OrderLocInfo() { Loc = (ushort)NoodleLoc, SuborderId = guid };
                        mORKS.MakeNoodleTask.Enqueue(locInfo);
                        mORKS.RBTakeNoodleTask.Enqueue(locInfo);
                        MessageLog.GetInstance.Show($"添加模拟订单【{guid}】：面条位置【{NoodleLoc}】");

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

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

        public override void ResetProgram()
        {
            mORKS = null;
            mORKS = new GVL_MorkSVer3();
        }

        public override void Stop()
        {
        }

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

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

            OrderNotifyInit();
        }


        #region 接口通知任务处理
        ConcurrentQueue<OrderStatusModel> osm = new ConcurrentQueue<OrderStatusModel>();
        private void OrderNotifyInit()
        {
            TaskManage.GetInstance.StartLong(() =>
            {
                while (osm.Count > 0)
                {
                    TempOrderChange(osm.ElementAt(0).SubOrderId, osm.ElementAt(0).Status, () =>
                    {
                        osm.TryDequeue(out OrderStatusModel tempOSM);
                        DeviceProcessLogShow($"订单:【{tempOSM.SubOrderId}】, 状态:【{tempOSM.Status}】,   API状态修改成功。");
                    });
                }
                Thread.Sleep(100);
            }, $"订单状态更新接口{DeviceId}", true);
        }

        private void TempOrderChange(string subid, ORDER_STATUS oRDER_STATUS, Action complete)
        {
            var res = mORKS.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            string goodName = string.Empty;
            string SortNum = string.Empty;
            if (res != null)
            {
                goodName = res.MorkOrder.GoodsName;
                SortNum = res.MorkOrder.SortNum.ToString();
            }
            if (!string.IsNullOrEmpty(goodName) && !string.IsNullOrEmpty(SortNum))
            {
                EventBus.GetInstance.Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType }, e => { complete?.Invoke(); });

                var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
                //如果订单信息已经存在，则修改状态，否则新增。
                if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
                {
                    if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
                    {
                        DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
                        DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
                        {
                            Status = oRDER_STATUS,
                            GoodName = goodName,
                            SortNum = SortNum,
                            StopTime = DateTime.Now.ToString("HH:mm:ss")
                        });
                    }
                    else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
                    {
                        var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
                        if (temp != null) DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
                    }
                    else DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
                }
                else
                {
                    DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
                    {
                        Status = oRDER_STATUS,
                        GoodName = goodName,
                        SortNum = SortNum,
                        StartTime = DateTime.Now.ToString("HH:mm:ss")
                    });
                }
            }
        }
        #endregion


        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            osm.Enqueue(new OrderStatusModel() { SubOrderId = subid, Status = oRDER_STATUS });
            return;
        }

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

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

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

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

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

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

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

            GetStatus("M13.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 3)
                {
                    mORKS.CylLeftPos = bools[0];
                    mORKS.CylRightPos = bools[1];
                    mORKS.CylRotate = bools[2];

                    alarm.NoodleBoxError = mORKS.CylRightPos == mORKS.CylLeftPos;
                }
            }));



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

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

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

            GetStatus("M20.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 1)
                {
                    mORKS.NMachMakeComp = bools[0];
                }
            }));

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

                    for (byte i = 0; i < 6; i++)
                    {
                        if (RTrig.GetInstance($"CookNoodleCom{i + 1}").Start(tt[0].GetBitValue((byte)(i + 1))))
                        {
                            if (!string.IsNullOrEmpty(mORKS.CookNodelId[i]))
                                mORKS.CookNoodleCom[i] = true;
                        }
                    }
                    mORKS.Heating = ushorts[0].GetBitValue(15);
                    mORKS.TemperatureReaches = ushorts[0].GetBitValue(16);

                    alarm.MachineLowTemperature = !mORKS.TemperatureReaches;
                }
            }));

