MORKT 流程和登录注销功能

BPACommonClient/App.xaml

@@ -0,0 +1,9 @@
+<Application x:Class="BPACommonClient.App"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:local="clr-namespace:BPACommonClient"
+             StartupUri="MainWindow.xaml">
+    <Application.Resources>
+         
+    </Application.Resources>
+</Application>

BPACommonClient/App.xaml.cs

@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Configuration;
+using System.Data;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows;
+
+namespace BPACommonClient
+{
+    /// <summary>
+    /// Interaction logic for App.xaml
+    /// </summary>
+    public partial class App : Application
+    {
+    }
+}

BPACommonClient/AssemblyInfo.cs

@@ -0,0 +1,10 @@
+using System.Windows;
+
+[assembly: ThemeInfo(
+    ResourceDictionaryLocation.None, //where theme specific resource dictionaries are located
+                                     //(used if a resource is not found in the page,
+                                     // or application resource dictionaries)
+    ResourceDictionaryLocation.SourceAssembly //where the generic resource dictionary is located
+                                              //(used if a resource is not found in the page,
+                                              // app, or any theme specific resource dictionaries)
+)]

BPACommonClient/BPACommonClient.csproj

@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net6.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <UseWPF>true</UseWPF>
+  </PropertyGroup>
+
+</Project>

BPACommonClient/MainWindow.xaml

@@ -0,0 +1,12 @@
+<Window x:Class="BPACommonClient.MainWindow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:BPACommonClient"
+        mc:Ignorable="d"
+        Title="MainWindow" Height="450" Width="800">
+    <Grid>
+
+    </Grid>
+</Window>

BPACommonClient/MainWindow.xaml.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BPACommonClient
+{
+    /// <summary>
+    /// Interaction logic for MainWindow.xaml
+    /// </summary>
+    public partial class MainWindow : Window
+    {
+        public MainWindow()
+        {
+            InitializeComponent();
+        }
+    }
+}

BPASmartClient.CustomResource/UserControls/UserKeyBoard.xaml

@@ -0,0 +1,176 @@
+<UserControl x:Class="BPASmartClient.CustomResource.UserControls.UserKeyBoard"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:BPASmartClient.CustomResource.UserControls"
+            mc:Ignorable="d" 
+             d:DesignHeight="180" d:DesignWidth="500"
+             x:Name="Keyboard"  Background="Transparent" >
+    <UserControl.Resources>
+        <Style x:Key="btnNum" TargetType="{x:Type Button}">
+            
+            <Setter Property="HorizontalContentAlignment" Value="Center"/>
+            <Setter Property="VerticalContentAlignment" Value="Center"/>
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="{x:Type Button}">
+                        <Border x:Name="border" BorderBrush="#FF474747" BorderThickness="1" CornerRadius="6">
+                            <Border.Background>
+                                <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                                    <GradientStop Color="#002A5F"/>
+                                    <GradientStop Color="#6495ED" Offset="1"/>
+                                </LinearGradientBrush>
+                            </Border.Background>
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center" TextElement.Foreground="#4fade8"  TextElement.FontSize="16" />
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter Property="Background" TargetName="border" >
+                                    <Setter.Value>
+                                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                                            <GradientStop Color="#FFFF7500"/>
+                                            <GradientStop Color="#FFFFC547" Offset="1"/>
+                                        </LinearGradientBrush>
+                                    </Setter.Value>
+                                </Setter>
+                            </Trigger>
+                            <Trigger Property="IsPressed" Value="False">
+                                <Setter Property="Background" TargetName="border" >
+                                    <Setter.Value>
+                                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                                            <GradientStop Color="#002A5F"/>
+                                            <GradientStop Color="#6495ED" Offset="1"/>
+                                        </LinearGradientBrush>
+                                    </Setter.Value>
+                                </Setter>
+                            </Trigger>
+                           
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+        <Style x:Key="btnFunc" TargetType="{x:Type Button}">
+           
+            <Setter Property="HorizontalContentAlignment" Value="Center"/>
+            <Setter Property="VerticalContentAlignment" Value="Center"/>
+            <!--<Setter Property="Padding" Value="1"/>-->
+            <Setter Property="Template">
+                <Setter.Value>
+                    <ControlTemplate TargetType="{x:Type Button}">
+                        <Border x:Name="border" BorderBrush="#FF565656" BorderThickness="1" CornerRadius="6">
+                            <Border.Background>
+                                <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                                    <GradientStop Color="#002A5F"/>
+                                    <GradientStop Color="#6495ED" Offset="1"/>
+                                </LinearGradientBrush>
+                            </Border.Background>
+                            <ContentPresenter HorizontalAlignment="Center" VerticalAlignment="Center" TextElement.Foreground="White" TextElement.FontSize="18"/>
+                           
+                        </Border>
+                        <ControlTemplate.Triggers>
+                            <Trigger Property="IsPressed" Value="True">
+                                <Setter Property="Background" TargetName="border">
+                                    <Setter.Value>
+                                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
+                                            <GradientStop Color="Gray" Offset="1"/>
+                                            <GradientStop Color="#FF2D2D2D" Offset="0"/>
+                                        </LinearGradientBrush>
+                                    </Setter.Value>
+                                </Setter>
+                            </Trigger>
+                        </ControlTemplate.Triggers>
+                    </ControlTemplate>
+                </Setter.Value>
+            </Setter>
+        </Style>
+    </UserControl.Resources>
+    <UserControl.Triggers>
+        <EventTrigger SourceName="Keyboard" RoutedEvent="UserControl.Loaded">
+            <BeginStoryboard>
+                <Storyboard>
+                    <DoubleAnimation Storyboard.TargetName="Keyboard" Storyboard.TargetProperty="Opacity"
+                        From="0" To="1" Duration="0:0:0.2">
+                    </DoubleAnimation>
+                </Storyboard>
+            </BeginStoryboard>
+        </EventTrigger>
+    </UserControl.Triggers>
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+        <Grid >
+            <Grid.RowDefinitions>
+                <RowDefinition Height="*" />
+            </Grid.RowDefinitions>
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="10"/>
+                <ColumnDefinition Width="*"/>
+                <ColumnDefinition Width="10"/>
+            </Grid.ColumnDefinitions>
+            <Grid x:Name="ButtonGrid"  Grid.Row="1" Grid.Column="1" ButtonBase.Click="ButtonGrid_Click">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="80*"/>
+                    <RowDefinition Height="80*"/>
+                    <RowDefinition Height="80*"/>
+                    <RowDefinition Height="80*"/>
+                </Grid.RowDefinitions>
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                    <ColumnDefinition Width="120*"/>
+                </Grid.ColumnDefinitions>
+                <Button Margin="2" Grid.Column="0" Grid.Row="0" Content="1" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="1" Grid.Row="0" Content="2" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="2" Grid.Row="0" Content="3" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="3" Grid.Row="0" Content="4" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="4" Grid.Row="0" Content="5" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="5" Grid.Row="0" Content="6" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="6" Grid.Row="0" Content="7" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="7" Grid.Row="0" Content="8" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="8" Grid.Row="0" Content="9" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="9" Grid.Row="0" Content="0" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="0" Grid.Row="1" Content="Q" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="1" Grid.Row="1" Content="W" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="2" Grid.Row="1" Content="E" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="3" Grid.Row="1" Content="R" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="4" Grid.Row="1" Content="T" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="5" Grid.Row="1" Content="Y" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="6" Grid.Row="1" Content="U" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="7" Grid.Row="1" Content="I" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="8" Grid.Row="1" Content="O" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="9" Grid.Row="1" Content="P" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="0" Grid.Row="2" Content="A" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="1" Grid.Row="2" Content="S" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="2" Grid.Row="2" Content="D" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="3" Grid.Row="2" Content="F" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="4" Grid.Row="2" Content="G" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="5" Grid.Row="2" Content="H" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="6" Grid.Row="2" Content="J" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="7" Grid.Row="2" Content="K" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="8" Grid.Row="2" Content="L" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="0" Grid.Row="3" Content="Z" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="1" Grid.Row="3" Content="X" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="2" Grid.Row="3" Content="C" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="3" Grid.Row="3" Content="V" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="4" Grid.Row="3" Content="B" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="5" Grid.Row="3" Content="N" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="6" Grid.Row="3" Content="M" Style="{StaticResource btnNum}"/>
+                <Button Margin="2" Grid.Column="9" Grid.Row="2" Content="A/a" Style="{StaticResource btnFunc}"/>
+                <Button Margin="2" Grid.Column="7" Grid.Row="3" Content="DEL" Style="{StaticResource btnFunc}"/>
+                <Button Margin="2" Grid.Column="8" Grid.Row="3" Content="AC" Style="{StaticResource btnFunc}"/>
+                <Button Margin="2" Grid.Column="9" Grid.Row="3" Content="确认" Style="{StaticResource btnFunc}"/>
+
+            </Grid>
+        </Grid>
+    </Grid>
+</UserControl>

