HBLConsole/HBLConsole.MORKS/Control_MORKS.cs

//#define test
using BPA.Message;
using HBLConsole.Communication;
using HBLConsole.Factory;
using HBLConsole.Interface;
using HBLConsole.Model;
using HBLConsole.Service;
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.MORKS
{
    public class Control_MORKS : IControl
    {
        public GVL_MORKS mORKS { get; set; } = new GVL_MORKS();

        public void Init()
        {
            Test();
            ActionOperate.GetInstance.Register(new Action(() => { DeviceInit(); }), "InitCommand");
        }

        public object GetT()
        {
            return mORKS;
        }
        
        public void ConnectOk()
        {
            //WriteRecipeBoms();
            ReadData();
            Main();
            //ResetProgram();
            MessageLog.GetInstance.Show("MORKS 设备初始化完成");
        }

        /// <summary>
        /// 测试程序
        /// </summary>
        private void Test()
        {
#if test
            ThreadManagerment.GetInstance.StartLong(new Action(() =>
            {
                while (Json<MorkOrderPushPar>.GetInstance.Base.morkOrderPushes.Count > 0)
                {
                    var result = Json<MorkOrderPushPar>.GetInstance.Base.morkOrderPushes.ElementAt(0);

                    SimpleFactory.GetInstance.OrderChanged(result.OrderPush.SuborderId, ORDER_STATUS.COOKING);
                    MessageLog.GetInstance.Show($"{result.OrderPush.GoodsName},{ORDER_STATUS.COOKING}");
                    Thread.Sleep(5000);

                    SimpleFactory.GetInstance.OrderChanged(result.OrderPush.SuborderId, ORDER_STATUS.COMPLETED_COOK);
                    MessageLog.GetInstance.Show($"{result.OrderPush.GoodsName},{ORDER_STATUS.COMPLETED_COOK}");
                    Thread.Sleep(5000);

                    SimpleFactory.GetInstance.OrderChanged(result.OrderPush.SuborderId, ORDER_STATUS.COMPLETED_TAKE);
                    MessageLog.GetInstance.Show($"{result.OrderPush.GoodsName},{ORDER_STATUS.COMPLETED_TAKE}");
                    Thread.Sleep(5000);

                    Json<MorkOrderPushPar>.GetInstance.Base.morkOrderPushes.RemoveAt(0);
                }
                Thread.Sleep(500);
            }), "test");
#endif
        }

        /// <summary>
        /// 复位程序
        /// </summary>
        private void ResetProgram()
        {
            ThreadOperate.GetInstance.StartLong(new Action(() =>
            {
                if (RTrig.GetInstance("ResetProgram").Start(mORKS.DeviceIniting))
                {
                    ThreadOperate.GetInstance.StopTask("MainTask", new Action(() =>
                     {
                         mORKS.AllowRun = false;
                         TakeBowlId = string.Empty;
                         IngredientsCompleteId = string.Empty;
                         CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, };
                         mORKS.RobotTaskInterlock = false;
                         OutMealId = string.Empty;
                         mORKS.TakeBowlInterlock = false;
                         mORKS.TakeNoodleInterlock = false;
                         mORKS.OutNoodleing = false;
                         Main();
                     }));
                }
                Thread.Sleep(10);
            }), "ResetProgram");
        }

        /// <summary>
        /// 数据读取
        /// </summary>
        public void ReadData()
        {
            ThreadOperate.GetInstance.StartLong(new Action(() =>
            {
                ModbusTcpHelper.GetInstance.Readbool(323, 3, new Action<bool[]>((bools) =>
                {
                    mORKS.RobotTakeNoodle = bools[0];
                    mORKS.RobotOutMeal = bools[1];
                    mORKS.MoveTurntable = bools[2];
                }));

                ModbusTcpHelper.GetInstance.Readbool(1120, 16, new Action<bool[]>((bools) =>
                {
                    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.DeviceIniting = bools[10];
                    mORKS.TurntableLowerLimit = bools[11];
                    mORKS.MissingBowlSignal2 = bools[12];
                    mORKS.TurntableUpLimit = bools[13];
                    mORKS.TurntableMoveInPlace = bools[15];
                }));

                ModbusTcpHelper.GetInstance.Readbool(1136, 6, new Action<bool[]>((bools) =>
                {
                    for (int i = 0; i < 6; i++)
                    {
                        mORKS.NoodleCookerStatus[i] = bools[i];
                    }
                }));

                ModbusTcpHelper.GetInstance.Readbool(1144, 6, new Action<bool[]>((bools) =>
                {
                    for (int i = 0; i < 6; i++)
                    {
                        mORKS.CookNoodlesComplete[i] = bools[i];
                    }
                }));

