BPASmartClient/FryPot_DosingSystem/Control/DosingLogicControl.cs

using BPASmartClient.AGV;
using BPASmartClient.AGV.Enums;
using BPASmartClient.AGV.Feedback;
using BPASmartClient.CustomResource.Pages.Model;
using BPASmartClient.Helper;
using BPASmartClient.HubHelper;
using FryPot_DosingSystem.Model;
using FryPot_DosingSystem.ViewModel;
using Newtonsoft.Json;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Media;
using System.Windows;
using FryPot_DosingSystem.AGV;
using FryPot_DosingSystem.FryPotStatus;
using System.IO;
using System.Runtime.Serialization.Formatters.Binary;
using System.Diagnostics;
using BPASmartClient.CustomResource.UserControls.MessageShow;
using BPASmartClient.CustomResource.UserControls;
using Renci.SshNet.Messages;

namespace FryPot_DosingSystem.Control
{
    internal class DosingLogicControl
    {
        public static DosingLogicControl _instance;
        public static DosingLogicControl GetInstance => _instance ??= new DosingLogicControl();

        public ushort[] RollerNum = new ushort[] { 101, 102, 103, 104, 105, 106, 107, 108, 201, 202, 203, 204, 205, 206, 207, 208, 301, 302, 303, 304, 305, 306, 307, 308, 401, 402, 403, 404, 405, 406, 407, 408, 501, 502, 503, 504, 505, 506, 507, 508 };

        
        /// <summary>
        /// 桶净重
        /// </summary>r
        public ushort RollerNetweight = 19;//19公斤

        /// <summary>
        /// 滚筒线PLC数据
        /// </summary>
        public ConcurrentDictionary<string, object> PlcReadData = new ConcurrentDictionary<string, object>();

        public ConcurrentDictionary<string, object> FryOneData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryTwoData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryThreeData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryFourData = new ConcurrentDictionary<string, object>();
        public ConcurrentDictionary<string, object> FryFiveData = new ConcurrentDictionary<string, object>();
        /// <summary>
        /// 线体1配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> RecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体2配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> LTwoRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体3配方队列
        /// </summary>
        public ConcurrentQueue<NewRecipeModel> LThreeRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
        /// <summary>
        /// 线体1进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> InputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体2进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LTwoInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体3进料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LThreeInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体1出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> OutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体2出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LTwoOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 线体3出料原料队列
        /// </summary>
        public ConcurrentQueue<MaterialInfo> LThreeOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
        /// <summary>
        /// 全局变量对象声明
        /// </summary>
        GlobalVariable globalVar;
        /// <summary>
        /// 线体状态对象声明
        /// </summary>
        HardWareStatusViewModel hardWareStatusModel;
        ///// <summary>
        ///// 炒锅1状态
        ///// </summary>
        //PotOneStatus fryOne;
        ///// <summary>
        ///// 炒锅2状态
        ///// </summary>
        //PotTwoStatus fryTwo;
        ///// <summary>
        ///// 炒锅3状态
        ///// </summary>
        //PotThreeStatus fryThree;
        ///// <summary>
        ///// 炒锅4状态
        ///// </summary>
        //PotFourStatus fryFour;
        ///// <summary>
        ///// 炒锅5状态
        ///// </summary>
        //PotFiveStatus fryFive;
        /// <summary>
        /// 报警信息对象声明
        /// </summary>
        #region 上位机内部变量
        int FryPotAlarm = 0;//炒锅1滚筒故障信号 1：无故障 -1：故障
        int FryPotTwoAlarm = 0;//炒锅2滚筒故障信号 1：无故障 -1：故障
        int FryPotThreeAlarm = 0;//炒锅3滚筒故障信号 1：无故障 -1：故障
        int FryPotFourAlarm = 0;//炒锅4滚筒故障信号 1：无故障 -1：故障
        int FryPotFiveAlarm = 0;//炒锅5滚筒故障信号 1：无故障 -1：故障
        int ReicpeNum = 0;//记录接收到的配方数
        bool ErrorRecipe;//线体1错误配方标识
        bool LTwoErrorRecipe;//线体2错误配方标识
        bool LThreeErrorRecipe;//线体3错误配方标识
        string fryOneRecipe = string.Empty;
        string fryTwoRecipe = string.Empty;
        string fryThreeRecipe = string.Empty;
        string fryFourRecipe = string.Empty;
        string fryFiveRecipe = string.Empty;
        #endregion
        #region agv临时变量
        //bool agvArriveUpLoad = false;//agv是否到达线体1上料位置
        //bool agvArriveLTwoUpLoad = false;//agv是否到达线体2上料位置
        //bool agvArriveLThreeUpLoad = false;//agv是否到达线体3上料位置

        //bool agvArriveUnLoad = false;//线体1 agv是否到达炒锅送料位置
        //bool LTwoagvArriveUnLoad = false;//线体2 agv是否到达炒锅送料位置
        //bool LThreeagvArriveUnLoad = false;//线体3 agv是否到达炒锅送料位置

        //bool agvFryPotEmptyRollerArrive = false;// 线体1的agv是否拿到炒锅空桶
        //bool LTwoagvFryPotEmptyRollerArrive = false; //线体2的agv是否拿到炒锅空桶
        //bool LThreeagvFryPotEmptyRollerArrive = false;//线体3的agv是否拿到炒锅空桶

        string LOnerobotJobId = string.Empty;//线体1当前上游系统任务号，全局唯一  从线体1到炒锅路径
        string LTworobotJobId = string.Empty;//线体2当前上游系统任务号，全局唯一  从线体2到炒锅路径
        string LThreerobotJobId = string.Empty;//线体3当前上游系统任务号，全局唯一 从线体3到炒锅路径
        string LFourrobotJobId = string.Empty;//线体4当前上游系统任务号，全局唯一 从炒锅1、4到线体4路径
        string LFiverobotJobId = string.Empty; //从炒锅2、5到线体4路径
        string LSixrobotJobId = string.Empty;  //从炒锅3到线体4路径
        List<string> LSevenrobotJobId = new List<string>(); //从线体1到清洗台路径
        List<string> LEightrobotJobId = new List<string>();//从线体2到清洗台路径
        List<string> LNinerobotJobId = new List<string>(); //从线体3到清洗台路径
        List<string> LTenrobotJobId = new List<string>(); //从清洗台到线体4路径

        Dictionary<string, int> agvCode = new Dictionary<string, int>() { { "ZT11-21", 1 }, { "ZT11-22", 2 }, { "ZT11-23", 3 }, { "ZT11-24", 4 } };//agv小车的编号对AGV动画小车编号

        private static readonly object Obj_Lock = new object();//3条滚筒线洗桶线程互斥锁

        private static readonly object Pot_Lock = new object();//炒股工艺工艺下发锁
        public int CleanNum = 0;//当前清洗台桶数

        ushort LOneCurrentRollerNum = 0;//当前线体1的空桶桶号
        ushort LTwoCurrentRollerNum = 0;//当前线体2的空桶桶号
        ushort LThreeCurrentRollerNum = 0;//当前线体3的空桶桶号


        public NewRecipeModel potOneCurrentRecipe = null;
        public NewRecipeModel potTwoCurrentRecipe = null;
        public NewRecipeModel potThreeCurrentRecipe = null;
        public NewRecipeModel potFourCurrentRecipe = null;
        public NewRecipeModel potFiveCurrentRecipe = null;
        
        #endregion
        /// <summary>
        /// 调试命令注册
        /// </summary>
        public void CommandRegist()
        {

            #region 线体空桶清洗及回收调试
            ActionManage.GetInstance.Register(new Action(() =>
               {
                   globalVar.agvArriveLineOneLoadEmptyRoller = true;

               }), "AgvArriveLineOneEmptyRollerLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineTwoLoadEmptyRoller = true;

            }), "AgvArriveLineTwoEmptyRollerLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLineThreeLoadEmptyRoller = true;

            }), "AgvArriveLineThreeEmptyRollerLoc");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.CleanComplete = 1;

            //}), "CleanPlateCallAgv");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.rollerLineOne.agvArriveCleanUnLoad = true;//清洗台空桶下料就位
            //    globalVar.rollerLineTwo.agvArriveCleanUnLoad = true;
            //    globalVar.rollerLineThree.agvArriveCleanUnLoad = true;

            //}), "AgvArriveCleanPlateLoc");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveCleanLoad = true;//清洗台空桶上料就位

            }), "AgvArriveCleanPlateLocLoad");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.agvArriveLineFour = true;
            //    globalVar.rollerLineOne.agvArriveLineFour = true;
            //    globalVar.rollerLineTwo.agvArriveLineFour = true;
            //    globalVar.rollerLineThree.agvArriveLineFour = true;
            //}), "AgvArriveLineFourLoc");


            #endregion
            //接口调试
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    string id = Guid.NewGuid().ToString("D");
            //    string errorCode = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
            //    if (errorCode == "SUCCESS")
            //    {
            //        MessageNotify.GetInstance.ShowRunLog($"AGV任务下发成功");
            //    }
            //    else if (errorCode == "Analysis Error")
            //    {
            //        MessageNotify.GetInstance.ShowRunLog($"提示：AGV 调用API失败，请检查请求报文");
            //    }
            //    else
            //    {
            //        MessageNotify.GetInstance.ShowRunLog($"提示：AGV任务下发失败，错误码:{errorCode}");
            //    }
            //}), "AgvDebug");

            //ActionManage.GetInstance.Register(() =>
            //{
            //    MessageNotify.GetInstance.ShowRunLog("清洗台卸桶完成");

            //}, "AgvArriveCleanPlateLocCom");

            //ActionManage.GetInstance.Register(() =>
            //{
            //    MessageNotify.GetInstance.ShowRunLog("清洗台空桶在【4】号线卸桶完成");
            //    MessageNotify.GetInstance.ShowRunLog("【1】号线炒锅空桶在【4】号线卸桶完成");
            //    MessageNotify.GetInstance.ShowRunLog("【2】号线炒锅空桶在【4】号线卸桶完成");
            //    MessageNotify.GetInstance.ShowRunLog("【3】号线炒锅空桶在【4】号线卸桶完成");

            //}, "AgvArriveLineFourLocCom");
            //ActionManage.GetInstance.Register(() =>
            //{
            //    MessageNotify.GetInstance.ShowRunLog("清洗台空桶装载完成");

            //}, "AgvArriveCleanPlateLocLoadCom");

            //ActionManage.GetInstance.Register(() =>
            //{
            //    // globalVar.rollerLineOne.RecipeCompleteSingle = 1;

            //}, "LineOneRecipeComSignal");
            //ActionManage.GetInstance.Register(() =>
            //{
            //    //  globalVar.rollerLineTwo.RecipeCompleteSingle = 1;

            //}, "LineTwoRecipeComSignal");
            //ActionManage.GetInstance.Register(() =>
            //{
            //    // globalVar.rollerLineThree.RecipeCompleteSingle = 1;

            //}, "LineThreeRecipeComSignal");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.agvArriveLineOneLoadCom = true;
            //}), "AgvLineOneLoadEmptyCom");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.agvArriveLineTwoLoadCom = true;
            //}), "AgvLineTwoLoadEmptyCom");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.agvArriveLineThreeLoadCom = true;
            //}), "AgvLineThreeLoadEmptyCom");

            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.rollerLineOne.CanRun = true;
            //}), "AGVLineOneLoadCom");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.rollerLineTwo.CanRun = true;
            //}), "AGVLineTwoLoadCom");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.rollerLineThree.CanRun = true;
            //}), "AGVLineThreeLoadCom");

            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.rollerLineOne.OutMaterialingSingle = 1;
            //}), "RollerLineRunning");
            //ActionManage.GetInstance.Register(new Action<object>((obj) =>
            //{
            //    globalVar.rollerLineOne.StationEight = (ushort)obj;
            //}), "EightWorkLoc");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.fryPotOne.InputMaterialArrivedSingle = 1;
            //    globalVar.fryPotFour.InputMaterialArrivedSingle = 1;
            //}), "FryPotInputArrive");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.fryPotOne.EmptyBarrelArrivedSingle = 1;
            //    globalVar.fryPotFour.EmptyBarrelArrivedSingle = 1;
            //}), "FryPotEmptyRollerArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUpLoad = true;
            }), "AGVLOneArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUnLoad = true;
            }), "AGVFryPotDownArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveUpLoad = true;
            }), "AGVFryPotUpArrive");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.agvFryPotEmptyRollerArrive = true;

            //}), "AGVFryPotGetEmptyRoller");
            //滚筒线2
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.rollerLineTwo.OutMaterialingSingle = 1;
            //}), "RollerLineTwoRunning");
            //ActionManage.GetInstance.Register(new Action<object>((obj) =>
            //{
            //    globalVar.rollerLineTwo.StationEight = (ushort)obj;
            //}), "TwoEightWorkLoc");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.fryPotTwo.InputMaterialArrivedSingle = 1;
            //    globalVar.fryPotFive.InputMaterialArrivedSingle = 1;
            //}), "FryPotTwoInputArrive");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.fryPotTwo.EmptyBarrelArrivedSingle = 1;
            //    globalVar.fryPotFive.EmptyBarrelArrivedSingle = 1;
            //}), "FryPotTwoEmptyRollerArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLTwoUpLoad = true;
            }), "AGVLTwoArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.LTwoagvArriveUnLoad = true;
            }), "AGVFryPotTwoDownArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLTwoUpLoad = true;
            }), "AGVFryPotTwoUpArrive");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.LTwoagvFryPotEmptyRollerArrive = true;

            //}), "AGVFryPotTwoGetEmptyRoller");
            //滚筒线3
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.rollerLineThree.OutMaterialingSingle = 1;
            //}), "RollerLineThreeRunning");
            //ActionManage.GetInstance.Register(new Action<object>((obj) =>
            //{
            //    globalVar.rollerLineThree.StationEight = (ushort)obj;
            //}), "ThreeEightWorkLoc");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.fryPotThree.InputMaterialArrivedSingle = 1;
            //}), "FryPotThreeInputArrive");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.fryPotThree.EmptyBarrelArrivedSingle = 1;
            //}), "FryPotThreeEmptyRollerArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLThreeUpLoad = true;
            }), "AGVLThreeArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.LThreeagvArriveUnLoad = true;
            }), "AGVFryPotThreeDownArrive");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.agvArriveLThreeUpLoad = true;
            }), "AGVFryPotThreeUpArrive");
            //ActionManage.GetInstance.Register(new Action(() =>
            //{
            //    globalVar.LThreeagvFryPotEmptyRollerArrive = true;

            //}), "AGVFryPotThreeGetEmptyRoller");
        }
        public DosingLogicControl()
        {
            globalVar = new GlobalVariable();
            //fryOne = new PotOneStatus();
            //fryTwo = new PotTwoStatus();
            //fryThree = new PotThreeStatus();
            //fryFour = new PotFourStatus();
            //fryFive = new PotFiveStatus();
            hardWareStatusModel = HardWareStatusViewModel.GetInstance;
            DateTimeJudge();
            FileRegClean();
            ActionManage.GetInstance.Register(new Action<object[]>(RecipeDataParse), "RecipeSetDown");
            //ActionManage.GetInstance.Register(new Action(() => { RecipeQuene.Clear(); InputMaterialQuene.Clear(); OutputMaterialQuene.Clear(); LTwoInputMaterialQuene.Clear(); LTwoOutputMaterialQuene.Clear(); LThreeInputMaterialQuene.Clear(); LThreeOutputMaterialQuene.Clear(); }), "ClearRecipes");
            ActionManage.GetInstance.Register(new Action(() => { RecipeQuene.Clear(); InputMaterialQuene.Clear(); OutputMaterialQuene.Clear(); }), "ClearOneRecipes");
            ActionManage.GetInstance.Register(new Action(() => { LTwoRecipeQuene.Clear(); LTwoInputMaterialQuene.Clear(); LTwoOutputMaterialQuene.Clear(); }), "ClearTwoRecipes");
            ActionManage.GetInstance.Register(new Action(() => { LThreeRecipeQuene.Clear(); LThreeInputMaterialQuene.Clear(); LThreeOutputMaterialQuene.Clear(); }), "ClearThreeRecipes");
            //ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 1; }), "StartPlcInite");
            //ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 0; }), "EndPlcInite");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitLineOneTask = true; LineOneTaskRestart(); }), "LineOneTaskExit");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitLineTwoTask = true; LineTwoTaskRestart(); }), "LineTwoTaskExit");
            ActionManage.GetInstance.Register(new Action(() => { globalVar.ExitLineThreeTask = true; LineThreeTaskRestart(); }), "LineThreeTaskExit");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.ExitLineOneTask = true;
                LineOneEmptyRollerCleanTaskRestart();

            }), "EmptyRollerCleanTaskRestart");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.ExitLineTwoTask = true;
                LineTwoEmptyRollerCleanTaskRestart();

            }), "LineTwoEmptyRollerCleanTaskRestart");
            ActionManage.GetInstance.Register(new Action(() =>
            {
                globalVar.ExitLineThreeTask = true;
                LineThreeEmptyRollerCleanTaskRestart();

            }), "LineThreeEmptyRollerCleanTaskRestart");
            HubHelper.GetInstance.Report = new Action<object>(AgvTaskUpReportDataAnalysis);
            HubHelper.GetInstance.Upstreamrequest = new Action<object>(AgvFeedBackUpReportDataAnalysis);
            //ResetProgram();
            ReadPlcData();
            HeatBeatToPlc();
            SaveFryPotData();
            MainTask();
            CommandRegist();
        }

        private void HeatBeatToPlc()
        {
            ThreadManage.GetInstance().StartLong(new Action(() => {
                DeviceOperate.GetInstance.WritePlcData("D0001", 1);
                Thread.Sleep(500);
                DeviceOperate.GetInstance.WritePlcData("D0001", 0);
                Thread.Sleep(500);
            }), "上位机心跳下发滚筒线", true);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                DeviceOperate.GetInstance.WritePotOnePlcData("D0001", 1);
                Thread.Sleep(500);
                DeviceOperate.GetInstance.WritePotOnePlcData("D0001", 0);
                Thread.Sleep(500);
            }), "上位机心跳下发1号炒锅", true);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                DeviceOperate.GetInstance.WritePotTwoPlcData("D0001", 1);
                Thread.Sleep(500);
                DeviceOperate.GetInstance.WritePotTwoPlcData("D0001", 0);
                Thread.Sleep(500);
            }), "上位机心跳下发2号炒锅", true);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                DeviceOperate.GetInstance.WritePotThreePlcData("D0001", 1);
                Thread.Sleep(500);
                DeviceOperate.GetInstance.WritePotThreePlcData("D0001", 0);
                Thread.Sleep(500);
            }), "上位机心跳下发3号炒锅", true);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                DeviceOperate.GetInstance.WritePotFourPlcData("D0001", 1);
                Thread.Sleep(500);
                DeviceOperate.GetInstance.WritePotFourPlcData("D0001", 0);
                Thread.Sleep(500);
            }), "上位机心跳下发4号炒锅", true);
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                DeviceOperate.GetInstance.WritePotFivePlcData("D0001", 1);
                Thread.Sleep(500);
                DeviceOperate.GetInstance.WritePotFivePlcData("D0001", 0);
                Thread.Sleep(500);
            }), "上位机心跳下发5号炒锅", true);
        }


        /// <summary>
        /// 文件数据定期清理
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void FileRegClean()
        {
            try
            {
                int days = 5;   //清除期限
                string[] filesOne = Directory.GetDirectories("AccessFile//DB//炒锅1状态数据");
                if (filesOne.Count() > 0)
                {
                    foreach (var item in filesOne)
                    {
                        FileInfo info = new FileInfo(item);
                        DateTime createTime = info.CreationTime;
                        DateTime timeNow = DateTime.Now;
                        if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                        {
                            Directory.Delete(item, true);
                        }
                    }
                }
                string[] filesTwo = Directory.GetDirectories("AccessFile//DB//炒锅2状态数据");
                if (filesTwo.Count() > 0)
                {
                    foreach (var item in filesTwo)
                    {
                        FileInfo info = new FileInfo(item);
                        DateTime createTime = info.CreationTime;
                        DateTime timeNow = DateTime.Now;
                        if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                        {
                            Directory.Delete(item, true);
                        }
                    }
                }
                string[] filesThree = Directory.GetDirectories("AccessFile//DB//炒锅3状态数据");
                if (filesThree.Count() > 0)
                {
                    foreach (var item in filesThree)
                    {
                        FileInfo info = new FileInfo(item);
                        DateTime createTime = info.CreationTime;
                        DateTime timeNow = DateTime.Now;
                        if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                        {
                            Directory.Delete(item, true);
                        }
                    }
                }
                string[] filesFour = Directory.GetDirectories("AccessFile//DB//炒锅4状态数据");
                if (filesFour.Count() > 0)
                {
                    foreach (var item in filesFour)
                    {
                        FileInfo info = new FileInfo(item);
                        DateTime createTime = info.CreationTime;
                        DateTime timeNow = DateTime.Now;
                        if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                        {
                            Directory.Delete(item, true);
                        }
                    }
                }
                string[] filesFive = Directory.GetDirectories("AccessFile//DB//炒锅5状态数据");
                if (filesFive.Count() > 0)
                {
                    foreach (var item in filesFive)
                    {
                        FileInfo info = new FileInfo(item);
                        DateTime createTime = info.CreationTime;
                        DateTime timeNow = DateTime.Now;
                        if (TimeDiff(timeNow, createTime) != 0 && TimeDiff(timeNow, createTime) > days)
                        {
                            Directory.Delete(item, true);
                        }
                    }
                }
            }
            catch (Exception)
            {

                //  throw;
            }
        }
        /// <summary>
        /// 时间差计算
        /// </summary>
        /// <param name="t">当前时间</param>
        /// <param name="t2">创建时间</param>
        /// <returns></returns>
        private int TimeDiff(DateTime t, DateTime t2)
        {
            long lReturn = -1;
            System.TimeSpan NowValue = new TimeSpan(t.Ticks);
            System.TimeSpan TimeValue = new TimeSpan(t2.Ticks);
            System.TimeSpan DateDiff = TimeSpan.Zero;
            try
            {
                //计算时间差
                //DateDiff = TimeValue.Subtract(NowValue).Duration();
                DateDiff = NowValue.Subtract(TimeValue);
                int h = DateDiff.Hours;
                int m = DateDiff.Minutes;
                return DateDiff.Days;
            }
            catch
            {
                return -1;
            }
        }
        /// <summary>
        /// 炒锅数据实时保存
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void SaveFryPotData()
        {
            Task.Run(new Action(() =>
            {
                while (true)
                {
                    FryPotDataSaveToBinaryFile(); Thread.Sleep(1000);
                }
            }));
        }

        /// <summary>
        /// 时间判断,数据处理
        /// </summary>
        private void DateTimeJudge()
        {
            #region sqlite数据库保存
            //if (Sqlite<PotOneStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time1 = Sqlite<PotOneStatus>.GetInstance.GetData().Last().Time;
            //    if (time1.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy = Sqlite<PotOneStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryOne.TotalProduct = Sqlite<PotOneStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}
            //if (Sqlite<PotTwoStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time2 = Sqlite<PotTwoStatus>.GetInstance.GetData().Last().Time;
            //    if (time2.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy = Sqlite<PotTwoStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryTwo.TotalProduct = Sqlite<PotTwoStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}
            //if (Sqlite<PotThreeStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time3 = Sqlite<PotThreeStatus>.GetInstance.GetData().Last().Time;
            //    if (time3.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy = Sqlite<PotThreeStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryThree.TotalProduct = Sqlite<PotThreeStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}
            //if (Sqlite<PotFourStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time4 = Sqlite<PotFourStatus>.GetInstance.GetData().Last().Time;
            //    if (time4.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy = Sqlite<PotFourStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryFour.TotalProduct = Sqlite<PotFourStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //}

            //if (Sqlite<PotFiveStatus>.GetInstance.GetData().Count > 0)
            //{
            //    string time5 = Sqlite<PotFiveStatus>.GetInstance.GetData().Last().Time;
            //    if (time5.Equals(DateTime.Now.ToShortDateString()))//和当天时间一样
            //    {
            //        FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy = Sqlite<PotFiveStatus>.GetInstance.GetData().Last().TotalOilCapactiy;
            //        FryPotMonitorManage.GetInstance.fryFive.TotalProduct = Sqlite<PotFiveStatus>.GetInstance.GetData().Last().TotalProduct;
            //    }
            //} 
            #endregion
            string p1 = "AccessFile//" + "Statistic//" + "FryOne.txt";
            string p2 = "AccessFile//" + "Statistic//" + "FryTwo.txt";
            string p3 = "AccessFile//" + "Statistic//" + "FryThree.txt";
            string p4 = "AccessFile//" + "Statistic//" + "FryFour.txt";
            string p5 = "AccessFile//" + "Statistic//" + "FryFive.txt";
            if (!Directory.Exists("AccessFile//" + "Statistic"))
                Directory.CreateDirectory("AccessFile//" + "Statistic");
            if (File.Exists(p1))
            {
                using (StreamReader sReader = new StreamReader(p1, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryOne.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p2))
            {
                using (StreamReader sReader = new StreamReader(p2, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryTwo.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p3))
            {
                using (StreamReader sReader = new StreamReader(p3, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryThree.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p4))
            {
                using (StreamReader sReader = new StreamReader(p4, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryFour.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
            if (File.Exists(p5))
            {
                using (StreamReader sReader = new StreamReader(p5, Encoding.UTF8))
                {
                    string time = sReader.ReadLine();
                    string statistic = sReader.ReadLine();
                    if (DateTime.Now.ToShortDateString() == time)
                    {
                        FryPotMonitorManage.GetInstance.fryFive.TotalProduct = Convert.ToInt32(statistic.Split('/')[0]);
                        FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy = Convert.ToDouble(statistic.Split('/')[1]);

                    }
                }
            }
        }

        /// <summary>
        /// AGV上下料上报数据解析
        /// </summary>
        /// <param name="obj"></param>
        private void AgvFeedBackUpReportDataAnalysis(object obj)
        {
            //if (obj != null && obj is byte[] datas)
            //{
            //string strData = Encoding.UTF8.GetString(datas);
            EventData objData = JsonConvert.DeserializeObject<EventData>(obj.ToString());
            if (objData != null)
            {
                AGVHelper.GetInstance.UpDownFeedBack(objData.agvCode, objData.jobId, objData.msgId);
                #region 线体到炒锅请求上下料
                //线体1请求上下料
                if (objData.equipmentId == 1 && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                {
                    globalVar.agvArriveUpLoad = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【1】号滚筒线上料请求");
                }
                if ((objData.equipmentId == 5 || objData.equipmentId == 8) && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.agvArriveUnLoad = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【{globalVar.LOneFryPotSerial}】号炒锅下料请求");
                }
                //线体2请求上下料
                if (objData.equipmentId == 2 && objData.command == "LOAD")
                {
                    globalVar.agvArriveLTwoUpLoad = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【2】号滚筒线上料请求");
                }
                if ((objData.equipmentId == 6 || objData.equipmentId == 9) && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.LTwoagvArriveUnLoad = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【{globalVar.LTwoFryPotSerial}】号炒锅下料请求");
                }
                //线体3请求上下料
                if (objData.equipmentId == 3 && objData.command == "LOAD")
                {
                    globalVar.agvArriveLThreeUpLoad = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【3】号滚筒线上料请求");
                }
                if (objData.equipmentId == 7 && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.LThreeagvArriveUnLoad = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【{globalVar.LThreeFryPotSerial}】号炒锅下料请求");
                }
                #endregion
                #region 炒锅到线体4请求上下料
                //炒锅1,4到线体4
                if ((objData.equipmentId == 5 || objData.equipmentId == 8) && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                {
                    globalVar.agvArriveUpLoad = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"编号【{objData.agvCode}】AGV到达【{globalVar.LOneFryPotSerial}】号炒锅空桶上料位置");
                    AgvArriveFryPotOneOrFourOutEmptyRollerSingleSetDown();//发送AGV到位信号
                }
                if (objData.equipmentId == 40 && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.rollerLineOne.agvArriveLineFour = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV回桶线下料请求");
                }
                //炒锅2,5到线体4
                if ((objData.equipmentId == 6 || objData.equipmentId == 9) && objData.command == "LOAD")
                {
                    globalVar.agvArriveLTwoUpLoad = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"编号【{objData.agvCode}】AGV到达【{globalVar.LTwoFryPotSerial}】号炒锅空桶上料位置");
                    AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown();//发送AGV到位信号

                }
                if (objData.equipmentId == 41 && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.rollerLineTwo.agvArriveLineFour = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV回桶线下料请求");
                }
                //炒锅3到线体4
                if (objData.equipmentId == 7 && objData.command == "LOAD")
                {
                    globalVar.agvArriveLThreeUpLoad = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"编号【{objData.agvCode}】AGV到达【{globalVar.LThreeFryPotSerial}】号炒锅空桶上料位置");
                    AgvArriveFryPotThreeOutEmptyRollerSingleSetDown();//发送AGV到位信号
                }
                if (objData.equipmentId == 42 && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.rollerLineThree.agvArriveLineFour = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV回桶线下料请求");
                }
                #endregion
                #region 线体123到清洗台请求上下料
                //线体1到清洗台
                if (objData.equipmentId == 11 && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                {
                    globalVar.agvArriveLineOneLoadEmptyRoller = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【1】号滚筒线上料请求");
                }
                if (objData.equipmentId == 10 && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {
                    globalVar.rollerLineOne.agvArriveCleanUnLoad = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV洗桶机下料请求");
                }
                //线体2到清洗台
                if (objData.equipmentId == 22 && objData.command == "LOAD")
                {
                    globalVar.agvArriveLineTwoLoadEmptyRoller = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【2】号滚筒线上料请求");

