业务逻辑增加

HBLConsole.Business/Devices/MORKS.cs

@@ -1,4 +1,5 @@
-using HBLConsole.Communication;
+using BPA.Message;
+using HBLConsole.Communication;
 using HBLConsole.Factory;
 using HBLConsole.Interface;
 using HBLConsole.Model;
@@ -7,7 +8,9 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
+using BPA.Message.Enum;
 
 namespace HBLConsole.Business.Devices
 {
@@ -17,6 +20,8 @@ namespace HBLConsole.Business.Devices
         public static MORKS GetInstance => _Instance ?? (_Instance = new MORKS());
         private MORKS() { }
 
+        GVL.MORKS mORKS = new GVL.MORKS();
+
         /// <summary>
         /// 写入配方数据到 PLC
         /// </summary>
@@ -42,6 +47,9 @@ namespace HBLConsole.Business.Devices
             ActionManagerment.GetInstance.Register(new Action(() =>
             {
                 WriteRecipeBoms();
+                ReadPlcData();
+                DataParse();
+                Main();
             }), "ConnectOk");
 
             //获取物料信息
@@ -50,6 +58,330 @@ namespace HBLConsole.Business.Devices
             //Modbus Tcp 连接
             ModbusTcpHelper.GetInstance.ModbusTcpConnect("127.0.0.1");
         }
+
+        /// <summary>
+        /// 数据读取
+        /// </summary>
+        private void ReadPlcData()
+        {
+            ThreadManagerment.GetInstance.StartLong(new Action(() =>
+            {
+                object result;
+                result = ModbusTcpHelper.GetInstance.Read(1120, ReadType.Coils, 16);
+                if (result != null)
+                {
+                    if (result is bool[] bools)
+                    {
+                        if (bools.Length == 16)
+                        {
+                            mORKS.InitComplete = bools[0];
+                            mORKS.TakeBowlIdle = bools[1];
+                            mORKS.TemperatureReached = bools[2];
+                            mORKS.AllowFallNoodle = bools[3];
+                            mORKS.RbTakeNoodleComplete = bools[4];
+                            mORKS.RbFallNoodleComplete = bools[5];
+                            mORKS.RbOutMealComplete = bools[6];
+                            mORKS.RobotIdle = bools[7];
+                            mORKS.TakeMealDetect = bools[8];
+                            mORKS.MissingBowl = bools[9];
+                            mORKS.TurntableLowerLimit = bools[11];
+                        }
+                    }
+                }
+
+                //读取煮面栏状态
+                result = ModbusTcpHelper.GetInstance.Read(1136, ReadType.Coils, 6);
+                if (result != null)
+                {
+                    if (result is bool[] bools)
+                    {
+                        if (bools.Length == 6)
+                        {
+                            for (int i = 0; i < 6; i++)
+                            {
+                                mORKS.NoodleCookerStatus[i] = bools[i];
+                            }
+                        }
+                    }
+                }
+
+                //读取煮面炉完成信号
+                result = ModbusTcpHelper.GetInstance.Read(1144, ReadType.Coils, 6);
+                if (result != null)
+                {
+                    if (result is bool[] bools)
+                    {
+                        if (bools.Length == 6)
+                        {
+                            for (int i = 0; i < 6; i++)
+                            {
+                                mORKS.CookNoodlesComplete[i] = bools[i];
+                            }
+                        }
+                    }
+                }
+                Thread.Sleep(500);
+            }), "Read PLC Data");
+        }
+
+        /// <summary>
+        /// 数据解析
+        /// </summary>
+        private void DataParse()
+        {
+            ActionManagerment.GetInstance.Register(new Action<object>((o) =>
+            {
+                if (o is MorkOrderPush morkOrderPush)
+                {
+                    foreach (var item in morkOrderPush.GoodBatchings)
+                    {
+                        var res = Json<BatchingInfoPar>.GetInstance.Base.orderMaterialDelivery.BatchingInfo.FirstOrDefault(p => p.BatchingId == item.BatchingId);
