From db0f5530438be4db81642ec3033b1f24341a3e07 Mon Sep 17 00:00:00 2001 From: pengliangyang <1406009520@qq.com> Date: Sat, 25 Jun 2022 17:32:27 +0800 Subject: [PATCH] =?UTF-8?q?=E9=9B=86=E8=A3=85=E7=AE=B1=E6=9C=80=E6=96=B0?= =?UTF-8?q?=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../BPASmartClient.IceMaker.csproj | 14 + BPASmartClient.IceMaker/IceMakerMachine.cs | 67 ++ BPASmartClient.JAKA/JakaMachine.cs | 5 +- BPASmartClient.Model/果汁机/IceMaker.cs | 26 + BPASmartClient.Model/果汁机/JuicerModel.cs | 74 +- .../Control_MORKJC2.cs | 82 +- .../GVL_MorkTLebaiJC.cs | 136 +++ .../GVL_MorkTLebeiJC.cs | 76 -- .../BPASmartClient.MorkT_BarCounter.csproj | 20 + .../Control_MorkT_BarCounter.cs | 310 +++--- BPASmartClient.MorkT_BarCounter/GVL_MorkT.cs | 145 +++ .../OrderLocInfo.cs | 18 + .../PolymerBatching.cs | 152 +++ BPASmartClient.MorkT_BarCounter/SendToPlc.cs | 18 + ... => BPASmartClient.MorkT_Container.csproj} | 1 + .../Control_MorkT_Container.cs | 941 ++++++++++++++++++ BPASmartClient.MorkT_Show/GVL_MorkT.cs | 137 +++ BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs | 76 -- BPASmartClient.MorkT_Show/OrderLocInfo.cs | 2 +- BPASmartClient.MorkT_Show/PolymerBatching.cs | 2 +- .../Control_MORKJC.cs | 183 +++- BPASmartClient.Morkt.JAKA.JC/GVL_MORKJC.cs | 60 ++ BPASmartClient.SerialPort/IceMakerHelper.cs | 240 +++++ SmartClient.sln | 48 +- 24 files changed, 2379 insertions(+), 454 deletions(-) create mode 100644 BPASmartClient.IceMaker/BPASmartClient.IceMaker.csproj create mode 100644 BPASmartClient.IceMaker/IceMakerMachine.cs create mode 100644 BPASmartClient.Model/果汁机/IceMaker.cs create mode 100644 BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebaiJC.cs delete mode 100644 BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebeiJC.cs create mode 100644 BPASmartClient.MorkT_BarCounter/BPASmartClient.MorkT_BarCounter.csproj rename BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs => BPASmartClient.MorkT_BarCounter/Control_MorkT_BarCounter.cs (73%) create mode 100644 BPASmartClient.MorkT_BarCounter/GVL_MorkT.cs create mode 100644 BPASmartClient.MorkT_BarCounter/OrderLocInfo.cs create mode 100644 BPASmartClient.MorkT_BarCounter/PolymerBatching.cs create mode 100644 BPASmartClient.MorkT_BarCounter/SendToPlc.cs rename BPASmartClient.MorkT_Show/{BPASmartClient.MorkT_Show.csproj => BPASmartClient.MorkT_Container.csproj} (90%) create mode 100644 BPASmartClient.MorkT_Show/Control_MorkT_Container.cs create mode 100644 BPASmartClient.MorkT_Show/GVL_MorkT.cs delete mode 100644 BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs create mode 100644 BPASmartClient.SerialPort/IceMakerHelper.cs diff --git a/BPASmartClient.IceMaker/BPASmartClient.IceMaker.csproj b/BPASmartClient.IceMaker/BPASmartClient.IceMaker.csproj new file mode 100644 index 00000000..601a8f6f --- /dev/null +++ b/BPASmartClient.IceMaker/BPASmartClient.IceMaker.csproj @@ -0,0 +1,14 @@ + + + + net6.0 + enable + enable + + + + + + + + diff --git a/BPASmartClient.IceMaker/IceMakerMachine.cs b/BPASmartClient.IceMaker/IceMakerMachine.cs new file mode 100644 index 00000000..aade2e3d --- /dev/null +++ b/BPASmartClient.IceMaker/IceMakerMachine.cs @@ -0,0 +1,67 @@ +using BPASmartClient.EventBus; +using BPASmartClient.Helper; +using BPASmartClient.Model; +using BPASmartClient.Peripheral; +using BPASmartClient.SerialPort; +using static BPASmartClient.EventBus.EventBus; + +namespace BPASmartClient.Icemoker +{ + public class IceMakerMachine : BasePeripheral + { + IceMakerHelper iceMakerHelper = new IceMakerHelper(); + public override void Init() + { + iceMakerHelper.Open(communicationPar.SerialPort, communicationPar.BaudRate); + + ThreadManage.GetInstance().StartLong(new Action(() => + { + IsConnected = iceMakerHelper.IsOpen; + if (!IsConnected) IsWork = false; + while (IsConnected) + { + IsWork = true; + if (status != null) + { + SetStatus("GetDeviceStatus", iceMakerHelper.GetDeviceStatus()); + } + Thread.Sleep(500); + } + Thread.Sleep(1000); + }), $"设备[{DeviceId}]制冰机读取线程", true); + + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (@event == null) return; + iceMakerHelper.StartCook(); + }); + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (@event == null) return; + iceMakerHelper.EndCook(); + }); + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (@event == null) return; + var parm = @event as SetIceNumber; + iceMakerHelper.IceValue(Convert.ToByte(parm?.Value)); + }); + } + + public override void Start() + { + } + + public override void Stop() + { + } + + public override void WriteData(string address, object value) + { + } + + protected override void InitStatus() + { + } + } +} \ No newline at end of file diff --git a/BPASmartClient.JAKA/JakaMachine.cs b/BPASmartClient.JAKA/JakaMachine.cs index eafd2835..a93c39cb 100644 --- a/BPASmartClient.JAKA/JakaMachine.cs +++ b/BPASmartClient.JAKA/JakaMachine.cs @@ -25,7 +25,10 @@ namespace BPASmartClient.JAKA { SetStatus("GetProgramStatus", (int)jaKaHelper.GetProgramStatus()); SetStatus("Get_RobotAO1", jaKaHelper.Get_RobotAO1()); - + SetStatus("Get_RobotDI0", jaKaHelper.Get_RobotDI(0)); + SetStatus("Get_RobotDI1", jaKaHelper.Get_RobotDI(1)); + SetStatus("Get_RobotDI2", jaKaHelper.Get_RobotDI(2)); + SetStatus("Get_RobotDI3", jaKaHelper.Get_RobotDI(3)); } Thread.Sleep(500); } diff --git a/BPASmartClient.Model/果汁机/IceMaker.cs b/BPASmartClient.Model/果汁机/IceMaker.cs new file mode 100644 index 00000000..78534e74 --- /dev/null +++ b/BPASmartClient.Model/果汁机/IceMaker.cs @@ -0,0 +1,26 @@ +using BPASmartClient.Model.PLC; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.Model +{ + public class IceMaker + { + } + + public class StartMakeIce : BaseEvent + { + + } + public class StopMakeIce : BaseEvent + { + + } + public class SetIceNumber : WriteModel + { + + } +} diff --git a/BPASmartClient.Model/果汁机/JuicerModel.cs b/BPASmartClient.Model/果汁机/JuicerModel.cs index 99e49d52..e79a99d1 100644 --- a/BPASmartClient.Model/果汁机/JuicerModel.cs +++ b/BPASmartClient.Model/果汁机/JuicerModel.cs @@ -9,79 +9,7 @@ namespace BPASmartClient.Model { public class JuicerModel { - #region 果汁机设备MORKT2 Lebai机器人 - //public const int JUICE2_初始位 = 10021; - //public const int JUICE2_检测位回原点 = 10023; - //public const int JUICE2_取纸杯 = 10006; - //public const int JUICE2_二次取杯 = 10008; - //public const int JUICE2_纸杯检测 = 10007; - //public const int JUICE2_再检测 = 10024; - //public const int JUICE2_接咖啡 = 10009; - //public const int JUICE2_放咖啡杯 = 10010; - - //public const int JUICE2_接茶叶 = 10017; - //public const int JUICE2_接茶水 = 10018; - //public const int JUICE2_接水 = 10020; - //public const int JUICE2_放水杯 = 10019; - - //public const int JUICE2_接果汁公共位 = 10011; - //public const int JUICE2_接1号果汁 = 10012; - //public const int JUICE2_接2号果汁 = 10013; - //public const int JUICE2_接3号果汁 = 10014; - //public const int JUICE2_接4号果汁 = 10015; - //public const int JUICE2_放果汁杯 = 10016; - - public const int JUICE2_初始位 = 10001; - public const int JUICE2_检测位回原点 = 10001; - public const int JUICE2_取空杯过渡位 = 10004; - public const int JUICE2_取纸杯 = 10002; - public const int JUICE2_取纸杯检测 = 10003; - public const int JUICE2_再检测 = 10024; - public const int JUICE2_二次取杯 = 10008; - - //public const int JUICE2_取杯完成后接饮料过渡位 = 10004; - - public const int JUICE2_接咖啡 = 10004; - //public const int JUICE2_接咖啡放杯过渡位 = 10004; - public const int JUICE2_接果汁1 = 10004; - public const int JUICE2_接果汁2 = 10004; - public const int JUICE2_接果汁3 = 10004; - public const int JUICE2_接果汁4 = 10004; - - public const int JUICE2_接茶叶 = 10004; - public const int JUICE2_接茶水 = 10004; - public const int JUICE2_接开水 = 10004; - //public const int JUICE2_接开水_茶水放杯过渡位 = 10004; - - public const int JUICE2_放咖啡杯 = 10004;//放咖啡杯包括取接好咖啡的流程 - public const int JUICE2_放果汁杯1 = 10004; - public const int JUICE2_放果汁杯2 = 10004; - public const int JUICE2_放果汁杯3 = 10004; - public const int JUICE2_放果汁杯4 = 10004; - public const int JUICE2_放水杯 = 10004; - - #endregion - - #region 果汁机设备 MORKT1 JAKA机器人 - public const int JUICE_初始位 = 20000; - public const int JUICE_取杯 = 20001; - public const int JUICE_取杯检测 = 20010; - public const int JUICE_接咖啡 = 20020; - public const int JUICE_接1号果汁 = 20030; - public const int JUICE_接2号果汁 = 20040; - public const int JUICE_接3号果汁 = 20050; - public const int JUICE_接4号果汁 = 20060; - public const int JUICE_接茶 = 20070; - public const int JUICE_接茶水 = 20075; - public const int JUICE_接水 = 20080; - - public const int JUICE_放咖啡杯 = 20090; - public const int JUICE_放果汁杯 = 20100; - public const int JUICE_放茶水杯 = 20110; - - public const int JUICE_放杯 = 20120; - public const int JUICE_放杯检测 = 20120; - #endregion + } public class WriteJuicer : WriteModel diff --git a/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs b/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs index 2e379311..6bb4c237 100644 --- a/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs +++ b/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs @@ -440,7 +440,7 @@ namespace BPASmartClient.MorkTLebaiJC { DeviceProcessLogShow("咖啡杯取杯完成"); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接咖啡); + Sence(GVL_MorkTLebaiJC.接咖啡); Wait(); pickUpCoffeeHaveCup = true; new DRCoffee_MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish(); //接咖啡控制 //DrCoffeeDrinksCode.热水 @@ -448,7 +448,7 @@ namespace BPASmartClient.MorkTLebaiJC else { DeviceProcessLogShow("取杯失败 回到初始位，请及时处理！！"); - Sence(JuicerModel.JUICE2_初始位); + Sence(GVL_MorkTLebaiJC.机器人初始位); } } } @@ -465,7 +465,7 @@ namespace BPASmartClient.MorkTLebaiJC } outCupCheck = false; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放咖啡杯); + Sence(GVL_MorkTLebaiJC.放咖啡杯); Wait(); OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); DeviceProcessLogShow("咖啡制作完成"); @@ -485,7 +485,7 @@ namespace BPASmartClient.MorkTLebaiJC if (resultTakeCup == 1) { new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接开水); + Sence(GVL_MorkTLebaiJC.接开水); Wait(); Output(false, 1); Output(false, 0); @@ -524,7 +524,7 @@ namespace BPASmartClient.MorkTLebaiJC { DeviceProcessLogShow("取茶杯完成"); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接茶叶); + Sence(GVL_MorkTLebaiJC.接茶叶); Wait(); new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 90 }.Publish(); @@ -535,7 +535,7 @@ namespace BPASmartClient.MorkTLebaiJC Thread.Sleep(3000); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接茶水); + Sence(GVL_MorkTLebaiJC.接茶水); Wait(); Output(false, 1); Output(false, 0); @@ -572,7 +572,7 @@ namespace BPASmartClient.MorkTLebaiJC } outCupCheck = false; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放水杯); + Sence(GVL_MorkTLebaiJC.放水杯); Wait(); OrderChange(morkTLebaiJC.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); DeviceProcessLogShow("茶水制作完成"); @@ -606,7 +606,7 @@ namespace BPASmartClient.MorkTLebaiJC else JuicerNum = 0x01; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁1); + Sence(GVL_MorkTLebaiJC.接果汁1); Wait(); break; case 53: @@ -615,7 +615,7 @@ namespace BPASmartClient.MorkTLebaiJC else JuicerNum = 0x03; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁2); + Sence(GVL_MorkTLebaiJC.接果汁2); Wait(); break; case 54: @@ -624,7 +624,7 @@ namespace BPASmartClient.MorkTLebaiJC else JuicerNum = 0x05; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁3); + Sence(GVL_MorkTLebaiJC.接果汁3); Wait(); break; case 55: @@ -633,13 +633,13 @@ namespace BPASmartClient.MorkTLebaiJC else JuicerNum = 0x07; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁4); + Sence(GVL_MorkTLebaiJC.