                }
                if (objData.equipmentId == 20 && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {

                    globalVar.rollerLineTwo.agvArriveCleanUnLoad = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV洗桶机下料请求");
                }

                if (objData.equipmentId == 33 && objData.command == "LOAD")
                {
                    globalVar.agvArriveLineThreeLoadEmptyRoller = true;//AGV到达上料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV【3】号滚筒线上料请求");
                }
                if (objData.equipmentId == 30 && objData.command == "UNLOAD")//同一任务号且处于下料阶段
                {

                    globalVar.rollerLineThree.agvArriveCleanUnLoad = true;//AGV到达下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV洗桶机下料请求");
                }
                #endregion
                #region 清洗台到线体4请求上下料
                if (objData.equipmentId == 10 && objData.command == "LOAD")
                {
                    globalVar.agvArriveCleanLoad = true;//agv到达清洗台上料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV洗桶机上料请求");
                }
                if (objData.equipmentId == 44 && objData.command == "UNLOAD")
                {
                    globalVar.agvArriveLineFour = true;//agv到达线体4下料位置
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.agvCode}】AGV回桶线下料请求");
                }
                #endregion
            }

        }

        /// <summary>
        /// AGV搬运任务上报数据解析
        /// </summary>
        /// <param name="obj"></param>
        private void AgvTaskUpReportDataAnalysis(object obj)
        {
            TaskEventData objData;
            try
            {
                objData = JsonConvert.DeserializeObject<TaskEventData>(obj.ToString());
            }
            catch (Exception)
            {

                MessageNotify.GetInstance.ShowRunLog("Agv任务回报数据异常");
                objData = null;
            }
            if (objData != null)
            {
                if (objData.state == "ABNORMAL_COMPLETED")
                {
                    if (objData.robotJobId == LOnerobotJobId)
                    {
                        globalVar.LineOneRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");
                    }
                    if (objData.robotJobId == LTworobotJobId)
                    {
                        globalVar.LineTwoRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");
                    }
                    if (objData.robotJobId == LThreerobotJobId)
                    {
                        globalVar.LineThreeRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");

                    }
                    if (objData.robotJobId == LFourrobotJobId)
                    {
                        globalVar.LineFourRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");
                    }
                    if (objData.robotJobId == LFiverobotJobId)
                    {
                        globalVar.LineFiveRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");
                    }
                    if (objData.robotJobId == LSixrobotJobId)
                    {
                        globalVar.LineSixRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");
                    }
                    if (LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null)
                    {
                        globalVar.LineSevenRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");

                    }
                    if (LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null)
                    {
                        globalVar.LineEightRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");

                    }
                    if (LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null)
                    {
                        globalVar.LineNineRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");

                    }
                    if (LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null)
                    {
                        globalVar.LineTenRobotTaskError = true;
                        MessageNotify.GetInstance.ShowRunLog($"编号【{objData.jobData.agvCode}】AGV小车任务【{objData.robotJobId}】执行异常，请人工介入");

                    }

                }
                #region 线体上下料任务信息回报
                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "sTEwzw")// AGV正在上料，指线体上料
                {

                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "PChS6R")// AGV正在上料，指线体上料
                {
                    //日志
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "HHif8Z")// AGV正在上料，指线体上料
                {
                    //日志
                }

                //线体1任务上报
                if (objData.state == "LOAD_COMPLETED" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "sTEwzw")//指定上料点上料完成，这里指线体上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1052", 0);
                    globalVar.agvLineOneLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_1);
                    }
                    else if (globalVar.LOneFryPotSerial == 4)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_4);
                    }
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体1→炒锅【{globalVar.LOneFryPotSerial}】上料完成信号，任务号【{objData.robotJobId}】");
                }

                //线体2任务上报
                if (objData.state == "LOAD_COMPLETED" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "PChS6R")//指定上料点上料完成，这里指线体上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1053", 0);
                    globalVar.agvLineTwoLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(2, (--globalVar.LTwoMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_2_2);
                    }
                    else if (globalVar.LTwoFryPotSerial == 5)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_2_5);
                    }
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体2→炒锅【{globalVar.LTwoFryPotSerial}】上料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体3任务上报
                if (objData.state == "LOAD_COMPLETED" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "HHif8Z")//指定上料点上料完成，这里指线体上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1054", 0);
                    globalVar.agvLineThreeLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(3, (--globalVar.LThreeMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_3_3);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体3→炒锅【{globalVar.LThreeFryPotSerial}】上料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体1任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && (objData.jobData.targetPointCode == "DXDnMJ" || objData.jobData.targetPointCode == "naFssQ"))//指定下料点正在下料，指线体到炒锅下料
                {

                }
                //线体2任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && (objData.jobData.targetPointCode == "PChS6R" || objData.jobData.targetPointCode == "sxSX88"))//指定下料点正在下料，指线体到炒锅下料
                {

                }
                //线体3任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "biZG87")//指定下料点正在下料，指线体到炒锅下料
                {

                }
                //线体1任务上报
                if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && (objData.jobData.targetPointCode == "DXDnMJ" || objData.jobData.targetPointCode == "naFssQ"))//指定下料位置下料完成，指线体到炒锅下料
                {
                    if (objData.jobData.targetPointCode == "DXDnMJ")
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1055", 0);
                    }
                    else
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1058", 0);
                    }

                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj);
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV炒锅【{globalVar.LOneFryPotSerial}】下料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体2任务上报
                if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && (objData.jobData.targetPointCode == "CDPGde" || objData.jobData.targetPointCode == "sxSX88"))//指定下料位置下料完成，指线体到炒锅下料
                {
                    if (objData.jobData.targetPointCode == "CDPGde")
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1056", 0);
                    }
                    else
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1059", 0);
                    }
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj);
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV炒锅【{globalVar.LTwoFryPotSerial}】下料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体3任务上报
                if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "biZG87")//指定下料位置下料完成，指线体到炒锅下料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1057", 0);
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj);
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV炒锅【{globalVar.LThreeFryPotSerial}】下料完成信号，任务号【{objData.robotJobId}】");
                }
                #endregion
                #region 炒锅空桶上下料任务信息回报
                //线体1任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LFourrobotJobId && (objData.jobData.startPointCode == "DXDnMJ" || objData.jobData.startPointCode == "naFssQ"))// AGV正在上料，指炒锅空桶上料
                {
                    //日志
                }
                //线体2任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LFiverobotJobId && (objData.jobData.startPointCode == "CDPGde" || objData.jobData.startPointCode == "sxSX88"))// AGV正在上料，指炒锅空桶上料
                {
                    //日志
                }
                //线体3任务上报
                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "biZG87")// AGV正在上料，指炒锅空桶上料
                {
                    //日志
                }

                //线体1任务上报
                if (objData.state == "LOAD_COMPLETED" && objData.robotJobId == LFourrobotJobId && (objData.jobData.startPointCode == "DXDnMJ" || objData.jobData.startPointCode == "naFssQ"))//指定上料点上料完成，这里指炒锅空桶上料
                {
                    if (objData.jobData.startPointCode == "DXDnMJ")
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1060", 0);
                    }
                    else
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1063", 0);
                    }

                    globalVar.agvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_1);
                    }
                    else if (globalVar.LOneFryPotSerial == 4)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_4);
                    }
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV炒锅【{globalVar.LOneFryPotSerial}】上料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体2任务上报
                if (objData.state == "LOAD_COMPLETED" && objData.robotJobId == LFiverobotJobId && (objData.jobData.startPointCode == "CDPGde" || objData.jobData.startPointCode == "sxSX88"))//指定上料点上料完成，这里指炒锅空桶上料
                {

                    if (objData.jobData.startPointCode == "CDPGde")
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1061", 0);
                    }
                    else
                    {
                        DeviceOperate.GetInstance.WritePlcData("D1064", 0);
                    }

                    globalVar.LTwoagvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_2);
                    }
                    else if (globalVar.LTwoFryPotSerial == 5)
                    {
                        AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_5);
                    }
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV炒锅【{globalVar.LTwoFryPotSerial}】上料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体3任务上报
                if (objData.state == "LOAD_COMPLETED" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "biZG87")//指定上料点上料完成，这里指炒锅空桶上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1062", 0);
                    globalVar.LThreeagvFryPotEmptyRollerArrive = true;
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_3);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV炒锅【{globalVar.LThreeFryPotSerial}】上料完成信号，任务号【{objData.robotJobId}】");
                }


                //线体1任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.targetPointCode == "w2jZhM")//指定下料点正在下料，指炒锅空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);

                }
                //线体2任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFiverobotJobId && objData.jobData.targetPointCode == "w2jZhM")//指定下料点正在下料，指炒锅空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);

                }
                //线体3任务上报
                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LSixrobotJobId && objData.jobData.targetPointCode == "w2jZhM")//指定下料点正在下料，指炒锅空桶下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);

                }
                //线体1任务上报
                if (objData.state == "DONE" && objData.robotJobId == LFourrobotJobId && objData.jobData.targetPointCode == "w2jZhM")//指定下料位置下料完成，指炒锅空桶下料
                {
                    MessageNotify.GetInstance.ShowRunLog("1号线炒锅空桶在4号线卸桶完成");
                    DeviceOperate.GetInstance.WritePlcData("D1067", 0);
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV炒锅【{globalVar.LOneFryPotSerial}】→回桶线下料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体2任务上报
                if (objData.state == "DONE" && objData.robotJobId == LFiverobotJobId && objData.jobData.targetPointCode == "w2jZhM")//指定下料位置下料完成，指炒锅空桶下料
                {
                    MessageNotify.GetInstance.ShowRunLog("2号线炒锅空桶在4号线卸桶完成");
                    DeviceOperate.GetInstance.WritePlcData("D1067", 0);
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV【{globalVar.LTwoFryPotSerial}】→回桶线下料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体3任务上报
                if (objData.state == "DONE" && objData.robotJobId == LSixrobotJobId && objData.jobData.targetPointCode == "w2jZhM")//指定下料位置下料完成，指炒锅空桶下料
                {
                    MessageNotify.GetInstance.ShowRunLog("3号线炒锅空桶在4号线卸桶完成");
                    DeviceOperate.GetInstance.WritePlcData("D1067", 0);
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV【{globalVar.LThreeFryPotSerial}】→回桶线下料完成信号，任务号【{objData.robotJobId}】");
                }
                #endregion
                #region 线体123空桶到清戏台
                //线体1任务上报
                if (objData.state == "LOAD_COMPLETED" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "sTEwzw")//指定上料点上料完成，这里指线体1空桶上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1052", 0);
                    globalVar.agvArriveLineOneLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_1);
                    //到清洗处
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体1→洗桶机上料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体2任务上报
                if (objData.state == "LOAD_COMPLETED" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "PChS6R")//指定上料点上料完成，这里指线体2空桶上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1053", 0);
                    globalVar.agvArriveLineTwoLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(2, (--globalVar.LTwoMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_2);
                    //到清洗处
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体2→洗桶机上料完成信号，任务号【{objData.robotJobId}】");
                }
                //线体3任务上报
                if (objData.state == "LOAD_COMPLETED" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "HHif8Z")//指定上料点上料完成，这里指线体3空桶上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1054", 0);
                    globalVar.agvArriveLineThreeLoadCom = true;
                    AgvViewModel.GetInstance().Set滚筒线上数量(3, (--globalVar.LThreeMaterialNum).ToString());
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_3);
                    //到清洗处
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体3→洗桶机上料完成信号，任务号【{objData.robotJobId}】");
                }


                if (objData.state == "DONE" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "TitRYC")//指定下料位置下料完成，指从线体1到清戏台空桶下料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1065", 0);
                    LSevenrobotJobId.Remove(objData.robotJobId);
                    MessageNotify.GetInstance.ShowRunLog("线体【1】空桶在清洗台卸桶完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体1→洗桶机下料完成信号，任务号【{objData.robotJobId}】");
                }
                if (objData.state == "DONE" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "TitRYC")//指定下料位置下料完成，指从线体2到清戏台空桶下料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1065", 0);
                    LEightrobotJobId.Remove(objData.robotJobId);
                    MessageNotify.GetInstance.ShowRunLog("线体【2】空桶在清洗台卸桶完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体2→洗桶机下料完成信号，任务号【{objData.robotJobId}】");
                }
                if (objData.state == "DONE" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "TitRYC")//指定下料位置下料完成，指从线体3到清戏台空桶下料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1065", 0);
                    LNinerobotJobId.Remove(objData.robotJobId);
                    MessageNotify.GetInstance.ShowRunLog("线体【3】空桶在清洗台卸桶完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);
                    AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV线体3→洗桶机下料完成信号，任务号【{objData.robotJobId}】");
                }
                #endregion
                #region 清洗台到线体4
                if (objData.state == "LOAD_COMPLETED" && LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "TitRYC")//指定上料位置上料完成，指清戏台空桶到上料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1066", 0);
                    // globalVar.AllowNextEmptyRollerToClean = true;//AGV到滚筒线搬运空桶的允许标志
                    MessageNotify.GetInstance.ShowRunLog("清洗台空桶装载完成");
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_4);//去四号空桶线
                    AgvViewModel.GetInstance().SetCleanRollerNum(--CleanNum);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV洗桶机上料完成信号，任务号【{objData.robotJobId}】");
                }
                if (objData.state == "ROLLER_UNLOAD_DOING" && LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "TitRYC")//指定下料点正在下料，指清洗台空桶到线体4下料
                {
                    AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start);
                    MessageNotify.GetInstance.ShowRunLog($"收到编号【{objData.jobData.agvCode}】AGV回桶线下料完成信号，任务号【{objData.robotJobId}】");
                }

                if (objData.state == "DONE" && LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "w2jZhM")//指定下料位置下料完成，指清戏台空桶到线体4下料
                {
                    DeviceOperate.GetInstance.WritePlcData("D1067", 0);
                    LTenrobotJobId.Remove(objData.robotJobId);
                    MessageNotify.GetInstance.ShowRunLog("【4】号线空桶回桶完成");
                    if (globalVar.LFourRollerNum >= 8)
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, "8");
                    }
                    else
                    {
                        AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString());
                    }
                    AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No);
                    AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj"));
                    AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]);
                    AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes);

                }
                #endregion



            }

        }

        /// <summary>
        /// 主任务重启
        /// </summary>
        private void ResetProgram()
        {
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                if (RTrig.GetInstance("ResetProgram").Start(globalVar.PlcInite == 1))//判断是否初始化 一初始化就重启主任务
                {
                    MessageNotify.GetInstance.ShowUserLog("主任务正在重启");

                    ThreadManage.GetInstance().StopTask("MainViewReadPlcData", new Action(() =>
                    {
                        //ActionManage.GetInstance.CancelRegister("RecipeSetDown");
                        //ActionManage.GetInstance.Register(new Action<object>(RecipeDataParse), "RecipeSetDown");
                        // ActionManage.GetInstance.Send("ClearRecipes");
                        ThreadManage.GetInstance().StopTask("滚筒线1任务线程", new Action(() =>
                        {
                            ThreadManage.GetInstance().StopTask("滚筒线2任务线程", new Action(() =>
                            {
                                ThreadManage.GetInstance().StopTask("滚筒线3任务线程", new Action(() =>
                                {
                                    globalVar = null;
                                    globalVar = new GlobalVariable();
                                    ReicpeNum = 0;
                                    ReadPlcData();
                                    MainTask();
                                    MessageNotify.GetInstance.ShowUserLog("主任务重启完成");
                                }));
                            }));

                        }));
                    }));
                }

                Thread.Sleep(10);
            }), "ResetProgram");
        }

        public void LineOneTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线1任务线程", new Action(() =>
            {
                WritePlcData("D1101", 0);//复位开始执行指令
                ActionManage.GetInstance.Send("ClearOneRecipes");
                //globalVar.rollerLineOne = null;
                //globalVar.rollerLineOne = new RollerLineOne();
                //globalVar.fryPotOne = null;
                //globalVar.fryPotOne = new FryPotOne();
                //globalVar.fryPotFour = null;
                //globalVar.fryPotFour = new FryPotFour();

                globalVar.rollerLineOne.RecipeComMidSingle = 1;
                globalVar.rollerLineOne.LowSignalJude = false;
                globalVar.rollerLineOne.NextStart = false;
                globalVar.rollerLineOne.IsEpmtyBefore = false;
                globalVar.rollerLineOne.CanRun = true;

                globalVar.ExitLineOneTask = false;

                globalVar.LOneCurrentRecipeName = string.Empty;

                globalVar.AllowAgvToLineLoadRoller = true;
                globalVar.InOrOutputLock = false;
                globalVar.LoadRoller = false;
                globalVar.AgvToFryPot = false;
                globalVar.PotOneInputMaterialArrive = false;
                globalVar.PotOneOutputRollerArrive = false;
                globalVar.AgvArrivePot = false;

                globalVar.LOneMaterialNum = 0;
                globalVar.LOneCurrentCookingStep = 0;
                globalVar.LFourCurrentCookingStep = 0;


                globalVar.agvArriveUpLoad = false;
                globalVar.agvArriveUnLoad = false;
                globalVar.agvFryPotEmptyRollerArrive = false;
                globalVar.rollerLineOne.agvArriveLineFour = false;
                globalVar.agvLineOneLoadCom = false;
                ErrorRecipe = false;

                ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute(); Thread.Sleep(10); }), "滚筒线1任务线程");
                MessageNotify.GetInstance.ShowUserLog("滚筒线【1】任务重启成功");

            }));
        }
        public void LineTwoTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线2任务线程", new Action(() =>
            {
                WritePlcData("D1102", 0);//复位开始执行指令
                ActionManage.GetInstance.Send("ClearTwoRecipes");
                //globalVar.rollerLineTwo = null;
                //globalVar.rollerLineTwo = new RollerLineTwo();
                //globalVar.fryPotTwo = null;
                //globalVar.fryPotTwo = new FryPotTwo();
                //globalVar.fryPotFive = null;
                //globalVar.fryPotFive = new FryPotFive();
                globalVar.rollerLineTwo.RecipeComMidSingle = 1;
                globalVar.rollerLineTwo.LowSignalJude = false;
                globalVar.rollerLineTwo.NextStart = false;
                globalVar.rollerLineTwo.IsEpmtyBefore = false;
                globalVar.rollerLineTwo.CanRun = true;


                globalVar.ExitLineTwoTask = false;

                globalVar.LTwoCurrentRecipeName = string.Empty;

                globalVar.AllowAgvToLineTwoLoadRoller = true;
                globalVar.LTwoInOrOutputLock = false;

                globalVar.LTwoLoadRoller = false;
                globalVar.LTwoAgvToFryPot = false;
                globalVar.LTwoPotInputMaterialArrive = false;
                globalVar.LTwoPotOutputRollerArrive = false;
                globalVar.LTwoAgvArrivePot = false;

                globalVar.LTwoMaterialNum = 0;
                globalVar.LTwoCurrentCookingStep = 0;
                globalVar.LFiveCurrentCookingStep = 0;

                globalVar.agvArriveLTwoUpLoad = false;
                globalVar.LTwoagvArriveUnLoad = false;
                globalVar.LTwoagvFryPotEmptyRollerArrive = false;
                globalVar.rollerLineTwo.agvArriveLineFour = false;
                globalVar.agvLineTwoLoadCom = false;
                LTwoErrorRecipe = false;

                ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程");
                MessageNotify.GetInstance.ShowUserLog("滚筒线【2】任务重启成功");
            }));
        }
        public void LineThreeTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线3任务线程", new Action(() =>
            {
                WritePlcData("D1103", 0);//复位开始执行指令
                ActionManage.GetInstance.Send("ClearThreeRecipes");
                //globalVar.rollerLineThree = null;
                //globalVar.rollerLineThree = new RollerLineThree();
                //globalVar.fryPotThree = null;
                //globalVar.fryPotThree = new FryPotThree();
                globalVar.rollerLineTwo.RecipeComMidSingle = 1;
                globalVar.rollerLineTwo.LowSignalJude = false;
                globalVar.rollerLineTwo.NextStart = false;
                globalVar.rollerLineTwo.IsEpmtyBefore = false;
                globalVar.rollerLineTwo.CanRun = true;

                globalVar.ExitLineThreeTask = false;

                globalVar.AllowAgvToLineThreeLoadRoller = true;
                globalVar.LThreeInOrOutputLock = false;

                globalVar.LThreeCurrentRecipeName = string.Empty;

                globalVar.LThreeLoadRoller = false;
                globalVar.LThreeAgvToFryPot = false;
                globalVar.LThreePotInputMaterialArrive = false;
                globalVar.LThreePotOutputRollerArrive = false;
                globalVar.LThreeAgvArrivePot = false;

                globalVar.LThreeMaterialNum = 0;
                globalVar.LThreeCurrentCookingStep = 0;

                globalVar.agvArriveLThreeUpLoad = false;
                globalVar.LThreeagvArriveUnLoad = false;
                globalVar.LThreeagvFryPotEmptyRollerArrive = false;
                globalVar.rollerLineThree.agvArriveLineFour = false;
                globalVar.agvLineThreeLoadCom = false;
                LThreeErrorRecipe = false;
                ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程");
                MessageNotify.GetInstance.ShowUserLog("滚筒线【3】任务重启成功");
            }));
        }

        public void LineOneEmptyRollerCleanTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线1空桶清洗任务线程", new Action(() =>
            {
                globalVar.rollerLineOne.StationEight = 0;
                globalVar.ExitLineOneTask = false;
                //globalVar.rollerLineOne.EmptyRollerNums.Clear();

                globalVar.rollerLineOne.IsEpmtyBefore = false;
                globalVar.rollerLineOne.CanRun = true;

                globalVar.agvArriveLineFour = false;
                globalVar.agvArriveCleanLoad = false;
                globalVar.rollerLineOne.agvArriveCleanUnLoad = false;
                globalVar.agvArriveLineOneLoadEmptyRoller = false;
                globalVar.agvArriveLineOneLoadCom = false;
                ThreadManage.GetInstance().StartLong(new Action(() => { LineOneToCleanProcessExecute(); Thread.Sleep(10); }), "滚筒线1空桶清洗任务线程");
                MessageNotify.GetInstance.ShowUserLog("滚筒线【1】空桶清洗任务重启成功");
            }));
        }


        public void LineTwoEmptyRollerCleanTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线2空桶清洗任务线程", new Action(() =>
            {

                globalVar.rollerLineTwo.StationEight = 0;
                globalVar.ExitLineTwoTask = false;
                // globalVar.rollerLineTwo.EmptyRollerNums.Clear();

                globalVar.rollerLineTwo.IsEpmtyBefore = false;
                globalVar.rollerLineTwo.CanRun = true;


                globalVar.agvArriveLineFour = false;
                globalVar.agvArriveCleanLoad = false;

                globalVar.rollerLineTwo.agvArriveCleanUnLoad = false;
                globalVar.agvArriveLineTwoLoadEmptyRoller = false;
                globalVar.agvArriveLineTwoLoadCom = false;
                ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoToCleanProcessExecute(); Thread.Sleep(10); }), "滚筒线2空桶清洗任务线程");
                MessageNotify.GetInstance.ShowUserLog("滚筒线【2】空桶清洗任务重启成功");
            }));
        }

        public void LineThreeEmptyRollerCleanTaskRestart()
        {
            ThreadManage.GetInstance().StopTask("滚筒线3空桶清洗任务线程", new Action(() =>
            {
                globalVar.rollerLineThree.StationEight = 0;
                globalVar.ExitLineThreeTask = false;
                //   globalVar.rollerLineThree.EmptyRollerNums.Clear();

                globalVar.rollerLineThree.IsEpmtyBefore = false;
                globalVar.rollerLineThree.CanRun = true;

                globalVar.agvArriveLineFour = false;
                globalVar.agvArriveCleanLoad = false;
                globalVar.rollerLineThree.agvArriveCleanUnLoad = false;
                globalVar.agvArriveLineThreeLoadEmptyRoller = false;
                globalVar.agvArriveLineThreeLoadCom = false;
                ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeToCleanProcessExecute(); Thread.Sleep(10); }), "滚筒线3空桶清洗任务线程");
                MessageNotify.GetInstance.ShowUserLog("滚筒线【3】空桶清洗任务重启成功");
            }));
        }
        /// <summary>
        /// 实时获取plc数据
        /// </summary>
        public void ReadPlcData()
        {
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetAddressData("D0000", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            //globalVar.rollerLineOne.StationOne = data[0];
                            if (globalVar.LineHeartBeat!= data[0])
                            {
                                if (globalVar.LBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", false);
                                    MessageNotify.GetInstance.ShowRunLog("滚筒线心跳恢复");
                                }
                                globalVar.CanPlaceOrder = true;//允许下单
                                globalVar.LBeatStopTimes = 0;
                                globalVar.LineHeartBeat = data[0];
                            }
                            else
                            {
                                
                                globalVar.LBeatStopTimes++;
                                if (globalVar.LBeatStopTimes >= 10)
                                {
                                    globalVar.CanPlaceOrder = false;//不允许下单
                                    ActionManage.GetInstance.Send("HeartBeatCheck", true);
                                    if(globalVar.LBeatStopTimes>=10&& globalVar.LBeatStopTimes<13)
                                    MessageNotify.GetInstance.ShowRunLog("滚筒线心跳心跳异常");
                                }
                                    
                                    
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                Thread.Sleep(500);
            }), "滚筒线心跳检测");
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetFryOneData("D0000", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            //globalVar.rollerLineOne.StationOne = data[0];
                            if (globalVar.PotOneHeartBeat != data[0])
                            {
                                if (globalVar.POneBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", false);
                                    MessageNotify.GetInstance.ShowRunLog("1号炒锅心跳恢复");
                                }
                                globalVar.POneBeatStopTimes = 0;
                                globalVar.PotOneHeartBeat = data[0];
                            }
                            else
                            {

                                globalVar.POneBeatStopTimes++;
                                if (globalVar.POneBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", true);
                                    if (globalVar.POneBeatStopTimes >= 10 && globalVar.POneBeatStopTimes < 13)
                                        MessageNotify.GetInstance.ShowRunLog("1号炒锅心跳异常");
                                }

                                //不允许下单
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                Thread.Sleep(500);
            }), "炒锅1心跳检测");

            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetFryTwoData("D0000", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            //globalVar.rollerLineOne.StationOne = data[0];
                            if (globalVar.PotTwoHeartBeat != data[0])
                            {
                                if (globalVar.PTwoBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", false);
                                    MessageNotify.GetInstance.ShowRunLog("2号炒锅心跳恢复");
                                }
                                globalVar.PTwoBeatStopTimes = 0;
                                globalVar.PotTwoHeartBeat = data[0];
                            }
                            else
                            {

                                globalVar.PTwoBeatStopTimes++;
                                if (globalVar.PTwoBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", true);
                                    if (globalVar.PTwoBeatStopTimes >= 10 && globalVar.PTwoBeatStopTimes < 13)
                                        MessageNotify.GetInstance.ShowRunLog("2号炒锅心跳异常");
                                }

                                //不允许下单
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                Thread.Sleep(500);
            }), "炒锅2心跳检测");
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetFryThreeData("D0000", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            //globalVar.rollerLineOne.StationOne = data[0];
                            if (globalVar.PotThreeHeartBeat != data[0])
                            {
                                if (globalVar.PThreeBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", false);
                                    MessageNotify.GetInstance.ShowRunLog("3号炒锅心跳恢复");
                                }
                                globalVar.PThreeBeatStopTimes = 0;
                                globalVar.PotThreeHeartBeat = data[0];
                            }
                            else
                            {

                                globalVar.PThreeBeatStopTimes++;
                                if (globalVar.PThreeBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", true);
                                    if (globalVar.PThreeBeatStopTimes >= 10 && globalVar.PThreeBeatStopTimes < 13)
                                        MessageNotify.GetInstance.ShowRunLog("3号炒锅心跳异常");
                                }

                                //不允许下单
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                Thread.Sleep(500);
            }), "炒锅3心跳检测");
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetFryFourData("D0000", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            //globalVar.rollerLineOne.StationOne = data[0];
                            if (globalVar.PotFourHeartBeat != data[0])
                            {
                                if (globalVar.PFourBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", false);
                                    MessageNotify.GetInstance.ShowRunLog("4号炒锅心跳恢复");
                                }
                                globalVar.PFourBeatStopTimes = 0;
                                globalVar.PotFourHeartBeat = data[0];
                            }
                            else
                            {
                                globalVar.PFourBeatStopTimes++;
                                if (globalVar.PFourBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", true);
                                    if (globalVar.PFourBeatStopTimes >= 10 && globalVar.PFourBeatStopTimes < 13)
                                        MessageNotify.GetInstance.ShowRunLog("4号炒锅心跳异常");
                                }

                                //不允许下单
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                Thread.Sleep(500);
            }), "炒锅4心跳检测");
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetFryFiveData("D0000", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            //globalVar.rollerLineOne.StationOne = data[0];
                            if (globalVar.PotFiveHeartBeat != data[0])
                            {
                                if (globalVar.PFiveBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", false);
                                    MessageNotify.GetInstance.ShowRunLog("5号炒锅心跳恢复");
                                }
                                globalVar.PFiveBeatStopTimes = 0;
                                globalVar.PotFiveHeartBeat = data[0];
                            }
                            else
                            {

