BPASmartClient/BPASmartClient.MorkTM/Control_MorkTM.cs

using BPA.Message;
using BPA.Message.Enum;
using BPASmartClient.Device;
using BPASmartClient.EventBus;
using BPASmartClient.Helper;
using BPASmartClient.Message;
using BPASmartClient.Model;
using BPASmartClient.Model.PLC;
using BPASmartClient.MorkTM;
using BPASmartClient.MorkTM.Model;
using System.Collections.Concurrent;
using static BPASmartClient.EventBus.EventBus;

namespace BPASmartClient.MorkTM
{
    public class Control_MorkTM : BaseDevice
    {
        public override global::BPA.Message.Enum.DeviceClientType DeviceType { get { return BPA.Message.Enum.DeviceClientType.TMC_MT; } }

        GVL_MorkTM morkTM = new GVL_MorkTM();
       
        PolymerBatching polymer = new PolymerBatching();

        //浮点数放大倍数
        const int expand = 100;

        public override void DoMain()
        {
            ServerInit();
            DataParse();
            polymer.GetMaterialInfo();
            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if(o.Length > 0)
                {
                    Dictionary<int, float> res = new Dictionary<int, float>();
                    res.Add(Convert.ToInt32(o[0]), Convert.ToSingle(o[1]));
                    SetMatertialWeight(res);
                    Thread.Sleep(100);
                    OpenUsePassageWay(Convert.ToInt32(o[0]));
                }
            }), "通道口出料");

            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if(o.Length > 0)
                {
                    PosionTurnOnTest(Convert.ToInt32(o[0]));
                }
            }), "转盘转动");
           
            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if (o.Length > 0)
                {
                    OpenPassway(Convert.ToInt32(o[0]));
                }
            }), "开启通道");

            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if (o.Length > 0)
                {
                    CheckPassway(Convert.ToInt32(o[0]), Convert.ToInt32(o[1]));
                }
            }), "开始矫正");
            ActionManage.GetInstance.Register(new Action<object[]>((o) =>
            {
                if (o.Length > 0)
                {
                    CheckMaterailWeight(Convert.ToInt32(o[0]), Convert.ToInt32(o[1]));
                }
            }), "矫正重量");


            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");
            morkTM.ReachPosions = new List<bool>() { morkTM.ReachPosion_1, morkTM.ReachPosion_2, morkTM.ReachPosion_3, morkTM.ReachPosion_4, morkTM.ReachPosion_5, morkTM.ReachPosion_6 , morkTM.ReachOutPosion_0, };
            

            DeviceProcessLogShow("设备初始化完成");

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

            //配方数据信息
            EventBus.EventBus.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is RecipeBomEvent recipe)
                {
                    recipeBoms = recipe.recipeBoms;
                }
            });
        }
        private void DataParse()
        {
            EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if(@event == null) return;
                if(@event is DoOrderEvent order)
                {
                    if (order.MorkOrder.GoodBatchings == null) return;
                    OrderCount++;
                    morkTM.doOrderEvents.Add(order);
                    OrderChange(order.MorkOrder.SuborderId, ORDER_STATUS.WAIT);
                    DeviceProcessLogShow($"接收到{OrderCount}次订单");
                    Dictionary<int, float> OrderPushes = new Dictionary<int, float>();
                    foreach (var item in order.MorkOrder.GoodBatchings)
                    {
                        var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
                        if (res != null)
                        {
                            OrderPushes.TryAdd(int.Parse(res.BatchingLoc), item.BatchingCount);
                        }    
                    }

                    morkTM.morkOrderPushesTeaWithMilk.Enqueue(new OrderLocInfo()
                    {
                        GoodName = order.MorkOrder.GoodsName,
                        SuborderId = order.MorkOrder.SuborderId,
                        GoodPushes = OrderPushes
                    });
                }
            });
        }
        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            var res = morkTM.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
            string goodName = string.Empty;
            string SortNum = string.Empty;
            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() 
            { 
                SortNum = res.MorkOrder. SortNum.ToString(),
                GoodName = res.MorkOrder.GoodsName, 
                Status = oRDER_STATUS, 
                SubOrderId = res.MorkOrder.SuborderId, 
                deviceClientType = DeviceType 
            });
            if(oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK) morkTM.doOrderEvents.Remove(res);
        }
        