接果汁4); Wait(); break; default: JuicerNum = 0x00; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁1); + Sence(GVL_MorkTLebaiJC.接果汁1); Wait(); break; } @@ -669,27 +669,27 @@ namespace BPASmartClient.MorkTLebaiJC { case 52: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯1); + Sence(GVL_MorkTLebaiJC.放果汁杯1); Wait(); break; case 53: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯2); + Sence(GVL_MorkTLebaiJC.放果汁杯2); Wait(); break; case 54: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯3); + Sence(GVL_MorkTLebaiJC.放果汁杯3); Wait(); break; case 55: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯4); + Sence(GVL_MorkTLebaiJC.放果汁杯4); Wait(); break; default: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯1); + Sence(GVL_MorkTLebaiJC.放果汁杯1); Wait(); break; } @@ -716,31 +716,17 @@ namespace BPASmartClient.MorkTLebaiJC { nCnt = 0; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_初始位); + Sence(GVL_MorkTLebaiJC.机器人初始位); Wait(); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_取纸杯); + Sence(GVL_MorkTLebaiJC.取纸杯); Wait(); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_取纸杯检测); + Sence(GVL_MorkTLebaiJC.取纸杯检测); Wait(); nCnt++; Thread.Sleep(2000); - while (checkCnt < 3) - { - if (!GetStatus("GetInput")) - { - new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_再检测); - Wait(); - } - else - { - break; - } - checkCnt++; - } - checkCnt = 0; + while (!GetStatus("GetInput")) //读取传感器的值 { if (nCnt > 3) @@ -748,7 +734,7 @@ namespace BPASmartClient.MorkTLebaiJC nCnt = 0; DeviceProcessLogShow("三次取杯失败，回原点"); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_检测位回原点); + Sence(GVL_MorkTLebaiJC.机器人初始位); Wait(); return 2; } @@ -756,27 +742,11 @@ namespace BPASmartClient.MorkTLebaiJC { nCnt++; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_二次取杯); + Sence(GVL_MorkTLebaiJC.二次取杯); Wait(); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_取纸杯检测); + Sence(GVL_MorkTLebaiJC.取纸杯检测); Wait(); - checkCnt = 0; - while (checkCnt < 3) - { - if (!GetStatus("GetInput")) - { - new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_再检测); - Wait(); - } - else - { - checkCnt = 0; - return 1; - } - checkCnt++; - } } Thread.Sleep(1000); } @@ -796,10 +766,10 @@ namespace BPASmartClient.MorkTLebaiJC try { if (GetStatus("RobotValue1")) return 2; - Sence(JuicerModel.JUICE_放杯); + Sence(GVL_MorkTLebaiJC.JUICE_放杯); Wait(); new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish(); - Sence(JuicerModel.JUICE_放杯检测); + Sence(GVL_MorkTLebaiJC.JUICE_放杯检测); Wait(); new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish(); if (GetStatus("GetInput2")) diff --git a/BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebaiJC.cs b/BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebaiJC.cs new file mode 100644 index 00000000..5fd56271 --- /dev/null +++ b/BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebaiJC.cs @@ -0,0 +1,136 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using BPASmartClient.Device; +using System.Collections.Concurrent; + +namespace BPASmartClient.MorkTLebaiJC +{ + public class GVL_MorkTLebaiJC : IStatus + { + #region 果汁机设备MORKT2 Lebai机器人 + public const int 机器人安全位 = 10000;//一个位置（模组可移动，机器人不发生碰撞） + + public const int 机器人初始位 = 10001; + public const int 初始位_机器人安全位 = 10002;//初始位---安全位 + + public const int 取纸杯 = 10005;//安全位---取杯位 + public const int 二次取杯 = 10008;//取纸杯检测位---二次取杯位 + public const int 取纸杯检测 = 10006;//取杯位---取杯检测位 + public const int 取杯位_机器人安全位 = 10002;//取杯检测位---安全位 + + public const int 接咖啡 = 10010;//安全位---接咖啡位 + + public const int 接果汁过渡位 = 10002;//安全位---接果汁过渡位 + public const int 接果汁1 = 10011;//接果汁过渡位---果汁1位 + public const int 接果汁2 = 10012;//接果汁过渡位---果汁2位 + public const int 接果汁3 = 10013;//接果汁过渡位---果汁3位 + public const int 接果汁4 = 10014;//接果汁过渡位---果汁4位 + public const int 接果汁_机器人安全位 = 10002;//接果汁过渡位---安全位 + + public const int 接茶叶 = 10015; + public const int 接茶水 = 10016; + public const int 接开水 = 10017; + public const int 接水_机器人安全位 = 10002; + + public const int 接冰块 = 10018; + public const int 接冰_机器人安全位 = 10002; + + public const int 放咖啡杯 = 10020; + public const int 放果汁杯1 = 10021; + public const int 放果汁杯2 = 10022; + public const int 放果汁杯3 = 10023; + public const int 放果汁杯4 = 10024; + public const int 放水杯 = 10025; + + public const int 放杯 = 10001; + public const int 放杯_机器人安全位 = 10001; + + #endregion + + #region 果汁机设备 MORKT1 JAKA机器人 + public const int JUICE_初始位 = 20000; + public const int JUICE_取杯 = 20001; + public const int JUICE_取杯检测 = 20010; + public const int JUICE_接咖啡 = 20020; + public const int JUICE_接1号果汁 = 20030; + public const int JUICE_接2号果汁 = 20040; + public const int JUICE_接3号果汁 = 20050; + public const int JUICE_接4号果汁 = 20060; + public const int JUICE_接茶 = 20070; + public const int JUICE_接茶水 = 20075; + public const int JUICE_接水 = 20080; + + public const int JUICE_放咖啡杯 = 20090; + public const int JUICE_放果汁杯 = 20100; + public const int JUICE_放茶水杯 = 20110; + + public const int JUICE_放杯 = 20120; + public const int JUICE_放杯检测 = 20120; + #endregion + /// + /// + /// 咖啡订单队列 + /// + public ConcurrentQueue morkOrderPushesCoffee = new ConcurrentQueue(); + /// + /// 是否有咖啡杯 + /// + public bool IsHaveCoffeeCup = false; + + /// + /// 咖啡是否制作完成 + /// + public bool MakeCoffeeEnd = false; + + /// + /// 果汁订单队列 + /// + public ConcurrentQueue morkOrderPushesJuicer = new ConcurrentQueue(); + /// + /// 果汁是否在制作中 + /// + public bool IsHaveJuiceCup = false; + /// + /// 咖啡是否制作完成 + /// + public bool MakeJuiceEnd = false; + + /// + /// 做茶订单队列 + /// + public ConcurrentQueue morkOrderPushesTea = new ConcurrentQueue(); + /// + /// 茶或水是否在制作中 + /// + public bool IsHaveTeaWaterCup = false; + /// + /// 咖啡是否制作完成 + /// + public bool MakeTeaEnd = false; + + /// + /// 做开水订单队列 + /// + public ConcurrentQueue morkOrderPushesWater = new ConcurrentQueue(); + + /// + /// 等待取餐订单 + /// + public OrderLocInfo waitMorkOrder = new OrderLocInfo(); + + /// + /// 当前正在制作咖啡 + /// + public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo(); + + /// + /// 订单ID + /// + public string SuborderId = null; + + } + +} diff --git a/BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebeiJC.cs b/BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebeiJC.cs deleted file mode 100644 index 594115af..00000000 --- a/BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebeiJC.cs +++ /dev/null @@ -1,76 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using BPASmartClient.Device; -using System.Collections.Concurrent; - -namespace BPASmartClient.MorkTLebaiJC -{ - public class GVL_MorkTLebaiJC : IStatus - { - /// - /// - /// 咖啡订单队列 - /// - public ConcurrentQueue morkOrderPushesCoffee = new ConcurrentQueue(); - /// - /// 是否有咖啡杯 - /// - public bool IsHaveCoffeeCup = false; - - /// - /// 咖啡是否制作完成 - /// - public bool MakeCoffeeEnd = false; - - /// - /// 果汁订单队列 - /// - public ConcurrentQueue morkOrderPushesJuicer = new ConcurrentQueue(); - /// - /// 果汁是否在制作中 - /// - public bool IsHaveJuiceCup = false; - /// - /// 咖啡是否制作完成 - /// - public bool MakeJuiceEnd = false; - - /// - /// 做茶订单队列 - /// - public ConcurrentQueue morkOrderPushesTea = new ConcurrentQueue(); - /// - /// 茶或水是否在制作中 - /// - public bool IsHaveTeaWaterCup = false; - /// - /// 咖啡是否制作完成 - /// - public bool MakeTeaEnd = false; - - /// - /// 做开水订单队列 - /// - public ConcurrentQueue morkOrderPushesWater = new ConcurrentQueue(); - - /// - /// 等待取餐订单 - /// - public OrderLocInfo waitMorkOrder = new OrderLocInfo(); - - /// - /// 当前正在制作咖啡 - /// - public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo(); - - /// - /// 订单ID - /// - public string SuborderId = null; - - } - -} diff --git a/BPASmartClient.MorkT_BarCounter/BPASmartClient.MorkT_BarCounter.csproj b/BPASmartClient.MorkT_BarCounter/BPASmartClient.MorkT_BarCounter.csproj new file mode 100644 index 00000000..c9f3d027 --- /dev/null +++ b/BPASmartClient.MorkT_BarCounter/BPASmartClient.MorkT_BarCounter.csproj @@ -0,0 +1,20 @@ + + + + net6.0 + enable + enable + + + + + + + + + + + + + + diff --git a/BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs b/BPASmartClient.MorkT_BarCounter/Control_MorkT_BarCounter.cs similarity index 73% rename from BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs rename to BPASmartClient.MorkT_BarCounter/Control_MorkT_BarCounter.cs index cd59083a..27ed9659 100644 --- a/BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs +++ b/BPASmartClient.MorkT_BarCounter/Control_MorkT_BarCounter.cs @@ -19,7 +19,7 @@ using BPASmartClient.Model.乐白机器人; using BPASmartClient.Model.单片机; using BPASmartClient.Model.PLC; -namespace BPASmartClient.MorkT_Show +namespace BPASmartClient.MorkT_BarCounter { /* * 冰淇淋咖啡机组合套装 @@ -31,7 +31,7 @@ namespace BPASmartClient.MorkT_Show * 9: 茶 * 10: 茶杯 */ - public class Control_MORKJC_Show : BaseDevice + public class Control_MorkT_BarCounter : BaseDevice { private Dictionary batchings = new Dictionary(); //容器位置 @@ -40,11 +40,15 @@ namespace BPASmartClient.MorkT_Show private string mainMaterialLoc; public override global::BPA.Message.Enum.DeviceClientType DeviceType { get { return BPA.Message.Enum.DeviceClientType.MORKT; } } - GVL_MorkTLebaiJC morkTLebaiJC =new GVL_MorkTLebaiJC(); + GVL_MorkT morkTJaka =new GVL_MorkT(); /// /// 果汁机做法，true:热饮，false:冷饮 /// private bool GuMake = false; + /// + /// 订单是否加冰 + /// + private bool IsAddIce = false; public override void DoMain() { if (Json.Data.IsVerify) @@ -55,7 +59,7 @@ namespace BPASmartClient.MorkT_Show serverInit(); DataParse(); ActionManage.GetInstance.Register(new Action((o) => { SimOrder(o); }), "SimOrder");//模拟订单委托注册 - + } private void serverInit() @@ -110,9 +114,10 @@ namespace BPASmartClient.MorkT_Show switch (currentGoodsType) { case GOODS_TYPE.COFFEE: - if (morkTLebaiJC.morkOrderPushesCoffee.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + IsAddIce = order.MorkOrder.MakeID == "3";//判断是否加冰 + if (morkTJaka.morkOrderPushesCoffee.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) { - morkTLebaiJC.morkOrderPushesCoffee.Enqueue(new OrderLocInfo() + morkTJaka.morkOrderPushesCoffee.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, @@ -122,22 +127,22 @@ namespace BPASmartClient.MorkT_Show } break; case GOODS_TYPE.JUICE: - GuMake = order.MorkOrder.MakeID == "2";//判断果汁的冷热 - if (morkTLebaiJC.morkOrderPushesJuicer.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + if (morkTJaka.morkOrderPushesJuicer.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) { - morkTLebaiJC.morkOrderPushesJuicer.Enqueue(new OrderLocInfo() + morkTJaka.morkOrderPushesJuicer.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, Loc = ushort.Parse(mainMaterialLoc), GoodName = order.MorkOrder.GoodsName, + MakeID = ushort.Parse(order.MorkOrder.MakeID), }); } break; case GOODS_TYPE.TEA: - if (morkTLebaiJC.morkOrderPushesTea.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + if (morkTJaka.morkOrderPushesTea.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) { - morkTLebaiJC.morkOrderPushesTea.Enqueue(new OrderLocInfo() + morkTJaka.morkOrderPushesTea.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, @@ -147,9 +152,9 @@ namespace BPASmartClient.MorkT_Show } break; case GOODS_TYPE.WATER: - if (morkTLebaiJC.morkOrderPushesWater.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + if (morkTJaka.morkOrderPushesWater.