                                globalVar.PFiveBeatStopTimes++;
                                if (globalVar.PFiveBeatStopTimes >= 10)
                                {
                                    ActionManage.GetInstance.Send("HeartBeatCheck", true);
                                    if (globalVar.PFiveBeatStopTimes >= 10 && globalVar.PFiveBeatStopTimes < 13)
                                        MessageNotify.GetInstance.ShowRunLog("5号炒锅心跳异常");
                                }

                                //不允许下单
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                Thread.Sleep(500);
            }), "炒锅5心跳检测");
            //PLC数据读取
            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                GetAddressData("D2001", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            globalVar.rollerLineOne.StationOne = data[0];
                            globalVar.rollerLineOne.StationTwo = data[1];
                            globalVar.rollerLineOne.StationThree = data[2];
                            globalVar.rollerLineOne.StationFour = data[3];
                            globalVar.rollerLineOne.StationFive = data[4];
                            globalVar.rollerLineOne.StationSix = data[5];
                            globalVar.rollerLineOne.StationSeven = data[6];
                            globalVar.rollerLineOne.StationEight = data[7]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetAddressData("D2011", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            globalVar.rollerLineTwo.StationOne = data[0];
                            globalVar.rollerLineTwo.StationTwo = data[1];
                            globalVar.rollerLineTwo.StationThree = data[2];
                            globalVar.rollerLineTwo.StationFour = data[3];
                            globalVar.rollerLineTwo.StationFive = data[4];
                            globalVar.rollerLineTwo.StationSix = data[5];
                            globalVar.rollerLineTwo.StationSeven = data[6];
                            globalVar.rollerLineTwo.StationEight = data[7]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetAddressData("D2021", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            globalVar.rollerLineThree.StationOne = data[0];
                            globalVar.rollerLineThree.StationTwo = data[1];
                            globalVar.rollerLineThree.StationThree = data[2];
                            globalVar.rollerLineThree.StationFour = data[3];
                            globalVar.rollerLineThree.StationFive = data[4];
                            globalVar.rollerLineThree.StationSix = data[5];
                            globalVar.rollerLineThree.StationSeven = data[6];
                            globalVar.rollerLineThree.StationEight = data[7]; 
                        }
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetAddressData("D2031", new Action<ushort[]>((data) =>
                {
                    //globalVar.rollerLineOne.OutMaterialingSingle = data[3];
                    //globalVar.rollerLineTwo.OutMaterialingSingle = data[4];
                    //globalVar.rollerLineThree.OutMaterialingSingle = data[5];

                    //AlarmHelper<AlarmInfo>.GetInstance().LineOneRollerRunning = data[3];
                    //AlarmHelper<AlarmInfo>.GetInstance().LineTwoRollerRunning = data[4];
                    //AlarmHelper<AlarmInfo>.GetInstance().LineThreeRollerRunning = data[5];

                    try
                    {
                        if (data.Count() > 0)
                        {
                            AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble = data[6];
                            AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble = data[7];
                            AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble = data[8]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }

                }));
                //GetAddressData("D2040", new Action<ushort[]>((data) =>
                //{
                //    globalVar.fryPotOne.InputMaterialRollerRunningSingle = data[0];
                //    globalVar.fryPotTwo.InputMaterialRollerRunningSingle = data[1];
                //    globalVar.fryPotThree.InputMaterialRollerRunningSingle = data[2];
                //    globalVar.fryPotFour.InputMaterialRollerRunningSingle = data[3];
                //    globalVar.fryPotFive.InputMaterialRollerRunningSingle = data[4];

                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotOneRollerRunning = data[0];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotTwoRollerRunning = data[1];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotThreeRollerRunning = data[2];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotFourRollerRunning = data[3];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotFiveRollerRunning = data[4];

                //}));
                GetAddressData("D2045", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            globalVar.fryPotOne.InputMaterialArrivedSingle = data[0];
                            globalVar.fryPotTwo.InputMaterialArrivedSingle = data[1];
                            globalVar.fryPotThree.InputMaterialArrivedSingle = data[2];
                            globalVar.fryPotFour.InputMaterialArrivedSingle = data[3];
                            globalVar.fryPotFive.InputMaterialArrivedSingle = data[4]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetAddressData("D2050", new Action<ushort[]>((data) =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            globalVar.fryPotOne.EmptyBarrelArrivedSingle = data[0];
                            globalVar.fryPotTwo.EmptyBarrelArrivedSingle = data[1];
                            globalVar.fryPotThree.EmptyBarrelArrivedSingle = data[2];
                            globalVar.fryPotFour.EmptyBarrelArrivedSingle = data[3];
                            globalVar.fryPotFive.EmptyBarrelArrivedSingle = data[4]; 
                        }
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                //GetAddressData("D2065", new Action<ushort[]>((data) =>
                //{
                //    globalVar.fryPotOne.EmptyBarrelRollerRunningSingle = data[0];
                //    globalVar.fryPotTwo.EmptyBarrelRollerRunningSingle = data[1];
                //    globalVar.fryPotThree.EmptyBarrelRollerRunningSingle = data[2];
                //    globalVar.fryPotFour.EmptyBarrelRollerRunningSingle = data[3];
                //    globalVar.fryPotFive.EmptyBarrelRollerRunningSingle = data[4];

                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotOneEmptyRollerRunning = data[0];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotTwoEmptyRollerRunning = data[1];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotThreeEmptyRollerRunning = data[2];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotFourEmptyRollerRunning = data[3];
                //    AlarmHelper<AlarmInfo>.GetInstance().FryPotFiveEmptyRollerRunning = data[4];
                //}));
                GetAddressData("D2070", new Action<ushort[]>((data) =>
                {
                    //globalVar.fryPotOne.RollerTroubleSingle = data[0];
                    //globalVar.fryPotTwo.RollerTroubleSingle = data[1];
                    //globalVar.fryPotThree.RollerTroubleSingle = data[2];
                    //globalVar.fryPotFour.RollerTroubleSingle = data[3];
                    //globalVar.fryPotFive.RollerTroubleSingle = data[4];
                    try
                    {
                        if (data.Count() > 0)
                        {
                            AlarmHelper<AlarmInfo>.GetInstance("1号炒锅滚筒故障").FryPotOneRollerTrouble = data[0];
                            AlarmHelper<AlarmInfo>.GetInstance("2号炒锅滚筒故障").FryPotTwoRollerTrouble = data[1];
                            AlarmHelper<AlarmInfo>.GetInstance("3号炒锅滚筒故障").FryPotThreeRollerTrouble = data[2];
                            AlarmHelper<AlarmInfo>.GetInstance("4号炒锅滚筒故障").FryPotFourRollerTrouble = data[3];
                            AlarmHelper<AlarmInfo>.GetInstance("5号炒锅滚筒故障").FryPotFiveRollerTrouble = data[4]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                //GetAddressData("D2078", new Action<ushort[]>(data =>
                //{
                //    //globalVar.rollerLineOne.RecipeCompleteSingle = data[0];
                //    //globalVar.rollerLineTwo.RecipeCompleteSingle = data[1];
                //    //globalVar.rollerLineThree.RecipeCompleteSingle = data[2];
                //}));
                GetAddressData("D2075", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            AlarmHelper<AlarmInfo>.GetInstance("洗桶机进筒未运行").CleanEnterRollerRunning = data[0];
                            globalVar.CleadBarrelEnterSingle = data[0]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetAddressData("D2076", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.CleanComplete = data[0];//洗桶出桶agv呼叫信号
                    }
                    catch (Exception)
                    {

                        //throw;
                    }

                }));
                GetAddressData("D2077", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            AlarmHelper<AlarmInfo>.GetInstance("洗桶机出桶未运行").CleanOutputRollerRunning = data[0];
                            globalVar.CleadBarrelExitSingle = data[0]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));

                //滚筒线123开始信号
                GetAddressData("D2101", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            globalVar.rollerLineOne.ExcuteIsConfirm = data[0];
                            globalVar.rollerLineTwo.ExcuteIsConfirm = data[1];
                            globalVar.rollerLineThree.ExcuteIsConfirm = data[2]; 
                        }
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetAddressData("D4400", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.rollerLineOne.EmptyRollerNum = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetAddressData("D4410", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.rollerLineTwo.EmptyRollerNum = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetAddressData("D4420", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.rollerLineThree.EmptyRollerNum = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));

                GetAddressData("D2111", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            globalVar.rollerLineOne.WashEmptyRollerModel = data[0];
                            globalVar.rollerLineTwo.WashEmptyRollerModel = data[1];
                            globalVar.rollerLineThree.WashEmptyRollerModel = data[2];

                            globalVar.rollerLineOne.WashRollerArriveSignal = data[3];
                            globalVar.rollerLineTwo.WashRollerArriveSignal = data[4];
                            globalVar.rollerLineThree.WashRollerArriveSignal = data[5]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));

                //炒锅1状态数据
                GetFryOneData("D0258", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryOne.Temperature = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryOneData("D0510", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryOne.SmallFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryOneData("D0512", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryOne.MidFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryOneData("D0514", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryOne.BigFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryOneData("D0516", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryOne.StrongFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryOneData("D2500", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryOne.Speed = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //  throw;
                    }
                }));
                GetFryOneData("D0600", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryOne.FryPotWeight = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryOneData("D3000", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            FryPotMonitorManage.GetInstance.fryOne.Step = data[0];
                            globalVar.fryPotOne.ProcessStep = data[0]; 
                        }
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryOneData("D3301", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.fryPotOne.RecipeCompleteSingle = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                ////炒锅2状态数据
                GetFryTwoData("D0258", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryTwo.Temperature = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryTwoData("D0510", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryTwo.SmallFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryTwoData("D0512", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryTwo.MidFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryTwoData("D0514", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryTwo.BigFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryTwoData("D0516", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryTwo.StrongFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryTwoData("D2500", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryTwo.Speed = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryTwoData("D0600", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryTwoData("D3000", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            FryPotMonitorManage.GetInstance.fryTwo.Step = data[0];
                            globalVar.fryPotTwo.ProcessStep = data[0]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryTwoData("D3301", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.fryPotTwo.RecipeCompleteSingle = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));

                ////炒锅3状态数据
                GetFryThreeData("D0258", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryThree.Temperature = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryThreeData("D0510", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryThree.SmallFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryThreeData("D0512", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryThree.MidFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryThreeData("D0514", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryThree.BigFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryThreeData("D0516", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryThree.StrongFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryThreeData("D2500", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryThree.Speed = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryThreeData("D0600", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryThree.FryPotWeight = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryThreeData("D3000", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            FryPotMonitorManage.GetInstance.fryThree.Step = data[0];
                            globalVar.fryPotThree.ProcessStep = data[0]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryThreeData("D3301", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.fryPotThree.RecipeCompleteSingle = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                //}));
                ////炒锅4状态数据
                GetFryFourData("D0258", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.Temperature = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFourData("D0510", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.SmallFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryFourData("D0512", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.MidFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFourData("D0514", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.BigFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFourData("D0516", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.StrongFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryFourData("D2500", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.Speed = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //  throw;
                    }
                }));
                GetFryFourData("D0600", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.FryPotWeight = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFourData("D3000", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            FryPotMonitorManage.GetInstance.fryFour.Step = data[0];
                            globalVar.fryPotFour.ProcessStep = data[0]; 
                        }
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFourData("D3301", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if(data.Count()>0)
                        globalVar.fryPotFour.RecipeCompleteSingle = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                //}));
                ////炒锅5状态数据
                GetFryFiveData("D0258", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFive.Temperature = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFiveData("D0510", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFive.SmallFire = data[0];
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryFiveData("D0512", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFive.MidFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFiveData("D0514", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFive.BigFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFiveData("D0516", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFive.StrongFire = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFiveData("D2500", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFour.Speed = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryFiveData("D0600", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            FryPotMonitorManage.GetInstance.fryFive.FryPotWeight = data[0] / 10.0;
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                GetFryFiveData("D3000", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                        {
                            FryPotMonitorManage.GetInstance.fryFive.Step = data[0];
                            globalVar.fryPotFive.ProcessStep = data[0]; 
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }));
                GetFryFiveData("D3301", new Action<ushort[]>(data =>
                {
                    try
                    {
                        if (data.Count() > 0)
                            globalVar.fryPotFive.RecipeCompleteSingle = data[0];
                    }
                    catch (Exception)
                    {

                        //throw;
                    }
                }));
                //}));
                //线体上放空桶
                if (globalVar.rollerLineOne.EmptyRollerNum != 0)
                {
                    if (RollerNum.Contains(globalVar.rollerLineOne.EmptyRollerNum))
                    {
                        if (!globalVar.rollerLineOne.EmptyRollerNums.Contains(globalVar.rollerLineOne.EmptyRollerNum))
                        {
                            globalVar.rollerLineOne.EmptyRollerNums.Add(globalVar.rollerLineOne.EmptyRollerNum);
                            ++globalVar.LOneMaterialNum;
                        }
                    }

                    //是否手动复位PLC
                }
                if (globalVar.rollerLineTwo.EmptyRollerNum != 0)
                {

                    if (RollerNum.Contains(globalVar.rollerLineTwo.EmptyRollerNum))
                    {
                        if (!globalVar.rollerLineTwo.EmptyRollerNums.Contains(globalVar.rollerLineTwo.EmptyRollerNum))
                        {
                            globalVar.rollerLineTwo.EmptyRollerNums.Add(globalVar.rollerLineTwo.EmptyRollerNum);
                            ++globalVar.LTwoMaterialNum;
                        }
                    }
                    //是否手动复位PLC
                }
                if (globalVar.rollerLineThree.EmptyRollerNum != 0)
                {

                    if (RollerNum.Contains(globalVar.rollerLineThree.EmptyRollerNum))
                    {
                        if (!globalVar.rollerLineThree.EmptyRollerNums.Contains(globalVar.rollerLineThree.EmptyRollerNum))
                        {
                            globalVar.rollerLineThree.EmptyRollerNums.Add(globalVar.rollerLineThree.EmptyRollerNum);
                            ++globalVar.LThreeMaterialNum;
                        }
                    }
                    //是否手动复位PLC
                }
                ////炒锅状态数据
                //if (globalVar.fryPotOne.OilConfirm == 1)
                //{
                //    FryPotMonitorManage.GetInstance.fryOne.OilCapacity = globalVar.fryPotOne.OilCapacity;
                //    FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy += globalVar.fryPotOne.OilCapacity;
                //}
                //if (globalVar.fryPotTwo.OilConfirm == 1)
                //{
                //    FryPotMonitorManage.GetInstance.fryTwo.OilCapacity = globalVar.fryPotTwo.OilCapacity;
                //    FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy += globalVar.fryPotTwo.OilCapacity;
                //}
                //if (globalVar.fryPotThree.OilConfirm == 1)
                //{
                //    FryPotMonitorManage.GetInstance.fryThree.OilCapacity = globalVar.fryPotThree.OilCapacity;
                //    FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy += globalVar.fryPotThree.OilCapacity;
                //}
                //if (globalVar.fryPotFour.OilConfirm == 1)
                //{
                //    FryPotMonitorManage.GetInstance.fryFour.OilCapacity = globalVar.fryPotFour.OilCapacity;
                //    FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy += globalVar.fryPotFour.OilCapacity;
                //}
                //if (globalVar.fryPotFive.OilConfirm == 1)
                //{
                //    FryPotMonitorManage.GetInstance.fryFive.OilCapacity = globalVar.fryPotFive.OilCapacity;
                //    FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy += globalVar.fryPotFive.OilCapacity;
                //}
                //炒锅状态实时显示
                FryPotStatusDisplay();
                RollerLineStatusDisplay();
                Thread.Sleep(10);
            }), "MainViewReadPlcData");

        }



        /// <summary>
        /// 炒锅状态实时显示
        /// </summary>
        private void FryPotStatusDisplay()
        {
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneSmallFire").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.SmallFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneMidFire").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.MidFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneBigFire").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.BigFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneStrongFire").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.StrongFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneProcessStep").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.Step.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneOil").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotOneTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryOne.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoSmallFire").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.SmallFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoMidFire").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.MidFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoBigFire").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.BigFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoStrongFire").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.StrongFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoProcessStep").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.Step.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoOil").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotTwoTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeSmallFire").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.SmallFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeMidFire").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.MidFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeBigFire").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.BigFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeStrongFire").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.StrongFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeProcessStep").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.Step.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeOil").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotThreeTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryThree.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourSmallFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.SmallFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourMidFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.MidFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourBigFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.BigFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourStrongFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.StrongFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourProcessStep").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.Step.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFourTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryFour.TotalProduct.ToString();

            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveTemp").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.Temperature.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveSmallFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.SmallFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveMidFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.MidFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveBigFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.BigFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveStrongFire").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.StrongFire.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveSpeed").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.Speed.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveWeight").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveProcessStep").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.Step.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.OilCapacity.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveTotalOil").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy.ToString();
            FryPotInfoManage.GetInstance.variableInfos.FirstOrDefault(p => p.VarName == "FryPotFiveTotalProduct").CurrentValue = FryPotMonitorManage.GetInstance.fryFive.TotalProduct.ToString();

            //FryPotMonitorManage.GetInstance.fryFive.Temperature = 10;
            //FryPotMonitorManage.GetInstance.fryFive.HotPower = "9";
            //FryPotMonitorManage.GetInstance.fryFive.Speed = 8;
            //FryPotMonitorManage.GetInstance.fryFive.FryPotWeight=7;
            //FryPotMonitorManage.GetInstance.fryFive.OilCapacity = 6;
            //FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy = 5;
            //FryPotMonitorManage.GetInstance.fryFive.TotalProduct = 4;
        }
        /// <summary>
        /// 炒锅状态数据保存到二进制文件
        /// </summary>
        public void FryPotDataSaveToBinaryFile()
        {
            #region 炒锅1状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅1状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅1状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LOneFryPotSerial == 1 && fryOneRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryOneRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotOneStatus p1 = new PotOneStatus { Temperature = FryPotMonitorManage.GetInstance.fryOne.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryOne.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryOne.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryOne.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryOne.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryOne.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryOne.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryOne.TotalProduct, RecipeName = fryOneRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LOneFryPotSerial == 1 && fryOneRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅1状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryOneRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotOneStatus p1 = new PotOneStatus { Temperature = FryPotMonitorManage.GetInstance.fryOne.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryOne.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryOne.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryOne.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryOne.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryOne.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryOne.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryOne.TotalProduct, RecipeName = fryOneRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅2状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅2状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅2状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LTwoFryPotSerial == 2 && fryTwoRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryTwoRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotTwoStatus p1 = new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryTwo.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryTwo.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryTwo.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryTwo.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, RecipeName = fryTwoRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LTwoFryPotSerial == 2 && fryTwoRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅2状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryTwoRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotTwoStatus p1 = new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryTwo.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryTwo.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryTwo.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryTwo.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, RecipeName = fryTwoRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅3状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅3状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅3状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LThreeFryPotSerial == 3 && fryThreeRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryThreeRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotThreeStatus p1 = new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryThree.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryThree.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryThree.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryThree.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, RecipeName = fryThreeRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LThreeFryPotSerial == 3 && fryThreeRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅3状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryThreeRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotThreeStatus p1 = new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryThree.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryThree.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryThree.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryThree.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, RecipeName = fryThreeRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅4状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅4状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅4状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LOneFryPotSerial == 4 && fryFourRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFourRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFourStatus p1 = new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryFour.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryFour.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryFour.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryFour.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, RecipeName = fryFourRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LOneFryPotSerial == 4 && fryFourRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFourRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFourStatus p1 = new PotFourStatus
                        {
                            Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature,
                            SmallFire = FryPotMonitorManage.GetInstance.fryFour.SmallFire,
                            MidFire = FryPotMonitorManage.GetInstance.fryFour.MidFire,
                            BigFire = FryPotMonitorManage.GetInstance.fryFour.BigFire,
                            StrongFire = FryPotMonitorManage.GetInstance.fryFour.StrongFire,
                            Speed = FryPotMonitorManage.GetInstance.fryFour.Speed,
                            FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight,
                            OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity,
                            TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy,
                            TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct,
                            RecipeName = fryFourRecipe,
                            Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm")
                        };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
            #region 炒锅5状态数据保存
            if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅5状态数据"))
            {
                Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅5状态数据");
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString());

                if (globalVar.LTwoFryPotSerial == 5 && fryFiveRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFiveRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFiveStatus p1 = new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryFive.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryFive.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryFive.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryFive.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, RecipeName = fryFiveRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            else
            {
                if (!Directory.Exists("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString()))
                    Directory.CreateDirectory("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString());
                if (globalVar.LTwoFryPotSerial == 5 && fryFiveRecipe != string.Empty)
                {
                    using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅5状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFiveRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                    {
                        writeStream.Position = writeStream.Length;
                        PotFiveStatus p1 = new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, SmallFire = FryPotMonitorManage.GetInstance.fryFive.SmallFire, MidFire = FryPotMonitorManage.GetInstance.fryFive.MidFire, BigFire = FryPotMonitorManage.GetInstance.fryFive.BigFire, StrongFire = FryPotMonitorManage.GetInstance.fryFive.StrongFire, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, RecipeName = fryFiveRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                        BinaryFormatter bf = new BinaryFormatter();
                        bf.Serialize(writeStream, p1);

                    }
                }
            }
            #endregion
        }
        /// <summary>
        /// 滚筒线运行状态显示
        /// </summary>
        private void RollerLineStatusDisplay()
        {
            hardWareStatusModel.RollerOneModel.LocOneRollerSerial = globalVar.rollerLineOne.StationOne;
            hardWareStatusModel.RollerOneModel.LocTwoRollerSerial = globalVar.rollerLineOne.StationTwo;
            hardWareStatusModel.RollerOneModel.LocThreeRollerSerial = globalVar.rollerLineOne.StationThree;
            hardWareStatusModel.RollerOneModel.LocFourRollerSerial = globalVar.rollerLineOne.StationFour;
            hardWareStatusModel.RollerOneModel.LocFiveRollerSerial = globalVar.rollerLineOne.StationFive;
            hardWareStatusModel.RollerOneModel.LocSixRollerSerial = globalVar.rollerLineOne.StationSix;
            hardWareStatusModel.RollerOneModel.LocSevenRollerSerial = globalVar.rollerLineOne.StationSeven;
            hardWareStatusModel.RollerOneModel.LocEightRollerSerial = globalVar.rollerLineOne.StationEight;
            if (AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble == 0)
            {

                hardWareStatusModel.RollerOneModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
            }
            else
            {

                hardWareStatusModel.RollerOneModel.RollerAlarmState = Color.FromRgb(255, 51, 153);//有故障
            }
            if (globalVar.rollerLineOne.OutMaterialingSingle == 1)//运行中
            {

                hardWareStatusModel.RollerOneModel.RollerRunState = Color.FromRgb(130, 232, 139);//运行中
            }
            else
            {

                hardWareStatusModel.RollerOneModel.RollerRunState = Color.FromRgb(84, 84, 84);//未运行
            }
            hardWareStatusModel.RollerTwoModel.LocOneRollerSerial = globalVar.rollerLineTwo.StationOne;
            hardWareStatusModel.RollerTwoModel.LocTwoRollerSerial = globalVar.rollerLineTwo.StationTwo;
            hardWareStatusModel.RollerTwoModel.LocThreeRollerSerial = globalVar.rollerLineTwo.StationThree;
            hardWareStatusModel.RollerTwoModel.LocFourRollerSerial = globalVar.rollerLineTwo.StationFour;
            hardWareStatusModel.RollerTwoModel.LocFiveRollerSerial = globalVar.rollerLineTwo.StationFive;
            hardWareStatusModel.RollerTwoModel.LocSixRollerSerial = globalVar.rollerLineTwo.StationSix;
            hardWareStatusModel.RollerTwoModel.LocSevenRollerSerial = globalVar.rollerLineTwo.StationSeven;
            hardWareStatusModel.RollerTwoModel.LocEightRollerSerial = globalVar.rollerLineTwo.StationEight;
            if (AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble == 0)
            {
                hardWareStatusModel.RollerTwoModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
            }
            else
            {
                hardWareStatusModel.RollerTwoModel.RollerAlarmState = Color.FromRgb(255, 51, 153);//有故障
            }
            if (globalVar.rollerLineTwo.OutMaterialingSingle == 1)//运行中
            {

                hardWareStatusModel.RollerTwoModel.RollerRunState = Color.FromRgb(130, 232, 139);//运行中

            }
            else
            {
                hardWareStatusModel.RollerTwoModel.RollerRunState = Color.FromRgb(84, 84, 84);//未运行
            }
            hardWareStatusModel.RollerThreeModel.LocOneRollerSerial = globalVar.rollerLineThree.StationOne;
            hardWareStatusModel.RollerThreeModel.LocTwoRollerSerial = globalVar.rollerLineThree.StationTwo;
            hardWareStatusModel.RollerThreeModel.LocThreeRollerSerial = globalVar.rollerLineThree.StationThree;
            hardWareStatusModel.RollerThreeModel.LocFourRollerSerial = globalVar.rollerLineThree.StationFour;
            hardWareStatusModel.RollerThreeModel.LocFiveRollerSerial = globalVar.rollerLineThree.StationFive;
            hardWareStatusModel.RollerThreeModel.LocSixRollerSerial = globalVar.rollerLineThree.StationSix;
            hardWareStatusModel.RollerThreeModel.LocSevenRollerSerial = globalVar.rollerLineThree.StationSeven;
            hardWareStatusModel.RollerThreeModel.LocEightRollerSerial = globalVar.rollerLineThree.StationEight;
            if (AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble == 0)
            {
                hardWareStatusModel.RollerThreeModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
            }
            else
            {
                hardWareStatusModel.RollerThreeModel.RollerAlarmState = Color.FromRgb(255, 51, 153);//有故障
            }
            if (globalVar.rollerLineThree.OutMaterialingSingle == 1)//运行中
            {
                hardWareStatusModel.RollerThreeModel.RollerRunState = Color.FromRgb(130, 232, 139);//运行中
            }
            else
            {
                hardWareStatusModel.RollerThreeModel.RollerRunState = Color.FromRgb(84, 84, 84);//未运行
            }
            //滚筒线4

        }
        /// <summary>
        /// 返回滚筒线PLC指定地址指定长度的数据
        /// </summary>
        /// <param name="address"></param>
        /// <returns></returns>
        public void GetAddressData(string address, Action<ushort[]> action)
        {
            PlcReadData = DeviceOperate.GetInstance.GetAllData();
            if (PlcReadData.ContainsKey(address))
            {
                action((ushort[])(PlcReadData[address]));
            }
        }
        public void GetFryOneData(string address, Action<ushort[]> action)
        {
            FryOneData = DeviceOperate.GetInstance.GetFryOneData();
            if (FryOneData.ContainsKey(address))
            {
                action((ushort[])(FryOneData[address]));
            }
        }
        public void GetFryTwoData(string address, Action<ushort[]> action)
        {
            FryTwoData = DeviceOperate.GetInstance.GetFryTwoData();
            if (FryTwoData.ContainsKey(address))
            {
                action((ushort[])(FryTwoData[address]));
            }
        }
        public void GetFryThreeData(string address, Action<ushort[]> action)
        {
            FryThreeData = DeviceOperate.GetInstance.GetFryThreeData();
            if (FryThreeData.ContainsKey(address))
            {
                action((ushort[])(FryThreeData[address]));
            }
        }
        public void GetFryFourData(string address, Action<ushort[]> action)
        {
            FryFourData = DeviceOperate.GetInstance.GetFryFourData();
            if (FryFourData.ContainsKey(address))
            {
                action((ushort[])(FryFourData[address]));
            }
        }
        public void GetFryFiveData(string address, Action<ushort[]> action)
        {
            FryFiveData = DeviceOperate.GetInstance.GetFryFiveData();
            if (FryFiveData.ContainsKey(address))
            {
                action((ushort[])(FryFiveData[address]));
            }
        }
        /// <summary>
        /// 滚筒线写Plc数据
        /// </summary>
        /// <param name="address"></param>
        /// <param name="Value"></param>
        public void WritePlcData(string address, ushort Value)
        {
            DeviceOperate.GetInstance.WritePlcData(address, Value);
        }

        /// <summary>
        /// 炒锅写Plc数据
        /// </summary>
        /// <param name="potNum"></param>
        /// <param name="address"></param>
        /// <param name="value"></param>
        public void WritePotData(int potNum, string address, ushort value)
        {
            switch (potNum)
            {
                case 1: DeviceOperate.GetInstance.WritePotOnePlcData(address, value); break;
                case 2: DeviceOperate.GetInstance.WritePotTwoPlcData(address, value); break;
                case 3: DeviceOperate.GetInstance.WritePotThreePlcData(address, value); break;
                case 4: DeviceOperate.GetInstance.WritePotFourPlcData(address, value); break;
                case 5: DeviceOperate.GetInstance.WritePotFivePlcData(address, value); break;