+                        if (res != null)
+                        {
+                            if (ushort.TryParse(res.BatchingLoc, out ushort loc))
+                            {
+                                if (loc >= 1 && loc <= 5)
+                                {
+                                    mORKS.RBTakeNoodleTask.Enqueue(new GVL.OrderLocInfo() { Loc = loc, SuborderId = morkOrderPush.SuborderId });
+                                }
+                                else if (loc >= 10 && loc <= 11)
+                                {
+                                    mORKS.TakeBowlTask.Enqueue(new GVL.OrderLocInfo() { Loc = loc, SuborderId = morkOrderPush.SuborderId, RecipeNumber = (ushort)morkOrderPush.RecipeId });
+                                }
+                            }
+                        }
+                    }
+                }
+            }), "MorksParse");
+        }
+
+        bool AllowRun = false;
+        string TakeBowlId = string.Empty;//取碗订单ID
+        string IngredientsCompleteId = string.Empty;//配料完成订单ID
+        string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, };
+        bool RobotTaskInterlock = false;//机器人任务互锁信号
+        string OutMealId = string.Empty;
+
+        private void Main()
+        {
+            ThreadManagerment.GetInstance.StartLong(new Action(() =>
+            {
+                AllowRun = mORKS.InitComplete && mORKS.TemperatureReached;
+
+                if (AllowRun)
+                {
+                    TakeBowlTask();
+
+                    TakeNoodleTask();
+                }
+                OutNoodleTask();
+                SingleDetect();
+
+                Thread.Sleep(1);
+            }), "Main Task");
+
+        }
+
+        /// <summary>
+        /// 取碗控制
+        /// </summary>
+        private void TakeBowlTask()
+        {
+            //取碗控制
+            if (RTrig.GetInstance("TakeBowl").Start(mORKS.TakeBowlIdle && mORKS.TakeBowlTask.Count > 0))
+            {
+                if (mORKS.TakeBowlTask.TryDequeue(out GVL.OrderLocInfo orderLocInfo))
+                {
+                    TakeBowlId = orderLocInfo.SuborderId;
+                    TakeBowlControl(orderLocInfo.Loc);
+                    SetRecipeNumber(orderLocInfo.RecipeNumber);
+                    SimpleFactory.GetInstance.OrderChanged(TakeBowlId, ORDER_STATUS.COOKING);
+                    MessageLog.GetInstance.Show($"订单【{TakeBowlId}】,位置:[{orderLocInfo.Loc}]");
+                }
+            }
+        }
+
+        /// <summary>
+        /// 取面任务
+        /// </summary>
+        private void TakeNoodleTask()
+        {
+            //取面控制
+            if (!RobotTaskInterlock)
+            {
+                if (RTrig.GetInstance("TakeNoodle").Start(mORKS.RobotIdle && mORKS.RBTakeNoodleTask.Count > 0))
+                {
+                    if (mORKS.RBTakeNoodleTask.TryDequeue(out GVL.OrderLocInfo orderLocInfo))
+                    {
+                        //设置转台位置
+                        SetTurntableLoc(orderLocInfo.Loc);
+
+                        //设置倒面位置
+                        int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置
+                        if (loc >= 0 && loc <= 5)
+                        {
+                            CookNodelId[loc] = orderLocInfo.SuborderId;
+                            SetFallNoodleLoc((ushort)(loc + 1));
+                        }
+
+                        //机器人开始取面
+                        RobotTakeNoodle();
+
+                        SimpleFactory.GetInstance.OrderChanged(orderLocInfo.SuborderId, ORDER_STATUS.COOKING);
+
+                        MessageLog.GetInstance.Show($"订单【{orderLocInfo.SuborderId}】,转台:[{orderLocInfo.Loc}],煮面栏：[{loc}]");
+
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// 出餐控制
+        /// </summary>
+        private void OutNoodleTask()
+        {
+            if (RobotTaskInterlock)
+            {
+                if (mORKS.AllowFallNoodle && mORKS.RobotIdle && !mORKS.TakeMealDetect)
+                {
+                    int loc = Array.FindIndex(CookNodelId, p => p == IngredientsCompleteId);
+                    if (loc >= 0 && loc <= 5)
+                    {