                Thread.Sleep(500);
            }), "ReadPLCData");
        }

        public void SimOrder<T>(T simOrder)
        {
            if (simOrder != null)
            {
                if (simOrder is SimOrderData simOrderData)
                {
                    string subId = Guid.NewGuid().ToString();
                    mORKS.RBTakeNoodleTask.Enqueue(new OrderLocInfo() { Loc = simOrderData.NoodleLoc, SuborderId = subId });
                    mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = simOrderData.BowlLoc, SuborderId = subId });
                    MessageLog.GetInstance.Show($"添加订单：面条位置【{simOrderData.NoodleLoc}】,碗位置【{simOrderData.BowlLoc}】");
                }
            }
        }

        /// <summary>
        /// 数据解析
        /// </summary>
        public void DataParse<T>(T order)
        {
            if (order is MorkOrderPush morkOrderPush)
            {
                foreach (var item in morkOrderPush.GoodBatchings)
                {
                    var res = Json<BatchingInfoPar>.Data.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 OrderLocInfo() { Loc = loc, SuborderId = morkOrderPush.SuborderId, BatchingId = res.BatchingId });
                            }
                            else if (loc >= 10 && loc <= 11)
                            {
                                int index = Array.FindIndex(Json<BatchingInfoPar>.Data.recipeBoms.RecipeIds.ToArray(), p => p.RecipeId == morkOrderPush.RecipeId);
                                index++;
                                mORKS.TakeBowlTask.Enqueue(new OrderLocInfo() { Loc = loc, SuborderId = morkOrderPush.SuborderId, RecipeNumber = (index >= 1 && index <= 10) ? (ushort)index : (ushort)0 });
                            }
                        }
                    }
                }
            }
        }

        #region 临时变量
        /// <summary>
        /// 取碗订单ID
        /// </summary>
        string TakeBowlId = string.Empty;

        /// <summary>
        /// 配料完成订单ID
        /// </summary>
        string IngredientsCompleteId = string.Empty;

        /// <summary>
        /// 煮面口对应的订单ID
        /// </summary>
        string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, };

        /// <summary>
        /// 出餐订单ID
        /// </summary>
        string OutMealId = string.Empty;

        /// <summary>
        /// 转台位置轮询
        /// </summary>
        List<ushort> TurntableLoc = new List<ushort>();

        #endregion

        public void Main()
        {
            ThreadOperate.GetInstance.StartLong(new Action(() =>
            {
                mORKS.AllowRun = mORKS.InitComplete && !mORKS.TemperatureReached;

                TakeBowlTask();

                TakeNoodleTask();

                OutNoodleTask();

                SingleDetect();

                TurntableControl();

                Thread.Sleep(100);

            }), "MainTask");
        }

        /// <summary>
        /// 取碗控制
        /// </summary>
        private void TakeBowlTask()
        {
            if (mORKS.AllowRun && mORKS.TakeBowlTask.Count > 0 && !mORKS.TakeBowlIdle && !mORKS.TakeBowlInterlock)
            {
                if (mORKS.TakeBowlTask.TryDequeue(out OrderLocInfo orderLocInfo))
                {
                    TakeBowlId = orderLocInfo.SuborderId;
                    TakeBowlControl(orderLocInfo.Loc);
                    SetRecipeNumber(orderLocInfo.RecipeNumber);
                    SimpleFactory.GetInstance.OrderChanged(TakeBowlId, ORDER_STATUS.COOKING);
                    MessageLog.GetInstance.Show($"订单【{TakeBowlId}】执行取碗控制,位置:[{orderLocInfo.Loc}]");
                }
                mORKS.TakeBowlInterlock = true;
            }
        }

        /// <summary>
        /// 转台控制
        /// </summary>
        private void TurntableControl()
        {
            if (mORKS.TurntableMoveInPlace && mORKS.InitComplete && !mORKS.AllowTakeNoodle && mORKS.RBTakeNoodleTask.Count > 0)
            {

                if (mORKS.TurntableLowerLimit)
                {
                    SetTurntableLoc(mORKS.RBTakeNoodleTask.ElementAt(0).Loc);
                    MoveTurntable();
                    mORKS.AllowTakeNoodle = true;
                    TurntableLoc.Clear();
                    MessageLog.GetInstance.Show("转台位置OK");
                }
                else
                {
                    if (!mORKS.TurntableInterlock)
                    {
                        var result = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKS.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
                        if (result != null)
                        {
                            foreach (var item in result)
                            {
                                if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                                {
                                    if (TurntableLoc.Contains(loc))
                                    {
                                        SetTurntableLoc(loc);
                                        MoveTurntable();
                                        mORKS.TurntableInterlock = true;
                                        TurntableLoc.Add(loc);
                                        return;
                                    }
                                }
                            }
                            MessageLog.GetInstance.Show("转台位置缺少物料");
                        }
                    }
                }
            }
        }

        /// <summary>
        /// 取面任务
        /// </summary>
        private void TakeNoodleTask()
        {
            //取面控制
            if (mORKS.AllowRun && mORKS.RobotIdle && !mORKS.RobotTaskInterlock && mORKS.AllowTakeNoodle && mORKS.TurntableMoveInPlace && !mORKS.TakeNoodleInterlock && !mORKS.OutNoodleing && mORKS.RBTakeNoodleTask.Count > 0)
            {
                int loc = Array.FindIndex(mORKS.NoodleCookerStatus, p => p == false);//查找煮面炉空闲位置
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
                    {
                        //设置转台位置
                        SetTurntableLoc(orderLocInfo.Loc);
                        //设置倒面位置