            }

        }
        /// <summary>
        /// 炒锅写float类型Plc数据
        /// </summary>
        public void WritePotRealData(int potNum, string address, float value)
        {
            switch (potNum)
            {
                case 1: DeviceOperate.GetInstance.WritePotOneRealPlcData(address, value); break;
                case 2: DeviceOperate.GetInstance.WritePotTwoRealPlcData(address, value); break;
                case 3: DeviceOperate.GetInstance.WritePotThreeRealPlcData(address, value); break;
                case 4: DeviceOperate.GetInstance.WritePotFourRealPlcData(address, value); break;
                case 5: DeviceOperate.GetInstance.WritePotFiveRealPlcData(address, value); break;

            }

        }

        /// <summary>
        /// 配方数据接收
        /// </summary>
        public void RecipeDataParse(object obj)
        {
            Task.Run(new Action(() =>
            {
                if (obj != null && obj is NewRecipeModel[] recipes)
                {
                    ReicpeNum = ReicpeNum + recipes.Length;
                    MessageNotify.GetInstance.ShowUserLog($"新接收到{recipes.Length}个配方,总共{ReicpeNum}个配方");
                    for (int i = 0; i < recipes.Length; i++)
                    {
                        int? res = recipes[i].materialCollection.ElementAt(0).MaterialLoc / 100;
                        if (res != null)
                        {
                            switch (res)
                            {
                                case 1:
                                case 4: RecipeQuene.Enqueue(recipes[i]); break;
                                case 3: LThreeRecipeQuene.Enqueue(recipes[i]); break;
                                case 2:
                                case 5: LTwoRecipeQuene.Enqueue(recipes[i]); break;
                            }
                        }
                    }
                }

            }));

        }
        /// <summary>
        /// 开启主任务
        /// </summary>
        public void MainTask()
        {
            ////RecipeDataToPlc();
            //LOneRecipeDataToPlc();
            //LTwoRecipeDataToPlc();
            //LThreeRecipeDataToPlc();
            ////AgvLoadRoller();
            //LOneLoadRoller();
            //LTwoAgvLoadRoller();
            //LThreeAgvLoadRoller();
            //// FryPotInputMaterial();
            //LOneFryPotInputMaterial();
            //LTwoFryPotInputMaterial();
            //LThreeFryPotInputMaterial();
            ////FryPotOutputMaterial();
            //LOneFryPotOutputMaterial();
            //LTwoFryPotOutputMaterial();
            //LThreeFryPotOutputMaterial();

            ThreadManage.GetInstance().StartLong(new Action(() => { LineOneProcessExecute(); Thread.Sleep(10); }), "滚筒线1任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoProcessExecute(); Thread.Sleep(10); }), "滚筒线2任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeProcessExecute(); Thread.Sleep(10); }), "滚筒线3任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { LineOneToCleanProcessExecute(); Thread.Sleep(10); }), "滚筒线1空桶清洗任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { LineTwoToCleanProcessExecute(); Thread.Sleep(10); }), "滚筒线2空桶清洗任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { LineThreeToCleanProcessExecute(); Thread.Sleep(10); }), "滚筒线3空桶清洗任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { ToLineFourFromCleanPlate(); Thread.Sleep(10); }), "清洗台空桶回桶任务线程");
            ThreadManage.GetInstance().StartLong(new Action(() => { EmptyRollerToLinFourFromPot(); Thread.Sleep(10); }), "炒锅空桶回桶任务线程");

        }

        /// <summary>
        /// 线体1的执行流程
        /// </summary>
        public void LineOneProcessExecute()
        {
            LOneFryPotStepDisplay();
            LOneRecipeDataToPlc();
            LineOneRecipeExecuteConfirm();
            LOneLoadRoller();
            LOneFryPotInputMaterial();
            LOneFallMaterial();
            LOneFryPotOutputMaterial();
            LOneEmptyOperate();
            //    globalVar.LOneTaskLock = false;
            //}

        }
        /// <summary>
        /// 线体2的执行流程
        /// </summary>
        public void LineTwoProcessExecute()
        {
            LTwoFryPotStepDisplay();
            LTwoRecipeDataToPlc();
            LineTwoRecipeExecuteConfirm();
            LTwoAgvLoadRoller();
            LTwoFryPotInputMaterial();
            LTwoFallMaterial();
            LTwoFryPotOutputMaterial();
            LTwoEmptyOperate();
            //    globalVar.LTwoTaskLock = false;

            //}
        }
        /// <summary>
        /// 线体3的执行流程
        /// </summary>
        public void LineThreeProcessExecute()
        {
            LThreeFryPotStepDisplay();
            LThreeRecipeDataToPlc();
            LineThreeRecipeExecuteConfirm();
            LThreeAgvLoadRoller();
            LThreeFryPotInputMaterial();
            LThreeFallMaterial();
            LThreeFryPotOutputMaterial();
            LThreeEmptyOperate();
            //    globalVar.LThreeTaskLock = false;

            //}
        }
        private void LineOneToCleanProcessExecute()
        {
            //线体1到清洗台
            AgvFromLineOneToCleanPlate();
            AgvArriveCleanPlateFromLineOne();
        }
        public void LineTwoToCleanProcessExecute()
        {
            //线体2到清洗台
            AgvFromLineTwoToCleanPlate();
            AgvArriveCleanPlateFromLineTwo();

        }
        public void LineThreeToCleanProcessExecute()
        {
            //线体3到清洗台
            AgvFromLineThreeToCleanPlate();
            AgvArriveCleanPlateFromLineThree();

        }
        private void ToLineFourFromCleanPlate()
        {
            //空桶到线体4
            CallAgvToLineFour();
            CleanPlateUpLoad();
            EmptyRollerToLinFourFromClean();
        }
        private void CleanPlateUpLoad()
        {
            if (globalVar.agvArriveCleanLoad)
            {
                globalVar.agvArriveCleanLoad = false;
                MessageNotify.GetInstance.ShowRunLog("AGV到达清洗台空桶上料位置");
                //plc交互
                WritePlcData("D1066", 1);//AGV空桶出桶就位信号下发PlC
                                         //erp: if (AlarmHelper<AlarmInfo>.GetInstance("洗桶机出桶未运行").CleanOutputRollerRunning == 0)
                                         //    {
                                         //        //plc交互
                                         //        WritePlcData("D1066", 1);//AGV空桶出桶就位信号下发PlC

                //    }
                //    else//有故障
                //    {
                //        while (AlarmHelper<AlarmInfo>.GetInstance("洗桶机出桶未运行").CleanOutputRollerRunning == 1)
                //        {
                //            Thread.Sleep(1000);
                //            if (globalVar.ExitLineOneTask)
                //                return;
                //        }
                //        MessageNotify.GetInstance.ShowRunLog("清洗台空桶出桶滚筒重新运行！！");
                //        goto erp;
                //    }
            }
        }

        /// <summary>
        /// 线体1到清洗台
        /// </summary>
        private void AgvFromLineOneToCleanPlate()
        {
            if (AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble == 0)//输送线无故障
            {
                if (TTrig.GetInstance("LineOneModel").Start(Convert.ToBoolean(globalVar.rollerLineOne.WashEmptyRollerModel)))
                {
                    MessageNotify.GetInstance.ShowRunLog($"1号滚筒线切换为普通洗桶模式");
                }

                if (globalVar.rollerLineOne.WashEmptyRollerModel == 0)
                {

                    try
                    {
                        lock (Obj_Lock)
                        {

                            //线体1到清洗台
                            if (!globalVar.rollerLineOne.IsEpmtyBefore && globalVar.rollerLineOne.CanRun && globalVar.AllowNextEmptyRollerToClean && globalVar.rollerLineOne.EmptyRollerNums.Count > 0)
                            {

                                var res = InputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineOne.StationEight);
                                if ((globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.EmptyRollerNums.Contains(globalVar.rollerLineOne.StationEight) && InputMaterialQuene.Count > 0 && globalVar.rollerLineOne.StationEight != InputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.EmptyRollerNums.Contains(globalVar.rollerLineOne.StationEight)))//一种情况工位8上面有桶且不是配方上的原料桶且工位8的桶号和plc上报的桶号一致,即空桶，另一种在没有下单的情况下，线体上的桶都认为是空桶
                                {
                                    LOneCurrentRollerNum = globalVar.rollerLineOne.StationEight;
                                //下发AGV去空桶线洗桶任务
                                e: string id = Guid.NewGuid().ToString("D");
                                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                                        goto e;

                                    string info = AGVHelper.GetInstance.AgvLeaveLOneToClean(id);//1号线到洗桶处
                                    LSevenrobotJobId.Add(id);
                                    // Thread.Sleep(500);
                                    if (LineToCleanCarryTaskErrorCodeAnalysis(info, 1))//AGV呼叫成功
                                    {
                                        WritePlcData("D1250", LOneCurrentRollerNum);//下发空桶桶号到洗桶机
                                        globalVar.rollerLineOne.IsEpmtyBefore = true;
                                        globalVar.AllowNextEmptyRollerToClean = false;
                                    }
                                    else
                                    {
                                        LSevenrobotJobId.Remove(id);
                                        Thread.Sleep(5000);
                                    }
                                }
                                // AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处

                            }
                            else
                            {
                                AgvFromLineOneToClean(LOneCurrentRollerNum);//AGV从线体1到清洗处
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }
                else //统一洗桶模式
                {
                    if (RTrig.GetInstance("LineOneModel").Start(Convert.ToBoolean(globalVar.rollerLineOne.WashEmptyRollerModel)))
                        MessageNotify.GetInstance.ShowRunLog($"1号滚筒线切换为统一洗桶模式");
                    lock (Obj_Lock)
                    {
                        if (globalVar.rollerLineOne.WashRollerArriveSignal == 1 && globalVar.AllowNextEmptyRollerToClean)//1号线空桶洗桶就位
                        {

                        //下发AGV去空桶线洗桶任务
                        e: string id = Guid.NewGuid().ToString("D");
                            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                                goto e;

                            string info = AGVHelper.GetInstance.AgvLeaveLOneToClean(id);//1号线到洗桶处
                            LSevenrobotJobId.Add(id);
                            // Thread.Sleep(500);
                            if (LineToCleanCarryTaskErrorCodeAnalysis(info, 1))//AGV呼叫成功
                            {
                                globalVar.AllowNextEmptyRollerToClean = false;
                            }
                            else
                            {
                                LSevenrobotJobId.Remove(id);
                                Thread.Sleep(5000);
                            }
                        }

                        else
                        {
                            AgvFromLineOneToClean();//AGV从线体1到清洗处
                        }
                    }

                }

            }

        }

        /// <summary>
        /// 线体2到清洗台
        /// </summary>
        private void AgvFromLineTwoToCleanPlate()
        {

            // 线体2到清洗台
            if (AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble == 0)//输送线无故障
            {
                if (TTrig.GetInstance("LineTwoModel").Start(Convert.ToBoolean(globalVar.rollerLineTwo.WashEmptyRollerModel)))
                {
                    MessageNotify.GetInstance.ShowRunLog($"2号滚筒线切换为普通洗桶模式");
                }
                if (globalVar.rollerLineTwo.WashEmptyRollerModel == 0)
                {

                    try
                    {
                        lock (Obj_Lock)
                        {
                            if (!globalVar.rollerLineTwo.IsEpmtyBefore && globalVar.rollerLineTwo.CanRun && globalVar.AllowNextEmptyRollerToClean && globalVar.rollerLineTwo.EmptyRollerNums.Count > 0)
                            {

                                var res = LTwoInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineTwo.StationEight);
                                if ((globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.EmptyRollerNums.Contains(globalVar.rollerLineTwo.StationEight) && LTwoInputMaterialQuene.Count > 0 && globalVar.rollerLineTwo.StationEight != LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.EmptyRollerNums.Contains(globalVar.rollerLineTwo.StationEight)))//工位8上面有桶且不是配方上的原料桶,即空桶
                                {
                                    LTwoCurrentRollerNum = globalVar.rollerLineTwo.StationEight;
                                //下发AGV去空桶线洗桶任务
                                e: string id = Guid.NewGuid().ToString("D");
                                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                                        goto e;

                                    string info = AGVHelper.GetInstance.AgvLeaveLTwoToClean(id);//2号线到洗桶处
                                    LEightrobotJobId.Add(id);
                                    //Thread.Sleep(500);
                                    if (LineToCleanCarryTaskErrorCodeAnalysis(info, 2))
                                    {
                                        WritePlcData("D1250", LTwoCurrentRollerNum);//下发空桶桶号到洗桶机
                                        globalVar.rollerLineTwo.IsEpmtyBefore = true;
                                        globalVar.AllowNextEmptyRollerToClean = false;
                                    }
                                    else
                                    {
                                        LEightrobotJobId.Remove(id);
                                        Thread.Sleep(5000);
                                    }

                                    //AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体2到清洗处
                                }
                            }

                            else
                            {
                                AgvFromLineTwoToClean(LTwoCurrentRollerNum);//AGV从线体1到清洗处
                            }
                        }

                    }
                    catch (Exception)
                    {

                        //  throw;
                    }
                }
                else
                {
                    if (RTrig.GetInstance("LineTwoModel").Start(Convert.ToBoolean(globalVar.rollerLineTwo.WashEmptyRollerModel)))
                        MessageNotify.GetInstance.ShowRunLog($"2号滚筒线切换为统一洗桶模式");
                    lock (Obj_Lock)
                    {
                        if (globalVar.rollerLineTwo.WashRollerArriveSignal == 1 && globalVar.AllowNextEmptyRollerToClean)//1号线空桶洗桶就位
                        {

                        //下发AGV去空桶线洗桶任务
                        e: string id = Guid.NewGuid().ToString("D");
                            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                                goto e;

                            string info = AGVHelper.GetInstance.AgvLeaveLTwoToClean(id);//2号线到洗桶处
                            LEightrobotJobId.Add(id);
                            //Thread.Sleep(500);
                            if (LineToCleanCarryTaskErrorCodeAnalysis(info, 2))
                            {


                                globalVar.AllowNextEmptyRollerToClean = false;
                            }
                            else
                            {
                                LEightrobotJobId.Remove(id);
                                Thread.Sleep(5000);
                            }
                        }


                        else
                        {

                            AgvFromLineTwoToClean();//AGV从线体1到清洗处
                        }
                    }
                }
            }


        }
        /// <summary>
        /// 线体3到清洗台
        /// </summary>
        private void AgvFromLineThreeToCleanPlate()
        {
            //线体3到清洗台
            if (AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble == 0)//输送线无故障
            {
                if (TTrig.GetInstance("LineThreeModel").Start(Convert.ToBoolean(globalVar.rollerLineThree.WashEmptyRollerModel)))
                {
                    MessageNotify.GetInstance.ShowRunLog($"3号滚筒线切换为普通洗桶模式");
                }
                if (globalVar.rollerLineThree.WashEmptyRollerModel == 0)
                {

                    try
                    {
                        lock (Obj_Lock)
                        {
                            if (!globalVar.rollerLineThree.IsEpmtyBefore && globalVar.rollerLineThree.CanRun && globalVar.AllowNextEmptyRollerToClean && globalVar.rollerLineThree.EmptyRollerNums.Count > 0)
                            {

                                var res = LThreeInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineThree.StationEight);
                                if ((globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.EmptyRollerNums.Contains(globalVar.rollerLineThree.StationEight) && LThreeInputMaterialQuene.Count > 0 && globalVar.rollerLineThree.StationEight != LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc) || (res == null && globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.EmptyRollerNums.Contains(globalVar.rollerLineThree.StationEight)))//工位8上面有桶且不是配方上的原料桶,即空桶
                                {
                                    LThreeCurrentRollerNum = globalVar.rollerLineThree.StationEight;
                                //下发AGV去空桶线洗桶任务
                                e: string id = Guid.NewGuid().ToString("D");
                                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                                        goto e;

                                    string info = AGVHelper.GetInstance.AgvLeaveLThreeToClean(id);//3号线到洗桶处
                                    LNinerobotJobId.Add(id);
                                    //Thread.Sleep(500);
                                    if (LineToCleanCarryTaskErrorCodeAnalysis(info, 3))//呼叫成功
                                    {
                                        WritePlcData("D1250", LThreeCurrentRollerNum);//下发空桶桶号到洗桶机
                                        globalVar.rollerLineThree.IsEpmtyBefore = true;
                                        globalVar.AllowNextEmptyRollerToClean = false;
                                    }
                                    else//呼叫失败
                                    {
                                        LNinerobotJobId.Remove(id);
                                        Thread.Sleep(5000);
                                    }

                                    //AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                                }

                            }
                            else
                            {
                                AgvFromLineThreeToClean(LThreeCurrentRollerNum);//AGV从线体3到清洗处
                            }
                        }
                    }
                    catch (Exception)
                    {

                        // throw;
                    }
                }
                else
                {
                    if (RTrig.GetInstance("LineThreeModel").Start(Convert.ToBoolean(globalVar.rollerLineThree.WashEmptyRollerModel)))
                        MessageNotify.GetInstance.ShowRunLog($"3号滚筒线切换为统一洗桶模式");
                    lock (Obj_Lock)
                    {
                        if (globalVar.rollerLineThree.WashRollerArriveSignal == 1 && globalVar.AllowNextEmptyRollerToClean)//1号线空桶洗桶就位
                        {

                        //下发AGV去空桶线洗桶任务
                        e: string id = Guid.NewGuid().ToString("D");
                            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                                goto e;

                            string info = AGVHelper.GetInstance.AgvLeaveLThreeToClean(id);//3号线到洗桶处
                            LNinerobotJobId.Add(id);
                            //Thread.Sleep(500);
                            if (LineToCleanCarryTaskErrorCodeAnalysis(info, 3))//呼叫成功
                            {

                                globalVar.rollerLineThree.IsEpmtyBefore = true;
                                globalVar.AllowNextEmptyRollerToClean = false;
                            }
                            else//呼叫失败
                            {
                                LNinerobotJobId.Remove(id);
                                Thread.Sleep(5000);
                            }

                        }
                        else
                        {
                            AgvFromLineThreeToClean();//AGV从线体3到清洗处
                        }
                    }
                }
            }
        }

        /// <summary>
        /// AGV从线体1到达清洗台下料位置
        /// </summary>
        private void AgvArriveCleanPlateFromLineOne()
        {
            if (globalVar.rollerLineOne.agvArriveCleanUnLoad || globalVar.LineSevenRobotTaskError)
            {
                globalVar.rollerLineOne.agvArriveCleanUnLoad = false;
                MessageNotify.GetInstance.ShowRunLog("空桶从线体1到达清洗位置，准备卸桶");

            erp: if (AlarmHelper<AlarmInfo>.GetInstance("洗桶机进筒未运行").CleanEnterRollerRunning == 0)
                {
                    globalVar.LineSevenRobotTaskError = false;//AGV故障信号复位
                    //plc交互
                    WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC

                }
                else//有故障
                {
                    while (AlarmHelper<AlarmInfo>.GetInstance("洗桶机进筒未运行").CleanEnterRollerRunning == 1)
                    {
                        Thread.Sleep(1000);
                        if (globalVar.ExitLineOneTask)
                            return;
                    }
                    MessageNotify.GetInstance.ShowRunLog("清洗台空桶进桶滚筒重新运行！！");
                    goto erp;
                }
            }

        }

        /// <summary>
        /// AGV从线体2到达清洗台下料位置
        /// </summary>
        private void AgvArriveCleanPlateFromLineTwo()
        {

            if (globalVar.rollerLineTwo.agvArriveCleanUnLoad || globalVar.LineEightRobotTaskError)
            {
                globalVar.rollerLineTwo.agvArriveCleanUnLoad = false;
                MessageNotify.GetInstance.ShowRunLog("空桶从线体2到达清洗位置，准备卸桶");

            erp: if (AlarmHelper<AlarmInfo>.GetInstance("洗桶机进筒未运行").CleanEnterRollerRunning == 0)
                {
                    globalVar.LineEightRobotTaskError = false;//AGV故障信号复位
                    //plc交互
                    WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC

                }
                else//有故障
                {
                    while (AlarmHelper<AlarmInfo>.GetInstance("洗桶机进筒未运行").CleanEnterRollerRunning == 1)
                    {
                        Thread.Sleep(1000);
                        if (globalVar.ExitLineTwoTask)
                            return;
                    }
                    MessageNotify.GetInstance.ShowRunLog("清洗台空桶进桶滚筒重新运行！！");
                    goto erp;
                }
            }


        }
        /// <summary>
        /// AGV从线体3到达清洗台下料位置
        /// </summary>
        private void AgvArriveCleanPlateFromLineThree()
        {

            if (globalVar.rollerLineThree.agvArriveCleanUnLoad || globalVar.LineNineRobotTaskError)
            {
                globalVar.rollerLineThree.agvArriveCleanUnLoad = false;
                MessageNotify.GetInstance.ShowRunLog("空桶从线体3到达清洗位置，准备卸桶");
            erp: if (AlarmHelper<AlarmInfo>.GetInstance("洗桶机进筒未运行").CleanEnterRollerRunning == 0)
                {
                    globalVar.LineNineRobotTaskError = false;//AGV故障信号复位
                    //plc交互
                    WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC

                }
                else//有故障
                {
                    while (AlarmHelper<AlarmInfo>.GetInstance("洗桶机进筒未运行").CleanEnterRollerRunning == 1)
                    {
                        Thread.Sleep(1000);
                        if (globalVar.ExitLineThreeTask)
                            return;
                    }
                    MessageNotify.GetInstance.ShowRunLog("清洗台空桶进桶滚筒重新运行！！");
                    goto erp;
                }
                ////plc交互
                //WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC
                //if (globalVar.CleadBarrelEnterSingle == 0)
                //{
                //    MessageLog.GetInstance.ShowRunLog("警告：清洗台空桶下料就位信号已发送，进桶滚筒未运行！！");
                //}

            }

        }
        /// <summary>
        /// 呼叫Agv从清洗台运洗好的空桶到四号线体
        /// </summary>
        public void CallAgvToLineFour()
        {
            if (RTrig.GetInstance("呼叫AGV").Start(Convert.ToBoolean(globalVar.CleanComplete)))
            {

                globalVar.AllowNextEmptyRollerToClean = true;//AGV到滚筒线搬运空桶的允许标志
            e: string id = Guid.NewGuid().ToString("D");
                if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                    goto e;

                string info = AGVHelper.GetInstance.AgvFromCleanToLineFourUnLoadRoller(id);
                LTenrobotJobId.Add(id);
                //Thread.Sleep(500);
                MessageNotify.GetInstance.ShowRunLog("清洗台呼叫AGV取桶");
                if (!CleanToLineCarryTaskErrorCodeAnalysis(info, 4))
                {
                    LTenrobotJobId.Remove(id);
                    MessageNotify.GetInstance.ShowRunLog("清洗台呼叫AGV取桶失败");
                }
            }
        }
        /// <summary>
        /// 3号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void LThreeRecipeDataToPlc()
        {
            if (LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0 && !LThreeErrorRecipe)
            {
                globalVar.rollerLineThree.RecipeComMidSingle = 1;
                if (globalVar.LThreeCurrentRecipeName != string.Empty)
                {
                    MessageNotify.GetInstance.ShowRunLog($"【3】号滚筒线【{globalVar.LThreeCurrentRecipeName}】 配方所有料桶已送达炒锅");
                    // ResetPotData(3);
                    WritePlcData("D2103", 0);
                    WritePlcData("D1103", 0);//复位开始执行指令
                    PlcLineThreeRecipeDataReset();
                    if (globalVar.LThreeFryPotSerial == 3)
                    {
                        FryPotMonitorManage.GetInstance.fryThree.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryThree.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryThree.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotThreeStatus>.GetInstance.Base.Add(new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryThree.HotPower, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotThreeStatus>.GetInstance.Save();//保存数据
                    }
                    globalVar.LThreeCurrentRecipeName = string.Empty;
                    // Task.Run(() => { Thread.Sleep(1500); fryThreeRecipe = string.Empty; });
                }
            }
            if (RTrig.GetInstance("炒锅3配方完成").Start(Convert.ToBoolean(globalVar.fryPotThree.RecipeCompleteSingle)))
            {
                ResetPotData(3);
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep + 1, Name = "配方制作完成！", isBool = IsBool.Yes }); }));
                ActionManage.GetInstance.Send("炒锅工艺流程更新", 3);
                MessageNotify.GetInstance.ShowRunLog("炒锅3配方制作完成");
                AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Stop);
                Task.Run(() => { Thread.Sleep(1500); fryThreeRecipe = string.Empty; });
            }

            if (LThreeRecipeQuene.Count > 0 && LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0 && globalVar.rollerLineThree.RecipeComMidSingle == 1 && globalVar.rollerLineThree.WashEmptyRollerModel == 0)//后续添加其它限制条件
            {
                if (globalVar.fryPotThree.RecipeCompleteSingle == 1 || globalVar.fryPotThree.ProcessStep == 0)
                {
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.goodsName = string.Empty; }));
                    Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows = new ObservableCollection<WorkflowModel>(); }));
                    AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Stop);
                    ResetPotData(3);
                    WritePlcData("D2103", 0);
                    WritePlcData("D1103", 0);//复位开始执行指令
                                             //清空配方数据队列
                    PlcLineThreeRecipeDataReset();//PLC复位
                    Thread.Sleep(800);

                    if (LThreeRecipeQuene.TryDequeue(out NewRecipeModel result))
                    {
                        potThreeCurrentRecipe = result;
                        LThreeErrorRecipe = false;
                        int headNum = result.materialCollection[0].MaterialLoc / 100;
                        globalVar.LThreeMaterialNum = result.materialCollection.Count;
                        globalVar.LThreeFryPotSerial = headNum;
                        globalVar.LThreeCurrentRecipeName = result.RecipeName;

                        AgvViewModel.GetInstance().Set滚筒线上数量(3, globalVar.LThreeMaterialNum.ToString());
                        MessageNotify.GetInstance.ShowUserLog($"【3】号滚筒线开始制作【{result.RecipeName}】 配方");
                        fryThreeRecipe = result.RecipeName;//炒锅状态开始记录
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.goodsName = result.RecipeName; }));
                        for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                        {
                            if (result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && headNum == 3)
                            {

                                //将配方中原料加入新的队列
                                LThreeInputMaterialQuene.Enqueue(new MaterialInfo()
                                {
                                    materialType = result.materialCollection[i],
                                    materialId = result.RecipeId
                                });
                                RollerThreeDataWrite(i, result.materialCollection[i].MaterialLoc, (ushort)(result.materialCollection[i].MaterialWeight + RollerNetweight), result.materialCollection[i].MaterialOffset * 10);//3号滚筒线桶号以及重量数据、偏差量下发 



                            }
                            else
                            {
                                MessageNotify.GetInstance.ShowRunLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                                MessageNotify.GetInstance.ShowUserLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                                LThreeInputMaterialQuene.Clear();
                                LThreeRecipeQuene.Clear();
                                LThreeErrorRecipe = true;
                                return;
                            }
                        }
                        #region 炒股用油量记录
                        try
                        {
                            if (result.FlowProcess.fpModels.Count > 0)
                            {
                                FryPotMonitorManage.GetInstance.fryThree.OilCapacity = result.FlowProcess.fpModels.FirstOrDefault(p => p.FryMaterialNum == (Json<FlowProcessNames>.Data.NameId.FirstOrDefault(s => s.Value == 1)).Key)?.FryWeight;
                                FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy += FryPotMonitorManage.GetInstance.fryThree.OilCapacity;
                                FryPotRecipeSetDown(headNum, result);//炒锅工艺数据下发
                            }
                            else
                            {
                                MessageNotify.GetInstance.ShowUserLog($"3号滚筒线【{result.RecipeName}】配方未制定炒锅工艺，已取消");
                                LThreeRecipeQuene.Clear();
                                LThreeInputMaterialQuene.Clear();
                                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"当前配方未指定炒锅工艺，配方取消制作"); }));
                                return;
                            }
                        }
                        catch (Exception)
                        {
                            LThreeRecipeQuene.Clear();
                            Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"炒锅工艺异常，配方下发失败"); }));
                            return;

                            //throw;
                        }
                        #endregion
                        DeviceOperate.GetInstance.WritePlcData("D1043", (ushort)result.materialCollection.Count);//发送3号滚筒线工序数据
                                                                                                                 // globalVar.rollerLineThree.RecipeComMidSingle = 0;
                        WritePlcData("D1103", 1);//配方开始执行命令
                        globalVar.rollerLineThree.LowSignalJude = true;
                        globalVar.LThreeCurrentCookingStep = 0;
                        PotThreestep = 0;
                        if (LThreeRecipeQuene.Count > 0)
                            LThreeRecipeQuene.Clear();
                        Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, App.MainWindow, "提示", $"配方下发成功!"); }));
                    }
                }
                else
                {
                    LThreeRecipeQuene.Clear();
                    MessageNotify.GetInstance.ShowUserLog("提示:3号滚筒线配方完成前禁止再次下发订单");
                    Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"3号滚筒线配方完成前禁止再次下发订单"); }));
                }
            }
            else if (globalVar.rollerLineThree.WashEmptyRollerModel == 1 && LThreeRecipeQuene.Count > 0)
            {
                MessageNotify.GetInstance.ShowUserLog("提示：3号滚筒线处于集中洗桶模式，无法下发配方");
                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"3号滚筒线处于集中洗桶模式，无法下发配方"); }));
                LThreeRecipeQuene.Clear();