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) { - morkTLebaiJC.morkOrderPushesWater.Enqueue(new OrderLocInfo() + morkTJaka.morkOrderPushesWater.Enqueue(new OrderLocInfo() { SuborderId = order.MorkOrder.SuborderId, BatchingId = res.BatchingId, @@ -183,8 +188,8 @@ namespace BPASmartClient.MorkT_Show { EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) { - if (morkTLebaiJC.IsHaveCoffeeCup) - morkTLebaiJC.MakeCoffeeEnd = true; + if (morkTJaka.IsHaveCoffeeCup) + morkTJaka.MakeCoffeeEnd = true; }); if (pickUpCoffeeHaveCup) { @@ -196,12 +201,12 @@ namespace BPASmartClient.MorkT_Show else if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 180 && bFirstTrig_Coffee == true) { bFirstTrig_Coffee = false; - if (morkTLebaiJC.IsHaveCoffeeCup) - morkTLebaiJC.MakeCoffeeEnd = true; + if (morkTJaka.IsHaveCoffeeCup) + morkTJaka.MakeCoffeeEnd = true; } } - if (morkTLebaiJC.IsHaveJuiceCup) + if (morkTJaka.IsHaveJuiceCup) { var Juicestate = GetStatus("GetDeviceStatus"); if (Juicestate != null) @@ -212,7 +217,7 @@ namespace BPASmartClient.MorkT_Show var Juicestate2 = Juicestate[1]; if (Juicestate1.IndexOf("0") == 1 && Juicestate2 == 0) { - morkTLebaiJC.MakeJuiceEnd = true; + morkTJaka.MakeJuiceEnd = true; } } } @@ -225,10 +230,10 @@ namespace BPASmartClient.MorkT_Show else if (DateTime.Now.Subtract(delayTimeOut_Juice).TotalSeconds > 30 && bFirstTrig_Juice==true) { bFirstTrig_Juice = false; - morkTLebaiJC.MakeJuiceEnd = true; + morkTJaka.MakeJuiceEnd = true; } } - if (morkTLebaiJC.IsHaveTeaWaterCup) + if (morkTJaka.IsHaveTeaWaterCup) { if (!bFirstTrig_TeaWater) { @@ -238,7 +243,7 @@ namespace BPASmartClient.MorkT_Show else if (DateTime.Now.Subtract(delayTimeOut_Water).TotalSeconds >= 50 && bFirstTrig_TeaWater == true)//接水超过50s后，启动接水完成标志，开启接水程序 { bFirstTrig_TeaWater = false; - morkTLebaiJC.MakeTeaEnd = true; + morkTJaka.MakeTeaEnd = true; } } DoCoffee(); @@ -329,22 +334,22 @@ namespace BPASmartClient.MorkT_Show private bool IsMakeCoffee() { - bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesCoffee.Count > 0 && !morkTLebaiJC.IsHaveCoffeeCup) ? true : false; + bool bMake = (IsHealth && morkTJaka.morkOrderPushesCoffee.Count > 0 && !morkTJaka.IsHaveCoffeeCup) ? true : false; return bMake; } private bool IsMakeJuice() { - bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesJuicer.Count > 0 && !morkTLebaiJC.IsHaveJuiceCup) ? true : false; + bool bMake = (IsHealth && morkTJaka.morkOrderPushesJuicer.Count > 0 && !morkTJaka.IsHaveJuiceCup) ? true : false; return bMake; } private bool IsMakeTeaWater() { - bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesTea.Count > 0 && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false; + bool bMake = (IsHealth && morkTJaka.morkOrderPushesTea.Count > 0 && !morkTJaka.IsHaveTeaWaterCup) ? true : false; return bMake; } private bool IsMakeWater() { - bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesWater.Count > 0 && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false; + bool bMake = (IsHealth && morkTJaka.morkOrderPushesWater.Count > 0 && !morkTJaka.IsHaveTeaWaterCup) ? true : false; return bMake; } /// @@ -354,104 +359,122 @@ namespace BPASmartClient.MorkT_Show { if (IsMakeCoffee()) { - if (morkTLebaiJC.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc)) + if (morkTJaka.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc)) { PickUpCoffee();//接咖啡 - morkTLebaiJC.IsHaveCoffeeCup = true; + morkTJaka.IsHaveCoffeeCup = true; } } - else if(morkTLebaiJC.MakeCoffeeEnd) + else if(morkTJaka.MakeCoffeeEnd) { PutCoffeeCup(); pickUpCoffeeHaveCup = false; - morkTLebaiJC.IsHaveCoffeeCup = false; + morkTJaka.IsHaveCoffeeCup = false; } } private void DoJuice() { if (IsMakeJuice()) { - if (morkTLebaiJC.morkOrderPushesJuicer.TryDequeue(out OrderLocInfo orderLoc)) + if (morkTJaka.morkOrderPushesJuicer.TryDequeue(out OrderLocInfo orderLoc)) { + switch (morkTJaka.morkOrderPushesJuicer.ElementAt(0).Loc) + { + case 1: + GuMake = true; + IsAddIce = false; + break; + case 2: + GuMake = false; + IsAddIce = false; + break; + case 3: + GuMake = false; + IsAddIce = true; + break; + default: + break; + } PickUpJuicer(); - morkTLebaiJC.IsHaveJuiceCup = true; + morkTJaka.IsHaveJuiceCup = true; } } - else if (morkTLebaiJC.MakeJuiceEnd) + else if (morkTJaka.MakeJuiceEnd) { Thread.Sleep(5000);//延迟五秒，防止接饮料口滴饮料 putJuice(); pickUpJuiceHaveCup = false; - morkTLebaiJC.IsHaveJuiceCup = false; - morkTLebaiJC.MakeJuiceEnd = false; + morkTJaka.IsHaveJuiceCup = false; + morkTJaka.MakeJuiceEnd = false; } } private void DoBoiledTea() { if (IsMakeTeaWater()) { - if (morkTLebaiJC.morkOrderPushesTea.TryDequeue(out OrderLocInfo orderLoc)) + if (morkTJaka.morkOrderPushesTea.TryDequeue(out OrderLocInfo orderLoc)) { PickUpTea(); - morkTLebaiJC.IsHaveTeaWaterCup = true; + morkTJaka.IsHaveTeaWaterCup = true; } } - else if(morkTLebaiJC.MakeTeaEnd) + else if(morkTJaka.MakeTeaEnd) { PutWaterCup(); pickUpHotWaterHaveCup = false; - morkTLebaiJC.IsHaveTeaWaterCup = false ; - morkTLebaiJC.MakeTeaEnd = false; + morkTJaka.IsHaveTeaWaterCup = false ; + morkTJaka.MakeTeaEnd = false; } } private void DoBoiledWater() { if (IsMakeWater()) { - if (morkTLebaiJC.morkOrderPushesWater.TryDequeue(out OrderLocInfo orderLoc)) + if (morkTJaka.morkOrderPushesWater.TryDequeue(out OrderLocInfo orderLoc)) { PickUpWater(); } } - else if (morkTLebaiJC.MakeTeaEnd) + else if (morkTJaka.MakeTeaEnd) { PutWaterCup(); pickUpHotWaterHaveCup = false; - morkTLebaiJC.IsHaveTeaWaterCup = false; - morkTLebaiJC.MakeTeaEnd = false; + morkTJaka.IsHaveTeaWaterCup = false; + morkTJaka.MakeTeaEnd = false; } } + #region 做咖啡流程 /// /// 接咖啡 /// private void PickUpCoffee() { - //while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 - //{ - // if (!outCupCheck) - // DeviceProcessLogShow("成品处有纸杯存在，请取走！！"); - // outCupCheck = true; - //} if (!pickUpCoffeeHaveCup) { outCupCheck = false; - OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + OrderChange(morkTJaka.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); int resultTakeCup = takeCup(); if (resultTakeCup == 1) { + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); + Wait(); + + WritePLCData("",2);//将轴移动到接咖啡的位置 + DeviceProcessLogShow("咖啡杯取杯完成"); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接咖啡); + Sence(GVL_MorkT.接咖啡); Wait(); pickUpCoffeeHaveCup = true; - new DRCoffee_MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish(); //接咖啡控制 //DrCoffeeDrinksCode.热水 + new DRCoffee_MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)(morkTJaka.morkOrderPushesCoffee.ElementAt(0).Loc) }.Publish(); //接咖啡控制 //DrCoffeeDrinksCode.热水 } else { DeviceProcessLogShow("取杯失败 回到初始位，请及时处理！！"); - Sence(JuicerModel.JUICE2_初始位); + Sence(GVL_MorkT.机器人初始位); } } } @@ -468,9 +491,14 @@ namespace BPASmartClient.MorkT_Show } outCupCheck = false; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放咖啡杯); + Sence(GVL_MorkT.机器人安全位); Wait(); - OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + + WritePLCData("", 2);//将轴移动到接咖啡的位置 + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放咖啡杯); + Wait(); + OrderChange(morkTJaka.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); DeviceProcessLogShow("咖啡制作完成"); } #endregion @@ -483,12 +511,12 @@ namespace BPASmartClient.MorkT_Show #region 接水流程 if (!pickUpHotWaterHaveCup) { - OrderChange(morkTLebaiJC.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + OrderChange(morkTJaka.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); int resultTakeCup = takeCup(); if (resultTakeCup == 1) { new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接开水); + Sence(GVL_MorkT.接开水); Wait(); Output(false, 1); Output(false, 0); @@ -521,13 +549,13 @@ namespace BPASmartClient.MorkT_Show #region 接茶流程 if (!pickUpHotWaterHaveCup) { - OrderChange(morkTLebaiJC.morkOrderPushesTea.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + OrderChange(morkTJaka.morkOrderPushesTea.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); int resultTakeCup = takeCup(); if (resultTakeCup == 1) { DeviceProcessLogShow("取茶杯完成"); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接茶叶); + Sence(GVL_MorkT.接茶叶); Wait(); new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 90 }.Publish(); @@ -538,7 +566,7 @@ namespace BPASmartClient.MorkT_Show Thread.Sleep(3000); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接茶水); + Sence(GVL_MorkT.接茶水); Wait(); Output(false, 1); Output(false, 0); @@ -575,9 +603,9 @@ namespace BPASmartClient.MorkT_Show } outCupCheck = false; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放水杯); + Sence(GVL_MorkT.放水杯); Wait(); - OrderChange(morkTLebaiJC.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + OrderChange(morkTJaka.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); DeviceProcessLogShow("茶水制作完成"); } @@ -587,6 +615,32 @@ namespace BPASmartClient.MorkT_Show /// 果汁机控制信号 /// private byte JuicerNum; + + private void getIce() + { + IsAddIceNow = IsAddIce; + if (IsAddIce) + { + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.取杯位_机器人安全位); + Wait(); + + WritePLCData("",3);//将模组移动到接冰的位置 + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接冰块); + Wait(); + new StartMakeIce() { }.Publish(); + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接冰_机器人安全位); + Wait(); + } + } + /// + /// 当前订单是否加冰 + /// + private bool IsAddIceNow = false; private int JuiceCH; /// /// 接果汁 @@ -596,11 +650,19 @@ namespace BPASmartClient.MorkT_Show #region 接果汁流程 if (!pickUpJuiceHaveCup) { - OrderChange(morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + OrderChange(morkTJaka.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); int resultTakeCup = takeCup(); - JuiceCH = int.Parse(mainMaterialLoc); + JuiceCH = morkTJaka.morkOrderPushesJuicer.ElementAt(0).Loc; if (resultTakeCup == 1) { + getIce(); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); + Wait(); + WritePLCData("", 3);//将模组移动到接冰的位置 + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接果汁过渡位); + Wait(); switch (JuiceCH) { case 52: @@ -609,7 +671,7 @@ namespace BPASmartClient.MorkT_Show else JuicerNum = 0x01; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁1); + Sence(GVL_MorkT.接果汁1); Wait(); break; case 53: @@ -618,7 +680,7 @@ namespace BPASmartClient.MorkT_Show else JuicerNum = 0x03; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁2); + Sence(GVL_MorkT.接果汁2); Wait(); break; case 54: @@ -627,7 +689,7 @@ namespace BPASmartClient.MorkT_Show else JuicerNum = 0x05; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁3); + Sence(GVL_MorkT.接果汁3); Wait(); break; case 55: @@ -636,13 +698,13 @@ namespace BPASmartClient.MorkT_Show else JuicerNum = 0x07; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁4); + Sence(GVL_MorkT.接果汁4); Wait(); break; default: JuicerNum = 0x00; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_接果汁1); + Sence(GVL_MorkT.接果汁1); Wait(); break; } @@ -672,31 +734,31 @@ namespace BPASmartClient.MorkT_Show { case 52: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯1); + Sence(GVL_MorkT.放果汁杯1); Wait(); break; case 53: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯2); + Sence(GVL_MorkT.放果汁杯2); Wait(); break; case 54: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯3); + Sence(GVL_MorkT.放果汁杯3); Wait(); break; case 55: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯4); + Sence(GVL_MorkT.放果汁杯4); Wait(); break; default: new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_放果汁杯1); + Sence(GVL_MorkT.放果汁杯1); Wait(); break; } - OrderChange(morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + OrderChange(morkTJaka.