MORKT 修改

BPASmartClient.MorkT/Control_MorkT.cs

@@ -174,6 +174,282 @@ namespace BPASmartClient.MorkT
         }
       
 
+       
+
+        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>

BPASmartClient/App.config

@@ -12,7 +12,7 @@
     <!--<add key="ClientId" value="2"/>-->
 
     <!--开发环境-->
-    <!--<add key="apollouri" value="http://10.2.1.21:28080"/>
+    <add key="apollouri" value="http://10.2.1.21:28080"/>
     <add key="orderserviceuri" value="https://bpa.black-pa.com:21527/order/"/>
     <add key="stockserviceuri" value="https://bpa.black-pa.com:21527/stock/"/>
     <add key="datavserviceuri" value="https://bpa.black-pa.com:21527/datav"/>
@@ -20,7 +20,7 @@
     <add key="broadcastpubtopic" value="/broadcast/grgpechsl7q/transit_test_setdevice"/>
     <add key="AppId" value="dev1_common"/>
     <add key ="Namespaces" value="DEV.Config"/>
-    <add key="IsEnableTest" value="true"/>-->
+    <add key="IsEnableTest" value="False"/>
 
 
 
@@ -36,7 +36,7 @@
     <add key="AppId" value="dev1_common"/>
     <add key ="Namespaces" value="DEV.test1.Config"/>-->
 
-    <!--正式环境-->
+    <!--正式环境--><!--
     <add key="ApolloUri" value="http://47.108.65.220:28080"/>
     <add key="OrderServiceUri" value="https://witt.black-pa.com/order/"/>
     <add key="StockServiceUri" value="https://witt.black-pa.com/stock/"/>
@@ -45,7 +45,7 @@
     <add key="BroadcastPubTopic" value="/broadcast/grgpECHSL7q/Transit_SetDevice"/>
     <add key="AppId" value="order"/>
     <add key ="Namespaces" value="TEST1.Config"/>
-    <add key="IsEnableTest" value="False"/>
+    <add key="IsEnableTest" value="False"/>-->
 
     <!--阿里云上报启动方式:API 或者 LOCAL-->
     <!--API  :通过客户端ID,调用接口查询“设备连接信息”-->