BPASmartClient.CustomResource/UserControls/UserKeyBoard.xaml.cs

@@ -0,0 +1,74 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BPASmartClient.CustomResource.UserControls
+{
+    /// <summary>
+    /// UserKeyBoard.xaml 的交互逻辑
+    /// </summary>
+    public partial class UserKeyBoard : UserControl
+    {
+        public Action<object> MyKeyDown;
+
+        public UserKeyBoard()
+        {
+            InitializeComponent();
+        }
+
+        //通过判断按钮的content属性来做对应处理
+        private void ButtonGrid_Click(object sender, RoutedEventArgs e)
+        {
+            Button clickedButton = (Button)e.OriginalSource;    //获取click事件触发源，即按了的按钮
+            switch((String)clickedButton.Content)
+            {
+                case "DEL":
+                    MyKeyDown(EKeyitem.DEL);
+                    break;
+                case "AC":
+                    MyKeyDown(EKeyitem.AC);
+                    break;
+                case "确认":
+                    MyKeyDown(EKeyitem.OK);
+                    break;
+                case "A/a":
+                    UIElementCollection grd = ButtonGrid.Children;
+                    int count = grd.Count;
+                    for (int i = 0; i < count; i++)
+                    {
+                        Button buttonTemp = grd[i] as Button;
+                        String contentTemp = buttonTemp.Content as String;
+                        if (contentTemp == "AC" || contentTemp == "A/a" || contentTemp == "确认" || contentTemp == "DEL")
+                            continue;
+                        buttonTemp.Content = contentTemp[0] > 90 ? contentTemp.ToUpper() : contentTemp.ToLower();
+                    }
+                    break;
+                default:
+                    MyKeyDown((String)clickedButton.Content);
+                    break;
+            }
+        }
+
+
+        public enum EKeyitem
+        {
+            DEL,
+            AC,
+            Shift,
+            OK,
+            A
+
+        }
+    }
+}

BPASmartClient.Lebai/LebaiRobot.cs

@@ -69,7 +69,7 @@ namespace BPASmartClient.Lebai
         public const int SENCE_放冰淇淋位置 = 10043;
 
         //add 新加场景
-        public const int SENCE_接咖啡_新 = 10051;
+        public const int SENCE_接咖啡后回原点 = 10051;
         public const int SENCE_咖啡杯回原点 = 10050;
         public const int SENCE_冰淇淋杯回原点 = 10049;
         public const int SENCE_取咖啡出餐 = 10052;

BPASmartClient.MorkT/BPASmartClient.MorkT.csproj

@@ -6,6 +6,7 @@
 
   <ItemGroup>
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+    <ProjectReference Include="..\BPASmartClient.GSIceCream\BPASmartClient.GSIceCream.csproj" />
     <ProjectReference Include="..\BPASmartClient.Lebai\BPASmartClient.Lebai.csproj" />
     <ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
   </ItemGroup>

BPASmartClient.MorkT/Control_MorkT.cs

@@ -1,13 +1,19 @@
-using BPASmartClient.Device;
+using BPA.Message.Enum;
+using BPASmartClient.Device;
 using BPASmartClient.EventBus;
+using BPASmartClient.GSIceCream;
 using BPASmartClient.Lebai;
 using BPASmartClient.Message;
 using BPASmartClient.Model;
+using BPASmartClient.Model.冰淇淋.Enum;
+using BPASmartClient.Model.单片机;
+using BPASmartClient.Model.单片机.Enum;
 using BPASmartClient.Peripheral;
 using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 using static BPASmartClient.EventBus.EventBus;
 
@@ -20,7 +26,6 @@ namespace BPASmartClient.MorkT
         GLV_MorkT morkT = new GLV_MorkT();
 
