Merge branch 'master' of http://111.9.47.105:10244/bpa/BPASmartClient

BPASmartClient.IceMaker/BPASmartClient.IceMaker.csproj

@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Peripheral\BPASmartClient.Peripheral.csproj" />
+    <ProjectReference Include="..\BPASmartClient.SerialPort\BPASmartClient.SerialPort.csproj" />
+  </ItemGroup>
+
+</Project>

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<StartMakeIce>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                iceMakerHelper.StartCook();
+            });
+            EventBus.EventBus.GetInstance().Subscribe<StopMakeIce>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                iceMakerHelper.EndCook();
+            });
+            EventBus.EventBus.GetInstance().Subscribe<SetIceNumber>(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()
+        {
+        }
+    }
+}

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);
                 }

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
+    {
+
+    }
+}

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

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<bool>("GetInput"))
-                    {
-                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
-                        Sence(JuicerModel.JUICE2_再检测);
-                        Wait();
-                    }
-                    else
-                    {
-                        break;
-                    }
-                    checkCnt++;
-                }
-                checkCnt = 0;
+               
                 while (!GetStatus<bool>("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<bool>("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<bool>("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<bool>("GetInput2"))

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
+        /// <summary>
+        /// <summary>
+        /// 咖啡订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesCoffee = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 是否有咖啡杯
+        /// </summary>
+        public bool IsHaveCoffeeCup = false;
+
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeCoffeeEnd = false;
+
+        /// <summary>
+        /// 果汁订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesJuicer = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 果汁是否在制作中
+        /// </summary>
+        public bool IsHaveJuiceCup = false;
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeJuiceEnd = false;
+
+        /// <summary>
+        /// 做茶订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesTea = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 茶或水是否在制作中
+        /// </summary>
+        public bool IsHaveTeaWaterCup = false;
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeTeaEnd = false;
+
+        /// <summary>
+        /// 做开水订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesWater = new ConcurrentQueue<OrderLocInfo>();
+
+        /// <summary>
+        /// 等待取餐订单
+        /// </summary>
+        public OrderLocInfo waitMorkOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 当前正在制作咖啡
+        /// </summary>
+        public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 订单ID
+        /// </summary>
+        public string SuborderId = null;
+
+    }
+    
+}

BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebeiJC.cs

@@ -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
-    {
-        /// <summary>
-        /// <summary>
-        /// 咖啡订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesCoffee = new ConcurrentQueue<OrderLocInfo>();
-        /// <summary>
-        /// 是否有咖啡杯
-        /// </summary>
-        public bool IsHaveCoffeeCup = false;
-
-        /// <summary>
-        /// 咖啡是否制作完成
-        /// </summary>
-        public bool MakeCoffeeEnd = false;
-
-        /// <summary>
-        /// 果汁订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesJuicer = new ConcurrentQueue<OrderLocInfo>();
-        /// <summary>
-        /// 果汁是否在制作中
-        /// </summary>
-        public bool IsHaveJuiceCup = false;
-        /// <summary>
-        /// 咖啡是否制作完成
-        /// </summary>
-        public bool MakeJuiceEnd = false;
-
-        /// <summary>
-        /// 做茶订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesTea = new ConcurrentQueue<OrderLocInfo>();
-        /// <summary>
-        /// 茶或水是否在制作中
-        /// </summary>
-        public bool IsHaveTeaWaterCup = false;
-        /// <summary>
-        /// 咖啡是否制作完成
-        /// </summary>
-        public bool MakeTeaEnd = false;
-
-        /// <summary>
-        /// 做开水订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesWater = new ConcurrentQueue<OrderLocInfo>();
-
-        /// <summary>
-        /// 等待取餐订单
-        /// </summary>
-        public OrderLocInfo waitMorkOrder = new OrderLocInfo();
-
-        /// <summary>
-        /// 当前正在制作咖啡
-        /// </summary>
-        public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
-
-        /// <summary>
-        /// 订单ID
-        /// </summary>
-        public string SuborderId = null;
-
-    }
-    
-}

BPASmartClient.MorkT_BarCounter/BPASmartClient.MorkT_BarCounter.csproj

@@ -0,0 +1,20 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+    <ProjectReference Include="..\BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj" />
+    <ProjectReference Include="..\BPASmartClient.GSIceCream\BPASmartClient.GSIceCream.csproj" />
+    <ProjectReference Include="..\BPASmartClient.IceMaker\BPASmartClient.IceMaker.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Juicer\BPASmartClient.Juicer.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Lebai\BPASmartClient.Lebai.csproj" />
+    <ProjectReference Include="..\BPASmartClient.MCU\BPASmartClient.MCU.csproj" />
+  </ItemGroup>
+
+</Project>

BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs → 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<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
         //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();
         /// <summary>
         /// 果汁机做法，true:热饮，false:冷饮
         /// </summary>
         private bool GuMake = false;
+        /// <summary>
+        /// 订单是否加冰
+        /// </summary>
+        private bool IsAddIce = false;
         public override void DoMain()
         {
             if (Json<KeepDataBase>.Data.IsVerify)
@@ -55,7 +59,7 @@ namespace BPASmartClient.MorkT_Show
             serverInit();
             DataParse();
             ActionManage.GetInstance.Register(new Action<object>((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<DRCoffee_CoffeEndCookEvent>(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<int[]>("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;
         }
         /// <summary>
@@ -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
         /// <summary>
         /// 接咖啡
         /// </summary>
         private void PickUpCoffee()
         {
-            //while (GetStatus<bool>("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
         /// </summary>
         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();
+            }
+        }
+        /// <summary>
+        /// 当前订单是否加冰
+        /// </summary>
+        private bool IsAddIceNow = false;
         private int JuiceCH;
         /// <summary>
         /// 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
         /// </summary>
         private int nCnt;
         /// <summary>
-        /// 传感器的检测次数
-        /// </summary>
-        private int checkCnt;
-        /// <summary>
         /// 取杯流程
         /// </summary>
         /// <returns>0:无意义，1：取杯成功 2：取杯失败</returns>
@@ -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<bool>("GetInput"))
-                    {
-                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
-                        Sence(JuicerModel.JUICE2_再检测);
-                        Wait();
-                    }
-                    else
-                    {
-                        break;
-                    }
-                    checkCnt++;
-                }
-                checkCnt = 0;
                 while (!GetStatus<bool>("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<bool>("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<bool>("RobotValue1")) return 2;
-                Sence(JuicerModel.JUICE_放杯);
+                if (GetStatus<bool>("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<bool>("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<object> action)
         {
+            if (peripheralStatus.ContainsKey(key))
+            {
+                if (peripheralStatus[key] != null)
+                {
+                    action?.Invoke(peripheralStatus[key]);
+                }
+            }
         }
 
         public override void ReadData()
+        {
+            GetStatus("", new Action<object>((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()
         {
+
         }
     }
 }

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
+        /// <summary>
+        /// <summary>
+        /// 咖啡订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesCoffee = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 是否有咖啡杯
+        /// </summary>
+        public bool IsHaveCoffeeCup = false;
+
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeCoffeeEnd = false;
+
+        /// <summary>
+        /// 果汁订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesJuicer = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 果汁是否在制作中
+        /// </summary>
+        public bool IsHaveJuiceCup = false;
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeJuiceEnd = false;
+
+        /// <summary>
+        /// 做茶订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesTea = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 茶或水是否在制作中
+        /// </summary>
+        public bool IsHaveTeaWaterCup = false;
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeTeaEnd = false;
+
+        /// <summary>
+        /// 做开水订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesWater = new ConcurrentQueue<OrderLocInfo>();
+
+        /// <summary>
+        /// 等待取餐订单
+        /// </summary>
+        public OrderLocInfo waitMorkOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 当前正在制作咖啡
+        /// </summary>
+        public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 订单ID
+        /// </summary>
+        public string SuborderId = null;
+
+        #region PLC的变量交互
+        /// <summary>
+        /// 
+        /// </summary>
+        public bool sensorGetCup { get; set; }
+        public bool sensorPutCup { get; set; }
+
+        #endregion
+       
+    }
+    
+}

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; }
+    }
+}

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
+    {
+        /// <summary>
+        /// 未知
+        /// </summary>
+        NEITHER,
+        /// <summary>
+        /// 咖啡
+        /// </summary>
+        COFFEE,
+        /// <summary>
+        /// 果汁
+        /// </summary>
+        JUICE,
+        /// <summary>
+        /// 茶水
+        /// </summary>
+        TEA,
+        /// <summary>
+        /// 水
+        /// </summary>
+        WATER,
+        /// <summary>
+        /// 杯子
+        /// </summary>
+        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<string, GOODS_TYPE> GOODS_TYPES = new Dictionary<string, GOODS_TYPE>() {
+            {"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<string, PolymerBatching> BuildAll()
+        {
+            Dictionary<string, PolymerBatching> temp = new Dictionary<string, PolymerBatching>();
+            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;
+        //    }
+        //}
+    }
+}

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,
+    }
+}

BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj → BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Container.csproj