        public override void MainTask()
        {
            IsHealth = true;
            MakeTeaWithMilkProcess();
        }

        private void MakeTeaWithMilkProcess()
        {
            if (morkTM.morkOrderPushesTeaWithMilk.Count > 0)
            {
                if (morkTM.morkOrderPushesTeaWithMilk.TryDequeue(out OrderLocInfo orderLoc)) //&&原点位置是否有杯子)
                {
                    DeviceProcessLogShow($"开始制作奶茶{orderLoc.GoodName}");
                    morkTM.MakeCount = 0;
                    SetMatertialWeight(orderLoc.GoodPushes);//设置物料出料量
                    morkTM.RecipesPushes.Clear();
                    morkTM.RecipesPushes = orderLoc.GoodPushes;
                    MakeProcess(orderLoc.GoodName, morkTM.MakeCount, morkTM.RecipesPushes.Count);//制作进度
                    OrderChange(orderLoc.SuborderId, ORDER_STATUS.COOKING);
                    foreach (var item in morkTM.RecipesPushes)
                    {
                        morkTM.MakeCount++;
                        PosionTurnOn(item.Key);//设定转盘位置并等待到位信号
                        Thread.Sleep(1000);
                        OpenUsePassageWay(item.Key);//打开通道并等待出料完成
                        DeviceProcessLogShow($"奶茶{orderLoc.GoodName}：配料{item.Key}:添加量{item.Value}");
                        MakeProcess(orderLoc.GoodName,morkTM.MakeCount,morkTM.RecipesPushes.Count);
                    }
                    TurnOutPosion();
                    OrderChange(orderLoc.SuborderId, ORDER_STATUS.COMPLETED_COOK);
                    MakeProcess(orderLoc.GoodName, 1, 1);
                    DeviceProcessLogShow($"奶茶{orderLoc.GoodName}制作完成");
                }
            }
        }
        /// <summary>
        /// 打开出料通道
        /// </summary>
        private void OpenUsePassageWay(int pos)
        {
            string address = "";
            foreach (var item in polymer.OutPosionPLCs)//根据位置筛选物料plc点位
            {
                if(item.posion is MaterialPosion posion)
                {
                    if(posion ==  (MaterialPosion)pos)
                    {
                        WriteData(item.SetPLCPosion,true);
                        address = item.GetPLCPosion;
                        return;
                    }
                }
            }
            while(!morkTM.outMaterialCompletes[pos]) //等待出料完成
            {
                Thread.Sleep(1000);
            }
            WriteData(address, false);


        }

        /// <summary>
        /// 转盘旋转位置设定
        /// </summary>
        /// <param name="posion"></param>
        private void PosionTurnOn(int posion)
        {
            int i = 0;
            string address = "";
            foreach (var item in polymer.GoodsMaterialPosion)
            {
                if (item.Key.Contains((MaterialPosion)posion))
                { 
                    WriteData(item.Value.SetPLCPosion,true);
                    i = Convert.ToInt32(item.Value.posion);
                    address = item.Value.GetPLCPosion;
                    return;
                } 
            }
            while(!morkTM.ReachPosions[i-1])//等待转盘到达信号
            {
                Thread.Sleep(1000);
            }
            if(address != null) WriteData(address, false);//把信号置为0


        }

        #region 调试功能
        /// <summary>
        /// 转盘回原点
        /// </summary>
        private void TurnOutPosion()
        {
            WriteData("M4.6", true);
            while (!morkTM.ReachPosions[6])
            {
                Thread.Sleep(1000);
            }
            WriteData("M14.6", false);
        }
        /// <summary>
        /// 调试转盘
        /// </summary>
        /// <param name="posion"></param>
        private void PosionTurnOnTest(int posion)
        {
            if(posion==0) TurnOutPosion();
            else
            {
                string address = string.Empty;
                int i = 0;
                foreach (var item in polymer.TurnPosionPLCs)
                {
                    
                    if ((OutMaterialPosion)item.posion == (OutMaterialPosion)posion)
                    {
                        WriteData(item.SetPLCPosion, true);
                        address = item.GetPLCPosion;
                        i = Convert.ToInt32(item.posion);
                        return ;
                    }
                }
                while(morkTM.ReachPosions[posion - 1])
                {
                    Thread.Sleep(1000);
                }
                WriteData(address,false);
                DeviceProcessLogShow($"转盘转动到位置{i}");
            }
        }