            }
            else if(LThreeRecipeQuene.Count > 0)
            {
                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"配方下发失败"); }));
                LThreeRecipeQuene.Clear();

            }

        }
        /// <summary>
        /// 2号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void LTwoRecipeDataToPlc()
        {
            if (LTwoOutputMaterialQuene.Count == 0 && LTwoInputMaterialQuene.Count == 0 && !LTwoErrorRecipe)
            {
                globalVar.rollerLineTwo.RecipeComMidSingle = 1;
                if (globalVar.LTwoCurrentRecipeName != string.Empty)
                {
                    MessageNotify.GetInstance.ShowRunLog($"【2】号滚筒线【{globalVar.LTwoCurrentRecipeName}】 配方所有料桶已送达炒锅");
                    // ResetPotData(globalVar.LTwoFryPotSerial);
                    WritePlcData("D2102", 0);
                    WritePlcData("D1102", 0);//复位开始执行指令
                    PlcLineTwoRecipeDataReset();
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        FryPotMonitorManage.GetInstance.fryTwo.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryTwo.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryTwo.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotTwoStatus>.GetInstance.Base.Add(new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryTwo.HotPower, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotTwoStatus>.GetInstance.Save();//保存数据
                    }
                    if (globalVar.LTwoFryPotSerial == 5)
                    {
                        FryPotMonitorManage.GetInstance.fryFive.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryFive.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryFive.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotFiveStatus>.GetInstance.Base.Add(new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFive.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotFiveStatus>.GetInstance.Save();//保存数据
                    }
                    globalVar.LTwoCurrentRecipeName = string.Empty;
                    // Task.Run(() => { Thread.Sleep(1500); fryTwoRecipe = string.Empty; fryFiveRecipe = string.Empty; });
                }
            }
            if (RTrig.GetInstance("炒锅2配方完成").Start(Convert.ToBoolean(globalVar.fryPotTwo.RecipeCompleteSingle)))
            {
                ResetPotData(2);

                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep + 1, Name = "配方制作完成！", isBool = IsBool.Yes }); }));
                ActionManage.GetInstance.Send("炒锅工艺流程更新", 2);
                MessageNotify.GetInstance.ShowRunLog("炒锅2配方制作完成");
                AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Stop);
                Task.Run(() => { Thread.Sleep(1500); fryTwoRecipe = string.Empty; });
            }

            if (RTrig.GetInstance("炒锅5配方完成").Start(Convert.ToBoolean(globalVar.fryPotFive.RecipeCompleteSingle)))
            {
                ResetPotData(5);
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LFiveCurrentCookingStep + 1, Name = "配方制作完成！", isBool = IsBool.Yes }); }));
                ActionManage.GetInstance.Send("炒锅工艺流程更新", 5);
                MessageNotify.GetInstance.ShowRunLog("炒锅5配方制作完成");
                AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Stop);
                Task.Run(() => { Thread.Sleep(1500); fryFiveRecipe = string.Empty; });
            }

            if (LTwoRecipeQuene.Count > 0 && LTwoOutputMaterialQuene.Count == 0 && LTwoInputMaterialQuene.Count == 0 && globalVar.rollerLineTwo.RecipeComMidSingle == 1 && globalVar.rollerLineTwo.WashEmptyRollerModel == 0)//后续添加其它限制条件
            {

                if ((LTwoRecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == 2 && globalVar.fryPotTwo.RecipeCompleteSingle == 1) || (LTwoRecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == 5 && globalVar.fryPotFive.RecipeCompleteSingle == 1) || (LTwoRecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 != globalVar.LTwoFryPotSerial && globalVar.LTwoFryPotSerial == 2 && globalVar.fryPotFive.ProcessStep == 0) || (LTwoRecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 != globalVar.LTwoFryPotSerial && globalVar.LTwoFryPotSerial == 5 && globalVar.fryPotTwo.ProcessStep == 0) || (globalVar.LTwoFryPotSerial == 0 && globalVar.fryPotTwo.ProcessStep == 0 && globalVar.fryPotFive.ProcessStep == 0) || (LTwoRecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == globalVar.LTwoFryPotSerial && globalVar.LTwoFryPotSerial == 5 && globalVar.fryPotFive.ProcessStep == 0) || (LTwoRecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == globalVar.LTwoFryPotSerial && globalVar.LTwoFryPotSerial == 2 && globalVar.fryPotTwo.ProcessStep == 0))
                {
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.goodsName = string.Empty; }));
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows = new ObservableCollection<WorkflowModel>(); }));
                        AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Stop);

                        Task.Run(() => { Thread.Sleep(1500); fryTwoRecipe = string.Empty; });
                    }
                    if (globalVar.LTwoFryPotSerial == 5)
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.goodsName = string.Empty; }));
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows = new ObservableCollection<WorkflowModel>(); }));
                        AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Stop);

                        Task.Run(() => { Thread.Sleep(1500); fryFiveRecipe = string.Empty; });
                    }
                    //if (globalVar.LTwoCurrentRecipeName != string.Empty)
                    //    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线【{globalVar.LTwoCurrentRecipeName}】 配方制作完成");


                    WritePlcData("D2102", 0);
                    WritePlcData("D1102", 0);//复位开始执行指令
                                             //清空配方数据队列
                    PlcLineTwoRecipeDataReset();//PLC复位

                    if (LTwoRecipeQuene.TryDequeue(out NewRecipeModel result))
                    {
                        LTwoErrorRecipe = false;
                        int headNum = result.materialCollection[0].MaterialLoc / 100;
                        globalVar.LTwoMaterialNum = result.materialCollection.Count;
                        globalVar.LTwoFryPotSerial = headNum;
                        globalVar.LTwoCurrentRecipeName = result.RecipeName;
                        AgvViewModel.GetInstance().Set滚筒线上数量(2, globalVar.LTwoMaterialNum.ToString());
                        MessageNotify.GetInstance.ShowUserLog($"【2】号滚筒线开始制作【{result.RecipeName}】 配方");
                        if (headNum == 2)//炒锅2
                        {
                            potTwoCurrentRecipe = result;
                            globalVar.LTwoCurrentCookingStep = 0;
                            PotTwostep = 0;
                            fryTwoRecipe = result.RecipeName;//炒锅状态开始记录
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.goodsName = result.RecipeName; }));
                        }
                        else//炒锅5
                        {
                            potFiveCurrentRecipe = result;
                            PotFivestep = 0;
                            globalVar.LFiveCurrentCookingStep = 0;
                            fryFiveRecipe = result.RecipeName;//炒锅状态开始记录
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.goodsName = result.RecipeName; }));
                        }
                        ResetPotData(globalVar.LTwoFryPotSerial);
                        Thread.Sleep(800);
                        for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                        {
                            if (result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && (headNum == 2 || headNum == 5))
                            {

                                //将配方中原料加入新的队列
                                LTwoInputMaterialQuene.Enqueue(new MaterialInfo()
                                {
                                    materialType = result.materialCollection[i],
                                    materialId = result.RecipeId
                                });
                                RollerTwoDataWrite(i, result.materialCollection[i].MaterialLoc, (ushort)(result.materialCollection[i].MaterialWeight + RollerNetweight), result.materialCollection[i].MaterialOffset*10);//2号滚筒线桶号以及重量、偏差量数据下发 



                            }
                            else
                            {
                                MessageNotify.GetInstance.ShowRunLog($"【2】号滚筒线配方桶号配置错误,取消【{result.RecipeName}】配方制作");
                                MessageNotify.GetInstance.ShowUserLog($"【2】号滚筒线配方桶号配置错误,取消【{result.RecipeName}】配方制作");
                                LTwoInputMaterialQuene.Clear();
                                LTwoRecipeQuene.Clear();
                                LTwoErrorRecipe = true;
                                return;
                            }
                        }
                        #region 炒股用油量记录
                        if (headNum == 2)
                        {
                            try
                            {
                                if (result.FlowProcess.fpModels.Count > 0)
                                {
                                    FryPotMonitorManage.GetInstance.fryTwo.OilCapacity = result.FlowProcess.fpModels.FirstOrDefault(p => p.FryMaterialNum == (Json<FlowProcessNames>.Data.NameId.FirstOrDefault(s => s.Value == 1)).Key)?.FryWeight;
                                    FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy += FryPotMonitorManage.GetInstance.fryTwo.OilCapacity;
                                    FryPotRecipeSetDown(headNum, result);//炒锅工艺下发
                                }
                                else
                                {
                                    MessageNotify.GetInstance.ShowUserLog($"2号滚筒线【{result.RecipeName}】配方未制定炒锅工艺，已取消");
                                    LTwoRecipeQuene.Clear();
                                    LTwoInputMaterialQuene.Clear();
                                    Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"当前配方未指定炒锅工艺，配方取消制作"); }));
                                    return;
                                }
                            }
                            catch (Exception)
                            {
                                LTwoRecipeQuene.Clear();
                                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"炒锅工艺异常，配方下发失败"); }));
                                return;
                                // throw;
                            }
                        }
                        else
                        {
                            try
                            {
                                if (result.FlowProcess.fpModels.Count > 0)
                                {
                                    FryPotMonitorManage.GetInstance.fryFive.OilCapacity = result.FlowProcess.fpModels.FirstOrDefault(p => p.FryMaterialNum == (Json<FlowProcessNames>.Data.NameId.FirstOrDefault(s => s.Value == 1)).Key)?.FryWeight;
                                    FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy += FryPotMonitorManage.GetInstance.fryFive.OilCapacity;
                                    FryPotRecipeSetDown(headNum, result);//炒锅工艺下发
                                }
                                else
                                {
                                    MessageNotify.GetInstance.ShowUserLog($"2号滚筒线【{result.RecipeName}】配方未制定炒锅工艺，已取消");
                                    LTwoRecipeQuene.Clear();
                                    LTwoInputMaterialQuene.Clear();
                                    Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"当前配方未指定炒锅工艺，配方取消制作"); }));
                                    return;
                                }
                            }
                            catch (Exception)
                            {
                                LTwoRecipeQuene.Clear();
                                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"炒锅工艺异常，配方下发失败"); }));
                                return;
                                // throw;
                            }
                        }
                        #endregion
                        DeviceOperate.GetInstance.WritePlcData("D1026", (ushort)result.materialCollection.Count);//发送2号滚筒线工序数据
                                                                                                                 //globalVar.rollerLineTwo.RecipeComMidSingle = 0;
                        WritePlcData("D1102", 1);//配方开始执行命令
                        globalVar.rollerLineTwo.LowSignalJude = true;
                        if (LTwoRecipeQuene.Count > 0)
                            LTwoRecipeQuene.Clear();
                        Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, App.MainWindow, "提示", $"配方下发成功!"); }));
                    }

                }
                else
                {
                    LTwoRecipeQuene.Clear();
                    MessageNotify.GetInstance.ShowUserLog("提示:2号滚筒线配方完成前禁止再次下发订单");
                    Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"2号滚筒线配方完成前禁止再次下发订单"); }));
                }
            }
            else if (globalVar.rollerLineTwo.WashEmptyRollerModel == 1 && LTwoRecipeQuene.Count > 0)
            {
                MessageNotify.GetInstance.ShowUserLog("提示：2号滚筒线处于集中洗桶模式，无法下发配方");
                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"2号滚筒线处于集中洗桶模式，无法下发配方"); }));
                LTwoRecipeQuene.Clear();
            }
            else if(LTwoRecipeQuene.Count > 0)
            {
                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"配方下发失败"); }));
                LTwoRecipeQuene.Clear();
            }
        }

        /// <summary>
        /// 1号滚筒线数据下发 2022/7/4 新增
        /// </summary>
        private void LOneRecipeDataToPlc()
        {
            if (OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0 && !ErrorRecipe)
            {
                globalVar.rollerLineOne.RecipeComMidSingle = 1;
                if (globalVar.LOneCurrentRecipeName != string.Empty)
                {
                    MessageNotify.GetInstance.ShowRunLog($"【1】号滚筒线【{globalVar.LOneCurrentRecipeName}】 配方所有料桶已送达炒锅");
                    //   ResetPotData(globalVar.LOneFryPotSerial);
                    WritePlcData("D2101", 0);
                    WritePlcData("D1101", 0);//复位开始执行指令
                    PlcLineOneRecipeDataReset();

                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        FryPotMonitorManage.GetInstance.fryOne.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryOne.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryOne.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotOneStatus>.GetInstance.Base.Add(new PotOneStatus { Temperature = FryPotMonitorManage.GetInstance.fryOne.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryOne.HotPower, Speed = FryPotMonitorManage.GetInstance.fryOne.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryOne.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryOne.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryOne.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotOneStatus>.GetInstance.Save();//保存数据
                    }
                    if (globalVar.LOneFryPotSerial == 4)
                    {
                        FryPotMonitorManage.GetInstance.fryFour.TotalProduct++;
                        using (StreamWriter txtWriter = new StreamWriter("AccessFile//" + "Statistic//" + "FryFour.txt", false, Encoding.UTF8))
                        {
                            txtWriter.WriteLine(DateTime.Now.ToShortDateString());
                            txtWriter.WriteLine(FryPotMonitorManage.GetInstance.fryFour.TotalProduct + "/" + FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy);//炒锅1产量以及总油量记录
                        }
                        //Sqlite<PotFourStatus>.GetInstance.Base.Add(new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFour.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                        //Sqlite<PotFourStatus>.GetInstance.Save();//保存数据
                    }
                    globalVar.LOneCurrentRecipeName = string.Empty;
                    // Task.Run(() => { Thread.Sleep(1500); fryOneRecipe = string.Empty; fryFourRecipe = string.Empty; });
                }
            }
            if (RTrig.GetInstance("炒锅1配方完成").Start(Convert.ToBoolean(globalVar.fryPotOne.RecipeCompleteSingle)))
            {
                ResetPotData(1);
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep + 1, Name = "配方制作完成！", isBool = IsBool.Yes }); }));
                ActionManage.GetInstance.Send("炒锅工艺流程更新", 1);
                MessageNotify.GetInstance.ShowRunLog("炒锅1配方制作完成");
                AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);
                Task.Run(() => { Thread.Sleep(1500); fryOneRecipe = string.Empty; });
            }

            if (RTrig.GetInstance("炒锅4配方完成").Start(Convert.ToBoolean(globalVar.fryPotFour.RecipeCompleteSingle)))
            {
                ResetPotData(4);
                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LFourCurrentCookingStep + 1, Name = "配方制作完成！", isBool = IsBool.Yes }); }));
                ActionManage.GetInstance.Send("炒锅工艺流程更新", 4);
                MessageNotify.GetInstance.ShowRunLog("炒锅4配方制作完成");
                AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);
                Task.Run(() => { Thread.Sleep(1500); fryFourRecipe = string.Empty; });
            }
            if (RecipeQuene.Count > 0 && OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0 && globalVar.rollerLineOne.RecipeComMidSingle == 1 && globalVar.rollerLineOne.WashEmptyRollerModel == 0)//后续添加其它限制条件
            {
                if ((RecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == 1 && globalVar.fryPotOne.RecipeCompleteSingle == 1) || (RecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == 4 && globalVar.fryPotFour.RecipeCompleteSingle == 1) || (RecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 != globalVar.LOneFryPotSerial && globalVar.LOneFryPotSerial == 1 && globalVar.fryPotFour.ProcessStep == 0) || (RecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 != globalVar.LOneFryPotSerial && globalVar.LOneFryPotSerial == 4 && globalVar.fryPotOne.ProcessStep == 0) || (globalVar.LOneFryPotSerial == 0 && globalVar.fryPotOne.ProcessStep == 0 && globalVar.fryPotFour.ProcessStep == 0) || (RecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == globalVar.LOneFryPotSerial && globalVar.LOneFryPotSerial == 4 && globalVar.fryPotFour.ProcessStep == 0) || (RecipeQuene.ElementAt(0).materialCollection[0].MaterialLoc / 100 == globalVar.LOneFryPotSerial && globalVar.LOneFryPotSerial == 1 && globalVar.fryPotOne.ProcessStep == 0)) //炒锅空闲才能下配方
                {
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        globalVar.LOneCurrentCookingStep = 0;
                        PotOnestep = 0;
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.goodsName = string.Empty; }));
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows = new ObservableCollection<WorkflowModel>(); }));
                        AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);

                        Task.Run(() => { Thread.Sleep(1500); fryOneRecipe = string.Empty; });
                    }
                    if (globalVar.LOneFryPotSerial == 4)
                    {
                        globalVar.LFourCurrentCookingStep = 0;
                        PotFourstep = 0;
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.goodsName = string.Empty; }));
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows = new ObservableCollection<WorkflowModel>(); }));
                        AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Stop);

                        Task.Run(() => { Thread.Sleep(1500); fryFourRecipe = string.Empty; });
                    }

                    WritePlcData("D2101", 0);
                    WritePlcData("D1101", 0);//复位开始执行指令
                                             //清空配方数据队列
                    PlcLineOneRecipeDataReset();//PLC复位

                    if (RecipeQuene.TryDequeue(out NewRecipeModel result))
                    {
                        ErrorRecipe = false;
                        int headNum = result.materialCollection[0].MaterialLoc / 100;
                        globalVar.LOneMaterialNum = result.materialCollection.Count;
                        globalVar.LOneFryPotSerial = headNum;
                        globalVar.LOneCurrentRecipeName = result.RecipeName;
                        AgvViewModel.GetInstance().Set滚筒线上数量(1, globalVar.LOneMaterialNum.ToString());
                        MessageNotify.GetInstance.ShowUserLog($"【1】号滚筒线开始制作【{result.RecipeName}】 配方");
                        if (headNum == 1)//炒锅1
                        {
                            potOneCurrentRecipe = result;
                            fryOneRecipe = result.RecipeName;//炒锅状态开始记录
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.goodsName = result.RecipeName; }));
                        }
                        else//炒锅4
                        {
                            potFourCurrentRecipe = result;
                            fryFourRecipe = result.RecipeName;//炒锅状态开始记录
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.goodsName = result.RecipeName; }));
                        }
                        ResetPotData(globalVar.LOneFryPotSerial);
                        Thread.Sleep(800);
                        for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                        {
                            if (result.materialCollection.Count <= 8 && result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && (headNum == 1 || headNum == 4))
                            {

                                //将配方中原料加入新的队列
                                InputMaterialQuene.Enqueue(new MaterialInfo()
                                {
                                    materialType = result.materialCollection[i],
                                    materialId = result.RecipeId
                                });
                                RollerOneDataWrite(i, result.materialCollection[i].MaterialLoc, (ushort)(result.materialCollection[i].MaterialWeight + RollerNetweight), result.materialCollection[i].MaterialOffset*10);//1号滚筒线桶号以及重量、偏差量数据下发





                            }
                            else
                            {
                                MessageNotify.GetInstance.ShowRunLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                                MessageNotify.GetInstance.ShowUserLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
                                InputMaterialQuene.Clear();
                                RecipeQuene.Clear();
                                ErrorRecipe = true;
                                return;
                            }
                        }
                        #region 炒股用油量记录及工艺下发
                        if (headNum == 1)
                        {
                            try
                            {
                                if (result.FlowProcess.fpModels.Count > 0)
                                {

                                    FryPotMonitorManage.GetInstance.fryOne.OilCapacity = result.FlowProcess.fpModels.FirstOrDefault(p => p.FryMaterialNum == (Json<FlowProcessNames>.Data.NameId.FirstOrDefault(s => s.Value == 1)).Key)?.FryWeight;
                                    FryPotMonitorManage.GetInstance.fryOne.TotalOilCapactiy += FryPotMonitorManage.GetInstance.fryOne.OilCapacity;
                                    FryPotRecipeSetDown(headNum, result);//炒锅工艺下发
                                }
                                else
                                {
                                    MessageNotify.GetInstance.ShowUserLog($"1号滚筒线【{result.RecipeName}】配方未制定炒锅工艺，已取消");
                                    RecipeQuene.Clear();
                                    InputMaterialQuene.Clear();
                                    Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"当前配方未指定炒锅工艺，配方取消制作"); }));
                                    return;
                                }
                            }
                            catch (Exception)
                            {
                                RecipeQuene.Clear();
                                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"炒股工艺异常，配方下发失败"); }));
                                return;
                                // throw;
                            }
                        }
                        else
                        {
                            try
                            {
                                if (result.FlowProcess.fpModels.Count > 0)
                                {
                                    FryPotMonitorManage.GetInstance.fryFour.OilCapacity = result.FlowProcess.fpModels.FirstOrDefault(p => p.FryMaterialNum == (Json<FlowProcessNames>.Data.NameId.FirstOrDefault(s => s.Value == 1)).Key)?.FryWeight;
                                    FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy += FryPotMonitorManage.GetInstance.fryFour.OilCapacity;
                                    FryPotRecipeSetDown(headNum, result);//炒锅工艺下发
                                }
                                else
                                {
                                    MessageNotify.GetInstance.ShowUserLog($"1号滚筒线【{result.RecipeName}】配方未制定炒锅工艺，已取消");
                                    RecipeQuene.Clear();
                                    InputMaterialQuene.Clear();
                                    Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"当前配方未指定炒锅工艺，配方取消制作"); }));
                                    return;
                                }
                            }
                            catch (Exception)
                            {
                                RecipeQuene.Clear();
                                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"炒锅工艺异常，配方下发失败"); }));
                                return;
                                //throw;
                            }
                        }
                        #endregion
                        DeviceOperate.GetInstance.WritePlcData("D1009", (ushort)result.materialCollection.Count);//发送1号滚筒线工序数据
                        WritePlcData("D1101", 1);//线体1配方开始执行命令
                        globalVar.rollerLineOne.LowSignalJude = true;
                        if (RecipeQuene.Count > 0)
                            RecipeQuene.Clear();
                        Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, App.MainWindow, "提示", $"配方下发成功!"); }));
                    }
                }
                else
                {
                    RecipeQuene.Clear();
                    MessageNotify.GetInstance.ShowUserLog("提示:1号滚筒线配方完成前禁止再次下发订单");
                    Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"1号滚筒线配方完成前禁止再次下发订单"); }));
                }
            }
            else if (globalVar.rollerLineOne.WashEmptyRollerModel == 1 && RecipeQuene.Count > 0)
            {
                MessageNotify.GetInstance.ShowUserLog("提示：1号滚筒线处于集中洗桶模式，无法下发配方");
                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"1号滚筒线处于集中洗桶模式，无法下发配方"); }));
                RecipeQuene.Clear();
            }
            else if (RecipeQuene.Count>0)
            {
                Application.Current.Dispatcher.Invoke(new Action(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Warn, App.MainWindow, "提示", $"配方下发失败"); }));
                RecipeQuene.Clear();

            }

        }



        /// <summary>
        /// 线体1配方执行等待下位确认
        /// </summary>
        public void LineOneRecipeExecuteConfirm()
        {
            if (globalVar.rollerLineOne.RecipeComMidSingle == 1 && globalVar.rollerLineOne.LowSignalJude)
            {
                if (globalVar.rollerLineOne.ExcuteIsConfirm == 1)  //收到下位执行信号
                {
                    WritePlcData("D2101", 0);
                    globalVar.rollerLineOne.NextStart = true;
                    globalVar.rollerLineOne.RecipeComMidSingle = 0;//配方完成的中转信号置0
                    globalVar.rollerLineOne.LowSignalJude = false;
                }
                else if (globalVar.rollerLineOne.ExcuteIsConfirm == 2)  //收到下位取消执行命令
                {
                    RecipeQuene.Clear();
                    OutputMaterialQuene.Clear();
                    globalVar.rollerLineOne.NextStart = false;
                    ResetPotData(globalVar.LOneFryPotSerial);
                    WritePlcData("D2101", 0);
                    WritePlcData("D1101", 0);//复位开始执行指令
                                             //清空配方数据队列
                    PlcLineOneRecipeDataReset();//PLC复位
                    InputMaterialQuene.Clear();
                    MessageNotify.GetInstance.ShowRunLog($"下位机操作员取消【1】号线体【{globalVar.LOneCurrentRecipeName}】配方的制作");
                    MessageNotify.GetInstance.ShowRunLog($"1号滚筒线所有配方已清除");
                    MessageNotify.GetInstance.ShowUserLog($"下位机操作员取消【1】号线体【{globalVar.LOneCurrentRecipeName}】配方的制作");
                    MessageNotify.GetInstance.ShowUserLog($"1号滚筒线所有配方已清除");
                    globalVar.LOneCurrentRecipeName = string.Empty;
                    globalVar.rollerLineOne.LowSignalJude = false;

                }
                else //未收到下位执行信号
                {
                    globalVar.rollerLineOne.NextStart = false;
                }
            }
        }

        /// <summary>
        /// 线体2配方执行等待下位确认
        /// </summary>
        public void LineTwoRecipeExecuteConfirm()
        {
            if (globalVar.rollerLineTwo.RecipeComMidSingle == 1 && globalVar.rollerLineTwo.LowSignalJude)
            {
                if (globalVar.rollerLineTwo.ExcuteIsConfirm == 1)  //收到下位执行信号
                {
                    WritePlcData("D2102", 0);
                    globalVar.rollerLineTwo.NextStart = true;
                    globalVar.rollerLineTwo.RecipeComMidSingle = 0;//配方完成的中转信号置0
                    globalVar.rollerLineTwo.LowSignalJude = false;
                }
                else if (globalVar.rollerLineTwo.ExcuteIsConfirm == 2)  //收到下位取消执行命令
                {
                    LTwoRecipeQuene.Clear();
                    LTwoOutputMaterialQuene.Clear();
                    globalVar.rollerLineTwo.NextStart = false;
                    ResetPotData(globalVar.LTwoFryPotSerial);
                    WritePlcData("D2102", 0);
                    WritePlcData("D1102", 0);//复位开始执行指令
                                             //清空配方数据队列
                    PlcLineTwoRecipeDataReset();//PLC复位
                    LTwoInputMaterialQuene.Clear();
                    MessageNotify.GetInstance.ShowRunLog($"下位机操作员取消【2】号线体【{globalVar.LTwoCurrentRecipeName}】配方的制作");
                    MessageNotify.GetInstance.ShowRunLog($"2号滚筒线所有配方已清除");
                    MessageNotify.GetInstance.ShowUserLog($"下位机操作员取消【2】号线体【{globalVar.LTwoCurrentRecipeName}】配方的制作");
                    MessageNotify.GetInstance.ShowUserLog($"2号滚筒线所有配方已清除");
                    globalVar.LTwoCurrentRecipeName = string.Empty;
                    globalVar.rollerLineTwo.LowSignalJude = false;
                }
                else //未收到下位执行信号
                {
                    globalVar.rollerLineTwo.NextStart = false;
                }
            }
        }
        /// <summary>
        /// 线体3配方执行等待下位确认
        /// </summary>
        public void LineThreeRecipeExecuteConfirm()
        {
            if (globalVar.rollerLineThree.RecipeComMidSingle == 1 && globalVar.rollerLineThree.LowSignalJude)
            {

                if (globalVar.rollerLineThree.ExcuteIsConfirm == 1)  //收到下位执行信号
                {
                    WritePlcData("D2103", 0);
                    globalVar.rollerLineThree.NextStart = true;
                    globalVar.rollerLineThree.RecipeComMidSingle = 0;//配方完成的中转信号置0
                    globalVar.rollerLineThree.LowSignalJude = false;
                }
                else if (globalVar.rollerLineThree.ExcuteIsConfirm == 2)  //收到下位取消执行命令
                {
                    LThreeRecipeQuene.Clear();
                    LThreeOutputMaterialQuene.Clear();
                    globalVar.rollerLineThree.NextStart = false;
                    ResetPotData(globalVar.LThreeFryPotSerial);
                    WritePlcData("D2103", 0);
                    WritePlcData("D1103", 0);//复位开始执行指令
                                             //清空配方数据队列
                    PlcLineThreeRecipeDataReset();//PLC复位
                    LThreeInputMaterialQuene.Clear();
                    MessageNotify.GetInstance.ShowRunLog($"下位机操作员取消【3】号线体【{globalVar.LThreeCurrentRecipeName}】配方的制作");
                    MessageNotify.GetInstance.ShowRunLog($"3号滚筒线所有配方已清除");
                    MessageNotify.GetInstance.ShowUserLog($"下位机操作员取消【3】号线体【{globalVar.LThreeCurrentRecipeName}】配方的制作");
                    MessageNotify.GetInstance.ShowUserLog($"3号滚筒线所有配方已清除");

                    globalVar.LThreeCurrentRecipeName = string.Empty;
                    globalVar.rollerLineThree.LowSignalJude = false;
                }
                else //未收到下位执行信号
                {
                    globalVar.rollerLineThree.NextStart = false;
                }
            }
        }

        /// <summary>
        /// AGV到配方线体1装桶以及出料到炒锅
        /// </summary>
        public void LOneLoadRoller()
        {
            if (InputMaterialQuene.Count > 0 && globalVar.rollerLineOne.NextStart)
            {
                AgvToLineOneLoadRoller();
                AgvFromLineOneToFryPot();//AGV到1号线体装桶
            }
            AgvLineOneLoadRollerCom();
        }
        /// <summary>
        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
        /// </summary>
        /// <exception cref="NotImplementedException"></exception>
        private void AgvLineOneLoadRollerCom()
        {
            if ((globalVar.agvLineOneLoadCom || globalVar.LineOneRobotTaskError)&& globalVar.AgvToFryPot)
            {
                if (globalVar.LineOneRobotTaskError)
                    DeviceOperate.GetInstance.WritePlcData("D1052", 0);//就位信号复位
                globalVar.rollerLineOne.CanRun = true;
                globalVar.agvLineOneLoadCom = false;
                MessageNotify.GetInstance.ShowRunLog("AGV在【1】号滚筒线装桶完成");
            }
        }