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); DeviceProcessLogShow("果汁制作完成"); } #endregion @@ -706,10 +768,6 @@ namespace BPASmartClient.MorkT_Show /// private int nCnt; /// - /// 传感器的检测次数 - /// - private int checkCnt; - /// /// 取杯流程 /// /// 0:无意义，1：取杯成功 2：取杯失败 @@ -719,32 +777,28 @@ namespace BPASmartClient.MorkT_Show { nCnt = 0; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_初始位); + Sence(GVL_MorkT.机器人初始位); + Wait(); + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); Wait(); + WritePLCData("", SendToPlc.取杯); + if (!morkTJaka.sensorGetCup) + { + WritePLCData("", 2); + } + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_取纸杯); + Sence(GVL_MorkT.取纸杯); Wait(); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_取纸杯检测); + Sence(GVL_MorkT.取纸杯检测); Wait(); nCnt++; Thread.Sleep(2000); - while (checkCnt < 3) - { - if (!GetStatus("GetInput")) - { - new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_再检测); - Wait(); - } - else - { - break; - } - checkCnt++; - } - checkCnt = 0; while (!GetStatus("GetInput")) //读取传感器的值 { if (nCnt > 3) @@ -752,7 +806,10 @@ namespace BPASmartClient.MorkT_Show nCnt = 0; DeviceProcessLogShow("三次取杯失败，回原点"); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_检测位回原点); + Sence(GVL_MorkT.机器人安全位); + Wait(); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人初始位); Wait(); return 2; } @@ -760,30 +817,19 @@ namespace BPASmartClient.MorkT_Show { nCnt++; new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_二次取杯); + Sence(GVL_MorkT.二次取杯); Wait(); new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_取纸杯检测); + Sence(GVL_MorkT.取纸杯检测); Wait(); - checkCnt = 0; - while (checkCnt < 3) - { - if (!GetStatus("GetInput")) - { - new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); - Sence(JuicerModel.JUICE2_再检测); - Wait(); - } - else - { - checkCnt = 0; - return 1; - } - checkCnt++; - } + } Thread.Sleep(1000); } + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.取杯位_机器人安全位); + Wait(); + return 1; } catch (Exception ex) { @@ -799,11 +845,11 @@ namespace BPASmartClient.MorkT_Show { try { - if (GetStatus("RobotValue1")) return 2; - Sence(JuicerModel.JUICE_放杯); + if (GetStatus("GetInput2")) return 2; + Sence(GVL_MorkT.JUICE_放杯); Wait(); new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish(); - Sence(JuicerModel.JUICE_放杯检测); + Sence(GVL_MorkT.JUICE_放杯检测); Wait(); new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish(); if (GetStatus("GetInput2")) @@ -831,21 +877,41 @@ namespace BPASmartClient.MorkT_Show { EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value }); } - - public override void Stop() + private void GetStatus(string key, Action action) { + if (peripheralStatus.ContainsKey(key)) + { + if (peripheralStatus[key] != null) + { + action?.Invoke(peripheralStatus[key]); + } + } } public override void ReadData() + { + GetStatus("", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 24) + { + + } + })); + } + #endregion + public override void Stop() { } public override void ResetProgram() { + } + public override void SimOrder() { + } } } diff --git a/BPASmartClient.MorkT_BarCounter/GVL_MorkT.cs b/BPASmartClient.MorkT_BarCounter/GVL_MorkT.cs new file mode 100644 index 00000000..eff6d4b8 --- /dev/null +++ b/BPASmartClient.MorkT_BarCounter/GVL_MorkT.cs @@ -0,0 +1,145 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using BPASmartClient.Device; +using System.Collections.Concurrent; + +namespace BPASmartClient.MorkT_BarCounter +{ + public class GVL_MorkT : IStatus + { + #region 果汁机设备MORKT2 Lebai机器人 + public const int 机器人安全位 = 10000;//一个位置（模组可移动，机器人不发生碰撞） + + public const int 机器人初始位 = 10001; + public const int 初始位_机器人安全位 = 10002;//初始位---安全位 + + public const int 取纸杯 = 10005;//安全位---取杯位 + public const int 二次取杯 = 10008;//取纸杯检测位---二次取杯位 + public const int 取纸杯检测 = 10006;//取杯位---取杯检测位 + public const int 取杯位_机器人安全位 = 10002;//取杯检测位---安全位 + + public const int 接咖啡 = 10010;//安全位---接咖啡位 + + public const int 接果汁过渡位 = 10002;//安全位---接果汁过渡位 + public const int 接果汁1 = 10011;//接果汁过渡位---果汁1位 + public const int 接果汁2 = 10012;//接果汁过渡位---果汁2位 + public const int 接果汁3 = 10013;//接果汁过渡位---果汁3位 + public const int 接果汁4 = 10014;//接果汁过渡位---果汁4位 + public const int 接果汁_机器人安全位 = 10002;//接果汁过渡位---安全位 + + public const int 接茶叶 = 10015; + public const int 接茶水 = 10016; + public const int 接开水 = 10017; + public const int 接水_机器人安全位 = 10002; + + public const int 接冰块 = 10018; + public const int 接冰_机器人安全位 = 10002; + + public const int 放咖啡杯 = 10020; + public const int 放果汁杯1 = 10021; + public const int 放果汁杯2 = 10022; + public const int 放果汁杯3 = 10023; + public const int 放果汁杯4 = 10024; + public const int 放水杯 = 10025; + + public const int 放杯 = 10001; + public const int 放杯_机器人安全位 = 10001; + + #endregion + + #region 果汁机设备 MORKT1 JAKA机器人 + public const int JUICE_初始位 = 20000; + public const int JUICE_取杯 = 20001; + public const int JUICE_取杯检测 = 20010; + public const int JUICE_接咖啡 = 20020; + public const int JUICE_接1号果汁 = 20030; + public const int JUICE_接2号果汁 = 20040; + public const int JUICE_接3号果汁 = 20050; + public const int JUICE_接4号果汁 = 20060; + public const int JUICE_接茶 = 20070; + public const int JUICE_接茶水 = 20075; + public const int JUICE_接水 = 20080; + + public const int JUICE_放咖啡杯 = 20090; + public const int JUICE_放果汁杯 = 20100; + public const int JUICE_放茶水杯 = 20110; + + public const int JUICE_放杯 = 20120; + public const int JUICE_放杯检测 = 20120; + #endregion + /// + /// + /// 咖啡订单队列 + /// + public ConcurrentQueue morkOrderPushesCoffee = new ConcurrentQueue(); + /// + /// 是否有咖啡杯 + /// + public bool IsHaveCoffeeCup = false; + + /// + /// 咖啡是否制作完成 + /// + public bool MakeCoffeeEnd = false; + + /// + /// 果汁订单队列 + /// + public ConcurrentQueue morkOrderPushesJuicer = new ConcurrentQueue(); + /// + /// 果汁是否在制作中 + /// + public bool IsHaveJuiceCup = false; + /// + /// 咖啡是否制作完成 + /// + public bool MakeJuiceEnd = false; + + /// + /// 做茶订单队列 + /// + public ConcurrentQueue morkOrderPushesTea = new ConcurrentQueue(); + /// + /// 茶或水是否在制作中 + /// + public bool IsHaveTeaWaterCup = false; + /// + /// 咖啡是否制作完成 + /// + public bool MakeTeaEnd = false; + + /// + /// 做开水订单队列 + /// + public ConcurrentQueue morkOrderPushesWater = new ConcurrentQueue(); + + /// + /// 等待取餐订单 + /// + public OrderLocInfo waitMorkOrder = new OrderLocInfo(); + + /// + /// 当前正在制作咖啡 + /// + public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo(); + + /// + /// 订单ID + /// + public string SuborderId = null; + + #region PLC的变量交互 + /// + /// + /// + public bool sensorGetCup { get; set; } + public bool sensorPutCup { get; set; } + + #endregion + + } + +} diff --git a/BPASmartClient.MorkT_BarCounter/OrderLocInfo.cs b/BPASmartClient.MorkT_BarCounter/OrderLocInfo.cs new file mode 100644 index 00000000..f9cfa8de --- /dev/null +++ b/BPASmartClient.MorkT_BarCounter/OrderLocInfo.cs @@ -0,0 +1,18 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkT_BarCounter +{ + public class OrderLocInfo + { + public string SuborderId { get; set; } + public ushort Loc { get; set; } + public ushort RecipeNumber { get; set; } + public int BatchingId { get; set; } + public string GoodName { get; set; } + public int MakeID { get; set; } + } +} diff --git a/BPASmartClient.MorkT_BarCounter/PolymerBatching.cs b/BPASmartClient.MorkT_BarCounter/PolymerBatching.cs new file mode 100644 index 00000000..bf1d9f48 --- /dev/null +++ b/BPASmartClient.MorkT_BarCounter/PolymerBatching.cs @@ -0,0 +1,152 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkT_BarCounter +{ + internal enum GOODS_TYPE + { + /// + /// 未知 + /// + NEITHER, + /// + /// 咖啡 + /// + COFFEE, + /// + /// 果汁 + /// + JUICE, + /// + /// 茶水 + /// + TEA, + /// + /// 水 + /// + WATER, + /// + /// 杯子 + /// + CUP + } + + internal enum BATCHING_CLASS + { + HOLDER, + MAIN_MATERIAL, + } + + internal class PolymerBatching + { + internal const string Juicer_MAIN_BATCHIN1_LOC = "52"; + internal const string Juicer_MAIN_BATCHIN2_LOC = "53"; + internal const string Juicer_MAIN_BATCHIN3_LOC = "54"; + internal const string Juicer_MAIN_BATCHIN4_LOC = "55"; + //internal const string Juicer_MAIN_BATCHIN5_LOC = "56"; + //internal const string Juicer_MAIN_BATCHIN6_LOC = "57"; + //internal const string Juicer_MAIN_BATCHIN7_LOC = "58"; + //internal const string Juicer_MAIN_BATCHIN8_LOC = "59"; + + internal const string COFFEE_HOLDER_LOC = "30"; + internal const string TEA_HOLDER_LOC = "51"; + public static Dictionary GOODS_TYPES = new Dictionary() { + {"1", GOODS_TYPE.COFFEE}, + {"2", GOODS_TYPE.COFFEE}, + {"3", GOODS_TYPE.COFFEE}, + {"4", GOODS_TYPE.COFFEE}, + {"5", GOODS_TYPE.COFFEE}, + {"6", GOODS_TYPE.COFFEE}, + {"7", GOODS_TYPE.COFFEE}, + {"8", GOODS_TYPE.COFFEE}, + {"9", GOODS_TYPE.COFFEE}, + {"10",GOODS_TYPE.COFFEE}, + {"11",GOODS_TYPE.COFFEE}, + {"12",GOODS_TYPE.COFFEE}, + {"13",GOODS_TYPE.COFFEE}, + {"14",GOODS_TYPE.COFFEE}, + {"15",GOODS_TYPE.COFFEE}, + {"16",GOODS_TYPE.COFFEE}, + {"17",GOODS_TYPE.COFFEE}, + {"18",GOODS_TYPE.COFFEE}, + {"19",GOODS_TYPE.COFFEE}, + {"20",GOODS_TYPE.COFFEE}, + {"21",GOODS_TYPE.COFFEE}, + {"22",GOODS_TYPE.COFFEE}, + {"23",GOODS_TYPE.COFFEE}, + {"24",GOODS_TYPE.COFFEE}, + {"25",GOODS_TYPE.COFFEE}, + { COFFEE_HOLDER_LOC,GOODS_TYPE.CUP}, + {"56",GOODS_TYPE.TEA }, + {"61",GOODS_TYPE.WATER }, + {Juicer_MAIN_BATCHIN1_LOC,GOODS_TYPE.JUICE}, + {Juicer_MAIN_BATCHIN2_LOC,GOODS_TYPE.JUICE}, + {Juicer_MAIN_BATCHIN3_LOC,GOODS_TYPE.JUICE}, + {Juicer_MAIN_BATCHIN4_LOC,GOODS_TYPE.JUICE}, + //{Juicer_MAIN_BATCHIN5_LOC,GOODS_TYPE.JUICE}, + //{Juicer_MAIN_BATCHIN6_LOC,GOODS_TYPE.JUICE}, + //{Juicer_MAIN_BATCHIN7_LOC,GOODS_TYPE.JUICE}, + //{Juicer_MAIN_BATCHIN8_LOC,GOODS_TYPE.JUICE}, + }; + + public GOODS_TYPE GoodsType { get; set; } + public BATCHING_CLASS BatchingClass { get; set; } + private string loc; + + public string Loc + { + get { return loc; } + set + { + loc = value; + if (GOODS_TYPES.ContainsKey(loc)) + GoodsType = GOODS_TYPES[loc]; + switch (loc) + { + case COFFEE_HOLDER_LOC: + case TEA_HOLDER_LOC: + BatchingClass = BATCHING_CLASS.HOLDER; + break; + default: + BatchingClass = BATCHING_CLASS.MAIN_MATERIAL; + break; + } + } + } + + internal static Dictionary BuildAll() + { + Dictionary temp = new Dictionary(); + foreach (var item in GOODS_TYPES) + { + temp.Add(item.Key, new PolymerBatching() { Loc = item.Key }); + } + return temp; + } + + //internal static IC_SE GetIceCreamSE(string loc, out string sence) + //{ + // switch (loc) + // { + // case Juicer_MAIN_BATCHIN1_LOC: + // sence = JaKaHelper.SENCE_接果汁1; + // return IC_SE.SE_1; + + // case Juicer_MAIN_BATCHIN2_LOC: + // sence = JaKaHelper.SENCE_接果汁2; + // return IC_SE.SE_2; + + // case Juicer_MAIN_BATCHIN3_LOC: + // sence = JaKaHelper.SENCE_接果汁3; + // return IC_SE.SE_3; + + // default: + // sence = JaKaHelper.SENCE_接果汁1; + // return IC_SE.SE_1; + // } + //} + } +} diff --git a/BPASmartClient.MorkT_BarCounter/SendToPlc.cs b/BPASmartClient.MorkT_BarCounter/SendToPlc.cs new file mode 100644 index 00000000..09679a07 --- /dev/null +++ b/BPASmartClient.MorkT_BarCounter/SendToPlc.cs @@ -0,0 +1,18 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkT_BarCounter +{ + public enum SendToPlc + { + 取杯, + 咖啡, + 果汁, + 开水, + 落茶, + 制冰, + } +} diff --git a/BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj b/BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Container.csproj similarity index 90% rename from BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj rename to BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Container.csproj index ded7616d..8a1f83a8 100644 --- a/BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj +++ b/BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Container.csproj @@ -11,6 +11,7 @@ + diff --git a/BPASmartClient.MorkT_Show/Control_MorkT_Container.cs b/BPASmartClient.MorkT_Show/Control_MorkT_Container.cs new file mode 100644 index 00000000..4d1768e2 --- /dev/null +++ b/BPASmartClient.MorkT_Show/Control_MorkT_Container.cs @@ -0,0 +1,941 @@ +using System; +using System.Collections.Generic; +using System.Configuration; +using System.Linq; +using System.Threading; +using System.Collections.Concurrent; +using System.Diagnostics; +using System.Threading.Tasks; +using BPASmartClient.Device; +using BPA.Message.Enum; +using BPA.Message; +using BPASmartClient.Helper; +using BPASmartClient.Model.