 
-
         public override void DoMain()
         {
             ServerInit();
@@ -30,7 +35,7 @@ namespace BPASmartClient.MorkT
                 if (morkT.MakeCoffeeOrder != null)
                     morkT.MakeCoffeeOrder.OrderStatus = 1;
             });
-            MessageLog.GetInstance.Show("MORKF 设备初始化完成");
+            MessageLog.GetInstance.Show("MORKT 设备初始化完成");
         }
 
         public override void ResetProgram()
@@ -41,6 +46,12 @@ namespace BPASmartClient.MorkT
 
         public override void MainTask()
         {
+            MakeCoffeeProcess();
+            if(!LebaiRobot.GetInstance.GetInput())//取餐口有空余位置
+            {
+                MakeIceCreamProcess();
+                MakeCoffeeComplete();
+            }
         }
 
         public override void ReadData()
@@ -121,8 +132,10 @@ namespace BPASmartClient.MorkT
                                         {
                                             SuborderId = order.MorkOrder.SuborderId,
                                             BatchingId = res.BatchingId,
-                                            Loc = loc_Goods
-                                        });
+                                            Loc = loc_Goods,
+                                            GoodsName = order.MorkOrder.GoodsName,
+                                            SortNum = order.MorkOrder.SortNum
+                                        }) ;
                                     }
                                     break;
                                 case GOODS_TYPE.ICECREAM:
@@ -132,7 +145,9 @@ namespace BPASmartClient.MorkT
                                         {
                                             SuborderId = order.MorkOrder.SuborderId,
                                             BatchingId = res.BatchingId,
-                                            Loc = loc_Goods
+                                            Loc = loc_Goods,
+                                            GoodsName = order.MorkOrder.GoodsName,
+                                            SortNum = order.MorkOrder.SortNum
                                         });
                                     }
                                     break;
@@ -157,8 +172,307 @@ namespace BPASmartClient.MorkT
                 return morkT.batchings[batchingLoc].GoodsType;
             return GOODS_TYPE.NEITHER;
         }
-      
 
+        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
+        {
+            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
+        }
+
+        private void Wait(int value = 101)
+        {
+            while (!(morkT.lebai.Ok && morkT.lebai.Value == value))
+            {
+                Thread.Sleep(5);
+            }
+        }
+
+        /// <summary>
+        /// 是否可以开始制作咖啡
+        /// </summary>
+        /// <returns></returns>
+        private bool CoffeeCanMake()
+        {
+            bool canMake = (IsHealth && morkT.morkOrderPushesCoffee.Count > 0 && !morkT.IsCoffeeMake) ? true : false;
+            return canMake;
+
+        }
+
+        /// <summary>
+        /// 制作咖啡流程
+        /// </summary>
+        private void MakeCoffeeProcess()
+        {
+            if(CoffeeCanMake())
+            {
+                if(morkT.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc))
+                {
+                    DeviceProcessLogShow($"开始制作 [咖啡] 订单[{orderLoc.SortNum}]");
+                    GetAndCheeckCoffe(orderLoc);
+                    LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_接咖啡后回原点);//把咖啡杯放到咖啡机机的位置后回原点
+                    Wait();
+                    LebaiRobot.GetInstance.SetValue(1);
+                    new DRCoffee_MakeCoffeeEvent() { DrinkCode = (Model.咖啡机.Enum.DrCoffeeDrinksCode)int.Parse(orderLoc.Loc) }.Publish();  //接咖啡控制
+                    DeviceProcessLogShow($"发送咖啡机制作{orderLoc.Loc}!");
+                    morkT.IsCoffeeMake = true; morkT.MakeCoffeeOrder = orderLoc;
+                }
+
+            }
+
+            
+        }
+        /// <summary>
+        /// 咖啡机制作完咖啡，取走并放到取餐口，最后回原点
+        /// </summary>
+        private void MakeCoffeeComplete()
+        {
+            if (morkT.IsCoffeeMake&&IsHealth)
+            {
+                if (morkT.MakeCoffeeOrder != null && morkT.MakeCoffeeOrder.OrderStatus == 1)
+                {
+                    DeviceProcessLogShow($"将咖啡移动到取餐位 [咖啡] 订单[{morkT.MakeCoffeeOrder.SortNum}]");
+                    DoCoffeeQC(morkT.MakeCoffeeOrder);
+                    morkT.MakeCoffeeOrder = null;
+                    morkT.IsCoffeeMake = false;
+                }
+            }
+        }
+
+
+        /// <summary>
+        /// 将咖啡杯从咖啡机 取走到 取餐口
+        /// </summary>
+        private void DoCoffeeQC(OrderLocInfo order)
+        {
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_取咖啡出餐);
+            Wait();
+            LebaiRobot.GetInstance.SetValue(1);
+            //订单状态改变：完成
+            OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
+            DeviceProcessLogShow($"{order.GoodsName}等待取餐");
+            //WaitTakeMealOrder.Enqueue(order);
+            
+        }
+
+        /// <summary>
+        /// 取咖啡杯&&咖啡杯检测 若检测失败机器人回原点
+        /// </summary>
+        /// <param name="order"></param>
+        private void GetAndCheeckCoffe(OrderLocInfo order)
+        {
+            LebaiRobot.GetInstance.SetValue(0);
+            OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_取咖啡杯);
+            Wait();
+            new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
+            Thread.Sleep(500);
+            DeviceProcessLogShow("尝试取咖啡杯!");
+            LebaiRobot.GetInstance.SetValue(1);
+            int count = 2;
+        p:
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_咖啡杯检测);
+            Wait();
+            LebaiRobot.GetInstance.SetValue(1);
+
+            if (!LebaiRobot.GetInstance.GetInput())
+            {
+                if (count >= 3)
+                {
+                    //退出循环回到初始位置
+                    DeviceProcessLogShow($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
+                    LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_咖啡杯回原点);
+                    Wait();
+                    LebaiRobot.GetInstance.SetValue(1);
+                    return;
+                }
+                DeviceProcessLogShow("执行二次取咖啡杯");
+                LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_二次取咖啡杯);
+                Wait();
+                new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
+                LebaiRobot.GetInstance.SetValue(1);
+                count++;
+                goto p;
+            }
+            DeviceProcessLogShow("取咖啡杯完成");
+        }
+
+        /// <summary>
+        /// 冰淇淋是否可以开始制作
+        /// </summary>
+        /// <returns></returns>
+        private bool IceCreamCanMake()
+        {
+            bool canMake = (IsHealth && morkT.morkOrderPushesIceCream.Count > 0) ? true : false;
+            return canMake;
+        }
 