        /// <summary>
        ///  AGV到配方线体2装桶以及出料到炒锅
        /// </summary>
        public void LTwoAgvLoadRoller()
        {
            if (LTwoInputMaterialQuene.Count > 0 && globalVar.rollerLineTwo.NextStart)
            {
                AgvToLineTwoLoadRoller();
                AgvFromLineTwoToFryPot();//AGV到2号线体装桶 
            }
            AgvLineTwoLoadRollerCom();
        }
        /// <summary>
        /// 判断agv在2号线体是否上料完成,作为线体空桶能否开始运输的条件
        /// </summary>
        private void AgvLineTwoLoadRollerCom()
        {
            if ((globalVar.agvLineTwoLoadCom || globalVar.LineTwoRobotTaskError)&&globalVar.LTwoAgvToFryPot)
            {
                if (globalVar.LineTwoRobotTaskError)
                    DeviceOperate.GetInstance.WritePlcData("D1053", 0);
                globalVar.rollerLineTwo.CanRun = true;
                globalVar.agvLineTwoLoadCom = false;
                MessageNotify.GetInstance.ShowRunLog("AGV在【2】号滚筒线装桶完成");
            }
        }

        /// <summary>
        ///  AGV到配方线体3装桶以及出料到炒锅
        /// </summary>
        public void LThreeAgvLoadRoller()
        {
            if (LThreeInputMaterialQuene.Count > 0 && globalVar.rollerLineThree.NextStart)
            {

                AgvToLineThreeLoadRoller();
                AgvFromLineThreeToFryPot();//AGV到2号线体装桶  
               
            }
            AgvLineThreeLoadRollerCom();
        }
        /// <summary>
        /// 判断agv在1号线体是否上料完成,作为线体空桶能否开始运输的条件
        /// </summary>
        private void AgvLineThreeLoadRollerCom()
        {
            if ((globalVar.agvLineThreeLoadCom || globalVar.LineThreeRobotTaskError)&&globalVar.LThreeAgvToFryPot)
            {
                if (globalVar.LineThreeRobotTaskError)
                    DeviceOperate.GetInstance.WritePlcData("D1054", 0);
                globalVar.rollerLineThree.CanRun = true;
                globalVar.agvLineThreeLoadCom = false;
                MessageNotify.GetInstance.ShowRunLog("AGV在【3】号滚筒线装桶完成");
            }
        }
        /// <summary>
        /// AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        //public void FryPotInputMaterial()
        //{
        //    if (OutputMaterialQuene.Count > 0 && !globalVar.InOrOutputLock)
        //    {
        //        while (!agvArriveUnLoad)//等待agv到达炒锅位置
        //        {
        //            Thread.Sleep(5);
        //            if (globalVar.ExitMainTask)
        //                return;
        //        }
        //        AgvArriveFryPotSingleSetDown();
        //        FryPotRollerTroubleCheck();
        //        if (FryPotAlarm == 1)//炒锅滚筒无故障
        //        {
        //            //炒锅滚筒进料运行到位处理
        //            FryPotInputMaterialRollerOperate();
        //            globalVar.InOrOutputLock = true;
        //        }

        //    }

        //}
        /// <summary>
        /// 线体1的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LOneFryPotInputMaterial()
        {
            if (OutputMaterialQuene.Count > 0 && (globalVar.agvArriveUnLoad || globalVar.LineOneRobotTaskError) && globalVar.AgvToFryPot && !globalVar.PotOneInputMaterialArrive)
            {
                //if (globalVar.LOneFryPotSerial == 1)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_1);
                //}
                //else if (globalVar.LOneFryPotSerial == 4)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_4);
                //}

                MessageNotify.GetInstance.ShowRunLog($"AGV到达【{globalVar.LOneFryPotSerial}】号炒锅下料位置");
                AgvArriveFryPotOneOrFourSingleSetDown();
                globalVar.agvArriveUnLoad = false;
                globalVar.PotOneInputMaterialArrive = true;
                globalVar.LineOneRobotTaskError = false;//AGV故障信号复位
                FryPotOneRollerTroubleCheck();
            }
        }

        public void LOneFallMaterial()
        {

            if (!globalVar.InOrOutputLock && ((globalVar.fryPotOne.InputMaterialArrivedSingle == 1 && globalVar.LOneFryPotSerial == 1) || (globalVar.fryPotFour.InputMaterialArrivedSingle == 1 && globalVar.LOneFryPotSerial == 4)) && globalVar.PotOneInputMaterialArrive && OutputMaterialQuene.Count > 0 && !globalVar.PotOneOutputRollerArrive)
            {


                //FryPotOneRollerTroubleCheck();
                if ((FryPotAlarm == 1 && globalVar.LOneFryPotSerial == 1) || (FryPotFourAlarm == 1 && globalVar.LOneFryPotSerial == 4))//炒锅滚筒无故障
                {
                    if (globalVar.LOneFryPotSerial == 1)
                    {
                        
                            DeviceOperate.GetInstance.WritePlcData("D1055", 0);
                        //Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc.ToString(), isBool = IsBool.Yes }); }));
                    }
                    else
                    {
                        
                            DeviceOperate.GetInstance.WritePlcData("D1058", 0);
                        // Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LFourCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc.ToString(), isBool = IsBool.Yes }); }));
                    }

                    //炒锅滚筒进料运行到位处理
                    FryPotOneOrFourInputMaterialRollerOperate();
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Start);
                    FryPotOneRollerTroubleCheck();
                    globalVar.InOrOutputLock = true;
                    globalVar.PotOneOutputRollerArrive = true;


                }
            }

        }
        /// <summary>
        /// 线体2的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LTwoFryPotInputMaterial()
        {
            if (LTwoOutputMaterialQuene.Count > 0 && (globalVar.LTwoagvArriveUnLoad || globalVar.LineTwoRobotTaskError) && globalVar.LTwoAgvToFryPot && !globalVar.LTwoPotInputMaterialArrive)
            {
                //if (globalVar.LTwoFryPotSerial == 2)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_2);
                //}
                //else if (globalVar.LTwoFryPotSerial == 5)
                //{
                //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_5);
                //}
                MessageNotify.GetInstance.ShowRunLog($"AGV到达【{globalVar.LTwoFryPotSerial}】号炒锅下料位置");
                AgvArriveFryPotTwoOrFiveSingleSetDown();
                globalVar.LTwoagvArriveUnLoad = false;
                globalVar.LTwoPotInputMaterialArrive = true;
                globalVar.LineTwoRobotTaskError = false;//agv故障信号复位
                FryPotTwoRollerTroubleCheck();
            }
        }
        public void LTwoFallMaterial()
        {
            if (!globalVar.LTwoInOrOutputLock && ((globalVar.fryPotTwo.InputMaterialArrivedSingle == 1 && globalVar.LTwoFryPotSerial == 2) || (globalVar.fryPotFive.InputMaterialArrivedSingle == 1 && globalVar.LTwoFryPotSerial == 5) && globalVar.LTwoPotInputMaterialArrive && LTwoOutputMaterialQuene.Count > 0 && !globalVar.LTwoPotOutputRollerArrive))
            {
                //if (globalVar.LTwoFryPotSerial == 2)
                //{
                //    Sqlite<PotTwoStatus>.GetInstance.Base.Add(new PotTwoStatus { Temperature = FryPotMonitorManage.GetInstance.fryTwo.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryTwo.HotPower, Speed = FryPotMonitorManage.GetInstance.fryTwo.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryTwo.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryTwo.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryTwo.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryTwo.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //    Sqlite<PotTwoStatus>.GetInstance.Save();//保存数据
                //}
                //else
                //{
                //    Sqlite<PotFiveStatus>.GetInstance.Base.Add(new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFive.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //    Sqlite<PotFiveStatus>.GetInstance.Save();//保存数据
                //}

                if ((FryPotTwoAlarm == 1 && globalVar.LTwoFryPotSerial == 2) || (FryPotFiveAlarm == 1 && globalVar.LTwoFryPotSerial == 5))//炒锅滚筒无故障
                {
                    if (globalVar.LTwoFryPotSerial == 2)
                    {
                        
                            DeviceOperate.GetInstance.WritePlcData("D1056", 0);
                        //Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc.ToString(), isBool = IsBool.Yes }); }));

                    }
                    else
                    {
                        
                            DeviceOperate.GetInstance.WritePlcData("D1059", 0);
                        //Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LFiveCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc.ToString(), isBool = IsBool.Yes }); }));
                    }

                    //炒锅滚筒进料运行到位处理
                    FryPotTwoOrFiveInputMaterialRollerOperate();
                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Start);
                    FryPotTwoRollerTroubleCheck();
                    globalVar.LTwoInOrOutputLock = true;
                    globalVar.LTwoPotOutputRollerArrive = true;


                }
            }
        }
        /// <summary>
        /// 线体3的AGV从炒锅送料位置到倒料过程处理
        /// </summary>
        public void LThreeFryPotInputMaterial()
        {
            if (LThreeOutputMaterialQuene.Count > 0 && (globalVar.LThreeagvArriveUnLoad || globalVar.LineThreeRobotTaskError) && globalVar.LThreeAgvToFryPot && !globalVar.LThreePotInputMaterialArrive)
            {
                // AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.yc_3_3);
                MessageNotify.GetInstance.ShowRunLog("AGV到达【3】号炒锅下料位置");
                AgvArriveFryPotThreeSingleSetDown();
                globalVar.LThreeagvArriveUnLoad = false;
                globalVar.LThreePotInputMaterialArrive = true;
                globalVar.LineThreeRobotTaskError = false;//agv故障信号复位
                FryPotThreeRollerTroubleCheck();
            }
        }

        public void LThreeFallMaterial()
        {
            if (!globalVar.LThreeInOrOutputLock && globalVar.fryPotThree.InputMaterialArrivedSingle == 1 && globalVar.LThreePotInputMaterialArrive && LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreePotOutputRollerArrive)
            {
                //Sqlite<PotThreeStatus>.GetInstance.Base.Add(new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryThree.HotPower, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                //Sqlite<PotThreeStatus>.GetInstance.Save();//保存数据

                if (FryPotThreeAlarm == 1)//炒锅滚筒无故障
                {
                    
                        DeviceOperate.GetInstance.WritePlcData("D1057", 0);
                    //Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep, Name = LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc.ToString(), isBool = IsBool.Yes }); }));

                    //炒锅滚筒进料运行到位处理
                    FryPotThreeInputMaterialRollerOperate();

                    AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Start);
                    FryPotThreeRollerTroubleCheck();
                    globalVar.LThreeInOrOutputLock = true;
                    globalVar.LThreePotOutputRollerArrive = true;


                }
            }
        }
        /// <summary>
        /// 炒锅出桶
        /// </summary>
        //public void FryPotOutputMaterial()
        //{
        //    if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock)
        //    {
        //        AgvFromFryPotToClean();//上游下发搬运任务给AGV
        //        while (!agvArriveUpLoad)//等待agv到达炒锅位置
        //        {
        //            Thread.Sleep(5);
        //            if (globalVar.ExitMainTask)
        //                return;
        //        }
        //        agvArriveUpLoad = false;
        //        AgvArriveFryPotOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
        //        FryPotRollerTroubleCheck();
        //        if (FryPotAlarm == 1)//无故障
        //        {
        //            FryPotOutEmpetyRollerOperate();
        //            if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
        //            {
        //                while (!agvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
        //                {
        //                    Thread.Sleep(5);agvFryPotEmptyRollerArrive
        //                    if (globalVar.ExitMainTask)
        //                        return;
        //                }
        //                //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
        //                globalVar.AllowAgvToLineLoadRoller = true;
        //                globalVar.InOrOutputLock = false;
        //            }
        //        }

        //    }
        //}
        /// <summary>
        /// 线体1对应炒锅出桶
        /// </summary>
        public void LOneFryPotOutputMaterial()
        {
            if (((globalVar.fryPotOne.EmptyBarrelArrivedSingle == 1 && globalVar.LOneFryPotSerial == 1) || (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 1 && globalVar.LOneFryPotSerial == 4)) && OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock && globalVar.PotOneOutputRollerArrive && !globalVar.AgvArrivePot)
            {
                //上游下发搬运任务给AGV
                if (AgvFromFryPotOneOrFourToClean())
                {
                    globalVar.AgvArrivePot = true;
                }
                else
                {
                    Thread.Sleep(5000);
                }


            }
        }
        public void LOneEmptyOperate()
        {

            if ((globalVar.agvArriveUpLoad || globalVar.LineFourRobotTaskError) && OutputMaterialQuene.Count > 0 && globalVar.AgvArrivePot)
            {
                if (globalVar.agvFryPotEmptyRollerArrive || globalVar.LineFourRobotTaskError)//炒锅上料完成
                {
                    if (globalVar.LineFourRobotTaskError)
                    {
                        if (globalVar.LOneFryPotSerial == 1)
                        {
                            DeviceOperate.GetInstance.WritePlcData("D1060", 0);
                        }
                        else
                        {
                            DeviceOperate.GetInstance.WritePlcData("D1063", 0);
                        }
                    }
                    FryPotOneOrFourOutEmpetyRollerOperate();
                    if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                    {
                        //AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.OnllYes);
                        //if (globalVar.LOneFryPotSerial == 1)
                        //{
                        //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_1);
                        //}
                        //else if (globalVar.LOneFryPotSerial == 4)
                        //{
                        //    AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_4);
                        //}
                        globalVar.agvArriveUpLoad = false;
                        globalVar.agvFryPotEmptyRollerArrive = false;
                        globalVar.InOrOutputLock = false;
                        MessageNotify.GetInstance.ShowRunLog($"AGV在【{globalVar.LOneFryPotSerial}】号炒锅将空桶回收到4号滚筒线");
                        //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                        globalVar.AllowAgvToLineLoadRoller = true;
                        globalVar.LoadRoller = false;
                        globalVar.AgvToFryPot = false;
                        globalVar.PotOneInputMaterialArrive = false;
                        globalVar.PotOneOutputRollerArrive = false;
                        globalVar.AgvArrivePot = false;

                    }
                }
                //}
            }


        }

        /// <summary>
        /// 线体2对应炒锅出桶
        /// </summary>
        public void LTwoFryPotOutputMaterial()
        {
            if (LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoInOrOutputLock && ((globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 1 && globalVar.LTwoFryPotSerial == 2) || (globalVar.fryPotFive.EmptyBarrelArrivedSingle == 1 && globalVar.LTwoFryPotSerial == 5)) && globalVar.LTwoPotOutputRollerArrive && !globalVar.LTwoAgvArrivePot)
            {
                //上游下发搬运任务给AGV
                if (AgvFromFryPotTwoOrFiveToClean())
                {
                    globalVar.LTwoAgvArrivePot = true;
                }
                else
                {
                    Thread.Sleep(5000);
                }



            }
        }

        public void LTwoEmptyOperate()
        {
            if ((globalVar.agvArriveLTwoUpLoad || globalVar.LineFiveRobotTaskError) && LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoAgvArrivePot)
            {


                //if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//无故障
                //{
                if (globalVar.LTwoagvFryPotEmptyRollerArrive || globalVar.LineFiveRobotTaskError)
                {
                    if (globalVar.LineFiveRobotTaskError)
                    {
                        if (globalVar.LTwoFryPotSerial == 2)
                        {
                            DeviceOperate.GetInstance.WritePlcData("D1061", 0);
                        }
                        else
                        {
                            DeviceOperate.GetInstance.WritePlcData("D1064", 0);
                        }
                    }
                    FryPotTwoOrFiveOutEmpetyRollerOperate();
                    if (LTwoOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                    {
                        //AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.OnllYes);
                        //if (globalVar.LTwoFryPotSerial == 2)
                        //{
                        //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_2);
                        //}
                        //else if (globalVar.LTwoFryPotSerial == 5)
                        //{
                        //    AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_5);
                        //}

                        globalVar.agvArriveLTwoUpLoad = false;
                        globalVar.LTwoagvFryPotEmptyRollerArrive = false;
                        globalVar.LTwoInOrOutputLock = false;

                        MessageNotify.GetInstance.ShowRunLog($"AGV在【{globalVar.LTwoFryPotSerial}】号炒锅将空桶回收到4号滚筒线");
                        //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                        globalVar.AllowAgvToLineTwoLoadRoller = true;
                        globalVar.LTwoLoadRoller = false;
                        globalVar.LTwoAgvToFryPot = false;
                        globalVar.LTwoPotInputMaterialArrive = false;
                        globalVar.LTwoPotOutputRollerArrive = false;
                        globalVar.LTwoAgvArrivePot = false;

                    }
                }
                //}
            }

        }
        /// <summary>
        /// 线体3对应炒锅出桶
        /// </summary>
        public void LThreeFryPotOutputMaterial()
        {
            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeInOrOutputLock && globalVar.fryPotThree.EmptyBarrelArrivedSingle == 1 && globalVar.LThreePotOutputRollerArrive && !globalVar.LThreeAgvArrivePot)
            {
                //上游下发搬运任务给AGV
                if (AgvFromFryPotThreeToClean())
                {
                    globalVar.LThreeAgvArrivePot = true;
                }
                else
                {
                    Thread.Sleep(5000);
                }
            }
        }

        public void LThreeEmptyOperate()
        {
            if ((globalVar.agvArriveLThreeUpLoad || globalVar.LineSixRobotTaskError) && LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeAgvArrivePot)
            {
                //if (FryPotThreeAlarm == 1)//无故障
                //{
                if (globalVar.LThreeagvFryPotEmptyRollerArrive || globalVar.LineSixRobotTaskError)
                {
                    if (globalVar.LineSixRobotTaskError)
                        DeviceOperate.GetInstance.WritePlcData("D1062", 0);
                    //FryPotThreeOutEmpetyRollerOperate();
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【3】原料：【{LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】空桶上料完成");
                    if (LThreeOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                    {
                        //AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.OnllYes);
                        //AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3);

                        globalVar.agvArriveLThreeUpLoad = false;
                        globalVar.LThreeagvFryPotEmptyRollerArrive = false;
                        globalVar.LThreeInOrOutputLock = false;

                        MessageNotify.GetInstance.ShowRunLog($"AGV在【{globalVar.LThreeFryPotSerial}】号炒锅将空桶回收到4号滚筒线");
                        //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
                        globalVar.AllowAgvToLineThreeLoadRoller = true;
                        globalVar.LThreeLoadRoller = false;
                        globalVar.LThreeAgvToFryPot = false;
                        globalVar.LThreePotInputMaterialArrive = false;
                        globalVar.LThreePotOutputRollerArrive = false;
                        globalVar.LThreeAgvArrivePot = false;

                    }
                }
                // }
            }

        }

        /// <summary>
        /// 清洗台到4号线体下料
        /// </summary>
        public void EmptyRollerToLinFourFromClean()
        {

            if (globalVar.agvArriveLineFour || globalVar.LineTenRobotTaskError)//agv到达线体4下料位置
            {
                if (globalVar.LineTenRobotTaskError)
                    DeviceOperate.GetInstance.WritePlcData("D1066", 0);
                globalVar.agvArriveLineFour = false;
                globalVar.LineTenRobotTaskError = false;//AGV故障信号复位
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                MessageNotify.GetInstance.ShowRunLog("AGV从清洗台到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }

        }

        public void EmptyRollerToLinFourFromPot()
        {
            if (globalVar.rollerLineOne.agvArriveLineFour || globalVar.LineFourRobotTaskError)//agv到达线体4下料位置
            {
                globalVar.rollerLineOne.agvArriveLineFour = false;
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                globalVar.LineFourRobotTaskError = false;//AGV故障信号复位
                MessageNotify.GetInstance.ShowRunLog($"AGV从【{globalVar.LOneFryPotSerial}】号炒锅到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
            if (globalVar.rollerLineTwo.agvArriveLineFour || globalVar.LineFiveRobotTaskError)//agv到达线体4下料位置
            {
                globalVar.rollerLineTwo.agvArriveLineFour = false;
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                globalVar.LineFiveRobotTaskError = false;//AGV故障信号复位
                MessageNotify.GetInstance.ShowRunLog($"AGV从【{globalVar.LTwoFryPotSerial}】炒锅到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
            if (globalVar.rollerLineThree.agvArriveLineFour || globalVar.LineSixRobotTaskError)//agv到达线体4下料位置
            {
                globalVar.rollerLineThree.agvArriveLineFour = false;
                //线体四信号交互
                WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
                globalVar.LineSixRobotTaskError = false;//AGV故障信号复位
                MessageNotify.GetInstance.ShowRunLog("AGV从3号炒锅到达【4】号回收线体，准备卸桶");
                // MessageLog.GetInstance.ShowRunLog("卸桶完成");
            }
        }
        ///// <summary>
        ///// 线体1对应炒锅到4号线体下料
        ///// </summary>
        //public void EmptyRollerToLinFourFromLineOne()
        //{


        //    if (globalVar.rollerLineOne.agvArriveLineFour)//agv到达线体4下料位置
        //    {
        //        globalVar.rollerLineOne.agvArriveLineFour = false;
        //        //线体四信号交互
        //        WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
        //        MessageLog.GetInstance.ShowRunLog("AGV从1号线体对应炒锅到达【4】号回收线体，准备卸桶");
        //        // MessageLog.GetInstance.ShowRunLog("卸桶完成");
        //    }


        //}

        ///// <summary>
        /////线体2对应炒锅到4号线体下料
        ///// </summary>
        //public void EmptyRollerToLinFourFromLineTwo()
        //{
        //    if (globalVar.rollerLineTwo.agvArriveLineFour)//agv到达线体4下料位置
        //    {
        //        globalVar.rollerLineTwo.agvArriveLineFour = false;
        //        //线体四信号交互
        //        WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
        //        MessageLog.GetInstance.ShowRunLog("AGV从2号线体对应炒锅到达【4】号回收线体，准备卸桶");
        //        // MessageLog.GetInstance.ShowRunLog("卸桶完成");
        //    }

        //}
        ///// <summary>
        ///// 线体3对应炒锅到4号线体下料
        ///// </summary>
        //public void EmptyRollerToLinFourFromLineThree()
        //{
        //    if (globalVar.rollerLineThree.agvArriveLineFour)//agv到达线体4下料位置
        //    {
        //        globalVar.rollerLineThree.agvArriveLineFour = false;
        //        //线体四信号交互
        //        WritePlcData("D1067", 1);//AGV空桶回桶就位信号下发PLC
        //        MessageLog.GetInstance.ShowRunLog("AGV从3号炒锅到达【4】号回收线体，准备卸桶");
        //        // MessageLog.GetInstance.ShowRunLog("卸桶完成");
        //    }

        //}
        /// <summary>
        /// 炒锅1,4滚筒进料运行到位处理
        /// </summary>
        public void FryPotOneOrFourInputMaterialRollerOperate()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    //while (globalVar.fryPotOne.InputMaterialArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【1】：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】号桶已到进料位置，准备倒料"); break;
                case 4:
                    //while (globalVar.fryPotFour.InputMaterialArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【4】：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】号桶已到进料位置，准备倒料"); break;
            }
        }
        /// <summary>
        /// 炒锅2,5滚筒进料运行到位处理
        /// </summary>
        public void FryPotTwoOrFiveInputMaterialRollerOperate()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                    //while (globalVar.fryPotTwo.InputMaterialArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【2】：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】号桶已到进料位置，准备倒料"); break;
                case 5:
                    //while (globalVar.fryPotFive.InputMaterialArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【5】：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】号桶已到进料位置，准备倒料"); break;
            }
        }
        public void FryPotThreeInputMaterialRollerOperate()
        {
            //while (globalVar.fryPotThree.InputMaterialArrivedSingle == 0)
            //{
            //    Thread.Sleep(5); if (globalVar.ExitMainTask)
            //        return;
            //}
            MessageNotify.GetInstance.ShowRunLog($"炒锅【3】：【{LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】号桶已到进料位置，准备倒料");
        }
        /// <summary>
        /// 炒锅滚筒空桶出桶处理
        /// </summary>
        //public void FryPotOutEmpetyRollerOperate(ConcurrentQueue<MaterialInfo> queue)
        //{
        //    switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
        //    {
        //        case 1:
        //            while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
        //        case 2:
        //            while (globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 0)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
        //        case 3:
        //            while (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 0)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
        //        case 4:
        //            while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
        //        case 5:
        //            while (globalVar.fryPotFive.EmptyBarrelArrivedSingle == 0)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;

        //    }
        //}
        /// <summary>
        /// 炒锅1,4滚筒空桶出桶处理
        /// </summary>
        public void FryPotOneOrFourOutEmpetyRollerOperate()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    //while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【1】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】空桶上料完成"); break;
                case 4:
                    //while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【4】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】空桶上料完成"); break;
            }
        }
        /// <summary>
        /// 炒锅2,5滚筒空桶出桶处理
        /// </summary>
        public void FryPotTwoOrFiveOutEmpetyRollerOperate()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                    //while (globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【2】原料：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】空桶上料完成"); break;
                case 5:
                    //while (globalVar.fryPotFive.EmptyBarrelArrivedSingle == 0)
                    //{
                    //    Thread.Sleep(5); if (globalVar.ExitMainTask)
                    //        return;
                    //}
                    MessageNotify.GetInstance.ShowRunLog($"炒锅【5】原料：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】空桶上料完成"); break;
            }
        }
        /// <summary>
        /// 炒锅3滚筒空桶出桶处理
        /// </summary>
        public void FryPotThreeOutEmpetyRollerOperate()
        {
            //while (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 0)
            //{
            //    Thread.Sleep(5); if (globalVar.ExitMainTask)
            //        return;
            //}
            MessageNotify.GetInstance.ShowRunLog($"炒锅【3】原料：【{LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc}】空桶上料完成");
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体到炒锅）
        /// </summary>
        public void AgvArriveFryPotSingleSetDown(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1055", 1); break;//agv到炒锅1送料就位信号
                case 2: DeviceOperate.GetInstance.WritePlcData("D1056", 1); break;//agv到炒锅2送料就位信号
                case 3: DeviceOperate.GetInstance.WritePlcData("D1057", 1); break;//agv到炒锅3送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1058", 1); break;//agv到炒锅4送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1059", 1); break;//agv到炒锅5送料就位信号
            }
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体1到炒锅）
        /// </summary>
        public void AgvArriveFryPotOneOrFourSingleSetDown()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1055", 1); break;//agv到炒锅1送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1058", 1); break;//agv到炒锅4送料就位信号
            }
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体2到炒锅）
        /// </summary>
        public void AgvArriveFryPotTwoOrFiveSingleSetDown()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2: DeviceOperate.GetInstance.WritePlcData("D1056", 1); break;//agv到炒锅2送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1059", 1); break;//agv到炒锅5送料就位信号
            }
        }
        /// <summary>
        /// 发送agv送料就位信号至PLC（线体3到炒锅）
        /// </summary>
        public void AgvArriveFryPotThreeSingleSetDown()
        {
            DeviceOperate.GetInstance.WritePlcData("D1057", 1); //agv到炒锅3送料就位信号
        }
        /// <summary>
        /// 发送agv回桶就位信号至PLC
        /// </summary>
        public void AgvArriveFryPotOutEmptyRollerSingleSetDown(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1060", 1); break;//agv到炒锅1送料就位信号
                case 2: DeviceOperate.GetInstance.WritePlcData("D1061", 1); break;//agv到炒锅2送料就位信号
                case 3: DeviceOperate.GetInstance.WritePlcData("D1062", 1); break;//agv到炒锅3送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1063", 1); break;//agv到炒锅4送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1064", 1); break;//agv到炒锅5送料就位信号
            }
        }