@@ -11,6 +11,7 @@
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
     <ProjectReference Include="..\BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj" />
     <ProjectReference Include="..\BPASmartClient.GSIceCream\BPASmartClient.GSIceCream.csproj" />
+    <ProjectReference Include="..\BPASmartClient.IceMaker\BPASmartClient.IceMaker.csproj" />
     <ProjectReference Include="..\BPASmartClient.Juicer\BPASmartClient.Juicer.csproj" />
     <ProjectReference Include="..\BPASmartClient.Lebai\BPASmartClient.Lebai.csproj" />
     <ProjectReference Include="..\BPASmartClient.MCU\BPASmartClient.MCU.csproj" />

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<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
+        //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();
+        /// <summary>
+        /// 果汁机做法，true:热饮，false:冷饮
+        /// </summary>
+        private bool GuMake = false;
+        /// <summary>
+        /// 订单是否加冰
+        /// </summary>
+        private bool IsAddIce = false;
+        public override void DoMain()
+        {
+            if (Json<KeepDataBase>.Data.IsVerify)
+            {
+                IsHealth = true;
+            }
+            IsHealth = true;
+            serverInit();
+            DataParse();
+            ActionManage.GetInstance.Register(new Action<object>((o) => { SimOrder(o); }), "SimOrder");//模拟订单委托注册
+            
+        }
+
+        private void serverInit()
+        {
+            EventBus.EventBus.GetInstance().Subscribe<MaterialDeliveryEvent>(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<DoOrderEvent>(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;
+                            }
+                        }
+                    }
+                }
+            });
+        }
+        /// <summary>
+        /// 将空杯放好到接饮料的地方的标志位
+        /// </summary>
+        private bool bFirstTrig_TeaWater = false;
+        private bool bFirstTrig_Coffee   = false;
+        private bool bFirstTrig_Juice    = false;
+        /// <summary>
+        /// 延迟的超时时间
+        /// </summary>
+        DateTime delayTimeOut_Water;
+        DateTime delayTimeOut_Coffee;
+        DateTime delayTimeOut_Juice;
+        public override void MainTask()
+        {
+            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeEndCookEvent>(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<int[]>("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();
+        }
+
+        /// <summary>
+        /// 订单状态改变
+        /// </summary>
+        /// <param name="subid"></param>
+        /// <param name="oRDER_STATUS"></param>
+        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
+        {
+            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
+        }
+        /// <summary>
+        /// 验证商品是做的某种饮料
+        /// </summary>
+        /// <param name="batchingLoc">物料位置</param>
+        private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc)
+        {
+            if (batchings.ContainsKey(batchingLoc))
+                return batchings[batchingLoc].GoodsType;
+            return GOODS_TYPE.NEITHER;
+        }
+        /// <summary>
+        /// 乐白的场景结束等待
+        /// </summary>
+        /// <param name="value"></param>
+        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();
+        }
+        /// <summary>
+        /// 乐白的场景
+        /// </summary>
+        /// <param name="sen"></param>
+        private void Sence(int sen)
+        {
+            new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = sen }.Publish();
+        }
+        /// <summary>
+        /// 乐白的数字量输出
+        /// </summary>
+        /// <param name="value"></param>
+        /// <param name="pin"></param>
+        private void Output(bool value,int pin)
+        {
+            new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Pin = pin,Value=value }.Publish();
+        }
+
+        private T GetStatus<T>(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
+        /// <summary>
+        /// 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
+        /// </summary>
+        int bSensorInput;
+        
+        /// <summary>
+        /// 判断是否有咖啡订单
+        /// </summary>
+        /// <returns></returns>
+        private bool IsMakeCoffee() 
+        {
+            bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesCoffee.Count > 0 && !morkTLebaiJC.IsHaveCoffeeCup) ? true : false;
+            return bMake;
+        }
+        /// <summary>
+        /// 判断是否有果汁订单
+        /// </summary>
+        /// <returns></returns>
+        private bool IsMakeJuice()
+        {
+            bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesJuicer.Count > 0  && !morkTLebaiJC.IsHaveJuiceCup) ? true : false;
+            return bMake;
+        }
+        /// <summary>
+        /// 判断是否有茶订单
+        /// </summary>
+        /// <returns></returns>
+        private bool IsMakeTeaWater()
+        {
+            bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesTea.Count > 0  && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false;
+            return bMake;
+        }
+        /// <summary>
+        /// 判断是否有开水订单
+        /// </summary>
+        /// <returns></returns>
+        private bool IsMakeWater()
+        {
+            bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesWater.Count > 0  && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false;
+            return bMake;
+        }
+        /// <summary>
+        /// 做咖啡流程
+        /// </summary>
+        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
+        /// <summary>
+        /// 接咖啡
+        /// </summary>
+        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();*/
+                }
+            }
+        }
+        /// <summary>
+        /// 咖啡杯接好，放咖啡杯
+        /// </summary>
+        private void PutCoffeeCup()
+        {
+            while (GetStatus<bool>("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
+        /// <summary>
+        /// 接开水
+        /// </summary>
+        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
+        /// <summary>
+        /// 做茶
+        /// </summary>
+        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
+        }
+        /// <summary>
+        /// 放水杯流程
+        /// </summary>
+        private void PutWaterCup()
+        {
+            while (GetStatus<bool>("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
+        /// <summary>
+        /// 果汁机控制信号
+        /// </summary>
+        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();
+            }
+        }
+        /// <summary>
+        /// 当前订单是否加冰
+        /// </summary>
+        private bool IsAddIceNow = false;
+        private int JuiceCH;
+        /// <summary>
+        /// 接果汁
+        /// </summary>
+        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
+        }
+        /// <summary>
+        /// 取接好果汁杯
+        /// </summary>
+        private void putJuice()
+        {
+            while (GetStatus<bool>("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
+
+        /// <summary>
+        /// 取杯的次数
+        /// </summary>
+        private int nCnt;
+        /// <summary>
+        /// 取杯流程
+        /// </summary>
+        /// <returns>0:无意义，1：取杯成功 2：取杯失败</returns>
+        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<bool>("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;
+        }
+        /// <summary>
+        /// 放杯
+        /// </summary>
+        /// <returns>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</returns>
+        private int putCup()
+        {
+            try
+            {
+                if (GetStatus<bool>("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<bool>("GetInput2"))
+                {
+                    return 1;
+                }
+                else
+                {
+                    return 3;
+                }
+            }
+            catch (Exception ex)
+            {
+                DeviceProcessLogShow(ex.ToString());
+                return 0;
+            }
+        }
+        public void SimOrder<T>(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<object> action)
+        {
+            if (peripheralStatus.ContainsKey(key))
+            {
+                if (peripheralStatus[key] != null)
+                {
+                    action?.Invoke(peripheralStatus[key]);
+                }
+            }
+        }
+
+        public override void ReadData()
+        {
+            GetStatus("", new Action<object>((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()
+        {
+
+        }
+    }
+}

