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