咖啡机.Enum; +using BPASmartClient.Model; +using BPASmartClient.EventBus; +using static BPASmartClient.EventBus.EventBus; +using BPASmartClient.Message; +using BPASmartClient.Model.乐白机器人; +using BPASmartClient.Model.单片机; +using BPASmartClient.Model.PLC; + +namespace BPASmartClient.MorkT_Container +{ + /* + * 冰淇淋咖啡机组合套装 + * 物料位置： + * 1：冰淇料 + * 2：冰淇淋杯 + * 5：咖啡 + * 6：咖啡杯 + * 9: 茶 + * 10: 茶杯 + */ + public class Control_MorkT_Container : BaseDevice + { + private Dictionary batchings = new Dictionary(); + //容器位置 + private string holderLoc; + //主料位置 + private string mainMaterialLoc; + public override global::BPA.Message.Enum.DeviceClientType DeviceType { get { return BPA.Message.Enum.DeviceClientType.MORKT; } } + + GVL_MorkT morkTLebaiJC =new GVL_MorkT(); + /// + /// 果汁机做法，true:热饮，false:冷饮 + /// + private bool GuMake = false; + /// + /// 订单是否加冰 + /// + private bool IsAddIce = false; + public override void DoMain() + { + if (Json.Data.IsVerify) + { + IsHealth = true; + } + IsHealth = true; + serverInit(); + DataParse(); + ActionManage.GetInstance.Register(new Action((o) => { SimOrder(o); }), "SimOrder");//模拟订单委托注册 + + } + + private void serverInit() + { + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (@event == null) return; + if (@event is MaterialDeliveryEvent material) + { + orderMaterialDelivery = material.orderMaterialDelivery; + } + }); + } + private void DataParse() + { + + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle) + { + if (@event == null) return; + if (@event is DoOrderEvent order) + { + if (order.MorkOrder.GoodBatchings == null) return; + OrderCount++; + DeviceProcessLogShow($"接收到{OrderCount}次订单"); + batchings = PolymerBatching.BuildAll(); + //商品类型 + GOODS_TYPE currentGoodsType = GOODS_TYPE.NEITHER; + foreach (var item in order.MorkOrder.GoodBatchings) + { + var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId); + if (res != null) + { + //验证商品是做的某种饮料 + if (ValidateGoodsByBatching(res.BatchingLoc) != GOODS_TYPE.NEITHER) + { + //获取当前物料所属商品类型 + currentGoodsType = ValidateGoodsByBatching(res.BatchingLoc); + } + switch (batchings[res.BatchingLoc].BatchingClass) + { + case BATCHING_CLASS.HOLDER: + holderLoc = res.BatchingLoc; + break; + case BATCHING_CLASS.MAIN_MATERIAL: + mainMaterialLoc = res.BatchingLoc; + break; + } + //根据商品类型执行具体制作流程 + switch (currentGoodsType) + { + case GOODS_TYPE.COFFEE: + + if (morkTLebaiJC.morkOrderPushesCoffee.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesCoffee.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse( mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.JUICE: + + if (morkTLebaiJC.morkOrderPushesJuicer.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesJuicer.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse(mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.TEA: + if (morkTLebaiJC.morkOrderPushesTea.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesTea.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse(mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.WATER: + if (morkTLebaiJC.morkOrderPushesWater.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesWater.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse(mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.NEITHER: + DeviceProcessLogShow("未知的商品类型"); + break; + } + } + } + } + }); + } + /// + /// 将空杯放好到接饮料的地方的标志位 + /// + private bool bFirstTrig_TeaWater = false; + private bool bFirstTrig_Coffee = false; + private bool bFirstTrig_Juice = false; + /// + /// 延迟的超时时间 + /// + DateTime delayTimeOut_Water; + DateTime delayTimeOut_Coffee; + DateTime delayTimeOut_Juice; + public override void MainTask() + { + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (morkTLebaiJC.IsHaveCoffeeCup && morkTLebaiJC.MakeCoffeeEnd != true) + morkTLebaiJC.MakeCoffeeEnd = true; + }); + if (morkTLebaiJC.IsHaveCoffeeCup && morkTLebaiJC.MakeCoffeeEnd != true) + { + if (!bFirstTrig_Coffee) + { + bFirstTrig_Coffee = true; + delayTimeOut_Coffee = DateTime.Now; + } + else if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 18 && bFirstTrig_Coffee == true) + { + bFirstTrig_Coffee = false; + if (morkTLebaiJC.IsHaveCoffeeCup) + morkTLebaiJC.MakeCoffeeEnd = true; + } + } + + if (morkTLebaiJC.IsHaveJuiceCup && morkTLebaiJC.MakeJuiceEnd != true) + { + var Juicestate = GetStatus("GetDeviceStatus"); + if (Juicestate != null) + { + if (Juicestate.Length > 0) + { + var Juicestate1 = Convert.ToString(Juicestate[0], 2); + var Juicestate2 = Juicestate[1]; + if (Juicestate1.IndexOf("0") == 1 && Juicestate2 == 0) + { + morkTLebaiJC.MakeJuiceEnd = true; + bFirstTrig_Juice = false; + } + } + } + if (!morkTLebaiJC.MakeJuiceEnd) + { + //若无状态返回 则加延迟 + if (!bFirstTrig_Juice) + { + bFirstTrig_Juice = true; + delayTimeOut_Juice = DateTime.Now; + } + else if (DateTime.Now.Subtract(delayTimeOut_Juice).TotalSeconds > 3 && bFirstTrig_Juice == true) + { + bFirstTrig_Juice = false; + morkTLebaiJC.MakeJuiceEnd = true; + } + } + } + if (morkTLebaiJC.IsHaveTeaWaterCup && morkTLebaiJC.MakeTeaEnd != true) + { + if (!bFirstTrig_TeaWater) + { + bFirstTrig_TeaWater = true; + delayTimeOut_Water = DateTime.Now;//开启接水信号后，记录当前时间 + } + else if (DateTime.Now.Subtract(delayTimeOut_Water).TotalSeconds >= 5 && bFirstTrig_TeaWater == true)//接水超过50s后，启动接水完成标志，开启接水程序 + { + bFirstTrig_TeaWater = false; + morkTLebaiJC.MakeTeaEnd = true; + } + } + DoCoffee(); + DoJuice(); + DoBoiledTea(); + DoBoiledWater(); + } + + /// + /// 订单状态改变 + /// + /// + /// + private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS) + { + EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType }); + } + /// + /// 验证商品是做的某种饮料 + /// + /// 物料位置 + private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc) + { + if (batchings.ContainsKey(batchingLoc)) + return batchings[batchingLoc].GoodsType; + return GOODS_TYPE.NEITHER; + } + /// + /// 乐白的场景结束等待 + /// + /// + private void Wait(int value = 101) + { + while (!((bool)peripheralStatus["RobotOK"] && (int)peripheralStatus["RobotValue"] == value)) + { + Thread.Sleep(5); + } + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + } + /// + /// 乐白的场景 + /// + /// + private void Sence(int sen) + { + new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = sen }.Publish(); + } + /// + /// 乐白的数字量输出 + /// + /// + /// + private void Output(bool value,int pin) + { + new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Pin = pin,Value=value }.Publish(); + } + + private T GetStatus(string key) + { + if (peripheralStatus.ContainsKey(key)) + { + if (peripheralStatus[key] != null) + { + return (T)(peripheralStatus[key]); + } + } + return default; + } + int[] devStatusBy = new int[2] { 0, 0 }; + bool outCupCheck = false;//放纸杯位置有无判断 + /// + /// 传感器的输入信号 0:无意义 1：有信号 2：无信号 3：信号不正确 + /// + int bSensorInput; + + /// + /// 判断是否有咖啡订单 + /// + /// + private bool IsMakeCoffee() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesCoffee.Count > 0 && !morkTLebaiJC.IsHaveCoffeeCup) ? true : false; + return bMake; + } + /// + /// 判断是否有果汁订单 + /// + /// + private bool IsMakeJuice() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesJuicer.Count > 0 && !morkTLebaiJC.IsHaveJuiceCup) ? true : false; + return bMake; + } + /// + /// 判断是否有茶订单 + /// + /// + private bool IsMakeTeaWater() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesTea.Count > 0 && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false; + return bMake; + } + /// + /// 判断是否有开水订单 + /// + /// + private bool IsMakeWater() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesWater.Count > 0 && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false; + return bMake; + } + /// + /// 做咖啡流程 + /// + private void DoCoffee() + { + if (IsMakeCoffee()) + { + PickUpCoffee();//接咖啡 + morkTLebaiJC.IsHaveCoffeeCup = true; + } + else if(morkTLebaiJC.MakeCoffeeEnd) + { + try + { + PutCoffeeCup(); + morkTLebaiJC.MakeCoffeeEnd = false; + morkTLebaiJC.IsHaveCoffeeCup = false; + morkTLebaiJC.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc); + } + catch (Exception ex) + { + MessageLog.GetInstance.ShowEx(ex.ToString()); + } + } + } + private void DoJuice() + { + if (IsMakeJuice()) + { + switch (morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).Loc) + { + case 1: + GuMake = true; + IsAddIce = false; + break; + case 2: + GuMake = false; + IsAddIce = false; + break; + case 3: + GuMake = false; + IsAddIce = true; + break; + default: + break; + } + PickUpJuicer(); + morkTLebaiJC.IsHaveJuiceCup = true; + } + else if (morkTLebaiJC.MakeJuiceEnd) + { + try + { + Thread.Sleep(5000);//延迟五秒，防止饮料口滴饮料 + putJuice(); + morkTLebaiJC.IsHaveJuiceCup = false; + morkTLebaiJC.MakeJuiceEnd = false; + morkTLebaiJC.morkOrderPushesJuicer.TryDequeue(out OrderLocInfo orderLoc); + } + catch (Exception ex) + { + MessageLog.GetInstance.ShowEx(ex.ToString()); + } + } + } + public bool DoTeaOrWater; + private void DoBoiledTea() + { + if (IsMakeTeaWater()) + { + PickUpTea(); + morkTLebaiJC.IsHaveTeaWaterCup = true; + DoTeaOrWater = true; + } + else if (morkTLebaiJC.MakeTeaEnd && morkTLebaiJC.morkOrderPushesTea.Count > 0 && DoTeaOrWater) + { + try + { + PutWaterCup(); + DeviceProcessLogShow("-------------茶 制作完成------------"); + OrderChange(morkTLebaiJC.morkOrderPushesTea.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + morkTLebaiJC.IsHaveTeaWaterCup = false; + morkTLebaiJC.MakeTeaEnd = false; + morkTLebaiJC.morkOrderPushesTea.TryDequeue(out OrderLocInfo orderLoc); + } + catch (Exception ex) + { + MessageLog.GetInstance.ShowEx(ex.ToString()); + } + } + } + private void DoBoiledWater() + { + if (IsMakeWater()) + { + PickUpWater(); + morkTLebaiJC.IsHaveTeaWaterCup = true; + DoTeaOrWater = false; + } + else if (morkTLebaiJC.MakeTeaEnd && morkTLebaiJC.morkOrderPushesWater.Count > 0 && DoTeaOrWater == false) + { + try + { + PutWaterCup(); + DeviceProcessLogShow("-------------开水 制作完成------------"); + OrderChange(morkTLebaiJC.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + morkTLebaiJC.IsHaveTeaWaterCup = false; + morkTLebaiJC.MakeTeaEnd = false; + morkTLebaiJC.morkOrderPushesWater.TryDequeue(out OrderLocInfo orderLoc); + } + catch (Exception ex) + { + MessageLog.GetInstance.ShowEx(ex.ToString()); + } + } + } + + + #region 做咖啡流程 + /// + /// 接咖啡 + /// + private void PickUpCoffee() + { + if (!morkTLebaiJC.IsHaveCoffeeCup) + { + outCupCheck = false; + OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + if (resultTakeCup == 1) + { + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); + //Wait(); + + WritePLCData("",2);//将轴移动到接咖啡的位置 + DeviceProcessLogShow("伺服电机移动到接咖啡的位置"); + + DeviceProcessLogShow("咖啡杯取杯完成"); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接咖啡); + //Wait(); + new DRCoffee_MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish(); //接咖啡控制 //DrCoffeeDrinksCode.