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
+        /// <summary>
+        /// <summary>
+        /// 咖啡订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesCoffee = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 是否有咖啡杯
+        /// </summary>
+        public bool IsHaveCoffeeCup = false;
+        /// <summary>
+        /// 出咖啡完成，是否取咖啡杯
+        /// </summary>
+        public bool MakeCoffeeEnd = false;
+
+        /// <summary>
+        /// 果汁订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesJuicer = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 是否有果汁杯
+        /// </summary>
+        public bool IsHaveJuiceCup = false;
+        /// <summary>
+        /// 出果汁完成，是否去取果汁
+        /// </summary>
+        public bool MakeJuiceEnd = false;
+
+        /// <summary>
+        /// 做茶订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesTea = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 接水口是否有茶水杯
+        /// </summary>
+        public bool IsHaveTeaWaterCup = false;
+        /// <summary>
+        /// 水已经接完，是否去取水杯
+        /// </summary>
+        public bool MakeTeaEnd = false;
+
+        /// <summary>
+        /// 做开水订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesWater = new ConcurrentQueue<OrderLocInfo>();
+
+        /// <summary>
+        /// 等待取餐订单
+        /// </summary>
+        public OrderLocInfo waitMorkOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 当前正在制作咖啡
+        /// </summary>
+        public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 订单ID
+        /// </summary>
+        public string SuborderId = null;
+
+
+
+    }
+    
+}

BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs

@@ -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
-    {
-        /// <summary>
-        /// <summary>
-        /// 咖啡订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesCoffee = new ConcurrentQueue<OrderLocInfo>();
-        /// <summary>
-        /// 是否有咖啡杯
-        /// </summary>
-        public bool IsHaveCoffeeCup = false;
-
-        /// <summary>
-        /// 咖啡是否制作完成
-        /// </summary>
-        public bool MakeCoffeeEnd = false;
-
-        /// <summary>
-        /// 果汁订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesJuicer = new ConcurrentQueue<OrderLocInfo>();
-        /// <summary>
-        /// 果汁是否在制作中
-        /// </summary>
-        public bool IsHaveJuiceCup = false;
-        /// <summary>
-        /// 咖啡是否制作完成
-        /// </summary>
-        public bool MakeJuiceEnd = false;
-
-        /// <summary>
-        /// 做茶订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesTea = new ConcurrentQueue<OrderLocInfo>();
-        /// <summary>
-        /// 茶或水是否在制作中
-        /// </summary>
-        public bool IsHaveTeaWaterCup = false;
-        /// <summary>
-        /// 咖啡是否制作完成
-        /// </summary>
-        public bool MakeTeaEnd = false;
-
-        /// <summary>
-        /// 做开水订单队列
-        /// </summary>
-        public ConcurrentQueue<OrderLocInfo> morkOrderPushesWater = new ConcurrentQueue<OrderLocInfo>();
-
-        /// <summary>
-        /// 等待取餐订单
-        /// </summary>
-        public OrderLocInfo waitMorkOrder = new OrderLocInfo();
-
-        /// <summary>
-        /// 当前正在制作咖啡
-        /// </summary>
-        public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
-
-        /// <summary>
-        /// 订单ID
-        /// </summary>
-        public string SuborderId = null;
-
-    }
-    
-}

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
     {

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
     {

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<T>(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
         /// <returns>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</returns>
         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<int>("GetInputStatus", num);
+                if (num == 0)
+                {
+                    bSensorInput = GetStatus<bool>("Get_RobotDI0") ? 1 : 2;
+                } 
+                else if (num == 1) 
+                {
+                    bSensorInput = GetStatus<bool>("Get_RobotDI1") ? 1 : 2;
+                }
+                else if (num == 2)
+                {
+                    bSensorInput = GetStatus<bool>("Get_RobotDI2") ? 1 : 2;
+                }
+                else if (num == 3)
+                {
+                    bSensorInput = GetStatus<bool>("Get_RobotDI3") ? 1 : 2;
+                }
                 if (bSensorInput == 1)
                 {
                     cnt_Check = cnt_Check + 1;

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
         /// <summary>
         /// <summary>
         /// 咖啡订单队列

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<byte[]> SerialMessages = new ConcurrentQueue<byte[]>();
+        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
+         */
+
+
+        /// <summary>
+        /// 获取制冰机状态
+        /// </summary>
+        /// <param name="index"></param>
+        /// <returns></returns>
+        public byte GetDeviceStatus()
+        {
+            List<int> res = new List<int>();
+            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;
+        }
+
+        /// <summary>
+        /// 开始制做
+        /// </summary>
+        /// <returns>true：开始制作</returns>
+        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;
+        }
+
+        /// <summary>
+        /// 结束制作
+        /// </summary>
+        /// <returns></returns>
+        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;
+        }
+        /// <summary>
+        /// 待机
+        /// </summary>
+        /// <returns></returns>
+        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;
+        }
+        /// <summary>
+        /// 开机
+        /// </summary>
+        /// <returns></returns>
+        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;
+        }
+        /// <summary>
+        /// 抽水 
+        /// </summary>
+        /// <returns>true：允许抽水，false：不允许抽水</returns>
+        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;
+        }
+        /// <summary>
+        /// 冰量控制
+        /// </summary>
+        /// <param name="value">出冰时间 单位0.1s</param>
+        /// <returns></returns>
+        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;
+        }
+    }
+}

SmartClient.sln

@@ -100,13 +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("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "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}") = "FryPot_DosingSystem", "FryPot_DosingSystem\FryPot_DosingSystem.csproj", "{D638DFA2-D160-4D32-912F-385BC04A9382}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.IceMaker", "BPASmartClient.IceMaker\BPASmartClient.IceMaker.csproj", "{F61AC179-156D-4075-BFEB-355862231F48}"
 EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.ZhuoDian", "BPASmartClient.ZhuoDian\BPASmartClient.ZhuoDian.csproj", "{C5D53928-34F6-4FA0-A8E6-261BAC1A659C}"
-EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.AgvApi", "BPASmartClient.AgvApi\BPASmartClient.AgvApi.csproj", "{77EE62D2-B6D0-44A6-B7F4-D570E13EC15E}"
+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
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+		{F61AC179-156D-4075-BFEB-355862231F48}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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+		{048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -1048,9 +1026,8 @@ Global
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 		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8} = {3D1D0E04-03FD-480A-8CF8-6E01A2E28625}
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-		{77EE62D2-B6D0-44A6-B7F4-D570E13EC15E} = {8712125E-14CD-4E1B-A1CE-4BDE03805942}
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+		{048FED78-4BFA-4FCD-8FF2-905E9CA4D7DD} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 	EndGlobalSection
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