Rs.SkyLine/Rs.SkyLine/Flow/WorkEnvironment.cs

using Rs.AutoDischarge.V3.Flow;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
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,
        等待搬运料盘就绪,
        等待所有料仓就绪
    }
    public class WorkEnvironment
    {
        string logInfo = string.Empty;
        EStockCheckStep step= EStockCheckStep.Input料仓是否就绪;
        EStockCheckStep restoreStep;
        public bool EnvironmentOk { get; set; } = false;
        public ManualResetEvent EnvReadyOkEvent = new ManualResetEvent(false);
        private static WorkEnvironment instance;
        public static WorkEnvironment Instance
        {
            get
            {
                if (instance == null)
                    instance = new WorkEnvironment();
                return instance;
            }
        }
        public void Ready()
        {
            step = EStockCheckStep.Input料仓是否就绪;
            EnvReadyOkEvent.Reset();
            Task.Run(() =>
            {
                EnvironmentOk = false;
                while(true && !EnvironmentOk)
                {
                    Thread.Sleep(5);
                    switch (step)
                    {
                        case EStockCheckStep.Input料仓是否就绪:
                            if (!StockManager.Instance.GetStock(ETrayType.Input).HasTray() || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"{ETrayType.Input}料仓无料，开始给{ETrayType.Input}料仓上料";
                                MessageQueue.Instance.Insert(logInfo);
                                Task.Run(() => {
                                    StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.Whole, null);//.Load(EStockType.Input, EStockTrayLoadMode.Whole);
                                });
                            }
                            if (!StockManager.Instance.GetStock(ETrayType.Empty2).HasTray() || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"{ETrayType.Empty2}料仓无料，开始给{ETrayType.Empty2}料仓上料";
                                MessageQueue.Instance.Insert(logInfo);
                                Task.Run(() => {
                                    StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);//.Load(EStockType.Empty2, EStockTrayLoadMode.Whole);
                                });
                            }
                            step = EStockCheckStep.Ok料仓是否就绪;
                            break;
                        case EStockCheckStep.Ok料仓是否就绪:
                            if (!StockManager.Instance.GetStock(ETrayType.Ok).HasTray() || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"{ETrayType.Ok}料仓无料，开始给{ETrayType.Ok}料仓上料";
                                MessageQueue.Instance.Insert(logInfo);
                                //if (StockManager.Instance.HasTray(EStockType.Empty2))
                                {
                                    //LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ok");
                                    if(TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ok, 
                                        () => {
                                            GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
                                            Task.Run(() => {
                                                StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
                                            });
                                        }, null, 
                                        () => {
                                            
                                            Task.Run(() => {
                                                StockManager.Instance.GetStock(ETrayType.Ok).Load(EStockTrayLoadMode.AfterTakeTray, null);
                                            });
                                        }))
                                    {
                                        step = EStockCheckStep.Ng料仓是否就绪;
                                    }
                                    
                                    //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.GetStock(ETrayType.Ng).HasTray() || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"{ETrayType.Ng}料仓无料，开始给{ETrayType.Ng}料仓上料";
                                MessageQueue .Instance.Insert(logInfo);
                                //if (StockManager.Instance.HasTray(EStockType.Empty2))
                                {
                                    //LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Ng");
                                    if (TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Ng,
                                        () => {
                                            GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
                                            Task.Run(() => {
                                                StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
                                            });

                                        }, null,
                                        () => {
                                            Task.Run(() => {
                                                StockManager.Instance.GetStock(ETrayType.Ng).Load(EStockTrayLoadMode.AfterTakeTray, null);
                                             } );
                                        }))
                                    {
                                        step = EStockCheckStep.Multi料仓是否就绪;
                                    }
                                    
                                    //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.GetStock(ETrayType.Multi).HasTray() || GlobalVar.VirtualAxis)
                            {
                                logInfo = GetClassName() + $"{ETrayType.Multi}料仓无料，开始给{ETrayType.Multi}料仓上料";
                                MessageQueue.Instance.Insert(logInfo);
                                //if (StockManager.Instance.HasTray(EStockType.Empty2))
                                {
                                    //LogHelper.Debug("Empty2料仓有料，开始搬运Empty2->Multi");
                                    if(TakeTrayFlow.Instance.Take(ETrayType.Empty2, ETrayType.Multi,
                                        () => {
                                            GlobalTray.GetTray(ETrayType.Empty2).ChangeStatus(Controls.ESlotStatus.Null);
                                            Task.Run(() => {
                                                StockManager.Instance.GetStock(ETrayType.Empty2).Load(EStockTrayLoadMode.Whole, null);
                                            });
                                        }, null,
                                        () => {
                                            Task.Run(() => {
                                                StockManager.Instance.GetStock(ETrayType.Multi).Load(EStockTrayLoadMode.AfterTakeTray, null);
                                            });
                                        }))
                                    {
                                        step = EStockCheckStep.等待所有料仓就绪;
                                    }
                                   
                                    //restoreStep = EStockCheckStep.等待所有料仓就绪;
                                }
                            }
                            else
                            {
                                step = EStockCheckStep.等待所有料仓就绪;
                            }
                            break;
                        //case EStockCheckStep.等待搬运料盘就绪:
                        //    if(TakeTrayFlow.Instance.TakeStatus == ETakeStatus.TakeOK)
                        //    {
                        //        MessageQueue.Instance.Insert("搬运OK");
                        //        step = restoreStep;
                        //        restoreStep = EStockCheckStep.空闲;
                        //    }
                        //    break;
                        case EStockCheckStep.等待所有料仓就绪:
                            if(StockManager.Instance.IsReady())
                            {
                                MessageQueue.Instance.Insert("所有料仓准备就绪");
                                EnvironmentOk = true;
                                EnvReadyOkEvent.Set();
                            }
                            break;
                    }
                }
            });
            
        }

        private string GetClassName()
        {
            return this.GetType().Name + "-";
        }
    }
}