RealSys.MotionPlat/Rs.MotionPlat/Flow/WorkEnvironment.cs

using Rs.Framework;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow
{
    enum EStockCheckStep
    {
        
        空闲,
        Input料仓是否就绪,
        Ok料仓是否就绪,
        Ng料仓是否就绪,
        Multi料仓是否就绪,
        WaitEmpty2料仓就绪,
        等待搬运料盘就绪,
        等待所有料仓就绪
    }
    public class WorkEnvironment
    {
        EStockCheckStep step= EStockCheckStep.Input料仓是否就绪;
        EStockCheckStep restoreStep;
        public bool EnvironmentOk { get; set; } = false;
        private static WorkEnvironment instance;
        public static WorkEnvironment Instance
        {
            get
            {
                if (instance == null)
                    instance = new WorkEnvironment();
                return instance;
            }
        }
        public void Ready()
        {
            Task.Run(() =>
            {
                while(true && !EnvironmentOk)
                {
                    switch (step)
                    {
                        case EStockCheckStep.Input料仓是否就绪:
                            if (!StockManager.Instance.HasTray(EStockType.Input))
                            {
                                LogHelper.Debug("Input料仓无料，开始给Input料仓上料");
                                StockManager.Instance.Load(EStockType.Input);
                            }
                            if (!StockManager.Instance.HasTray(EStockType.Empty2))
                            {
                                LogHelper.Debug("Empty2料仓无料，开始给Empty2料仓上料");
                                StockManager.Instance.Load(EStockType.Empty2);
                            }
                            step = EStockCheckStep.Ok料仓是否就绪;
                            break;
                        case EStockCheckStep.Ok料仓是否就绪:
                            if (!StockManager.Instance.HasTray(EStockType.Ok))
                            {
                                LogHelper.Debug("Ok料仓无料，开始给Ok料仓上料");
                                if (StockManager.Instance.HasTray(EStockType.Empty2))
                                {
                                    LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ok");
                                    TakeTrayFlow.Instance.Take(EStockType.Empty2, EStockType.Ok);
                                    step = EStockCheckStep.等待搬运料盘就绪;
                                    restoreStep = EStockCheckStep.Ng料仓是否就绪;
                                }
                            }
                            else
                            {
                                step = EStockCheckStep.Ng料仓是否就绪;
                            }
                            break;
                        case EStockCheckStep.Ng料仓是否就绪:
                            if (!StockManager.Instance.HasTray(EStockType.Ng))
                            {
                                LogHelper.Debug("Ng料仓无料，开始给Ng料仓上料");
                                if (StockManager.Instance.HasTray(EStockType.Empty2))
                                {
                                    LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ng");
                                    TakeTrayFlow.Instance.Take(EStockType.Empty2, EStockType.Ng);
                                    step = EStockCheckStep.等待搬运料盘就绪;
                                    restoreStep = EStockCheckStep.Multi料仓是否就绪;
                                }
                            }
                            else
                            {
                                step = EStockCheckStep.Multi料仓是否就绪;
                            }
                            break;
                        case EStockCheckStep.Multi料仓是否就绪:
                            if (!StockManager.Instance.HasTray(EStockType.Multi))
                            {
                                LogHelper.Debug("Multi料仓无料，开始给Multi料仓上料");
                                if (StockManager.Instance.HasTray(EStockType.Empty2))
                                {
                                    LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Multi");
                                    TakeTrayFlow.Instance.Take(EStockType.Empty2, EStockType.Multi);
                                    step = EStockCheckStep.等待搬运料盘就绪;
                                    restoreStep = EStockCheckStep.等待所有料仓就绪;
                                }
                            }
                            else
                            {
                                step = EStockCheckStep.等待所有料仓就绪;
                            }
                            break;
                        case EStockCheckStep.WaitEmpty2料仓就绪:
                            if (StockManager.Instance.HasTray(EStockType.Empty2))
                            {
                                LogHelper.Debug("Empty2已料仓就绪");
                                step = restoreStep;
                                restoreStep = EStockCheckStep.空闲;
                            }
                            break;
                        case EStockCheckStep.等待搬运料盘就绪:
                            if(TakeTrayFlow.Instance.TakeStatus== ETakeStatus.TakeOK)
                            {
                                LogHelper.Debug("搬运OK");
                                step = restoreStep;
                                restoreStep = EStockCheckStep.空闲;
                            }
                            break;
                        case EStockCheckStep.等待所有料仓就绪:
                            if(StockManager.Instance.IsReady())
                            {
                                LogHelper.Debug("所有料仓准备就绪");
                                EnvironmentOk = true;
                            }
                            break;
                    }
                }
            });
            
        }
    }
}