热水 + } + else + { + /*DeviceProcessLogShow("取杯失败 回到初始位，请及时处理！！"); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人初始位); + //Wait();*/ + } + } + } + /// + /// 咖啡杯接好，放咖啡杯 + /// + private void PutCoffeeCup() + { + while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 + { + if (!outCupCheck) + DeviceProcessLogShow("成品处有纸杯存在，请取走！！"); + outCupCheck = true; + } + outCupCheck = false; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); + //Wait(); + + WritePLCData("", 2);//将轴移动到接咖啡的位置 + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放咖啡杯); + //Wait(); + OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + DeviceProcessLogShow($"-------------{morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).GoodName}果汁 制作完成------------"); + } + #endregion + #region 做开水流程 + /// + /// 接开水 + /// + private void PickUpWater() + { + #region 接水流程 + if (!morkTLebaiJC.IsHaveTeaWaterCup) + { + OrderChange(morkTLebaiJC.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + if (resultTakeCup == 1) + { + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接开水); + //Wait(); + Output(false, 1); + Output(false, 0); + Thread.Sleep(100); + Output(true, 0); + Thread.Sleep(3000); + Output(false, 0); + Thread.Sleep(100); + + Output(false, 1); + Thread.Sleep(100); + Output(true, 1); + Thread.Sleep(500); + Output(false, 1); + } + else + { + return; + } + } + #endregion + } + #endregion + #region 做茶流程 + /// + /// 做茶 + /// + private void PickUpTea() + { + #region 接茶流程 + if (!morkTLebaiJC.IsHaveTeaWaterCup) + { + OrderChange(morkTLebaiJC.morkOrderPushesTea.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + if (resultTakeCup == 1) + { + DeviceProcessLogShow("取茶杯完成"); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接茶叶); + //Wait(); + + new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 90 }.Publish(); + Thread.Sleep(1000); + new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 150 }.Publish(); + Thread.Sleep(1000); + new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 90 }.Publish(); + + Thread.Sleep(3000); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接茶水); + //Wait(); + Output(false, 1); + Output(false, 0); + Thread.Sleep(100); + Output(true, 0); + Thread.Sleep(3000); + Output(false, 0); + Thread.Sleep(100); + + Output(false, 1); + Thread.Sleep(100); + Output(true, 1); + Thread.Sleep(500); + Output(false, 1); + morkTLebaiJC.IsHaveTeaWaterCup = true; + } + else + { + return; + } + } + #endregion + } + /// + /// 放水杯流程 + /// + private void PutWaterCup() + { + while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 + { + if (!outCupCheck) + DeviceProcessLogShow("成品处有纸杯存在，请取走！！"); + outCupCheck = true; + } + outCupCheck = false; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放水杯); + } + + #endregion + #region 做果汁流程 + /// + /// 果汁机控制信号 + /// + private byte JuicerNum; + + private void getIce() + { + IsAddIceNow = IsAddIce; + if (IsAddIce) + { + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.取杯位_机器人安全位); + //Wait(); + + WritePLCData("",3);//将模组移动到接冰的位置 + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接冰块); + //Wait(); + new StartMakeIce() { }.Publish(); + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接冰_机器人安全位); + //Wait(); + } + } + /// + /// 当前订单是否加冰 + /// + private bool IsAddIceNow = false; + private int JuiceCH; + /// + /// 接果汁 + /// + private void PickUpJuicer() + { + #region 接果汁流程 + if (!morkTLebaiJC.IsHaveJuiceCup) + { + OrderChange(morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + JuiceCH = int.Parse(mainMaterialLoc); + if (resultTakeCup == 1) + { + getIce(); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); + //Wait(); + WritePLCData("", 3);//将模组移动到接冰的位置 + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接果汁过渡位); + //Wait(); + switch (JuiceCH) + { + case 52: + if (GuMake) + JuicerNum = 0x00; + else + JuicerNum = 0x01; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接果汁1); + //Wait(); + break; + case 53: + if (GuMake) + JuicerNum = 0x02; + else + JuicerNum = 0x03; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接果汁2); + //Wait(); + break; + case 54: + if (GuMake) + JuicerNum = 0x04; + else + JuicerNum = 0x05; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接果汁3); + //Wait(); + break; + case 55: + if (GuMake) + JuicerNum = 0x06; + else + JuicerNum = 0x07; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接果汁4); + //Wait(); + break; + default: + JuicerNum = 0x00; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.接果汁1); + //Wait(); + break; + } + new WriteJuicer() { Value = JuicerNum }.Publish(); + morkTLebaiJC.IsHaveJuiceCup = true; + } + else + { + return; + } + } + #endregion + } + /// + /// 取接好果汁杯 + /// + private void putJuice() + { + while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 + { + if (!outCupCheck) + DeviceProcessLogShow("成品处有纸杯存在，请取走！！"); + outCupCheck = true; + } + outCupCheck = false; + switch (JuiceCH) + { + case 52: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放果汁杯1); + //Wait(); + break; + case 53: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放果汁杯2); + //Wait(); + break; + case 54: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放果汁杯3); + //Wait(); + break; + case 55: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放果汁杯4); + //Wait(); + break; + default: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.放果汁杯1); + //Wait(); + break; + } + OrderChange(morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + DeviceProcessLogShow($"-------------{morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).GoodName}果汁 制作完成------------"); + } + #endregion + + /// + /// 取杯的次数 + /// + private int nCnt; + /// + /// 取杯流程 + /// + /// 0:无意义，1：取杯成功 2：取杯失败 + private int takeCup() + { + try + { + nCnt = 0; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人初始位); + //Wait(); + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); + //Wait(); + + WritePLCData("", 1); + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.取纸杯); + //Wait(); + + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.取纸杯检测); + //Wait(); + nCnt++; + Thread.Sleep(2000); + while (!GetStatus("GetInput")) //读取传感器的值 + { + if (nCnt > 3) + { + nCnt = 0; + DeviceProcessLogShow("三次取杯失败，回原点"); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人安全位); + //Wait(); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.机器人初始位); + //Wait(); + return 2; + } + else + { + nCnt++; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.二次取杯); + //Wait(); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.取纸杯检测); + //Wait(); + + } + Thread.Sleep(1000); + } + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(GVL_MorkT.取杯位_机器人安全位); + //Wait(); + return 1; + } + catch (Exception ex) + { + DeviceProcessLogShow(ex.ToString()); + } + return 2; + } + /// + /// 放杯 + /// + /// 0:无意义 1：放杯成功 2：执行失败(传感器还有信号) 3：放杯异常 + private int putCup() + { + try + { + if (GetStatus("GetInput2")) return 2; + Sence(GVL_MorkT.JUICE_放杯); + //Wait(); + new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish(); + Sence(GVL_MorkT.JUICE_放杯检测); + //Wait(); + new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish(); + if (GetStatus("GetInput2")) + { + return 1; + } + else + { + return 3; + } + } + catch (Exception ex) + { + DeviceProcessLogShow(ex.ToString()); + return 0; + } + } + public void SimOrder(T simOrder) + { + + } + #region PLC 控制函数 + + private void WritePLCData(string address, object value) + { + EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value }); + } + private void GetStatus(string key, Action action) + { + if (peripheralStatus.ContainsKey(key)) + { + if (peripheralStatus[key] != null) + { + action?.Invoke(peripheralStatus[key]); + } + } + } + + public override void ReadData() + { + GetStatus("", new Action((obj) => + { + if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 24) + { + + } + })); + } + #endregion + public override void Stop() + { + + } + + public override void ResetProgram() + { + + } + + public override void SimOrder() + { + + } + } +} diff --git a/BPASmartClient.MorkT_Show/GVL_MorkT.cs b/BPASmartClient.MorkT_Show/GVL_MorkT.cs new file mode 100644 index 00000000..2d800913 --- /dev/null +++ b/BPASmartClient.MorkT_Show/GVL_MorkT.cs @@ -0,0 +1,137 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using BPASmartClient.Device; +using System.Collections.Concurrent; + +namespace BPASmartClient.MorkT_Container +{ + public class GVL_MorkT : IStatus + { + #region 果汁机设备MORKT2 Lebai机器人 + public const int 机器人安全位 = 10000;//一个位置（模组可移动，机器人不发生碰撞） + + public const int 机器人初始位 = 10001; + public const int 初始位_机器人安全位 = 10002;//初始位---安全位 + + public const int 取纸杯 = 10005;//安全位---取杯位 + public const int 二次取杯 = 10008;//取纸杯检测位---二次取杯位 + public const int 取纸杯检测 = 10006;//取杯位---取杯检测位 + public const int 取杯位_机器人安全位 = 10002;//取杯检测位---安全位 + + public const int 接咖啡 = 10010;//安全位---接咖啡位 + + public const int 接果汁过渡位 = 10002;//安全位---接果汁过渡位 + public const int 接果汁1 = 10011;//接果汁过渡位---果汁1位 + public const int 接果汁2 = 10012;//接果汁过渡位---果汁2位 + public const int 接果汁3 = 10013;//接果汁过渡位---果汁3位 + public const int 接果汁4 = 10014;//接果汁过渡位---果汁4位 + public const int 接果汁_机器人安全位 = 10002;//接果汁过渡位---安全位 + + public const int 接茶叶 = 10015; + public const int 接茶水 = 10016; + public const int 接开水 = 10017; + public const int 接水_机器人安全位 = 10002; + + public const int 接冰块 = 10018; + public const int 接冰_机器人安全位 = 10002; + + public const int 放咖啡杯 = 10020; + public const int 放果汁杯1 = 10021; + public const int 放果汁杯2 = 10022; + public const int 放果汁杯3 = 10023; + public const int 放果汁杯4 = 10024; + public const int 放水杯 = 10025; + + public const int 放杯 = 10001; + public const int 放杯_机器人安全位 = 10001; + + #endregion + + #region 果汁机设备 MORKT1 JAKA机器人 + public const int JUICE_初始位 = 20000; + public const int JUICE_取杯 = 20001; + public const int JUICE_取杯检测 = 20010; + public const int JUICE_接咖啡 = 20020; + public const int JUICE_接1号果汁 = 20030; + public const int JUICE_接2号果汁 = 20040; + public const int JUICE_接3号果汁 = 20050; + public const int JUICE_接4号果汁 = 20060; + public const int JUICE_接茶 = 20070; + public const int JUICE_接茶水 = 20075; + public const int JUICE_接水 = 20080; + + public const int JUICE_放咖啡杯 = 20090; + public const int JUICE_放果汁杯 = 20100; + public const int JUICE_放茶水杯 = 20110; + + public const int JUICE_放杯 = 20120; + public const int JUICE_放杯检测 = 20120; + #endregion + /// + /// + /// 咖啡订单队列 + /// + public ConcurrentQueue morkOrderPushesCoffee = new ConcurrentQueue(); + /// + /// 是否有咖啡杯 + /// + public bool IsHaveCoffeeCup = false; + /// + /// 出咖啡完成，是否取咖啡杯 + /// + public bool MakeCoffeeEnd = false; + + /// + /// 果汁订单队列 + /// + public ConcurrentQueue morkOrderPushesJuicer = new ConcurrentQueue(); + /// + /// 是否有果汁杯 + /// + public bool IsHaveJuiceCup = false; + /// + /// 出果汁完成，是否去取果汁 + /// + public bool MakeJuiceEnd = false; + + /// + /// 做茶订单队列 + /// + public ConcurrentQueue morkOrderPushesTea = new ConcurrentQueue(); + /// + /// 接水口是否有茶水杯 + /// + public bool IsHaveTeaWaterCup = false; + /// + /// 水已经接完，是否去取水杯 + /// + public bool MakeTeaEnd = false; + + /// + /// 做开水订单队列 + /// + public ConcurrentQueue morkOrderPushesWater = new ConcurrentQueue(); + + /// + /// 等待取餐订单 + /// + public OrderLocInfo waitMorkOrder = new OrderLocInfo(); + + /// + /// 当前正在制作咖啡 + /// + public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo(); + + /// + /// 订单ID + /// + public string SuborderId = null; + + + + } + +} diff --git a/BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs b/BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs deleted file mode 100644 index 0460871d..00000000 --- a/BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs +++ /dev/null @@ -1,76 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using BPASmartClient.Device; -using System.Collections.Concurrent; - -namespace BPASmartClient.MorkT_Show -{ - public class GVL_MorkTLebaiJC : IStatus - { - /// - /// - /// 咖啡订单队列 - /// - public ConcurrentQueue morkOrderPushesCoffee = new ConcurrentQueue(); - /// - /// 是否有咖啡杯 - /// - public bool IsHaveCoffeeCup = false; - - /// - /// 咖啡是否制作完成 - /// - public bool MakeCoffeeEnd = false; - - /// - /// 果汁订单队列 - /// - public ConcurrentQueue morkOrderPushesJuicer = new ConcurrentQueue(); - /// - /// 果汁是否在制作中 - /// - public bool IsHaveJuiceCup = false; - /// - /// 咖啡是否制作完成 - /// - public bool MakeJuiceEnd = false; - - /// - /// 做茶订单队列 - /// - public ConcurrentQueue morkOrderPushesTea = new ConcurrentQueue(); - /// - /// 茶或水是否在制作中 - /// - public bool IsHaveTeaWaterCup = false; - /// - /// 咖啡是否制作完成 - /// - public bool MakeTeaEnd = false; - - /// - /// 做开水订单队列 - /// - public ConcurrentQueue morkOrderPushesWater = new ConcurrentQueue(); - - /// - /// 等待取餐订单 - /// - public OrderLocInfo waitMorkOrder = new OrderLocInfo(); - - /// - /// 当前正在制作咖啡 - /// - public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo(); - - /// - /// 订单ID - /// - public string SuborderId = null; - - } - -} diff --git a/BPASmartClient.MorkT_Show/OrderLocInfo.cs b/BPASmartClient.MorkT_Show/OrderLocInfo.cs index 5ac4b4d7..140a9419 100644 --- a/BPASmartClient.MorkT_Show/OrderLocInfo.cs +++ b/BPASmartClient.MorkT_Show/OrderLocInfo.cs @@ -4,7 +4,7 @@ using System.Linq; using System.Text; using System.Threading.Tasks; -namespace BPASmartClient.MorkT_Show +namespace BPASmartClient.MorkT_Container { public class OrderLocInfo { diff --git a/BPASmartClient.MorkT_Show/PolymerBatching.cs b/BPASmartClient.MorkT_Show/PolymerBatching.cs index 68f93849..63a6269a 100644 --- a/BPASmartClient.MorkT_Show/PolymerBatching.cs +++ b/BPASmartClient.MorkT_Show/PolymerBatching.cs @@ -4,7 +4,7 @@ using System.Linq; using System.Text; using System.Threading.Tasks; -namespace BPASmartClient.MorkT_Show +namespace BPASmartClient.MorkT_Container { internal enum GOODS_TYPE { diff --git a/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs b/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs index 7ecb3f9c..0bb1e825 100644 --- a/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs +++ b/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs @@ -252,7 +252,7 @@ namespace BPASmartClient.MorktJAKAJC return batchings[batchingLoc].GoodsType; return GOODS_TYPE.NEITHER; } - + private AutoResetEvent are = new AutoResetEvent(false); private T GetStatus(string key) @@ -388,6 +388,7 @@ namespace BPASmartClient.MorktJAKAJC DeviceProcessLogShow("咖啡杯取杯完成"); new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接咖啡 }.Publish(); Wait(int.Parse(JakaModel.SENCE_接咖啡)); + new DRCoffee_MakeCoffeeEvent() { DeviceId = DeviceId, DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish(); //接咖啡控制 //DrCoffeeDrinksCode.热水 are.WaitOne(1000 * 180); } @@ -652,6 +653,77 @@ namespace BPASmartClient.MorktJAKAJC /// 0:无意义，1：取杯成功 2：机构有杯子，取杯失败 3：机构没有杯子 private int takeCup() { + #region 单片机控制的IO + //try + //{ + // getCup_cnt = 0;//取杯次数复位 + // new WriteJaka() { TagName = "Set_RobotAO1", Value = 0 }.Publish(); + // Wait(0); + // new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish(); + // Wait(int.Parse(JakaModel.SENCE_初始位)); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); + // Thread.Sleep(10); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); + // new WriteJaka() { TagName = "Set_RobotAO1", Value = 0 }.Publish(); + // Wait(0); + // new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯 }.Publish(); + // Wait(int.Parse(JakaModel.SENCE_取杯)); + // bSensorInput = sensor_Sign(1); + // if (bSensorInput == 2) + // { + // Thread.Sleep(100); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); + // Thread.Sleep(100); + // new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); + // Wait(int.Parse(JakaModel.SENCE_取杯检测)); + // DeviceProcessLogShow("落杯器没有纸杯了"); + // return 3; + // } + // if (bSensorInput == 1) + // { + // Thread.Sleep(100); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); + // Thread.Sleep(100); + // new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); + // Wait(int.Parse(JakaModel.SENCE_取杯检测)); + // bSensorInput = sensor_Sign(1); + // while (getCup_cnt < 4 && (bSensorInput == 2 || bSensorInput == 3)) + // { + // DeviceProcessLogShow($"第{getCup_cnt}次取杯失败"); + // Thread.Sleep(100); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); + // Thread.Sleep(100); + // new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯 }.Publish(); + // Wait(int.Parse(JakaModel.SENCE_取杯)); + // getCup_cnt = getCup_cnt + 1; + // Thread.Sleep(100); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); + // new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); + // Thread.Sleep(100); + // new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); + // Wait(int.Parse(JakaModel.SENCE_取杯检测)); + // bSensorInput = sensor_Sign(1); + // } + // if (bSensorInput == 1) + // { + // return 1; + // } + // else + // { + // return 2; + // } + // } + // return 1; + //} + //catch (Exception ex) + //{ + // MessageLog.GetInstance.ShowEx(ex.ToString()); + // return 0; + //} + #endregion try { getCup_cnt = 0;//取杯次数复位 @@ -659,61 +731,64 @@ namespace BPASmartClient.MorktJAKAJC Wait(0); new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish(); Wait(int.Parse(JakaModel.SENCE_初始位)); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); - Thread.Sleep(10); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); + new WriteJaka() { TagName = "JakaDOutput", DO_Index=0, Value = true }.Publish(); + Thread.Sleep(100); new WriteJaka() { TagName = "Set_RobotAO1", Value = 0 }.Publish(); Wait(0); new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯 }.Publish(); Wait(int.Parse(JakaModel.SENCE_取杯)); - bSensorInput = sensor_Sign(1); - if (bSensorInput == 2) - { - Thread.Sleep(100); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); - Thread.Sleep(100); - new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); - Wait(int.Parse(JakaModel.SENCE_取杯检测)); - DeviceProcessLogShow("落杯器没有纸杯了"); - return 3; - } - if (bSensorInput == 1) - { - Thread.Sleep(100); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); - Thread.Sleep(100); - new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); - Wait(int.Parse(JakaModel.SENCE_取杯检测)); - bSensorInput = sensor_Sign(1); - while (getCup_cnt < 4 && (bSensorInput == 2 || bSensorInput == 3)) + //取杯到位，使用落杯器 + new WriteJaka() { TagName = "JakaDOutput", DO_Index = 1, Value = true }.Publish(); + if (sensor_Sign(1)==1 ) + { + new WriteJaka() { TagName = "JakaDOutput", DO_Index = 1, Value = false }.Publish(); + Thread.Sleep(2000); + bSensorInput = sensor_Sign(0); + if (bSensorInput == 2) { - DeviceProcessLogShow($"第{getCup_cnt}次取杯失败"); - Thread.Sleep(100); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); Thread.Sleep(100); - new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯 }.Publish(); - Wait(int.Parse(JakaModel.SENCE_取杯)); - getCup_cnt = getCup_cnt + 1; - Thread.Sleep(100); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish(); + new WriteJaka() { TagName = "JakaDOutput", DO_Index = 0, Value = false }.Publish(); Thread.Sleep(100); new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); Wait(int.Parse(JakaModel.SENCE_取杯检测)); - bSensorInput = sensor_Sign(1); + DeviceProcessLogShow("落杯器没有纸杯了"); + return 3; } if (bSensorInput == 1) { - return 1; - } - else - { - return 2; + Thread.Sleep(100); + new WriteJaka() { TagName = "JakaDOutput", DO_Index = 0, Value = false }.Publish(); + Thread.Sleep(100); + new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); + Wait(int.Parse(JakaModel.SENCE_取杯检测)); + bSensorInput = sensor_Sign(1); + while (getCup_cnt < 4 && (bSensorInput == 2 || bSensorInput == 3)) + { + DeviceProcessLogShow($"第{getCup_cnt}次取杯失败"); + Thread.Sleep(100); + new WriteJaka() { TagName = "JakaDOutput", DO_Index = 0, Value = true }.Publish(); + Thread.Sleep(100); + new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯 }.Publish(); + Wait(int.Parse(JakaModel.SENCE_取杯)); + getCup_cnt = getCup_cnt + 1; + Thread.Sleep(100); + new WriteJaka() { TagName = "JakaDOutput", DO_Index = 0, Value = false }.Publish(); + Thread.Sleep(100); + new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish(); + Wait(int.Parse(JakaModel.SENCE_取杯检测)); + bSensorInput = sensor_Sign(1); + } + if (bSensorInput == 1) + { + return 1; + } + else + { + return 2; + } } } + return 1; } catch (Exception ex) @@ -736,18 +811,17 @@ namespace BPASmartClient.MorktJAKAJC } new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放杯 }.Publish(); Wait(int.Parse(JakaModel.SENCE_放杯)); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); Thread.Sleep(10); - new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish(); + new WriteJaka() { TagName = "JakaDOutput", DO_Index = 0, Value = true }.Publish(); Thread.Sleep(10); new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放杯检测 }.Publish(); Wait(int.Parse(JakaModel.SENCE_放杯检测)); - bSensorInput = sensor_Sign(2); + bSensorInput = sensor_Sign(3); delayTimeOut = DateTime.Now; while (bSensorInput == 2) { Thread.Sleep(100); - bSensorInput = sensor_Sign(2); + bSensorInput = sensor_Sign(3); if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 2) return 2; } if (bSensorInput == 2) @@ -822,7 +896,22 @@ namespace BPASmartClient.MorktJAKAJC while (true) { Thread.Sleep(10); - bSensorInput = McuRead("GetInputStatus", num); + if (num == 0) + { + bSensorInput = GetStatus("Get_RobotDI0") ? 1 : 2; + } + else if (num == 1) + { + bSensorInput = GetStatus("Get_RobotDI1") ? 1 : 2; + } + else if (num == 2) + { + bSensorInput = GetStatus("Get_RobotDI2") ? 1 : 2; + } + else if (num == 3) + { + bSensorInput = GetStatus("Get_RobotDI3") ? 