+                        if (mORKS.CookNoodlesComplete[loc])
+                        {
+                            SetTakeNoodleLoc((ushort)(loc + 1));
+                            RobotOutMeal();
+                            CookNoodleStatusReset((ushort)(loc + 1));
+                            OutMealId = IngredientsCompleteId;
+                            IngredientsCompleteId = string.Empty;
+                            CookNodelId[loc] = string.Empty;
+                        }
+                    }
+
+                }
+            }
+        }
+
+        /// <summary>
+        /// 信号检测
+        /// </summary>
+        private void SingleDetect()
+        {
+            if (RTrig.GetInstance("AllowFallNoodle").Start(mORKS.AllowFallNoodle))
+            {
+                IngredientsCompleteId = TakeBowlId;
+                TakeBowlId = string.Empty;
+            }
+
+            if (RTrig.GetInstance("CompleteChange").Start(mORKS.RbOutMealComplete))
+            {
+                SimpleFactory.GetInstance.OrderChanged(OutMealId, ORDER_STATUS.COMPLETED_COOK);
+                MessageLog.GetInstance.Show($"订单【{OutMealId}】制作完成");
+            }
+
+            if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.RbOutMealComplete && !mORKS.TakeMealDetect, 2))
+            {
+                SimpleFactory.GetInstance.OrderChanged(OutMealId, ORDER_STATUS.COMPLETED_TAKE);
+                MessageLog.GetInstance.Show($"订单【{OutMealId}】取餐完成");
+                OutMealId = string.Empty;
+            }
+
+            RobotTaskInterlock = mORKS.RobotIdle && mORKS.AllowFallNoodle && mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count >= 3;
+        }
+
+
+
+
+        /// <summary>
+        /// 取面完成复位
+        /// </summary>
+        private void TakeNoodleCompleteReset()
+        {
+            ModbusTcpHelper.GetInstance.Write(1124, WriteType.Coils, false);
+        }
+
+        /// <summary>
+        /// 指定煮面口状态复位
+        /// </summary>
+        /// <param name="num"></param>
+        private void CookNoodleStatusReset(int num)
+        {
+            if (num >= 1 && num <= 6)
+            {
+                ushort addRess = (ushort)(1136 + num - 1);
+                ModbusTcpHelper.GetInstance.Write(1136, WriteType.Coils, false);
+            }
+        }
+
+        /// <summary>
+        /// 写配方编号
+        /// </summary>
+        /// <param name="num"></param>
+        private void SetRecipeNumber(ushort num)
+        {
+            ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, num);
+        }
+
+        /// <summary>
+        /// 设置转台位置
+        /// </summary>
+        /// <param name="loc"></param>
+        private void SetTurntableLoc(ushort loc)
+        {
+            ModbusTcpHelper.GetInstance.Write(101, WriteType.HoldingRegisters, loc);
+        }
+
+        /// <summary>
+        /// 设置倒面位置
+        /// </summary>
+        /// <param name="loc"></param>
+        private void SetFallNoodleLoc(ushort loc)
+        {
+            ModbusTcpHelper.GetInstance.Write(102, WriteType.HoldingRegisters, loc);
+        }
+
+        /// <summary>
+        /// 设置取面位置
+        /// </summary>
+        /// <param name="loc"></param>
+        private void SetTakeNoodleLoc(ushort loc)
+        {
+            ModbusTcpHelper.GetInstance.Write(103, WriteType.HoldingRegisters, loc);
+        }
+
+        /// <summary>
+        /// 取碗控制
+        /// </summary>
+        /// <param name="loc"></param>
+        private void TakeBowlControl(ushort loc)
+        {
+            if (loc == 10)
+            {
+                ModbusTcpHelper.GetInstance.Write(321, WriteType.Coils, true);
+            }
+            else if (loc == 11)
+            {
+                ModbusTcpHelper.GetInstance.Write(322, WriteType.Coils, true);
+            }
+        }
+
+        /// <summary>
+        /// 机器人取面
+        /// </summary>
+        private void RobotTakeNoodle()
+        {
+            ModbusTcpHelper.GetInstance.Write(323, WriteType.Coils, true);
+        }
+
+        /// <summary>
+        /// 机器人取餐
+        /// </summary>
+        private void RobotOutMeal()
+        {
+            ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true);
+        }
+
     }
 