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

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

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

        /// <summary>数据解析</summary>
        private void DataParse()
        {
            EventBus.GetInstance.Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
             {
                 if (@event == null)
                     return;
                 if (@event is DoOrderEvent order)
                 {
                     mORKS.doOrderEvents.Add(order);
                     //mORKS.doe.TryAdd(order.MorkOrder.SuborderId, order);
                     if (order.MorkOrder.GoodBatchings == null)
                         return;
                     if (mORKS.HistorySuborderId.Contains(order.MorkOrder.SuborderId))
                         return;
                     OrderCount++;
                     if (DateTime.Now.Subtract(Json<OrderStatistics>.Data.StatisticsTime).Days != 0)
                         Json<OrderStatistics>.Data.Count = 0;
                     Json<OrderStatistics>.Data.StatisticsTime = DateTime.Now;
                     Json<OrderStatistics>.Data.Count++;
                     Json<OrderStatistics>.Save();
                     OrderChange(order.MorkOrder.SuborderId, ORDER_STATUS.WAIT);
                     DeviceProcessLogShow($"接收到{OrderCount}次订单，订单ID：{order.MorkOrder.SuborderId}");
                     mORKS.HistorySuborderId.Add(order.MorkOrder.SuborderId);
                     foreach (var item in order.MorkOrder.GoodBatchings)
                     {
                         var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
                         if (res != null)
                         {
                             if (ushort.TryParse(res.BatchingLoc, out ushort loc))
                             {
                                 if (loc >= 1 && loc <= 3)
                                 {
                                     var result1 = mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null;
                                     var result2 = mORKS.MakeNoodleTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null;
                                     if (result1 && result2)
                                     {
                                         var info = new OrderLocInfo()
                                         {
                                             GoodName = order.MorkOrder.GoodsName,
                                             Loc = ushort.Parse(res.BatchingLoc),
                                             SuborderId = order.MorkOrder.SuborderId,
                                             SortNum = order.MorkOrder.SortNum,
                                             BatchingId = res.BatchingId
                                         };
                                         mORKS.RBTakeNoodleTask.Enqueue(info);
                                         mORKS.MakeNoodleTask.Enqueue(info);
                                     }
                                 }
                                 else if (loc >= 10 && loc <= 11)
                                 {
                                     int index = 0;
                                     if (recipeBoms != null)
                                     {
                                         index = Array.FindIndex(recipeBoms.RecipeIds?.ToArray(), p => p.RecipeId == order.MorkOrder.RecipeId);
                                         index++;
                                     }
                                     if (mORKS.TakeBowlTask.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
                                         mORKS.TakeBowlTask.Enqueue(new OrderLocInfo()
                                         {
                                             BatchingId = res.BatchingId,
                                             GoodName = order.MorkOrder.GoodsName,
                                             Loc = ushort.Parse(res.BatchingLoc),
                                             SuborderId = order.MorkOrder.SuborderId,
                                             SortNum = order.MorkOrder.SortNum,
                                             RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0
                                         });
                                 }
                             }
                         }
                     }
                 }
             });
        }

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

            TakeBowlTask();

            TakeNoodleTask();

            OutNoodleTask();

            SingleDetect();

            //TurntableControl();

            MakeNoodle();
            TurnBoxes();
        }

        private void BowlControl(OrderLocInfo orderLocInfo)
        {
            if (orderLocInfo.Loc >= 10 && orderLocInfo.Loc <= 11)
            {
                //mORKS.TakeBowlId = orderLocInfo.SuborderId;
                mORKS.TakeBowName = orderLocInfo.GoodName;
                mORKS.TakeBowSortNum = orderLocInfo.SortNum;
                TakeBowlControl(orderLocInfo.Loc);

                //OrderChange(mORKS.TakeBowlId, ORDER_STATUS.COOKING);
                OrderChange(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);

                //DeviceProcessLogShow($"订单【{mORKS.TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                //2023-8-5修改修改取碗打印日志。
                //DeviceProcessLogShow($"订单【{orderLocInfo.SuborderId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                DeviceProcessLogShow($"执行取碗控制,位置:[{orderLocInfo.Loc}]");

                mORKS.TakeBowlInterlock = true;
            }
        }

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

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

        private void MakeNoodle()
        {
            //TODO:可能会需要取消制作完成条件，刚开机可能没有制作完成。
            if (mORKS.AllowRun && !mORKS.MakeNoodleInterlock && mORKS.MakeNoodleTask.Count > 0 && mORKS.NMachMakeComp && mORKS.NoodleBoxes[0] == null)
            {
                if (mORKS.MakeNoodleTask.TryDequeue(out OrderLocInfo order))
                {
                    //TODO:具体物料大小份怎么定待商议。
                    var loc = order.Loc;
                    SetNMachMake(loc - 1);
                    mORKS.CurrentMakeNoodleID = order.SuborderId;
                    mORKS.CurrentMakeBatchingID = order.BatchingId;