+        /// <summary>
+        /// 制作冰淇淋流程
+        /// </summary>
+        private void MakeIceCreamProcess()
+        {
+            if(IceCreamCanMake())
+            {
+                if (MorkIStatus.GetInstance().CurrentMode != MORKI_MODE.制冷模式) new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
+                if (MorkIStatus.GetInstance().CXB >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
+                {
+                    if (LebaiRobot.GetInstance.GetInput(3))
+                    {
+                        if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡");
+                        morkT.IceIsOK = false;
+
+                    }
+                    else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
+                    {
+                        morkT.IceIsOK = true;
+                        DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]");
+                        DoIceCream(order);
+                    }
+                }
+            }
+        }
+
+       
+        /// <summary>
+        /// 做冰淇淋
+        /// </summary>
+        private void DoIceCream(OrderLocInfo order)
+        {
+            GetIceCreamCup();
+            CheckICeCreaCup();
+            GetIceCream(order);
+            PutIceCream(order);
+        }
+
+        /// <summary>
+        /// 取冰淇淋杯
+        /// </summary>
+        private void GetIceCreamCup()
+        {
+            LebaiRobot.GetInstance.SetValue(0);
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_取冰淇淋杯);
+            Wait();
+            new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
+            Thread.Sleep(500);
+            DeviceProcessLogShow("尝试取冰淇淋杯!");
+            
+        }
+
+        /// <summary>
+        /// 冰淇淋杯检测，失败后机器人回到原点
+        /// </summary>
+        private void CheckICeCreaCup()
+        {
+            int count = 2;
+            LebaiRobot.GetInstance.SetValue(1);
+        p:
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_冰淇淋杯检测);
+            Wait();
+            LebaiRobot.GetInstance.SetValue(1);
+            if (!LebaiRobot.GetInstance.GetInput())
+            {
+                if (count >= 3)
+                {
+                    //退出循环回到初始位置
+                    DeviceProcessLogShow($"执行{count}次取冰淇淋杯,仍未成功,订单默认废弃,机器人回到初始位置!");
+                    LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_冰淇淋杯回原点);
+                    Wait();
+                    LebaiRobot.GetInstance.SetValue(1);
+                    return;
+                }
+                DeviceProcessLogShow($"执行{count}次取冰淇淋杯!");
+                LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_二次取冰淇淋杯);
+                new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
+                Wait();
+                LebaiRobot.GetInstance.SetValue(1);
+                count++;
+                goto p;
+            }
+            DeviceProcessLogShow("冰淇淋杯检测完成");
+        }
+
+        /// <summary>
+        /// 机器人取接冰淇淋
+        /// </summary>
+        /// <param name="order"></param>
+        private void GetIceCream(OrderLocInfo order)
+        {
+            //制冷模式
+            new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
+            LebaiRobot.GetInstance.SetValue(0);
+            OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_接1号冰淇淋);
+            Wait();
+            bool doItResult = true;
+            //出料
+            new GSIceCream_DischargeEvent().Publish(delegate (object[] args)
+            {
+                doItResult = (bool)args[0];
+            });
+            if (doItResult)
+            {
+                IceCreamCookCheck();
+            }
+            else
+            {
+                int count_1 = 0;
+                while (MorkIStatus.GetInstance().CXB <= 86)
+                {
+                    Thread.Sleep(5);
+                    count_1++;
+                    if (count_1 >= 2000)
+                        break;
+                }
+                IceCreamCookCheck();
+            }
+            LebaiRobot.GetInstance.SetValue(1);
+        } 
+
+        /// <summary>
+        /// 把冰淇淋放到取餐位后回原点
+        /// </summary>
+        /// <param name="order"></param>
+        private void PutIceCream(OrderLocInfo order)
+        {
+            while (LebaiRobot.GetInstance.GetInput())
+            {
+                Thread.Sleep(500);
+            }
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_放冰淇淋位置);
+            Wait();
+            LebaiRobot.GetInstance.SetValue(1);
+            //订单状态改变：完成
+            OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
+            DeviceProcessLogShow($"{order.GoodsName}等待取餐");
+            //WaitTakeMealOrder.Enqueue(order);
+
+        }
+
+        /// <summary>
+        /// 冰淇淋机器制作冰淇淋
+        /// </summary>
+        public void IceCreamCookCheck()
+        {
+            int retry = 3;
+            DateTime beginTime = DateTime.Now;
+            while (!LebaiRobot.GetInstance.GetInput(3))
+            {
+                if (retry <= 0 && DateTime.Now.Subtract(beginTime).TotalSeconds >= 10)
+                {
+                    DeviceProcessLogShow("超时未出料，重试次数用尽");
+                    break;
+                }
+                if (DateTime.Now.Subtract(beginTime).TotalSeconds > 5)
+                {
+                    DeviceProcessLogShow("超时未出料，重新发送打料指令");
+                    new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.打料 }.Publish();
+                    beginTime = DateTime.Now;
+                    retry--;
+                }
+                Thread.Sleep(10);
+            }
+            DeviceProcessLogShow("开始等待6s");
+            Thread.Sleep(5000);
+
+        }
     }
 }

BPASmartClient.MorkT/GLV_MorkT.cs

@@ -33,5 +33,14 @@ namespace BPASmartClient.MorkT
         /// 获取乐百机器人的数据
         /// </summary>
         public SignalResult lebai = new SignalResult();
+
+        /// <summary>
+        /// 咖啡机位置是否有咖啡在制作中
+        /// </summary>
+        public bool IsCoffeeMake = false;
+        /// <summary>
+        /// 冰淇淋机器出料口传感器检测
+        /// </summary>
+        public bool IceIsOK = true;
     }
 }

BPASmartClient.MorkT/OrderLocInfo.cs

@@ -9,11 +9,14 @@ namespace BPASmartClient.MorkT
     public class OrderLocInfo
     {
         public string SuborderId { get; set; }
+        public string GoodsName { get; set; }
         public string Loc { get; set; }
-        public ushort RecipeNumber { get; set; }
+        public int SortNum { get; set; }
         public int BatchingId { get; set; }
 
         public int OrderStatus { get; set; }
+
+        
         public OrderLocInfo()
         {
             OrderStatus = 0;