        /// <summary>
        /// 开启通道
        /// </summary>
        private void OpenPassway(int posion)
        {
            foreach(var item in polymer.OutPosionPLCs)
            {
                if((MaterialPosion)item.posion == (MaterialPosion)posion)
                {
                    WriteData(item.SetPLCPosion,true);
                    return ;
                }   
            }
        }
        /// <summary>
        /// 开始校正
        /// </summary>
        /// <param name="passway"></param>
        /// <param name="time"></param>
        private void CheckPassway(int passway,int time)
        {
            WriteData(polymer.PasswayPosionList[(MaterialPosion)passway], Convert.ToInt32(time * expand));//写入出料时间
            Thread.Sleep(100);
            WriteData("M5.0", true);//开始校正
        }

        /// <summary>
        /// 确认校正重量
        /// </summary>
        private void CheckMaterailWeight(int passway,float weight)
        {
            WriteData(polymer.PasswayPosionList[(MaterialPosion)passway], weight*expand);
           
        }

        /// <summary>
        /// 奶茶制作进度
        /// </summary>
        private void MakeProcess(string goodName,int percent,int count)
        {
            int res = Convert.ToInt32(Math.Floor((double)percent / count)) * 100;
            ActionManage.GetInstance.Send("奶茶制作进度",new object[] {goodName, res });
        }
        #endregion

        /// <summary>
        /// 把每一个物料的用量写入plc
        /// </summary>
        /// <param name="materials"></param>
        private void SetMatertialWeight(Dictionary<int, float> materials)
        {
            foreach (var material in materials)
            {
                int value  =  Convert.ToInt32(material.Value*expand);
                WriteData(polymer.MaterialPosionList[(MaterialPosion)material.Key], value);
                DeviceProcessLogShow($"通道{material.Key}预设料{material.Value}g");
                Thread.Sleep(200);
            }
        }
            
        
        public override void ReadData()
        {
            
            //启用通道的地址1
            GetStatus("M0.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 28)
                {

                }
            }));

           
           
            GetStatus("M10.0",new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 28)
                {
                    for (int i = 0; i < 28; i++)
                    {
                        if (morkTM.outMaterialCompletes.ContainsKey(i+1))
                        {
                            morkTM.outMaterialCompletes[i+1] = bools[i];
                        }
                        else
                        {
                            morkTM.outMaterialCompletes.Add(i+1, bools[i]);
                        }
                    }
                }
                
            }));
            //转盘移动的地址
            GetStatus("M4.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 7)
                {

                }
            }));
            //装盘移动到位的地址
            GetStatus("M14.0", new Action<object>((obj) =>
            {
                if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 7)
                {
                    morkTM.ReachPosion_1 = bools[0];
                    morkTM.ReachPosion_2 = bools[1];
                    morkTM.ReachPosion_3 = bools[2];
                    morkTM.ReachPosion_4 = bools[3];
                    morkTM.ReachPosion_5 = bools[4];
                    morkTM.ReachPosion_6 = bools[5];
                    morkTM.ReachOutPosion_0 = bools[6];
                    for (int i = 0; i < 7; i++)
                    {
                        morkTM.ReachPosions[i] = bools[i];
                    }
                }
            }));


        }

        public override void ResetProgram()
        {
            morkTM = null;
            morkTM = new GVL_MorkTM();
        }

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

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

        public override void SimOrder()
        {
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                if (o is string goodName)
                {

                }
            }), "");
        }

        public override void Stop()
        {
            throw new NotImplementedException();
        }
    }
}