                    DeviceProcessLogShow($"订单【{order.SuborderId}】开始制面【{order.Loc}】。");
                    mORKS.MakeNoodleInterlock = true;
                }
            }
        }
        private void TurnBoxes()
        {
            if (mORKS.AllowRun && !mORKS.TakeNoodleInterlock && !mORKS.MakeNoodleInterlock && mORKS.NMachMakeComp && mORKS.NoodleBoxes[0] != null && mORKS.NoodleBoxes[1] == null)
            {
                SwapNoodleBox();
            }
        }

        /// <summary>转台控制</summary>
        //private void TurntableControl()
        //{
        //    if (Global.EnableLocalSimOrder)
        //    {
        //        //不做轮询，直接取面，模拟订单使用
        //        if (mORKS.SiloInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
        //        {
        //            if (mORKS.TurntableLowPosition)
        //            {
        //                TurntableStart(mORKS.RBTakeNoodleTask.ElementAt(0).Loc);
        //                mORKS.TurntableLocLists.Clear();
        //                mORKS.AllowTakeNoodle = true;
        //                DeviceProcessLogShow($"控制机器人去转台【{mORKS.RBTakeNoodleTask.ElementAt(0).Loc}】号位置取面");
        //            }
        //        }
        //    }
        //    else
        //    {
        //        //正常轮询
        //        if (Delay.GetInstance("到位检测延时").Start(mORKS.SiloInPlace, 2))
        //        {
        //            if (mORKS.SiloInPlace && !mORKS.Feeding && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
        //            {
        //                var result = orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
        //                if (result != null)
        //                {
        //                    var res = result.FirstOrDefault(P => P.BatchingLoc == mORKS.CurrentFeedbackLoc.ToString());
        //                    if (mORKS.TurntableLowPosition && res != null)
        //                    {
        //                        TurntableStart(mORKS.CurrentFeedbackLoc);
        //                        mORKS.TurntableLocLists.Clear();
        //                        mORKS.AllowTakeNoodle = true;
        //                        DeviceProcessLogShow($"控制机器人去转台【{mORKS.CurrentFeedbackLoc}】号位置取面");
        //                    }
        //                    else
        //                    {
        //                        if (!mORKS.TurntableInterlock)
        //                        {
        //                            foreach (var item in result)
        //                            {
        //                                if (ushort.TryParse(item.BatchingLoc, out ushort loc))
        //                                {
        //                                    if (mORKS.CurrentFeedbackLoc != loc && !mORKS.TurntableLocLists.Contains(loc))
        //                                    {
        //                                        if (!mORKS.TurntableLowPosition)
        //                                        {
        //                                            DeviceProcessLogShow($"执行了转台启动互锁信号复位");
        //                                        }
        //                                        TurntableStart(loc);
        //                                        DeviceProcessLogShow($"没有物料检测的启动转台控制,转台位置：[{loc}]");
        //                                        break;
        //                                    }
        //                                    else if (mORKS.CurrentFeedbackLoc == loc && !mORKS.TurntableLocLists.Contains(loc))
        //                                        mORKS.TurntableLocLists.Add(loc);
        //                                }
        //                            }
        //                        }
        //                    }
        //                }
        //                else
        //                    DeviceProcessLogShow("未找到可用的物料信息");
        //            }
        //        }
        //    }

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

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

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

        /// <summary>取面任务</summary>
        private void TakeNoodleTask()
        {
            if (mORKS.AllowRun && mORKS.RobotStatus && !mORKS.RobotTaskInterlock && mORKS.AllowTakeNoodle && !mORKS.TakeNoodleInterlock && mORKS.RBTakeNoodleTask.Count > 0)
            {

                //查找煮面炉空闲位置
                int loc = mORKS.nsm.ToList().FindIndex(p => p.NoodleCookerStatus == false && p.IsShield == false);
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
                    {
                        //写入煮面时间
                        List<ushort> values = new List<ushort>();
                        var setTime = Json<MorksPar>.Data.parSets.ElementAt(loc);
                        values.Add(setTime.Minute);
                        values.Add(setTime.Second);
                        WriteData($"VW{324 + (loc * 4)}", values.ToArray());
                        DeviceProcessLogShow($"煮面炉[{loc + 1}]：写入煮面时间{setTime.Minute}分{setTime.Second}秒。");

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

                        mORKS.TakeNoodleInterlock = true;
                    }
                }

            }
        }

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

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

            //取餐完成逻辑处理
            if (RTrig.GetInstance("CompleteChange1").Start(mORKS.DiningComplete) && mORKS.CookCompleteFlatBit == true)
            {
                OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
                DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成");
                WriteData("M10.1", false);

                var orderEvent = mORKS.doOrderEvents.FirstOrDefault(order => order.MorkOrder.SuborderId == mORKS.OutMealId);
                mORKS.OutMealSortNum = orderEvent?.MorkOrder.SortNum ?? 0;