 }

HBLConsole.Business/MessageServer/Base.cs

@@ -28,6 +28,7 @@ namespace HBLConsole.Business.MessageServer
                     OrderPush = morkOrderpush
                 });
                 ActionManagerment.GetInstance.Send("AddOrder", morkOrderpush);
+                ActionManagerment.GetInstance.Send("MorksParse", morkOrderpush);
             }
         }
 

HBLConsole.Communication/ModbusTcpHelper.cs

@@ -112,8 +112,11 @@ namespace HBLConsole.Communication
             catch (Exception ex)
             {
                 MessageLog.GetInstance.Show(ex.ToString());
-                tcpClient = null;
-                Connect();
+                if (ex.InnerException is SocketException)
+                {
+                    tcpClient = null;
+                    Connect();
+                }
             }
             return result;
         }
@@ -174,8 +177,11 @@ namespace HBLConsole.Communication
             catch (Exception ex)
             {
                 MessageLog.GetInstance.Show(ex.ToString());
-                tcpClient = null;
-                Connect();
+                if (ex.InnerException is SocketException)
+                {
+                    tcpClient = null;
+                    Connect();
+                }
             }
             return true;
         }

HBLConsole.GVL/MORKS.cs

@@ -4,6 +4,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using HBLConsole.Interface;
+using System.Collections.Concurrent;
 
 namespace HBLConsole.GVL
 {
@@ -12,34 +13,171 @@ namespace HBLConsole.GVL
     /// </summary>
     public class MORKS : IGvl
     {
-        /// <summary>
-        /// 初始化完成
-        /// </summary>
-        public bool InitComplete { get; set; }
+
 
         /// <summary>
         /// 机器人取面
+        /// PLC -> M0.3
+        /// ModbusTcp -> 323
         /// </summary>
         public bool RobotTakeNoodle { get; set; }
 
         /// <summary>
         /// 机器人出餐
+        /// PLC -> M0.4
+        /// ModbusTcp -> 324
         /// </summary>
         public bool RobotOutMeal { get; set; }
 
         /// <summary>
         /// 移动转台
+        /// PLC -> M0.5
+        /// ModbusTcp -> 325
         /// </summary>
         public bool MoveTurntable { get; set; }
 
+
+
+
         /// <summary>
-        /// 煮面炉状态
+        /// 初始化完成
+        /// PLC -> M100.0
+        /// ModbusTcp -> 1120
         /// </summary>
-        public bool[] NoodleCookerStatus { get; set; } = new bool[6] { false, false, false, false, false, false };
+        public bool InitComplete { get; set; }
 