BPASmartClient.ViewModel/AdminstratorsViewModel.cs

@@ -0,0 +1,35 @@
+using BPASmartClient.Helper;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using Microsoft.Toolkit.Mvvm.Input;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.ViewModel
+{
+    public class AdminstratorsViewModel:ObservableObject
+    {
+        public string Admin { get { return _admin; } set { _admin = value; OnPropertyChanged(); } }
+        private string _admin;
+
+        public string Password { get { return _password; } set { _password = value; OnPropertyChanged(); } }
+        private string _password;
+
+        public string ErrorMessage { get { return _errorMessage; } set { _errorMessage = value; OnPropertyChanged(); } }
+        private string _errorMessage;
+
+        public RelayCommand AdminLoginCommand { get; set; }
+
+        public AdminstratorsViewModel()
+        {
+            AdminLoginCommand = new RelayCommand(() =>
+            {
+
+                ActionManage.GetInstance.Send("Lonin");
+            });
+        }
+        
+    }
+}

BPASmartClient.ViewModel/MainViewModel.cs

@@ -38,6 +38,12 @@ namespace BPASmartClient.ViewModel
                 OnPropertyChanged("NetworkConnectState");
             }
         }
+        //状态隐藏
+        public Visibility VsMenuItem { get { return _vsMenuItem; }  set { _vsMenuItem = value; OnPropertyChanged(); } }
+        private Visibility _vsMenuItem;
+
+        public RelayCommand LogoutCommand  { get; set; }
+
         /// <summary>
         /// 是否告警
         /// </summary>
@@ -74,6 +80,16 @@ namespace BPASmartClient.ViewModel
             };
             dispatcherTimer.Interval = TimeSpan.FromSeconds(1);
             dispatcherTimer.Start();
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                VsMenuItem = Visibility.Hidden;
+            }),"Lonin");
+            LogoutCommand = new RelayCommand(() =>
+            {
+                VsMenuItem = Visibility.Visible;
+            });
+
+
         }
     }
 

BPASmartClient/App.config

@@ -3,7 +3,7 @@
   <appSettings>
     <!--通用配置-->
     <!--1:且时且多冰淇淋咖啡机，2:且时且多煮面机,3：海科煮面机测试店铺-->
-    <add key="ClientId" value="46"/>
+    <add key="ClientId" value="777"/>
     <!--<add key="ApolloUri" value="http://10.2.1.21:28080"/>
     <add key="OrderServiceUri" value="http://10.2.1.26:21527/order/"/>
     <add key="StockServiceUri" value="http://10.2.1.26:21527/stock/"/>-->

BPASmartClient/Control/AdminstratorsView.xaml

@@ -0,0 +1,84 @@
+<UserControl x:Class="BPASmartClient.Control.AdminstratorsView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:BPASmartClient.Control"
+             xmlns:uc="clr-namespace:BPASmartClient.CustomResource.UserControls;assembly=BPASmartClient.CustomResource"
+             xmlns:helper ="clr-namespace:BPASmartClient.Control.Helper"
+             xmlns:vm ="clr-namespace:BPASmartClient.ViewModel;assembly=BPASmartClient.ViewModel"
+             mc:Ignorable="d" 
+             d:DesignHeight="600" d:DesignWidth="800" Loaded="UserControl_Loaded">
+    <UserControl.DataContext>
+        <vm:AdminstratorsViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <Style x:Key="TxLogin" TargetType="TextBlock" >
+            <Setter Property="FontSize" Value="20"/>
+            <Setter Property="Foreground" Value="#ddd"/>
+            <Setter Property="HorizontalAlignment" Value="Center"/>
+            <Setter Property="VerticalAlignment" Value="Center"/>
+        </Style>
+    </UserControl.Resources>
+    <Grid>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="7*"/>
+            <ColumnDefinition Width="10*"/>
+        </Grid.ColumnDefinitions>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="10*"/>
+            <RowDefinition Height="5*"/>
+            <RowDefinition Height="4*"/>
+            <RowDefinition Height="8*"/>
+            <RowDefinition Height="20*"/>
+        </Grid.RowDefinitions>
+        <TextBlock Text="账号：" 
+                   VerticalAlignment="Bottom" HorizontalAlignment="Right"
+                   Margin="20"
+                   Style="{StaticResource TxLogin}"
+                />
+        <TextBlock Text="密码：" Grid.Row="1"
+                   VerticalAlignment="Top" HorizontalAlignment="Right"
+                   Margin="20"
+                   Style="{StaticResource TxLogin}"/>
+        <TextBox x:Name="tbx_admin" Grid.Row="0" Grid.Column="1"
+                 Text="{Binding Admin, Mode=TwoWay}"
+                 Foreground="#F8F8FF" FontSize="20"
+                 Width="180" Height="28"
+                 VerticalAlignment="Bottom" HorizontalAlignment="Left"
+                 VerticalContentAlignment="Top" HorizontalContentAlignment="Center"
+                 Margin="20" 
+                 Background="Transparent"
+                 BorderBrush="White" BorderThickness="0,0,0,1"
+                 GotFocus="TextBox_GotFocus">
+
+        </TextBox>
+        <PasswordBox  x:Name="password"  Grid.Row="1" Grid.Column="1" 
+                      FontSize="20" Foreground="#F8F8FF"
+                      Width="180" Margin="20" 
+                      Background="Transparent"
+                      VerticalAlignment="Top" HorizontalAlignment="Left"
+                      VerticalContentAlignment="Top" HorizontalContentAlignment="Center"
+                      BorderBrush="White" BorderThickness="0,0,0,1" CaretBrush="White"
+                      helper:PasswordBoxHelper.PasswordContent="{Binding Password ,Mode=TwoWay}"
+                      GotFocus="Password_GotFocus"/>
+        <TextBlock Text="{Binding ErrorMessage}" 
+                   Grid.Row="2" Grid.ColumnSpan="2"
+                   VerticalAlignment="Top" HorizontalAlignment="Center"
+                   FontFamily="楷体"
+                   FontSize="16"
+                   Foreground="#FFE2415C"
+                   TextWrapping="Wrap" />
+        <Button Grid.Row="3" Grid.ColumnSpan="2"
+                FontSize="28" Foreground="#9934F7F7"
+                Width="120" Height="40"           
+                Background="Transparent"
+                VerticalAlignment="Top"
+                BorderBrush="#ff19b7ec" BorderThickness="2"
+                Content="登  录"
+                Command="{Binding AdminLoginCommand}" IsDefault="True"/>
+
+        <uc:UserKeyBoard  x:Name="myKeyboard" Grid.Row="4" Grid.ColumnSpan="2" Margin="100,10,100,50" Focusable="False"/>
+    </Grid>
+    
+</UserControl>