                DeviceProcessLogShow($"出餐订单序号【{mORKS.OutMealSortNum}】");
                VoiceAPI.Speak(mORKS.OutMealSortNum.ToString());

                //DeviceProcessLogShow($"叫号系统通知主题【MORKS/VoiceCall/{DeviceId}】");
                //Plugin.GetInstance.GetPlugin<MQTTMgr>().Publish($"MORKS/VoiceCall/{DeviceId}", mORKS.OutMealSortNum.ToString());
                mORKS.CookCompleteFlatBit = false;
                mORKS.OutMealId = string.Empty;
                mORKS.OutMealName = string.Empty;
                mORKS.OutMealSortNum = 0;
            }

            //机器人取面完成信号检测
            if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RobotTakeNoodleCom))
            {
                mORKS.TakeNoodleInterlock = false;
                mORKS.AllowTakeNoodle = false;
                mORKS.TurntableInterlock = false;
                DeviceProcessLogShow("检测到机器人取面完成信号");
            }
            //制面机制面完成信号检测
            if (RTrig.GetInstance("MakeNoodleCompleted").Start(mORKS.NMachMakeComp))
            {
                DeviceProcessLogShow($"检测到制面机制面完成信号，配方【{mORKS.CurrentMakeNoodleID}】");
                mORKS.MakeNoodleInterlock = false;
                mORKS.NoodleBoxes[0] = new()
                {
                    SubOrderID = mORKS.CurrentMakeNoodleID,
                    BathingID = mORKS.CurrentMakeBatchingID,
                    IsOccupy = true
                };
                mORKS.CurrentMakeNoodleID = string.Empty;

            }

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

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

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

            //2023-8-5注释修改，并联出餐请求，出餐优先。
            //mORKS.RobotTaskInterlock = mORKS.AllowInvertedFace && (mlCount >= 6 || mORKS.RBTakeNoodleTask.Count == 0 || mORKS.PriorityJudgment);
            mORKS.RobotTaskInterlock = mORKS.AllowInvertedFace && (OutMealRequstCount >= 1 || mORKS.RBTakeNoodleTask.Count == 0 || mORKS.PriorityJudgment);
        }

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

        #region PLC 控制函数

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

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

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

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

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

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

        /// <summary>
        /// 制面机制面
        /// </summary>
        private async void SetNMachMake(int noodleSize, int number = 1)
        {
            if (number <= 0)
            {
                throw new ArgumentException("份数不应小于1。");
            }

            WriteData($"M20.{(5 + noodleSize)}", true);
            WriteData("VD800", number);
            Task.Delay(1000).Wait();
            WriteData("M20.2", new bool[] { true, true });
            await Task.Delay(1000);
            WriteData($"M20.{(5 + noodleSize)}", false);
            WriteData("M20.2", false);

        }
        /// <summary>
        /// 交换制面框
        /// </summary>
        private void SwapNoodleBox()
        {
            bool oper = false;
            if (mORKS.CylLeftPos)
            {
                oper = false;
            }
            else if (mORKS.CylRightPos)
            {
                oper = true;
            }
            WriteData("M13.2", oper);
            //todo:应该校验到位信号。
            //交换
            Swap(mORKS.NoodleBoxes, 0, 1);
        }
        public override void SimOrder()
        {
            EventBus.GetInstance.Subscribe<MorksSimorderModel>(0, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                if (@event != null && @event is MorksSimorderModel msm)
                {
                    string guid = Guid.NewGuid().ToString();
                    if (msm.NoodleLoc >= 1 && msm.NoodleLoc <= 3)
                    {
                        var locInfo = new OrderLocInfo() { Loc = (ushort)msm.NoodleLoc, SuborderId = guid };
                        mORKS.MakeNoodleTask.Enqueue(locInfo);
                        mORKS.RBTakeNoodleTask.Enqueue(locInfo);
                        MessageLog.GetInstance.Show($"添加模拟订单【{guid}】：面条位置【{(ushort)msm.NoodleLoc}】");
                    }

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

        #endregion PLC 控制函数

        static void Swap<T>(T[] list, int index1, int index2)
        {
            T temp = list[index1];
            list[index1] = list[index2];
            list[index2] = temp;
        }
    }
}