         /// <summary>
-        /// 取完空闲
+        /// 取碗机构空闲，True:忙碌，false:空闲
+        /// PLC -> M100.1
+        /// ModbusTcp -> 1121
         /// </summary>
         public bool TakeBowlIdle { get; set; }
+
+        /// <summary>
+        /// 温度到达,True:表示到达，false：未到达
+        /// PLC -> M100.2
+        /// ModbusTcp -> 1122
+        /// </summary>
+        public bool TemperatureReached { get; set; }
+
+        /// <summary>
+        /// 允许到面,配料完成
+        /// PLC -> M100.3
+        /// ModbusTcp -> 1123
+        /// </summary>
+        public bool AllowFallNoodle { get; set; }
+
+        /// <summary>
+        /// 机器人取面完成
+        /// PLC -> M100.4
+        /// ModbusTcp -> 1124
+        /// </summary>
+        public bool RbTakeNoodleComplete { get; set; }
+
+        /// <summary>
+        /// 机器人倒面完成
+        /// PLC -> M100.5
+        /// ModbusTcp -> 1125
+        /// </summary>
+        public bool RbFallNoodleComplete { get; set; }
+
+        /// <summary>
+        /// 机器人出餐完成,上报取餐完成
+        /// PLC -> M100.6
+        /// ModbusTcp -> 1126
+        /// </summary>
+        public bool RbOutMealComplete { get; set; }
+
+        /// <summary>
+        /// 机器人空闲
+        /// PLC -> M100.7
+        /// ModbusTcp -> 1127
+        /// </summary>
+        public bool RobotIdle { get; set; }
+
+        /// <summary>
+        /// 取餐口检测
+        /// PLC -> M101.0
+        /// ModbusTcp -> 1128
+        /// </summary>
+        public bool TakeMealDetect { get; set; }
+
+        /// <summary>
+        /// 缺碗信号，false:缺碗，true:有碗
+        /// PLC -> M101.1
+        /// ModbusTcp -> 1129
+        /// </summary>
+        public bool MissingBowl { get; set; }
+
+        /// <summary>
+        /// 转台下限检测
+        /// PLC -> M101.3
+        /// ModbusTcp -> 1131
+        /// </summary>
+        public bool TurntableLowerLimit { get; set; }
+
+        /// <summary>
+        /// 煮面炉状态,True:忙碌，false:空闲
+        /// M102.0 - M102.5
+        /// 1136   - 1141
+        /// </summary>
+        public bool[] NoodleCookerStatus { get; set; } = new bool[6] { false, false, false, false, false, false };
+
+        /// <summary>
+        /// 煮面完成,上升后给信号
+        /// M103.0 - M103.5
+        /// 1144   - 1149
+        /// </summary>
+        public bool[] CookNoodlesComplete { get; set; } = new bool[6] { false, false, false, false, false, false };
+
+        /// <summary>
+        /// 配方编号
+        /// PLC -> VW0
+        /// ModbusTcp -> 100
+        /// </summary>
+        public ushort RecipeNumber { get; set; }
+
+        /// <summary>
+        /// 转台位置
+        /// PLC -> VW2
+        /// ModbusTcp -> 101
+        /// </summary>
+        public ushort TurntableLoc { get; set; }
+
+        /// <summary>
+        /// 到面至煮面炉位置
+        /// PLC -> VW4
+        /// ModbusTcp -> 102
+        /// </summary>
+        public ushort FallNoodleLoc { get; set; }
+
+        /// <summary>
+        /// 取面位置
+        /// PLC -> VW6
+        /// ModbusTcp -> 103
+        /// </summary>
+        public ushort TakeNoodleLoc { get; set; }
+
+
+
+
+        /// <summary>
+        /// 机器人取面位置队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> RBTakeNoodleTask { get; set; } = new ConcurrentQueue<OrderLocInfo>();
+
+        public ConcurrentQueue<OrderLocInfo> TakeBowlTask { get; set; } = new ConcurrentQueue<OrderLocInfo>();
+
+    }
+
+    public class OrderLocInfo
+    {
+        public string SuborderId { get; set; }
+        public ushort Loc { get; set; }
+        public ushort RecipeNumber { get; set; }
     }
+
+
+
+
 }

HBLConsole.MainConsole/Main.cs

@@ -32,6 +32,7 @@ namespace HBLConsole.MainConsole
         {
             Json<MorkOrderPushPar>.GetInstance.Save();
             Json<BatchingInfoPar>.GetInstance.Save();
+            TextHelper.GetInstance.SaveLogInfo(MessageLog.GetInstance.LogInfo, "LogInfo");
         }
 
         public void BusinessInit()

HBLConsole.Service/RTrig.cs

@@ -0,0 +1,41 @@
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLConsole.Service
+{
+    public class RTrig
+    {
+
+        private volatile static ConcurrentDictionary<string, RTrig> _Instance;
+        public static RTrig GetInstance(string name)
+        {
+            if (_Instance == null) _Instance = new ConcurrentDictionary<string, RTrig>();
+            if (!_Instance.ContainsKey(name)) _Instance.TryAdd(name, new RTrig());
+            return _Instance[name];
+        }
+        private RTrig() { }
+
+        private bool flag1;
+        public bool Q { get; private set; }
+        private bool IN1
+        {
+            set
+            {
+                Q = value && !flag1;
+                flag1 = value;
+            }
+        }
+        public bool Start(bool IN)
+        {
+            IN1 = IN;
+            return Q;
+        }
+
+
+
+    }
+}