BPASmartClient/Control/AdminstratorsView.xaml.cs

@@ -0,0 +1,91 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+using static BPASmartClient.CustomResource.UserControls.UserKeyBoard;
+
+namespace BPASmartClient.Control
+{
+    /// <summary>
+    /// AdministratorsView.xaml 的交互逻辑
+    /// </summary>
+    public partial class AdminstratorsView : UserControl
+    {
+        public AdminstratorsView()
+        {
+            InitializeComponent();
+           
+        }
+        private void UserControl_Loaded(object sender, RoutedEventArgs e)
+        {
+            this.tbx_admin.Focus();
+        }
+        private void MyKeyDown_Admin(object _key)
+        {
+            EKeyitem key = EKeyitem.A;
+            if (_key.GetType() == typeof(EKeyitem)) key = (EKeyitem)_key;
+            switch(key)
+            {
+                case EKeyitem.DEL:
+                    if (tbx_admin.Text.Length > 0)
+                    {
+                        tbx_admin.Text = tbx_admin.Text.Substring(0, tbx_admin.Text.Length - 1);
+                    }
+                    break;
+                case EKeyitem.AC:
+                    tbx_admin.Text = string.Empty;
+                    break;
+                case EKeyitem.OK:
+                    break;
+                default: 
+                    tbx_admin.Text += _key.ToString();
+                    break;
+            }
+            this.tbx_admin.Focus();
+        }
+
+        private void MyKeyDown_Password(object _key)
+        {
+            EKeyitem key = EKeyitem.A;
+            if (_key.GetType() == typeof(EKeyitem)) key = (EKeyitem)_key;
+            switch (key)
+            {
+                case EKeyitem.DEL:
+                    if (password.Password.Length > 0)
+                    {
+                        password.Password = password.Password.Substring(0, password.Password.Length - 1);
+                    }
+                    break;
+                case EKeyitem.AC:
+                    password.Password = string.Empty;
+                    break;
+                case EKeyitem.OK:
+                    break;
+                default:
+                    password.Password += _key.ToString();
+                    break;
+            }
+
+        }
+
+        private void TextBox_GotFocus(object sender, RoutedEventArgs e)
+        {
+            myKeyboard.MyKeyDown = MyKeyDown_Admin;
+        }
+
+        private void Password_GotFocus(object sender, RoutedEventArgs e)
+        {
+            myKeyboard.MyKeyDown = MyKeyDown_Password;
+        }
+    }
+}

BPASmartClient/Control/Helper/PasswordBoxHelper.cs

@@ -0,0 +1,40 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+
+namespace BPASmartClient.Control.Helper
+{
+    /// <summary>
+    /// 为PasswordBox控件的Password增加绑定功能
+    /// </summary>
+    public static class PasswordBoxHelper
+    {
+        public static string GetPasswordContent(DependencyObject obj) => (string)obj.GetValue(PasswordContentProperty);
+
+        public static void SetPasswordContent(DependencyObject obj, string value) => obj.SetValue(PasswordContentProperty, value);
+
+        public static readonly DependencyProperty PasswordContentProperty =
+            DependencyProperty.RegisterAttached("PasswordContent", typeof(string), typeof(PasswordBoxHelper),
+            new PropertyMetadata(string.Empty, OnPasswordContentPropertyChanged));
+
+        private static void OnPasswordContentPropertyChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
+        {
+            var box = d as PasswordBox;
+            box.PasswordChanged -= OnPasswordChanged;
+            var password = (string)e.NewValue;
+            if (box != null && box.Password != password)
+                box.Password = password;
+            box.PasswordChanged += OnPasswordChanged;
+        }
+
+        private static void OnPasswordChanged(object sender, RoutedEventArgs e)
+        {
+            var box = sender as PasswordBox;
+            SetPasswordContent(box, box.Password);
+        }
+    }
+}

BPASmartClient/MainWindow.xaml

@@ -50,7 +50,7 @@
                     Margin="20,0,0,0"
                     VerticalAlignment="Center"
                     Style="{DynamicResource imagetop_Title}" />
-                <Grid Grid.Column="1">
+                <Grid Grid.Column="1" Visibility="{Binding VsMenuItem}" >
                     <Menu>
                         <MenuItem Header="功能列表">
                             <MenuItem
@@ -271,6 +271,29 @@
                         Foreground="#feffff">
                         日志监控界面
                     </TextBlock>
+                    <Button
+                        Name="login"
+                        Grid.Row="0"
+                        Width="45"
+                        Margin="0,0,60,0"
+                        HorizontalAlignment="Right"
+                        VerticalAlignment="Top"
+                        Click="Button_Login"
+                        Content="登录"
+                        Cursor="Hand"
+                        Style="{DynamicResource CommonBtn_返回}" />
+                    <Button
+                        Name="logout"
+                        Grid.Row="0"
+                        Width="45"
+                        Margin="350,0,0,0"
+                        HorizontalAlignment="Right"
+                        VerticalAlignment="Top"
+                        Click="Button_LogOut"
+                        Content="注销"
+                        Cursor="Hand"
+                        Style="{DynamicResource CommonBtn_返回}" 
+                        Command="{Binding LogoutCommand}"/>
                 </Grid>
                 <!--#region 底部窗体栏-->
 

BPASmartClient/MainWindow.xaml.cs

@@ -1,5 +1,6 @@
 using BPA.Message;
 using BPASmartClient.Business;
+using BPASmartClient.Control;
 using BPASmartClient.CustomResource.UserControls;
 using BPASmartClient.CustomResource.UserControls.MessageShow;
 using BPASmartClient.Device;
@@ -196,5 +197,28 @@ namespace BPASmartClient
         {
             ActionManage.GetInstance.Send("InitDevice");
         }
+
+        private void Button_Login(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                Type type = Type.GetType($"BPASmartClient.Control.AdminstratorsView");
+                if (type == null) { MenuClick((sender as MenuItem).Tag?.ToString()); return; }
+                ConstructorInfo cti = type.GetConstructor(System.Type.EmptyTypes);
+                contentRegion.Content = (FrameworkElement)cti.Invoke(null);
+                Title.Text = "管理员登录界面";
+            }
+            catch (Exception ex)
+            {
+
+                MessageLog.GetInstance.ShowEx($"BPASmartClient 中引发错误,MainWindow.xaml.cs 类MenuItem_Click(),描述：[{ex.Message}]");
+            }
+            
+        }
+
+        private void Button_LogOut(object sender, RoutedEventArgs e)
+        {
+
+        }
     }
 }