        public void AgvArriveFryPotOneOrFourOutEmptyRollerSingleSetDown()
        {
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1: DeviceOperate.GetInstance.WritePlcData("D1060", 1); break;//agv到炒锅1送料就位信号
                case 4: DeviceOperate.GetInstance.WritePlcData("D1063", 1); break;//agv到炒锅4送料就位信号
            }
        }
        public void AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown()
        {
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2: DeviceOperate.GetInstance.WritePlcData("D1061", 1); break;//agv到炒锅2送料就位信号
                case 5: DeviceOperate.GetInstance.WritePlcData("D1064", 1); break;//agv到炒锅5送料就位信号
            }
        }
        public void AgvArriveFryPotThreeOutEmptyRollerSingleSetDown()
        {
            DeviceOperate.GetInstance.WritePlcData("D1062", 1);//agv到炒锅3送料就位信号
        }
        ///// <summary>
        ///// AGV离开炒锅运送空桶任务
        ///// </summary>
        //public void AgvFromFryPotToClean(ConcurrentQueue<MaterialInfo> queue)
        //{
        //    switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
        //    {
        //        case 1:
        //        erp: string id = Guid.NewGuid().ToString("D");//上游唯一ID
        //            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId)
        //            {
        //                goto erp;
        //            }
        //            string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
        //            LOnerobotJobId = id;
        //            FryCarryTaskErrorCodeAnalysis(info, 1); break;
        //        case 2:
        //        erp1: string id1 = Guid.NewGuid().ToString("D");//上游唯一ID
        //            if (id1 == LTworobotJobId)
        //            {
        //                goto erp1;
        //            }
        //            string info1 = AGVHelper.GetInstance.AgvLeaveFryPotTwo(id1);
        //            LTworobotJobId = id1;
        //            FryCarryTaskErrorCodeAnalysis(info1, 2); break;
        //        case 3:
        //        erp2: string id2 = Guid.NewGuid().ToString("D");//上游唯一ID
        //            if (id2 == LThreerobotJobId)
        //            {
        //                goto erp2;
        //            }
        //            string info2 = AGVHelper.GetInstance.AgvLeaveFryPotThree(id2);
        //            LThreerobotJobId = id2;
        //            FryCarryTaskErrorCodeAnalysis(info2, 3); break;
        //        case 4:
        //        erp3: string id3 = Guid.NewGuid().ToString("D");//上游唯一ID
        //            if (id3 == LOnerobotJobId)
        //            {
        //                goto erp3;
        //            }
        //            string info3 = AGVHelper.GetInstance.AgvLeaveFryPotFour(id3);
        //            LOnerobotJobId = id3;
        //            FryCarryTaskErrorCodeAnalysis(info3, 4); break;
        //        case 5:
        //        erp4: string id4 = Guid.NewGuid().ToString("D");//上游唯一ID
        //            if (id4 == LTworobotJobId)
        //            {
        //                goto erp4;
        //            }
        //            string info4 = AGVHelper.GetInstance.AgvLeaveFryPotFive(id4);
        //            LTworobotJobId = id4;
        //            FryCarryTaskErrorCodeAnalysis(info4, 5); break;
        //    }
        //}
        /// <summary>
        /// AGV离开炒锅1,4运送空桶任务
        /// </summary>
        public bool AgvFromFryPotOneOrFourToClean()
        {
            bool result = true;
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                erp: string id = Guid.NewGuid().ToString("D");//上游唯一ID
                    if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                    {
                        goto erp;
                    }
                    MessageNotify.GetInstance.ShowRunLog("AGV执行【1】号炒锅空桶回收任务");
                    string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
                    LFourrobotJobId = id;

                    if (!FryCarryTaskErrorCodeAnalysis(info, 1))
                    {
                        id = String.Empty;
                        result = false;
                    }
                    break;
                case 4:
                erp3: string id3 = Guid.NewGuid().ToString("D");//上游唯一ID
                    if (id3 == LOnerobotJobId || id3 == LTworobotJobId || id3 == LThreerobotJobId || id3 == LFourrobotJobId || id3 == LFiverobotJobId || id3 == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id3) != null || LEightrobotJobId.FirstOrDefault(p => p == id3) != null || LNinerobotJobId.FirstOrDefault(p => p == id3) != null || LTenrobotJobId.FirstOrDefault(p => p == id3) != null)
                    {
                        goto erp3;
                    }
                    MessageNotify.GetInstance.ShowRunLog("AGV执行【4】号炒锅空桶回收任务");
                    string info3 = AGVHelper.GetInstance.AgvLeaveFryPotFour(id3);
                    LFourrobotJobId = id3;
                    if (!FryCarryTaskErrorCodeAnalysis(info3, 4))
                    {
                        id3 = String.Empty;
                        result = false;
                    }

                    break;
            }
            return result;
        }
        /// <summary>
        /// AGV离开炒锅2,5运送空桶任务
        /// </summary>
        public bool AgvFromFryPotTwoOrFiveToClean()
        {
            bool result = true;
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                erp1: string id1 = Guid.NewGuid().ToString("D");//上游唯一ID
                    if (id1 == LOnerobotJobId || id1 == LTworobotJobId || id1 == LThreerobotJobId || id1 == LFourrobotJobId || id1 == LFiverobotJobId || id1 == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id1) != null || LEightrobotJobId.FirstOrDefault(p => p == id1) != null || LNinerobotJobId.FirstOrDefault(p => p == id1) != null || LTenrobotJobId.FirstOrDefault(p => p == id1) != null)
                    {
                        goto erp1;
                    }
                    MessageNotify.GetInstance.ShowRunLog("AGV执行【2】号炒锅空桶回收任务");
                    string info1 = AGVHelper.GetInstance.AgvLeaveFryPotTwo(id1);
                    LFiverobotJobId = id1;

                    if (!FryCarryTaskErrorCodeAnalysis(info1, 2))
                    {
                        id1 = String.Empty;
                        result = false;
                    }
                    break;
                case 5:
                erp4: string id4 = Guid.NewGuid().ToString("D");//上游唯一ID
                    if (id4 == LOnerobotJobId || id4 == LTworobotJobId || id4 == LThreerobotJobId || id4 == LFourrobotJobId || id4 == LFiverobotJobId || id4 == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id4) != null || LEightrobotJobId.FirstOrDefault(p => p == id4) != null || LNinerobotJobId.FirstOrDefault(p => p == id4) != null || LTenrobotJobId.FirstOrDefault(p => p == id4) != null)
                    {
                        goto erp4;
                    }
                    MessageNotify.GetInstance.ShowRunLog("AGV执行【5】号炒锅空桶回收任务");
                    string info4 = AGVHelper.GetInstance.AgvLeaveFryPotFive(id4);
                    LFiverobotJobId = id4;

                    if (!FryCarryTaskErrorCodeAnalysis(info4, 5))
                    {
                        id4 = String.Empty;
                        result = false;
                    }
                    break;
            }
            return result;
        }
        /// <summary>
        /// AGV离开炒锅3运送空桶任务
        /// </summary>
        public bool AgvFromFryPotThreeToClean()
        {
            bool result = true;
        erp2: string id2 = Guid.NewGuid().ToString("D");//上游唯一ID
            if (id2 == LOnerobotJobId || id2 == LTworobotJobId || id2 == LThreerobotJobId || id2 == LFourrobotJobId || id2 == LFiverobotJobId || id2 == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id2) != null || LEightrobotJobId.FirstOrDefault(p => p == id2) != null || LNinerobotJobId.FirstOrDefault(p => p == id2) != null || LTenrobotJobId.FirstOrDefault(p => p == id2) != null)
            {
                goto erp2;
            }
            MessageNotify.GetInstance.ShowRunLog("AGV执行【3】号炒锅空桶回收任务");
            string info2 = AGVHelper.GetInstance.AgvLeaveFryPotThree(id2);
            LSixrobotJobId = id2;

            if (!FryCarryTaskErrorCodeAnalysis(info2, 3))
            {
                id2 = string.Empty;
                result = false;
            }
            return result;
        }
        /// <summary>
        /// 处理agv从线体1到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineOneToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble == 0)
            {
                if ((globalVar.agvArriveUpLoad || globalVar.LineOneRobotTaskError) && globalVar.LoadRoller && globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.AgvToFryPot)//无故障
                {

                    MessageNotify.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(InputMaterialQuene);
                    if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageNotify.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                        //if (materialInfo.materialType.MaterialLoc / 100 == 1)
                        //{
                        //    globalVar.LOneCurrentCookingStep++;
                        //}
                        //else
                        //{
                        //    globalVar.LFourCurrentCookingStep++;
                        //}
                        OutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveUpLoad = false;
                        globalVar.AgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅

                       
                        
                    }
                }

            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble == 1)
                {
                    Thread.Sleep(1000);
                    if (globalVar.ExitLineOneTask)
                        return;
                }
                MessageNotify.GetInstance.ShowRunLog("线体【1】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// Agv从1号线体运空桶到清洗处
        /// </summary>
        public void AgvFromLineOneToClean(ushort emptyRollerNum = 0)
        {
        erp: if (AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLineOneLoadEmptyRoller)//agv到达上料位置
                {
                    MessageNotify.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
                    DeviceOperate.GetInstance.WritePlcData("D1052", 1);//agv到达线体1上料位置信号下发plc
                    if (emptyRollerNum != 0)
                        MessageNotify.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");


                    globalVar.agvArriveLineOneLoadEmptyRoller = false;
                    //原料到位，agv到位，agv自行运料到清洗处
                }
                if (globalVar.agvArriveLineOneLoadCom || globalVar.LineSevenRobotTaskError)//上料完成
                {
                    if (globalVar.LineSevenRobotTaskError)
                        DeviceOperate.GetInstance.WritePlcData("D1052", 0);
                    if (emptyRollerNum != 0)
                        globalVar.rollerLineOne.EmptyRollerNums.Remove(emptyRollerNum);
                    globalVar.agvArriveLineOneLoadCom = false;
                    globalVar.rollerLineOne.IsEpmtyBefore = false;
                    if (emptyRollerNum != 0)
                        MessageNotify.GetInstance.ShowRunLog($"AGV在【1】号线体完成【{emptyRollerNum}】号空料桶装载");
                }
            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble == 1)
                {
                    Thread.Sleep(1000);
                    if (globalVar.ExitLineOneTask)
                        return;
                }
                MessageNotify.GetInstance.ShowRunLog("线体【1】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }

        }
        /// <summary>
        /// 处理agv从线体2到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineTwoToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble == 0)//无故障
            {
                if ((globalVar.agvArriveLTwoUpLoad || globalVar.LineTwoRobotTaskError) && globalVar.LTwoLoadRoller && globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LTwoAgvToFryPot)//无故障
                {
                    MessageNotify.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(LTwoInputMaterialQuene);
                    if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageNotify.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                        //if (materialInfo.materialType.MaterialLoc / 100 == 2)
                        //{
                        //    globalVar.LTwoCurrentCookingStep++;
                        //}
                        //else
                        //{
                        //    globalVar.LFiveCurrentCookingStep++;
                        //}
                        LTwoOutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveLTwoUpLoad = false;
                        globalVar.LTwoAgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }


                }

            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble == 1)
                {
                    Thread.Sleep(1000);
                    if (globalVar.ExitLineTwoTask)
                        return;
                }
                MessageNotify.GetInstance.ShowRunLog("线体【2】滚筒故障解除，继续运行");
                // lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// Agv从2号线体运空桶到清洗处
        /// </summary>
        public void AgvFromLineTwoToClean(ushort emptyRollerNum = 0)
        {
        erp: if (AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLineTwoLoadEmptyRoller)//agv到达上料位置
                {
                    MessageNotify.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
                    DeviceOperate.GetInstance.WritePlcData("D1053", 1);//agv到达线体2上料位置信号下发plc
                    if (emptyRollerNum != 0)
                        MessageNotify.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");


                    globalVar.agvArriveLineTwoLoadEmptyRoller = false;

                    //原料到位，agv到位，agv自行运料到清洗处
                }
                if (globalVar.agvArriveLineTwoLoadCom || globalVar.LineEightRobotTaskError)//上料完成
                {
                    if (globalVar.LineEightRobotTaskError)
                        DeviceOperate.GetInstance.WritePlcData("D1053", 0);
                    if (emptyRollerNum != 0)
                        globalVar.rollerLineTwo.EmptyRollerNums.Remove(emptyRollerNum);
                    globalVar.agvArriveLineTwoLoadCom = false;
                    globalVar.rollerLineTwo.IsEpmtyBefore = false;
                    if (emptyRollerNum != 0)
                        MessageNotify.GetInstance.ShowRunLog($"AGV在【2】号线体完成【{emptyRollerNum}】号空料桶装载");
                }
            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble == 1)
                {
                    Thread.Sleep(1000);
                    if (globalVar.ExitLineTwoTask)
                        return;
                }
                MessageNotify.GetInstance.ShowRunLog("线体【2】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }

        }
        /// <summary>
        /// 处理agv从线体3到送料到炒锅的条件
        /// </summary>
        /// <param name="lineAlarm"></param>
        public void AgvFromLineThreeToFryPot()
        {
        erp: if (AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble == 0)//无故障
            {
                if ((globalVar.agvArriveLThreeUpLoad || globalVar.LineThreeRobotTaskError) && globalVar.LThreeLoadRoller && globalVar.rollerLineThree.StationEight == LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.LThreeAgvToFryPot)//无故障
                {
                    MessageNotify.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
                    AgvArriveLineSingelSetDown(LThreeInputMaterialQuene);
                    if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                    {
                        MessageNotify.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                        // globalVar.LThreeCurrentCookingStep++;
                        LThreeOutputMaterialQuene.Enqueue(materialInfo);
                        globalVar.agvArriveLThreeUpLoad = false;
                        globalVar.LThreeAgvToFryPot = true;
                        //原料到位，agv到位，agv自行运料到炒锅
                    }


                }

            }
            else //有故障
            {
                while (AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble == 1)
                {
                    Thread.Sleep(1000);
                    if (globalVar.ExitLineThreeTask)
                        return;
                }
                MessageNotify.GetInstance.ShowRunLog("线体【3】滚筒故障解除，继续运行");
                // lineAlarm = 1;
                goto erp;
            }
        }
        /// <summary>
        /// Agv从3号线体运空桶到清洗处
        /// </summary>
        public void AgvFromLineThreeToClean(ushort emptyRollerNum = 0)
        {
        erp: if (AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble == 0)//无故障
            {
                if (globalVar.agvArriveLineThreeLoadEmptyRoller)//agv到达上料位置
                {
                    MessageNotify.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
                    DeviceOperate.GetInstance.WritePlcData("D1054", 1);//agv到达线体3上料位置信号下发plc
                    if (emptyRollerNum != 0)
                        MessageNotify.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶");


                    globalVar.agvArriveLineThreeLoadEmptyRoller = false;
                    //  globalVar.rollerLineThree.IsEpmtyBefore = false;

                    //原料到位，agv到位，agv自行运料到清洗处
                }
                if (globalVar.agvArriveLineThreeLoadCom || globalVar.LineNineRobotTaskError)//上料完成
                {
                    if (globalVar.LineNineRobotTaskError)
                        DeviceOperate.GetInstance.WritePlcData("D1054", 0);
                    if (emptyRollerNum != 0)
                        globalVar.rollerLineThree.EmptyRollerNums.Remove(emptyRollerNum);
                    globalVar.agvArriveLineThreeLoadCom = false;
                    globalVar.rollerLineThree.IsEpmtyBefore = false;
                    if (emptyRollerNum != 0)
                        MessageNotify.GetInstance.ShowRunLog($"AGV在【3】号线体完成【{emptyRollerNum}】号空料桶装载");
                }
            }
            else//有故障
            {
                while (AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble == 1)
                {
                    Thread.Sleep(1000);
                    if (globalVar.ExitLineThreeTask)
                        return;
                }
                MessageNotify.GetInstance.ShowRunLog("线体【3】滚筒故障解除，继续运行");
                //lineAlarm = 1;
                goto erp;
            }

        }
        /// <summary>
        /// 线体到炒锅搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public bool LineCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                MessageNotify.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
                return true;
            }
            else if (errorCode == "Analysis Error")
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
                return false;
            }
            else
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
                return false;
            }
        }
        /// <summary>
        /// 线体到清洗台搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public bool LineToCleanCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                MessageNotify.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装空桶");
                return true;
            }
            else if (errorCode == "Analysis Error")
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
                return false;
            }
            else
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
                return false;
            }
        }
        /// <summary>
        /// 清洗台到线体搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public bool CleanToLineCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                MessageNotify.GetInstance.ShowRunLog($"AGV从清洗台到{num}号滚筒线卸桶");
                return true;
            }
            else if (errorCode == "Analysis Error")
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV从清洗台到{num}号滚筒线API调用失败，请检查请求报文");
                return false;
            }
            else
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV从清洗台到{num}号滚筒线失败，错误码:{errorCode}");
                return false;
            }
        }
        /// <summary>
        /// 炒锅搬运任务错误码分析
        /// </summary>
        /// <param name="errorCode"></param>
        /// <param name="num"></param>
        public bool FryCarryTaskErrorCodeAnalysis(string errorCode, int num)
        {
            if (errorCode == "SUCCESS")
            {
                MessageNotify.GetInstance.ShowRunLog($"AGV去{num}号炒锅");
                return true;
            }
            else if (errorCode == "Analysis Error")
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV去{num}号炒锅接口调用失败，请检查");
                return false;
            }
            else
            {
                MessageNotify.GetInstance.ShowRunLog($"提示：AGV去{num}号炒锅失败，错误码:{errorCode}");
                return false;
            }
        }

        public void AgvToLineOneLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.GetInstance("1号滚筒线故障").LOneRollerTrouble == 0)//输送线无故障
            {
                if (InputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineLoadRoller && !globalVar.LoadRoller)
                {
                    if (globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineOne.IsEpmtyBefore)//工位8上面是配方料桶
                    {
                        globalVar.rollerLineOne.CanRun = false;
                    e: string id = Guid.NewGuid().ToString("D");//32位
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;
                        string info;
                        if (globalVar.LOneFryPotSerial == 1)
                        {
                            if (InputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
                                info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id,2);
                            else
                                info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
                        }
                        else
                        {
                            if (InputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
                                info = AGVHelper.GetInstance.AgvFromLineOneToFryFourLoadRoller(id,2);
                            else
                                info = AGVHelper.GetInstance.AgvFromLineOneToFryFourLoadRoller(id);
                        }
                        LOnerobotJobId = id;
                        if (LineCarryTaskErrorCodeAnalysis(info, 1))
                        {
                            globalVar.AllowAgvToLineLoadRoller = false;
                            globalVar.LoadRoller = true;
                        }
                        else
                        {
                            Thread.Sleep(5000);
                        }

                    }
                    //else if (globalVar.rollerLineOne.StationEight != InputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                    //{
                    //    globalVar.rollerLineOne.CanRun = true;
                    //}
                    //else // 工位8上面不是配方料桶或没有桶时
                    //{
                    //    if (!globalVar.rollerLineOne.IsEpmtyBefore)
                    //    {
                    //        var res = InputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineOne.StationEight);
                    //        if (res == null && globalVar.rollerLineOne.StationEight != 0 && globalVar.rollerLineOne.StationEight == globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶且工位8的桶号和plc上报的桶号一致,即空桶
                    //        {
                    //        //下发AGV去空桶线洗桶任务
                    //        e: string id = Guid.NewGuid().ToString("D");
                    //            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                    //                goto e;

                    //            string info = AGVHelper.GetInstance.AgvLeaveLOneToClean(id);//1号线到洗桶处
                    //            LFourrobotJobId = id;
                    //            Thread.Sleep(500);
                    //            LineToCleanCarryTaskErrorCodeAnalysis(info, 1);
                    //            globalVar.rollerLineOne.IsEpmtyBefore = true;
                    //            AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                    //        }
                    //    }
                    //    else
                    //    {
                    //        AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                    //    }
                    //}

                }
            }
            //else
            //{
            //    MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【1】故障！！！");
            //    //  lineAlarm = -1;
            //}
            //// lineAlarm = 1;
        }
        public void AgvToLineTwoLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.GetInstance("2号滚筒线故障").LTwoRollerTrouble == 0)//输送线无故障
            {
                if (LTwoInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineTwoLoadRoller && !globalVar.LTwoLoadRoller)
                {
                    if (globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineTwo.IsEpmtyBefore)//工位8上面是配方料桶
                    {

                        globalVar.rollerLineTwo.CanRun = false;
                    e: string id = Guid.NewGuid().ToString("D");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;
                        string info;
                        if (globalVar.LTwoFryPotSerial == 2)
                        {
                            if (LTwoInputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
                                info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id, 2);
                            else
                                info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
                        }
                        else
                        {
                            if (LTwoInputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
                                info = AGVHelper.GetInstance.AgvFromLineTwoToFryFiveLoadRoller(id,2);
                            else
                                info = AGVHelper.GetInstance.AgvFromLineTwoToFryFiveLoadRoller(id);
                        }
                        LTworobotJobId = id;
                        //Thread.Sleep(500);
                        if (LineCarryTaskErrorCodeAnalysis(info, 2))
                        {
                            globalVar.LTwoLoadRoller = true;
                            globalVar.AllowAgvToLineTwoLoadRoller = false;
                        }
                        else
                        {
                            Thread.Sleep(5000);
                        }
                    }
                    //else if (globalVar.rollerLineTwo.StationEight != LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                    //{
                    //    globalVar.rollerLineTwo.CanRun = true;
                    //}
                }
                //else// 工位8上面不是配方料桶或没有桶时
                //{
                //    if (!globalVar.rollerLineTwo.IsEpmtyBefore)
                //    {
                //        var res = LTwoInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineTwo.StationEight);
                //        if (res == null && globalVar.rollerLineTwo.StationEight != 0 && globalVar.rollerLineTwo.StationEight == globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶,即空桶
                //        {
                //        //下发AGV去空桶线洗桶任务
                //        e: string id = Guid.NewGuid().ToString("D");
                //            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                //                goto e;

                //            string info = AGVHelper.GetInstance.AgvLeaveLTwoToClean(id);//2号线到洗桶处
                //            LFiverobotJobId = id;
                //            Thread.Sleep(500);
                //            LineToCleanCarryTaskErrorCodeAnalysis(info, 2);
                //            globalVar.rollerLineTwo.IsEpmtyBefore = true;
                //            AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体2到清洗处
                //        }
                //    }
                //    else
                //    {
                //        AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                //    }
                //}
            }
        }
        public void AgvToLineThreeLoadRoller()
        {
            if (AlarmHelper<AlarmInfo>.GetInstance("3号滚筒线故障").LThreeRollerTrouble == 0)//输送线无故障
            {
                if (LThreeInputMaterialQuene.Count > 0 && globalVar.AllowAgvToLineThreeLoadRoller && !globalVar.LThreeLoadRoller)
                {
                    if (globalVar.rollerLineThree.StationEight == LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineThree.IsEpmtyBefore)//工位8上面是配方料桶
                    {
                        globalVar.rollerLineThree.CanRun = false;
                    e: string id = Guid.NewGuid().ToString("D");
                        if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                            goto e;
                        string info = string.Empty;
                        if (LThreeInputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
                             info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id,2);
                        else
                            info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
                        LThreerobotJobId = id;
                        //Thread.Sleep(500);
                        if (LineCarryTaskErrorCodeAnalysis(info, 3))
                        {
                            globalVar.LThreeLoadRoller = true;
                            globalVar.AllowAgvToLineThreeLoadRoller = false;
                        }
                        else
                        {
                            Thread.Sleep(5000);
                        }

                    }
                    //else if (globalVar.rollerLineThree.StationEight != LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                    //{
                    //    globalVar.rollerLineThree.CanRun = true;
                    //}
                    //else // 工位8上面不是配方料桶或没有桶时
                    //{
                    //    if (!globalVar.rollerLineThree.IsEpmtyBefore)
                    //    {
                    //        var res = LThreeInputMaterialQuene.FirstOrDefault(p => p.materialType.MaterialLoc == globalVar.rollerLineThree.StationEight);
                    //        if (res == null && globalVar.rollerLineThree.StationEight != 0 && globalVar.rollerLineThree.StationEight == globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0))//工位8上面有桶且不是配方上的原料桶,即空桶
                    //        {
                    //        //下发AGV去空桶线洗桶任务
                    //        e: string id = Guid.NewGuid().ToString("D");
                    //            if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || id == LSevenrobotJobId || id == LEightrobotJobId || id == LNinerobotJobId || id == LTenrobotJobId)
                    //                goto e;

                    //            string info = AGVHelper.GetInstance.AgvLeaveLThreeToClean(id);//3号线到洗桶处
                    //            LSixrobotJobId = id;
                    //            Thread.Sleep(500);
                    //            LineToCleanCarryTaskErrorCodeAnalysis(info, 3);
                    //            globalVar.rollerLineThree.IsEpmtyBefore = true;
                    //            AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                    //        }
                    //    }
                    //    else
                    //    {
                    //        AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                    //    }
                    //}
                }
            }

            //if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
            //{
            //    if (LThreeInputMaterialQuene.Count > 0)
            //    {
            //        while (!globalVar.AllowAgvToLineThreeLoadRoller || globalVar.rollerLineThree.OutMaterialingSingle == 0) //后续考虑是否用while
            //        {
            //            Thread.Sleep(5);
            //            if (globalVar.ExitMainTask)
            //                return;
            //        }
            //    g: string id = Guid.NewGuid().ToString();
            //        if (id == LThreerobotJobId)
            //            goto g;
            //        string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
            //        //  MessageLog.GetInstance.ShowRunLog("AGV去【3】号滚筒线装桶");
            //        LThreerobotJobId = id;
            //        Thread.Sleep(500);
            //        LineCarryTaskErrorCodeAnalysis(info, 3);
            //    }

            //}
            //else
            //{
            //    MessageLog.GetInstance.ShowRunLog("警告：滚筒输送线体【3】故障！！！");
            //    // lineAlarm = -1;
            //}

        }
        /// <summary>
        /// 1号线体数据下发
        /// </summary>
        /// <param name="count"></param>
        /// <param name="materialLoc"></param>
        /// <param name="materialWeight"></param>
        public void RollerOneDataWrite(int count, ushort materialLoc, ushort materialWeight, float materialOffset)
        {
            switch (count)
            {
                case 0:
                    DeviceOperate.GetInstance.WritePlcData("D1001", materialLoc);//桶1位置
                    DeviceOperate.GetInstance.WritePlcData("D1010", materialWeight);//桶1重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1200", materialOffset);//桶重1量偏差
                    break;
                case 1:
                    DeviceOperate.GetInstance.WritePlcData("D1002", materialLoc);//桶2位置
                    DeviceOperate.GetInstance.WritePlcData("D1011", materialWeight);//桶2重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1202", materialOffset);//桶2重量偏差
                    break;
                case 2:
                    DeviceOperate.GetInstance.WritePlcData("D1003", materialLoc);//桶3位置
                    DeviceOperate.GetInstance.WritePlcData("D1012", materialWeight);//桶3重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1204", materialOffset);//桶3重量偏差
                    break;
                case 3:
                    DeviceOperate.GetInstance.WritePlcData("D1004", materialLoc);//桶4位置
                    DeviceOperate.GetInstance.WritePlcData("D1013", materialWeight);//桶4重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1206", materialOffset);//桶4重量偏差
                    break;
                case 4:
                    DeviceOperate.GetInstance.WritePlcData("D1005", materialLoc);//桶5位置
                    DeviceOperate.GetInstance.WritePlcData("D1014", materialWeight);//桶5重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1208", materialOffset);//桶5重量偏差
                    break;
                case 5:
                    DeviceOperate.GetInstance.WritePlcData("D1006", materialLoc);//桶6位置
                    DeviceOperate.GetInstance.WritePlcData("D1015", materialWeight);//桶6重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1210", materialOffset);//桶6重量偏差
                    break;
                case 6:
                    DeviceOperate.GetInstance.WritePlcData("D1007", materialLoc);//桶7位置
                    DeviceOperate.GetInstance.WritePlcData("D1016", materialWeight);//桶7重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1212", materialOffset);//桶7重量偏差
                    break;
                case 7:
                    DeviceOperate.GetInstance.WritePlcData("D1008", materialLoc);//桶8位置
                    DeviceOperate.GetInstance.WritePlcData("D1017", materialWeight);//桶8重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1214", materialOffset);//桶8重量偏差
                    break;

            }
        }
        /// <summary>
        /// 2号线体数据下发
        /// </summary>
        /// <param name="count"></param>
        /// <param name="materialLoc"></param>
        /// <param name="materialWeight"></param>
        public void RollerTwoDataWrite(int count, ushort materialLoc, ushort materialWeight, float materialOffset)
        {
            switch (count)
            {
                case 0:
                    DeviceOperate.GetInstance.WritePlcData("D1018", materialLoc);//桶1位置
                    DeviceOperate.GetInstance.WritePlcData("D1027", materialWeight);//桶2重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1216", materialOffset);//桶重1量偏差
                    break;
                case 1:
                    DeviceOperate.GetInstance.WritePlcData("D1019", materialLoc);//桶2位置
                    DeviceOperate.GetInstance.WritePlcData("D1028", materialWeight);//桶2重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1218", materialOffset);//桶重2量偏差
                    break;
                case 2:
                    DeviceOperate.GetInstance.WritePlcData("D1020", materialLoc);//桶3位置
                    DeviceOperate.GetInstance.WritePlcData("D1029", materialWeight);//桶3重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1220", materialOffset);//桶重3量偏差
                    break;
                case 3:
                    DeviceOperate.GetInstance.WritePlcData("D1021", materialLoc);//桶4位置
                    DeviceOperate.GetInstance.WritePlcData("D1030", materialWeight);//桶4重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1222", materialOffset);//桶重4量偏差
                    break;
                case 4:
                    DeviceOperate.GetInstance.WritePlcData("D1022", materialLoc);//桶5位置
                    DeviceOperate.GetInstance.WritePlcData("D1031", materialWeight);//桶5重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1224", materialOffset);//桶重5量偏差
                    break;
                case 5:
                    DeviceOperate.GetInstance.WritePlcData("D1023", materialLoc);//桶6位置
                    DeviceOperate.GetInstance.WritePlcData("D1032", materialWeight);//桶6重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1226", materialOffset);//桶重6量偏差
                    break;
                case 6:
                    DeviceOperate.GetInstance.WritePlcData("D1024", materialLoc);//桶7位置
                    DeviceOperate.GetInstance.WritePlcData("D1033", materialWeight);//桶7重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1228", materialOffset);//桶重7量偏差
                    break;
                case 7:
                    DeviceOperate.GetInstance.WritePlcData("D1025", materialLoc);//桶8位置
                    DeviceOperate.GetInstance.WritePlcData("D1034", materialWeight);//桶8重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1230", materialOffset);//桶重8量偏差
                    break;