1 : 2; + } if (bSensorInput == 1) { cnt_Check = cnt_Check + 1; diff --git a/BPASmartClient.Morkt.JAKA.JC/GVL_MORKJC.cs b/BPASmartClient.Morkt.JAKA.JC/GVL_MORKJC.cs index 918782db..5e8ad66b 100644 --- a/BPASmartClient.Morkt.JAKA.JC/GVL_MORKJC.cs +++ b/BPASmartClient.Morkt.JAKA.JC/GVL_MORKJC.cs @@ -5,6 +5,66 @@ namespace BPASmartClient.MorktJAKAJC { public class GVL_MORKJC : IStatus { + #region 果汁机设备MORKT2 Lebai机器人 + public const int 机器人安全位 = 10000;//一个位置（模组可移动，机器人不发生碰撞） + + public const int 机器人初始位 = 10001; + public const int 初始位_机器人安全位 = 10002;//初始位---安全位 + + public const int 取纸杯 = 10005;//安全位---取杯位 + public const int 二次取杯 = 10008;//取纸杯检测位---二次取杯位 + public const int 取纸杯检测 = 10006;//取杯位---取杯检测位 + public const int 取杯位_机器人安全位 = 10002;//取杯检测位---安全位 + + public const int 接咖啡 = 10010;//安全位---接咖啡位 + + public const int 接果汁过渡位 = 10002;//安全位---接果汁过渡位 + public const int 接果汁1 = 10011;//接果汁过渡位---果汁1位 + public const int 接果汁2 = 10012;//接果汁过渡位---果汁2位 + public const int 接果汁3 = 10013;//接果汁过渡位---果汁3位 + public const int 接果汁4 = 10014;//接果汁过渡位---果汁4位 + public const int 接果汁_机器人安全位 = 10002;//接果汁过渡位---安全位 + + public const int 接茶叶 = 10015; + public const int 接茶水 = 10016; + public const int 接开水 = 10017; + public const int 接水_机器人安全位 = 10002; + + public const int 接冰块 = 10018; + public const int 接冰_机器人安全位 = 10002; + + public const int 放咖啡杯 = 10020; + public const int 放果汁杯1 = 10021; + public const int 放果汁杯2 = 10022; + public const int 放果汁杯3 = 10023; + public const int 放果汁杯4 = 10024; + public const int 放水杯 = 10025; + + public const int 放杯 = 10001; + public const int 放杯_机器人安全位 = 10001; + + #endregion + + #region 果汁机设备 MORKT1 JAKA机器人 + public const int JUICE_初始位 = 20000; + public const int JUICE_取杯 = 20001; + public const int JUICE_取杯检测 = 20010; + public const int JUICE_接咖啡 = 20020; + public const int JUICE_接1号果汁 = 20030; + public const int JUICE_接2号果汁 = 20040; + public const int JUICE_接3号果汁 = 20050; + public const int JUICE_接4号果汁 = 20060; + public const int JUICE_接茶 = 20070; + public const int JUICE_接茶水 = 20075; + public const int JUICE_接水 = 20080; + + public const int JUICE_放咖啡杯 = 20090; + public const int JUICE_放果汁杯 = 20100; + public const int JUICE_放茶水杯 = 20110; + + public const int JUICE_放杯 = 20120; + public const int JUICE_放杯检测 = 20120; + #endregion /// /// /// 咖啡订单队列 diff --git a/BPASmartClient.SerialPort/IceMakerHelper.cs b/BPASmartClient.SerialPort/IceMakerHelper.cs new file mode 100644 index 00000000..0cf1fb22 --- /dev/null +++ b/BPASmartClient.SerialPort/IceMakerHelper.cs @@ -0,0 +1,240 @@ +using BPASmartClient.Helper; +using BPASmartClient.Message; +using System; +using System.Collections.Concurrent; +using System.Collections.Generic; +using System.IO.Ports; +using System.Linq; +using System.Text; +using System.Threading; +using System.Threading.Tasks; + +namespace BPASmartClient.SerialPort +{ + public class IceMakerHelper + { + + private System.IO.Ports.SerialPort comPort = new System.IO.Ports.SerialPort(); + ConcurrentQueue SerialMessages = new ConcurrentQueue(); + public bool IsOpen => comPort.IsOpen; + + public bool Open(string portName, int baudRate) + { + while (!System.IO.Ports.SerialPort.GetPortNames().Contains(portName)) + { + Thread.Sleep(1000); + } + while (!comPort.IsOpen) + { + comPort.PortName = portName; + comPort.BaudRate = baudRate; + comPort.DataBits = 8; + comPort.Parity = Parity.None; + comPort.StopBits = StopBits.One; + comPort.ReadTimeout = 1000; + comPort.WriteTimeout = 1000; + //comPort.DataReceived += ComPort_DataReceived; + comPort.RtsEnable = true; + try + { + comPort.Open(); + } + catch (Exception ex) + { + MessageLog.GetInstance.ShowEx(ex.ToString()); + Thread.Sleep(5000); + } + } + MessageLog.GetInstance.Show($"{portName} 串口打开成功"); + return comPort.IsOpen; + } + + /* + 帧头FF 帧头FE 功能码 数据 1 数据 2 和校验 结束符 + 和校验：只校验功能码和数据。=功能码+数据 + 接口方式：RS485 波特率：9600 + + 01 查询状态指令 需要主控板定时发送查询指令，解析制冰机自检后回复的状态信息，以判断是否可以出冰。 + 02 出冰指令 若制冰机状态为等待出冰，此时主控板可以发送出冰指令，以实现定量冰块输出。 + 03 结束出冰指令 制冰机出冰过程中，由主控板按一定的时间发送结束指令折算时间所对应的冰量 + 04 待机指令 当制冰机处于工作时，发送该指令使制冰机处于待机状态 + 05 开机指令 当制冰机处于待机时，发送该指令使制冰机，制满一桶冰。 + 06 抽水请求指令 预留抽水请求指令 + 07 版本查询指令 品牌+硬件版本+软件版本 + 09 冰量控制 通过定时开关方式控制制冰机出冰量 + */ + + + /// + /// 获取制冰机状态 + /// + /// + /// + public byte GetDeviceStatus() + { + List res = new List(); + byte[] buffers = new byte[7] { 0xFF, 0xFE, 0x01, 0x00, 0x00, 0x01, 0x5A }; + //发送 0xFF, 0xFE, 0x01, 0x00, 0x00, XX, 0x5A + //返回 0xFF, 0xFD, XX , 0x01, 0x00, XX, 0x5A + if (comPort.IsOpen) + { + comPort.Write(buffers, 0, buffers.Length); + DateTime newDate = DateTime.Now; + while (comPort.BytesToRead < 7) + { + Thread.Sleep(1); + if (DateTime.Now.Subtract(newDate).TotalSeconds >= 2) break; + } + byte[] receive = new byte[comPort.BytesToRead]; + comPort.Read(receive, 0, receive.Length); + if (receive.Length == 7) + { + return receive[2]; + } + } + return default; + } + + /// + /// 开始制做 + /// + /// true：开始制作 + public bool StartCook() + { + byte[] buffers = new byte[7] { 0xFF, 0xFE, 0x02, 0x00, 0x00, 0x02, 0x5A }; + //发送 0xFF, 0xFE, 0x02, 0x00, 0x00, XX, 0x5A + //返回 0xFF, 0xFD, 0x02, 0x00, 0x00, XX, 0x5A + if (comPort.IsOpen) + { + comPort.Write(buffers, 0, buffers.Length); + while (comPort.BytesToRead < 7) + { + Thread.Sleep(1); + } + byte[] receive = new byte[comPort.BytesToRead]; + comPort.Read(receive, 0, receive.Length); + if (receive.Length == 7) + return receive[1] == 0xFD; + } + return false; + } + + /// + /// 结束制作 + /// + /// + public bool EndCook() + { + byte[] buffers = new byte[7] { 0xFF, 0xFE, 0x03, 0x00, 0x00, 0x03, 0x5A }; + //发送 0xFF, 0xFE, 0x03, 0x00, 0x00, XX, 0x5A + //返回 0xFF, 0xFD, 0x03, 0x00, 0x00, XX, 0x5A + if (comPort.IsOpen) + { + comPort.Write(buffers, 0, buffers.Length); + while (comPort.BytesToRead < 7) + { + Thread.Sleep(1); + } + byte[] receive = new byte[comPort.BytesToRead]; + comPort.Read(receive, 0, receive.Length); + if (receive.Length == 7) + return receive[1] == 0xFD; + } + return false; + } + /// + /// 待机 + /// + /// + public bool Standby() + { + byte[] buffers = new byte[7] { 0xFF, 0xFE, 0x04, 0x00, 0x00, 0x04, 0x5A }; + //发送 0xFF, 0xFE, 0x04, 0x00, 0x00, XX, 0x5A + //返回 0xFF, 0xFD, 0x04, 0x00, 0x00, XX, 0x5A + if (comPort.IsOpen) + { + comPort.Write(buffers, 0, buffers.Length); + while (comPort.BytesToRead < 7) + { + Thread.Sleep(1); + } + byte[] receive = new byte[comPort.BytesToRead]; + comPort.Read(receive, 0, receive.Length); + if (receive.Length == 7) + return receive[1] == 0xFD; + } + return default; + } + /// + /// 开机 + /// + /// + public bool PowerOn() + { + byte[] buffers = new byte[7] { 0xFF, 0xFE, 0x05, 0x00, 0x00, 0x05, 0x5A }; + //发送 0xFF, 0xFE, 0x05, 0x00, 0x00, XX, 0x5A + //返回 0xFF, 0xFD, 0x05, 0x00, 0x00, XX, 0x5A + if (comPort.IsOpen) + { + comPort.Write(buffers, 0, buffers.Length); + while (comPort.BytesToRead < 7) + { + Thread.Sleep(1); + } + byte[] receive = new byte[comPort.BytesToRead]; + comPort.Read(receive, 0, receive.Length); + if (receive.Length == 6) + return receive[1] == 0xFD; + } + return default; + } + /// + /// 抽水 + /// + /// true：允许抽水，false：不允许抽水 + public bool pump() + { + byte[] buffers = new byte[7] { 0xFF, 0xFE, 0x06, 0x00, 0x00, 0x06, 0x5A }; + //发送 0xFF, 0xFE, 0x04, 0x00, 0x00, XX, 0x5A + //返回 0xFF, 0xFD, 0x04, 0x00, 0x00, XX, 0x5A + if (comPort.IsOpen) + { + comPort.Write(buffers, 0, buffers.Length); + while (comPort.BytesToRead < 7) + { + Thread.Sleep(1); + } + byte[] receive = new byte[comPort.BytesToRead]; + comPort.Read(receive, 0, receive.Length); + if (receive.Length == 7) + return receive[3] == 0x00; + } + return default; + } + /// + /// 冰量控制 + /// + /// 出冰时间 单位0.1s + /// + public bool IceValue(byte value) + { + byte checkNum = (byte)(0x09 + value); + byte[] buffers = new byte[7] { 0xFF, 0xFE, 0x09, value, 0x00, checkNum, 0x5A }; + //发送 0xFF, 0xFE, 0x09, value, 0x00, XX, 0x5A + //返回 0xFF, 0xFD, 0x09, 0x00, 0x00, XX, 0x5A + if (comPort.IsOpen) + { + comPort.Write(buffers, 0, buffers.Length); + while (comPort.BytesToRead < 7) + { + Thread.Sleep(1); + } + byte[] receive = new byte[comPort.BytesToRead]; + comPort.Read(receive, 0, receive.Length); + if (receive.Length == 7) + return receive[3] == 0x00; + } + return default; + } + } +} diff --git a/SmartClient.sln b/SmartClient.sln index ff853afa..714c3b0d 100644 --- a/SmartClient.sln +++ b/SmartClient.sln @@ -100,7 +100,11 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTJuicer" EndProject Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.AGV", "BPASmartClient.AGV\BPASmartClient.AGV.csproj", "{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}" EndProject -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkT_Show", "BPASmartClient.MorkT_Show\BPASmartClient.MorkT_Show.csproj", "{3653724D-3683-4722-B978-EB88DD4AE5DB}" +Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkT_Container", "BPASmartClient.MorkT_Show\BPASmartClient.MorkT_Container.csproj", "{3653724D-3683-4722-B978-EB88DD4AE5DB}" +EndProject +Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.IceMaker", "BPASmartClient.IceMaker\BPASmartClient.IceMaker.csproj", "{F61AC179-156D-4075-BFEB-355862231F48}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkT_BarCounter", "BPASmartClient.MorkT_BarCounter\BPASmartClient.MorkT_BarCounter.csproj", "{048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}" EndProject Global GlobalSection(SolutionConfigurationPlatforms) = preSolution @@ -936,6 +940,46 @@ Global {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|x64.Build.0 = Release|Any CPU {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|x86.ActiveCfg = Release|Any CPU {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|x86.Build.0 = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|Any CPU.Build.0 = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|ARM.ActiveCfg = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|ARM.Build.0 = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|ARM64.ActiveCfg = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|ARM64.Build.0 = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|x64.ActiveCfg = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|x64.Build.0 = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|x86.ActiveCfg = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Debug|x86.Build.0 = Debug|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|Any CPU.ActiveCfg = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|Any CPU.Build.0 = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|ARM.ActiveCfg = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|ARM.Build.0 = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|ARM64.ActiveCfg = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|ARM64.Build.0 = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|x64.ActiveCfg = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|x64.Build.0 = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|x86.ActiveCfg = Release|Any CPU + {F61AC179-156D-4075-BFEB-355862231F48}.Release|x86.Build.0 = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|Any CPU.Build.0 = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|ARM.ActiveCfg = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|ARM.Build.0 = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|ARM64.ActiveCfg = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|ARM64.Build.0 = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|x64.ActiveCfg = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|x64.Build.0 = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|x86.ActiveCfg = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Debug|x86.Build.0 = Debug|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|Any CPU.ActiveCfg = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|Any CPU.Build.0 = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|ARM.ActiveCfg = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|ARM.Build.0 = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|ARM64.ActiveCfg = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|ARM64.Build.0 = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|x64.ActiveCfg = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|x64.Build.0 = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|x86.ActiveCfg = Release|Any CPU + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|x86.Build.0 = Release|Any CPU EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE @@ -982,6 +1026,8 @@ Global {724087A3-E7E7-4494-B844-414FF5CD1D40} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F} {507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8} = {3D1D0E04-03FD-480A-8CF8-6E01A2E28625} {3653724D-3683-4722-B978-EB88DD4AE5DB} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F} + {F61AC179-156D-4075-BFEB-355862231F48} = {666CB1A9-562E-453A-A2C7-FD9D77CFDFDD} + {048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F} EndGlobalSection GlobalSection(ExtensibilityGlobals) = postSolution SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}