                        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}],煮面栏：[{loc + 1}]");
                        mORKS.TakeNoodleInterlock = true;
                    }
                }

            }
        }

        /// <summary>
        /// 出餐控制
        /// </summary>
        private void OutNoodleTask()
        {
            if (mORKS.AllowFallNoodle && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotIdle && !mORKS.TakeMealDetect)
            {
                int loc = Array.FindIndex(CookNodelId, p => p == IngredientsCompleteId && p.Length > 0);
                if (loc >= 0 && loc <= 5)
                {
                    if (mORKS.CookNoodlesComplete[loc])
                    {
                        SetTakeNoodleLoc((ushort)(loc + 1));
                        RobotOutMeal();
                        CookNoodleStatusReset((ushort)(loc + 1));
                        ResetAllowFallNoodle();
                        OutMealId = IngredientsCompleteId;
                        IngredientsCompleteId = string.Empty;
                        CookNodelId[loc] = string.Empty;
                        MessageLog.GetInstance.Show($"{loc + 1}号位置出餐控制");
                        mORKS.OutNoodleing = true;
                    }
                }
            }
        }

        /// <summary>
        /// 信号检测
        /// </summary>
        private void SingleDetect()
        {
            //允许倒面信号检测
            if (RTrig.GetInstance("AllowFallNoodle").Start(mORKS.AllowFallNoodle))
            {
                IngredientsCompleteId = TakeBowlId;
                TakeBowlId = string.Empty;
                MessageLog.GetInstance.Show($"允许到面,{IngredientsCompleteId}");
                mORKS.TakeBowlInterlock = false;
            }

            //出餐完成信号检测
            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");
                mORKS.OutNoodleing = false;
            }

            //取餐完成逻辑处理
            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");
                var RemoveItem = Json<MorkOrderPushPar>.Data.morkOrderPushes.FirstOrDefault(p => p.OrderPush.SuborderId == OutMealId);
                if (RemoveItem != null)
                {
                    Json<MorkOrderPushPar>.Data.morkOrderPushes.Remove(RemoveItem);
                }
                ResetCookComplete();
                OutMealId = string.Empty;
            }

            //机器人取面完成信号检测
            if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete))
            {
                mORKS.TakeNoodleInterlock = false;
                mORKS.AllowTakeNoodle = false;
                MessageLog.GetInstance.Show("取面完成");
                TakeNoodleCompleteReset();
            }

            //转台到位检测
            if (RTrig.GetInstance("TurntableInPlace").Start(mORKS.TurntableMoveInPlace))
            {
                mORKS.TurntableInterlock = false;
            }

            int OutMealRequstCount = mORKS.CookNoodlesComplete.Where(p => p == true).ToList().Count;
            int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count;
            mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0);
        }


        #region PLC 控制函数

        /// <summary>
        /// 写入配方数据到 PLC
        /// </summary>
        private void WriteRecipeBoms()
        {
            List<ushort> recipeBoms = new List<ushort>();
            foreach (var item in Json<BatchingInfoPar>.Data.recipeBoms.RecipeIds)
            {
                foreach (var rec in item.Recipes)
                {
                    recipeBoms.Add((ushort)rec);
                }
            }
            if (recipeBoms.Count > 0)
            {
                if (ModbusTcpHelper.GetInstance.Write(1100, WriteType.HoldingRegisters, recipeBoms.ToArray()))
                {
                    MessageLog.GetInstance.Show("成功写入配方数据");
                }
            }
        }

        /// <summary>
        /// 转台移动
        /// </summary>
        private void MoveTurntable()
        {
            ModbusTcpHelper.GetInstance.Write(325, WriteType.Coils, true);
        }

        /// <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(addRess, WriteType.Coils, false);
                MessageLog.GetInstance.Show($"{num}号煮面口占用复位");
            }

        }

        /// <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);
            var result = ModbusTcpHelper.GetInstance.Read(324, ReadType.Coils);
            if (result is bool res)
                while (!res)
                {
                    ModbusTcpHelper.GetInstance.Write(324, WriteType.Coils, true);
                }
        }

        /// <summary>
        /// 制作完成信号复位
        /// </summary>
        private void ResetCookComplete()
        {
            ModbusTcpHelper.GetInstance.Write(1126, WriteType.Coils, false);
        }

        /// <summary>
        /// 复位允许取面信号
        /// </summary>
        private void ResetAllowFallNoodle()
        {
            ModbusTcpHelper.GetInstance.Write(1123, WriteType.Coils, false);
        }

        /// <summary>
        /// 设备初始化
        /// </summary>
        public async void DeviceInit()
        {
            ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, true);
            await Task.Delay(1000);
            ModbusTcpHelper.GetInstance.Write(320, WriteType.Coils, false);

        }
        #endregion



    }

}