            }
        }
        /// <summary>
        /// 3号线体数据下发
        /// </summary>
        /// <param name="count"></param>
        /// <param name="materialLoc"></param>
        /// <param name="materialWeight"></param>
        public void RollerThreeDataWrite(int count, ushort materialLoc, ushort materialWeight, float materialOffset)
        {
            switch (count)
            {
                case 0:
                    DeviceOperate.GetInstance.WritePlcData("D1035", materialLoc);//桶1位置
                    DeviceOperate.GetInstance.WritePlcData("D1044", materialWeight);//桶1重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1232", materialOffset);//桶重1量偏差
                    break;
                case 1:
                    DeviceOperate.GetInstance.WritePlcData("D1036", materialLoc);//桶2位置
                    DeviceOperate.GetInstance.WritePlcData("D1045", materialWeight);//桶2重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1234", materialOffset);//桶重2量偏差
                    break;
                case 2:
                    DeviceOperate.GetInstance.WritePlcData("D1037", materialLoc);//桶3位置
                    DeviceOperate.GetInstance.WritePlcData("D1046", materialWeight);//桶3重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1236", materialOffset);//桶重3量偏差
                    break;
                case 3:
                    DeviceOperate.GetInstance.WritePlcData("D1038", materialLoc);//桶4位置
                    DeviceOperate.GetInstance.WritePlcData("D1047", materialWeight);//桶4重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1238", materialOffset);//桶重4量偏差
                    break;
                case 4:
                    DeviceOperate.GetInstance.WritePlcData("D1039", materialLoc);//桶5位置
                    DeviceOperate.GetInstance.WritePlcData("D1048", materialWeight);//桶5重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1240", materialOffset);//桶重5量偏差
                    break;
                case 5:
                    DeviceOperate.GetInstance.WritePlcData("D1040", materialLoc);//桶6位置
                    DeviceOperate.GetInstance.WritePlcData("D1049", materialWeight);//桶6重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1242", materialOffset);//桶重6量偏差
                    break;
                case 6:
                    DeviceOperate.GetInstance.WritePlcData("D1041", materialLoc);//桶7位置
                    DeviceOperate.GetInstance.WritePlcData("D1050", materialWeight);//桶7重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1244", materialOffset);//桶重7量偏差
                    break;
                case 7:
                    DeviceOperate.GetInstance.WritePlcData("D1042", materialLoc);//桶8位置
                    DeviceOperate.GetInstance.WritePlcData("D1051", materialWeight);//桶8重量
                    DeviceOperate.GetInstance.WriteRealPlcData("D1246", materialOffset);//桶重8量偏差
                    break;

            }

        }
        /// <summary>
        /// AGV线体进料就位信号下发至PLC
        /// </summary>
        public void AgvArriveLineSingelSetDown(ConcurrentQueue<MaterialInfo> queue)
        {
            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                case 4: DeviceOperate.GetInstance.WritePlcData("D1052", 1); break;//AGV进料就位信号1
                case 2:
                case 5: DeviceOperate.GetInstance.WritePlcData("D1053", 1); break;//AGV进料就位信号2
                case 3: DeviceOperate.GetInstance.WritePlcData("D1054", 1); break;//AGV进料就位信号3
            }

        }

        /// <summary>
        /// 炒锅滚筒信号检测
        /// </summary>
        //public void FryPotRollerTroubleCheck()
        //{
        //    FryPotAlarm = 0;
        //    FryPotTwoAlarm = 0;
        //    FryPotThreeAlarm = 0;
        //    FryPotFourAlarm = 0;
        //    FryPotFiveAlarm = 0;
        //    switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
        //    {
        //        case 1:
        //            if (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
        //            FryPotAlarm = 1; break;
        //        case 2:
        //            if (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1) { FryPotTwoAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【2】输送滚筒发生故障"); } else { FryPotTwoAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog("炒锅【2】输送滚筒故障解除，继续运行");
        //            FryPotTwoAlarm = 1; break;
        //        case 3:
        //            if (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1) { FryPotThreeAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotThreeAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog("炒锅【3】输送滚筒故障解除，继续运行");
        //            FryPotThreeAlarm = 1; break;
        //        case 4:
        //            if (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
        //            FryPotFourAlarm = 1; break;
        //        case 5:
        //            if (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1) { FryPotFiveAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【5】输送滚筒发生故障"); } else { FryPotFiveAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1)
        //            {
        //                Thread.Sleep(5); if (globalVar.ExitMainTask)
        //                    return;
        //            }
        //            MessageLog.GetInstance.ShowRunLog("炒锅【5】输送滚筒故障解除，继续运行");
        //            FryPotFiveAlarm = 1; break;

        //    }
        //}
        /// <summary>
        /// 炒锅1,4滚筒信号检测
        /// </summary>
        public void FryPotOneRollerTroubleCheck()
        {
            FryPotAlarm = 0;
            FryPotFourAlarm = 0;
            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 1:
                    if (AlarmHelper<AlarmInfo>.GetInstance("1号炒锅滚筒故障").FryPotOneRollerTrouble == 1)
                    {
                        FryPotAlarm = -1; MessageNotify.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障");
                    }
                    else
                    {
                        FryPotAlarm = 1; return;

                    }
                    while (AlarmHelper<AlarmInfo>.GetInstance("1号炒锅滚筒故障").FryPotOneRollerTrouble == 1)
                    {
                        Thread.Sleep(1000); if (globalVar.ExitLineOneTask)
                            return;
                    }
                    MessageNotify.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                    FryPotAlarm = 1; break;
                case 4:
                    if (AlarmHelper<AlarmInfo>.GetInstance("4号炒锅滚筒故障").FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageNotify.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.GetInstance("4号炒锅滚筒故障").FryPotFourRollerTrouble == 1)
                    {
                        Thread.Sleep(1000); if (globalVar.ExitLineOneTask)
                            return;
                    }
                    MessageNotify.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
                    FryPotFourAlarm = 1; break;
            }

        }
        /// <summary>
        /// 炒锅2,5滚筒信号检测
        /// </summary>
        public void FryPotTwoRollerTroubleCheck()
        {
            FryPotTwoAlarm = 0;
            FryPotFiveAlarm = 0;
            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
            {
                case 2:
                    if (AlarmHelper<AlarmInfo>.GetInstance("2号炒锅滚筒故障").FryPotTwoRollerTrouble == 1) { FryPotTwoAlarm = -1; MessageNotify.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotTwoAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.GetInstance("2号炒锅滚筒故障").FryPotTwoRollerTrouble == 1)
                    {
                        Thread.Sleep(1000); if (globalVar.ExitLineTwoTask)
                            return;
                    }
                    MessageNotify.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                    FryPotTwoAlarm = 1; break;
                case 5:
                    if (AlarmHelper<AlarmInfo>.GetInstance("5号炒锅滚筒故障").FryPotFiveRollerTrouble == 1) { FryPotFiveAlarm = -1; MessageNotify.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFiveAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.GetInstance("5号炒锅滚筒故障").FryPotFiveRollerTrouble == 1)
                    {
                        Thread.Sleep(1000); if (globalVar.ExitLineTwoTask)
                            return;
                    }
                    MessageNotify.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
                    FryPotFiveAlarm = 1; break;
            }
        }
        /// <summary>
        /// 炒锅3滚筒信号检测
        /// </summary>
        public void FryPotThreeRollerTroubleCheck()
        {
            FryPotThreeAlarm = 0;
            if (AlarmHelper<AlarmInfo>.GetInstance("3号炒锅滚筒故障").FryPotThreeRollerTrouble == 1) { FryPotThreeAlarm = -1; MessageNotify.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotThreeAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.GetInstance("3号炒锅滚筒故障").FryPotThreeRollerTrouble == 1)
            {
                Thread.Sleep(1000); if (globalVar.ExitLineThreeTask)
                    return;
            }
            MessageNotify.GetInstance.ShowRunLog("炒锅【3】输送滚筒故障解除，继续运行");
            FryPotThreeAlarm = 1;
        }

        /// <summary>
        /// PLC线体1配方数据复位功能
        /// </summary>
        public void PlcLineOneRecipeDataReset()
        {

            //复位桶号，桶重，，工序
            WritePlcData("D1001", 0);
            WritePlcData("D1002", 0);
            WritePlcData("D1003", 0);
            WritePlcData("D1004", 0);
            WritePlcData("D1005", 0);
            WritePlcData("D1006", 0);
            WritePlcData("D1007", 0);
            WritePlcData("D1008", 0);
            WritePlcData("D1009", 0);
            WritePlcData("D1010", 0);
            WritePlcData("D1011", 0);
            WritePlcData("D1012", 0);
            WritePlcData("D1013", 0);
            WritePlcData("D1014", 0);
            WritePlcData("D1015", 0);
            WritePlcData("D1016", 0);
            WritePlcData("D1017", 0);
            //桶偏差
            DeviceOperate.GetInstance.WriteRealPlcData("D1200", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1202", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1204", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1206", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1208", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1210", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1212", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1214", 0.0F);
        }
        /// <summary>
        /// PLC线体2配方数据复位功能
        /// </summary>
        public void PlcLineTwoRecipeDataReset()
        {
            WritePlcData("D1018", 0);
            WritePlcData("D1019", 0);
            WritePlcData("D1020", 0);
            WritePlcData("D1021", 0);
            WritePlcData("D1022", 0);
            WritePlcData("D1023", 0);
            WritePlcData("D1024", 0);
            WritePlcData("D1025", 0);
            WritePlcData("D1026", 0);
            WritePlcData("D1027", 0);
            WritePlcData("D1028", 0);
            WritePlcData("D1029", 0);
            WritePlcData("D1030", 0);
            WritePlcData("D1031", 0);
            WritePlcData("D1032", 0);
            WritePlcData("D1033", 0);
            WritePlcData("D1034", 0);

            DeviceOperate.GetInstance.WriteRealPlcData("D1216", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1218", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1220", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1222", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1224", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1226", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1228", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1230", 0.0F);
        }
        /// <summary>
        /// PLC线体3配方数据复位功能
        /// </summary>
        public void PlcLineThreeRecipeDataReset()
        {
            WritePlcData("D1035", 0);
            WritePlcData("D1036", 0);
            WritePlcData("D1037", 0);
            WritePlcData("D1038", 0);
            WritePlcData("D1039", 0);
            WritePlcData("D1040", 0);
            WritePlcData("D1041", 0);
            WritePlcData("D1042", 0);
            WritePlcData("D1043", 0);
            WritePlcData("D1044", 0);
            WritePlcData("D1045", 0);
            WritePlcData("D1046", 0);
            WritePlcData("D1047", 0);
            WritePlcData("D1048", 0);
            WritePlcData("D1049", 0);
            WritePlcData("D1050", 0);
            WritePlcData("D1051", 0);

            DeviceOperate.GetInstance.WriteRealPlcData("D1232", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1234", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1236", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1238", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1240", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1242", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1244", 0.0F);
            DeviceOperate.GetInstance.WriteRealPlcData("D1246", 0.0F);
        }
        ///// <summary>
        ///// 累加重量计算
        ///// </summary>
        ///// <param name="collect"></param>
        //public ushort SumAllTargetWeight(ObservableCollection<FlowProcessModel> collect,int length)
        //{
        //    ushort total = 0;
        //    if (collect.Count >= length)
        //    {
        //        for (int i = 0; i < length; i++)
        //        {
        //           total += collect.ElementAt(i).TargeWeight;
 
        //        }
        //    }
        //    return total;
        //}

      
        /// <summary>
        /// 炒锅配方下发
        /// </summary>
        /// <param name="PotNum"></param>
        /// <param name="result"></param>
        public void FryPotRecipeSetDown(int potNum, NewRecipeModel result)
        {
            lock (Pot_Lock)
            {
                Json<FlowProcessNames>.Read();
                #region  炒锅工艺下发
                int length = 0;
                WritePotData(potNum,"D3920",Convert.ToUInt16(result.FlowProcess.targetWeightOffset*10));//目标重量偏差下发

                WritePotData(potNum, "D3143", Convert.ToUInt16(result.FlowProcess.StirTime));//秘制配方搅拌时间下发
                if (result.FlowProcess.fpModels.FirstOrDefault(p => p.FryMaterialNum == "清洗") != null)
                {
                    WritePotData(potNum, "D3120", Convert.ToUInt16(result.FlowProcess.fpModels.Count - 1));//工序数量
                    if (result.FlowProcess.fpModels.Count < 12)
                    {
                        length = result.FlowProcess.fpModels.Count - 1;
                        WritePotData(potNum, "D3112", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).FryTemperature * 10));
                        WritePotData(potNum, "D3113", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).FryPeriodTime));
                        WritePotData(potNum, "D3114", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).FryWeight * 10));//炒制重量
                        WritePotData(potNum, "D3115", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).SmallFirePercent));
                        WritePotData(potNum, "D3116", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).MidFirePercent));
                        WritePotData(potNum, "D3117", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).BigFirePercent));
                        WritePotData(potNum, "D3118", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).StrongFirePercent));
                        WritePotData(potNum, "D3119", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).FrySpeed * 10));
                        WritePotData(potNum, "D4121", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).TargeWeight*10)));//清洗目标重量
                       
                    }
                    else 
                    {
                        length = result.FlowProcess.fpModels.Count;
                    }
                }
                else//没有编辑清洗
                {
                    length = result.FlowProcess.fpModels.Count;
                    WritePotData(potNum, "D3120", Convert.ToUInt16(result.FlowProcess.fpModels.Count));//工序数量

                }


                for (int i = 0; i < length; i++)
                {
                    bool can = ushort.TryParse(result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum, out ushort res);
                    //按工序下发数据

                    #region 工序1
                    if (i == 0)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3001", 2); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3001", 3); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3001", 4); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3001", 5); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3001", 6); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3001", 7); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3001", 8); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3001", 9); WritePotData(potNum, "D3004", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;
                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3001", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3004", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
  
                        }

                        WritePotData(potNum, "D3002", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3003", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3005", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3006", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3007", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3008", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3009", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4011", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序1目标重量
                       
                        continue;
                    }

                    #endregion
                    #region 工序2
                    if (i == 1)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3011", 2); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3011", 3); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3011", 4); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3011", 5); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3011", 6); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3011", 7); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3011", 8); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3011", 9); WritePotData(potNum, "D3014", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3011", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3014", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3012", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3013", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3015", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3016", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3017", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3018", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3019", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4021", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序2目标重量
                      
                        continue;
                    }

                    #endregion
                    #region 工序3
                    if (i == 2)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3021", 2); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3021", 3); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3021", 4); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3021", 5); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3021", 6); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3021", 7); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3021", 8); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3021", 9); WritePotData(potNum, "D3024", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3021", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3024", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3022", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3023", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3025", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3026", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3027", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3028", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3029", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4031", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序3目标重量
                       
                        continue;
                    }

                    #endregion
                    #region 工序4
                    if (i == 3)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3031", 2); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3031", 3); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3031", 4); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3031", 5); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3031", 6); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3031", 7); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3031", 8); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3031", 9); WritePotData(potNum, "D3034", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3031", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3034", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3032", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3033", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3035", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3036", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3037", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3038", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3039", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4041", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序4目标重量
                      
                        continue;
                    }

                    #endregion
                    #region 工序5
                    if (i == 4)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3041", 2); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3041", 3); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3041", 4); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3041", 5); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3041", 6); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3041", 7); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3041", 8); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3041", 9); WritePotData(potNum, "D3044", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3041", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3044", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3042", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3043", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3045", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3046", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3047", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3048", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3049", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4051", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序5目标重量
                        
                        continue;
                    }

                    #endregion
                    #region 工序6
                    if (i == 5)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3051", 2); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3051", 3); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3051", 4); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3051", 5); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3051", 6); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3051", 7); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3051", 8); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3051", 9); WritePotData(potNum, "D3054", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3051", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3054", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3052", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3053", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3055", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3056", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3057", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3058", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3059", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4061", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序6目标重量
                       
                        continue;
                    }

                    #endregion
                    #region 工序7
                    if (i == 6)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3061", 2); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3061", 3); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3061", 4); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3061", 5); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3061", 6); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3061", 7); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3061", 8); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3061", 9); WritePotData(potNum, "D3064", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3061", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3064", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3062", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3063", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3065", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3066", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3067", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3068", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3069", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4071", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序7目标重量
                       
                        continue;
                    }

                    #endregion
                    #region 工序8
                    if (i == 7)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3071", 2); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3071", 3); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3071", 4); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3071", 5); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3071", 6); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3071", 7); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3071", 8); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3071", 9); WritePotData(potNum, "D3074", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3071", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3074", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3072", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3073", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3075", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3076", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3077", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3078", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3079", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4081", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序8目标重量
                        
                        continue;
                    }

                    #endregion
                    #region 工序9
                    if (i == 8)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3081", 2); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3081", 3); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3081", 4); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3081", 5); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3081", 6); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3081", 7); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3081", 8); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3081", 9); WritePotData(potNum, "D3084", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;

                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3081", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3084", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3082", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3083", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3085", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3086", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3087", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3088", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3089", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4091", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序9目标重量
                       
                        continue;
                    }

                    #endregion
                    #region 工序10
                    if (i == 9)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3091", 2); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3091", 3); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3091", 4); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3091", 5); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3091", 6); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3091", 7); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3091", 8); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3091", 9); WritePotData(potNum, "D3094", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;
                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3091", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3094", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                        }

                        WritePotData(potNum, "D3092", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3093", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                        WritePotData(potNum, "D3095", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3096", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3097", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3098", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3099", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                        WritePotData(potNum, "D4101", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序10目标重量
                       
                        continue;
                    }

                    #endregion
                    #region 工序11
                    if (i == 10)
                    {
                        if (can)//是桶号
                        {
                            //发送桶号对应的ID以及物料重量
                            switch (res % 100)
                            {
                                case 1: WritePotData(potNum, "D3101", 2); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                                case 2: WritePotData(potNum, "D3101", 3); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                                case 3: WritePotData(potNum, "D3101", 4); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                                case 4: WritePotData(potNum, "D3101", 5); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                                case 5: WritePotData(potNum, "D3101", 6); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                                case 6: WritePotData(potNum, "D3101", 7); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                                case 7: WritePotData(potNum, "D3101", 8); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                                case 8: WritePotData(potNum, "D3101", 9); WritePotData(potNum, "D3104", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;
                            }
                        }
                        else
                        {

                            WritePotData(potNum, "D3101", Convert.ToUInt16(Json<FlowProcessNames>.Data.NameId[result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum]));
                            WritePotData(potNum, "D3104", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量

                        }

                        WritePotData(potNum, "D3102", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                        WritePotData(potNum, "D3103", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));

                        WritePotData(potNum, "D3105", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                        WritePotData(potNum, "D3106", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                        WritePotData(potNum, "D3107", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                        WritePotData(potNum, "D3108", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                        WritePotData(potNum, "D3109", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));

                        WritePotData(potNum, "D4111", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(i).TargeWeight * 10)));//工序11目标重量
                       
                        continue;
                    }

                    #endregion
                    #region 工序12
                    if (i == 11)
                    {
                        //if (can)//是桶号
                        //{
                        //    //发送桶号对应的ID以及物料重量
                        //    switch (res % 100)
                        //    {
                        //        case 1: WritePotData(potNum, "D3111", 2); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[0].MaterialWeight * 10)); break;
                        //        case 2: WritePotData(potNum, "D3111", 3); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[1].MaterialWeight * 10)); break;
                        //        case 3: WritePotData(potNum, "D3111", 4); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[2].MaterialWeight * 10)); break;
                        //        case 4: WritePotData(potNum, "D3111", 5); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[3].MaterialWeight * 10)); break;
                        //        case 5: WritePotData(potNum, "D3111", 6); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[4].MaterialWeight * 10)); break;
                        //        case 6: WritePotData(potNum, "D3111", 7); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[5].MaterialWeight * 10)); break;
                        //        case 7: WritePotData(potNum, "D3111", 8); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[6].MaterialWeight * 10)); break;
                        //        case 8: WritePotData(potNum, "D3111", 9); WritePotData(potNum, "D3114", Convert.ToUInt16(result.materialCollection[7].MaterialWeight * 10)); break;
                        //    }
                        //}
                        //else
                        //{


                        //}
                        if (result.FlowProcess.fpModels.ElementAt(i).FryMaterialNum == "清洗")
                        {
                            WritePotData(potNum, "D3112", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryTemperature * 10));
                            WritePotData(potNum, "D3113", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryPeriodTime));
                            WritePotData(potNum, "D3114", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FryWeight * 10));//炒制重量
                            WritePotData(potNum, "D3115", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).SmallFirePercent));
                            WritePotData(potNum, "D3116", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).MidFirePercent));
                            WritePotData(potNum, "D3117", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).BigFirePercent));
                            WritePotData(potNum, "D3118", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).StrongFirePercent));
                            WritePotData(potNum, "D3119", Convert.ToUInt16(result.FlowProcess.fpModels.ElementAt(i).FrySpeed * 10));
                            WritePotData(potNum, "D4121", Convert.ToUInt16((result.FlowProcess.fpModels.ElementAt(result.FlowProcess.fpModels.Count - 1).TargeWeight * 10)));//清洗目标重量
                         
                        }


                        continue;
                    }

                    #endregion
                }

                #endregion
            }

        }

        /// <summary>
        ///   清除炒锅工艺数据
        /// </summary>
        /// <param name="PotNum"></param>
        public void ResetPotData(int PotNum)
        {
            lock (this)
            {
                if (PotNum == 1 || PotNum == 2 || PotNum == 3 || PotNum == 4 || PotNum == 5)
                {

                    for (int i = 1; i < 10; i++)
                    {
                        WritePotData(PotNum, "D300" + i, 0);
                       
                    }
                    for (int i = 11; i < 20; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 21; i < 30; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 31; i < 40; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 41; i < 50; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 51; i < 60; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 61; i < 70; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 71; i < 80; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 81; i < 90; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 91; i < 100; i++)
                    {
                        WritePotData(PotNum, "D30" + i, 0);
                    }
                    for (int i = 101; i < 110; i++)
                    {
                        WritePotData(PotNum, "D3" + i, 0);
                    }

                    #region 目标重量清零
                    for (int i = 1; i < 10; i++)
                    {
                        WritePotData(PotNum, "D40" + i + "1", 0);
                    }
                    for (int i = 0; i < 3; i++)
                    {
                        WritePotData(PotNum, "D41" + i + "1", 0);
                    } 
                    #endregion
                    WritePotData(PotNum, "D3120", 0);
                    WritePotData(PotNum,"D3920",0);//目标重量清零
                    WritePotData(PotNum, "D3143", 0);//秘制配方搅拌时间清零
                }
            }

        }

        int PotOnestep = 0;
        int PotFourstep = 0;
        int PotTwostep = 0;
        int PotFivestep = 0;
        int PotThreestep = 0;

        public void LOneFryPotStepDisplay()
        {

            try
            {
                if (PotOnestep != globalVar.fryPotOne.ProcessStep && globalVar.fryPotOne.ProcessStep != 0 && potOneCurrentRecipe != null)
                {
                    if (globalVar.fryPotOne.ProcessStep == 20)
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep + 1, Name = "正在出料", isBool = IsBool.Yes }); }));
                       
                    }
                    else
                    {
                        if (potOneCurrentRecipe.FlowProcess.fpModels.Count > 0 && globalVar.fryPotOne.ProcessStep != 12 && globalVar.fryPotOne.ProcessStep != 13)
                        {
                            try
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep + 1, Name = potOneCurrentRecipe.FlowProcess.fpModels.ElementAt(globalVar.fryPotOne.ProcessStep - 1).FryMaterialNum, isBool = IsBool.Yes }); }));
                                
                            }
                            catch (Exception)
                            {

                                //throw;
                            }
                        }
                        else if (globalVar.fryPotOne.ProcessStep == 12)
                        {
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_1.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep + 1, Name = "清洗", isBool = IsBool.Yes }); }));
                            
                        }
                        globalVar.LOneCurrentCookingStep++;
                    }

                    PotOnestep = globalVar.fryPotOne.ProcessStep;
                }
                if (PotFourstep != globalVar.fryPotFour.ProcessStep && globalVar.fryPotFour.ProcessStep != 0 && potFourCurrentRecipe != null)
                {
                    if (globalVar.fryPotFour.ProcessStep == 20)
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LFourCurrentCookingStep + 1, Name = "正在出料", isBool = IsBool.Yes }); }));
                       
                    }
                    else
                    {
                        if (potFourCurrentRecipe.FlowProcess.fpModels.Count > 0 && globalVar.fryPotFour.ProcessStep != 12 && globalVar.fryPotFour.ProcessStep != 13)
                        {
                            try
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LFourCurrentCookingStep + 1, Name = potFourCurrentRecipe.FlowProcess.fpModels.ElementAt(globalVar.fryPotFour.ProcessStep - 1).FryMaterialNum, isBool = IsBool.Yes }); }));
                                
                            }
                            catch (Exception)
                            {

                                // throw;
                            }
                        }
                        else if (globalVar.fryPotFour.ProcessStep == 12)
                        {
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LFourCurrentCookingStep + 1, Name = "清洗", isBool = IsBool.Yes }); }));
                            

                        }
                        globalVar.LFourCurrentCookingStep++;

                    }
                    PotFourstep = globalVar.fryPotFour.ProcessStep;
                }
            }
            catch (Exception)
            {

                // throw;
            }
        }
        public void LTwoFryPotStepDisplay()
        {

            try
            {
                if (PotTwostep != globalVar.fryPotTwo.ProcessStep && globalVar.fryPotTwo.ProcessStep != 0 && potTwoCurrentRecipe != null)
                {
                    if (globalVar.fryPotTwo.ProcessStep == 20)
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep + 1, Name = "正在出料", isBool = IsBool.Yes }); }));
                       
                    }
                    else
                    {
                        if (potTwoCurrentRecipe.FlowProcess.fpModels.Count > 0 && globalVar.fryPotTwo.ProcessStep != 12 && globalVar.fryPotTwo.ProcessStep != 13)
                        {
                            try
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep + 1, Name = potTwoCurrentRecipe.FlowProcess.fpModels.ElementAt(globalVar.fryPotTwo.ProcessStep - 1).FryMaterialNum, isBool = IsBool.Yes }); }));
                                
                            }
                            catch (Exception)
                            {

                                //throw;
                            }
                        }
                        else if (globalVar.fryPotTwo.ProcessStep == 12)
                        {

                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_2.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep + 1, Name = "清洗", isBool = IsBool.Yes }); }));
                          
                        }
                        globalVar.LTwoCurrentCookingStep++;
                    }
                    PotTwostep = globalVar.fryPotTwo.ProcessStep;
                }
                if (PotFivestep != globalVar.fryPotFive.ProcessStep && globalVar.fryPotFive.ProcessStep != 0 && potFiveCurrentRecipe != null)
                {
                    if (globalVar.fryPotFive.ProcessStep == 20)
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LFiveCurrentCookingStep + 1, Name = "正在出料", isBool = IsBool.Yes }); }));
                       
                        globalVar.LFiveCurrentCookingStep++;
                    }
                    else
                    {
                        if (potFiveCurrentRecipe.FlowProcess.fpModels.Count > 0 && globalVar.fryPotFive.ProcessStep != 12 && globalVar.fryPotFive.ProcessStep != 13)
                        {

                            try
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LFiveCurrentCookingStep + 1, Name = potFiveCurrentRecipe.FlowProcess.fpModels.ElementAt(globalVar.fryPotFive.ProcessStep - 1).FryMaterialNum, isBool = IsBool.Yes }); }));
                                
                            }
                            catch (Exception)
                            {

                                //throw;
                            }
                        }
                        else if (globalVar.fryPotFive.ProcessStep == 12)
                        {
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LFiveCurrentCookingStep + 1, Name = "清洗", isBool = IsBool.Yes }); }));
                            
                        }
                        globalVar.LFiveCurrentCookingStep++;
                    }

                    PotFivestep = globalVar.fryPotFive.ProcessStep;
                }
            }
            catch (Exception)
            {

                //throw;
            }
        }
        public void LThreeFryPotStepDisplay()
        {

            try
            {

                if (PotThreestep != globalVar.fryPotThree.ProcessStep && globalVar.fryPotThree.ProcessStep != 0 && potThreeCurrentRecipe != null)
                {
                    if (globalVar.fryPotThree.ProcessStep == 20)
                    {
                        Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep + 1, Name = "正在出料", isBool = IsBool.Yes }); }));
                      
                    }
                    else
                    {
                        if (potThreeCurrentRecipe.FlowProcess.fpModels.Count > 0 && globalVar.fryPotThree.ProcessStep != 12 && globalVar.fryPotThree.ProcessStep != 13)
                        {
                            try
                            {
                                Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep + 1, Name = potThreeCurrentRecipe.FlowProcess.fpModels.ElementAt(globalVar.fryPotThree.ProcessStep - 1).FryMaterialNum, isBool = IsBool.Yes }); }));
                               
                            }
                            catch (Exception)
                            {

                                //throw;
                            }
                        }
                        else if (globalVar.fryPotThree.ProcessStep == 12)
                        {
                            Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep + 1, Name = "清洗", isBool = IsBool.Yes }); }));
                           
                        }
                        globalVar.LThreeCurrentCookingStep++;
                    }

                    PotThreestep = globalVar.fryPotThree.ProcessStep;
                }
            }
            catch (Exception)
            {

                //throw;
            }

        }
    }
}