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -1,28 +1,25 @@
-using System;
-using System.Collections.Generic;
-using System.Configuration;
-using System.Linq;
-using System.Threading;
-using BPA.Message;
-using Robotc;
-using System.Collections.Concurrent;
-using System.Diagnostics;
+using BPA.Message;
+using BPA.Message.Enum;
 using BPA.Message.IOT;
-using System.Threading.Tasks;
 using BPASmartClient.Device;
-using BPA.Message.Enum;
 using BPASmartClient.DRCoffee;
+using BPASmartClient.EventBus;
 using BPASmartClient.GSIceCream;
 using BPASmartClient.Helper;
 using BPASmartClient.Lebai;
-using BPASmartClient.EventBus;
-using BPASmartClient.Model.咖啡机.Enum;
 using BPASmartClient.Message;
+using BPASmartClient.Model;
 using BPASmartClient.Model.冰淇淋.Enum;
+using BPASmartClient.Model.单片机;
 using BPASmartClient.Model.单片机.Enum;
+using BPASmartClient.Model.咖啡机.Enum;
 using BPASmartClient.SCChip;
-using BPASmartClient.Model;
-using BPASmartClient.Model.单片机;
+using Robotc;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading;
 using static BPASmartClient.EventBus.EventBus;
 
 namespace BPASmartClient.MORKIC
@@ -53,7 +50,7 @@ namespace BPASmartClient.MORKIC
         /// <summary>
         /// 咖啡位置是否有东西
         /// </summary>
-        private bool IsCoffeeMake=false;
+        private bool IsCoffeeMake = false;
 
         private bool enableFunny = false;
         private DateTime lastRecvdOrder = DateTime.Now;
@@ -79,41 +76,41 @@ namespace BPASmartClient.MORKIC
         /// <summary>
         /// 等待取餐的订单，只有一个
         /// </summary>
-        ConcurrentQueue<SimOrderData> WaitTakeMealOrder= new ConcurrentQueue<SimOrderData>();
+        ConcurrentQueue<SimOrderData> WaitTakeMealOrder = new ConcurrentQueue<SimOrderData>();
 
         public void Init()
         {
 
-           ActionManage.GetInstance.Register(new Action<object>((s) =>
-           {
-               if (s is DrCoffeeDrinksCode cf)
-               {
-                   DoCoffee(new SimOrderData { Loc = ((int)cf).ToString() });
-               }
-               else if (s is Dictionary<string, string> ms)
-               {
-                   if (ms.ContainsKey("Button"))
-                   {
-                       switch (ms["Button"])
-                       {
-                           case "启动示教":
-                               LebaiRobot.GetInstance.StartTeachMode();
-                               break;
-                           case "停止示教":
-                               LebaiRobot.GetInstance.EndtTeachMode();
-                               break;
-                           case "启动机器人":
-                               LebaiRobot.GetInstance.StartRobot();
-                               break;
-                           case "急停":
-                               LebaiRobot.GetInstance.EStopRobot();
-                               break;
-                           default:
-                               break;
-                       }
-                   }
-               }
-           }),"SimCoffee");
+            ActionManage.GetInstance.Register(new Action<object>((s) =>
+            {
+                if (s is DrCoffeeDrinksCode cf)
+                {
+                    DoCoffee(new SimOrderData { Loc = ((int)cf).ToString() });
+                }
+                else if (s is Dictionary<string, string> ms)
+                {
+                    if (ms.ContainsKey("Button"))
+                    {
+                        switch (ms["Button"])
+                        {
+                            case "启动示教":
+                                LebaiRobot.GetInstance.StartTeachMode();
+                                break;
+                            case "停止示教":
+                                LebaiRobot.GetInstance.EndtTeachMode();
+                                break;
+                            case "启动机器人":
+                                LebaiRobot.GetInstance.StartRobot();
+                                break;
+                            case "急停":
+                                LebaiRobot.GetInstance.EStopRobot();
+                                break;
+                            default:
+                                break;
+                        }
+                    }
+                }
+            }), "SimCoffee");
 
             //构建所有商品物料信息
             batchings = PolymerBatching.BuildAll();
@@ -162,13 +159,13 @@ namespace BPASmartClient.MORKIC
         {
             ThreadManage.GetInstance().StartLong(new Action(() =>
             {
-                while (IsHealth &&(morkOrderPushesCoffee.Count > 0 || morkOrderPushesIceCream.Count>0 || IsCoffeeMake))
+                while (IsHealth && (morkOrderPushesCoffee.Count > 0 || morkOrderPushesIceCream.Count > 0 || IsCoffeeMake))
                 {
                     working = true; NoOrderTime = 0;
                     //1.有咖啡订单 取杯去制作
                     if (!IsCoffeeMake)//位置无杯子
                     {
-                        if (morkOrderPushesCoffee.Count>0 && morkOrderPushesCoffee.TryDequeue(out SimOrderData simOrder))
+                        if (morkOrderPushesCoffee.Count > 0 && morkOrderPushesCoffee.TryDequeue(out SimOrderData simOrder))
                         {
                             IsCoffeeMake = true; MakeCoffeeOrder = simOrder;
                             MessageLog.GetInstance.Show($"开始制作 [咖啡] 订单[{simOrder.morkOrder.SortNum}]");
@@ -180,20 +177,20 @@ namespace BPASmartClient.MORKIC
                     {
                         //取餐位的订单完成
                         if (WaitTakeMealOrder.TryDequeue(out SimOrderData waitOrder)) OrderChange(waitOrder.morkOrder.SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
-                        
+
 
                         //1.制作冰淇淋
-                        if (morkOrderPushesIceCream.Count>0 && MorkIStatus.GetInstance().CurrentMode!= MORKI_MODE.制冷模式) new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
+                        if (morkOrderPushesIceCream.Count > 0 && MorkIStatus.GetInstance().CurrentMode != MORKI_MODE.制冷模式) new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
 
                         if (MorkIStatus.GetInstance().CXB >= 86 && morkOrderPushesIceCream.Count > 0)//成型比大于80 我才会制作
                         {
                             if (LebaiRobot.GetInstance.GetInput(3))
                             {
-                                if(IceIsOK) MessageLog.GetInstance.Show("请擦拭冰淇淋机出口");
+                                if (IceIsOK) MessageLog.GetInstance.Show("请擦拭冰淇淋机出口");
                                 IceIsOK = false;
 
                             }
-                            else if(morkOrderPushesIceCream.TryDequeue(out SimOrderData order))
+                            else if (morkOrderPushesIceCream.TryDequeue(out SimOrderData order))
                             {
                                 IceIsOK = true;
                                 MessageLog.GetInstance.Show($"开始制作 [冰淇淋] 订单[{order.morkOrder.SortNum}]");
@@ -216,7 +213,7 @@ namespace BPASmartClient.MORKIC
                     working = false;
                     lastRecvdOrder = DateTime.Now;
                 }
-                
+
                 if (IsHealth == false && (morkOrderPushesCoffee.Count > 0 || morkOrderPushesIceCream.Count > 0 || IsCoffeeMake))
                 {
                     MessageLog.GetInstance.Show($"机器连接问题 订单,不允许制作,请检查设备连接后尝试," +
@@ -237,8 +234,8 @@ namespace BPASmartClient.MORKIC
                 }
 
 
-                    Thread.Sleep(1000);
-            }),"订单制作");
+                Thread.Sleep(1000);
+            }), "订单制作");
         }
 
         private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
@@ -273,7 +270,7 @@ namespace BPASmartClient.MORKIC
                 }
                 //LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_欢迎);
             }), "MORK-IC欢迎");
-          
+
         }
 
         public void DataParse<T>(T order)
@@ -313,10 +310,10 @@ namespace BPASmartClient.MORKIC
                 switch (currentGoodsType)
                 {
                     case GOODS_TYPE.COFFEE:
-                        morkOrderPushesCoffee.Enqueue(new SimOrderData { Loc = loc_coffe,morkOrder = morkOrderPush });
+                        morkOrderPushesCoffee.Enqueue(new SimOrderData { Loc = loc_coffe, morkOrder = morkOrderPush });
                         break;
                     case GOODS_TYPE.ICECREAM:
-                        morkOrderPushesIceCream.Enqueue(new SimOrderData { Loc = loc_coffe,morkOrder = morkOrderPush });
+                        morkOrderPushesIceCream.Enqueue(new SimOrderData { Loc = loc_coffe, morkOrder = morkOrderPush });
                         break;
                     case GOODS_TYPE.NEITHER:
                         MessageLog.GetInstance.Show("未知的商品类型");
@@ -356,7 +353,7 @@ namespace BPASmartClient.MORKIC
             int checkeNum = 0;
             // are.Reset();
             LebaiRobot.GetInstance.SetValue(0);
-            OrderChange(order.morkOrder.SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            OrderChange(order.morkOrder.SuborderId, ORDER_STATUS.COOKING);
             //SimpleFactory.GetInstance.OrderChanged(order.morkOrder.SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
             LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_取咖啡杯);
             Wait();
@@ -370,19 +367,19 @@ namespace BPASmartClient.MORKIC
             LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_咖啡杯检测);
             Wait();
             LebaiRobot.GetInstance.SetValue(1);
-           
+
             if (!LebaiRobot.GetInstance.GetInput())
             {
                 if (count >= 3)
                 {
                     //退出循环回到初始位置
-                    MessageLog.GetInstance.Show($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
+                    DeviceProcessLogShow($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
                     LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_咖啡杯回原点);
                     Wait();
                     LebaiRobot.GetInstance.SetValue(1);
                     return;
                 }
-                MessageLog.GetInstance.Show("执行二次取咖啡杯");
+                DeviceProcessLogShow("执行二次取咖啡杯");
                 LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_二次取咖啡杯);
                 Wait();
                 new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
@@ -391,13 +388,13 @@ namespace BPASmartClient.MORKIC
                 goto p;
             }
 
-            MessageLog.GetInstance.Show("咖啡杯取杯完成");
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_接咖啡_新);
+            DeviceProcessLogShow("咖啡杯取杯完成");
+            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_接咖啡后回原点);
             Wait();
             LebaiRobot.GetInstance.SetValue(1);
             //加场景 回初始位置
             new DRCoffee_MakeCoffeeEvent() { DrinkCode = (Model.咖啡机.Enum.DrCoffeeDrinksCode)int.Parse(order.Loc) }.Publish();  //接咖啡控制
-            MessageLog.GetInstance.Show($"发送咖啡机制作{order.Loc}!");
+            DeviceProcessLogShow($"发送咖啡机制作{order.Loc}!");
             #endregion
 
         }
@@ -413,7 +410,7 @@ namespace BPASmartClient.MORKIC
             //订单状态改变：完成
             OrderChange(order.morkOrder.SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
             //SimpleFactory.GetInstance.OrderChanged(order.morkOrder.SuborderId,BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
-            MessageLog.GetInstance.Show($"{order.morkOrder.GoodsName}等待取餐");
+            DeviceProcessLogShow($"{order.morkOrder.GoodsName}等待取餐");
             WaitTakeMealOrder.Enqueue(order);
         }
 
@@ -427,7 +424,7 @@ namespace BPASmartClient.MORKIC
             //    MessageLog.GetInstance.Show("请擦拭冰淇淋机出口");
             //    return;
             //}
-              
+
             #region 且时且多入场设备程序
             int checkeNum = 0;
             //are.Reset();
@@ -443,7 +440,7 @@ namespace BPASmartClient.MORKIC
         p:
             LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_冰淇淋杯检测);
             Wait();
-           
+
             LebaiRobot.GetInstance.SetValue(1);
             if (!LebaiRobot.GetInstance.GetInput())
             {
@@ -499,13 +496,13 @@ namespace BPASmartClient.MORKIC
             }
             LebaiRobot.GetInstance.SetValue(1);
             #endregion
-           
+
             while (LebaiRobot.GetInstance.GetInput())
             {
                 Thread.Sleep(500);
             }
             LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_放冰淇淋位置);
-            
+
             Wait();
             LebaiRobot.GetInstance.SetValue(1);
             //订单状态改变：完成
@@ -514,7 +511,7 @@ namespace BPASmartClient.MORKIC
             MessageLog.GetInstance.Show($"{order.morkOrder.GoodsName}等待取餐");
             WaitTakeMealOrder.Enqueue(order);
             #endregion
-           
+
         }
 
         /// <summary>
@@ -568,7 +565,7 @@ namespace BPASmartClient.MORKIC
 
         public void SimOrder<T>(T simOrder)
         {
-           
+
         }
 
         /// <summary>
@@ -603,7 +600,7 @@ namespace BPASmartClient.MORKIC
 
         public override void DoMain()
         {
-            
+
         }
 
         public override void Stop()
@@ -641,7 +638,7 @@ namespace BPASmartClient.MORKIC
         public SimOrderData()
         {
             id = Guid.NewGuid().ToString();
-            OrderStatus=0;
+            OrderStatus = 0;
         }
     }
 }